State monitoring device for multi-degree-of-freedom coupler buffer system and rail vehicle

Abstract

The present invention provides a multi-degree-of-freedom coupler buffer system status monitoring device. The monitoring device is adapted to be installed on the coupler buffer. The status monitoring device structure includes a fixed seat, an angle sensor component, etc. The fixed seat includes a fixed arm, and a guide rod arranged on the fixed arm, and the guide rod is arranged in a vertical direction; the adapter arm is installed on the angle sensor component, and a hole structure is arranged along its length direction, and the guide rod is located in the hole structure. If the fixed arm is installed on the shell, the angle sensor component is rotatably installed on the force transmission rod; if the fixed arm is installed on the force transmission rod, the angle sensor component is rotatably installed on the shell. The monitoring device provided by the present invention can monitor the status of a multi-degree-of-freedom buffer system, solving the problem that the multi-degree-of-freedom buffer system cannot be monitored at present.

Description

Technical Field

[0001] The present invention relates to the technical field of train coupler buffer devices, and relates to a multi-degree-of-freedom coupler buffer system state monitoring device and a rail vehicle. Background Art

[0002] The buffer system is an important component for coupler buffering. The buffer system can protect the car body by absorbing impact energy and improve the comfort of the train. Therefore, the state monitoring of the buffer system is very important. The state of the buffer system determines the working performance of the buffer system, which is of great significance for riding comfort and vehicle safety. With the increasing requirements for riding comfort and vehicle safety, the demand for couplers that can detect their own states is becoming more and more urgent.

[0003] Specifically, when the train is running, there will be forces between two vehicles due to reasons such as traction, resistance, acceleration, deceleration, vibration, road conditions (turning, uphill and downhill), etc. The forces between the two vehicles are mainly transmitted through the coupler. The force of the coupler is transmitted to the drawbar, and then to the housing 5 and the coupler mounting seat 2 and then to the other vehicle. The buffer element 4 will deform under the action of the force transmission rod 3 and the housing 5, and components such as the coupler head connected to the force transmission rod 3 will move accordingly with the force transmission rod 3. This kind of movement is multi-degree-of-freedom.

[0004] Figure 1 shows that after the buffer system is stressed, the buffer element 4 deforms, causing the state of the coupler to change, mainly including longitudinal (front and back) movement as shown in Figure 1.b, vertical (up and down deflection) as shown in Figure 1.c, axial (rotation around the axial center of the coupler) as shown in Figure 1.e, and compound movement (in Figure 1.c, the coupler has both longitudinal movement and vertical movement) etc. (Figure 1.a and Figure 1.d are the states of the coupler when it is not affected by external forces). Monitoring the buffer system 1, monitoring the deformation amount of the buffer element 4 is the most critical. By supplementing with the force-bearing state of the coupler, the state of the buffer system can be judged. However, due to the multi-degree-of-freedom of the buffer system caused by the deformation of the buffer element 4, it brings difficulties to the measurement of the buffer stroke. Especially, even though the vertical and axial angles of the coupler generally swing at a very small angle (in most cases, far less than 6°, and the maximum does not exceed 6°), although it has little impact on the inside of the buffer system, the position where the sensor can be installed is outside the buffer system. At this point, there is already a relatively long distance l from the rotation center of the buffer system. Even if the angles α and β are very small, the deviation y = lsinα (or β) generated by the rotation is already very large, which brings difficulties to the installation and detection of the sensor.

[0005] There are multiple patents in the prior art that monitor the state of the buffer system. For example: Publication Nos. CN109311494A, WO2019211262A2, and CN109900459A, etc., all disclose state monitoring devices for the coupler buffer system. However, the common feature of these patents is that they can only monitor the state of the buffer system with 1 degree of freedom (only moving forward and backward), and the detection effect is limited.

[0006] The reason is that most of the buffer systems currently in use have multiple degrees of freedom (can move horizontally, vertically, axially, etc.). In this case, for the movement in other directions in the prior art structure, there is a deviation between the sensor and the device that triggers the sensor, which affects the detection effect and makes it impossible to monitor the movement of the buffer system. Therefore, it is impossible to effectively monitor the state of this buffer system. In addition, the content disclosed in the prior art is mostly about the implementation of functions, and there are few specific implementation structures of the system. Summary of the Invention

[0007] The purpose of the present invention is to solve one of the above technical problems, and provide a state monitoring device for a coupler buffer system, which is not affected by the multi-degree-of-freedom movement of the coupler buffer system and can achieve a stable state monitoring effect.

[0008] To achieve the above purpose, the technical solution adopted by the present invention is:

[0009] A state monitoring device for a multi-degree-of-freedom coupler buffer system, the monitoring device is adaptively installed on the coupler buffer. The coupler buffer includes a coupler mounting seat and a force transmission rod. A buffer element is installed at the end of the force transmission rod, and a housing is arranged outside the buffer element. The housing is pivotally connected to the coupler mounting seat; the state monitoring device includes:

[0010] Fixed seat: including a fixed arm and a guide rod arranged on the fixed arm, the guide rod is arranged vertically;

[0011] Angle sensor assembly: rotatably installed on the force transmission rod, and a transfer arm mounting hole is arranged on the angle sensor assembly;

[0012] Transfer arm: installed at the transfer arm mounting hole of the angle sensor assembly. The transfer arm can rotate with the angle sensor and rotate within the range defined by the transfer arm mounting hole; a hole structure is arranged along its length direction, and the guide rod is located within the hole structure;

[0013] If the fixed arm is installed on the housing, the angle sensor is rotatably installed on the force transmission rod;

[0014] If the fixed arm is installed on the force transmission rod, the angle sensor is rotatably installed on the housing.

[0015] In some embodiments of the present invention, the fixed arm is mounted on the housing, and the angle sensor is rotatably mounted on the force transmission rod;

[0016] The angle sensor comprises;

[0017] Mounting base: capable of being mounted to the force transmission rod, and an installation shaft hole is provided on the mounting base;

[0018] Rotating member: inserted at the installation shaft hole and rotatable relative to the installation shaft hole, and the adapter arm mounting hole is provided on the rotating member;

[0019] Detection member: fixedly mounted on the mounting base and located at the installation shaft hole;

[0020] Trigger member, the trigger member is mounted on the end face of the rotating member on the side inside the installation shaft hole, and the trigger member is close to or in contact with the detection member so as to be within the detection range of the detection member to detect the rotation angle of the rotating member.

[0021] In some embodiments of the present invention, the rotating member includes a first diameter section and a second diameter section, the radial dimension of the first diameter section is greater than the radial dimension of the installation shaft hole, and the radial dimension of the second diameter section is less than the radial dimension of the installation shaft hole; the second diameter section is inserted into the installation shaft hole, and the second diameter section is close to or in contact with the detection member so as to be within the detection range of the detection member; the adapter arm mounting hole is provided on the first diameter section and is arranged along the radial direction of the first diameter section.

[0022] In some embodiments of the present invention, the trigger member is connected to the rotating member by a fixing bolt.

[0023] In some embodiments of the present invention, a shaft sleeve is further provided between the rotating member and the installation shaft hole.

[0024] In some embodiments of the present invention, it further includes:

[0025] The fixed arm is mounted on the housing, and the angle sensor is rotatably mounted on the force transmission rod;

[0026] The angle sensor comprises;

[0027] Mounting base: capable of being mounted to the force transmission rod, and an installation shaft hole is provided on the mounting base;

[0028] Rotating member: inserted at the installation shaft hole and rotatable relative to the installation shaft hole, and the adapter arm mounting hole is provided on the rotating member;

[0029] Detection member: fixedly mounted on the rotating member;

[0030] The trigger is installed on the mounting base. The trigger is close to or in contact with the detector so that it is within the detection range of the detector to detect the rotation of the detector.

[0031] In some embodiments of the present invention, a clamping seat is provided on the force transmission rod, and the mounting base is installed on the clamping seat.

[0032] In some embodiments of the present invention, the fixed arm includes a first fixed arm and a second fixed arm that are installed on the housing at intervals in the vertical direction, and the guide rod is installed between the first fixed arm and the second fixed arm.

[0033] In some embodiments of the present invention, the first fixed arm is installed on the first end face of the housing, and the second fixed arm is installed on the second end face of the housing. The first end face and the second end face are two opposite end faces.

[0034] In some embodiments of the present invention, an orbital vehicle is further provided, including the multi-degree-of-freedom coupler buffer system state monitoring device described above.

[0035] The state monitoring system of the multi-degree-of-freedom buffer system provided by the present invention has the following beneficial effects:

[0036] The present invention patent can monitor the state of the multi-degree-of-freedom buffer system, solves the problem that the multi-degree-of-freedom buffer system cannot be monitored at present, and realizes the state monitoring of the multi-degree-of-freedom buffer system.

[0037] 1. It can monitor the state of the multi-degree-of-freedom buffer system and solves the problem that the multi-degree-of-freedom buffer system cannot be monitored at present.

[0038] 2. It can measure the longitudinal movement, which is the most critical factor affecting the state of the buffer system, with high precision through a single sensor. When the coupler has multi-degree-of-freedom movements such as vertical and axial movements, the measurement accuracy is also guaranteed. The cost is reduced.

[0039] 3. It has a wide application range and strong scalability. On the one hand, for different requirements or working conditions, corresponding requirements can be achieved by adding corresponding sensors; on the other hand, this structure can also be applied to buffer systems with fewer degrees of freedom. For example, it can be applied to a coupler buffer system with only longitudinal movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1a Schematic diagram of the initial state structure of the coupler buffer device with the state monitoring device of the first implementation structure.

[0042] Figure 1b Schematic diagram of the longitudinal compression state structure of the coupler buffer device with the state monitoring device of the first implementation structure.

[0043] Figure 1c Schematic diagram of the vertical deflection state structure of the coupler buffer device with the state monitoring device of the first implementation structure.

[0044] Figure 1d Schematic diagram of the structure of the coupler buffer device with the state monitoring device of the first implementation structure when no axial deflection occurs.

[0045] Figure 1e Schematic diagram of the axial (rotation around the axial center of the coupler) deflection structure of the coupler buffer device with the state monitoring device of the first implementation structure.

[0046] Figure 2 Schematic diagram of the first perspective of the installation state of the state monitoring device.

[0047] Figure 3a Schematic diagram of the sectional view structure of the state monitoring device.

[0048] Figure 3b Schematic diagram of the adapter arm structure.

[0049] Figure 4 Schematic diagram of the rotating part structure.

[0050] Figure 5 Schematic diagram of the trigger part structure.

[0051] Figure 6 Schematic diagram of the detector structure.

[0052] Figure 7 Schematic diagram of the second perspective of the installation state of the state monitoring device.

[0053] Figure 8a Schematic diagram of the state of the state monitoring device when the force transmission rod of the coupler buffer device with the state monitoring device of the first implementation structure does not move.

[0054] Figure 8b Schematic diagram of the state of the state monitoring device when the force transmission rod of the coupler buffer device with the state monitoring device of the first implementation structure moves rightward in compression.

[0055] Figure 8c Schematic diagram of the composition state of the angle sensor when the force transmission rod of the coupler buffer device with the state monitoring device of the first implementation structure moves rightward in compression.

[0056] Figure 9 This is a schematic diagram of the status monitoring device when the coupler undergoes vertical rotation.

[0057] Figure 10 This is a simplified model diagram of the vertical rotation state of the coupler;

[0058] Figure 11a It is a structural schematic diagram of the first perspective of the initial state of the coupler buffer device with the second implementation structure state monitoring device;

[0059] Figure 11b A schematic structural diagram of a coupler buffer device in an initial state from a second viewing angle having a second implementation structure state monitoring device;

[0060] Figure 11c A third perspective structural schematic diagram of the initial state of a coupler buffer device having a second implementation structure state monitoring device;

[0061] Figure 11d It is a first-view structural schematic diagram of a coupler buffer device with a second implementation structural state monitoring device in a rightward compression state;

[0062] Figure 11e It is a structural schematic diagram of the second perspective of the coupler buffer device with the second implementation structure state monitoring device in the rightward compression state;

[0063] Figure 11f A third perspective structural diagram of a coupler buffer device with a second implementation structural state monitoring device in a rightward compression state;

[0064] in:

[0065] 1-coupler;

[0066] 2-coupler mounting seat;

[0067] 3-Force transmission rod;

[0068] 4- buffer element;

[0069] 5- housing;

[0070] 6-adapter arm, 601-hole structure, 602-adapter arm body, 603-adapter arm mounting shaft;

[0071] 7-Guide rod;

[0072] 801-first fixed arm, 802-second fixed arm;

[0073] 9-Mounting seat;

[0074] 10 - Rotating part, 1001 - First diameter section, 1002 - Second diameter section, 1003 - Adapter arm mounting hole;

[0075] 11 - Detection part;

[0076] 12 - Trigger part;

[0077] 13 - Bush;

[0078] 14 - Card holder. Detailed implementation mode

[0079] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0080] It should be noted that when an element is referred to as "disposed on" or "connected to" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0081] It should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. Terms such as "first", "second", etc. are only used for descriptive purposes and do not imply importance.

[0082] The first embodiment of the present invention provides a state monitoring device for a coupler buffer system, which is applicable to the coupler buffer system of a train and is adaptively installed on the coupler buffer.

[0083] The coupler buffer system generally includes a coupler and a buffer, and the buffer has various types. The structure of the coupler buffer system applicable in this patent includes a mechanical coupler 1 and a buffer. The buffer includes a coupler mounting seat 2 and a force transmission rod 3. A buffer element 4 is installed at the end of the force transmission rod 3. A housing 5 is arranged outside the buffer element 4, and the housing 5 is pivotally connected to the coupler mounting seat 2. Among them, the buffer element 4 is a rubber block. Axial holes are provided on the upper and lower end faces of the coupler mounting seat 2. The size of the housing 5 is ensured to be insertable into the opening of the coupler mounting seat 2. Mounting shafts are provided at the positions corresponding to the axial holes, and the housing 5 and the coupler mounting seat 2 are installed through the mounting shafts. Thus, a structure that can swing relative to each other in the horizontal direction is formed between the housing 5 and the coupler mounting seat 2.

[0084] According to the motion state of the coupler buffer system, relative motion will occur between the force transmission rod 3 and the buffer element housing 5, and the state monitoring device is used to monitor this relative motion. The relative motion between the two includes: the compression and stretching motion of the force transmission rod 3 relative to the buffer element 4, that is, the motion of the force transmission rod 3 relative to the buffer element 4 toward and away from the coupler mounting seat 2; and the axial rotation of the force transmission rod 3 relative to the buffer housing 5.

[0085] The original intention of the design of the present invention is that: due to the small vertical motion and axial rotation angle of the coupler (mostly much less than 6° in most cases), when such a swing angle occurs, the deformation of the buffer element 4 in the buffer system is very small, and the deformation does not occur in the direction with the maximum impedance force, and the influence on the change of the force in the buffer system is very small. Therefore, the monitoring of the buffer motion is mainly the monitoring of the longitudinal motion of the buffer system, and the set of mechanisms cannot affect the vertical and axial motions of the buffer when completing the measurement, otherwise the mechanism may be damaged. In order to ensure the accuracy of the measurement, the influence of the vertical and axial motions of the buffer on the measurement of the longitudinal motion of the buffer should be as small as possible.

[0086] Reference Figures 2 to 7 , the structure of the state monitoring device provided by the present invention is specifically described as follows.

[0087] The state monitoring device includes a fixed seat: including a fixed arm, and a guide rod provided on the fixed arm, and the guide rod 7 is arranged in the vertical direction.

[0088] In some embodiments of the present invention, the fixed arm includes a first fixed arm 801 and a second fixed arm 802 that are installed on the housing at intervals in the vertical direction, and the guide rod 7 is installed between the first fixed arm 801 and the second fixed arm 802. The first fixed arm 801 and the second fixed arm 802 are arranged at intervals up and down, and their structures are the same. This structure can fix the guide rod 7 more stably.

[0089] In order to facilitate the installation of the fixed arm, in some embodiments of the present invention, the first fixed arm 801 is installed on the first end face of the housing 5, and the second fixed arm 802 is installed on the second end face of the housing 5. The first end face and the second end face are two opposite end faces in the vertical direction. This structure can facilitate the installation of the fixed arm more conveniently.

[0090] The state monitoring device further includes an angle sensor assembly: the angle sensor assembly forms a relatively rotatable structure with the force transmission rod 3. At the same time, the force transmission rod 3 forms a relative position limitation on the angle sensor assembly, so that the two can only rotate relative to each other. A transfer arm mounting hole 1003 is provided on the angle sensor assembly for mounting the transfer arm 6 described later.

[0091] Among them, there can be various forms of the installation method composed of the fixed arm and the angle sensor. If the fixed arm is installed on the housing 5, the angle sensor assembly is rotatably installed on the force transmission rod 3; if the fixed arm is installed on the force transmission rod 3, the angle sensor assembly is rotatably installed on the housing 5. The above two forms can both cause relative rotation between the angle sensor assembly and the fixed arm. The relevant structures are respectively referred to Figures 1a to 1e and Figures 11a to 11f .

[0092] The state detection device further includes a transfer arm 6, which is installed at the transfer arm mounting hole 1003 of the angle sensor assembly. It is in the shape of a long plate, and a hole structure 601 is provided along its length direction. The guide rod 7 is located inside the hole structure 601. In this embodiment, the hole structure 601 is an oblong hole, and the guide rod 7 passes through the oblong hole and can move relative to each other inside the oblong hole. Based on the above structure, the transfer arm 6 can rotate with the angle sensor and rotate within the range defined by the transfer arm mounting hole 1003. The guide rod 7 can move in the length direction of the oblong hole, and the transfer arm 6 can move up and down and rotate relative to the guide rod 7.

[0093] The structure of the transfer arm 6 is specifically referred to Figure 3b , and includes a transfer arm main body 602 and a transfer arm mounting shaft 603 integrally formed with the transfer arm main body 602. The transfer arm mounting shaft 603 is located in the length extension direction of the transfer arm main body 602, and the hole structure is located on the transfer arm main body 602 and is arranged along the length direction of the transfer arm main body 602. The transfer arm mounting shaft 603 is used for rotatably installing with the angle sensor assembly so that the transfer arm 6 can rotate around the angle sensor assembly.

[0094] Taking the case where the fixed arm is installed on the housing 5 and the angle sensor assembly is installed on the force transmission rod 3 as an example, the action form of the relative movement between the fixed arm and the angle sensor assembly is described. Through the above structure, the movement of the housing 5 will be synchronously reflected on the first fixed arm 801, the second fixed arm 802 and the guide rod 7. The movement of the guide rod 7 will cause its position relative to the hole structure 601 to shift, and a force will be exerted on the transfer arm 6 through the hole structure 601. Further drive the rotation of the angle sensor assembly, and the rotation angle can be detected by the angle sensor assembly. If the fixed arm is installed on the force transmission rod 3, the principle of action is similar and will not be elaborated.

[0095] In some embodiments of the present invention, two implementation forms of the angle sensor assembly are provided.

[0096] The first implementation form is referred to Figure 3a , and the angle sensor assembly includes:

[0097] A mounting seat 9: As the bearing main body of the entire angle sensor assembly, it can be installed on the force transmission rod 3, and a mounting shaft hole is provided on the mounting seat 9;

[0098] Rotating member 10: Refer to Figure 4 , which is inserted at the installation shaft hole and can rotate relative to the installation shaft hole; a transfer arm installation hole 1003 is provided on the rotating member 10; the transfer arm installation hole 1003 is arranged along the direction parallel to the upper end surface of the mounting base 9;

[0099] Detection member 11: Refer to Figure 6 , which is fixedly installed on the mounting base 9 and is located at the installation shaft hole, and can generate an induction signal with the rotating member 10 to detect the rotation angle of the rotating member 10;

[0100] The transfer arm 6 is installed on the rotating member 10 and is inserted into the transfer arm installation hole 1003.

[0101] Through the above structure, the relative rotation of the transfer arm 6 will act on the rotating member 10, and the relative rotation angle of the rotating member 10 can be detected by the detection member 11.

[0102] In some embodiments of the present invention, the rotating member 10 is a cylinder, and the installation shaft hole of the mounting base 9 is a cylindrical hole. The rotating member 10 specifically includes a first diameter section 1001 and a second diameter section 1002. The radial dimension of the first diameter section 1001 is larger than the radial dimension of the installation shaft hole, and the radial dimension of the second diameter section 1002 is smaller than the radial dimension of the installation shaft hole; the second diameter section 1002 is inserted into the installation shaft hole, and the second diameter section 1002 is close to or in contact with the detection member 11 so that it is within the detection range of the detection member 11; the transfer arm 6 is connected to the first diameter section 1001. Through this structure, stable cooperation between the rotating member 10 and the mounting base 9 can be ensured.

[0103] The transfer arm installation hole 1003 is located in the first diameter section 1001. In this embodiment, both the first diameter section 1001 and the second diameter section 1002 are cylinders, and the transfer arm installation hole 1003 is arranged along the diameter direction of the first diameter section 1001.

[0104] In some embodiments of the present invention, a trigger member 12 is further included, refer to Figure 5, the trigger 12 is installed on the end face of the rotating member 10 on one side within the mounting shaft hole. The trigger 12 is close to or in contact with the detector 11 so as to be within the detection range of the detector 11. In order to match the structure of the rotating member 10, in the present invention, the trigger 12 is in the shape of a circular plate that matches the structure of the second diameter section 1002 of the rotating member 10. The trigger 12 can achieve better cooperation with the detector 11, and thus high-precision rotation measurement can be realized. In this embodiment, the detector 11 can be selected as an angle sensor. The position sensing element of the angle sensor is a permanent magnet chip and related detection circuits. The trigger 12 uses a position magnet and has requirements for the initial installation angle; the position sensing element is located below the trigger 12 to detect the movement of the trigger 12 along with the rotating member 10. Since the trigger 12 is a magnet, the mounting seat 9 and the rotating member 10 need to be made of non-ferromagnetic materials, such as stainless steel or aluminum alloy, etc.

[0105] To solve the installation problem between the trigger 12 and the rotating member 10, in some embodiments of the present invention, the trigger 12 and the rotating member 10 are connected by fixing bolts. Specifically, bolt holes are respectively provided corresponding to the trigger 12 and the rotating member 10, and the positions of the bolt holes of the two are opposite, and they are fixed by bolts.

[0106] In some embodiments of the present invention, a bushing 13 is further provided between the rotating member 10 and the mounting shaft hole.

[0107] The second implementation form of the angle sensor.

[0108] Different from the first implementation form, the detector 11 is fixedly installed on the rotating member 10; the trigger 12 is installed on the mounting seat. The trigger is close to or in contact with the detector so as to be within the detection range of the detector to detect the rotation of the detector.

[0109] To solve the installation problem between the angle sensor assembly and the force transmission rod 3, in some embodiments of the present invention, a clamping seat 14 is provided on the force transmission rod 3, and the mounting seat 9 is installed on the clamping seat 14.

[0110] The second implementation manner of the present invention provides a rail vehicle, including the coupler buffer system state monitoring device provided in the above first implementation manner.

[0111] The following details the specific measurement process of the state detection device provided by the present invention, referring to Figure 8a 、 Figure 8b 、 Figure 8c 、 Figure 9 and Figure 10 .

[0112] First, the realization of the basic distance measurement function is introduced.

[0113] When the coupler undergoes longitudinal movement, taking the compression movement as an example, the force transmission rod 3 compresses the buffer element 4 and deforms. The force transmission rod 3 moves in the right direction as shown in the figure, driving the angle sensor assembly fixed to the force transmission rod 3 to move to the right as shown in the figure. The front end of the transfer arm 6 is tangent to the guide rod 7, and the fixed arm is fixed to the housing 5 without movement. Therefore, the front end of the transfer arm 6 cannot move to the right. At this time, the rear end of the transfer arm 6 installed on the rotating member 10 will move to the right together with the angle sensor assembly. At the same time, the transfer arm 6 drives the rotating member 10 to rotate, and then drives the trigger member 12 to rotate relative to the detection member 11. The rotation angle corresponds one-to-one to the displacement of the force transmission rod 3. Therefore, the displacement x of the force transmission rod 3 can be calculated by detecting the rotation angle. θ0 is the initial angle of the angle sensor assembly, and θ is the angle of the angle sensor assembly after displacement. Their relationship is x = L(tanθ0 - tanθ). For details, see Figure 8c 。

[0114] Secondly, analyze whether the monitoring device will interfere with the movement of the buffer when the coupler undergoes vertical and axial movements.

[0115] When the coupler undergoes vertical movement, specifically, the coupler rotates around the vertical rotation center of the buffer. The principles of vertical upward and downward movements are the same. Taking the vertical downward movement as an example, see Figure 1c 。When the coupler moves vertically downward, due to different rotation centers, the transfer arm 6 undergoes vertical downward, longitudinal rightward, and rotational movements following the force transmission rod 3 relative to the fixed seat. For the vertical downward movement, the edge of the hole structure 601 of the transfer arm 6 rotates downward along the guide rod 7 of the fixed arm. The guide rod 7 is installed between the first fixed arm 801 and the second fixed arm 802 of the fixed arm. This structure enables the transfer arm 6 to move vertically relative to the fixed seat; for the longitudinal rightward movement, the process is the same as the process of the coupler moving longitudinally rightward above. The structure ensures that the transfer arm 6 can move longitudinally relative to the fixed seat; for the rotational movement following the force transmission rod 3, the transfer arm 6 is installed in the transfer arm mounting hole 1003 and can rotate. This structure enables the transfer arm 6 to rotate relative to the fixed seat following the force transmission rod 3. It can be seen that when the coupler undergoes vertical movement, the monitoring device will not interfere with the movement of the buffer.

[0116] When the coupler undergoes axial movement, specifically, the coupler rotates around the axial rotation center of the buffer. The principles of clockwise and counterclockwise axial movements are the same. Taking the clockwise axial movement as an example, see Figure 1e 。When the coupler rotates clockwise, due to different rotation centers, similar to the above vertical movement, the transfer arm 6 undergoes vertical, longitudinal, and rotational movements following the force transmission rod 3 relative to the fixed seat. The design of the relevant structure enables the monitoring device to move accordingly. Therefore, when the coupler undergoes axial movement, the monitoring device will not interfere with the movement of the buffer.

[0117] Next, let's take a look at the impact on the accuracy of this monitoring device during vertical and axial movements. Since the impacts of vertical and axial movements on the system accuracy are similar, the following will focus on the main vertical movement, specifically the downward vertical movement for illustration.

[0118] When the coupler is subjected to a downward force, the force transfer rod 3 compresses the buffer element 4 and deforms. The coupler deflects downward and rotates around the vertical rotation center of the buffer. The longitudinal deformation of the buffer is very small.

[0119] Looking at the system from the deviation angle caused by the rotation of the angle sensor assembly due to the rotation of the coupler: Since the movement amount (deviation amount) z caused by the downward rotation of the coupler is very small, the transfer arm 6 drives the trigger 12 to rotate relative to the detection piece 11 very little. Therefore, the resulting deviation amount is also very small, and the impact on the accuracy of the system is also very small. For model simplification, see Figure 10 , the angle of rotation of the coupler around the vertical rotation center is α, and the distance from the tangent point of the transfer arm 6 and the guide rod 7 to the vertical rotation center is R. Then, the longitudinal change amount z caused by the rotation of the coupler is z = R(1 - cosα). As mentioned above, α is much less than 6° under most working conditions. Even if α = 6°, at this time z ≈ 0.005R. It can be seen that through the structural design of this patent, the measurement deviation caused by the rotational movement of the coupler is greatly reduced. The judgment of the buffer system state is based on the long-term state rather than just the state of individual points. Therefore, the impact of the deviation caused here can be ignored.

[0120] In addition, if the vertical and axial movements of the force transfer rod 3 have a greater impact on the force of the buffer or high-precision measurement of the longitudinal movement of the coupler throughout the process is required, an angle sensor assembly can be added to the coupler to monitor the rotation angle of the force transfer rod 3 relative to the housing 5. Combining this patent and the rotation angle of the force transfer rod 3 relative to the housing 5, the state of the buffer when the force transfer rod 3 has vertical and axial movements can be monitored through corresponding calculation, statistics, machine learning and other methods.

[0121] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A state monitoring device for a multi-degree-of-freedom coupler buffer system, characterized in that, The monitoring device is adaptively installed on the coupler buffer, which includes a coupler mounting seat and a force transmission rod. A buffer element is installed at the end of the force transmission rod, and a housing is arranged outside the buffer element. The housing is pivotally connected to the coupler mounting seat; The state monitoring device includes: Fixed seat: including a fixed arm and a guide rod arranged on the fixed arm. The guide rod is arranged vertically; Angle sensor assembly: There is a transfer arm mounting hole on the angle sensor assembly; Transfer arm: Installed at the transfer arm mounting hole of the angle sensor assembly. The transfer arm can rotate with the angle sensor and rotate within the range defined by the transfer arm mounting hole; A hole structure is arranged along its length direction, and the guide rod is located within the hole structure; If the fixed arm is installed on the housing, the angle sensor assembly is rotatably installed on the force transmission rod; If the fixed arm is installed on the force transmission rod, the angle sensor assembly is rotatably installed on the housing.

2. The state monitoring device for the multi-degree-of-freedom coupler buffer system according to claim 1, characterized in that The fixed arm is installed on the housing, and the angle sensor is rotatably installed on the force transmission rod; The angle sensor assembly includes; Mounting seat: capable of being installed on the force transmission rod, and there is a mounting shaft hole on the mounting seat; Rotating part: inserted at the mounting shaft hole and can rotate relative to the mounting shaft hole. The transfer arm mounting hole is arranged on the rotating part; Detection part: fixedly installed on the mounting seat and located at the mounting shaft hole; Trigger part, the trigger part is installed on the end face of the rotating part on the side inside the mounting shaft hole. The trigger part is close to or in contact with the detection part so that it is within the detection range of the detection part to detect the rotation angle of the rotating part.

3. The state monitoring device for the multi-degree-of-freedom coupler buffer system according to claim 2, characterized in that, The rotating part includes a first diameter section and a second diameter section. The radial dimension of the first diameter section is larger than the radial dimension of the mounting shaft hole, and the radial dimension of the second diameter section is smaller than the radial dimension of the mounting shaft hole; The second diameter section is inserted into the mounting shaft hole, and the second diameter section is close to or in contact with the detection part so that it is within the detection range of the detection part; The transfer arm mounting hole is arranged on the first diameter section and is arranged along the radial direction of the first diameter section.

4. The state monitoring device for the multi-degree-of-freedom coupler buffer system according to claim 2, characterized in that, The trigger part and the rotating part are connected by a fixing bolt.

5. The state monitoring device for the multi-degree-of-freedom coupler buffer system according to claim 2 or 3, characterized in that A bushing is further arranged between the rotating part and the mounting shaft hole.

6. The state monitoring device for a multi-degree-of-freedom coupler buffer system according to claim 1, characterized in that, Further includes: The fixed arm is installed on the housing, and the angle sensor is rotatably installed on the force transmission rod; The angle sensor assembly includes; Mounting seat: capable of being installed on the force transmission rod, and there is a mounting shaft hole on the mounting seat; Rotating part: inserted at the mounting shaft hole and can rotate relative to the mounting shaft hole. The transfer arm mounting hole is arranged on the rotating part; Detection part: fixedly installed on the rotating part; Trigger part, installed on the mounting seat. The trigger part is close to or in contact with the detection part so that it is within the detection range of the detection part to detect the rotation of the detection part.

7. The state monitoring device for a multi-degree-of-freedom coupler buffer system according to claim 2 or 6, characterized in that, A clamping seat is arranged on the force transmission rod, and the mounting seat is installed on the clamping seat.

8. The state monitoring device for the multi-degree-of-freedom coupler buffer system according to claim 1, characterized in that, The fixed arm includes a first fixed arm and a second fixed arm arranged at intervals in the vertical direction. The guide rod is installed between the first fixed arm and the second fixed arm; The first fixed arm and the second fixed arm are installed on the housing or the force transmission rod.

9. The state monitoring device for the multi-degree-of-freedom coupler buffer system according to claim 8, characterized in that, The first fixed arm is mounted on the first end face of the housing, and the second fixed arm is mounted on the second end face of the housing. The first end face and the second end face are two opposite end faces.

10. An orbital vehicle, characterized in that, Comprising the multi-degree-of-freedom coupler buffer system state monitoring device according to any one of claims 1 to 9.

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