A radial bogie for actively controlling the swing of the wheel set around the central pin shaft of the side beam

Abstract

The present invention discloses a radial bogie for actively controlling the swing of a wheel set around the central pin of a side beam, which relates to the technical fields of rail transit, machinery and control. The wheel set devices are arranged on the front and rear sides of a car body structure. Central pins of the side beams are provided on one side of the wheel set devices far away from the equal-ratio lever linkage steering device. Frame fixing points are arranged at the central pins of the side beams. The equal-ratio lever linkage steering device is connected to the other side of the wheel set device. The equal-ratio lever linkage steering device is distributed on one side of the central bolster device and is slidably connected to the central bolster device through a crank. The central bolster device is connected to the central position of the car body structure through a pin. The electric control driving device is arranged between one end of the car body structure and the wheel set and is hinged to the car body structure. By adopting the above-mentioned radial bogie for actively controlling the swing of the wheel set around the central pin of the side beam, the present invention effectively reduces the complexity of mechanical design, installation and maintenance.

Description

Technical Field

[0001] The present invention relates to the technical fields of rail transit, machinery and control, and particularly relates to a radial bogie that actively controls the swing of a wheel set around the central pin of a side beam. Background Art

[0002] With the diversified development of rail technology, rail trains are increasingly widely used in the transportation field. Because of their low cost, strong adaptability, high space utilization rate, and high safety, they are not only spread all over long-distance railway transportation, but also widely used in medium- and short-distance urban rail transit.

[0003] As one of the most core components of a rail train, the bogie directly determines the stability, riding comfort and safety of the train. However, the traditional bogie has poor durability and is prone to safety hazards. Especially when the train passes through a curved path, the traditional bogie has a complex structure, which makes its manufacturing cost relatively high, and at the same time increases the difficulty and cost of maintenance. Moreover, more moving parts mean more potential failure points, seriously affecting the stability and safety of the train operation. Summary of the Invention

[0004] The purpose of the present invention is to provide a radial bogie that actively controls the swing of a wheel set around the central pin of a side beam. By applying a proportional lever linkage device, the multi-link structure of the bogie is simplified, and mechanical design improvements are made on the premise of ensuring the steering function, effectively reducing the complexity of mechanical design, installation and maintenance.

[0005] To achieve the above purpose, the present invention provides a radial bogie that actively controls the swing of a wheel set around the central pin of a side beam, including a car body structure, a wheel set device, an equal-proportion lever linkage steering device, a center bolster device, and an electric control drive device; the wheel set devices are arranged on the front and rear sides of the car body structure, side beam central pins are provided on the sides of the wheel set devices away from the equal-proportion lever linkage steering device, frame fixing points are arranged at the side beam central pins, the equal-proportion lever linkage steering device is connected to the other side of the wheel set device, the equal-proportion lever linkage steering device is distributed on one side of the center bolster device, the center bolster device is connected to the central position of the car body structure through a pin shaft, the electric control drive device is arranged between one end of the car body structure and the wheel set and is hinged to the car body structure, and the car body structure, the center bolster device and the electric control drive device are connected to the equal-proportion lever linkage steering device.

[0006] Preferably, the wheel set device includes wheel sets at both ends and support bearings arranged on the wheel sets. An axle housing is arranged outside the support bearings. A compression type buffer rubber spring is arranged on the axle housing. A base slide plate is arranged on the compression type buffer rubber spring. A lateral limit slider is arranged on the base slide plate. A grounding brush housing is arranged at one end of the base slide plate away from the wheel set. A grounding slip ring is arranged inside the grounding brush housing. A grounding brush is arranged on the upper surface of the grounding brush housing. A braking unit is arranged on the inner side of the wheel set at one end away from the grounding brush housing.

[0007] Preferably, the equal - ratio lever linkage steering device includes a wheel set force - transmitting pull rod and an equal - ratio lever. One end of the wheel set force - transmitting pull rod away from the center bolster device is connected to an axle box steering arm. One end of the axle box steering arm away from the wheel set force - transmitting pull rod is connected to the axle housing. The equal - ratio lever is parallel to the center bolster device and is respectively connected to the wheel set force - transmitting pull rod at both ends. The center position of the equal - ratio lever parallel to the center bolster device in the sedan - type structure is connected to an equal - ratio lever central shaft. The extended end of the center position of the equal - ratio lever is connected to the electric control driving device. A transmission slider is arranged above one end of the equal - ratio lever close to the center of the center bolster device. The transmission slider is slidably connected to the center bolster device.

[0008] Preferably, the center bolster device includes an air spring turntable plate and a center rotating column. A bolster sliding groove is arranged at one end of the air spring turntable plate close to the equal - ratio lever. The bolster sliding groove is slidably connected to the transmission slider. Air springs are symmetrically arranged on both sides of the center rotating column. At one side of the air spring away from the center rotating column, there are force - transmitting rod connection points symmetrically distributed around the center rotating column. The force - transmitting rod connection points are connected to a vehicle body longitudinal force - transmitting rod.

[0009] Preferably, the electric control driving device includes an electric cylinder piston rod and a servo electric cylinder. One end of the electric cylinder piston rod is connected to the proportional lever main body. The other end of the electric cylinder piston rod is connected to the servo electric cylinder. The servo electric cylinder is connected to a tail hinge seat locking mechanism. The tail hinge seat locking mechanism is connected to an electromagnet. An electromagnet power - off locking tongue tube is arranged on the electromagnet. The electromagnet is magnetically connected to an electromagnet armature. One end of an electromagnet armature connecting rod is connected to the electromagnet armature. The other end of the electromagnet armature connecting rod is connected to a wedge - block cam. A tail hinge seat slide rail is arranged beside the wedge - block cam. The fixed end of a return spring is arranged on one side of the tail hinge seat slide rail away from the wedge - block cam. The other end of the return spring is arranged on one side of the tail hinge seat slide rail close to the electromagnet armature connecting rod. The other end of the return spring is fixed at the joint activity position between the electromagnet armature connecting rod and the wedge - block cam.

[0010] Preferably, a current collector is arranged at a position between the wheel sets on the same side of the car body structure. A magnetic rail brake is arranged below the current collector and is connected to the car body structure. A linear motor stator is arranged at the bottom of the car body structure.

[0011] Preferably, the electric control driving device is connected to a controller. The controller includes a signal acquisition module and a multi-sensor information fusion module. The signal acquisition module is connected to the input end of the multi-sensor information fusion module. The output end of the multi-sensor information fusion module is connected to the input end of a wheel set radial movement pose calculation module. The output end of the wheel set radial movement pose calculation module is connected to the input end of a joint coordinated control instruction generation module. The output end of the joint coordinated control instruction generation module is connected to the input end of a control instruction communication management module. The output end of the control instruction communication management module outputs an instruction to control the electric control driving device.

[0012] Preferably, the signal acquisition module includes a bolster rotation angle sensor, a binocular vision and distance sensor group, a geographical location and track information receiver, a shaft hole slider type anti-overload force sensor, and a vehicle speed sensor. The bolster rotation angle sensor is arranged on the car body structure below the air spring turntable plate and is connected to the air spring turntable plate. Visual sensor supports are symmetrically arranged on the car body structure between the wheel sets on the same side. The binocular vision and distance sensor group is arranged on one side of the visual sensor support close to the wheel set. The geographical location and track information receiver is arranged on the visual sensor support. The shaft hole slider type anti-overload force sensor and the transmission slider are of an integrated composite structure. The vehicle speed sensor is arranged at the outer center of the wheel set.

[0013] Preferably, under normal circumstances, the controller actively controls the steering of the radial bogie. If a fault occurs in the controller, the servo electric cylinder stops working, and the tail hinge seat locking mechanism automatically releases the constraint and enters a free sliding state. By driving the center bolster device and the proportional lever device, pure mechanical drive is performed to achieve the function of forced radial steering on the track.

[0014] Preferably, when the piston rod of the electric cylinder contracts, it drives the equal-ratio lever to rotate counterclockwise around the central axis of the equal-ratio lever, the central bolster device rotates clockwise, and the lateral limit slider slides towards the side close to the central bolster device, driving the wheel set to rotate around the central pin of the side beam towards the central bolster device, realizing the left-turning function of the train; when the piston rod of the electric cylinder extends, it drives the equal-ratio lever to rotate clockwise around the central axis of the equal-ratio lever, the central bolster device rotates counterclockwise, and the lateral limit slider slides towards the side away from the central bolster device, driving the wheel set to rotate around the central pin of the side beam away from the central bolster device, realizing the right-turning function of the train.

[0015] Therefore, compared with the prior art, the active control radial bogie with the wheel set swinging around the central pin of the side beam adopting the above structure has the following beneficial effects:

[0016] 1. There is a theoretical breakthrough in the aspect of the wheel set of the radial bogie swinging around the virtual space axis. By designing the driving link, when the train passes through a curved track, the wheel set can tend to the radial direction of the curve, and the axle rotates along the curve direction. A complete and reliable bogie structure is designed to optimize the radial steering function of the existing train.

[0017] 2. By applying the proportional lever linkage device, the multi-link structure of the bogie is simplified. On the premise of ensuring the steering function, the mechanical design is improved, effectively reducing the complexity of mechanical design, installation and maintenance, and greatly saving the cost expenditure.

[0018] The technical solution of the present invention will be further described in detail below with reference to the drawings and embodiments. Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of an embodiment of the active control radial bogie with the wheel set swinging around the central pin of the side beam of the present invention;

[0020] Figure 2 It is an anatomical diagram of the structure of an embodiment of the active control radial bogie with the wheel set swinging around the central pin of the side beam of the present invention;

[0021] Figure 3 It is a general assembly drawing of the wheel set bearing of an embodiment of the active control radial bogie with the wheel set swinging around the central pin of the side beam of the present invention;

[0022] Figure 4 It is a schematic diagram of the electric control drive device of an embodiment of the active control radial bogie with the wheel set swinging around the central pin of the side beam of the present invention;

[0023] Figure 5Schematic diagram of the grounding brush of an embodiment of a radial bogie for actively controlling the swing of a wheel set around the central pin shaft of a side beam according to the present invention;

[0024] Figure 6 Schematic diagram of the left turn of a bogie of an embodiment of a radial bogie for actively controlling the swing of a wheel set around the central pin shaft of a side beam according to the present invention;

[0025] Figure 7 Schematic diagram of the right turn of a bogie of an embodiment of a radial bogie for actively controlling the swing of a wheel set around the central pin shaft of a side beam according to the present invention;

[0026] Figure 8 Control flowchart of an embodiment of a radial bogie for actively controlling the swing of a wheel set around the central pin shaft of a side beam according to the present invention;

[0027] Figure 9 Schematic diagram of an embodiment of a radial bogie for actively controlling the swing of a wheel set around the central pin shaft of a side beam according to the present invention;

[0028] Figure 10 Locking state diagram of the locking mechanism of an embodiment of a radial bogie for actively controlling the swing of a wheel set around the central pin shaft of a side beam according to the present invention;

[0029] Figure 11 Release state diagram of the locking mechanism of an embodiment of a radial bogie for actively controlling the swing of a wheel set around the central pin shaft of a side beam according to the present invention;

[0030] Reference numerals

[0031] 1. Sedan structure; 2. Wheel set device; 3. Equal - ratio lever linkage device; 4. Center bolster device; 5. Electric control drive device; 6. Current collector; 7. Magnetic rail brake; 8. Linear motor stator; 9. Center pin of side beam; 10. Frame fixed point; 21. Wheel set; 22. Support bearing; 23. Bearing seat; 24. Compression - type buffer rubber spring; 25. Base slide plate; 26. Lateral limit slider; 27. Grounding brush housing; 28. Slip ring; 29. Grounding brush; 30. Brake unit; 31. Wheel set force - transmission pull rod; 32. Equal - ratio lever; 33. Axle box steering arm; 34. Center axis of equal - ratio lever; 35. Transmission slider; 41. Air spring turntable plate; 42. Center rotating column; 43. Bolster chute; 44. Air spring; 45. Force - transmission rod connection point; 46. Vehicle body longitudinal force - transmission rod; 51. Electric cylinder piston rod; 52. Servo electric cylinder; 53. Tail hinge seat locking mechanism; 54. Electromagnet; 55. Electromagnet power - off locking tongue tube; 56. Electromagnet armature; 57. Electromagnet armature connecting rod; 58. Tail hinge seat slide rail; 59. Wedge cam; 60. Return spring; 101. Bolster rotation angle sensor; 102. Visual sensor support; 103. Binocular vision and distance sensor group; 104. Geographic location and track information receiver; 105. Axle hole slider - type anti - overload force - measuring sensor; 106. Vehicle speed sensor. Detailed implementation manners

[0032] Embodiment

[0033] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. It 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 thus should not be construed as a limitation to the present invention.

[0034] Such as Figures 1-11As shown in the figure, a radial bogie for actively controlling the swing of a wheel set around the central pin of a side beam according to the present invention includes a car body structure 1, a wheel set device 2, an equal-ratio lever linkage device 3, a center bolster device 4, and an electric control drive device 5; the wheel set device 2 is arranged on the front and rear sides of the car body structure 1, and side beam central pins are provided on the sides of the wheel set device far from the equal-ratio lever linkage steering device. Frame fixing points are arranged at the side beam central pins. The equal-ratio lever linkage device 3 is connected to the other side of the wheel set device 2. The equal-ratio lever linkage device 3 is distributed on one side of the center bolster device 4 and is slidably connected to the center bolster device 4 through a crank. The center bolster device 4 is connected to the central pin of the car body structure 1. The electric control drive device 5 is arranged between the wheel sets 21 on one side of the car body structure 1 and is fixedly connected to the car body structure 1. The car body structure 1, the center bolster device 4, and the electric control drive device 5 are connected to the equal-ratio lever linkage device 3; a current collector 6 is arranged at the position between the wheel sets 21 on the same side of the car body structure 1. A magnetic rail brake 7 is arranged below the current collector 6. The magnetic rail brake 7 is connected to the car body structure 1. A linear motor stator 8 is arranged at the bottom of the car body structure 1; when the train turns left, when the piston rod 51 of the electric cylinder contracts, it drives the equal-ratio lever 32 to rotate counterclockwise around the center axis 34 of the equal-ratio lever, the center bolster device 4 rotates clockwise, and the lateral limit slider 26 slides towards the side close to the center bolster device 4; when the train turns right, when the piston rod 51 of the electric cylinder contracts, it drives the equal-ratio lever 32 to rotate clockwise around the center axis 34 of the equal-ratio lever, the center bolster device 4 rotates counterclockwise, and the lateral limit slider 26 slides towards the side far from the center bolster device 4.

[0035] The wheel set device 2 includes wheel sets 21 at both ends and support bearings 22 arranged on the wheel sets 21. A bearing housing 23 is arranged outside the support bearings 22. A compression-type buffer rubber spring 24 is arranged on the bearing housing 23. A base slide plate 25 is arranged on the compression-type buffer rubber spring 24. A lateral limit slider 26 is arranged on the base slide plate 25. A grounding brush housing 27 is arranged at one end of the base slide plate 25 far from the wheel set 21. A grounding slip ring 28 is arranged inside the grounding brush housing 27. A grounding brush 29 is arranged on the upper surface of the grounding brush housing 27. A braking unit 30 is arranged on the inner side of the wheel set 21 at the end far from the grounding brush housing 27.

[0036] The equal - ratio lever linkage device 3 includes a wheel - set force - transmission pull rod 31 and an equal - ratio lever 32. One end of the wheel - set force - transmission pull rod 31 far from the center bolster device 4 is connected to an axle - box steering arm 33. One end of the axle - box steering arm 33 far from the wheel - set force - transmission pull rod 31 is connected to a bearing seat 23. The two ends of the equal - ratio lever 32 parallel to the center bolster device 4 are respectively connected to the wheel - set force - transmission pull rod 31. An equal - ratio lever central axis 34 is connected to the center position of the sedan - type structure 1 parallel to the equal - ratio lever 32 and the center bolster device 4. The extended end of the center position of the equal - ratio lever 32 is connected to an electric control driving device 5. Above one end of the equal - ratio lever 32 close to the center of the center bolster device 4, a transmission slider 35 is arranged, and the transmission slider 35 is slidably connected to the center bolster device 4.

[0037] The center bolster device 4 includes an air - spring turntable plate 41 and a center rotating column 42. One end of the air - spring turntable plate 41 close to the equal - ratio lever 32 is provided with a bolster sliding groove 43, and the bolster sliding groove 43 is slidably connected to the transmission slider 35. On both sides of the center rotating column 42, air - springs 44 are symmetrically arranged. On one side of the air - springs 44 far from the center rotating column 42, there are force - transmission rod connection points 45 symmetrically distributed with the center rotating column 42 as the center, and the force - transmission rod connection points 45 are connected to a car - body longitudinal force - transmission rod 46.

[0038] The electric control driving device 5 includes an electric - cylinder piston rod 51 and a servo electric cylinder 52. One end of the electric - cylinder piston rod 51 is connected to the proportional - lever main body, and the other end of the electric - cylinder piston rod 51 is connected to the servo electric cylinder 52. The servo electric cylinder 52 is connected to a tail - hinge - seat locking mechanism 53. The tail - hinge - seat locking mechanism 53 is connected to an electromagnet 54. An electromagnet power - off locking tongue tube 55 is arranged on the electromagnet 54. The electromagnet 54 is magnetically connected to an electromagnet armature 56. One end of an electromagnet - armature connecting rod 57 is connected to the electromagnet armature 56, and the other end of the electromagnet - armature connecting rod 57 is connected to a wedge - block cam 59. A tail - hinge - seat slide rail 58 is arranged beside the wedge - block cam 59. The fixed end of a return spring 60 is arranged on one side of the tail - hinge - seat slide rail 58 far from the wedge - block cam 59, and the other end of the return spring 60 is arranged on one side of the tail - hinge - seat slide rail 58 close to the electromagnet - armature connecting rod 57. The other end of the return spring 60 is fixed at the joint activity position between the electromagnet - armature connecting rod 57 and the wedge - block cam 59; when the electromagnet 54 does not attract the electromagnet armature 56, due to the basic tension of the return spring 60, the tail - hinge - seat slide rail 58 is in a locked state; when the electromagnet 54 attracts the electromagnet armature 56, the electromagnet - armature connecting rod 57 drives one end of the return spring 60 at the activity node between the two with the wedge - block cam 59 as the fixed point, so that the return spring 60 creates a gap at the tail - hinge - seat slide rail 58. At this time, the forced radial steering function of the track can be realized by operating the tail - hinge - seat slide rail 58.

[0039] The electric control drive device 5 is connected to a controller, which includes a signal acquisition module and a multi-sensor information fusion module. The signal acquisition module is connected to the input end of the multi-sensor information fusion module. The output end of the multi-sensor information fusion module is connected to the input end of the wheel set radial motion pose calculation module. The output end of the wheel set radial motion pose calculation module is connected to the input end of the joint coordination control instruction generation module. The output end of the joint coordination control instruction generation module is connected to the input end of the control instruction communication management module. The output end of the control instruction communication management module outputs an instruction to control the electric control drive device 5. The signal acquisition module includes a bolster rotation angle sensor 101, a binocular vision and distance sensor group 103, a geographical location and track information receiver 104, an axle hole slider type anti-overload force sensor 105, and a vehicle speed sensor 106. The bolster rotation angle sensor 101 is arranged on the sedan chair structure 1 below the air spring turntable plate 41 and is connected to the air spring turntable plate 41. Vision sensor supports 102 are symmetrically arranged on the sedan chair structure 1 between the same-side wheel sets 21. The binocular vision and distance sensor group 103 is arranged on the side of the vision sensor support 102 close to the wheel set 21. The geographical location and track information receiver 104 is arranged on the vision sensor support 102. The axle hole slider type anti-overload force sensor 105 and the transmission slider 35 are an integrated composite structure, which can not only realize the mechanical function of the transmission slider 35 but also realize the anti-overload detection function in the steering control system. The vehicle speed sensor 106 is arranged at the outer center of the wheel set 21.

[0040] The lateral limit slider 26 is arranged on the base slide plate 25 close to the equal ratio lever linkage device 3. The grounding brush 29 is arranged on the connecting shaft 22 close to the equal ratio lever linkage device 3. The vehicle speed sensor 106 is arranged on the wheel set 21 close to the equal ratio lever linkage device 3. Centralized arrangement can simplify the structural design, reduce the connections and interfaces between components, and reduce the overall complexity.

[0041] The actual application situation and fault response solutions of the control system mainly based on the controller are as follows:

[0042] Under normal circumstances, the controller actively controls the steering of the radial bogie. During the active control process, signals from the bolster rotation angle sensor 101, the binocular vision and distance sensor group 103, the geographical location and track information receiver 104, the axle hole slider type anti-overload force sensor 105, and the vehicle speed sensor 106 are received by the controller and the upper computer. After the signals are fused, analyzed, processed, and judged by each module in the controller, an instruction is output to control the electric control drive device 5 to realize the active radial steering function.

[0043] During the active control process, if the binocular vision, distance sensor group 103, geographic location and track information receiver 104, and vehicle speed sensor 106 malfunction, the controller and the host computer can receive the signals from the bolster rotation angle sensor 101 and the axle hole slider type anti-overload force sensor 105. After the signals are fused, analyzed, processed, and determined by each module in the controller, an instruction is output to control the electric drive device 5 to achieve the assisted radial steering function.

[0044] When the controller fails to receive the signals of all sensors or the signal acquisition module malfunctions, the servo electric cylinder 52 stops working, and the tail hinge seat locking mechanism 53 automatically releases the constraint and enters the free sliding state, and pure mechanical drive is carried out through the drive center bolster device 4 and the equal proportion lever linkage device 3 to achieve the forced radial steering function.

[0045] In the specific implementation process, to enable the train to turn within a reasonable angle range, the lateral limit slider 26 is arranged on the base slide plate 25. By determining the position of the lateral limit slider 26, the swing angle range of the wheel set is determined. One end of the wheel set force transmission rod 31 is connected to the single-sided wheel set 21 through the axle box steering arm 33, and the other end is connected to the equal proportion lever 32. Then, the equal proportion lever 32 is respectively slidably connected to the air spring turntable plate 41 through the transmission slider 35, connected to the sedan structure 1 through the equal proportion lever central axis 34, and also connected to the electric cylinder piston rod 51. When the electric cylinder piston rod 51 contracts, it drives the equal proportion lever 32 to rotate counterclockwise around the equal proportion lever central axis 34, inputs a clockwise rotation angle to the center bolster device 4, and the lateral limit slider 26 slides towards the side close to the center bolster device 4, which also drives the wheel set 21 to rotate towards the center bolster device 4 around the side beam central pin 9 to achieve the left turn function of the train. When the electric cylinder piston rod 51 extends, it drives the equal proportion lever 32 to rotate clockwise around the equal proportion lever central axis 34, inputs a counterclockwise rotation angle to the center bolster device 4, and the lateral limit slider 26 slides towards the side away from the center bolster device 4, which also drives the wheel set 21 to rotate away from the center bolster device 4 around the side beam central pin 9 to achieve the right turn function of the train.

[0046] Working principle

[0047] Using the proportional lever mechanism, the position or motion state of mechanical components is adjusted through the proportional action of the equal proportion lever, driving one side of the wheel set, achieving the swinging motion of the wheel set around the equal proportion lever central axis, and using the center bolster device to achieve the radial steering operation function of mirror swinging along the transverse plane.

[0048] Therefore, the present invention adopts a radial bogie with an active control wheel set that swings around the central pin shaft of the side beam. By applying a proportional lever linkage device, the multi-link structure of the bogie is simplified, and mechanical design improvements are made on the premise of ensuring the steering function, effectively reducing the complexity of mechanical design, installation and maintenance.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam, characterized in that: It includes a car-type structure, a wheel pair device, a proportional lever linkage steering device, a center bolster device, and an electric control drive device; the wheel pair device is arranged on the front and rear sides of the car-type structure, and a side beam center pin is arranged on the side of the wheel pair device away from the proportional lever linkage steering device, and a frame fixing point is arranged at the side beam center pin, the proportional lever linkage steering device is connected to the other side of the wheel pair device, the proportional lever linkage steering device is distributed on one side of the center bolster device, and the center bolster device is connected to the center position of the car-type structure through a pin, the electric control drive device is arranged between one end of the car-type structure and the wheel pair and is hinged to the car-type structure, and the car-type structure, the center bolster device and the electric control drive device are connected to the proportional lever linkage steering device; The wheelset device comprises a wheelset and a support bearing arranged on the wheelset, a bearing seat is arranged outside the support bearing, a base slide is arranged on the bearing seat, a transverse limit slide is arranged on the base slide, a grounding brush housing is arranged at one end of the base slide away from the wheelset, a grounding slip ring is arranged inside the grounding brush housing, a grounding brush is arranged on the upper surface of the grounding brush housing, and a brake unit is arranged on the inner side of the wheelset away from one end of the grounding brush housing; The proportional lever linkage steering device includes a wheelset force transmission rod and a proportional lever, the end of the wheelset force transmission rod away from the central rocking bolster device is connected to an axle box steering arm, the end of the axle box steering arm away from the wheelset force transmission rod is connected to the bearing seat, the two ends of the proportional lever parallel to the central rocking bolster device are respectively connected to the wheelset force transmission rod, the car-type structure and the proportional lever are connected with a proportional lever center axis parallel to the center position of the central rocking bolster device, the extended end of the center position of the proportional lever is connected to the electric control drive device, and a transmission slider is arranged above the end of the proportional lever close to the center of the central rocking bolster device, and the transmission slider is slidably connected to the central rocking bolster device.

2. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 1, characterized in that: The central rocker device includes a gas spring turntable and a central rotating column. A rocker slide groove is arranged at one end of the gas spring turntable close to the proportional lever. The rocker slide groove is slidably connected to the transmission slider. Gas springs are symmetrically arranged on both sides of the central rotating column. A force transmission rod connection symmetrically distributed around the central rotating column is arranged on the side of the gas spring away from the central rotating column. The force transmission rod connection is connected to the longitudinal force transmission rod of the vehicle body.

3. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 2, characterized in that: The electric control drive device comprises an electric cylinder piston rod and a servo electric cylinder, one end of the electric cylinder piston rod is connected to the proportional lever, the other end of the electric cylinder piston rod is connected to the servo electric cylinder, the servo electric cylinder is connected to a tail hinge seat locking mechanism, the tail hinge seat locking mechanism is connected to an electromagnet, the electromagnet is provided with an electromagnet power-off locking tongue tube, the electromagnet is magnetically connected to an electromagnet armature, the electromagnet armature is connected to one end of an electromagnet armature connecting rod, the other end of the electromagnet armature connecting rod is connected to a wedge cam, a tail hinge seat slide rail is provided next to the wedge cam, a fixed end of a return spring is provided on the side of the tail hinge seat slide rail away from the wedge cam, the other end of the return spring is provided on the side of the tail hinge seat slide rail close to the electromagnet armature connecting rod, and the other end of the return spring is fixed at the joint activity between the electromagnet armature connecting rod and the wedge cam.

4. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 3, characterized in that: The car-type structure is provided with a current collector at a position between the wheel pairs on the same side, a magnetic rail brake is provided below the current collector, the magnetic rail brake is connected to the car-type structure, and a linear motor stator is provided at the bottom of the car-type structure.

5. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 4, characterized in that: The electronically controlled drive device is connected to a controller, which includes a signal acquisition module and a multi-sensor information fusion module. The signal acquisition module is connected to the input end of the multi-sensor information fusion module, and the output end of the multi-sensor information fusion module is connected to the input end of a wheelset radial motion posture solving module. The output end of the wheelset radial motion posture solving module is connected to the input end of a joint coordinated control instruction generating module, and the output end of the joint coordinated control instruction generating module is connected to the input end of a control instruction communication management module. The output end of the control instruction communication management module outputs instructions to control the electronically controlled drive device.

6. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 5, characterized in that: The signal acquisition module includes a bolster angle sensor, a binocular vision and distance sensor group, a geographic location and track information receiver, an axle hole slider type anti-overload force sensor, and a vehicle speed sensor; the bolster angle sensor is arranged on the car-type structure below the gas spring turntable and connected to the gas spring turntable, and visual sensor supports are symmetrically arranged on the car-type structure between the wheelsets on the same side, the binocular vision and distance sensor group is arranged on the side of the visual sensor support close to the wheelset, the geographic location and track information receiver is arranged on the visual sensor support, the axle hole slider type anti-overload force sensor and the transmission slider are an integrated composite structure, and the vehicle speed sensor is arranged at the outer center of the wheelset.

7. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 6, characterized in that: Under normal circumstances, the steering of the radial bogie is actively controlled by the controller. If the controller fails, the servo electric cylinder stops working, the tail hinge seat locking mechanism automatically releases the constraint and enters a free sliding state, and the center rocker device and the proportional lever linkage steering device are driven purely mechanically to realize the track forced radial steering function.

8. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 7, characterized in that: When the piston rod of the electric cylinder contracts, it drives the proportional lever to rotate counterclockwise around the central axis of the proportional lever, and the central rocking device rotates clockwise, and the transverse limit slider slides toward the side close to the central rocking device, driving the wheelset to rotate around the central pin axis of the side beam toward the central rocking device, thereby realizing the left turning function of the train; when the piston rod of the electric cylinder extends, it drives the proportional lever to rotate clockwise around the central axis of the proportional lever, and the central rocking device rotates counterclockwise, and the transverse limit slider slides toward the side away from the central rocking device, driving the wheelset to rotate around the central pin axis of the side beam away from the central rocking device, thereby realizing the right turning function of the train.

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