Control device and control method for pantograph lifting device

Abstract

The present invention discloses a control device and a control method for a lifting device of a current collector, including a control device. The control device is used to control a first driving member and a second driving member, so that when the current collector lifting shoe ascends, the time when the first driving member contacts the crank is earlier than the time when the sliding plate contacts the power supply rail; the control device is further used to control the first driving member to retract after the second driving member releases the four-bar linkage. Due to the adoption of the above technical solution, compared with the prior art, the present invention can make the crank be resisted by the first driving member before the sliding plate contacts the power supply rail, so as to prevent the sliding plate from directly hitting the power supply rail; after the second driving member releases the four-bar linkage, the first driving member is controlled to retract. At this time, the four-bar linkage slowly rotates towards the lifting shoe direction under the combined action of the first elastic member and the first driving member, so that the sliding plate slowly moves towards the power supply rail and contacts it, thereby completing the lifting of the shoe, avoiding the sliding plate from violently hitting the power supply rail, not generating noise, and improving the product life.

Description

Technical Field

[0001] The present invention relates to the field of railway vehicle equipment, and particularly to a control device and a control method for a pantograph lifting device. Background Art

[0002] A pantograph, also known as a current collector shoe, is a device installed on a railway vehicle to dynamically draw electricity for the railway vehicle to meet the power demand of the vehicle. When in use, a pantograph lifting device is required to perform the operations of lifting and lowering the pantograph. The Chinese patent application with the publication number CN107054098A discloses a pantograph lifting device. This device realizes the lifting of a four-bar linkage mechanism through the cooperation of a first cylinder, a second cylinder, a first elastic member, a second elastic member, and a limiting member, and thus realizes the operations of lifting and lowering the pantograph. Its disadvantages are as follows: During the pantograph lifting process, after the four-bar linkage mechanism breaks free from the restraint of the limiting member, it will accelerate towards the power supply rail under the action of the first elastic member, resulting in a violent impact of the slide plate on the four-bar linkage mechanism against the power supply rail, which will not only generate noise but also reduce the product life. Summary of the Invention

[0003] To solve the problem that the slide plate on the existing pantograph lifting device violently impacts the power supply rail in the background art, thereby reducing the product life, the present invention provides a pantograph control device, and the specific technical solution is as follows.

[0004] A control device for a pantograph lifting device includes a four-bar linkage mechanism capable of driving the pantograph to lift, a first driving member capable of driving the crank of the four-bar linkage mechanism to rotate in the direction of lowering the pantograph, a first elastic member having an elastic force for driving the crank to rotate in the direction of lifting the pantograph, a limiting member capable of limiting the four-bar linkage mechanism in the lowered position, a second elastic member having an elastic force for locking the four-bar linkage mechanism in the limiting member, and a second driving member for driving the limiting member to release the four-bar linkage mechanism. The control device also includes a control unit, which is used to control the first driving member and the second driving member so that when the pantograph is lifted, the first driving member contacts the crank earlier than the slide plate contacts the power supply rail; the control unit is also used to control the first driving member to retract after the second driving member releases the four-bar linkage mechanism.

[0005] The present invention improves a lifting device for a current collector disclosed in a Chinese invention patent application with publication number CN107054098A. The first driving member and the second driving member are controlled by a control device so that when the current collector is lifted, the first driving member contacts the crank earlier than the time when the slide plate contacts the power supply rail, so that before the slide plate contacts the power supply rail, the crank is supported by the first driving member to prevent the slide plate from directly hitting the power supply rail; after the second driving member releases the four-bar mechanism, the first driving member is controlled to retract. At this time, the four-bar mechanism slowly rotates in the lifting direction under the joint action of the elastic force of the first elastic member and the first driving member, so that the slide plate slowly moves toward and contacts the power supply rail, thereby completing the lifting, avoiding the slide plate from violently hitting the power supply rail, not generating noise, and improving the product life.

[0006] Specifically, when the current collector is lifted, the control device controls the first driving member to extend, and after a delay of a first preset time, controls the second driving member to extend.

[0007] The above scheme is a scheme that enables the first driving member to contact the crank earlier than the slide plate to contact the power supply rail when the current collector is lifted.

[0008] Specifically, when the current collector is lifted, the control device controls the first driving member and the second driving member to extend simultaneously, and the stroke of the piston rod of the first driving member to reach the crank is smaller than the stroke of the piston rod of the second driving member to reach the limit member.

[0009] The above scheme is another scheme for ensuring that when the current collector is lifted, the time when the first driving member contacts the crank is earlier than the time when the slide plate contacts the power supply rail.

[0010] Specifically, when the current collector is lifted, the control device controls the first driving member and the second driving member to extend simultaneously, and the extension speed of the first driving member is greater than the extension speed of the second driving member.

[0011] The above scheme is another scheme for ensuring that when the current collector is lifted, the time when the first driving member contacts the crank is earlier than the time when the slide plate contacts the power supply rail.

[0012] Specifically, the first driving member is a first cylinder, and the second driving member is a second cylinder; the control device includes a first solenoid valve, a second solenoid valve, a shuttle valve, a one-way throttle valve, a one-way exhaust valve, and a throttle valve. The inflation device is respectively connected to the intake ends of the first solenoid valve and the second solenoid valve. The outlet end of the first solenoid valve is connected to the first intake end of the shuttle valve. The outlet end of the second solenoid valve is connected to the second intake end of the shuttle valve and the intake end of the throttle valve. The outlet end of the throttle valve is connected to the intake end of the second cylinder; the outlet end of the shuttle valve is respectively connected to the intake end of the one-way throttle valve and the outlet end of the one-way exhaust valve. The outlet end of the one-way throttle valve and the intake end of the one-way exhaust valve are both connected to the intake end of the first cylinder; the defined flow rate of the one-way throttle valve is greater than the defined flow rate of the throttle valve.

[0013] Thus, when the second solenoid valve is connected, gas enters the first cylinder through the one-way throttle valve, causing the first cylinder to extend; at the same time, gas also enters the second cylinder through the throttle valve, causing the second cylinder to extend. By controlling the defined flow rate of the one-way throttle valve to be greater than the defined flow rate of the throttle valve, the extension speed of the first driving member is made greater than the extension speed of the second driving member, so that the first driving member contacts the crank earlier than the second driving member releases the four-bar linkage; after the second cylinder releases the four-bar linkage, the gas in the first cylinder is discharged through the one-way exhaust valve, and the first cylinder retracts. At this time, the four-bar linkage slowly rotates towards the lifting shoe direction under the combined action of the elastic force of the first elastic member and the first driving member, causing the slide plate to slowly move towards and contact the power supply rail, thereby completing the lifting of the shoe, avoiding the slide plate from violently hitting the power supply rail, not generating noise, and improving the product life.

[0014] Based on the same inventive concept, the present invention also provides a control method for a lifting device of a current collector. The lifting device of the current collector includes a four-bar linkage capable of driving the current collector to lift, a first driving member capable of driving the crank of the four-bar linkage to rotate towards the lowering shoe direction, a first elastic member having an elastic force for driving the crank to rotate towards the lifting shoe direction, a limiting member capable of limiting the four-bar linkage in the lowering shoe position, a second elastic member having an elastic force for locking the four-bar linkage in the limiting member, and a second driving member for driving the limiting member to release the four-bar linkage;

[0015] The control method includes the following steps:

[0016] S1. When the current collector lifts the shoe, control the first driving member to contact the crank earlier than the slide plate contacts the power supply rail;

[0017] S2. After the second driving member releases the four-bar linkage, control the first driving member to retract.

[0018] The present invention improves a lifting device for a current collector disclosed in a Chinese patent application with the publication number CN107054098A. By controlling the first driving member and the second driving member, when the current collector lifting shoe ascends, the time when the first driving member contacts the crank is earlier than the time when the sliding plate contacts the power supply rail, so that before the sliding plate contacts the power supply rail, the crank is resisted by the first driving member, preventing the sliding plate from directly hitting the power supply rail; after the second driving member releases the four-link mechanism, the first driving member is controlled to retract. At this time, the four-link mechanism slowly rotates towards the lifting shoe under the combined action of the elastic force of the first elastic member and the first driving member, causing the sliding plate to slowly move towards the power supply rail and contact it, thus completing the lifting of the shoe, avoiding the sliding plate from violently hitting the power supply rail, not generating noise, and improving the product life.

[0019] Preferably, S1 specifically includes the following steps: controlling the first driving member to extend, and after delaying for a first preset time, controlling the second driving member to extend.

[0020] The above solution is a solution for the time when the first driving member contacts the crank to be earlier than the time when the sliding plate contacts the power supply rail when the current collector lifting shoe ascends.

[0021] Preferably, S1 specifically includes the following steps: controlling the first driving member and the second driving member to extend simultaneously, and the stroke of the piston rod of the first driving member reaching the crank is less than the stroke of the piston rod of the second driving member reaching the limiting member.

[0022] The above solution is another solution for the time when the first driving member contacts the crank to be earlier than the time when the sliding plate contacts the power supply rail when the current collector lifting shoe ascends.

[0023] Preferably, S1 specifically includes the following steps: controlling the first driving member and the second driving member to extend simultaneously, and the extending speed of the first driving member is greater than the extending speed of the second driving member.

[0024] The above solution is another solution for the time when the first driving member contacts the crank to be earlier than the time when the sliding plate contacts the power supply rail when the current collector lifting shoe ascends.

[0025] Preferably, the extending speed of the first driving member is made greater than the extending speed of the second driving member by the following control method:

[0026] When the current collector lifting shoe ascends, the second solenoid valve in the control device is opened, the one-way throttle valve is opened, the one-way exhaust valve is closed, and the limiting flow rate of the one-way throttle valve is made greater than the limiting flow rate of the throttle valve;

[0027] After the second cylinder releases the four-link mechanism, the one-way throttle valve is closed and the one-way exhaust valve is opened;

[0028] The control device includes a first solenoid valve, a second solenoid valve, a shuttle valve, a one-way throttle valve, a one-way exhaust valve and a throttle valve. The inflation device is connected to the air inlet ends of the first solenoid valve and the second solenoid valve respectively, the air outlet end of the first solenoid valve is connected to the first air inlet end of the shuttle valve, the air outlet end of the second solenoid valve is connected to the second air inlet end of the shuttle valve and the air inlet end of the throttle valve, and the air outlet end of the throttle valve is connected to the air inlet end of the second cylinder; the air outlet end of the shuttle valve is connected to the air inlet end of the one-way throttle valve and the air outlet end of the one-way exhaust valve respectively, and the air outlet end of the one-way throttle valve and the air inlet end of the one-way exhaust valve are both connected to the air inlet end of the first cylinder; the limited flow rate of the one-way throttle valve is greater than the limited flow rate of the throttle valve; the first driving member is the first cylinder, and the second driving member is the second cylinder.

[0029] Thus, when the second solenoid valve is connected, the gas enters the first cylinder through the one-way throttle valve, so that the first cylinder extends; at the same time, the gas also enters the second cylinder through the throttle valve, so that the second cylinder extends, and by controlling the limited flow rate of the one-way throttle valve to be greater than the limited flow rate of the throttle valve, the extension speed of the first driving member is greater than the extension speed of the second driving member, so that the time when the first driving member contacts the crank is earlier than the time when the second driving member releases the four-bar linkage; after the second cylinder releases the four-bar linkage, the gas in the first cylinder is discharged through the one-way exhaust valve, and the first cylinder retracts. At this time, the four-bar linkage slowly rotates in the direction of the shoe lifting under the joint action of the elastic force of the first elastic member and the first driving member, so that the slide plate slowly moves toward and contacts the power rail, thereby completing the shoe lifting, avoiding the slide plate from violently hitting the power rail, not generating noise, and improving the product life. When the current collector lowers the shoe, the first solenoid is turned on, the one-way throttle valve is turned on, the one-way exhaust valve is closed, and the gas reaches the first cylinder through the one-way throttle valve, so that the first cylinder extends, and the shoe lowering is completed.

[0030] Due to the adoption of the above technical scheme, compared with the prior art, the present invention controls the first driving member and the second driving member so that when the current collector lifts the shoe, the time when the first driving member contacts the crank is earlier than the time when the slide plate contacts the power supply rail, so that before the slide plate contacts the power supply rail, the crank is supported by the first driving member to prevent the slide plate from directly hitting the power supply rail; after the second driving member releases the four-bar mechanism, the first driving member is controlled to retract, and at this time, the four-bar mechanism slowly rotates in the direction of the shoe lifting under the joint action of the first elastic member and the first driving member, so that the slide plate slowly moves toward and contacts the power supply rail, thereby completing the shoe lifting, avoiding the slide plate from violently hitting the power supply rail, not generating noise, and improving product life. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 – Figure 3It is a schematic structural diagram of an existing current collector lifting device;

[0032] Figure 4 It is a schematic structural diagram of a control device in an embodiment of the present invention.

[0033] In the figure: the first elastic member 1, the four-bar linkage 2, the first driving member 3, the first piston rod 31, the second driving member 4, the second piston rod 41, the second elastic member 5, the locking hook 6, the crank 7, the sliding plate 8, the power supply rail 9, the bottom plate 10, the positioning shaft 11, the first solenoid valve 12, the second solenoid valve 13, the shuttle valve 14, the one-way throttle valve 15, the one-way exhaust valve 16, the throttle valve 17, the twisting protrusion 21, and the driven twisting protrusion 22. Detailed implementation manners

[0034] The present invention will be further described in detail below with reference to the accompanying drawings.

[0035] Embodiment 1

[0036] As Figures 1 - 3 shown, a current collector lifting device includes a bottom plate 1, a four-bar linkage 2 capable of driving the current collector to lift, and the frame of the four-bar linkage 2 is arranged on the bottom plate 10; a first driving member 3 capable of driving the crank 7 of the four-bar linkage 2 to rotate in the direction of lowering the shoe; a first elastic member 1 having an elastic force for driving the crank 7 to rotate in the direction of lifting the shoe, one end of the first elastic member 1 is arranged on the bottom plate 10, and the other end is connected to the crank 7; a limiting member capable of limiting the four-bar linkage 2 in the lowered shoe position; a second elastic member 5 having an elastic force for locking the four-bar linkage 2 in the limiting member, one end of the second elastic member 5 is fixed, and the other end is connected to the limiting member; and a second driving member 4 capable of driving the limiting member to release the four-bar linkage 2.

[0037] When it is necessary to lower the shoe, the first driving member 3 is used to drive the crank 7 of the four-bar linkage 2 to rotate in the direction of lowering the shoe (i.e., Figure 3 the counterclockwise direction in Figure 1 and 2 ), at this time the first elastic member 1 is deformed by force; when it rotates to the lowered shoe position, the four-bar linkage 2 is locked in the limiting member and remains in the locked position under the elastic force of the second elastic member 5, as Figure 3 shown, thereby realizing the lowering of the current collector; when it is necessary to lift the shoe, the driving force of the first driving member 3 is released, and the second driving member 4 is used to overcome the elastic force of the second elastic member 5, thereby driving the limiting member to release the four-bar linkage 2. In this way, under the elastic restoring force of the first elastic member 1, the crank 7 rotates back to the lifted shoe position and returns to the state as

[0038] Specifically, a twisting protrusion 21 is fixedly connected to the rotating shaft of the crank 7, and the first driving member 3 has a first piston rod 31 capable of driving the twisting protrusion 21 to twist in the direction of lowering the boot. The linear motion of the first piston rod 31 drives the twisting protrusion 21 to twist, thereby realizing the counterclockwise rotation of the crank 7. Since the lever arm of the twisting protrusion 21 is relatively long, the driving force required is reduced. Of course, the first driving member 3 can also adopt other structures, such as a motor, so that the rotating shaft of the motor directly drives the crank 7 to rotate. The first driving member 3 can be a cylinder or an electric push rod, etc.

[0039] Specifically, the first elastic member 1 is a first spring, and the axis of the first spring is parallel to the axis of the first telescopic drive shaft. The elastic force of the spring is relatively large, which can ensure better stability of raising the boot. Of course, the above-mentioned first elastic member 1 can also be a torsion spring sleeved on the rotating shaft of the crank 7, etc.

[0040] In this pantograph lifting device, a driven twisting protrusion 22 is fixedly connected to the rotating shaft of the crank 7, and the first spring is connected to the driven twisting protrusion 22. As Figure 1 shown, when the drive shaft of the lowering boot cylinder extends, it pushes the twisting protrusion 21 to move to the right. At this time, the driven twisting protrusion 22 is also moved to the right, thereby stretching the first spring; when the drive shaft of the lowering boot cylinder retracts, the retraction force of the first spring can drive the driven twisting protrusion 22 to drive the twisting protrusion 21 to return together. The above structure enables the first spring and the lowering boot cylinder to be connected to the driven twisting protrusion 22 and the twisting protrusion 21 respectively, facilitating the arrangement of the structure. Of course, the above-mentioned driven twisting protrusion 22 can also not be provided, and the axial length of the twisting protrusion 21 can be increased so that the first spring is directly connected to the twisting protrusion 21 to achieve the same effect of the first spring being directly linked to the twisting protrusion 21.

[0041] In order to facilitate the locking of the four-bar linkage 2, a positioning shaft 11 is provided on the connecting rod of the four-bar linkage 2, and the limiting member can lock the positioning shaft 11. The top connecting rod is locked by locking the positioning shaft 11 with the limiting member, thereby realizing the locking of the four-bar linkage 2. The above-mentioned positioning shaft 11 can also be arranged on the connecting rod of the four-bar linkage 2. The above-mentioned four-bar linkage 2 may not be provided with the above-mentioned positioning shaft 11, and positioning protrusions or positioning clamping plates etc. can be provided on the four-bar linkage 2. The limiting member is a locking hook 6, the bottom end of the locking hook 6 is hinged on the bottom plate 10, and the top end can hook the positioning shaft 11. Under the action of the second elastic member, the device locks the positioning shaft 11 through the locking hook 6, and drives the locking hook 6 to rotate around its bottom hinge point through the second driving member 4, so as to release the positioning shaft 11. Of course, the above-mentioned limiting member can also be a clamping plate arranged in the horizontal direction, so that the elastic force of the second elastic member pulls the above-mentioned clamping plate downward in the vertical direction, thereby realizing the same effect of locking the positioning shaft. The second elastic member 5 is a second spring, and the second spring is connected to the middle of the locking hook 6. Of course, the above-mentioned second elastic member 5 can also be a spring piece or a torsion spring sleeved on the hinge shaft at the bottom end of the locking hook 6, etc.

[0042] The second driving member 4 has a second piston rod 41 that can drive the locking hook 6 to rotate in the direction of releasing the positioning shaft 11. The linear motion of the second piston rod 41 drives the locking hook 6 to rotate in the direction of releasing the positioning shaft 11, that is, Figure 3 the clockwise direction in, so that the locking hook 6 releases the constraint on the positioning shaft 11. Of course, the second driving member 4 can also adopt other structures, such as a motor, so that the rotating shaft of the motor directly drives the locking hook 6 to rotate. The second driving member 4 is a cylinder, and the end of the second spring away from the locking hook 6 is fixed on the unlocking cylinder. Alternatively, the above-mentioned second driving member 4 can also be an electric push rod, etc.

[0043] The control device proposed by the present invention is an improvement on the above-mentioned current collector lifting device. By controlling the first driving member 3 and the second driving member 4, when the current collector lifting shoe is lifted, the time when the first driving member 3 contacts the crank 7 is earlier than the time when the slide plate 8 contacts the power supply rail 9; after the second driving member 4 releases the four-bar linkage 2, the control device controls the first driving member 3 to retract.

[0044] A specific implementation solution disclosed in this embodiment is: a control device, when the current collector lifting shoe is lifted, the control device controls the first piston rod 31 of the first driving member 3 to extend, and after delaying for a first preset time, controls the second piston rod 41 of the second driving member 4 to extend, and then after the second driving member 4 releases the four-bar linkage 2, controls the first piston rod 31 to retract. The first preset time can be set according to the actual situation, as long as it meets the condition that when the current collector lifting shoe is lifted, the time when the first driving member contacts the crank is earlier than the time when the slide plate 8 contacts the power supply rail 9, and its specific value can be obtained through a limited number of experiments.

[0045] The first driving member 3 and the second driving member 4 can be either electric push rods or cylinders or other controllable driving mechanisms. The control methods and delay control means for the first driving member 3 and the second driving member 4 are all conventional technical means in the art and will not be specifically described in this embodiment.

[0046] Embodiment 2

[0047] Another specific implementation solution disclosed in this embodiment is: when the current collector lifting shoe is lifted, the control device controls the first piston rod 31 of the first driving member 3 and the second piston rod 41 of the second driving member 4 to extend simultaneously, and the stroke of the first piston rod 31 reaching the crank 7 is less than the stroke of the second piston rod 41 reaching the limiting member. The specific implementation method is to set the distance between the first driving member 3 and the crank 7 to be less than the distance between the second driving member 4 and the limiting member.

[0048] Embodiment 3

[0049] Another specific implementation solution disclosed in this embodiment is: when the current collector lifting shoe is lifted, the control device controls the first piston rod 31 of the first driving member 3 and the second piston rod 41 of the second driving member 4 to extend simultaneously, and the extending speed of the first piston rod 31 is greater than the extending speed of the second piston rod 41. The specific implementation method can be to use a driving mechanism with a controllable extending speed, such as an electric push rod. The speed control method of the driving mechanism with a controllable extending speed is a conventional technique in the art and will not be specifically described in this embodiment.

[0050] Embodiment 4

[0051] This embodiment discloses a control device capable of making the first piston rod 31 of the first driving member 3 and the second piston rod 41 of the second driving member 4 extend simultaneously, and the extending speed of the first piston rod 31 is greater than the extending speed of the second piston rod 41.

[0052] Such as Figure 4As shown, the first driving member 3 is a first cylinder, and the second driving member 4 is a second cylinder. The control device includes a first solenoid valve 12, a second solenoid valve 13, a shuttle valve 14, a one-way throttle valve 15, a one-way exhaust valve 16, and a throttle valve 17. The air outlet end of the first solenoid valve 12 is connected to the first air inlet end of the shuttle valve 14. The air outlet end of the second solenoid valve 13 is connected to the second air inlet end of the shuttle valve 14 and the air inlet end of the throttle valve 17. The air outlet end of the throttle valve 17 is connected to the air inlet end of the second driving member 4. The air outlet end of the shuttle valve 14 is respectively connected to the air inlet end of the one-way throttle valve 15 and the air outlet end of the one-way exhaust valve 16. The air outlet end of the one-way throttle valve 15 and the air inlet end of the one-way exhaust valve 16 are both connected to the air inlet end of the first driving member 3. The defined flow rate of the one-way throttle valve 15 is greater than the defined flow rate of the throttle valve 17.

[0053] When the current collector lifting shoe is lifted, the second solenoid valve 13 is opened, the one-way throttle valve 15 is opened, and the one-way exhaust valve 16 is closed. One path of gas reaches the first driving member 3 through the one-way throttle valve 15, causing the first piston rod 31 to extend. At the same time, another path of gas reaches the second driving member 4 through the throttle valve 17, causing the second piston rod 41 to extend. By controlling the one-way throttle valve 15 and the throttle valve 17, the defined flow rate of the one-way throttle valve 15 is greater than the defined flow rate of the throttle valve 17, so that the extending speed of the first piston rod 31 is greater than the extending speed of the second piston rod 41. After the second driving member 4 releases the four-link mechanism 2, the one-way throttle valve 15 is closed, the one-way exhaust valve 16 is opened, and the gas in the first driving member 3 is discharged through the one-way exhaust valve 16, and the first piston rod 3 retracts. At this time, the four-link mechanism 2 slowly rotates towards the lifting shoe direction under the combined action of the first elastic member and the first driving member 3, so that the slide plate 8 slowly moves towards the power supply rail 9 and contacts it, thus completing the lifting of the shoe.

[0054] When the current collector lowering shoe is lowered, the first solenoid valve 12 is opened, the one-way throttle valve 15 is opened, and the one-way exhaust valve 16 is closed. The gas reaches the first driving member 3 through the one-way throttle valve 15, causing the first piston rod 31 to extend, and thus the lowering of the shoe can be completed.

[0055] Embodiment 5

[0056] A control method for a lifting device of a current collector includes the following steps:

[0057] S1. When the current collector lifting shoe is lifted, control the first driving member to contact the crank earlier than the slide plate contacts the power supply rail;

[0058] S2. After the second driving member releases the four-link mechanism, control the first driving member to retract.

[0059] A specific method of the S1 can be: controlling the first driving member to extend, and after delaying for a first preset time, controlling the second driving member to extend.

[0060] Another specific method of the S1 can also be: controlling the first driving member and the second driving member to extend simultaneously, and the stroke of the piston rod of the first driving member reaching the crank is less than the stroke of the piston rod of the second driving member reaching the limiting member.

[0061] Another specific method of the S1 can further be: controlling the first driving member and the second driving member to extend simultaneously, and the extending speed of the first driving member is greater than the extending speed of the second driving member.

[0062] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control device for a lifting device of a current collector, comprising a four-bar linkage capable of driving the current collector to lift, a first driving member capable of driving the crank of the four-bar linkage to rotate towards the lowering shoe direction, a first elastic member having an elastic force for driving the crank to rotate towards the raising shoe direction, a limiting member capable of limiting the four-bar linkage at the lowering shoe position, a second elastic member having an elastic force for locking the four-bar linkage in the limiting member, and a second driving member for driving the limiting member to release the four-bar linkage, characterized in that: It further includes a control device which is used to control the first driving member and the second driving member to extend simultaneously, and the stroke of the piston rod of the first driving member reaching the crank is less than the stroke of the piston rod of the second driving member reaching the limiting member, so that when the current collector lifting shoe ascends, after the piston rod of the first driving member extends a certain stroke, it contacts the crank, and the crank is resisted by the first driving member, making the time when the first driving member contacts the crank earlier than the time when the slide plate contacts the power supply rail, so as to prevent the slide plate from directly hitting the power supply rail. Subsequently, after the piston rod of the second driving member extends a certain stroke, it drives the limiting member to release the four-bar linkage. After the release, the first driving member is controlled to retract, so that the four-bar linkage slowly rotates towards the lifting shoe direction under the combined action of the first elastic member and the first driving member, making the slide plate slowly move towards the power supply rail and contact it.

2. A control method for a lifting device of a current collector, the lifting device of the current collector including a four-bar linkage capable of driving the current collector to lift, a first driving member capable of driving the crank of the four-bar linkage to rotate towards the lowering shoe direction, a first elastic member having an elastic force for driving the crank to rotate towards the lifting shoe direction, a limiting member capable of limiting the four-bar linkage at the lowering shoe position, a second elastic member having an elastic force for locking the four-bar linkage in the limiting member, and a second driving member for driving the limiting member to release the four-bar linkage; The control method includes the following steps: S1. Control the first driving member and the second driving member to extend simultaneously, and the stroke of the piston rod of the first driving member reaching the crank is less than the stroke of the piston rod of the second driving member reaching the limiting member, so that when the current collector lifting shoe ascends, after the piston rod of the first driving member extends a certain stroke, it contacts the crank, and the crank is resisted by the first driving member, making the time when the first driving member contacts the crank earlier than the time when the slide plate contacts the power supply rail, so as to prevent the slide plate from directly hitting the power supply rail; S2. After the piston rod of the second driving member extends a certain stroke, drive the limiting member to release the four-bar linkage. After the release, control the first driving member to retract, so that the four-bar linkage slowly rotates towards the lifting shoe direction under the combined action of the first elastic member and the first driving member, making the slide plate slowly move towards the power supply rail and contact it.

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