An automatic control system and method for a telescoping hook buffer

Abstract

The present application relates to a kind of telescopic hook buffer device automatic control system and method, for car hook control.Control system includes locking electric cylinder, telescopic electric cylinder, mechanical car hook unhooking electric cylinder, electric car hook telescopic electric cylinder and controller, wherein telescopic electric cylinder and locking electric cylinder are all installed on the telescopic rod of mechanical car hook, unhooking electric cylinder is arranged at the hook head of mechanical car hook, electric car hook telescopic electric cylinder is arranged on electric car hook, sensor is mounted on each electric cylinder for detecting the state of electric cylinder, controller acquires each sensor state, and with each electric cylinder communication, output control signal to electric cylinder;The present application realizes the full-automatic control of the whole process such as mechanical car hook telescopic, locking, link, unhooking and electric car hook telescopic, link etc., action is simple and clear, omit car end fixed device, car hook swing stop etc., solve the problem that part of tram has no gas path power source, meet the requirement of narrow space under car.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of rail transit, and particularly relates to an automatic control system and method for a telescopic coupler device. BACKGROUND

[0002] The coupler device is located at the two ends of a train. In order to achieve the purpose of rescue or reconnection, the coupler needs to meet certain length requirements. However, in some cases, the space at the front end of the train body is limited. In order to save the installation space of the coupler and take into account the aesthetics of the train, the coupler device of a tram is generally designed to be telescopic or foldable, so that the coupler device can be in a folded state or retracted state and hidden in the opening and closing mechanism when the train is not in operation, and only when the coupler is needed in the rescue working condition, the coupler can be straightened and used. The conventional foldable coupler or telescopic coupler is currently manually operated, and the following problems mainly exist:

[0003] (1) The state of the coupler is not intuitive and the operability is poor. Since the installation height of the coupler of a tram is generally low, the center line distance of the coupler of some 100% low-floor models is less than 500 mm from the rail surface, and the coupler is generally located below the opening and closing mechanism. When the opening and closing mechanism is turned up and opened, the coupler is in a folded or retracted state, which is far away from the operator and the hand of the operator cannot easily touch it, and the specific position of the coupler cannot be visually observed. The perception of the state of the coupler is poor, the operation space is limited, and the operability is poor.

[0004] (2) The foldable coupler device needs to be designed with a vehicle end fixing device and an associated structure such as a coupler swing stopper, which makes the space checking and installation and debugging under the vehicle more complex and difficult to achieve full automatic control. Moreover, the foldable coupler device has two rotating shafts (i.e. a coupler tail pin rotating shaft and a rotating shaft at the folding joint), has high degrees of freedom, and usually needs to be configured with a stopper and other structures under the vehicle to prevent the coupler from swinging and colliding with the equipment under the vehicle when the coupler is in a folded state. In the case of two rotating shafts of the coupler, the left and right swing angles of the coupler and the coupler front and rear rod included angle will affect the position of the coupler body. When designing the position of the fixing device and the fixing point of the coupler body, the interference situation needs to be repeatedly checked, which is time-consuming and laborious, and it is also difficult to achieve full automatic straightening of the coupler in the folded state by pneumatic or electric drive.

[0005] (3) Some trams of some models do not have a gas power source, and cannot achieve the actions of telescoping and electric coupler pushing out of the coupler device of a conventional motor train or subway train by pneumatic means. SUMMARY

[0006] In order to solve the above problems, the present application provides an automatic control system and method for a telescopic coupler device, which realizes the automatic control of the state monitoring and the whole process of telescoping, locking, connecting, uncoupling and other actions of the coupler device through the cooperation of electric drive design and state sensor layout design.

[0007] To achieve the above object, the technical scheme adopted by the present application is:

[0008] An automatic control system of a telescopic coupler device is provided for controlling a coupler, the coupler comprising a mechanical coupler, the mechanical coupler comprising a telescopic rod and a coupler head mounted on the telescopic rod, the control system comprising:

[0009] A telescopic cylinder, the cylinder body of which is mounted on the fixed end of the telescopic rod, and the cylinder rod of which is mounted on the telescopic end of the telescopic rod, the telescopic cylinder being provided with a telescopic cylinder straight position sensor for sensing a signal that the mechanical coupler is extended to a position, and a telescopic cylinder retraction position sensor for sensing a signal that the mechanical coupler is retracted to a position;

[0010] A locking cylinder, which is fixedly connected to the telescopic rod and used for locking the position of the mechanical coupler, the locking cylinder being provided with a locking cylinder locking position sensor for sensing a signal that the locking cylinder is locked, and a locking cylinder unlocking position sensor for sensing a signal that the locking cylinder is unlocked;

[0011] A controller, which is in communication with the telescopic cylinder straight position sensor, the telescopic cylinder retraction position sensor, the locking cylinder locking position sensor, and the locking cylinder unlocking position sensor, collects signals of the sensors, communicates with the telescopic cylinder and the locking cylinder, and outputs control signals for the telescopic cylinder and the locking cylinder, the controller being further configured to generate a locking control signal for the locking cylinder according to feedback signals of the telescopic cylinder straight position sensor and the telescopic cylinder retraction position sensor, and generate an extension control signal and a retraction control signal for the telescopic cylinder according to a feedback signal of the locking cylinder unlocking position sensor.

[0012] In some embodiments of the present application, the coupler head is further provided with a mechanical coupler uncoupling cylinder for driving the mechanical coupler to uncouple, the mechanical coupler uncoupling cylinder being provided with a mechanical coupler uncoupling position sensor for sensing a signal that the mechanical coupler is uncoupled to a position, and a mechanical coupler uncoupling retraction position sensor for sensing a signal that the mechanical coupler uncoupling cylinder is reset;

[0013] The controller is further in communication with the mechanical coupler uncoupling position sensor and the mechanical coupler uncoupling retraction position sensor, collects signals of the sensors, communicates with the mechanical coupler uncoupling cylinder, and outputs a control signal for the mechanical coupler uncoupling cylinder, the controller being further configured to generate a retraction control signal for the mechanical coupler uncoupling cylinder according to a feedback signal of the mechanical coupler uncoupling position sensor.

[0014] In some embodiments of the present application, the coupler head of the mechanical coupler is provided with a mechanical coupler main shaft, and the mechanical coupler main shaft is provided with a mechanical coupler main shaft position sensor for sensing a signal that the mechanical coupler main shaft is in a position;

[0015] The controller further communicates with the mechanical coupler main shaft position sensor, collects the sensor signal, and determines the coupling state of the coupler based on the state of the main shaft sensor.

[0016] In some embodiments of the present application, the mechanical coupler has a mechanical coupler coupling surface, and a mechanical coupler coupling surface sensor is installed on the mechanical coupler coupling surface to sense the signal that the mechanical coupler coupling surface is coupled in place.

[0017] The controller further communicates with the mechanical coupler coupling surface sensor to collect the sensor signal, and is further configured to generate an unlocking control signal for the locking cylinder based on the feedback signal of the mechanical coupler coupling surface sensor and the state signal of the coupling surface sensor.

[0018] In some embodiments of the present application, further comprising an electrical coupler, an electrical coupler telescopic cylinder is arranged on the electrical coupler to drive the electrical coupler to extend or retract, an electrical coupler extension position sensor is arranged on the electrical coupler telescopic cylinder to sense the signal that the electrical coupler is extended in place, and an electrical coupler retraction position sensor is arranged to sense the signal that the electrical coupler is retracted in place.

[0019] The controller further communicates with the electrical coupler extension position sensor and the electrical coupler retraction position sensor to collect the sensor signals, and communicates with the electrical coupler telescopic cylinder to output the control signal for the electrical coupler telescopic cylinder.

[0020] The controller is further configured to generate an extension control signal for the electrical coupler telescopic cylinder based on the feedback signal of the mechanical coupler coupling surface sensor, and to generate an extension control signal for the uncoupling cylinder of the mechanical coupler based on the feedback signal of the electrical coupler retraction position sensor.

[0021] Some embodiments of the present application further provide an automatic control method for a telescopic coupler buffer device, comprising the following steps:

[0022] An instruction to couple is issued.

[0023] The locking cylinder is controlled to be unlocked.

[0024] The unlocking state of the locking cylinder is detected, and when it is detected that the locking cylinder is unlocked, the telescopic cylinder is controlled to extend, and the extension position of the telescopic cylinder is detected.

[0025] When it is detected that the telescopic cylinder is extended in place, the locking cylinder is controlled to be locked.

[0026] The locking state of the locking cylinder is detected, and when it is detected that the locking cylinder is locked, the two mechanical couplers are controlled to be coupled.

[0027] An uncoupling instruction is issued.

[0028] The locking cylinder is controlled to be unlocked.

[0029] detecting the unlocking state of the locking cylinder, when detecting that the locking cylinder is unlocked, controlling the retracting of the telescopic cylinder, and detecting the retracting position of the telescopic cylinder;

[0030] when detecting that the telescopic cylinder is retracted to the position, controlling the locking of the locking cylinder.

[0031] In some embodiments of the present application, after the uncoupling instruction is issued, the controlling of the locking cylinder to unlock further comprises the following steps:

[0032] controlling the extension of the mechanical car hook uncoupling cylinder, and detecting the position of the mechanical car hook uncoupling cylinder;

[0033] when detecting that the mechanical car hook is uncoupled to the position, controlling the mechanical car hook uncoupling cylinder to perform a reset action, and detecting the position of the mechanical car hook uncoupling cylinder;

[0034] In some embodiments of the present application, the following steps are further included: detecting the position of the main shaft of the mechanical car hook, and judging the coupling state of the mechanical car hook according to the position of the main shaft of the mechanical car hook.

[0035] In some embodiments of the present application, the following steps are further included:

[0036] after the two mechanical car hooks are coupled, detecting the coupling state of the coupling surface of the mechanical car hook, and judging whether the coupling surface of the mechanical car hook is coupled to the position;

[0037] after the uncoupling instruction is issued, controlling the separation of the coupling surface of the two mechanical car hooks, and detecting the coupling state of the coupling surface of the mechanical car hook, and judging whether the coupling surface of the mechanical car hook is separated to the position;

[0038] when detecting that the coupling surface of the mechanical car hook is separated to the position, controlling the locking cylinder to unlock.

[0039] In some embodiments of the present application, the following steps are further included:

[0040] when detecting that the coupling surface of the mechanical car hook is coupled to the position, controlling the extension of the electrical car hook telescopic cylinder, and detecting the extension position of the electrical car hook;

[0041] after the uncoupling instruction is issued, controlling the retracting of the electrical car hook telescopic cylinder, and detecting the retracting position of the electrical car hook;

[0042] when detecting that the electrical car hook is retracted to the position, controlling the mechanical car hook uncoupling cylinder to perform an extension action.

[0043] The present application has the following beneficial effects:

[0044] 1、The present application controls the car hook to perform extension, locking, coupling and uncoupling actions through the cylinder, without the need for air power, effectively solving the problem of the lack of air power source for the full-automatic car hook buffer device of the tram;

[0045] 2、The present application monitors the state of each part of the coupler and draft gear device in real time through multiple electrical signal sensors, the state of the coupler is more intuitive, and each part state signal can be input as a signal of the next action of the coupler and draft gear device, which is beneficial to realize full-automatic control of the coupler and draft gear device;

[0046] 3、The present application realizes control and state monitoring of the action function of the coupler and draft gear device by adopting the design of combining electrical driving elements with sensors, which can realize full-automatic control of the extension, locking, coupling and uncoupling actions of the coupler and draft gear device, and can also realize non-conventional driving control through the train control room, so that the operation of the coupler and draft gear device is more simple and automatic.

[0047] 4、The telescopic coupler and draft gear device adopted by the present application omits the car end fixing device and the car understructure such as the swing stop of the coupler, thereby saving the coupler installation space. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, specific embodiments of the present application will be described in detail below with reference to the drawings, and other drawings can also be obtained by those of ordinary skill in the art without creative labor on the premise that the drawings are not attached.

[0049] Figure 1 It is a structural schematic diagram of the telescopic coupler and draft gear device.

[0050] Figure 2 It is a structural schematic diagram of the electrical coupler part of the telescopic coupler and draft gear device.

[0051] Figure 3 It is a control flow chart of the automatic control system.

[0052] Among them, the reference signs are:

[0053] 1, locking electric cylinder; 11, locking electric cylinder locking position sensor; 12, locking electric cylinder unlocking position sensor;

[0054] 2, telescopic electric cylinder; 21, telescopic electric cylinder straight position sensor; 22, telescopic electric cylinder retraction position sensor;

[0055] 3, mechanical coupler main shaft; 31, mechanical coupler main shaft position sensor;

[0056] 4, mechanical coupler coupling surface; 41, mechanical coupler coupling surface sensor;

[0057] 5, telescopic electric cylinder of electrical coupler; 51, electrical coupler extension position sensor; 52, electrical coupler retraction position sensor;

[0058] 6, mechanical coupler uncoupling electric cylinder; 61, mechanical coupler uncoupling to position sensor; 62, mechanical coupler uncoupling back position sensor;

[0059] 7. Telescopic rod

[0060] 8. Hook head

[0061] 9. Electric car coupler DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and explained below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application. Based on the embodiments provided by the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0063] It should be noted that the terms used herein are only intended to describe specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0064] The embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0065] The technical solutions of the present application are described in detail below in combination with specific embodiments and the drawings of the specification.

[0066] Embodiment 1

[0067] The telescopic hook buffer device automatic control system provided by the embodiments of the present application is used for car coupler control, the car coupler includes a mechanical car coupler, the mechanical car coupler includes a telescopic rod 7 and a hook head 8 installed on the telescopic rod 7, as shown in the accompanying drawings, the control system includes a telescopic electric cylinder 2, a locking electric cylinder 1 and a controller, since the controller is arranged in the vehicle system, it is not shown in the figure. Figure 1 - The accompanying drawings Figure 2 As shown in the figure, the control system includes a telescopic electric cylinder 2, a locking electric cylinder 1 and a controller, since the controller is arranged in the vehicle system, it is not shown in the figure.

[0068] Among them, the cylinder body of the telescopic electric cylinder 2 is installed at the fixed end of the telescopic rod 7 of the mechanical car coupler, the cylinder rod of the telescopic electric cylinder 2 is installed at the telescopic end of the telescopic rod 7, the telescopic electric cylinder 2 is provided with a telescopic electric cylinder straight position sensor 21 for sensing the mechanical car coupler extended to the position signal, and a telescopic electric cylinder retracted position sensor 22 for sensing the mechanical car coupler retracted to the position signal;

[0069] The locking cylinder 1 is fixedly connected to the telescopic rod 7, and is used for locking the position of the mechanical car hook. The locking cylinder 1 rotates the locking block inside the telescopic rod 7 through a connecting rod mechanism to ensure that the telescopic rod 7 does not retract when the mechanical car hook is pressed. The locking cylinder 1 is provided with a locking cylinder locking position sensor 11 for sensing a locking cylinder locking signal, and a locking cylinder unlocking sensor 12 for sensing a locking cylinder unlocking signal. The telescopic cylinder extension position sensor 21, the telescopic cylinder retraction position sensor 22, the locking cylinder locking position sensor 11, and the locking cylinder unlocking position sensor 12 are all position sensors.

[0070] The controller communicates with the telescopic cylinder extension position sensor 21, the telescopic cylinder retraction position sensor 22, the locking cylinder locking position sensor 11, and the locking cylinder unlocking sensor 12, and collects signals of the sensors. The controller communicates with the telescopic cylinder 2 and the locking cylinder 1, and outputs a control signal for the telescopic cylinder 2 and a control signal for the locking cylinder 1. The controller is further configured to generate a locking control signal for the locking cylinder 1 according to feedback signals of the telescopic cylinder extension position sensor 21 and the telescopic cylinder retraction position sensor 22, and generate an extension control signal and a retraction control signal for the telescopic cylinder 2 according to a feedback signal of the locking cylinder unlocking position sensor 12.

[0071] Specifically, after the controller receives a coupling instruction, the locking cylinder 1 is controlled to be unlocked, and a signal of the locking cylinder unlocking position sensor 12 is collected. An extension control signal for the telescopic cylinder 2 is generated according to a feedback signal of the locking cylinder unlocking position sensor 12, the telescopic cylinder 2 is driven to extend, and a signal of the telescopic cylinder extension position sensor 21 is collected. A locking control signal for the locking cylinder 1 is generated according to a feedback signal of the telescopic cylinder extension position sensor 21. After the controller receives an uncoupling instruction, the telescopic cylinder 2 is controlled to retract, and a signal of the telescopic cylinder retraction position sensor 22 is collected. A locking control signal for the locking cylinder 1 is generated according to a feedback signal of the telescopic cylinder retraction position sensor 22.

[0072] In the above-mentioned illustrative embodiment, the telescopic hook buffer device automatic control system can monitor the states of the locking cylinder 1 and the telescopic cylinder 2 through sensors, and determine whether to perform the extension of the telescopic cylinder 2 and the locking, unlocking operations of the locking cylinder 1 according to the state information, so as to realize full-automatic control of the extension and retraction of the mechanical car hook in the telescopic hook buffer device.

[0073] In order to drive the mechanical coupler uncoupling, in some embodiments of the present application, the hook head 8 of the mechanical coupler is further provided with a mechanical coupler uncoupling cylinder 6 for driving the mechanical coupler uncoupling; the mechanical coupler uncoupling cylinder 6 is arranged on the hook head 8 of the mechanical coupler, which can solve the problem of the tramcar without air path power source, and can also participate in the automatic control of the coupler. The mechanical coupler uncoupling cylinder 6 is further provided with a mechanical coupler uncoupling in-place sensor 61 for the mechanical coupler uncoupling in-place signal, and a mechanical coupler uncoupling return sensor 62 for sensing the mechanical coupler uncoupling cylinder reset signal; the mechanical coupler uncoupling in-place sensor 61 and the mechanical coupler uncoupling return sensor 62 are both position sensors.

[0074] The controller further communicates with the mechanical coupler uncoupling in-place sensor 61 and the mechanical coupler uncoupling return sensor 62 to collect the sensor signals, communicates with the mechanical coupler uncoupling cylinder 6 to output the control signal of the mechanical coupler uncoupling cylinder 6, and is further configured to generate the retraction control signal of the mechanical coupler uncoupling cylinder 6 according to the feedback signal of the mechanical coupler uncoupling in-place sensor 61.

[0075] Specifically, after the controller receives the uncoupling instruction, the mechanical coupler uncoupling cylinder 6 is controlled to perform the extension action to drive the mechanical coupler uncoupling, and the mechanical coupler uncoupling in-place sensor 61 signal is collected, and the retraction control signal of the mechanical coupler uncoupling cylinder 6 is generated according to the feedback signal of the mechanical coupler uncoupling in-place sensor 61.

[0076] In order to realize the coupling of two mechanical couplers, in some embodiments of the present application, the hook head 8 of the mechanical coupler is provided with a mechanical coupler main shaft 3, and the mechanical coupler main shaft 3 is provided with a mechanical coupler main shaft position sensor 31 for sensing the mechanical coupler main shaft position signal; the controller further communicates with the mechanical coupler main shaft position sensor 31 to collect the sensor signal, and judges the coupling state of the mechanical coupler based on the state of the mechanical coupler main shaft position sensor 31.

[0077] Specifically, the mechanical coupler main shaft 3 has two position states of an initial position and an uncoupling position, when the mechanical coupler main shaft 3 is located at the initial position, the mechanical coupler is in a coupling state or a waiting state, and when the mechanical coupler main shaft 3 is located at the uncoupling position, the mechanical coupler is in an uncoupling state.

[0078] In some embodiments of the present application, the mechanical coupler has a mechanical coupler coupling surface 4, and the mechanical coupler coupling surface 4 is provided with a mechanical coupler coupling surface sensor 41 for sensing the mechanical coupler coupling surface coupling in-place signal; the mechanical coupler coupling surface sensor 41 is a position sensor.

[0079] The controller is further in sensing communication with the mechanical coupler hook connecting surface sensor 41 to collect sensor signals; the controller is further configured to generate an unlocking control signal for the locking cylinder 1 according to the feedback signal of the mechanical coupler hook connecting surface sensor 41 and based on the state signal of the mechanical coupler hook connecting surface sensor 41.

[0080] In order to realize the electrical connection of the two coupler hooks, in some embodiments of the present application, the control system further comprises an electrical coupler hook 9, and an electrical coupler hook telescopic cylinder 5 is arranged on the electrical coupler hook 9 to drive the electrical coupler hook 9 to extend or retract; an electrical coupler hook extension position sensor 51 for sensing the electrical coupler hook extension to position signal and an electrical coupler hook retraction position sensor 52 for sensing the electrical coupler hook retraction to position signal are arranged on the electrical coupler hook telescopic cylinder 5; the electrical coupler hook extension position sensor 51 and the electrical coupler hook retraction position sensor 52 are both position sensors.

[0081] The controller is further in sensing communication with the electrical coupler hook extension position sensor 51 and the electrical coupler hook retraction position sensor 52 to collect sensor signals; in communication with the electrical coupler hook telescopic cylinder 5 to output a control signal for the electrical coupler hook telescopic cylinder 5; the controller is further configured to generate an extension control signal for the electrical coupler hook telescopic cylinder 5 according to the feedback signal of the mechanical coupler hook connecting surface sensor 41 and to generate an extension control signal for the coupler hook uncoupling cylinder 6 according to the feedback signal of the electrical coupler hook retraction position sensor 52.

[0082] Specifically, when the controller receives the coupler hook connecting surface connecting to position signal, it generates an extension control signal for the electrical coupler hook telescopic cylinder 5 to drive the electrical coupler hook 9 to extend and connect, collects the electrical coupler hook extension position sensor 51 signal to determine whether the electrical coupler hook 9 has extended to position; when the controller receives the uncoupling instruction, it generates a retraction control signal for the electrical coupler hook telescopic cylinder 5 to drive the electrical coupler hook 9 to retract and uncouple, and collects the electrical coupler hook retraction position sensor 52 signal to determine the electrical coupler hook retraction state; when the electrical coupler hook 9 is detected to have retracted to position, an extension control signal for the coupler hook uncoupling cylinder 6 is generated to control the mechanical coupler hook to uncouple.

[0083] In order to smoothly realize full-automatic control of various functions of the coupler hook, the relevant states and actions are defined, and the states and actions of the coupler buffer device are defined as shown in Table 1.

[0084] Table 1: States and actions of parts of the coupler buffer device

[0085]

[0086] As shown in Table 1 and the accompanying Figure 3 The control process of the automatic control system of the present application is as follows:

[0087] When the initial state, the locking cylinder 1 is extended state, the retraction state of the mechanical coupler is locked, the locking cylinder locking signal is fed back to the controller; telescopic cylinder 2 is retracted state, and the telescopic cylinder retracted to the bit signal is fed back to the controller; mechanical coupler unhooking cylinder 6 is retracted state, the mechanical coupler unhooking cylinder reset signal is fed back to the controller; the mechanical coupler spindle 3 is located in the initial position, the spindle initial position signal is fed back to the controller; the mechanical coupler connecting surface 4 is in the separation state, the mechanical coupler connecting surface 4 separation signal is fed back to the controller; the electrical coupler telescopic cylinder 5 is retracted state, the electrical coupler 9 is retracted and closed, and the electrical coupler retracted to the bit signal is fed back to the controller.

[0088] When the coupler needs to be extended and connected, press the connecting button, the locking cylinder 1 executes the retraction action, releases the locking of the telescopic rod 7, and feeds back the locking cylinder unlocking signal; after the controller receives the locking cylinder unlocking signal, the telescopic cylinder 2 executes the extension action, and feeds back the telescopic cylinder extension to the bit signal to the controller after extending to the bit; after the controller receives the telescopic cylinder extension to the bit signal, the locking cylinder 1 executes the extension action, locks the extension state of the telescopic rod 7, and feeds back the locking cylinder locking signal to the controller; after the controller receives the locking cylinder locking signal, the two mechanical couplers are connected, the mechanical coupler connecting surface sensor 41 feeds back the mechanical coupler connecting surface connection to the bit signal to the controller after the two mechanical couplers are connected; after the controller receives the mechanical coupler connecting surface connection to the bit signal, it checks the signals of each sensor, ensures that the signals of each sensor are correct, controls the extension action of the two electrical coupler telescopic cylinders 5, the electrical coupler 9 is extended and connected, and feeds back the electrical coupler connection to the bit signal to the controller, at this time, the coupler extension and connection process is completed.

[0089] When the coupler needs to be uncoupled and retracted, the main control vehicle presses the uncoupling button, the electrical couplers 9 of the two vehicles are uncoupled, the electrical coupler retraction cylinder executes the retracting action, after the electrical couplers 9 are retracted, the electrical coupler retraction to position signal is fed back to the controller; after the controller receives the electrical coupler retraction to position signal, the mechanical coupler uncoupling operation is performed, the mechanical coupler uncoupling cylinder 6 executes the extending action, the mechanical coupler main shaft 3 is pushed to the uncoupling position, the mechanical coupler uncoupling to position signal is fed back to the controller, after the controller receives the mechanical coupler uncoupling to position signal, the mechanical coupler uncoupling cylinder 6 executes the retracting action, after being retracted to the position, the mechanical coupler uncoupling cylinder reset signal is fed back to the controller; after the controller receives the mechanical coupler uncoupling cylinder reset signal, the train separation is controlled, at this time, the mechanical coupler connecting surface 4 is separated, and the mechanical coupler connecting surface separation signal is fed back to the controller; after the controller receives the mechanical coupler connecting surface separation signal, the locking cylinder 1 executes the retracting action, after the locking cylinder 1 is unlocked, the locking cylinder unlocking signal is fed back to the controller; after the controller receives the locking cylinder unlocking signal, the telescopic cylinder 2 executes the retracting action, after the telescopic cylinder 2 is retracted, the telescopic cylinder retraction to position signal is fed back to the controller; after the controller receives the telescopic cylinder retraction to position signal, the locking cylinder 1 executes the extending action, after the locking cylinder 1 is locked, the locking cylinder locking signal is fed back to the controller, at this time, the coupler uncoupling and retracting process is completed, and the coupler buffer device returns to the initial state.

[0090] Embodiment 2:

[0091] The application further provides an automatic control method of the telescopic coupler buffer device, which comprises the following steps:

[0092] The connecting instruction is issued;

[0093] The locking cylinder 1 is unlocked;

[0094] The unlocking state of the locking cylinder 1 is detected, when it is detected that the locking cylinder 1 is unlocked, the telescopic cylinder 2 is controlled to extend, and the extension position of the telescopic cylinder 2 is detected;

[0095] When it is detected that the telescopic cylinder 2 extends to the position, the locking cylinder 1 is controlled to be locked;

[0096] The locking state of the locking cylinder 1 is detected, when it is detected that the locking cylinder 1 is locked, the two mechanical couplers are controlled to be connected;

[0097] The uncoupling instruction is issued;

[0098] The locking cylinder 1 is unlocked;

[0099] The unlocking state of the locking cylinder 1 is detected, when it is detected that the locking cylinder 1 is unlocked, the telescopic cylinder 2 is controlled to retract, and the retraction position of the telescopic cylinder 2 is detected;

[0100] When it is detected that the telescopic cylinder 2 is retracted to the position, the locking cylinder 1 is controlled to be unlocked.

[0101] In some embodiments of the present application, after the uncoupling instruction is issued, the following step is further included before the locking cylinder 1 is controlled to be unlocked:

[0102] The mechanical coupler uncoupling cylinder 6 is controlled to be extended, and the position of the mechanical coupler uncoupling cylinder 6 is detected; when it is detected that the mechanical coupler uncoupling cylinder 6 is extended to the position, the mechanical coupler uncoupling cylinder 6 is controlled to perform a reset action, and the position of the mechanical coupler uncoupling cylinder 6 is detected.

[0103] In some embodiments of the present application, the following step is further included:

[0104] The position of the mechanical coupler main shaft 3 is detected, and the coupling state of the mechanical coupler is determined according to the position of the mechanical coupler main shaft 3; when the mechanical coupler main shaft 3 is located at the initial position, the mechanical coupler is in the coupled state or the to-be-coupled state, and when the mechanical coupler main shaft 3 is located at the uncoupling position, the mechanical coupler is in the uncoupled state.

[0105] In some embodiments of the present application, the following step is further included:

[0106] After the two mechanical couplers are coupled, the coupling state of the mechanical coupler coupling surface 4 is detected, and it is determined whether the mechanical coupler coupling surface 4 is coupled to the position;

[0107] After the uncoupling instruction is issued, the two mechanical coupler coupling surfaces 4 are controlled to be separated, and it is determined whether the two mechanical coupler coupling surfaces 4 are separated to the position;

[0108] When it is detected that the mechanical coupler coupling surface 4 is separated to the position, the locking cylinder 1 is controlled to be unlocked.

[0109] In some embodiments of the present application, the following step is further included:

[0110] After the coupling instruction is issued, the mechanical coupler is controlled to be extended and coupled, and when it is detected that the mechanical coupler coupling surface 4 is coupled to the position, the electrical coupler telescopic cylinder 5 is controlled to be extended, and the position of the electrical coupler 9 is detected;

[0111] After the uncoupling instruction is issued, the electrical coupler telescopic cylinder 5 is controlled to be retracted, and the position of the electrical coupler 9 is detected; when it is detected that the electrical coupler 9 is retracted to the position, the mechanical coupler uncoupling cylinder 6 is controlled to perform an extension action to uncouple the mechanical coupler.

[0112] In the following, the execution process of the control method is described in combination with the complete coupling and uncoupling process of the mechanical coupler and the electrical coupler.

[0113] The controller issues a coupling instruction;

[0114] After receiving the coupling instruction, the locking cylinder 1 is controlled to be unlocked;

[0115] The unlocking state of the locking cylinder 1 is detected according to the state fed back by the locking cylinder unlocking position sensor 12, when it is detected that the locking cylinder 1 is unlocked, the controller issues a control instruction to the telescopic cylinder 2, controls the telescopic cylinder 2 to extend, and then controls the telescopic rod 7 to extend, and detects the extension position of the telescopic cylinder 2;

[0116] The extension state of the telescopic cylinder 2 is detected according to the state of the telescopic cylinder extension position sensor 21, when it is detected that the telescopic cylinder 2 is extended to the position, it is judged that the telescopic rod 7 has been extended to the position at this time, the requirement of the mechanical car hook connection is met, the controller issues a control instruction to the locking cylinder 1, and controls the locking cylinder 1 to lock;

[0117] The locking state of the locking cylinder 1 is detected according to the state fed back by the locking cylinder locking position sensor 11, when it is detected that the locking cylinder 1 is locked, the two mechanical car hooks are connected;

[0118] The controller issues a hook release instruction;

[0119] The locking cylinder 1 is unlocked;

[0120] The unlocking state of the locking cylinder 1 is detected according to the state fed back by the locking cylinder unlocking position sensor 12, when it is detected that the locking cylinder 1 is unlocked, the controller issues a control instruction to the telescopic cylinder 2, controls the telescopic cylinder 2 to retract, and detects the retraction position of the telescopic cylinder 2 according to the state of the telescopic cylinder retraction position sensor 22;

[0121] When it is detected that the telescopic cylinder 2 is retracted to the position, the locking cylinder 1 is locked.

[0122] In some embodiments of the present application, after the hook release instruction is issued, before the locking cylinder 1 is unlocked, the following steps are further included:

[0123] The mechanical car hook release cylinder 6 is controlled to extend, the position of the mechanical car hook release cylinder 6 is detected according to the state of the mechanical car hook release to position sensor 61, when it is detected that the mechanical car hook is released to the position, the controller issues a reset instruction to the mechanical car hook release cylinder 6, controls the mechanical car hook release cylinder 6 to perform a reset action, and detects the position of the mechanical car hook release cylinder 6.

[0124] In some embodiments of the present application, the following steps are further included:

[0125] The position of the mechanical car hook main shaft 3 is detected, and the connection state of the mechanical car hook is judged according to the position of the mechanical car hook main shaft 3, when the mechanical car hook main shaft 3 is located at the initial position, the mechanical car hook is in the connected state or the waiting state, and when the mechanical car hook main shaft 3 is located at the hook release position, the mechanical car hook is in the hook release state.

[0126] In some embodiments of the present application, the following steps are further included:

[0127] After the two mechanical couplers are connected, the connection state of the mechanical coupler connection surface 4 is detected according to the state of the mechanical coupler connection surface sensor 41, and it is determined whether the mechanical coupler connection surface 4 is connected in place; when the mechanical coupler connection surface sensor 41 feeds back a detection signal meeting the condition, it indicates that the two mechanical couplers have approached and are connected;

[0128] After the uncoupling instruction is issued, the two mechanical coupler connection surfaces 4 are controlled to separate, the connection state of the two mechanical coupler connection surfaces 4 is detected according to the state of the mechanical coupler connection surface sensor 41, and it is determined whether the mechanical coupler connection surface 4 is separated in place; when the detection signal of the mechanical coupler connection surface sensor 41 is lost, it indicates that the two mechanical couplers have been separated;

[0129] When it is detected that the mechanical coupler connection surface 4 is separated in place, the controller issues an unlocking instruction to the locking electric cylinder 1, and controls the locking electric cylinder 1 to unlock.

[0130] In some embodiments of the present application, the following steps are further included:

[0131] After the connection instruction is issued, the mechanical coupler is controlled to extend and connect, and when it is detected that the mechanical coupler connection surface 4 is connected in place, the controller issues a control instruction to the electric coupler extension and retraction electric cylinder 5, controls the electric coupler extension and retraction electric cylinder 5 to extend, and detects the extension position of the electric coupler 9;

[0132] After the uncoupling instruction is issued, the electric coupler extension and retraction electric cylinder 5 is controlled to retract, and the retraction position of the electric coupler 9 is detected; when it is detected that the electric coupler 9 is retracted in place, the mechanical coupler uncoupling electric cylinder 6 is controlled to perform an extension action, and the mechanical coupler is uncoupled.

[0133] Finally, it should be noted that: the embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to.

[0134] The above embodiments are only used to illustrate the technical solutions of the present application but not to limit it; although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the specific embodiments of the present application can be modified or some technical features can be replaced by equivalent ones; without departing from the spirit of the technical solutions of the present application, they should be covered in the technical solution range of the present application.

Claims

1. A retractable drawbar automatic control system for car coupler control, characterized by, The car coupler comprises a mechanical car coupler, the mechanical car coupler comprises a telescopic rod and a hook head mounted on the telescopic rod, and the control system comprises: a telescopic electric cylinder, a cylinder body of which is mounted on a fixed end of the telescopic rod, and a cylinder rod of which is mounted on a telescopic end of the telescopic rod, the telescopic electric cylinder is provided with a telescopic electric cylinder straight position sensor for sensing a signal that the mechanical car coupler is extended to a position, and a telescopic electric cylinder retraction position sensor for sensing a signal that the mechanical car coupler is retracted to a position; a locking electric cylinder, which is fixedly connected to the telescopic rod and is used for locking a position of the mechanical car coupler, the locking electric cylinder is provided with a locking electric cylinder locking position sensor for sensing a signal that the locking electric cylinder is locked, and a locking electric cylinder unlocking position sensor for sensing a signal that the locking electric cylinder is unlocked; a mechanical car coupler uncoupling electric cylinder, which is arranged on the hook head and is used for driving the mechanical car coupler to be uncoupled, the mechanical car coupler uncoupling electric cylinder is provided with a mechanical car coupler uncoupling position sensor for sensing a signal that the mechanical car coupler is uncoupled to a position, and a mechanical car coupler uncoupling reset sensor for sensing a signal that the mechanical car coupler uncoupling electric cylinder is reset; a controller, which is in sensing communication with the telescopic electric cylinder straight position sensor, the telescopic electric cylinder retraction position sensor, the locking electric cylinder locking position sensor, the locking electric cylinder unlocking position sensor, the mechanical car coupler uncoupling position sensor and the mechanical car coupler uncoupling reset sensor, collects signals of the sensors, is in communication with the telescopic electric cylinder, the locking electric cylinder and the mechanical car coupler uncoupling electric cylinder, and outputs a control signal for the telescopic electric cylinder, a control signal for the locking electric cylinder and a control signal for the mechanical car coupler uncoupling electric cylinder, the controller is further configured to generate a locking control signal for the locking electric cylinder according to feedback signals of the telescopic electric cylinder straight position sensor and the telescopic electric cylinder retraction position sensor, generate an extension control signal and a retraction control signal for the telescopic electric cylinder according to a feedback signal of the locking electric cylinder unlocking position sensor, and generate a retraction control signal for the mechanical car coupler uncoupling electric cylinder according to a feedback signal of the mechanical car coupler uncoupling position sensor.

2. An automatic control system for a telescoping hook suspension device according to claim 1, characterized in that, The hook head of the mechanical car coupler is provided with a mechanical car coupler main shaft, and the mechanical car coupler main shaft is provided with a mechanical car coupler main shaft position sensor for sensing a signal that the mechanical car coupler main shaft is in a position; the controller is further in sensing communication with the mechanical car coupler main shaft position sensor, collects a sensor signal, and judges a car coupler coupling state based on a state of the mechanical car coupler main shaft sensor.

3. The automatic control system for a telescoping hook guard apparatus according to claim 1, wherein The mechanical car coupler has a mechanical car coupler coupling surface, and the mechanical car coupler coupling surface is mounted with a mechanical car coupler coupling surface sensor for sensing a signal that the mechanical car coupler coupling surface is coupled to a position; the controller is further in sensing communication with the mechanical car coupler coupling surface sensor, collects a sensor signal, and is further configured to generate an unlocking control signal for the locking electric cylinder according to a feedback signal of the mechanical car coupler coupling surface sensor and based on a state signal of the mechanical car coupler coupling surface sensor.

4. The automatic control system for a telescoping hook guard apparatus according to claim 3, wherein Further comprising an electric car hook, the electric car hook is provided with an electric car hook telescopic cylinder for driving the electric car hook to extend or retract; the electric car hook telescopic cylinder is provided with an electric car hook extension position sensor for sensing the electric car hook extension to position signal, and an electric car hook retraction position sensor for sensing the electric car hook retraction to position signal; The controller further communicates with the electric car hook extension position sensor and the electric car hook retraction position sensor to collect the sensor signals, and communicates with the electric car hook telescopic cylinder to output the control signal of the electric car hook telescopic cylinder; The controller is further configured to generate the extension control signal of the electric car hook telescopic cylinder according to the feedback signal of the mechanical car hook coupling surface sensor, and generate the extension control signal of the mechanical car hook uncoupling cylinder according to the feedback signal of the electric car hook retraction position sensor.

5. A method for automatically controlling a telescopic hook suspension, using the automatic control system according to any one of claims 1 to 4, characterized in that The method comprises the following steps: Issue a coupling instruction; Control the locking cylinder to unlock; Detect the unlocking state of the locking cylinder, and when detecting that the locking cylinder is unlocked, control the telescopic cylinder to extend, and detect the extension position of the telescopic cylinder; When detecting that the telescopic cylinder extends to the position, control the locking cylinder to lock; Detect the locking state of the locking cylinder, and when detecting that the locking cylinder is locked, control the two mechanical car hooks to couple; Issue an uncoupling instruction; Control the locking cylinder to unlock; Detect the unlocking state of the locking cylinder, and when detecting that the locking cylinder is unlocked, control the telescopic cylinder to retract, and detect the retraction position of the telescopic cylinder; When detecting that the telescopic cylinder retracts to the position, control the locking cylinder to lock.

6. The automatic control method of a telescopic hook suspension according to claim 5, characterized in that, After issuing the uncoupling instruction and before controlling the locking cylinder to unlock, the method further comprises the following steps: Control the mechanical car hook uncoupling cylinder to extend, and detect the position of the mechanical car hook uncoupling cylinder; When detecting that the mechanical car hook uncoupling is in place, control the mechanical car hook uncoupling cylinder to perform a reset action, and detect the position of the mechanical car hook uncoupling cylinder.

7. The automatic control method of a telescopic hook suspension according to claim 5, characterized in that, The method further comprises the following steps: Detect the position of the main shaft of the mechanical car hook, and determine the coupling state of the mechanical car hook according to the position of the main shaft of the mechanical car hook.

8. The automatic control method of a telescopic hook suspension according to claim 6, characterized in that, The method further comprises the following steps: After the two mechanical car hooks are coupled, detect the coupling state of the mechanical car hook coupling surface, and determine whether the mechanical car hook coupling surface is coupled to the position; After issuing the uncoupling instruction, control the two mechanical car hook coupling surfaces to separate, detect the coupling state of the two mechanical car hook coupling surfaces, and determine whether the two mechanical car hook coupling surfaces are separated to the position; When detecting that the two mechanical car hook coupling surfaces are separated to the position, control the locking cylinder to unlock.

9. The automatic control method of a telescopic hook suspension according to claim 8, characterized in that, The method further comprises the following steps: When detecting that the mechanical car hook coupling surface is coupled to the position, control the electric car hook telescopic cylinder to extend, and detect the extension position of the electric car hook; After issuing the uncoupling instruction, control the electric car hook telescopic cylinder to retract, and detect the retraction position of the electric car hook; When detecting that the electric car hook is retracted to the position, control the mechanical car hook uncoupling cylinder to perform an extension action.

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