A gear tooth insertion control system and method for rack trains

Abstract

This invention provides a gear tooth entry control system and method for geared trains, relating to the field of rail transit technology. It includes rails, train wheelsets, gears, an auxiliary tooth entry device, a gear detection device, a drive geared rail, and a control module. Two rails are provided, arranged parallel to each other. The train wheelsets are positioned directly above the rails. The gears are positioned between the train wheelsets. The auxiliary tooth entry device is positioned between the two rails. The gear detection device is positioned between the gear and the auxiliary tooth entry device. One end of the control module is electrically connected to the gear detection device, and the other end of the control module is electrically connected to the auxiliary tooth entry device. This invention can alleviate or even avoid gear and geared rail tooth colliding phenomena.

Description

Technical Field

[0001] This invention relates to the field of rail transit technology, and more specifically, to a gear tooth entry control device and method for a rack train. Background Technology

[0002] A rack railway is a rail transit system designed for mountainous environments. Compared to conventional wheel-rail systems, rack railways add a rack track in the middle of the main track and equip the train bogies with a gear drive system. During operation, accurate engagement of the rack railway traction gears is crucial for stable operation. However, as a traction device on sloped sections, the gears possess a very large equivalent moment of inertia. Before meshing with the rack, the gears are stationary relative to the bogies, while simultaneously moving relative to the ground at the train's speed. This makes it difficult for existing auxiliary devices to accurately control the gear's motion, thus failing to effectively mitigate gear impact. Therefore, there is an urgent need for a rack railway gear engagement control device and method to alleviate or even avoid gear and rack impact. Summary of the Invention

[0003] The purpose of this invention is to provide a gear tooth insertion control system and method for geared trains, in order to improve the aforementioned problems. To achieve the above objective, the technical solution adopted by this invention is as follows:

[0004] In a first aspect, this application provides a gear toothing control system for a rack train, comprising: rails, train wheelsets, gears, an auxiliary toothing device, a gear detection device, a drive rack, and a control module. Two rails are provided, arranged parallel to each other. The train wheelsets are positioned directly above the rails. The gears are positioned between the train wheelsets and connected to them via bearings. The auxiliary toothing device is positioned between the two rails. The gear detection device is positioned between the two rails and between the gear and the auxiliary toothing device. The drive rack is positioned between the two rails. One end of the control module is electrically connected to the gear detection device, and the other end of the control module is electrically connected to the auxiliary toothing device.

[0005] Optionally, the auxiliary tooth-feeding device includes a height adjustment structure, a tension spring, and an auxiliary toothed rail. The height adjustment structure is disposed between the two steel rails, the auxiliary toothed rail is disposed on the height adjustment structure, and the tension spring is disposed between the auxiliary toothed rail and the height adjustment structure. The top of the tension spring is fixedly connected to the auxiliary toothed rail, and the bottom of the tension spring is fixedly connected to the height adjustment structure.

[0006] Optionally, the height adjustment structure, tension spring, and auxiliary toothed rail are all disposed on the centerline of the track between the two rails.

[0007] Optionally, the height adjustment structure includes a first spiral screw, a second spiral screw, a first worm gear, a second worm gear, a first fixed shaft, a second fixed shaft, a first bearing, a second bearing, a central worm gear, a motor, a support platform, and a base. The base is disposed on the centerline of the track between the two rails. The central worm gear, the first fixed shaft, and the second fixed shaft are all fixedly disposed on the upper surface of the base. The first worm gear is sleeved on the first fixed shaft through the first bearing, and the second worm gear is sleeved on the second fixed shaft through the second bearing. One end of the central worm gear is respectively engaged with the first worm gear and the second worm gear, and the other end of the central worm gear is connected to the motor. The top of the first worm gear is threadedly connected to the first spiral screw, and the top of the second worm gear is threadedly connected to the second spiral screw. The tops of the first spiral screw and the second spiral screw are fixedly connected to the lower surface of the support platform.

[0008] Optionally, the top of the first worm gear is provided with a first threaded hole, and the top of the second worm gear is provided with a second threaded hole, wherein the thread direction in the first threaded hole and the thread direction in the second threaded hole are opposite.

[0009] Optionally, the gear detection device includes an iron core, an excitation coil, a detection coil, and a power supply. The iron core is vertically fixed above the bottom surface. The excitation coil and the detection coil are both sleeved on the iron core. The excitation coil is sleeved at the end of the iron core near the ground, and the detection coil is sleeved at the end of the iron core away from the ground. The power supply is electrically connected to the iron core.

[0010] Optionally, the iron core is also connected to a current sensor, and the power source is an AC power source.

[0011] Optionally, the control module includes a detection unit, a processing unit, a drive unit, and a communication unit. One end of the detection unit is electrically connected to the gear detection device, the other end of the detection unit is electrically connected to the processing unit, the communication unit is electrically connected to the processing unit, one end of the drive unit is electrically connected to the processing unit, and the other end of the drive unit is electrically connected to the auxiliary gear insertion device.

[0012] Secondly, this application also provides a method for controlling the tooth entry of a gear in a rack train, comprising:

[0013] Control the gear train to run directly above the gear detection device and acquire the current signal detected by the control module;

[0014] Based on the current signal and the auxiliary tooth entry device, a position calculation model for the auxiliary tooth entry device is constructed, and the position information of the auxiliary tooth entry device is determined through the position calculation model for the auxiliary tooth entry device.

[0015] Based on the position information of the auxiliary gear entry device, the position of the auxiliary gear entry device is adjusted. After the gear train gear enters the auxiliary gear entry device, the tension spring is compressed so that the height of the auxiliary gear entry device and the drive gear rail are restored to be consistent.

[0016] The gear train gear meshes with the drive gear rail to complete the gear engagement operation.

[0017] Optionally, a position calculation model for the auxiliary tooth-entry device is constructed based on the current signal and the auxiliary tooth-entry device, including:

[0018] By establishing the mapping relationship between the air gap size and the induced electromotive force in the detection coil through simulation calculation and experimental sampling, a first formula representing the mapping relationship between the air gap size and the detection coil is obtained;

[0019] Based on the first formula, a second formula representing the mapping relationship between the current signal and the gear position information is obtained;

[0020] Using the accurate meshing of the gear and the auxiliary gear-entry device as an indicator, a third formula is established based on the first and second formulas to represent the mapping relationship between the gear position information and the auxiliary gear-entry device position information, thereby obtaining the auxiliary gear-entry device position calculation model.

[0021] The beneficial effects of this invention are as follows:

[0022] This invention uses an electromagnetic induction device to detect and identify the position information of the onboard traction gear of a rack train. Based on this, it adjusts the working height of the auxiliary rack to ensure that the relative position of the traction gear and the auxiliary rack is at the target meshing position before the train enters the rack, thus achieving accurate gear train entry. Furthermore, based on the gear tooth structure and magnetic conductivity, this invention uses the change in induced electromotive force in the detection coil to characterize the gear position information. Then, before the rack train enters the rack, the height of the rack is adjusted by a height adjustment system to verify the meshing position of the gear and the rack, thereby mitigating or even avoiding gear and rack tooth collision.

[0023] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the gear tooth entry control system for a gear train according to an embodiment of the present invention;

[0026] Figure 2 This is a top view schematic diagram of a gear tooth entry control system for a gear train according to an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of a gear detection device for a gear tooth entry control system of a gear train according to an embodiment of the present invention.

[0028] Figure 4 This is a schematic diagram of an auxiliary gear-entry device for a gear-entry control system for a gear train, as described in an embodiment of the present invention.

[0029] Figure 5 This is a cross-sectional schematic diagram of the auxiliary tooth-entry device of the tooth-entry control system for a gear train according to an embodiment of the present invention.

[0030] Figure 6 This is a schematic diagram of the detection unit structure of a gear tooth entry control system for a gear train according to an embodiment of the present invention.

[0031] Figure 7 This is a graph showing the relationship between the induced electromotive force of the detection coil and the air gap size in a gear tooth entry control system for a gear train as described in an embodiment of the present invention.

[0032] Figure 8 This is a schematic diagram of the gear tooth entry process of a gear tooth entry control system for a gear train according to an embodiment of the present invention.

[0033] Figure 9 This is a schematic flowchart of a gear tooth entry control method for a rack train according to an embodiment of the present invention.

[0034] The diagram shows the following markings: 1. Gear detection device; 10. Iron core; 11. Excitation coil; 12. Detection coil; 2. Auxiliary gear insertion device; 21. Auxiliary gear rail; 22. Tension spring; 23. Height adjustment structure; 23a. First helical screw; 23b. Second helical screw; 23c. First worm gear; 23d. Second worm gear; 23e. First fixed shaft; 23f. Second fixed shaft; 23g. First bearing; 23h. Second bearing; 23i. Central shaft worm gear; 23j. Motor; 23k. Base; 23l. Support platform; 3. Gear; 4. Train wheelset; 5. Rail; 6. Control module; 61. Detection unit; 61a. Current sensor; 62. Processing unit; 63. Drive unit; 64. Communication unit; 7. Track centerline; 8. Power supply; 9. Drive gear rail. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0036] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0037] Example 1:

[0038] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, this embodiment provides a gear toothing control system for a rack train, including: rails 5, train wheelsets 4, gears 3, auxiliary toothing device 2, gear detection device 1, drive rack 9, and control module 6. Two rails 5 are provided, arranged parallel to each other; the train wheelsets 4 are positioned directly above the rails 5; the gears 3 are positioned between the train wheelsets 4 and connected to them via bearings; the auxiliary toothing device 2 is positioned between the two rails 5; the gear detection device 1 is positioned between the two rails 5, between the gear 3 and the auxiliary toothing device 2; the drive rack 9 is positioned between the two rails 5; one end of the control module 6 is electrically connected to the gear detection device 1, and the other end is electrically connected to the auxiliary toothing device 2.

[0039] It is understood that this invention uses an electromagnetic induction device to detect and identify the position information of the on-board traction gear of the rack train, and adjusts the working height of the auxiliary rack based on this information, so that the relative position of the traction gear and the auxiliary rack is at the target meshing position before the train enters the rack, thus achieving accurate gear train entry into the rack. Furthermore, this invention also uses the change in induced electromotive force in the detection coil to characterize the position information of the gear based on the gear tooth structure and magnetic conductivity characteristics. Then, before the rack train enters the rack, the height position of the rack is adjusted by the height adjustment system to check the meshing position of the gear and the rack, thereby alleviating or even avoiding gear and rack tooth collision.

[0040] The auxiliary toothed device 2 includes a height adjustment structure 23, a tension spring 22, and an auxiliary toothed rail 21. The height adjustment structure 23 is disposed between the two steel rails 5. The auxiliary toothed rail 21 is disposed on the height adjustment structure 23. The tension spring 22 is disposed between the auxiliary toothed rail 21 and the height adjustment structure 23. The top of the tension spring 22 is fixedly connected to the auxiliary toothed rail 21, and the bottom of the tension spring 22 is fixedly connected to the height adjustment structure 23.

[0041] It is understood that this step adjusts the height of the auxiliary gear 21 by setting the height adjustment structure 23. After the height of the auxiliary gear 21 is adjusted to the target meshing position by the height adjustment structure, the gear 3 and the auxiliary gear 21 can be accurately engaged. After the train engages, its gravity compresses and stretches the spring, so that the positions of the auxiliary gear 21 and the drive gear 9 are consistent, thereby ensuring that the gear 3 of the train can run smoothly.

[0042] The height adjustment structure 23, tension spring 22 and auxiliary toothed rail 21 are all set on the centerline 7 of the track between the two rails 5.

[0043] It is understood that by setting the height adjustment structure 23, the tension spring 22 and the auxiliary toothed rail 21 on the same track centerline 7, the present invention can ensure that the auxiliary toothed rail 21 can accurately engage the teeth without changing its left and right positions.

[0044] The height adjustment structure 23 includes a first helical screw 23a, a second helical screw 23b, a first worm gear 23c, a second worm gear 23d, a first fixed shaft 23e, a second fixed shaft 23f, a first bearing 23g, a second bearing 23h, a central worm gear 23i, a motor 23j, a support platform 23l, and a base 23k. The base 23k is disposed on the centerline 7 of the track between the two rails 5. The central worm gear 23i, the first fixed shaft 23e, and the second fixed shaft 23f are all fixedly disposed on the upper surface of the base 23k. The first worm gear 23c is sleeved on the support platform 23d via the first bearing 23g. On the first fixed shaft 23e, the second worm gear 23d is sleeved on the second fixed shaft 23f through the second bearing 23h. One end of the central worm 23i is respectively meshed with the first worm gear 23c and the second worm gear 23d, and the other end of the central worm 23i is connected to the motor 23j. The top of the first worm gear 23c is threadedly connected to the first helical screw 23a, and the top of the second worm gear 23d is threadedly connected to the second helical screw 23b. The tops of the first helical screw 23a and the tops of the second helical screw 23b are fixedly connected to the bottom surface of the support platform 23l.

[0045] It is understood that this step controls the motor to rotate through the control unit, which in turn drives the central worm gear 23i to rotate. The central worm gear 23i drives the first worm wheel 23c and the second worm wheel 23d to rotate. The first worm wheel 23c and the second worm wheel 23d are respectively threadedly connected to the first helical screw 23a and the second helical screw 23b. Thus, during the rotation, the first helical screw 23a and the second helical screw 23b are driven to rotate, thereby adjusting the height of the support platform 23l.

[0046] The first worm gear 23c has a first threaded hole at its top, and the second worm gear 23d has a second threaded hole at its top. The thread direction in the first threaded hole and the thread direction in the second threaded hole are opposite.

[0047] It is understood that in this invention, the thread direction in the first threaded hole and the thread direction in the second threaded hole are set oppositely so that the height of both sides of the support platform 23l can be adjusted at the same time, so as to prevent one side from being higher and the other side from being lower.

[0048] The gear detection device 1 includes an iron core 10, an excitation coil 11, a detection coil 12, and a power supply 8. The iron core 10 is vertically fixed above the bottom surface. The excitation coil 11 and the detection coil 12 are both sleeved on the iron core 10. The excitation coil 11 is sleeved at the end of the iron core 10 near the ground, and the detection coil 12 is sleeved at the end of the iron core 10 away from the ground. The power supply 8 is electrically connected to the iron core 10.

[0049] It is understood that in this step, the excitation coil 11 generates an alternating magnetic field under the power supply 8, and induces an electromotive force in the detection coil 12, outputting a current signal. The gear 3 has a tooth and slot structure and is made of magnetically conductive material. When the train passes through the detection section, the different positions of the teeth and slots of the gear 3 will result in different air gap sizes, which will cause the waveform of the induced electromotive force in the detection coil 12 to change, and thus cause the output current signal to change. This changing current signal can be used to characterize the position and attitude information of the gear.

[0050] The iron core 10 is also connected to the current sensor 61a, and the power supply 8 is an AC power supply.

[0051] It is understandable that in this step, the waveform change of the induced electromotive force corresponding to the detection coil is obtained through a current sensor.

[0052] The control module 6 includes a detection unit 61, a processing unit 62, a drive unit 63, and a communication unit 64. One end of the detection unit 61 is electrically connected to the gear detection device 1, and the other end of the detection unit 61 is electrically connected to the processing unit 62. The communication unit 64 is electrically connected to the processing unit 62. One end of the drive unit 63 is electrically connected to the processing unit 62, and the other end of the drive unit 63 is electrically connected to the auxiliary gear insertion device 2.

[0053] It is understood that in this step, the current signal in the detection coil 12 is acquired by the current sensor 61a, and the acquired current signal is input to the processing unit 62. The processing unit 62 outputs the corresponding auxiliary gear position adjustment command according to the current signal of the detection unit 61. The drive module 63 uses a controller and control circuit to realize the drive control of the motor 23j. The processing unit 62 transmits the adjustment command to the controller input pin, and then the controller outputs the control signal to the control circuit, thereby controlling the rotation of the motor 23j. The communication unit 64 stores the working data of the gear detection device 1 and the auxiliary gear entry device 2 in memory. The stored data can be read by the host computer to record and monitor the working status of the gear detection device 1 and the auxiliary gear entry device 2 in real time.

[0054] Example 2

[0055] See Figure 8 and Figure 9 As shown, this embodiment provides a tooth entry control method for a gear in a rack train, including steps S21, S22 and S23.

[0056] Step S1: Control the gear of the rack train to run directly above the gear detection device and obtain the current signal detected by the control module;

[0057] It is understandable that before the gear train enters the inspection section, the gears have a large equivalent moment of inertia and do not rotate, remaining stationary; the excitation coil of the gear inspection device is connected to the AC power supply; and the auxiliary gear rail and the drive gear rail are at the same height.

[0058] Step S2: Construct a position calculation model for the auxiliary tooth-entry device based on the current signal and the auxiliary tooth-entry device, and determine the position information of the auxiliary tooth-entry device through the position calculation model.

[0059] It is understandable that in this step, when the rack train enters the detection section, the induced electromotive force in the detection coil of the detection device changes due to the influence of the gear's tooth and groove structure, and outputs a current signal. The current sensor collects the current signal and inputs it to the processor module. It outputs an adjustment command for the auxiliary rack position to the drive module. The drive module uses a controller and control circuit to drive the motor. When the motor is powered on, it outputs torque, which sequentially drives the central shaft worm, the first worm wheel, and the second worm wheel to rotate, and drives the first helical screw and the second helical screw to move up and down. This further drives the support platform, tension spring, and auxiliary rack to move up and down, thereby adjusting the height of the auxiliary rack so that the relative position of the gear and the auxiliary rack is the target meshing position. At this time, the height positions of the auxiliary rack and the drive rack are different.

[0060] Step S3: Adjust the position of the auxiliary gear entry device based on the position information of the auxiliary gear entry device. After the gear train gear enters the auxiliary gear entry device, compress and stretch the spring so that the auxiliary gear entry device is at the same height as the drive gear rail.

[0061] It is understandable that in this step, the rack train enters the transition section from the detection section, and the gear and the auxiliary rack are accurately meshed at the target position; at this time, under the compression of the tension spring, the height position of the auxiliary rack and the drive rack is restored to be consistent.

[0062] Step S4: Control the gear train gear to mesh with the drive gear rail to complete the gear engagement operation.

[0063] Step S2 includes steps S21, S22 and S23.

[0064] Step S21: Establish the mapping relationship between the air gap size and the induced electromotive force in the detection coil through simulation calculation and experimental sampling, and obtain the first formula representing the mapping relationship between the air gap size and the detection coil;

[0065] It is understandable that the first formula representing the mapping relationship between the air gap size and the detection coil is as follows:

[0066] g = g0 + R(1 - cosθ)

[0067] E = f1(g)

[0068] Where R is the radius of the gear's outer contour, g0 is the vertical height difference between the iron core and the gear's outer contour when the gear is directly above the iron core, g is the height difference between the gear's lowest tooth and the iron core, and θ is the angle between the line connecting the bottom of the gear's outer contour to the center of the circle and the line connecting the gear's lowest tooth to the center of the circle. The value of θ ranges from [0, α], and α is the gear's tooth pitch angle.

[0069] Step S22: Calculate based on the first formula to obtain a second formula representing the mapping relationship between the current signal and the gear position information;

[0070] The second formula, which represents the mapping relationship between the current signal and the gear position information, is as follows:

[0071] I = f2(θ)

[0072] Where I is the current signal, and θ is the angle between the line connecting the bottom of the gear's outer contour to the center of the circle and the line connecting each lowest tooth of the gear to the center of the circle.

[0073] Step S23: Taking the accurate meshing of the gear and the auxiliary gear-entry device as an indicator, based on the first and second formulas, and through experimental measurement and data acquisition, a third formula is established to represent the mapping relationship between the gear position information and the auxiliary gear-entry device position information, thereby obtaining the auxiliary gear-entry device position calculation model.

[0074] It is understandable that the third formula representing the mapping relationship between the gear position information and the auxiliary gear insertion device position information is as follows:

[0075] h = f3(I)

[0076] Where I is the current signal and h is the position of the auxiliary tooth-feeding device.

[0077] It should be noted that the specific manner in which each module performs its operation in the apparatus described in the above embodiments has been described in detail in the embodiments of the method, and will not be elaborated here.

[0078] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0079] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A tooth entry control system for a rack railway toothed gear, characterized in that The utility model relates to a kind of gear detection device and auxiliary gear entering device for train, including: Steel rail (5), the steel rail (5) is provided with two, two the steel rail (5) is arranged in parallel; Train wheel set (4), the train wheel set (4) is arranged above the steel rail (5); Gear (3), the gear (3) is arranged between the train wheel set (4), and the gear (3) is connected with the train wheel set (4) by bearing; Auxiliary gear entering device (2), the auxiliary gear entering device (2) is arranged between two the steel rail (5); Gear detection device (1), the gear detection device (1) is arranged between two the steel rail (5), and the gear detection device (1) is arranged between the gear (3) and the auxiliary gear entering device (2); Driving rack (9), the driving rack (9) is arranged between two the steel rail (5); And Control module (6), one end of the control module (6) is electrically connected with the gear detection device (1), and the other end of the control module (6) is electrically connected with the auxiliary gear entering device (2); Wherein, the auxiliary gear entering device (2) includes height adjusting structure (23), tension spring (22) and auxiliary rack (21), the height adjusting structure (23) is arranged between two the steel rail (5), the auxiliary rack (21) is arranged on the height adjusting structure (23), the tension spring (22) is arranged between the auxiliary rack (21) and the height adjusting structure (23), the top of the tension spring (22) is fixedly connected with the auxiliary rack (21), and the bottom of the tension spring (22) is fixedly connected with the height adjusting structure (23); The height adjusting structure (23) comprises a first screw rod (23a), a second screw rod (23b), a first worm wheel (23c), a second worm wheel (23d), a first fixed shaft (23e), a second fixed shaft (23f), a first bearing (23g), a second bearing (23h), a middle shaft worm (23i), a motor (23j), a support platform (23l) and a base (23k), the base (23k) is arranged on the track center line (7) between the two rails (5), the middle shaft worm (23i), the first fixed shaft (23e) and the second fixed shaft (23f) are fixedly arranged on the upper surface of the base (23k), the first worm wheel (23c) is sleeved on the first fixed shaft (23e) through the first bearing (23g), the second worm wheel (23d) is sleeved on the second fixed shaft (23f) through the second bearing (23h), one end of the middle shaft worm (23i) is arranged in mesh with the first worm wheel (23c) and the second worm wheel (23d) respectively, the other end of the middle shaft worm (23i) is connected with the motor (23j), the top of the first worm wheel (23c) is threadedly connected with the first screw rod (23a), the top of the second worm wheel (23d) is threadedly connected with the second screw rod (23b), and the top of the first screw rod (23a) and the top of the second screw rod (23b) are fixedly connected with the lower bottom surface of the support platform (23l).

2. The tooth entry control system for rack railway gears according to claim 1, characterized in that, The height adjusting structure (23), the tension spring (22) and the auxiliary toothed rail (21) are arranged on the track center line (7) between the two rails (5).

3. The tooth entry control system for rack railway gears according to claim 1, characterized in that, The top of the first worm wheel (23c) is provided with a first threaded hole, the top of the second worm wheel (23d) is provided with a second threaded hole, and the thread direction in the first threaded hole and the thread direction in the second threaded hole are oppositely arranged.

4. The tooth entry control system for rack railway gears according to claim 1, characterized in that, The gear detection device (1) comprises an iron core (10), an excitation coil (11), a detection coil (12) and a power supply (8), the iron core (10) is vertically fixed above the bottom surface, the excitation coil (11) and the detection coil (12) are both sleeved on the iron core (10), the excitation coil (11) is sleeved on the end of the iron core (10) close to the ground, the detection coil (12) is sleeved on the end of the iron core (10) away from the ground, and the power supply (8) is electrically connected with the iron core (10).

5. The tooth entry control system for rack railway gears according to claim 4, characterized in that, The iron core (10) is also connected with a current sensor (61a), and the power supply (8) is an alternating power supply.

6. The tooth entry control system for rack railway gears according to claim 1, characterized in that, The control module (6) comprises a detection unit (61), a processing unit (62), a driving unit (63) and a communication unit (64), one end of the detection unit (61) is electrically connected with the gear detection device (1), the other end of the detection unit (61) is electrically connected with the processing unit (62), the communication unit (64) is electrically connected with the processing unit (62), one end of the driving unit (63) is electrically connected with the processing unit (62), and the other end of the driving unit (63) is electrically connected with the auxiliary gear entering device (2).

7. A method for controlling the entry of a rack railway gear, using the system for controlling the entry of a rack railway gear according to any one of claims 1 to 6, characterized in that, Comprise: The control rack train gear runs to the gear detection device directly above, and the current signal detected by the control module is acquired; Based on the current signal and the auxiliary gear entering device, an auxiliary gear entering device position calculation model is constructed, and the auxiliary gear entering device position information is determined through the auxiliary gear entering device position calculation model; Based on the auxiliary gear entering device position information, the position of the auxiliary gear entering device is adjusted, and after the rack train gear enters the auxiliary gear entering device, the compression and stretching spring is compressed, so that the auxiliary gear entering device is consistent with the driving rack height; The rack train gear is engaged with the driving rack, and the gear entering operation is completed.

8. The method of tooth entry control for rack railway gears according to claim 7, characterized in that, Based on the current signal and the auxiliary gear entering device, an auxiliary gear entering device position calculation model is constructed, comprising: A mapping relationship between the air gap size and the induced electromotive force in the detection coil is established through simulation calculation and experimental sampling, and a first formula representing the mapping relationship between the air gap size and the detection coil is obtained; Wherein, the first formula representing the mapping relationship between the air gap size and the detection coil is as follows: g= + R(1 - cos θ); E= (g); wherein R is the radius of the gear profile, is the vertical height difference between the core and the gear profile when the gear is located directly above the core, g is the height difference between the lowest tooth of the gear and the core, θ is the included angle between the line connecting the bottom end of the gear profile to the center of the circle and the line connecting the lowest tooth of the gear to the center of the circle, wherein the value range of θ is [0, α], α is the pitch angle of the gear, E is the induced electromotive force in the detection coil, is the mapping function between the air gap size and the induced electromotive force in the detection coil; Based on the first formula, a second formula representing the mapping relationship between the current signal and the gear position information is obtained; Wherein, the second formula representing the mapping relationship between the current signal and the gear position information is as follows: I= (θ) wherein I is the current signal, θ is the angle between the line connecting the bottom end position of the outer contour of the gear to the center of the circle and the line connecting each lowest position tooth of the gear to the center of the circle, is the mapping function between the current signal and the gear position information; Taking the accurate engagement of the gear and the auxiliary gear entering device as an index, based on the first formula and the second formula, a third formula representing the mapping relationship between the gear position information and the auxiliary gear entering device position information is established, and then an auxiliary gear entering device position calculation model is obtained; Wherein, the third formula representing the mapping relationship between the gear position information and the auxiliary gear entering device position information is as follows: h= (I); where I is the current signal, h is the position of the auxiliary tooth entry device, is a mapping function of the gear position information and the auxiliary tooth entry device position information.

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