A double-girder empty car shunting machine with a trolley device and a control method thereof

Abstract

A kind of double-girder empty car shunting machine with pusher device and its control method, the pusher device is provided with including main pitch arm and vice pitch arm, the top of main pitch arm is provided with main car hook, the middle part of main pitch arm is hinged with one end of connecting rod, the bottom of main pitch arm is hinged with one side of empty car shunting machine body, the other side of empty car shunting machine body is hinged with the bottom of vice pitch arm, the middle part of vice pitch arm is hinged with the other end of connecting rod, the top of vice pitch arm is provided with vice car hook, the middle part of main pitch arm is hinged with one end of pull rod, the other end of pull rod is transmission matched with the output shaft of motor, the top of empty car shunting machine body is further provided with height limiter for monitoring the position of main pitch arm, controller controls motor by the signal of height limiter feedback.This design cooperatively controls two pitch arms of empty car shunting machine with double-girder structure, realizes the effect that one empty car shunting machine considers two empty car lines pusher operation.

Description

Technical Field

[0001] This invention relates to a pusher device and its control method for a double-boom empty car shunting locomotive, specifically applicable to the unloading operation of railway open wagons. Background Technology

[0002] Empty car shunting locomotives are important equipment used in railway tippler systems for tipping and unloading cars. They are installed on empty car shunting tracks and can be used to haul open wagons.

[0003] Existing empty car shunting locomotives typically employ a fixed boom structure with counterweights. A single shunting locomotive usually operates on only one empty car track. When an empty car shunting locomotive needs to handle pushing operations on two empty car tracks (6.5 meters apart), the existing locomotives cannot meet the requirements. Therefore, a double-boom pushing device needs to be installed on the same empty car shunting locomotive. Since the structure of a double-boom empty car shunting locomotive differs from that of a traditional one, the two booms in this pushing device act as counterweights to each other. Therefore, a control method for the pushing device of a double-boom empty car shunting locomotive is needed to coordinate the control of the two booms, thereby enabling pushing operations on both empty car tracks. Summary of the Invention

[0004] The purpose of this invention is to overcome the problem that existing empty car shunting locomotives cannot simultaneously handle the pushing operations of two empty car lines, and to provide a control method for a pushing device for a double-boom empty car shunting locomotive.

[0005] To achieve the above objectives, the technical solution of the present invention is:

[0006] A car-pushing device for a double-boom empty car shunting locomotive includes a main tilting boom and an auxiliary tilting boom. A main coupler is located at the top of the main tilting boom. The middle of the main tilting boom is hinged to one end of a connecting rod. The bottom of the main tilting boom is hinged to one side of the empty car shunting locomotive body. The other side of the empty car shunting locomotive body is hinged to the bottom of the auxiliary tilting boom. The middle of the auxiliary tilting boom is hinged to the other end of a connecting rod. An auxiliary coupler is located at the top of the auxiliary tilting boom. A motor is located at the top of the empty car shunting locomotive body. The output shaft of the motor is connected to the input end of a reducer. The output shaft of the reducer is driven by one end of a pull rod. The other end of the pull rod is hinged to the middle of the main tilting boom.

[0007] A first gear coaxial with the output shaft of the reducer is fixedly mounted on it. The first gear meshes with a second gear. The second gear is fixedly connected to the input shaft of the height limiter. The height limiter is fixedly connected to the car body of the empty shunting locomotive. The signal output terminal of the height limiter is connected to the pitch arm position signal input terminal of the controller. The motor control signal output terminal of the controller is connected to the control terminal of the motor through a frequency converter. The brake control signal output terminal of the controller is connected to the control terminal of the brake. The brake is used to brake the output shaft of the reducer.

[0008] The height limiter is internally equipped with a first cam switch, a second cam switch, a third cam switch, a fourth cam switch, a fifth cam switch, and a sixth cam switch;

[0009] The first cam switch is used to send a first position signal to the pitch arm position signal input terminal of the controller when the main pitch arm rotates downward to the end position of the drop arm;

[0010] The second cam switch is used to send a second position signal to the pitch arm position signal input terminal of the controller when the main pitch arm rotates downward to the first preset position;

[0011] The third cam switch is used to send a third position signal to the pitch arm position signal input terminal of the controller when the main pitch arm rotates upward to the second preset position;

[0012] The fourth cam switch is used to send a fourth position signal to the pitch arm position signal input terminal of the controller when the main pitch arm rotates upward to the end position of the lifting arm.

[0013] The fifth cam switch is used to send a fifth position signal to the pitch arm position signal input terminal of the controller when the main pitch arm rotates to the lower limit position;

[0014] The sixth cam switch is used to send a sixth position signal to the pitch arm position signal input terminal of the controller when the main pitch arm rotates to the limit position of the boom.

[0015] The controller controls the operation of the motor and brake based on the first position signal, the second position signal, the third position signal, the fourth position signal, the fifth position signal, and the sixth position signal.

[0016] The first cam switch, the second cam switch, the third cam switch, the fourth cam switch, the fifth cam switch, and the sixth cam switch are all normally closed switches, and the first position signal, the second position signal, the third position signal, the fourth position signal, the fifth position signal, and the sixth position signal are all falling edge signals.

[0017] The output shaft of the reducer is perpendicularly connected to one end of the rocker arm, and the other end of the rocker arm is hinged to one end of the pull rod far from the main pitch arm.

[0018] The control method of the trolley device includes control of the main pitch arm lowering and the auxiliary pitch arm raising, and control of the main pitch arm raising and the auxiliary pitch arm lowering.

[0019] The control of the main pitch arm descent and the auxiliary pitch arm ascent specifically includes:

[0020] The controller controls the motor shaft to rotate in the forward direction via a frequency converter. The motor drives the main pitch arm to rotate downward, and at this time the auxiliary pitch arm rotates with the main pitch arm.

[0021] When the main pitch arm rotates downward to the first preset position, the second cam switch sends a second position signal to the controller. After receiving the second position signal, the controller controls the motor to reduce its rotation speed through the frequency converter.

[0022] When the main pitch arm rotates downward to the end position of the lower arm, the first cam switch sends a first position signal to the controller. After receiving the first position signal, the controller controls the motor speed to decrease to 0 through the frequency converter. At the same time, the controller controls the brake to brake the reducer, and the main pitch arm and the auxiliary pitch arm stop moving.

[0023] The control of the main pitch arm rising and the auxiliary pitch arm falling specifically includes:

[0024] The controller controls the motor shaft to rotate in the opposite direction via a frequency converter. The motor drives the main pitch arm to rotate upward, and at this time the auxiliary pitch arm rotates in tandem with the main pitch arm.

[0025] When the main pitch arm rotates upward to the second preset position, the third cam switch sends a third position signal to the controller. After receiving the third position signal, the controller controls the motor to reduce its rotation speed through the frequency converter.

[0026] When the main pitch arm rotates upward to the end position of the lifting arm, the fourth cam switch sends a fourth position signal to the controller. After receiving the fourth position signal, the controller controls the motor speed to decrease to 0 through the frequency converter. At the same time, the controller controls the brake to brake the reducer, and the main pitch arm and the auxiliary pitch arm stop moving.

[0027] The control for lowering the main pitch arm and raising the secondary pitch arm also includes:

[0028] When the main pitch boom continues to rotate to the limit position of the lower boom after passing the end position of the lower boom, the fifth cam switch sends a fifth position signal to the controller. After receiving the fifth position signal, the controller controls the circuit breaker of the motor power circuit to open and the brake to lock.

[0029] The control for raising the main pitch arm and lowering the auxiliary pitch arm also includes:

[0030] When the main pitch arm continues to rotate to the limit position after passing the end position of the lifting arm, the sixth cam switch sends a sixth position signal to the controller. After receiving the sixth position signal, the controller controls the circuit breaker of the motor power circuit to open and the brake to lock.

[0031] The alarm signal output terminal of the controller is connected to the control terminal of the alarm. When the controller receives the fifth position signal or the sixth position signal, the controller controls the alarm to sound an alarm.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0033] 1. In the present invention, a car-pushing device for a double-boom empty car shunting locomotive includes a main tilting arm and an auxiliary tilting arm. Each of the main tilting arm and the auxiliary tilting arm is responsible for pushing cars on one empty car line. The bottom of the auxiliary tilting arm is hinged to one side of the shunting locomotive body, and the other side of the shunting locomotive body is hinged to the bottom of the main tilting arm. The middle part of the main tilting arm is hinged to one end of a connecting rod, and the other end of the connecting rod is hinged to the middle part of the auxiliary tilting arm. At the same time, a motor and a reducer are installed on the top of the shunting locomotive body. The output shaft of the reducer is driven by one end of a rocker arm and a pull rod. The other end of the pull rod is hinged to the middle part of the main tilting arm. The main tilting arm, the auxiliary tilting arm, the connecting rod, and the shunting locomotive body form a four-bar linkage structure. By controlling the output shaft of a motor to rotate through a PLC controller, the movement of the main tilting arm and the auxiliary tilting arm can be controlled simultaneously. The control method is simple. Therefore, in this design, controlling the output shaft of a motor by a PLC controller can simultaneously control the movements of the main and auxiliary pitch arms, making the control method simple.

[0034] 2. In the double-boom empty car shunting locomotive pusher of the present invention, when the main boom is at the lowering end position, the main coupler at the top of the main boom is located 880mm above the corresponding empty car track surface. When the main boom is at the raising end position, the auxiliary coupler at the top of the auxiliary boom is located 880mm above the corresponding empty car track surface. Since the centerline height (empty car) of the open wagon coupler is approximately 880mm, after the main boom descends to the lowering end position, the main coupler at the top of the main boom can hook with the empty open wagon on the corresponding empty car track to perform the pusher operation of the empty open wagon on the corresponding empty car track. When the main boom rises to the raising end position, the auxiliary coupler at the top of the auxiliary boom can dock with the empty open wagon on the corresponding empty car track to perform the pusher operation of the empty open wagon on the corresponding empty car track. This pusher can handle the pusher operation of two empty car tracks. Therefore, the pusher in this design can handle the pusher operation of two empty car tracks, resulting in high equipment utilization.

[0035] 3. In the control method of the car-pushing device for a double-boom shunting locomotive of the present invention, when the main boom descends to the end position of the boom lowering, the main boom performs the car-pushing operation. At this time, the auxiliary boom rises to a higher position, and the auxiliary boom does not interfere with other equipment on the side of the shunting locomotive. When the auxiliary boom performs the car-pushing operation, the main boom rises to the end position of the boom raising, and the main boom does not interfere with other equipment on the side of the shunting locomotive, ensuring operational safety. Therefore, in this design, when any one boom in the car-pushing device is in working condition, the other boom in idle condition will not interfere with other equipment on the side of the shunting locomotive, ensuring operational safety.

[0036] 4. In the control method of the pusher device for a double-boom empty car shunting machine of the present invention, the height limiter is equipped with six sets of cam switches: a first cam switch, a second cam switch, a third cam switch, a fourth cam switch, a fifth cam switch, and a sixth cam switch. The fifth and sixth cam switches detect whether the main tilt boom has reached its lowering limit position and its raising limit position, preventing excessive tilt boom movement and protecting the tilt boom and motor. The first and fourth cam switches determine whether the main and auxiliary tilt booms have reached their working positions, ensuring that the coupler at the top of the tilt boom can hook with the empty car. The signals from the cam switches control the speed of the motor rotation, ensuring that the two tilt booms can move quickly and safely to their designated positions. Therefore, in this design, the height limiter is equipped with six sets of cam switches, and the PLC controller controls the tilt boom movement based on the signals from these six sets of cam switches, ensuring that the two tilt booms can move quickly and safely to their designated positions and hook with the empty car to perform the pusher operation.

[0037] 5. In the control method of the pusher device for a double-boom empty shunting locomotive of the present invention, due to the complexity of the on-site wiring, voltage instability is prone to occur. If the closing of the cam switch is selected as the indication signal, false closing of the switch may occur, generating false signals. Therefore, the first, second, third, fourth, fifth, and sixth cam switches are all set as normally closed switches, and the opening of the cam switch is used as the indication signal. The first, second, third, fourth, fifth, and sixth position signals are all falling edge signals to avoid false triggering signals. Therefore, this design uses the cam switch opening signal as the indication signal to avoid false triggering signals. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the trolley device in this invention.

[0039] Figure 2 This is a schematic diagram of the auxiliary pitch arm.

[0040] Figure 3 This is a schematic diagram of the height limiter.

[0041] Figure 4 This is a schematic diagram of the main pitching boom at the end position of the lowering boom.

[0042] Figure 5 This is a schematic diagram of the main pitching arm at the end position of the arm raising.

[0043] Figure 6 This is a schematic diagram of the control system of the present invention.

[0044] Figure 7 This is a signal diagram of the height limiter.

[0045] Figure 8 This is the electrical wiring diagram for the trolley device.

[0046] In the diagram: Main pitch arm 1, main coupler 11, main pin 12, auxiliary pitch arm 2, auxiliary coupler 21, auxiliary pin 22, empty car shunting locomotive body 3, connecting rod 4, motor 5, reducer 51, tie rod 52, controller 6, frequency converter 7, height limiter 8, first gear 81, second gear 82, brake 9, alarm 10, first cam switch S101, second cam switch S102, third cam switch S103, fourth cam switch S104, fifth cam switch S105, sixth cam switch S106. Detailed Implementation

[0047] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] See Figures 1 to 7 A control method for a pusher device for a double-boom empty car shunting locomotive is disclosed. The pusher device includes a main tilting arm 1 and an auxiliary tilting arm 2. A main coupler 11 is provided at the top of the main tilting arm 1. The middle part of the main tilting arm 1 is hinged to one end of a connecting rod 4. The bottom of the main tilting arm 1 is hinged to one side of the empty car shunting locomotive body 3 via a main pin 12. The other side of the empty car shunting locomotive body 3 is hinged to the bottom of the auxiliary tilting arm 2 via an auxiliary pin 22. The middle part of the auxiliary tilting arm 2 is hinged to the other end of the connecting rod 4. An auxiliary coupler 21 is provided at the top of the auxiliary tilting arm 2. A motor 5 is provided at the top of the shunting locomotive body 3. The output shaft of the motor 5 is connected to the input end of a reducer 51. The output shaft of the reducer 51 is perpendicularly connected to one end of a rocker arm 53. The other end of the rocker arm 53 is hinged to the end of a pull rod 52 away from the main tilting arm 1. The end of the pull rod 52 near the main tilting arm 1 is hinged to the middle part of the main tilting arm 1. When the motor 5 rotates, the output shaft of the reducer 51 drives the rocker arm 53 to swing. The rocker arm 53 pulls the main pitch arm 1 to perform the pitch action. At the same time, driven by the connecting rod 4, the auxiliary pitch arm 2 moves with the main pitch arm 1.

[0049] When an empty car shunting locomotive is performing car pushing operations, an empty car line can be set up on each side of the locomotive. The main tilting boom 1 and the auxiliary tilting boom 2 are each used to perform open car pushing operations on one of the empty car lines. When the main tilting boom 1 is lowered to the end position of the boom drop, the main coupler 11 at the top of the main tilting boom 1 is at the same height as the center line of the coupler of the empty open car on the corresponding empty car line. At this time, the main coupler 11 at the top of the main tilting boom 1 can hook up with the open car on the empty car line closest to the main tilting boom 1 and perform the car pushing operation.

[0050] When the main tilting arm 1 is at the end position of the lifting arm, the auxiliary hook 21 at the top of the auxiliary tilting arm 2 is at the same height as the center line of the hook of the open wagon on the corresponding empty wagon line, which facilitates hooking with the open wagon on the corresponding empty wagon line and performing the pushing operation.

[0051] In this embodiment, as Figure 4 As shown, when the main tilting boom 1 descends to its final position, the main coupler 11 at the top of the main tilting boom 1 is located 880mm above the corresponding empty track surface. The auxiliary tilting boom 2 is in a vertical position at this time to avoid interference with equipment on the empty track near the auxiliary tilting boom 2. For example... Figure 5 As shown, when the main tilt arm 1 is at the end position of the lifting arm, the auxiliary coupler 21 at the top of the auxiliary tilt arm 2 is located 880mm above the corresponding empty car track surface. When the main tilt arm 1 is at the end position of the lifting arm, it is in a vertical state to avoid interference with the equipment on the corresponding empty car track.

[0052] like Figure 3 As shown, the empty shunting locomotive body 3 is fixedly connected to the height limiter 8. The input shaft of the height limiter 8 is fixedly connected to the second gear 82. The second gear 82 meshes with the first gear 81. The first gear 81 is fixedly connected to the output shaft of the reducer 51. The height limiter 8 is equipped with six sets of cam switches: the first cam switch S101, the second cam switch S102, the third cam switch S103, the fourth cam switch S104, the fifth cam switch S105, and the sixth cam switch S106. The switch signal output terminals of the first cam switch S101, the second cam switch S102, the third cam switch S103, the fourth cam switch S104, the fifth cam switch S105, and the sixth cam switch S106 are all connected to the boom position signal input terminal of the controller 6. The controller 6 can be a PLC controller or a microcontroller controller.

[0053] Specifically, the first cam switch S101 is used to send a first position signal to the boom position signal input terminal of the controller 6 when the main tilt arm 1 rotates downward to the boom lowering end position; the second cam switch S102 is used to send a second position signal to the boom position signal input terminal of the controller 6 when the main tilt arm 1 rotates downward to the first preset position; the third cam switch S103 is used to send a third position signal to the boom position signal input terminal of the controller 6 when the main tilt arm 1 rotates upward to the second preset position; the fourth cam switch S104 is used to send a fourth position signal to the boom position signal input terminal of the controller 6 when the main tilt arm 1 rotates upward to the boom raising end position; the fifth cam switch S105 is used to send a fifth position signal to the boom position signal input terminal of the controller 6 when the main tilt arm 1 rotates to the boom lowering limit position; and the sixth cam switch S106 is used to send a sixth position signal to the boom position signal input terminal of the controller 6 when the main tilt arm 1 rotates to the boom raising limit position.

[0054] In this embodiment, both the first preset position and the second preset position are located between the end position of the lowering arm and the end position of the raising arm. The first preset position is set closer to the end position of the lowering arm, and the angle between the first preset position and the end position of the lowering arm does not exceed 30°. The second preset position is set closer to the end position of the raising arm, and the angle between the second preset position and the end position of the raising arm does not exceed 30°. The first preset position and the second preset position can also be set according to the size of the main pitch arm 1 and the speed at which the motor 5 drives the main pitch arm 1 to rotate.

[0055] In this embodiment, the angle between the lowering boom's extreme position and its endpoint is set to 5°. The main pitch boom 1 rotates downwards past the endpoint and then continues to rotate 5° to reach the lowering boom's extreme position. Similarly, the angle between the raising boom's extreme position and its endpoint is set to 5°. The main pitch boom 1 rotates upwards to the endpoint and then continues to rotate 5° to reach the raising boom's extreme position. These extreme lowering and raising boom positions help prevent losses caused by loss of control of the pitch boom.

[0056] The first cam switch S101, the second cam switch S102, the third cam switch S103, the fourth cam switch S104, the fifth cam switch S105, and the sixth cam switch S106 are all normally closed switches. When the corresponding cam touches the cam switch contact, the corresponding touch switch opens and sends the corresponding position signal to the controller 6. Therefore, the first position signal, the second position signal, the third position signal, the fourth position signal, the fifth position signal, and the sixth position signal are all falling edge signals.

[0057] The motor control signal output terminal of controller 6 is connected to the control terminal of motor 5 via frequency converter 7. The brake control signal output terminal of controller 6 is connected to the control terminal of brake 9. The alarm signal output terminal of controller 6 is connected to the control terminal of alarm 10. Among them, frequency converter 7 is used to adjust the operating speed of motor 5.

[0058] The controller 6 controls the operation of the motor 5 and the brake 9 according to the first position signal, the second position signal, the third position signal, the fourth position signal, the fifth position signal, and the sixth position signal, and issues an alarm through the alarm 10 when the main pitch arm 1 reaches the limit position.

[0059] The control methods for the trolley device include control of the main pitch arm 1 descending and the auxiliary pitch arm 2 ascending, and control of the main pitch arm 1 ascending and the auxiliary pitch arm 2 descending.

[0060] The control of the main pitch arm 1 descending and the auxiliary pitch arm 2 ascending specifically includes:

[0061] The controller 6 sends a start signal to the frequency converter 7. The frequency converter 7 controls the shaft of the motor 5 to rotate in the forward direction according to the start signal. The motor 5 drives the main pitch arm 1 to rotate downward. At this time, the auxiliary pitch arm 2 follows the main pitch arm 1 to rotate upward.

[0062] like Figure 7 As shown, when the main pitch arm 1 rotates downward to the first preset position, the second cam switch S102 sends a second position signal to the controller 6. After receiving the second position signal, the controller 6 controls the motor 5 to reduce its speed through the frequency converter 7, so that the speed at which the main pitch arm 1 rotates downward is reduced. At this time, the auxiliary pitch arm 2 follows the main pitch arm 1 and rotates upward at a low speed.

[0063] When the main pitch arm 1 rotates downward to the end position of the lower arm, the first cam switch S101 sends a first position signal to the controller 6. After receiving the first position signal, the controller 6 controls the speed of the motor 5 to decrease to 0 through the frequency converter 7. At the same time, the controller 6 controls the brake 9 to brake the reducer 51. The brake 9 holds the output shaft of the reducer 51, and the main pitch arm 1 and the auxiliary pitch arm 2 stop moving.

[0064] The pitch arm is a hoisting mechanism. During the control process of the electronic control system, the hoisting mechanism has a large inertia. When the main pitch arm 1 passes the end position of the lower arm, it continues to rotate to the limit position of the lower arm due to motor failure or inertia. At this time, the fifth cam switch S105 sends the fifth position signal to the controller 6. After receiving the fifth position signal, the controller 6 controls the circuit breaker of the power circuit of the motor 5 to open and the brake 9 to lock. At the same time, the controller 6 controls the alarm 10 to sound an alarm.

[0065] The control of the main pitch arm 1 ascending and the auxiliary pitch arm 2 descending specifically includes:

[0066] The controller 6 sends a start signal to the frequency converter 7. The frequency converter 7 controls the shaft of the motor 5 to rotate in the opposite direction according to the start signal. The motor 5 drives the main pitch arm 1 to rotate upward. At this time, the auxiliary pitch arm 2 follows the main pitch arm 1 to rotate downward.

[0067] When the main pitch arm 1 rotates upward to the second preset position, the third cam switch S103 sends a third position signal to the controller 6. After receiving the third position signal, the controller 6 controls the motor 5 to reduce its speed through the frequency converter 7, so that the speed at which the main pitch arm 1 rotates upward is reduced. At this time, the auxiliary pitch arm 2 follows the main pitch arm 1 and rotates downward at a low speed.

[0068] When the main pitch arm 1 rotates upward to the end position of the lifting arm, the fourth cam switch S104 sends a fourth position signal to the controller 6. After receiving the fourth position signal, the controller 6 controls the speed of the motor 5 to decrease to 0 through the frequency converter 7. At the same time, the controller 6 controls the brake 9 to brake the reducer 51. The brake 9 holds the output shaft of the reducer 51, and the main pitch arm 1 and the auxiliary pitch arm 2 stop moving.

[0069] After the main tilt arm 1 passes the end position of the boom, when it continues to rotate to the limit position of the boom due to motor failure or inertia, the sixth cam switch S106 sends the sixth position signal to the controller 6. After receiving the sixth position signal, the controller 6 controls the circuit breaker of the power circuit of the motor 5 to open and the brake 9 to lock. At the same time, the controller 6 controls the alarm 10 to sound an alarm.

[0070] The wiring diagram of the power circuit of the trolley device is as follows: Figure 8 As shown, motor 5 is connected to the three-phase power supply in sequence through frequency converter 7, fuse FU121, contact switch KM121, and circuit breaker QF121; cooling fan M2 is used to cool motor 5; brake 9 is connected to the three-phase power supply in sequence through thermal relay FR122, contact switch KM122, and circuit breaker QF122; after receiving the fifth position signal or the sixth position signal, controller 6 controls circuit breaker QF121 to open, and motor 5 loses power and stops working.

[0071] The principle of this invention is explained as follows:

[0072] The main pitch arm 1 of the pusher device is equipped with a main coupler 11 at its top. The middle part of the main pitch arm 1 is hinged to one end of the connecting rod 4. The bottom of the main pitch arm 1 is hinged to one side of the empty shunting locomotive body 3. The other side of the empty shunting locomotive body 3 is hinged to the bottom of the auxiliary pitch arm 2. The middle part of the auxiliary pitch arm 2 is hinged to the other end of the connecting rod 4. The auxiliary coupler 21 is equipped with a secondary coupler 21 at its top. The top of the shunting locomotive body 3 is equipped with a motor 5 and a reducer 51. The output shaft of the reducer 51 is driven by one end of a pull rod 52. The other end of the pull rod 52 is hinged to the middle of the main pitch arm 1. The main pitch arm 1, auxiliary pitch arm 2, connecting rod 4, and shunting locomotive body 3 in the pusher device form a four-bar linkage structure. The controller 6 controls the pitching action of the main pitch arm 1 through the motor 5 and the reducer 51, thereby achieving the purpose of simultaneously controlling the main pitch arm 1 and the auxiliary pitch arm 2.

[0073] Example 1:

[0074] A car-pushing device for a double-boom empty car shunting locomotive includes a main tilting boom 1 and an auxiliary tilting boom 2. A main coupler 11 is mounted on the top of the main tilting boom 1. The middle of the main tilting boom 1 is hinged to one end of a connecting rod 4. The bottom of the main tilting boom 1 is hinged to one side of the empty car shunting locomotive body 3. The other side of the empty car shunting locomotive body 3 is hinged to the bottom of the auxiliary tilting boom 2. The middle of the auxiliary tilting boom 2 is hinged to the other end of the connecting rod 4. An auxiliary coupler 21 is mounted on the top of the auxiliary tilting boom 2. A motor 5 is mounted on the top of the shunting locomotive body 3. The output shaft of the motor 5 is connected to the input end of a reducer 51. The output shaft of the reducer 51 is driven by one end of a pull rod 52. The other end of the pull rod 52 is connected to the middle of the main tilting boom 1. The reducer 51 is hinged; the output shaft of the reducer 51 is perpendicularly connected to one end of the rocker arm 53, and the other end of the rocker arm 53 is hinged to one end of the pull rod 52 away from the main tilting arm 1; when the main tilting arm 1 is at the end position of the lowered arm, the main coupler 11 at the top of the main tilting arm 1 is located 880mm above the empty car track surface; when the main tilting arm 1 is at the end position of the raised arm, the auxiliary coupler 21 at the top of the auxiliary tilting arm 2 is located 880mm above the empty car track surface; a first gear 81 coaxially mounted on the output shaft of the reducer 51 is fixedly mounted on it, the first gear 81 meshes with a second gear 82, the second gear 82 is fixedly connected to the input shaft of the height limiter 8, and the height limiter 8 is fixedly connected to the empty car shunting locomotive body 3. The signal output terminal of the limiter 8 is connected to the boom position signal input terminal of the controller 6. The motor control signal output terminal of the controller 6 is connected to the control terminal of the motor 5 through the frequency converter 7. The brake control signal output terminal of the controller 6 is connected to the control terminal of the brake 9. The brake 9 is used to brake the output shaft of the reducer 51. The height limiter 8 is internally equipped with a first cam switch S101, a second cam switch S102, a third cam switch S103, a fourth cam switch S104, a fifth cam switch S105, and a sixth cam switch S106. The first cam switch S101 is used to send the first signal to the boom position signal input terminal of the controller 6 when the main pitch boom 1 rotates downward to the end position of the boom drop. The first cam switch S102 is used to send a second position signal to the boom position signal input terminal of the controller 6 when the main pitch arm 1 rotates downward to form a 30° angle with the boom lowering end position; the second cam switch S103 is used to send a third position signal to the boom position signal input terminal of the controller 6 when the main pitch arm 1 rotates upward to form a 30° angle with the boom raising end position; the third cam switch S104 is used to send a fourth position signal to the boom position signal input terminal of the controller 6 when the main pitch arm 1 rotates upward to the boom raising end position; the fourth cam switch S105 is used to send a fifth position signal to the boom position signal input terminal of the controller 6 when the main pitch arm 1 rotates to the boom lowering limit position.The sixth cam switch S106 is used to send a sixth position signal to the boom position signal input terminal of the controller 6 when the main pitch boom 1 rotates to the boom limit position; the controller 6 controls the operation of the motor 5 and the brake 9 according to the first position signal, the second position signal, the third position signal, the fourth position signal, the fifth position signal, and the sixth position signal.

[0075] The control method of the trolley device includes control of the main pitch arm 1 descending and the auxiliary pitch arm 2 rising, and control of the main pitch arm 1 rising and the auxiliary pitch arm 2 descending.

[0076] The control of the main pitch arm 1 descending and the auxiliary pitch arm 2 ascending specifically includes:

[0077] The controller 6 controls the rotating shaft of the motor 5 to rotate in the forward direction through the frequency converter 7. The motor 5 drives the main pitch arm 1 to rotate downward, and at this time the auxiliary pitch arm 2 follows the main pitch arm 1 to rotate.

[0078] When the main pitch arm 1 rotates downward to the first preset position, the second cam switch S102 sends a second position signal to the controller 6. After receiving the second position signal, the controller 6 controls the motor 5 to reduce speed and rotate in the forward direction through the frequency converter 7.

[0079] When the main pitch arm 1 continues to rotate to the limit position of the lower arm after passing the end position of the lower arm, the fifth cam switch S105 sends a fifth position signal to the controller 6. After receiving the fifth position signal, the controller 6 controls the circuit breaker of the power circuit of the motor 5 to open and the brake 9 to lock.

[0080] When the main pitch arm 1 rotates downward to the end position of the lower arm, the first cam switch S101 sends a first position signal to the controller 6. After receiving the first position signal, the controller 6 controls the speed of the motor 5 to decrease to 0 through the frequency converter 7. At the same time, the controller 6 controls the brake 9 to brake the reducer 51, and the main pitch arm 1 and the auxiliary pitch arm 2 stop moving.

[0081] The control of the main pitch arm 1 rising and the auxiliary pitch arm 2 falling specifically includes:

[0082] The controller 6 controls the shaft of the motor 5 to rotate in the opposite direction through the frequency converter 7. The motor 5 drives the main pitch arm 1 to rotate upward, and at this time the auxiliary pitch arm 2 follows the main pitch arm 1 to rotate.

[0083] When the main pitch arm 1 rotates upward to the second preset position, the third cam switch S103 sends a third position signal to the controller 6. After receiving the third position signal, the controller 6 controls the motor 5 to reduce speed and rotate in the opposite direction through the frequency converter 7.

[0084] When the main pitch arm 1 rotates upward to the end position of the lifting arm, the fourth cam switch S104 sends a fourth position signal to the controller 6. After receiving the fourth position signal, the controller 6 controls the speed of the motor 5 to decrease to 0 through the frequency converter 7. At the same time, the controller 6 controls the brake 9 to brake the reducer 51, and the main pitch arm 1 and the auxiliary pitch arm 2 stop moving.

[0085] When the main pitch arm 1 continues to rotate to the limit position after passing the end position of the lifting arm, the sixth cam switch S106 sends a sixth position signal to the controller 6. After receiving the sixth position signal, the controller 6 controls the circuit breaker of the power circuit of the motor 5 to open and the brake 9 to lock.

[0086] Example 2:

[0087] Example 2 is basically the same as Example 1, except that:

[0088] The first cam switch S101, the second cam switch S102, the third cam switch S103, the fourth cam switch S104, the fifth cam switch S105, and the sixth cam switch S106 are all normally closed switches, and the first position signal, the second position signal, the third position signal, the fourth position signal, the fifth position signal, and the sixth position signal are all falling edge signals.

[0089] Example 3:

[0090] Example 3 is basically the same as Example 2, except that:

[0091] The alarm signal output terminal of the controller 6 is connected to the control terminal of the alarm 10. When the controller 6 receives the fifth position signal or the sixth position signal, the controller 6 controls the alarm 10 to sound an alarm.

[0092] The above description is only a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. Any equivalent modifications or changes made by those skilled in the art based on the content disclosed in the present invention should be included within the scope of protection set forth in the claims.

Claims

1. A trolley pushing device for a double-boom empty car shunting machine, characterized in that: The trolley device includes a main pitch arm (1) and a secondary pitch arm (2). The main pitch arm (1) is provided with a main coupler (11) at the top. The middle part of the main pitch arm (1) is hinged to one end of the connecting rod (4). The bottom of the main pitch arm (1) is hinged to one side of the empty car shunting locomotive body (3). The other side of the empty car shunting locomotive body (3) is hinged to the bottom of the secondary pitch arm (2). The middle part of the secondary pitch arm (2) is hinged to the other end of the connecting rod (4). The secondary pitch arm (2) is provided with a secondary coupler (21) at the top. The empty car shunting locomotive body (3) is provided with a motor (5). The output shaft of the motor (5) is connected to the input end of the reducer (51). The output shaft of the reducer (51) is driven by one end of the pull rod (52). The other end of the pull rod (52) is hinged to the middle part of the main pitch arm (1). The output shaft of the reducer (51) is fixedly provided with a first gear (81) coaxial with it. The first gear (81) meshes with the second gear (82). The second gear (82) is fixedly connected to the input shaft of the height limiter (8). The height limiter (8) is fixedly connected to the empty shunting locomotive body (3). The signal output terminal of the height limiter (8) is connected to the pitch arm position signal input terminal of the controller (6). The motor control signal output terminal of the controller (6) is connected to the control terminal of the motor (5) through the frequency converter (7). The brake control signal output terminal of the controller (6) is connected to the control terminal of the brake (9). The brake (9) is used to brake the reducer (51).

2. The trolley pushing device for a double-boom empty shunting machine according to claim 1, characterized in that: The height limiter (8) is internally provided with a first cam switch (S101), a second cam switch (S102), a third cam switch (S103), a fourth cam switch (S104), a fifth cam switch (S105), and a sixth cam switch (S106). The first cam switch (S101) is used to send a first position signal to the pitch arm position signal input terminal of the controller (6) when the main pitch arm (1) rotates downward to the end position of the drop arm; The second cam switch (S102) is used to send a second position signal to the pitch arm position signal input terminal of the controller (6) when the main pitch arm (1) rotates downward to the first preset position; The third cam switch (S103) is used to send a third position signal to the pitch arm position signal input terminal of the controller (6) when the main pitch arm (1) rotates upward to the second preset position; The fourth cam switch (S104) is used to send a fourth position signal to the pitch arm position signal input terminal of the controller (6) when the main pitch arm (1) rotates upward to the end position of the lifting arm; The fifth cam switch (S105) is used to send a fifth position signal to the pitch arm position signal input terminal of the controller (6) when the main pitch arm (1) rotates to the lower limit position; The sixth cam switch (S106) is used to send a sixth position signal to the pitch arm position signal input terminal of the controller (6) when the main pitch arm (1) rotates to the limit position of the lifting arm; The controller (6) controls the operation of the motor (5) and the brake (9) according to the first position signal, the second position signal, the third position signal, the fourth position signal, the fifth position signal and the sixth position signal.

3. The trolley pushing device for a double-boom empty shunting machine according to claim 2, characterized in that: The first cam switch (S101), the second cam switch (S102), the third cam switch (S103), the fourth cam switch (S104), the fifth cam switch (S105), and the sixth cam switch (S106) are all normally closed switches, and the first position signal, the second position signal, the third position signal, the fourth position signal, the fifth position signal, and the sixth position signal are all falling edge signals.

4. The trolley pushing device for a double-boom empty shunting machine according to claim 3, characterized in that: The output shaft of the reducer (51) is vertically connected to one end of the rocker arm (53), and the other end of the rocker arm (53) is hinged to one end of the pull rod (52) and the main pitch arm (1).

5. A control method for a shovel pusher for a double-boom empty shunting locomotive according to any one of claims 2-4, characterized in that: The control method of the trolley device includes control of the main pitch arm (1) descending and the auxiliary pitch arm (2) rising, and control of the main pitch arm (1) rising and the auxiliary pitch arm (2) descending. The control of the main pitch arm (1) descending and the secondary pitch arm (2) ascending specifically includes: The controller (6) controls the rotating shaft of the motor (5) to rotate in the forward direction through the frequency converter (7). The motor (5) drives the main pitch arm (1) to rotate downward. At this time, the auxiliary pitch arm (2) rotates with the main pitch arm (1). When the main pitch arm (1) rotates downward to the first preset position, the second cam switch (S102) sends a second position signal to the controller (6). After receiving the second position signal, the controller (6) controls the motor (5) to rotate at a reduced speed through the frequency converter (7). When the main pitch arm (1) rotates downward to the end position of the lower arm, the first cam switch (S101) sends a first position signal to the controller (6). After receiving the first position signal, the controller (6) controls the speed of the motor (5) to decrease to 0 through the frequency converter (7). At the same time, the controller (6) controls the brake (9) to brake the reducer (51), and the main pitch arm (1) and the auxiliary pitch arm (2) stop moving. The control of the main pitch arm (1) rising and the secondary pitch arm (2) descending specifically includes: The controller (6) controls the shaft of the motor (5) to rotate in the opposite direction through the frequency converter (7). The motor (5) drives the main pitch arm (1) to rotate upward. At this time, the auxiliary pitch arm (2) rotates with the main pitch arm (1). When the main pitch arm (1) rotates upward to the second preset position, the third cam switch (S103) sends a third position signal to the controller (6). After receiving the third position signal, the controller (6) controls the motor (5) to rotate at a reduced speed through the frequency converter (7). When the main pitch arm (1) rotates upward to the end position of the lifting arm, the fourth cam switch (S104) sends a fourth position signal to the controller (6). After receiving the fourth position signal, the controller (6) controls the speed of the motor (5) to decrease to 0 through the frequency converter (7). At the same time, the controller (6) controls the brake (9) to brake the reducer (51), and the main pitch arm (1) and the auxiliary pitch arm (2) stop moving.

6. The control method for a shovel pusher device for a double-boom empty shunting machine according to claim 5, characterized in that: The control of the main pitch arm (1) descending and the secondary pitch arm (2) ascending also includes: When the main pitching boom (1) continues to rotate to the limit position of the lower boom after passing the end position of the lower boom, the fifth cam switch (S105) sends the fifth position signal to the controller (6). After receiving the fifth position signal, the controller (6) controls the circuit breaker of the power circuit of the motor (5) to open and the brake (9) to lock. The control of the main pitch arm (1) rising and the secondary pitch arm (2) descending also includes: When the main pitch arm (1) continues to rotate to the limit position after passing the end position of the arm, the sixth cam switch (S106) sends a sixth position signal to the controller (6). After receiving the sixth position signal, the controller (6) controls the circuit breaker of the motor (5) power circuit to open and the brake (9) to lock.

7. The control method for a shovel pusher device for a double-boom empty shunting machine according to claim 6, characterized in that: The alarm signal output terminal of the controller (6) is connected to the control terminal of the alarm (10). When the controller (6) receives the fifth position signal or the sixth position signal, the controller (6) controls the alarm (10) to sound an alarm.

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