Retracting and releasing control system and method for steel rail grinding trolley and steel rail grinding trolley

Abstract

The invention discloses a steel rail grinding trolley retracting and releasing control system and method and a steel rail grinding wagon, and relates to the technical field of rail traffic, the system is applied to the steel rail grinding wagon, and the system comprises a displayer, a processor, an acquisition module, an output module, a preset sensor, a steel rail grinding trolley and a trolley control box; through the arrangement of the preset sensor in the steel rail grinding wagon, key states of lifting, locking, rail falling in place and the like of the steel rail grinding wagon can be monitored in an all-around mode; the processor can automatically control the lifting of the steel rail grinding trolley according to the on-vehicle lifting control command triggered by the human-computer interaction interface and the sensor signal collected by the preset sensor, so that the safety and the reliability of the retraction control of the steel rail grinding trolley are improved, and the efficiency of steel rail grinding operation is improved; and through the arrangement of the trolley control box, manual control under the trolley can avoid detection of a preset sensor, and railway accidents caused by faults of the preset sensor are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transportation, and in particular to a retractable and unretractable control system and method for a rail grinding trolley, and the rail grinding trolley. Background Art

[0002] Rails are one of the most direct and critical railway equipment that bears the brunt of passenger and freight vehicles. During long-term use, they will have different degrees of cracks and wear, which will change the contact position between the wheel pair and the rails, increase the wear between the rails and the wheels, and in severe cases will cause the train to derail. Rail grinding is currently recognized as one of the efficient and economical means to repair the rail profile and extend the service life of the rails. The rail grinding vehicle is one of the important railway equipment for repairing rails. Its most important operating component is the rail grinding trolley. The first step in rail grinding is to complete the lowering of the rail grinding trolley. The rail grinding trolley must be safely and reliably lowered to the rail before grinding can begin. During the grinding process, the operating status of the trolley needs to be monitored. After grinding, because the railway construction skylight time is precious, the rail grinding trolley needs to be quickly lifted and locked in place so that the rail grinding train can return to the station at high speed.

[0003] The retraction and extension of the rail grinding trolley is related to the safety and efficiency of the rail grinding operation. The retraction and extension of the traditional rail grinding trolley is generally controlled by the control box next to the trolley under the car to unlock and lower the trolley. The state of the trolley is judged manually, and the operator needs to adjust the lifting and lowering of the trolley according to the descent state of the trolley. Since the descent of the trolley is mostly completed by the synchronous execution of 4 cylinders, the difference in the cylinders may cause the difference in the descent speed of the 4 positions. Therefore, higher requirements are placed on the operating skills and experience of the operator. If the operation is improper, it is very easy to cause damage to the descent cylinder of the grinding trolley and the key components of the rail grinding trolley, and then the rail grinding trolley cannot be lifted, causing the vehicle to be unable to return to the station on time, resulting in serious railway accidents such as delays in passenger and freight trains.

[0004] Therefore, how to realize the automatic lifting and lowering control of the rail grinding trolley, improve the safety and reliability of the retraction and extension control of the rail grinding trolley, and avoid the occurrence of railway accidents is a problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of the present invention is to provide a rail grinding trolley retractable control system, method and rail grinding trolley, so as to realize the automatic lifting control of the rail grinding trolley, improve the safety and reliability of the retractable control of the rail grinding trolley, and avoid the occurrence of railway accidents.

[0006] In order to solve the above technical problems, the present invention provides a rail grinding trolley retractable control system, which is applied to the rail grinding trolley. The system includes: a display, a processor, a collection module, an output module, a preset sensor, a rail grinding trolley and a trolley control box;

[0007] Each of the rail grinding trolleys is provided with locking and unlocking components at both ends in the travel direction, and a locking structure corresponding to each of the rail grinding trolleys is provided on the frame of the rail grinding trolley, which is used to limit the falling of the rail grinding trolley when the rail grinding trolley is completed to rise and the lock tongue of the locking and unlocking component is extended;

[0008] The preset sensor includes a first sensor, a second sensor and a third sensor; the first sensor is used to detect the lifting position of the rail grinding trolley, and the second sensor is used to detect the extension and retraction of the lock tongue of the locking and unlocking component; the third sensor is arranged at the corresponding position of the wheel of the rail grinding trolley, and is used to detect the descending and falling of the target grinding trolley;

[0009] The processor is used to control the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley through the output module when the rail grinding trolley is in the under-vehicle control mode, according to the under-vehicle lifting and lowering control command of the target grinding trolley triggered by the trolley control box transmitted by the acquisition module; when the rail grinding trolley is in the on-vehicle control mode, the processor is used to control the locking and unlocking components of the target grinding trolley and / or the lifting and lowering cylinder corresponding to the target grinding trolley through the output module according to the on-vehicle lifting and lowering control command of the target grinding trolley triggered by the human-computer interaction interface in the display and the sensor signal transmitted by the preset sensor through the acquisition module; wherein the on-vehicle lifting and lowering control command includes at least one of an ascending command, a descending command, a locking command and an unlocking command.

[0010] On the other hand, the processor is also used to switch from the under-vehicle control mode to the on-vehicle control mode after obtaining the under-vehicle control release command triggered by the trolley control box.

[0011] On the other hand, the number of the trolley control boxes is the same as the number of the rail grinding trolleys, and the processor is specifically used to control the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley through the output module according to the under-car lifting control command triggered by the current trolley control box transmitted by the acquisition module in the under-car control mode; wherein, the current trolley control box is any of the trolley control boxes, and the target grinding trolley is a rail grinding trolley corresponding to the current trolley control box.

[0012] On the other hand, the under-vehicle lifting and lowering control command includes an under-vehicle unlocking command, an under-vehicle locking command, an under-vehicle lifting command, and an under-vehicle lowering command;

[0013] The processor is specifically configured to control the retraction of the lock tongue of the locking and unlocking component of the target grinding trolley through the output module when the under-vehicle lifting and lowering control command transmitted by the acquisition module is the under-vehicle unlocking command in the under-vehicle control mode;

[0014] If the under-vehicle lifting control command transmitted by the acquisition module is the under-vehicle locking command, the lock tongue of the locking and unlocking component of the target grinding trolley is controlled to extend through the output module;

[0015] If the under-vehicle lifting control command transmitted by the acquisition module is the under-vehicle lifting command, the lifting cylinder corresponding to the target grinding trolley is controlled by the output module to lift the target grinding trolley;

[0016] If the under-vehicle lifting control command transmitted by the acquisition module is the under-vehicle descending command, the lifting cylinder corresponding to the target grinding trolley is controlled by the output module to descend the target grinding trolley.

[0017] On the other hand, the processor is further configured to generate an on-board lifting and lowering control command of the target grinding trolley according to the working mode of the rail grinding trolley and the sensor signal when the rail grinding trolley is in the on-board control mode.

[0018] On the other hand, the human-computer interaction interface is provided with a single vehicle lifting control button corresponding to each of the rail grinding trolleys and a whole vehicle lifting control button corresponding to all of the rail grinding trolleys;

[0019] The processor is specifically used to trigger, in the on-board control mode, an on-board lifting control command of a rail grinding trolley corresponding to the current single-vehicle lifting control button according to a click signal of the current single-vehicle lifting control button in the human-computer interaction interface; or, according to a click signal of any full-vehicle lifting control button in the human-computer interaction interface, trigger the on-vehicle lifting control command of all the rail grinding trolleys; wherein the current single-vehicle lifting control button can be a single-vehicle lifting control button corresponding to any of the rail grinding trolleys.

[0020] On the other hand, the processor is specifically used for, when the rail grinding vehicle is in the on-vehicle control mode and the on-vehicle lifting control command is the descending command, if the target grinding vehicle is in the sinking state, controlling the lifting cylinder to lift the target grinding vehicle to a preset lifting position through the output module; controlling the lock tongue of the locking and unlocking component to retract through the output module; and controlling the lifting cylinder to lower the target grinding vehicle to drop the rail through the output module; wherein, when the target grinding vehicle is in the sinking state, the lock tongue of the locking and unlocking component extends and the lower part of the extended lock tongue contacts the locking structure;

[0021] If the target grinding trolley is not in the sinking state, the output module is used to control the lock tongue of the locking and unlocking component to retract; and the output module is used to control the lifting cylinder to lower the target grinding trolley to fall off the track.

[0022] On the other hand, the first sensor includes two travel switches corresponding to the front and rear ends of the target grinding trolley in the driving direction, which are used to detect whether the front and rear ends of the target grinding trolley have reached the preset lifting position; the third sensor includes four proximity switches at the corresponding positions of the four wheels of the target grinding trolley;

[0023] The processor is further configured to determine whether the target grinding trolley is unlocked according to the sensor signal collected by the second sensor when the rail grinding trolley is in the on-board control mode and the on-board lifting control command is the rising command;

[0024] If the target grinding trolley is unlocked, the lifting cylinder is controlled by the output module to lift the first side of the target grinding trolley, and timing is started to obtain a first timing time;

[0025] Determining whether the first timing time reaches a first preset time and the first side of the target grinding vehicle rises to the preset lifting position;

[0026] If the first timing time reaches the first preset time and the first side rises to the preset lifting position, the lifting cylinder is controlled by the output module to lift the second side of the target grinding trolley, and the timing is restarted to obtain a second timing time;

[0027] When the second timing time reaches the second preset time, the second side of the target grinding trolley rises to the preset lifting position and the four proximity switches corresponding to the four wheels of the target grinding trolley do not detect on-track signals, it is determined that the target grinding trolley has been lifted into place; wherein the first side and the second side are the front and rear ends of the target grinding trolley in the driving direction.

[0028] The present invention also provides a method for controlling the retraction and extension of a rail grinding trolley, which is applied to a processor in the retraction and extension control system of the rail grinding trolley as described above, comprising:

[0029] When the rail grinding vehicle is in the under-vehicle control mode, according to the under-vehicle lifting and lowering control command of the target grinding vehicle triggered by the vehicle control box transmitted by the acquisition module, the locking and unlocking components of the target grinding vehicle and / or the lifting cylinder corresponding to the target grinding vehicle are controlled through the output module;

[0030] When the rail grinding vehicle is in the on-board control mode, the locking and unlocking components of the target grinding vehicle and / or the lifting cylinder corresponding to the target grinding vehicle are controlled through the output module according to the on-board lifting and lowering control command of the target grinding vehicle triggered by the human-computer interaction interface in the display and the sensor signal transmitted by the preset sensor through the acquisition module; wherein the on-board lifting and lowering control command includes at least one of a lifting command, a descending command, a locking command and an unlocking command.

[0031] In addition, the present invention also provides a rail grinding vehicle, comprising: the retractable and extended control system of the rail grinding vehicle as described above.

[0032] A rail grinding trolley retractable and retractable control system provided by the present invention is applied to the rail grinding trolley, and the system comprises: a display, a processor, an acquisition module, an output module, a preset sensor, a rail grinding trolley and a trolley control box; wherein, each rail grinding trolley is provided with locking and unlocking components at the front and rear ends in the driving direction, and a locking structure corresponding to each rail grinding trolley is provided on the frame of the rail grinding trolley, which is used to limit the falling of the rail grinding trolley when the rail grinding trolley has completed its ascent and the lock tongue of the locking and unlocking component is extended; the preset sensor comprises a first sensor, a second sensor and a third sensor; the first sensor is used to detect the lifting position of the rail grinding trolley, and the second sensor is used to detect the extension and retraction of the lock tongue of the locking and unlocking component; the third sensor is arranged at the wheel of the rail grinding trolley The corresponding position is used to detect the descent and rail-falling situation of the target grinding trolley; the processor is used to control the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley through the output module according to the under-car lifting control command of the target grinding trolley triggered by the trolley control box transmitted by the acquisition module when the rail grinding trolley is in the under-car control mode; when the rail grinding trolley is in the on-car control mode, the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley are controlled through the output module according to the on-car lifting control command of the target grinding trolley triggered by the human-computer interaction interface in the display and the sensor signal transmitted by the preset sensor through the acquisition module; wherein the on-car lifting control command includes at least one of the rising command, the descending command, the locking command and the unlocking command.

[0033] It can be seen that the present invention can perform all-round monitoring of the key states of the rail grinding trolley, such as lifting, locking and rail placement, by setting the preset sensors in the rail grinding trolley; the processor can automatically control the lifting and lowering of the rail grinding trolley according to the lifting control command of the target grinding trolley triggered by the human-computer interaction interface and the sensor signal collected by the preset sensor, thereby improving the safety and reliability of the retrieval and release control of the rail grinding trolley, thereby improving the efficiency of the rail grinding operation; and through the setting of the trolley control box, the manual control under the car can avoid the detection of the preset sensor, ensuring that the rail grinding trolley can also be quickly lifted and lowered when the preset sensor fails, avoiding railway accidents caused by the failure of the preset sensor that causes the rail grinding trolley to be unable to lift normally. In addition, the present invention also provides a retrieval and release control method for a rail grinding trolley and a rail grinding trolley, which also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0035] Figure 1 A structural block diagram of a retractable and retractable control system for a rail grinding trolley provided in an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of the structure of a rail grinding trolley in a lifted and unlocked state provided by an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of the structure of a rail grinding trolley in a lifted and locked state provided by an embodiment of the present invention;

[0038] Figure 4 A schematic structural diagram of a rail grinding trolley in a sunken state provided by an embodiment of the present invention;

[0039] Figure 5 A schematic structural diagram of a rail grinding trolley in a rail-dropping state provided by an embodiment of the present invention;

[0040] Figure 6 A schematic structural diagram of a retractable and retractable control system for a rail grinding trolley provided in an embodiment of the present invention;

[0041] Figure 7 A schematic diagram of a descending method of a rail grinding trolley provided in an embodiment of the present invention;

[0042] Figure 8 A schematic flow chart of a lifting control process of a rail grinding trolley provided in an embodiment of the present invention;

[0043] Fig. 9 A schematic diagram of a flow chart of a descending control process of a rail grinding trolley provided in an embodiment of the present invention;

[0044] Fig.10 A schematic diagram of control commands for off-vehicle control and on-vehicle control of a rail grinding trolley provided in an embodiment of the present invention;

[0045] Fig.11 The present invention provides a flow chart of a method for controlling the retraction and extension of a rail grinding trolley. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Please refer to Figure 1 , Figure 1 This is a structural block diagram of a retractable and retractable control system for a rail grinding trolley provided in an embodiment of the present invention. The system is applied to a rail grinding trolley and may include: a display 10, a processor 20, a collection module 30, an output module 40, a preset sensor 60, a rail grinding trolley 70 and a trolley control box 50;

[0048] Each rail grinding trolley 70 is provided with locking and unlocking components at both ends in the travel direction, and a locking structure corresponding to each rail grinding trolley 70 is provided on the frame of the rail grinding trolley, which is used to limit the falling of the rail grinding trolley 70 when the rail grinding trolley 70 is raised and the lock tongue of the locking and unlocking component is extended;

[0049] The preset sensor 60 includes a first sensor, a second sensor and a third sensor; the first sensor is used to detect the lifting position of the rail grinding trolley 70, and the second sensor is used to detect the extension and retraction of the lock tongue of the locking and unlocking component; the third sensor is set at the corresponding position of the wheel of the rail grinding trolley 70, and is used to detect the descending and landing of the target grinding trolley;

[0050] The processor 20 is used to control the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley through the output module 40 when the rail grinding trolley is in the under-vehicle control mode, according to the under-vehicle lifting and lowering control command of the target grinding trolley triggered by the trolley control box 50 transmitted by the acquisition module 30; when the rail grinding trolley is in the on-vehicle control mode, the processor 20 is used to control the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley through the output module 40 according to the on-vehicle lifting and lowering control command of the target grinding trolley triggered by the human-computer interaction interface in the display 10 and the sensor signal transmitted by the preset sensor 60 through the acquisition module 30; wherein the on-vehicle lifting and lowering control command includes at least one of an ascending command, a descending command, a locking command and an unlocking command.

[0051] It is understandable that the rail grinding vehicle in this embodiment can be a rail transit equipment vehicle used for preventive grinding or repairing the rail profile. A rail grinding trolley 70 is provided in the rail grinding vehicle, and the rail grinding trolley 70 is one of the key operating parts in the rail grinding vehicle. The grinding head responsible for cutting the rail is installed on the grinding trolley; the rail grinding vehicle can only perform rail grinding operations by lowering the rail grinding trolley 70. The target grinding trolley in this embodiment can be the rail grinding trolley 70 currently to be controlled in the rail grinding vehicle, such as all or part of the rail grinding trolleys 70 in the rail grinding vehicle.

[0052] Correspondingly, the rail grinding trolley 70 in the rail grinding trolley of the present embodiment may be provided with locking and unlocking components (such as Figure 2 and Figure 3 Component 3), the locking and unlocking components can be used in conjunction with the corresponding locking structures of the rail grinding trolley 70 on the frame of the rail grinding vehicle, such as Figure 2 and Figure 3 The rail grinding trolleys 70 (C1 trolley and C2 trolley) are respectively provided with locking structures 6 on the frame 2 at the front and rear ends in the travel direction, so that when the rail grinding trolley 70 is raised and the lock tongue of the locking and unlocking component is extended, the target grinding trolley is restricted from falling (such as Figure 3 Correspondingly, after the rail grinding trolley 70 drops down the rail, the locking tongue of the locking and unlocking component extends out to limit the lifting of the rail grinding trolley 70, so that it cannot be lifted to the preset lifting position.

[0053] Correspondingly, the preset sensor 60 in this embodiment can be a sensor pre-set in the rail grinding trolley, so as to determine the state of the target grinding trolley through the sensor signal collected by the preset sensor 60, thereby correspondingly controlling the locking and unlocking components and the corresponding lifting cylinder in the target grinding trolley to realize the retraction and extension control of the rail grinding trolley 70. The specific number and type of the preset sensors 60 in this embodiment can be set by the designer according to practical scenarios and user needs. For example, the preset sensors 60 may include a first sensor for detecting the lifting position of each rail grinding trolley 70. For example, the first sensor may include two travel switches corresponding to the front and rear ends of each rail grinding trolley 70 in the driving direction, which are used to detect whether the front and rear ends of each rail grinding trolley 70 have reached the preset lifting position; wherein, when the front and rear ends of each rail grinding trolley 70 reach the preset lifting position, the rail grinding trolley 70 may be in a lifted state, so that the two travel switches at the front and rear ends of each rail grinding trolley 70 are set, and when the rail grinding trolley 70 is lifted or lowered, the DI (digital input) signal of the two travel switches is used to determine whether the rail grinding trolley 70 is lifted in place; for example, the two travel switches corresponding to the front and rear ends of each rail grinding trolley 70 may be set on the frame of the rail grinding trolley (such as on the frame above the front and rear ends of each rail grinding trolley 70 or on the locking structure on both sides), such as Figures 2 to 5 As shown, the first sensor may include two travel switches 4 arranged on the frame 2 above the front and rear ends of the roof of the rail grinding trolley 70 (C1 trolley and C2 trolley) in the driving direction, so that when each rail grinding trolley 70 is lifted into place, the two travel switches 4 above the front and rear ends can sense that the front and rear ends have reached the preset lifting position, such as a mechanical sheet is arranged above each locking and unlocking component 3, so that when the rail grinding trolley 70 is lifted into place, the mechanical sheet will push open the corresponding travel switch 4 so that it can sense it; the two travel switches corresponding to the front and rear ends of each rail grinding trolley 70 can also be arranged at the front and rear ends of each rail grinding trolley 70, such as the frame above the two travel switches at the front and rear ends of the rail grinding trolley 70 can be provided with respective corresponding switch trigger structures, so that when the rail grinding trolley 70 is lifted into place, the two travel switches at the front and rear ends can be pushed open by the switch trigger structures above them to sense that the front and rear ends have reached the preset lifting position. The first sensor may also include other sensors that are arranged at the front and rear ends of each rail grinding trolley 70 in the traveling direction and are capable of detecting the lifting and lowering positions of each rail grinding trolley 70, such as distance sensors; for example, the first sensor may include infrared distance sensors that are arranged at the front and rear ends of each rail grinding trolley 70 in the traveling direction, and are used to detect the distance between the front and rear ends of each rail grinding trolley 70 and the corresponding position (such as the frame) of the upper rail grinding trolley, so as to detect whether the front and rear ends of each rail grinding trolley 70 have reached the preset lifting position.

[0054] Correspondingly, the preset sensor 60 may also include a second sensor for detecting the extension and retraction of the lock tongue of the locking and unlocking components. For example, the second sensor may include a travel switch provided in all or any of the locking and unlocking components of each rail grinding trolley 70, so that when the lock tongue of the locking and unlocking component is extended to lock or retracted to unlock, the extension and retraction of the lock tongue of the locking and unlocking component is determined through the DI signal of the travel switch, thereby determining the locking state or unlocking state of each rail grinding trolley 70. The preset sensor 60 may also include a third sensor provided at a corresponding position of the wheel of each rail grinding trolley 70 (such as near the wheel or inside the wheel), for detecting the descent of the rail grinding trolley 70; Figure 5 As shown, the third sensor may include four proximity switches 5 arranged at corresponding positions of the four wheels of each rail grinding trolley 70, so that when the wheels of the rail grinding trolley 70 fall onto the rail 7, the detection signals of the proximity switches 5 are processed (such as logic and filtering processing) to determine the descent and fall of the four wheels of the rail grinding trolley 70, thereby realizing the monitoring of the derailment problem; the third sensor may also include two proximity switches arranged at corresponding positions of one wheel at each of the front and rear ends of each rail grinding trolley 70 in the driving direction, so that the descent and fall of the front and rear ends of the rail grinding trolley 70 can be determined by setting the two proximity switches of each rail grinding trolley 70.

[0055] Furthermore, the preset sensor 60 may also include a hydraulic pressure switch in the descending hydraulic valve corresponding to the lifting cylinder (such as 4 hydraulic cylinders) of the rail grinding trolley 70, which is used to detect whether the lifting cylinder controls the descent of the rail grinding trolley 70; that is, by adding a hydraulic pressure switch to the descending hydraulic valve that controls the lifting cylinder, when a rail grinding trolley 70 needs to be descended, the descending hydraulic valve that controls the lifting cylinder is energized, and the DI signal output by the hydraulic pressure switch is valid, indicating that the rail grinding trolley 70 is controlled to descend; the descending hydraulic valve can be set on the outside of the rail grinding trolley to facilitate inspection by maintenance personnel.

[0056] It should be noted that the on-board lifting control command in this embodiment may be a command for controlling the lifting of the target grinding trolley in addition to the off-board lifting control command triggered by the trolley control box 50 of the rail grinding trolley 70 under the vehicle. For example, the on-board lifting control command may include a command triggered by the human-computer interaction interface in the display 10 (such as the display in the driver's cab). The specific command type of the on-board lifting control command in this embodiment can be set by the designer according to practical scenarios and user needs. For example, the lifting control command may include an ascending command for controlling the lifting of all or part of the rail grinding trolley 70 (i.e., the target grinding trolley) and / or a descending command for controlling the descent of the target grinding trolley; it may also include a locking command for controlling the extension of the lock tongue of the locking structure in the target grinding trolley and / or an unlocking command for controlling the retraction of the lock tongue of the locking structure in the target grinding trolley; it may also include a sinking command for controlling the target grinding trolley to enter a sinking state; wherein the sinking state may be a state in which the lock tongue of the locking and unlocking components of the target grinding trolley is extended and the lower part of the extended lock tongue contacts the locking structure (such as Figure 4 The sinking state is shown in the figure), so as to improve the reliability of the rail grinding trolley 70 connected to the rail grinding vehicle during high-speed operation by setting the sinking state. This embodiment does not impose any restriction on this.

[0057] Furthermore, in this embodiment, the processor 20 (such as Figure 6 The central processor in the processor 20 can not only obtain the on-board lifting and lowering control command of the target grinding trolley triggered by the human-computer interaction interface displayed on the display 10, but also generate the on-board lifting and lowering control command of the target grinding trolley according to the working mode of the rail grinding trolley (such as operation mode and running mode, etc.) and / or the sensor signal collected by the preset sensor 60. For example, when the operation mode of the rail grinding trolley is started, the processor 20 can generate a descending command of the target grinding trolley to control the target grinding trolley to descend and drop the rail for operation; when the working mode of the rail grinding trolley is converted from the operation mode to the running mode, a sinking command of the target grinding trolley is generated to control the front and rear ends of the target grinding trolley to descend simultaneously, so that the trolley is in a sinking state, such as Figure 4 For example, when the working mode of the rail grinding vehicle is converted from the operation mode to the travel mode and the first sensor detects that the target grinding vehicle has been lifted to the preset lifting position (i.e., lifted to the position), the processor 20 generates a sinking command for the target grinding vehicle. This embodiment does not impose any limitation on this.

[0058] Correspondingly, for the processor 20 in this embodiment, when the rail grinding vehicle is in the on-board control mode, the specific method of controlling the locking and unlocking components and / or the lifting cylinder corresponding to the target grinding vehicle through the output module 40 according to the on-board lifting control command and sensor signal can be set by the designer according to practical scenarios and user needs. For example, when the on-board lifting control command is a descending command, the processor 20 can first control the lock tongue of the locking and unlocking components to retract through the output module 40, and then control the lifting cylinder to lower the target grinding vehicle to the rail through the output module 40; when the on-board lifting control command is a rising command, the processor 20 can first control the lock tongue of the locking and unlocking components to retract through the output module 40, such as Figure 6 As shown, the unlocking cylinder of the locking and unlocking component is controlled by the output module 40 to retract the lock tongue of the locking and unlocking component; and then the lifting cylinder is controlled by the output module 40 to lift the target grinding trolley to a preset lifting position.

[0059] Wherein, when the rail grinding trolley is set to a sinking state, when the rail grinding trolley 70 is in the sinking state, the lock tongue of the locking and unlocking component in the rail grinding trolley 70 is extended, and the lock tongue in contact with the corresponding locking structure bears the gravity of the trolley, and the rail grinding trolley 70 needs to be lifted first to retract the lock tongue in contact with the locking structure and unlock the rail grinding trolley 70. Therefore, in some embodiments, the processor 20 in the rail grinding trolley can detect whether the target grinding trolley is in the sinking state when the lifting control command on the vehicle is a descending command; wherein, when the target grinding trolley is in the sinking state, the lock tongue of the locking and unlocking component is extended and the lower part of the extended lock tongue contacts the locking structure. If the target grinding trolley is in the sinking state, the lifting cylinder is controlled by the output module 40 to lift the target grinding trolley to the preset lifting position; the lock tongue of the locking and unlocking component is controlled to retract by the output module 40; and the lifting cylinder is controlled by the output module 40 to lower the target grinding trolley to drop the rail. If the target grinding trolley is not in the sinking state, the output module 40 is used to control the lock tongue of the locking and unlocking components to retract; the output module 40 is used to control the lifting cylinder to lower the target grinding trolley to fall off the track.

[0060] Correspondingly, the specific process of detecting whether the target grinding trolley is in the sunken state can be set by the designer according to practical scenarios and user needs. For example, the processor 20 can detect whether the target grinding trolley is in the sunken state based on the latest status of each rail grinding trolley 70 recorded (such as the sunken state, the rail-fallen state, and the lifted-in-place state, etc.), that is, the processor 20 can update the latest status of the rail grinding trolley 70 recorded after controlling each rail grinding trolley 70 to reach a new state. The processor 20 can also detect whether the target grinding trolley is in a sunken state based on the sensor signal collected by the preset sensor 60; if the preset sensor 60 also includes a hydraulic pressure switch for detecting whether the lifting cylinder controls the descent of the target grinding trolley, the processor 20 can determine that the target grinding trolley is in a sunken state when the hydraulic pressure switch detects that the target grinding trolley is controlled to descend and the second sensor detects that the lock tongue of the locking and unlocking component is extended; or, when the hydraulic pressure switch detects that the target grinding trolley is controlled to descend, the second sensor detects that the lock tongue of the locking and unlocking component is extended and the third sensor detects that the target grinding trolley has not fallen off the track, it determines that the target grinding trolley is in a sunken state; accordingly, when the descent command controls the target grinding trolley to descend and fall off the track, the output module 40 can be used to control the lock tongue of the locking and unlocking component to retract, and then the lifting cylinder can be controlled to descend the target grinding trolley.

[0061] Correspondingly, the above-mentioned process of controlling the retraction of the lock tongue of the locking and unlocking component through the output module 40 can directly control the retraction of the lock tongue of the locking and unlocking component through the output module 40, or it can first determine whether the second sensor detects the extension of the lock tongue of the locking and unlocking component; if so, the retraction of the lock tongue of the locking and unlocking component is controlled through the output module 40; if not, the subsequent process is directly carried out, such as controlling the lifting cylinder to lower the target grinding trolley to fall off the track or controlling the lifting cylinder to raise the target grinding trolley to a preset lifting position through the output module 40.

[0062] Furthermore, since the lifting and lowering of each rail grinding trolley 70 needs to be controlled by multiple (such as 4) lifting cylinders, in order to avoid the situation where the cylinders or trolley parts are damaged due to the different lowering speeds caused by the differences in the lifting cylinders when the rail grinding trolley 70 is lowered by multiple lifting cylinders at the same time, the lifting process of the rail grinding trolley 70 in this embodiment can be carried out by first raising or lowering one side and then raising or lowering the other side. In other words, the above-mentioned process of controlling the lifting cylinder to lower the target grinding trolley to fall off the track through the output module 40 may include controlling the lifting cylinder to lower the second side of the target grinding trolley through the output module 40; controlling the lifting cylinder to lower the first side of the target grinding trolley through the output module 40, so that the target grinding trolley falls off the track; wherein the first side and the second side are the front and rear ends of the target grinding trolley in the driving direction.

[0063] Correspondingly, the above-mentioned process of controlling the lifting cylinder to lift the target grinding trolley to the preset lifting position through the output module 40 may include controlling the lifting cylinder to lift one side (such as the first side or the second side) of the target grinding trolley through the output module 40; controlling the lifting cylinder to lift the other side (such as the second side or the first side) of the target grinding trolley through the output module 40, so that the target grinding trolley rises to the preset lifting position.

[0064] Among them, the specific settings of the two sides of the target grinding trolley that are lifted and lowered successively during the lifting process can be set by the designer according to practical scenarios and user needs. For example, when the target grinding trolley includes two rail grinding trolleys 70 adjacent to each other in the driving direction, the first side of each target grinding trolley is the end close to the adjacent target grinding trolley (i.e., the inner side), and the second side of each target grinding trolley is the end away from the adjacent target grinding trolley (i.e., the outer side). Figure 7 As shown, in the process of controlling the lifting cylinder to lower the target grinding trolley by the output module 40, the outer sides of two adjacent grinding trolleys can be lowered first, and then the inner sides of the two grinding trolleys can be lowered to further ensure the safety of the trolley components and the cylinder.

[0065] For example, the first sensor in this embodiment may include two travel switches corresponding to the front and rear ends of the target grinding trolley in the direction of travel, which are used to detect whether the front and rear ends of the target grinding trolley have reached the preset lifting position; the third sensor includes four proximity switches at the corresponding positions of the four wheels of the target grinding trolley to ensure the accuracy of the rail drop detection. The processor 20 can determine whether the target grinding trolley has been unlocked according to the sensor signal collected by the second sensor when the rail grinding trolley is in the on-board control mode and the on-board lifting control command is a lifting command; if the target grinding trolley has been unlocked, the lifting cylinder is controlled through the output module 40 to lift the first side (such as the inner side) of the target grinding trolley, and the timing is started to obtain the first timing time; it is determined whether the first timing time reaches the first preset time and the first side of the target grinding trolley rises to the preset lifting position (that is, the travel switch corresponding to the first side detects that the first side of the target grinding trolley has been lifted). to a preset lifting position); if the first timing time reaches the first preset time and the first side rises to the preset lifting position, the lifting cylinder is controlled by the output module 40 to lift the second side (such as the outer side) of the target grinding trolley, and the timing is restarted to obtain a second timing time; when the second timing time reaches the second preset time, the second side of the target grinding trolley rises to the preset lifting position and the four proximity switches corresponding to the four wheels of the target grinding trolley do not detect an on-track signal, it is determined that the target grinding trolley has been lifted into place; wherein the first side and the second side are the front and rear ends of the target grinding trolley in the driving direction.

[0066] Among them, Figure 8As shown, when the on-vehicle lifting control command is a lifting command, in the process of judging whether the target grinding trolley has been unlocked according to the sensor signal collected by the second sensor, it is also possible to judge whether the rail grinding trolley has stopped, so as to lift both sides of the target grinding trolley to the preset lifting position when the rail grinding trolley has stopped and the target grinding trolley has been unlocked. When determining that the target grinding trolley has been lifted into place, the four proximity switches corresponding to the four wheels of the target grinding trolley are used to improve the accuracy of determining the lifting state of the target grinding trolley. It is also possible to determine that the target grinding trolley has been lifted into place when the second timing time reaches the second preset time and the second side of the target grinding trolley rises to the preset lifting position. This embodiment does not impose any restrictions on this.

[0067] Correspondingly, when the lifting control command on the vehicle is a descending command, the processor 20 can determine whether the target grinding trolley has been unlocked according to the sensor signal collected by the second sensor; if the target grinding trolley has been unlocked, the lifting cylinder is controlled to descend the second side (such as the outside) of the target grinding trolley through the output module 40, and the timing is started to obtain a third timing time; it is determined whether the third timing time reaches the third preset time and the second side of the target grinding trolley is lowered from the preset lifting position; if the third timing time reaches the third preset time and the second side is lowered from the preset lifting position, the lifting cylinder is controlled to descend the first side (such as the inside) of the target grinding trolley through the output module 40, and the timing is restarted to obtain a fourth timing time; when the fourth timing time reaches the fourth preset time, the first side of the target grinding trolley is lowered from the preset lifting position, and the four proximity switches corresponding to the four wheels of the target grinding trolley detect the on-track signal, it is determined that the target grinding trolley has been lowered into place (i.e., fallen onto the track).

[0068] Correspondingly, such as Fig. 9 As shown, when the vehicle is in a sunken state, before judging whether the target grinding trolley is unlocked according to the sensor signal collected by the second sensor, the process may also include: judging whether the target grinding trolley is in a sunken state; if it is in a sunken state, first controlling the lifting cylinder to lift the target grinding trolley into place, then controlling the target grinding trolley to unlock, and then continuing to execute the subsequent process of controlling the lifting cylinder to lower the second side of the target grinding trolley, and starting the timing to obtain the third timing time; if it is not in a sunken state, executing the process of judging whether the target grinding trolley is unlocked according to the sensor signal collected by the second sensor.

[0069] Among them, this embodiment does not limit the specific time parameters of the above-mentioned first preset time to the fourth preset time. For example, the lifting cylinder characteristics of the rail grinding trolley 70 of each model can be debugged and corrected accordingly; for example, the time value of 3-10S can be used.

[0070] Correspondingly, after determining that the target grinding trolley has been lifted into place, the processor 20 can also control the lock tongue of the locking and unlocking component to extend to lock the target grinding trolley, thereby ensuring the safety of the maintenance personnel under the vehicle when the vehicle is stopped and the safety of the vehicle when it is driving.

[0071] Furthermore, in this embodiment, the on-vehicle lifting and lowering control command may also include a vehicle sinking command. In this step, when the on-vehicle lifting and lowering control command is a vehicle sinking command, if the first sensor detects that the target grinding trolley is lifted to a preset lifting position and the second sensor detects that the lock tongue of the locking and unlocking component is extended, the processor 20 may control the lifting cylinder to lower the target grinding trolley so that the locking structure is pressed down under the lock tongue of the locking and unlocking component, such as lowering both sides of the target grinding trolley at the same time, so that the extended lock tongue of the locking and unlocking component of the target grinding trolley is pressed onto the locking structure of the vehicle frame without the need to fall onto the rails.

[0072] It should be noted that, since the off-vehicle control of the rail grinding trolley (i.e., the control of the trolley control box 50 under the vehicle) is likely to be performed by a maintenance personnel who is repairing the rail grinding trolley 70, at this time, handing over the control of the rail grinding trolley 70 to the trolley control box 50 of the rail grinding trolley 70 under the vehicle can improve the safety and reliability of the closing control of the rail grinding trolley 70; and the off-vehicle control mode (i.e., the off-vehicle control mode) can avoid the detection conditions of the preset sensor 60, so as to avoid the situation where the trolley cannot be lifted for a long time due to the failure of the preset sensor 60, delaying the closing time of the trolley. In other words, the off-vehicle lifting and lowering control command in this embodiment can be a command triggered by the trolley control box 50 for controlling the lifting and lowering of the rail grinding trolley 70, such as the off-vehicle lifting and lowering control command can include at least one of the off-vehicle unlocking command, the off-vehicle locking command, the off-vehicle lifting command, and the off-vehicle lowering command. The on-board lifting control command can be a command for controlling the lifting of the target grinding trolley in addition to the under-board lifting control command of the target grinding trolley triggered by the trolley control box 50, such as the command triggered by the human-computer interaction interface in the display 10 in the driver's cab and the command generated by the processor 20 in the rail grinding trolley.

[0073] Correspondingly, in this embodiment, the processor 20 can switch from the off-vehicle control mode to the on-vehicle control mode after obtaining the off-vehicle control authority release command triggered by the control box; that is, when the rail grinding vehicle is in the off-vehicle control mode with off-vehicle control authority, only the off-vehicle lifting and lowering control command of the target grinding vehicle will be obtained and executed, and the on-vehicle lifting and lowering control command of the target grinding vehicle will not be obtained or executed. For example, since the off-vehicle control is likely to be someone repairing the rail grinding vehicle 70, the vehicle control authority can be given priority to the off-vehicle personnel operating the vehicle control box 50; after the off-vehicle personnel release the off-vehicle control authority through the vehicle control box 50, the on-vehicle personnel can control the rail grinding vehicle 70 through the human-machine exchange interface.

[0074] Correspondingly, in this embodiment, the processor 20 can not only control the locking and unlocking components in the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley according to the acquired on-vehicle lifting control command and the sensor signal collected by the preset sensor 60 when the rail grinding trolley is in the on-vehicle control mode, so as to complete the retraction and extension control of the rail grinding trolley 70 corresponding to the on-vehicle lifting control command (i.e., the retraction and extension control of the trolley on the vehicle); but can also control the locking and unlocking components in the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley according to the acquired off-vehicle lifting control command when the rail grinding trolley is in the off-vehicle control mode, so as to complete the retraction and extension control of the rail grinding trolley 70 corresponding to the off-vehicle lifting control command (i.e., the retraction and extension control of the trolley under the vehicle).

[0075] Among them, Fig.10 As shown, the under-car lifting control command may include an under-car unlocking command, an under-car locking command, an under-car lifting command, and an under-car descending command. When the under-car lifting control command is an under-car unlocking command, the processor 20 may control the lock tongue of the locking and unlocking component of the target grinding trolley to retract; when the under-car lifting control command is an under-car locking command, the processor 20 may control the lock tongue of the locking and unlocking component of the target grinding trolley to extend; when the under-car lifting control command is an under-car lifting command, the processor 20 may control the lifting cylinder to lift the target grinding trolley; when the under-car lifting control command is an under-car descending command, the processor 20 may control the lifting cylinder to descend the target grinding trolley.

[0076] like Figure 6 and Fig.10 As shown, the human-machine interaction interface in the on-board display 10 can be provided with buttons corresponding to some (such as a single) rail grinding trolleys 70 (such as unlock, lock, lift and lower buttons, etc.), so that the on-board personnel can directly control the rail grinding trolley 70 under the vehicle without getting off the vehicle. All states of the rail grinding trolley 70 (such as the sinking state, the rail-dropping state, the lifting-in-place state, the locking state and the unlocking state, etc.) will be collected by the preset sensor 60 and fed back to the human-machine interaction interface through the collection module 30 for display, so as to realize real-time monitoring; that is, the processor can determine and display the current state corresponding to each rail grinding trolley (such as the sinking state, the rail-dropping state, the lifting-in-place state, the locking state or the unlocking state, etc.) on the human-machine exchange interface according to the sensor signal collected by the preset sensor 60.

[0077] Furthermore, the human-computer interaction interface can also set the whole vehicle lifting control buttons corresponding to all rail grinding trolleys 70 (such as a one-button unlocking and descending button and a one-button lifting and locking button). For example, the human-computer interaction interface sets the single vehicle lifting control buttons corresponding to each rail grinding trolley 70 and the whole vehicle lifting control buttons corresponding to all rail grinding trolleys; the processor 20 can trigger the on-vehicle lifting control command of a rail grinding trolley corresponding to the current single vehicle lifting control button in the human-computer interaction interface when in the on-vehicle control mode; or, according to the click signal of any whole vehicle lifting control button in the human-computer interaction interface, trigger the on-vehicle lifting control command of all rail grinding trolleys; wherein, the current single vehicle lifting control button can be a single vehicle lifting control button corresponding to any rail grinding trolley 70.

[0078] Correspondingly, the single vehicle lifting control button may include at least one of an up button, a down button, a lock button, an unlock button, and a sink button. The whole vehicle lifting control button may include a one-key unlock down button and / or a one-key lift lock button; for example, the human-machine interaction interface may also be provided with a one-key unlock down button. When the person on the vehicle controls and presses this button, the processor 20 may obtain the corresponding down command of all rail grinding trolleys 70 (i.e., the target grinding trolley), so that all rail grinding trolleys 70 may adopt Fig. 9 Similarly, the human-machine interaction interface can also be set with a one-button lift lock button. When the on-board personnel press this button, all rail grinding trolleys 70 can be used at the same time. Figure 8 The process shown is lifted and locked after being lifted into place. Compared with the control of the trolley control box 50 under the vehicle or the control of a single trolley on the vehicle, this one-button control will greatly improve the efficiency of the trolley retraction and extension control. At the same time, the lifting, locking, sinking, rail dropping and derailment status of all rail grinding trolleys 70 are collected by the preset sensor 60 connected to the collection module 30, and fed back to the human-computer interaction interface monitoring in real time through the communication bus, thereby improving the safety and reliability of the trolley retraction and extension.

[0079] Among them, this embodiment does not limit the specific number of trolley control boxes 50. For example, the number of trolley control boxes 50 can be the same as the number of rail grinding trolleys 70, that is, each rail grinding trolley 70 is provided with a corresponding trolley control box 50. Figure 6The C1 trolley control box 50 corresponding to the C1 trolley and the C2 trolley control box 50 corresponding to the C2 trolley; that is, the processor 20 can control the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley through the output module 40 in the under-car control mode according to the under-car lifting control command triggered by the current trolley control box transmitted by the acquisition module 30; wherein the current trolley control box is any of the trolley control boxes, and the target grinding trolley can be a rail grinding trolley corresponding to the current trolley control box. The number of trolley control boxes 50 can also be less than the number of rail grinding trolleys 70, so that each trolley control box 50 can be used to control the lifting of multiple rail grinding trolleys 70.

[0080] Similarly, the present embodiment does not limit the specific number and circuit structure of the acquisition modules 30 between the processor 20 and the preset sensor 60 and the trolley control box 50 and the output modules 40 between the processor 20 and the rail grinding trolley 70. For example, in the present embodiment, each rail grinding trolley 70 can be provided with its own corresponding acquisition module 30 and output module 40. Figure 6 The two acquisition modules 30 and two output modules 40 corresponding to the C1 trolley and the C2 trolley, with the processor 20, can control the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley through the output module 40 corresponding to the target grinding trolley when the rail grinding trolley is in the on-board control mode, according to the acquired on-board lifting and lowering control command of the target grinding trolley and the sensor signal transmitted by the preset sensor 60 corresponding to the target grinding trolley through the acquisition module 30 corresponding to the target grinding trolley, so as to complete the lifting and lowering control of the target grinding trolley.

[0081] In the present embodiment, the embodiment of the present invention can perform all-round monitoring of key states such as the lifting, locking and rail placement of the rail grinding trolley 70 through the setting of the preset sensor 60 in the rail grinding trolley; the processor 20 can automatically control the lifting and lowering of the rail grinding trolley 70 according to the lifting and lowering control command of the target grinding trolley triggered by the human-computer interaction interface and the sensor signal collected by the preset sensor 60, thereby improving the safety and reliability of the retraction and extension control of the rail grinding trolley 70, thereby improving the efficiency of the rail grinding operation; and in order to avoid the situation where the preset sensor 60 fails and causes the automatic lifting to fail, through the setting of the trolley control box 50, the manual control under the vehicle can avoid the detection of the preset sensor 60, ensuring that the rail grinding trolley 70 can be quickly lifted and lowered when the preset sensor 60 fails, thereby avoiding the occurrence of railway accidents.

[0082] Corresponding to the above system embodiment, an embodiment of the present invention further provides a method for controlling the retraction and extension of a rail grinding trolley. The method for controlling the retraction and extension of a rail grinding trolley described below and the rail grinding trolley described above can refer to each other.

[0083] Please refer to Fig.11 , Fig.11 This is a flow chart of a method for controlling the retraction and extension of a rail grinding trolley provided in an embodiment of the present invention. The method is applied to a processor in a retraction and extension control system of the rail grinding trolley provided in the above embodiment, and the method comprises:

[0084] Step 101: When the rail grinding vehicle is in the under-vehicle control mode, according to the under-vehicle lifting and lowering control command of the target grinding vehicle triggered by the vehicle control box transmitted by the acquisition module, the locking and unlocking components of the target grinding vehicle and / or the lifting cylinder corresponding to the target grinding vehicle are controlled through the output module.

[0085] Step 102: When the rail grinding vehicle is in the on-board control mode, according to the on-board lifting control command of the target grinding vehicle triggered by the human-computer interaction interface in the display and the sensor signal transmitted by the preset sensor through the acquisition module, the locking and unlocking components of the target grinding vehicle and / or the lifting cylinder corresponding to the target grinding vehicle are controlled through the output module; wherein the on-board lifting control command includes at least one of a lifting command, a descending command, a locking command and an unlocking command.

[0086] In some embodiments, the under-vehicle lifting control command includes at least one of an under-vehicle raising command, an under-vehicle lowering command, an under-vehicle locking command, and an under-vehicle unlocking command.

[0087] In some embodiments, according to the on-vehicle lifting control command of the target grinding trolley triggered by the human-computer interaction interface in the display and the sensor signal transmitted by the preset sensor through the acquisition module, the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley are controlled through the output module, including:

[0088] When the lifting control command on the vehicle is a descending command, it is detected whether the target grinding trolley is in a sinking state; wherein, when the target grinding trolley is in the sinking state, the lock tongue of the locking and unlocking component extends and the lower part of the extended lock tongue contacts the locking structure;

[0089] If the target grinding trolley is in a sunken state, the output module controls the lifting cylinder to lift the target grinding trolley to the preset lifting position; controls the lock tongue of the locking and unlocking components to retract; controls the lifting cylinder to lower the target grinding trolley to the track;

[0090] If the target grinding trolley is not in the sinking state, the output module controls the lock tongue of the locking and unlocking components to retract; and controls the lifting cylinder to lower the target grinding trolley to fall off the track.

[0091] In some embodiments, the vehicle lifting control command also includes a vehicle sinking command, and according to the vehicle lifting control command of the target grinding trolley triggered by the human-computer interaction interface in the display and the sensor signal transmitted by the preset sensor through the acquisition module, the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley are controlled through the output module, including:

[0092] When the lifting control command on the vehicle is a sinking command, if the first sensor detects that the target grinding trolley is lifted to the preset lifting position and the second sensor detects that the lock tongue of the locking and unlocking component is extended, the lifting cylinder is controlled by the output module to lower the target grinding trolley, so that the locking structure is pressed down under the lock tongue of the locking and unlocking component.

[0093] In some embodiments, the method further comprises: generating a vehicle lifting and lowering control command of the target grinding vehicle according to the working mode of the rail grinding vehicle or the working mode of the rail grinding vehicle and the sensor signal.

[0094] In some embodiments, generating a vehicle lifting control command of a target grinding vehicle according to the working mode of the rail grinding vehicle or the working mode of the rail grinding vehicle and the sensor signal includes:

[0095] When it is detected that the working mode of the rail grinding vehicle is converted from the operating mode to the traveling mode, a sinking command is generated.

[0096] In some embodiments, the output module is used to control the lifting cylinder to lower the target grinding trolley to the rail, including:

[0097] The output module is used to control the lifting cylinder to lower the second side of the target grinding trolley;

[0098] The output module is used to control the lifting cylinder to lower the first side of the target grinding trolley so that the target grinding trolley falls onto the track; wherein the first side and the second side are the front and rear ends of the target grinding trolley in the driving direction.

[0099] In some embodiments, when the target grinding trolley includes two rail grinding trolleys adjacent to each other in the travel direction, the first side of each target grinding trolley is an end close to the adjacent target grinding trolley, and the second side of each target grinding trolley is an end away from the adjacent target grinding trolley.

[0100] In some embodiments, the preset sensor further includes a hydraulic pressure switch in a descending hydraulic valve corresponding to the lifting cylinder, for detecting whether the lifting cylinder controls the target grinding trolley to descend;

[0101] Detect whether the target grinding trolley is in a sinking state, including:

[0102] If the hydraulic pressure switch detects that the target grinding trolley is controlled to descend, the second sensor detects that the lock tongue of the locking and unlocking component extends, and the third sensor detects that the target grinding trolley has not fallen off the track, it is determined that the target grinding trolley is in a sinking state.

[0103] In some embodiments, the first sensor includes two travel switches corresponding to the front and rear ends of the target grinding trolley in the driving direction, which are used to detect whether the front and rear ends of the target grinding trolley have reached a preset lifting position; the third sensor includes four proximity switches at corresponding positions of the four wheels of the target grinding trolley;

[0104] According to the lifting control command of the target grinding trolley triggered by the human-machine interaction interface in the display and the sensor signal transmitted by the preset sensor through the acquisition module, the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley are controlled through the output module, including:

[0105] When the lifting control command on the vehicle is a rising command, judging whether the target grinding vehicle is unlocked according to the sensor signal collected by the second sensor;

[0106] If the target grinding trolley is unlocked, the lifting cylinder is controlled by the output module to lift the first side of the target grinding trolley, and the timing is started to obtain a first timing time;

[0107] Determining whether the first timing time reaches the first preset time and the first side of the target grinding vehicle rises to the preset lifting position;

[0108] If the first timing time reaches the first preset time and the first side rises to the preset lifting position, the lifting cylinder is controlled by the output module to lift the second side of the target grinding trolley, and the timing is restarted to obtain the second timing time;

[0109] When the second timing time reaches the second preset time, the second side of the target grinding trolley rises to the preset lifting position and the four proximity switches corresponding to the four wheels of the target grinding trolley do not detect the on-track signal, it is determined that the target grinding trolley has been lifted into place; wherein the first side and the second side are the front and rear ends of the target grinding trolley in the driving direction.

[0110] In some embodiments, the method further comprises:

[0111] Get the vehicle control release command triggered by the vehicle control box;

[0112] According to the under-vehicle control release command, the under-vehicle control mode is switched to the on-vehicle control mode.

[0113] In the present embodiment, the embodiment of the present invention can perform all-round monitoring of key states such as the lifting, locking and rail placement of the rail grinding trolley through the setting of preset sensors in the rail grinding trolley; the processor can automatically control the lifting and lowering of the rail grinding trolley according to the lifting control command on the target grinding trolley triggered by the human-computer interaction interface and the sensor signal collected by the preset sensor, thereby improving the safety and reliability of the retraction and extension control of the rail grinding trolley, thereby improving the efficiency of the rail grinding operation; and in order to avoid the situation where the preset sensor fails and causes the automatic lifting to fail, through the setting of the trolley control box, the manual control under the vehicle in the under-vehicle control mode can avoid the detection of the preset sensor, thereby ensuring that the rail grinding trolley can be quickly lifted and lowered when the preset sensor fails.

[0114] Corresponding to the above method embodiment, the embodiment of the present invention further provides a computer program product. The computer program product described below and the retracting and extending control method of the rail grinding trolley described above can be referred to each other.

[0115] A computer program product includes a computer program / instruction, which, when executed by a processor, implements the steps of the method for controlling the retraction and extension of a rail grinding trolley provided in the above method embodiment.

[0116] Corresponding to the above system embodiment, the embodiment of the present invention further provides a rail grinding vehicle. The rail grinding vehicle described below and the retractable and unretractable control system of the rail grinding vehicle described above can be referred to in correspondence with each other.

[0117] A rail grinding vehicle comprises: a retractable and deployable control system for the rail grinding vehicle as provided in the above embodiment.

[0118] The various 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 between the various embodiments can be referred to each other. For the computer program product disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0119] The above is a detailed introduction to a rail grinding trolley retractable control system, method and rail grinding trolley provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A retractable and deployable control system for a rail grinding trolley, characterized in that: Applied to rail grinding vehicles, the system includes: a display, a processor, an acquisition module, an output module, a preset sensor, a rail grinding trolley and a trolley control box; Each of the rail grinding trolleys is provided with locking and unlocking components at both ends in the travel direction, and a locking structure corresponding to each of the rail grinding trolleys is provided on the frame of the rail grinding trolley, which is used to limit the falling of the rail grinding trolley when the rail grinding trolley is completed to rise and the lock tongue of the locking and unlocking component is extended; The preset sensor includes a first sensor, a second sensor and a third sensor; the first sensor is used to detect the lifting position of the rail grinding trolley, and the second sensor is used to detect the extension and retraction of the lock tongue of the locking and unlocking component; the third sensor is arranged at the corresponding position of the wheel of the rail grinding trolley, and is used to detect the descending and falling of the target grinding trolley; The processor is used to control the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley through the output module when the rail grinding trolley is in the under-vehicle control mode, according to the under-vehicle lifting and lowering control command triggered by the trolley control box transmitted by the acquisition module; when the rail grinding trolley is in the on-vehicle control mode, the processor is used to control the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley through the output module according to the on-vehicle lifting and lowering control command of the target grinding trolley triggered by the human-computer interaction interface in the display and the sensor signal transmitted by the preset sensor through the acquisition module; wherein the on-vehicle lifting and lowering control command includes at least one of an ascending command, a descending command, a locking command and an unlocking command.

2. The rail grinding trolley retractable and deployable control system according to claim 1, characterized in that: The processor is also used to switch from the under-vehicle control mode to the on-vehicle control mode after obtaining the under-vehicle control release command triggered by the trolley control box.

3. The rail grinding trolley retractable and extendable control system according to claim 1, characterized in that: The number of the trolley control boxes is the same as the number of the rail grinding trolleys, and the processor is specifically used to control the locking and unlocking components of the target grinding trolley and / or the lifting cylinder corresponding to the target grinding trolley through the output module according to the under-car lifting control command triggered by the current trolley control box transmitted by the acquisition module in the under-car control mode; wherein the current trolley control box is any of the trolley control boxes, and the target grinding trolley is a rail grinding trolley corresponding to the current trolley control box.

4. The rail grinding trolley retractable and extendable control system according to claim 1, characterized in that: The under-vehicle lifting and lowering control commands include an under-vehicle unlocking command, an under-vehicle locking command, an under-vehicle lifting command, and an under-vehicle lowering command; The processor is specifically configured to control the retraction of the lock tongue of the locking and unlocking component of the target grinding trolley through the output module when the under-vehicle lifting and lowering control command transmitted by the acquisition module is the under-vehicle unlocking command in the under-vehicle control mode; If the under-vehicle lifting control command transmitted by the acquisition module is the under-vehicle locking command, the lock tongue of the locking and unlocking component of the target grinding trolley is controlled to extend through the output module; If the under-vehicle lifting control command transmitted by the acquisition module is the under-vehicle lifting command, the lifting cylinder corresponding to the target grinding trolley is controlled by the output module to lift the target grinding trolley; If the under-vehicle lifting control command transmitted by the acquisition module is the under-vehicle descending command, the lifting cylinder corresponding to the target grinding trolley is controlled by the output module to descend the target grinding trolley.

5. The rail grinding trolley retractable and extendable control system according to claim 1, characterized in that: The processor is further configured to generate an on-board lifting and lowering control command of the target grinding trolley according to the working mode of the rail grinding trolley and the sensor signal when the rail grinding trolley is in the on-board control mode.

6. The rail grinding trolley retractable and extendable control system according to claim 1, characterized in that: The human-computer interaction interface is provided with a single vehicle lifting control button corresponding to each of the rail grinding trolleys and a whole vehicle lifting control button corresponding to all of the rail grinding trolleys; The processor is specifically configured to trigger, in the on-board control mode, an on-board lifting control command of a rail grinding trolley corresponding to the current single-vehicle lifting control button according to a click signal of the current single-vehicle lifting control button in the human-computer interaction interface; Alternatively, according to a click signal of any vehicle lifting control button in the human-computer interaction interface, the on-vehicle lifting control command of all the rail grinding trolleys is triggered; wherein the current single-vehicle lifting control button can be a single-vehicle lifting control button corresponding to any of the rail grinding trolleys.

7. The retractable and extending control system of the rail grinding trolley according to claims 1 to 6, characterized in that: The processor is specifically used for, when the rail grinding vehicle is in the on-vehicle control mode and the on-vehicle lifting control command is the descending command, if the target grinding vehicle is in a sinking state, controlling the lifting cylinder to lift the target grinding vehicle to a preset lifting position through the output module; controlling the lock tongue of the locking and unlocking component to retract through the output module; and controlling the lifting cylinder to lower the target grinding vehicle to drop the rail through the output module; wherein, when the target grinding vehicle is in the sinking state, the lock tongue of the locking and unlocking component extends and the lower part of the extended lock tongue contacts the locking structure; If the target grinding trolley is not in the sinking state, the output module is used to control the lock tongue of the locking and unlocking component to retract; and the output module is used to control the lifting cylinder to lower the target grinding trolley to fall off the track.

8. The rail grinding trolley retractable and extendable control system according to claim 1, characterized in that: The first sensor includes two travel switches corresponding to the front and rear ends of the target grinding trolley in the driving direction, and is used to detect whether the front and rear ends of the target grinding trolley have reached the preset lifting position; the third sensor includes four proximity switches at the corresponding positions of the four wheels of the target grinding trolley; The processor is further configured to determine whether the target grinding trolley is unlocked according to the sensor signal collected by the second sensor when the rail grinding trolley is in the on-board control mode and the on-board lifting control command is the rising command; If the target grinding trolley is unlocked, the lifting cylinder is controlled by the output module to lift the first side of the target grinding trolley, and timing is started to obtain a first timing time; Determining whether the first timing time reaches a first preset time and the first side of the target grinding vehicle rises to the preset lifting position; If the first timing time reaches the first preset time and the first side rises to the preset lifting position, the lifting cylinder is controlled by the output module to lift the second side of the target grinding trolley, and the timing is restarted to obtain a second timing time; When the second timing time reaches the second preset time, the second side of the target grinding trolley rises to the preset lifting position and the four proximity switches corresponding to the four wheels of the target grinding trolley do not detect on-track signals, it is determined that the target grinding trolley has been lifted into place; wherein the first side and the second side are the front and rear ends of the target grinding trolley in the driving direction.

9. A method for controlling the retraction and extension of a rail grinding trolley, characterized in that: A processor used in a retractable and retractable control system of a rail grinding trolley as claimed in any one of claims 1 to 8, comprising: When the rail grinding vehicle is in the under-vehicle control mode, according to the under-vehicle lifting and lowering control command of the target grinding vehicle triggered by the vehicle control box transmitted by the acquisition module, the locking and unlocking components of the target grinding vehicle and / or the lifting cylinder corresponding to the target grinding vehicle are controlled through the output module; When the rail grinding vehicle is in the on-board control mode, the locking and unlocking components of the target grinding vehicle and / or the lifting cylinder corresponding to the target grinding vehicle are controlled through the output module according to the on-board lifting and lowering control command of the target grinding vehicle triggered by the human-computer interaction interface in the display and the sensor signal transmitted by the preset sensor through the acquisition module; wherein the on-board lifting and lowering control command includes at least one of a lifting command, a descending command, a locking command and an unlocking command.

10. A rail grinding vehicle, characterized in that: include: A retractable and deployable control system for a rail grinding trolley as claimed in any one of claims 1 to 8.

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