Radial bogie for actively controlling wheel pair to swing around center pin shaft of edge beam

Abstract

The invention discloses a radial bogie capable of actively controlling a wheel pair to swing around a center pin shaft of an edge beam, and relates to the technical field of rail transit, machinery and control. The wheel set devices are arranged on the front side and the rear side of the car type structure, the side, away from the equal-proportion lever linkage steering device, of each wheel set device is provided with a boundary beam center pin shaft, framework fixing points are arranged at the positions of the boundary beam center pin shafts, and the equal-proportion lever linkage steering device is connected with the other sides of the wheel set devices. The equal-proportion lever linkage steering device is distributed on one side of the central swing bolster device and is in sliding connection with the central swing bolster device through a crank, the central swing bolster device is connected with the central position of the car-shaped structure through a pin shaft, and the electric control driving device is arranged between one end of the car-shaped structure and a wheel pair and is in hinge connection with the car-shaped structure; by the adoption of the radial bogie capable of actively controlling the wheel pair to swing around the center pin shaft of the edge beam, the complexity of mechanical design and installation and maintenance is effectively reduced.

Description

Technical Field

[0001] The invention relates to the fields of rail transportation, machinery and control technology, and in particular to a radial bogie with actively controlled wheelsets that swing around a central pin of a side beam. Background Art

[0002] With the diversified development of rail technology, rail trains are increasingly used in the transportation field. Due to their low cost, strong adaptability, high space utilization and high safety, they are not only used in long-distance railway transportation, but also widely used in medium and short-distance urban rail transportation.

[0003] As one of the core components of rail trains, bogies directly determine the stability, ride comfort and safety of trains. However, traditional bogies have poor durability and are prone to potential safety hazards, especially when trains pass through curved paths. Traditional bogies have complex structures, which makes their manufacturing costs high and also increases the difficulty and cost of maintenance. Moreover, more moving parts mean more potential failure points, which seriously affects the stability and safety of train travel. Summary of the invention

[0004] The purpose of the present invention is to provide a radial bogie with actively controlled wheelsets that swing around the center pin of the side beam. The multi-link structure of the bogie is simplified by applying a proportional lever linkage device, and the mechanical design is improved while ensuring the steering function, thereby effectively reducing the complexity of the mechanical design, installation and maintenance.

[0005] To achieve the above-mentioned purpose, the present invention provides a radial bogie with active control of the wheelset to swing around the center pin of the side beam, comprising a car-type structure, a wheelset device, a proportional lever linkage steering device, a center rocking device, and an electronically controlled drive device; the wheelset device is arranged on the front and rear sides of the car-type structure, and the side of the wheelset device away from the proportional lever linkage steering device is provided with a side beam center pin, and a frame fixing point is arranged at the side beam center pin, the proportional lever linkage steering device is connected to the other side of the wheelset device, the proportional lever linkage steering device is distributed on one side of the center rocking device and is connected to the center rocking device through a crank sliding connection, the center rocking device is connected to the center position of the car-type structure through a pin, the electronically controlled drive device is arranged between one end of the car-type structure and the wheelset and is hinged to the car-type structure, and the car-type structure, the center rocking device and the electronically controlled drive device are connected to the proportional lever linkage steering device.

[0006] Preferably, the wheelset device includes wheelsets at both ends and support bearings arranged on the wheelsets, a bearing seat is arranged outside the support bearing, a compression type buffer rubber spring is arranged on the bearing seat, a base slide is arranged on the compression type buffer rubber spring, a lateral limiting slide is arranged on the base slide, a grounding brush housing is arranged at the end of the base slide away from the wheelset, a grounding slip ring is arranged inside the grounding brush housing, a grounding brush is arranged on the upper surface of the grounding brush housing, and a braking unit is arranged on the inner side of the wheelset away from one end of the grounding brush housing.

[0007] Preferably, the proportional lever linked steering device includes a wheelset force transmission rod and a proportional lever, the end of the wheelset force transmission rod away from the center rocking bolster device is connected to an axle box steering arm, the end of the axle box steering arm away from the wheelset force transmission rod is connected to the bearing seat, the two ends of the proportional lever parallel to the center rocking bolster device are respectively connected to the wheelset force transmission rod, the car-type structure and the proportional lever are connected with a proportional lever center axis parallel to the center position of the center rocking bolster device, the extended end of the center position of the proportional lever is connected to the electric control drive device, and a transmission slider is arranged above the end of the proportional lever close to the center of the center rocking bolster device, and the transmission slider is slidably connected to the center rocking bolster device.

[0008] Preferably, the central rocker device includes a gas spring turntable plate and a central rotating column, a rocker slide groove is provided at one end of the gas spring turntable plate close to the proportional lever, the rocker slide groove is slidably connected to the transmission slider, gas springs are symmetrically provided on both sides of the central rotating column, and a force transmission rod connection symmetrically distributed around the central rotating column is provided on the side of the gas spring away from the central rotating column, and the force transmission rod connection is connected to the longitudinal force transmission rod of the vehicle body.

[0009] Preferably, the electrically controlled drive device comprises an electric cylinder piston rod and a servo electric cylinder, one end of the electric cylinder piston rod is connected to the proportional lever body, the other end of the electric cylinder piston rod is connected to the servo electric cylinder, the servo electric cylinder is connected to a tail hinge seat locking mechanism, the tail hinge seat locking mechanism is connected to an electromagnet, the electromagnet is provided with an electromagnet power-off locking tongue tube, the electromagnet is magnetically connected to an electromagnet armature, the electromagnet armature is connected to one end of an electromagnet-armature connecting rod, the other end of the electromagnet-armature connecting rod is connected to a wedge cam, a tail hinge seat slide rail is provided next to the wedge cam, a fixed end of a return spring is provided on the side of the slide rail away from the wedge cam, the other end of the return spring is provided on the side of the slide rail close to the electromagnet-armature connecting rod, and the other end of the return spring is fixed at the joint between the electromagnet-armature connecting rod and the wedge cam.

[0010] Preferably, a current collector is provided at a position between the wheel pairs on the same side of the car-type structure, a magnetic rail brake is provided below the current collector, the magnetic rail brake is connected to the car-type structure, and a linear motor stator is provided at the bottom of the car-type structure.

[0011] Preferably, the electronically controlled drive device is connected to a controller, which includes a signal acquisition module and a multi-sensor information fusion module, the signal acquisition module is connected to the input end of the multi-sensor information fusion module, the output end of the multi-sensor information fusion module is connected to the input end of a wheelset radial motion posture solving module, the output end of the wheelset radial motion posture solving module is connected to the input end of a joint coordinated control instruction generating module, the output end of the joint coordinated control instruction generating module is connected to the input end of a control instruction communication management module, and the output end of the control instruction communication management module outputs instructions to control the electronically controlled drive device.

[0012] Preferably, the signal acquisition module includes a bolster angle sensor, a binocular vision and distance sensor group, a geographic location and track information receiver, an axle hole slider type anti-overload force sensor, and a vehicle speed sensor; the bolster angle sensor is arranged on the car-type structure below the gas spring turntable and connected to the gas spring turntable, and visual sensor supports are symmetrically arranged on the car-type structure between the wheelsets on the same side, the binocular vision and distance sensor group is arranged on a side of the visual sensor support close to the wheelset, the geographic location and track information receiver is arranged on the visual sensor support, the axle hole slider type anti-overload force sensor and the transmission slider are an integrated composite structure, and the vehicle speed sensor is arranged at the outer center of the wheelset.

[0013] Preferably, under normal circumstances, the steering of the radial bogie is actively controlled by the controller. If the controller fails, the servo electric cylinder stops working, the tail hinge seat locking mechanism automatically releases the constraint and enters a free sliding state, and the center rocker device and the proportional lever device are driven purely mechanically to realize the track forced radial steering function.

[0014] Preferably, when the electric cylinder piston rod contracts, it drives the proportional lever to rotate counterclockwise around the center axis of the proportional lever, and the center rocking device rotates clockwise, and the transverse limit slider slides toward the side close to the center rocking device, driving the wheelset to rotate around the center pin axis of the side beam toward the center rocking device, thereby realizing the left turning function of the train; when the electric cylinder piston rod contracts, it drives the proportional lever to rotate clockwise around the center axis of the proportional lever, and the center rocking device rotates counterclockwise, and the transverse limit slider slides toward the side away from the center rocking device, driving the wheelset to rotate around the center pin axis of the side beam away from the center rocking device, thereby realizing the right turning function of the train.

[0015] Therefore, the radial bogie with the structure above and active control of the wheelset swinging around the center pin of the side beam has the following beneficial effects compared with the prior art:

[0016] 1. A theoretical breakthrough has been made in the swing of radial bogie wheelsets around the virtual space axis. Through the design of the driving connecting rod, when the train passes through a curved track, the wheelsets can be oriented in the radial direction of the curve, and the axle rotates along the curve. A complete and reliable bogie structure has been designed to optimize the radial steering function of existing trains;

[0017] 2. The multi-link structure of the bogie is simplified by applying a proportional lever linkage device, and the mechanical design is improved while ensuring the steering function, which effectively reduces the complexity of mechanical design, installation and maintenance, and greatly saves cost expenditure.

[0018] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of an embodiment of a radial bogie for actively controlling the swing of wheelsets around the center pin of a side beam according to the present invention;

[0020] Figure 2 This is a structural analysis diagram of an embodiment of a radial bogie for actively controlling the swing of wheelsets around the center pin of a side beam according to the present invention;

[0021] Figure 3 It is a general assembly diagram of the wheelset bearing of an embodiment of a radial bogie for actively controlling the wheelset to swing around the center pin of the side beam of the present invention;

[0022] Figure 4 It is a schematic diagram of an electronically controlled drive device of an embodiment of a radial bogie for actively controlling the swing of wheelsets around the center pin of a side beam according to the present invention;

[0023] Figure 5A schematic diagram of a grounding brush of an embodiment of a radial bogie for actively controlling the swing of wheelsets around a center pin of a side beam according to the present invention;

[0024] Figure 6 A schematic diagram of a bogie turning left according to an embodiment of a radial bogie in which a wheel pair is actively controlled to swing around a center pin of a side beam according to the present invention;

[0025] Figure 7 A schematic diagram of a right-turning bogie of an embodiment of a radial bogie in which a wheel pair is actively controlled to swing around a center pin of a side beam according to the present invention;

[0026] Figure 8 This is a control flow chart of an embodiment of a radial bogie for actively controlling the swinging of wheelsets around the center pin of a side beam according to the present invention;

[0027] Fig. 9 It is a schematic diagram of an embodiment of a radial bogie for actively controlling the swing of wheelsets around the center pin of a side beam according to the present invention;

[0028] Fig.10 A locking state diagram of a locking mechanism of an embodiment of a radial bogie for actively controlling the wheelset to swing around the center pin of a side beam according to the present invention;

[0029] Fig.11 A diagram showing a released state of a locking mechanism of an embodiment of a radial bogie for actively controlling the wheelset to swing around a center pin of a side beam according to the present invention;

[0030] Reference numerals

[0031] 1. Car structure; 2. Wheel set device; 3. Proportional lever linkage device; 4. Center bolster device; 5. Electric control drive device; 6. Current collector; 7. Magnetic rail brake; 8. Linear motor stator; 9. Side beam center pin; 10. Frame fixing point; 21. Wheel set; 22. Support bearing; 23. Bearing seat; 24. Compression type buffer rubber spring; 25. Basic slide plate; 26. Horizontal limit slider; 27. Grounding brush housing; 28. Grounding slip ring; 29. ​​Grounding brush; 30. Braking unit; 31. Wheel set force transmission rod; 32. Proportional lever; 33. Axle box steering arm; 34. Proportional lever center axis; 35. Transmission slider; 41. Gas spring turntable ; 42. Central rotating column; 43. Rocker slide; 44. Gas spring; 45. Force transfer rod connection; 46. Car body longitudinal force transfer rod; 51. Electric cylinder piston rod; 52. Servo electric cylinder; 53. Tail hinge seat locking mechanism; 54. Electromagnet; 55. Electromagnet power-off locking tongue tube; 56. Electromagnet armature; 57. Electromagnet armature connecting rod; 58. Tail hinge seat slide rail; 59. Wedge cam; 60. Reset spring; 101. Rocker angle sensor; 102. Visual sensor support; 103. Binocular vision and distance sensor group; 104. Geographic location and track information receiver; 105. Shaft hole slider type anti-overload force sensor; 106. Vehicle speed sensor. DETAILED DESCRIPTION

[0032] Example

[0033] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0034] like Figure 1-Figure 11As shown, a radial bogie with active control of the wheelset swinging around the center pin of the side beam of the present invention comprises a car-type structure 1, a wheelset device 2, a proportional lever linkage device 3, a center bolster device 4, and an electric control drive device 5; the wheelset device 2 is arranged on the front and rear sides of the car-type structure 1, and the side of the wheelset device away from the proportional lever linkage steering device is provided with a side beam center pin, and a frame fixing point is arranged at the side beam center pin, the proportional lever linkage device 3 is connected to the other side of the wheelset device 2, the proportional lever linkage device 3 is distributed on one side of the center bolster device 4 and is connected to the center bolster device 4 through a crank sliding connection, the center bolster device 4 is connected to the center pin of the car-type structure 1, the electric control drive device 5 is arranged between the wheelset 21 on one side of the car-type structure 1 and is fixedly connected to the car-type structure 1, and the car-type structure 1, the center bolster device 4 and the center bolster device 4 are connected to the center pin of the car-type structure 1, and the electric control drive device 5 is arranged between the wheelset 21 on one side of the car-type structure 1 and is fixedly connected to the car-type structure 1. The pillow device 4 and the electric control drive device 5 are connected with the proportional lever linkage device 3; a current collector 6 is arranged at a position between the wheelset 21 on the same side of the car structure 1, a magnetic rail brake 7 is arranged below the current collector 6, the magnetic rail brake 7 is connected to the car structure 1, and a linear motor stator 8 is arranged at the bottom of the car structure 1; when the train turns left, the electric cylinder piston rod 51 contracts to drive the proportional lever 32 to rotate counterclockwise around the central axis 34 of the proportional lever, the central rocking pillow device 4 rotates clockwise, and the transverse limit slider 26 slides toward the side close to the central rocking pillow device 4; when the train turns right, the electric cylinder piston rod 51 contracts to drive the proportional lever 32 to rotate clockwise around the central axis 34 of the proportional lever, the central rocking pillow device 4 rotates counterclockwise, and the transverse limit slider 26 slides toward the side away from the central rocking pillow device 4.

[0035] The wheelset device 2 includes wheelsets 21 at both ends and support bearings 22 arranged on the wheelset 21, a bearing seat 23 is arranged outside the support bearing 22, a compression type buffer rubber spring 24 is arranged on the bearing seat 23, a basic slide plate 25 is arranged on the compression type buffer rubber spring 24, a lateral limit slider 26 is arranged on the basic slide plate 25, a grounding brush housing 27 is arranged at the end of the basic slide plate 25 away from the wheelset 21, a grounding slip ring 28 is arranged inside the grounding brush housing 27, a grounding brush 29 is arranged on the upper surface of the grounding brush housing 27, and a brake unit 30 is arranged on the inner side of the wheelset 21 away from the end of the grounding brush housing 27.

[0036] The proportional lever linkage device 3 includes a wheelset force transmission rod 31 and a proportional lever 32. The end of the wheelset force transmission rod 31 away from the central rocking pillow device 4 is connected to the axle box steering arm 33, and the end of the axle box steering arm 33 away from the wheelset force transmission rod 31 is connected to the bearing seat 23. The two ends of the proportional lever 32 parallel to the central rocking pillow device 4 are respectively connected to the wheelset force transmission rod 31, the car-type structure 1 and the proportional lever 32 are connected to the center position of the central rocking pillow device 4 with a proportional lever center axis 34, the extended end of the center position of the proportional lever 32 is connected to the electric control drive device 5, and a transmission slider 35 is arranged above the end of the proportional lever 32 close to the center of the central rocking pillow device 4, and the transmission slider 35 is slidably connected to the central rocking pillow device 4.

[0037] The central rocker device 4 includes a gas spring turntable plate 41 and a central rotating column 42. A rocker slide groove 43 is provided at one end of the gas spring turntable plate 41 close to the proportional lever 32. The rocker slide groove 43 is slidably connected to the transmission slider 35. Gas springs 44 are symmetrically provided on both sides of the central rotating column 42. The side of the gas spring 44 away from the central rotating column 42 is provided with a force transmission rod connection 45 symmetrically distributed with the central rotating column 42 as the center. The force transmission rod connection 45 is connected to the longitudinal force transmission rod 46 of the vehicle body.

[0038] The electric control drive device 5 includes an electric cylinder piston rod 51 and a servo electric cylinder 52. One end of the electric cylinder piston rod 51 is connected to the proportional lever body, and the other end of the electric cylinder piston rod 51 is connected to the servo electric cylinder 52. The servo electric cylinder 52 is connected to a tail hinge seat locking mechanism 53. The tail hinge seat locking mechanism 53 is connected to an electromagnet 54. The electromagnet 54 is provided with an electromagnet power-off locking tongue tube 55. The electromagnet 54 is magnetically connected to an electromagnet armature 56. The electromagnet armature 56 is connected to one end of an electromagnet armature connecting rod 57. The other end of the electromagnet armature connecting rod 57 is connected to a wedge cam 59. A tail hinge seat slide rail 58 is provided next to the wedge cam 59. A return spring is provided on the side of the slide rail away from the wedge cam 59. The fixed end of 60, the other end of the return spring 60 is provided on the side of the slide rail close to the electromagnet armature connecting rod 57, and the other end of the return spring 60 is fixed at the joint between the electromagnet armature connecting rod 57 and the wedge cam 59; when the electromagnet 54 does not attract the electromagnet armature 56, due to the basic tension of the return spring 60, the tail hinge seat slide rail 58 is in a locked state; when the electromagnet 54 attracts the electromagnet armature 56, the electromagnet armature connecting rod 57 drives one end of the return spring 60 at the active node between the two with the wedge cam 59 as the fixed point, so that the return spring 60 creates a gap at the tail hinge seat slide rail 58, and at this time, the track forced radial steering function can be realized by actuating the tail hinge seat slide rail 58.

[0039] The electric control drive device 5 is connected to a controller, and the controller includes a signal acquisition module and a multi-sensor information fusion module. The signal acquisition module is connected to the input end of the multi-sensor information fusion module, and the output end of the multi-sensor information fusion module is connected to the input end of the wheelset radial motion posture solving module. The output end of the wheelset radial motion posture solving module is connected to the input end of the joint coordination control instruction generation module, and the output end of the joint coordination control instruction generation module is connected to the input end of the control instruction communication management module. The output end of the control instruction communication management module outputs instructions to control the electric control drive device 5; the signal acquisition module includes a bolster angle sensor 101, a binocular vision and distance sensor group 103, a geographic location and track information receiver 104, and an axle hole slider type anti-lock brake. Overload force sensor 105, vehicle speed sensor 106; bolster angle sensor 101 is arranged on the car-type structure 1 below the gas spring turntable plate 41 and connected to the gas spring turntable plate 41, visual sensor supports 102 are symmetrically arranged on the car-type structure 1 between the wheelsets 21 on the same side, binocular vision and distance sensor group 103 is arranged on the side of the visual sensor support 102 close to the wheelset 21, geographic location and track information receiver 104 is arranged on the visual sensor support 102, the shaft hole slider type anti-overload force sensor 105 and the transmission slider 35 are an integrated composite structure, which can realize the mechanical function of the transmission slider 35 and the anti-overload detection function in the steering control system, and the vehicle speed sensor 106 is arranged at the outer center of the wheelset 21.

[0040] The lateral limit slider 26 is arranged on the base slide 25 close to the side of the proportional lever linkage device 3, the grounding brush 29 is arranged on the connecting shaft 22 close to the side of the proportional lever linkage device 3, and the vehicle speed sensor 106 is arranged on the wheelset 21 close to the side of the proportional lever linkage device 3; the centralized arrangement can simplify the structural design, reduce the connections and interfaces between components, and reduce the overall complexity.

[0041] The actual application of the control system based on the controller and the fault response plan are as follows:

[0042] Under normal circumstances, the controller actively controls the steering of the radial bogie. During the active control process, the controller and the host computer receive signals from the bolster angle sensor 101, the binocular vision and distance sensor group 103, the geographic location and track information receiver 104, the axle hole slider type anti-overload force sensor 105, and the vehicle speed sensor 106. After the modules in the controller fuse, analyze, process and make decisions on the signals, they output instructions to control the electronic control drive device 5 to realize the active radial steering function.

[0043] During the active control process, if the binocular vision and distance sensor group 103, the geographic location and track information receiver 104, and the vehicle speed sensor 106 fail, the signals of the bolster angle sensor 101 and the shaft hole slider type anti-overload force sensor 105 can be received by the controller and the host computer. After the modules in the controller fuse, analyze, process and make decisions on the signals, they output instructions to control the electronic control drive device 5 to realize the power-assisted radial steering function.

[0044] When the controller cannot receive signals from all sensors or the signal acquisition module fails, the servo electric cylinder 52 stops working, and the tail hinge seat locking mechanism 53 automatically releases the constraint and enters a free sliding state, and realizes forced radial steering function by driving the central rocker device 4 and the proportional lever linkage device 3 for pure mechanical drive.

[0045] In the specific implementation process, in order to make the train turn within a reasonable angle range, the lateral limit slider 26 is set on the basic slide 25. By determining the position of the lateral limit slider 26, the swing angle range of the wheelset is determined. One end of the wheelset force transmission rod 31 is connected to the single-side wheelset 21 through the axle box steering arm 33, and the other end is connected to the proportional lever 32. Then the proportional lever 32 is respectively connected to the gas spring turntable plate 41 through the transmission slider 35 for sliding connection, connected to the car structure 1 through the proportional lever center axis 34, and also connected to the electric cylinder piston rod 51; when the electric cylinder piston rod 51 contracts, it drives the proportional lever 32 to rotate around the proportional The center axis 34 of the lever rotates counterclockwise, inputting a clockwise rotation angle to the center bolster device 4, and the lateral limit slider 26 slides toward the side close to the center bolster device 4, and also drives the wheelset 21 to rotate around the center pin shaft 9 of the side beam toward the center bolster device 4, thereby realizing the left steering function of the train; when the electric cylinder piston rod 51 contracts, it drives the proportional lever 32 to rotate clockwise around the center axis 34 of the proportional lever, and inputting a counterclockwise rotation angle to the center bolster device 4, and the lateral limit slider 26 slides toward the side away from the center bolster device 4, and also drives the wheelset 21 to rotate around the center pin shaft 9 of the side beam toward the direction away from the center bolster device 4, thereby realizing the right steering function of the train.

[0046] How it works

[0047] The proportional lever mechanism is used to adjust the position or motion state of the mechanical parts through the proportional action of the proportional lever, drive one side of the wheelset to achieve the swinging motion of the wheelset around the central axis of the proportional lever, and use the central rocker device to realize the radial steering operation function of mirror swinging along the lateral plane.

[0048] Therefore, the present invention adopts a radial bogie with an active control wheelset that swings around the center pin of the side beam, and simplifies the multi-link structure of the bogie by applying a proportional lever linkage device. It improves the mechanical design while ensuring the steering function, thereby effectively reducing the complexity of the mechanical design, installation and maintenance.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam, characterized in that: It includes a car-type structure, a wheelset device, a proportional lever-linked steering device, a center rocking device, and an electric control drive device; the wheelset device is arranged on the front and rear sides of the car-type structure, and a side beam center pin is provided on the side of the wheelset device away from the proportional lever-linked steering device, and a frame fixing point is provided at the side beam center pin, the proportional lever-linked steering device is connected to the other side of the wheelset device, the proportional lever-linked steering device is distributed on one side of the center rocking device and is connected to the center rocking device through a crank sliding connection, the center rocking device is connected to the center position of the car-type structure through a pin, the electric control drive device is arranged between one end of the car-type structure and the wheelset and is hinged to the car-type structure, and the car-type structure, the center rocking device and the electric control drive device are connected to the proportional lever-linked steering device.

2. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 1, characterized in that: The wheelset device includes a wheelset and a support bearing arranged on the wheelset, a bearing seat is arranged outside the support bearing, a base slide is arranged on the bearing seat, a lateral limit slide is arranged on the base slide, a grounding brush housing is arranged at the end of the base slide away from the wheelset, a grounding slip ring is arranged inside the grounding brush housing, a grounding brush is arranged on the upper surface of the grounding brush housing, and a brake unit is arranged on the inner side of the wheelset away from one end of the grounding brush housing.

3. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 2, characterized in that: The proportional lever linkage steering device includes a wheelset force transmission rod and a proportional lever, the end of the wheelset force transmission rod away from the central rocking bolster device is connected to an axle box steering arm, the end of the axle box steering arm away from the wheelset force transmission rod is connected to the bearing seat, the two ends of the proportional lever parallel to the central rocking bolster device are respectively connected to the wheelset force transmission rod, the car-type structure and the proportional lever are connected with a proportional lever center axis parallel to the center position of the central rocking bolster device, the extended end of the center position of the proportional lever is connected to the electric control drive device, and a transmission slider is arranged above the end of the proportional lever close to the center of the central rocking bolster device, and the transmission slider is slidably connected to the central rocking bolster device.

4. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 3, characterized in that: The central rocker device includes a gas spring turntable and a central rotating column. A rocker slide groove is arranged at one end of the gas spring turntable close to the proportional lever. The rocker slide groove is slidably connected to the transmission slider. Gas springs are symmetrically arranged on both sides of the central rotating column. A force transmission rod connection symmetrically distributed around the central rotating column is arranged on the side of the gas spring away from the central rotating column. The force transmission rod connection is connected to the longitudinal force transmission rod of the vehicle body.

5. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 4, characterized in that: The electric control drive device includes an electric cylinder piston rod and a servo electric cylinder, one end of the electric cylinder piston rod is connected to the proportional lever body, the other end of the electric cylinder piston rod is connected to the servo electric cylinder, the servo electric cylinder is connected to a tail hinge seat locking mechanism, the tail hinge seat locking mechanism is connected to an electromagnet, an electromagnet power-off locking tongue tube is provided on the electromagnet, the electromagnet is magnetically connected to an electromagnet armature, the electromagnet armature is connected to one end of an electromagnet armature connecting rod, the other end of the electromagnet armature connecting rod is connected to a wedge cam, a tail hinge seat slide rail is provided next to the wedge cam, a fixed end of a return spring is provided on the side of the slide rail away from the wedge cam, the other end of the return spring is provided on the side of the slide rail close to the electromagnet armature connecting rod, and the other end of the return spring is fixed at the joint between the electromagnet armature connecting rod and the wedge cam.

6. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 5, characterized in that: The car-type structure is provided with a current collector at a position between the wheel pairs on the same side, a magnetic rail brake is provided below the current collector, the magnetic rail brake is connected to the car-type structure, and a linear motor stator is provided at the bottom of the car-type structure.

7. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 6, characterized in that: The electronically controlled drive device is connected to a controller, which includes a signal acquisition module and a multi-sensor information fusion module. The signal acquisition module is connected to the input end of the multi-sensor information fusion module, and the output end of the multi-sensor information fusion module is connected to the input end of a wheelset radial motion posture solving module. The output end of the wheelset radial motion posture solving module is connected to the input end of a joint coordinated control instruction generating module, and the output end of the joint coordinated control instruction generating module is connected to the input end of a control instruction communication management module. The output end of the control instruction communication management module outputs instructions to control the electronically controlled drive device.

8. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 7, characterized in that: The signal acquisition module includes a bolster angle sensor, a binocular vision and distance sensor group, a geographic location and track information receiver, an axle hole slider type anti-overload force sensor, and a vehicle speed sensor; the bolster angle sensor is arranged on the car-type structure below the gas spring turntable and connected to the gas spring turntable, and visual sensor supports are symmetrically arranged on the car-type structure between the wheelsets on the same side, the binocular vision and distance sensor group is arranged on the side of the visual sensor support close to the wheelset, the geographic location and track information receiver is arranged on the visual sensor support, the axle hole slider type anti-overload force sensor and the transmission slider are an integrated composite structure, and the vehicle speed sensor is arranged at the outer center of the wheelset.

9. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 8, characterized in that: Under normal circumstances, the steering of the radial bogie is actively controlled by the controller. If the controller fails, the servo electric cylinder stops working, the tail hinge seat locking mechanism automatically releases the constraint and enters a free sliding state, and the center rocker device and the proportional lever device are driven purely mechanically to realize the track forced radial steering function.

10. A radial bogie with actively controlled wheelsets swinging around the center pin of the side beam according to claim 9, characterized in that: When the electric cylinder piston rod contracts, it drives the proportional lever to rotate counterclockwise around the central axis of the proportional lever, and the central rocking device rotates clockwise, and the transverse limit slider slides toward the side close to the central rocking device, driving the wheelset to rotate around the central pin axis of the side beam toward the central rocking device, thereby realizing the left turning function of the train; when the electric cylinder piston rod contracts, it drives the proportional lever to rotate clockwise around the central axis of the proportional lever, and the central rocking device rotates counterclockwise, and the transverse limit slider slides toward the side away from the central rocking device, driving the wheelset to rotate around the central pin axis of the side beam away from the central rocking device, thereby realizing the right turning function of the train.

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