Radial bogie for actively controlling wheel pair to swing around center of radial bogie

Abstract

The invention discloses a radial bogie for actively controlling a wheel pair to swing around the center of the radial bogie, and relates to the technical field of rail transit, machinery and control. Comprising a car type structure, a wheel set device, a rocker arm steering device, a center swing bolster device and an electric control driving device. The wheel pair devices are arranged on the front side and the rear side of the car-shaped structure and connected with the rocker arm steering devices through pin shafts, the rocker arm steering devices are symmetrically distributed on the two sides of the center swing bolster device and connected with the center swing bolster device, the center swing bolster device is connected with the center position of the car-shaped structure through a pin shaft, and the electric control driving device is connected with the car-shaped structure through a hinge. According to the radial bogie capable of actively controlling the wheel pair to swing around the center of the radial bogie, in order to enable a train to achieve the radial steering function, the kinematics principle of a multi-rod mechanism is adopted, the rail train can have better stability and safety in steering, and wheel track abrasion and noise are 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 swinging around the center. 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 disadvantages such as increased wear, increased power consumption, large wheel-rail lateral force, and excessive noise, which seriously affect 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 swinging around its center. In order to enable the train to realize the radial steering function, the kinematic principle of a multi-rod mechanism is adopted, which can make the steering of the rail train have better stability and safety.

[0005] To achieve the above-mentioned purpose, the present invention provides a radial bogie with actively controlled wheelsets swinging around its center, comprising a car-type structure, a wheelset device, a rocker steering device, a center rocker device, and an electronically controlled drive device; the wheelset device is arranged on the front and rear sides of the car-type structure, the wheelset device is connected to the rocker steering device through a pin shaft, the rocker steering device is symmetrically distributed on both sides of the center rocker device and connected to the center rocker device, the center rocker device is connected to the center position of the car-type structure through a pin shaft, the electronically controlled drive device is hinged to the car-type structure, a proportional lever device is arranged on one side of the center position of the center rocker device, the proportional lever device is respectively connected to the car-type structure, the center rocker device, the rocker steering device and the electronically controlled drive device through a pin shaft, and the rocker steering device is connected to both sides of the center position of the bottom of the car-type structure through a pin shaft.

[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-shear type buffer rubber spring is arranged on the bearing seat, a base slide is arranged on the compression-shear 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 rocker arm steering device includes a wheelset force transmission rod and a driving rocker arm, one end of the wheelset force transmission rod is provided with an axle box steering arm connected to the bearing seat, the wheelset force transmission rod close to the side of the proportional lever device is connected to the driving rocker arm and the proportional lever device, and the wheelset force transmission rod away from the side of the proportional lever device is connected to the driving rocker arm, one end of the diagonal transmission connecting rod is connected to the driving rocker arm through a ball head near the middle position of the driving rocker arm, the other end of the diagonal transmission connecting rod is connected to the driving rocker arm symmetrically distributed on the other side, and the middle position of the diagonal transmission connecting rod is socketed with the central rocking pillow device.

[0008] Preferably, the central rocker device includes a gas spring turntable plate and a central rotating column, gas springs are symmetrically arranged on both sides of the central rotating column, and the side of the gas spring away from the central rotating column is provided with force transmission rod connections symmetrically distributed around the central rotating column, and the force transmission rod connections are all connected to the longitudinal force transmission rods of the vehicle body.

[0009] Preferably, the proportional lever device includes a proportional lever body, a long connecting rod and a short connecting rod, one end of the long connecting rod is connected to a position on the proportional lever body away from the central rotating column, the other end of the long connecting rod is connected to the driving rocker arm and the wheelset force transmission rod, one end of the short connecting rod is connected to a position on the proportional lever body close to the central rotating column, the other end of the short connecting rod is connected to the gas spring turntable plate, one end of the proportional lever body close to the central rotating column is connected to the electric control drive device, and one end of the proportional lever body away from the central rotating column is connected to the car structure.

[0010] 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.

[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 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 are arranged on one 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 anti-overload force sensor is arranged on the electric cylinder piston rod, and the vehicle speed sensor is arranged at the outer center of the wheelset.

[0013] Preferably, 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.

[0014] 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.

[0015] Therefore, the radial bogie with the active control wheelset swinging around its center using the above structure 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. Active control of the bogie is achieved through the electronically controlled drive device and controller, which can better identify track information and make corresponding steering measures, and improve steering accuracy, thereby reducing the wear of the bogie and ensuring the stability and safety of train steering.

[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 wheelset to swing around its center according to the present invention;

[0020] Figure 2 A top view of a radial bogie embodiment of the present invention that actively controls the wheelset to swing around its center;

[0021] Figure 3 A schematic diagram of a wheelset support axle box of an embodiment of a radial bogie for actively controlling the wheelset to swing around its center according to the present invention;

[0022] Figure 4 A schematic diagram of a grounding brush of an embodiment of a radial bogie for actively controlling the wheelset to swing around its center according to the present invention;

[0023] Figure 5 A sensor distribution diagram of an embodiment of a radial bogie for actively controlling the wheelset to swing around its center according to the present invention;

[0024] Figure 6 A schematic diagram of a driving connecting rod of an embodiment of a radial bogie for actively controlling the wheelset to swing around its center according to the present invention;

[0025] Figure 7A schematic diagram of a train running straight ahead according to an embodiment of a radial bogie with actively controlled wheelsets swinging around its center according to the present invention;

[0026] Figure 8 A diagram of a train turning left with a bolster rotating in reverse time according to an embodiment of a radial bogie with actively controlled wheelsets swinging around its center according to the present invention;

[0027] Fig. 9 A diagram of a train turning right with the bolster rotating clockwise according to an embodiment of a radial bogie with actively controlled wheelsets swinging around its center according to the present invention;

[0028] Fig.10 A control flow chart of an embodiment of a radial bogie for actively controlling the wheelset to swing around its center according to the present invention;

[0029] Fig.11 A schematic diagram of a radial bogie embodiment of the present invention that actively controls the wheelset to swing around its center;

[0030] Fig.12 A locking state diagram of a locking mechanism of an embodiment of a radial bogie with actively controlled wheelsets swinging around its center according to the present invention;

[0031] Fig.13 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 its center according to the present invention;

[0032] Reference numerals

[0033] 1. Car structure; 2. Wheel set device; 3. Rocker arm steering device; 4. Center rocker device; 5. Proportional lever device; 6. Electric control drive device; 7. Current collector; 8. Magnetic rail brake; 9. Linear motor stator; 21. Wheel set; 22. Support bearing; 23. Bearing seat; 24. Pressure shear type buffer rubber spring; 25. Basic slide plate; 26. Horizontal limit slide block; 27. Grounding brush housing; 28. Grounding slip ring; 29. ​​Grounding brush; 30. Braking unit; 31. Wheel set force transmission rod; 32. Driving rocker arm; 33. Axle box steering arm; 34. Diagonal transmission connecting rod; 41. Gas spring turntable; 42. Center rotating column; 43. Gas spring; 44 , force transfer rod connection; 45, vehicle body longitudinal force transfer rod; 51, proportional lever body; 52, long connecting rod; 53, short connecting rod; 61, electric cylinder piston rod; 62, servo electric cylinder; 63, tail hinge seat locking mechanism; 64, electromagnet; 65, electromagnet power-off locking tongue tube; 66, electromagnet armature; 67, electromagnet armature connecting rod; 68, tail hinge seat slide rail; 69, wedge block cam; 70, 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, anti-overload force sensor; 106, vehicle speed sensor. DETAILED DESCRIPTION

[0034] Example

[0035] 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.

[0036] like Figure 1-Figure 13 As shown, a radial bogie with actively controlled wheelsets swinging around its center of the present invention comprises a car-type structure 1, a wheelset device 2, a rocker arm steering device 3, a central rocker device 4, and an electric control drive device 6; the wheelset devices 2 are arranged on the front and rear sides of the car-type structure 1, the wheelset devices 2 are pin-connected with the rocker arm steering device 3, the rocker arm steering device 3 is symmetrically distributed on both sides of the central rocker device 4 and connected with the central rocker device 4, the central rocker device 4 is pin-connected with the center position of the car-type structure 1, and the electric control drive device 6 is hinge-connected with the car-type structure 1 A proportional lever device 5 is arranged on one side of the center position of the central rocking bolster device 4, and the proportional lever device 5 is respectively connected with the car structure 1, the central rocking bolster device 4, the rocker arm steering device 3 and the electric control drive device 6 by pins, and the rocker arm steering device 3 is connected with the pins on both sides of the center position of the bottom of the car structure 1. The car structure 1 is provided with a current collector 7 at the position between the wheelset 21 on the same side, and a magnetic rail brake 8 is arranged below the current collector 7. The magnetic rail brake 8 is connected to the car structure 1, and a linear motor stator 9 is arranged at the bottom of the car structure 1.

[0037] 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-shear type buffer rubber spring 24 is arranged on the bearing seat 23, a basic slide plate 25 is arranged on the compression-shear type buffer rubber spring 24, a lateral limiting slide block 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.

[0038] The rocker arm steering device 3 includes a wheel pair force transmission rod 31 and a driving rocker arm 32. One end of the wheel pair force transmission rod 31 is provided with an axle box steering arm 33 connected to the bearing seat 23. The wheel pair force transmission rod 31 close to the side of the proportional lever device 5 is connected to the driving rocker arm 32 and the proportional lever device 5. The wheel pair force transmission rod 31 away from the side of the proportional lever device 5 is connected to the driving rocker arm 32. One end of the diagonal transmission connecting rod 34 is connected to the middle position of the driving rocker arm 32 through a ball head. The other end of the diagonal transmission connecting rod 34 is connected to the driving rocker arm 32 symmetrically distributed on the other side. The middle position of the diagonal transmission link 34 is sleeved with the central rocking bolster device 4, one end of the diagonal transmission link 34 is connected to the middle position of the driving rocker arm 32 through a ball head, the other end of the diagonal transmission link 34 is connected to the driving rocker arm 32 symmetrically distributed on the other side with a ball head, the middle position of the diagonal transmission link 34 is sleeved with the central rocking bolster device 4, the design of the rocker arm steering device 3 can provide a torque amplification effect, the central rocking bolster device 4 can use a smaller torque to drive the wheelset 21 with a larger resistance torque to steer, and it is easy to adjust the steering angle of the wheelset 21 to meet different steering requirements.

[0039] The central rocker device 4 includes a gas spring turntable plate 41 and a central rotating column 42. Gas springs 43 are symmetrically arranged on both sides of the central rotating column 42. The side of the gas spring 43 away from the central rotating column 42 is provided with a force transmission rod connection 44 symmetrically distributed around the central rotating column 42. The force transmission rod connection 44 is connected to the longitudinal force transmission rod 45 of the vehicle body.

[0040] The proportional lever device 5 includes a proportional lever body 51, a long connecting rod 52 and a short connecting rod 53, one end of the long connecting rod 52 is connected to a position on the proportional lever body 51 away from the central rotating column 42, the other end of the long connecting rod 52 is connected to a side driving rocker arm 32 and a wheelset force transmission rod 31, one end of the short connecting rod 53 is connected to a position on the proportional lever body 51 close to the central rotating column 42, the other end of the short connecting rod 53 is connected to the gas spring turntable plate 41, one end of the proportional lever body 51 close to the central rotating column 42 is connected to the electric control drive device 6, and one end of the proportional lever body 51 away from the central rotating column 42 is connected to the car structure 1; in a multi-lever system, reasonable design can be used to maintain the force balance of the entire system, provide precise force and motion control, reduce vibration and wear, not prone to failure, and have high reliability.

[0041] The electric control drive device 6 includes an electric cylinder piston rod 61 and a servo electric cylinder 62. One end of the electric cylinder piston rod 61 is connected to the proportional lever body 51, and the other end of the electric cylinder piston rod 61 is connected to the servo electric cylinder 62. The servo electric cylinder 62 is connected to a tail hinge seat locking mechanism 63. The tail hinge seat locking mechanism 63 is connected to an electromagnet 64. The electromagnet 64 is provided with an electromagnet power-off locking tongue tube 65. The electromagnet 64 is magnetically connected to an electromagnet armature 66. The electromagnet armature 66 is connected to one end of an electromagnet armature connecting rod 67. The other end of the electromagnet armature connecting rod 67 is connected to a wedge cam 69. A tail hinge seat slide rail 68 is provided next to the wedge cam 69. A reset spring is provided on the side of the slide rail away from the wedge cam 69. The fixed end of the spring 70 and the other end of the return spring 70 are arranged on one side of the slide rail close to the electromagnet armature connecting rod 67, and the other end of the return spring 70 is fixed at the joint between the electromagnet armature connecting rod 67 and the wedge cam 69; when the electromagnet 64 does not attract the electromagnet armature 66, due to the basic tension of the return spring 70, the tail hinge seat slide rail 68 is in a locked state; when the electromagnet 64 attracts the electromagnet armature 66, the electromagnet armature connecting rod 67 drives one end of the return spring 70 at the active node between the two with the wedge cam 69 as the fixed point, so that the return spring 70 creates a gap at the tail hinge seat slide rail 68, and the track forced radial steering function can be realized by actuating the tail hinge seat slide rail 68.

[0042] The electric control drive device 6 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 wheel set radial motion posture solution module. The output end of the wheel set radial motion posture solution 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 an instruction to control the electric control drive device 6; the signal acquisition module includes a bolster angle sensor 101, a binocular vision and distance sensor group 103 , geographic location and track information receiver 104, anti-overload force sensor 105, vehicle speed sensor 106; the bolster angle sensor 101 is arranged on the car-type structure 1 below the gas spring turntable plate 41 and is connected to the gas spring turntable plate 41, the visual sensor holder 102 is symmetrically arranged on the car-type structure 1 between the wheelsets 21 on the same side, the binocular vision and distance sensor group 103 is arranged on the side of the visual sensor holder 102 close to the wheelset 21, the geographic location and track information receiver 104 is arranged on the visual sensor holder 102, the anti-overload force sensor 105 is arranged on the electric cylinder piston rod 61, and the vehicle speed sensor 106 is arranged at the outer center of the wheelset 21.

[0043] The lateral limit slider 26, brake unit 30, grounding brush 29 and vehicle speed sensor 106 are all arranged in a centrally symmetrical installation mode; this can ensure that the lateral limit slider 26 wears evenly during movement, prolongs its service life, helps to maintain the balance of the system, and reduces vibration caused by eccentric force; it can ensure that the braking force generated by the brake unit 30 is evenly distributed on both sides of the shaft, thereby improving braking efficiency and stability; it can ensure that the contact between the grounding brush 29 and the rotating parts is more stable, reducing poor contact, and the uniform contact pressure helps to reduce brush wear and reduce the risk of local overheating; it helps the vehicle speed sensor 106 receive a stable signal, reduces signal errors caused by installation deviations, makes the calibration of the vehicle speed sensor 106 simpler, and facilitates accurate measurement results.

[0044] The actual application of the control system based on the controller and the fault response plan are as follows:

[0045] 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 overload protection 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 6 to realize the active radial steering function.

[0046] 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 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 6 to realize the power-assisted radial steering function.

[0047] When the controller cannot receive signals from all sensors or the signal acquisition module fails, the servo electric cylinder 62 stops working, and the tail hinge seat locking mechanism 63 automatically releases the constraint and enters a free sliding state, and drives the central rocker device 4 and the proportional lever device 5 for pure mechanical drive to realize the track forced radial steering function.

[0048] 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 plate 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 each wheelset 21 through the axle box steering arm 33, and the other end is connected to the steering drive rocker arm 32. The two ends of the diagonal transmission connecting rod 34 are respectively connected to the front and rear drive rocker arms 32, wherein the diagonal transmission connecting rod 34 is sleeved and installed on the central rotating column 42 of the gas spring turntable plate 41. One end of the steering proportional lever body 51 is fixed on the car-type structure 1, and the other end is connected to the electric cylinder piston rod 61. The long connecting rod 52 is respectively connected to the steering proportional lever body 51 and the drive rocker arm 32, and the short connecting rod 53 is respectively connected to the proportional lever body 51 and the gas spring turntable plate 41. When the train is straight When the train is running, the input angle of the center rocking bolster device 4 is zero, so the wheelset angle is zero. At this time, the lateral limit slider 26 is located at the center of the slide rail, and then the center rocking bolster device 4 receives the input angle of the electric control drive device 6, and transmits the rotation angle to the wheelset 21 through the proportional lever device 5, the steering drive rocker arm 32 and the axle box steering arm 33, so as to realize the steering function of the wheelset around its center; when the train turns left, the front wheel wheelset device 2 receives the input angle from the center rocking bolster device 4 and rotates counterclockwise around its center, and the rear wheel wheelset device 2 rotates clockwise around its center. At this time, the lateral limit slide rail gradually moves toward the right side of the slider. When the train turns right, the front wheel wheelset device 2 receives the input angle from the center rocking bolster device 4 and rotates clockwise around its center, and the rear wheel wheelset device 2 rotates counterclockwise around its center. At this time, the lateral limit slider 26 gradually moves toward the left side of the slide rail.

[0049] How it works

[0050] The kinematic principle of the multi-rod mechanism is adopted. Through the structure and movement of the connecting rod, the input rotational motion is converted into the output specific trajectory motion. When the train enters the turning track, the central bolster device rotates along the bolster track around the rotation center, and an angle is formed between the car body and the frame. This angle is used as input to drive the movement of the multi-rod mechanism, and the rotational motion input by the central bolster device is converted into the swing of the wheelset in the horizontal plane in equal proportion around the center of the wheelset, thereby completing the radial functional action of the wheelset according to the specified steering parameters and steering speed ratio.

[0051] Therefore, the present invention adopts a radial bogie with the above structure that actively controls the wheelset to swing around its center. In order to enable the train to achieve radial steering function, the kinematic principle of a multi-rod mechanism is adopted, which can make the steering of the rail train have better stability and safety.

[0052] 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 that swing around its center, characterized in that: It includes a car-type structure, a wheel pair device, a rocker arm steering device, a central rocking bolster device, and an electric control drive device; the wheel pair device is arranged on the front and rear sides of the car-type structure, the wheel pair device is connected to the rocker arm steering device through a pin shaft, the rocker arm steering device is symmetrically distributed on both sides of the central rocking bolster device and is connected to the central rocking bolster device, the central rocking bolster device is connected to the center position of the car-type structure through a pin shaft, the electric control drive device is hinged to the car-type structure, a proportional lever device is arranged on one side of the center position of the central rocking bolster device, the proportional lever device is respectively connected to the car-type structure, the central rocking bolster device, the rocker arm steering device and the electric control drive device through a pin shaft, and the rocker arm steering device is connected to both sides of the center position of the bottom of the car-type structure through a pin shaft.

2. A radial bogie with actively controlled wheelsets swinging around its center according to claim 1, characterized in that: 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-shear type buffer rubber spring is arranged on the bearing seat, a basic slide is arranged on the compression-shear type buffer rubber spring, a lateral limiting slide is arranged on the basic slide, a grounding brush housing is arranged at one end of the basic slide, 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 away from one end of the grounding brush housing.

3. A radial bogie with actively controlled wheelsets swinging around its center according to claim 2, characterized in that: The rocker arm steering device includes a wheelset force transmission rod and a driving rocker arm. One end of the wheelset force transmission rod is provided with an axle box steering arm connected to the bearing seat, the wheelset force transmission rod close to the side of the proportional lever device is connected to the driving rocker arm and the proportional lever device, and the wheelset force transmission rod away from the side of the proportional lever device is connected to the driving rocker arm. One end of the diagonal transmission connecting rod is connected to the driving rocker arm through a ball head near the middle position of the driving rocker arm, and the other end of the diagonal transmission connecting rod is connected to the driving rocker arm symmetrically distributed on the other side. The middle position of the diagonal transmission connecting rod is socketed with the central rocking pillow device.

4. A radial bogie with actively controlled wheelsets swinging around its center according to claim 3, characterized in that: The central rocker device includes a gas spring turntable plate and a central rotating column. Gas springs are symmetrically arranged on both sides of the central rotating column. The side of the gas spring away from the central rotating column is provided with force transmission rod connections symmetrically distributed around the central rotating column. The force transmission rod connections are all connected to the longitudinal force transmission rods of the vehicle body.

5. A radial bogie with actively controlled wheelsets swinging around its center according to claim 4, characterized in that: The proportional lever device includes a proportional lever body, a long connecting rod and a short connecting rod, one end of the long connecting rod is connected to a position on the proportional lever body away from the central rotating column, the other end of the long connecting rod is connected to the driving rocker arm and the wheelset force transmission rod, one end of the short connecting rod is connected to a position on the proportional lever body close to the central rotating column, the other end of the short connecting rod is connected to the gas spring turntable plate, one end of the proportional lever body close to the central rotating column is connected to the electric control drive device, and one end of the proportional lever body away from the central rotating column is hinged to the car-type structure.

6. A radial bogie with actively controlled wheelsets swinging around its center according to claim 5, 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.

7. A radial bogie with actively controlled wheelsets swinging around its center 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 its center 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 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 are both 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 anti-overload force sensor is arranged on the electric cylinder piston rod, and the vehicle speed sensor is arranged at the outer center of the wheelset.

9. A radial bogie with actively controlled wheelsets swinging around its center according to claim 8, characterized in that: The car-type structure is provided with a current collector at the 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.

10. A radial bogie with actively controlled wheelsets swinging around its center according to claim 9, 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.

Images