A radial bogie that actively controls the swing of the wheel set around its center

Abstract

The present invention discloses a radial bogie for actively controlling the swing of a wheel set around its center, which relates to the technical fields of rail transit, machinery and control; it includes a car body structure, a wheel set device, a rocker arm steering device, a center bolster device, and an electric control driving device; the wheel set device is arranged on the front and rear sides of the car body structure, the wheel set device is pin-connected with the rocker arm steering device, the rocker arm steering devices are symmetrically distributed on both sides of the center bolster device and are connected to the center bolster device, the center bolster device is pin-connected to the center position of the car body structure, and the electric control driving device is hinge-connected to the car body structure; by adopting the above-mentioned radial bogie for actively controlling the swing of the wheel set around its center, in order to enable the train to achieve the radial steering function, the kinematic principle of a multi-link mechanism is adopted, which can make the steering of the rail train have better stability, safety and reduce wheel-rail wear and noise.

Description

Technical Field

[0001] The present invention relates to the technical fields of rail transit, machinery and control, and in particular to a radial bogie that actively controls the swing of a wheel set around its center. Background Art

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

[0003] As one of the most core components of a rail train, the bogie directly determines the stability, riding comfort and safety of the train. However, the traditional bogie has poor durability and is prone to safety hazards. Especially when the train passes through a curved path, the traditional bogie has disadvantages such as increased wear, increased power consumption, large wheel-rail lateral force, and excessive noise, seriously affecting the stability and safety of the train operation. Summary of the Invention

[0004] The object of the present invention is to provide a radial bogie that actively controls the swing of a wheel set around its center. In order to enable the train to achieve the radial steering function, the kinematic principle of a multi-link mechanism is adopted, which can make the rail train steering have better stability and safety.

[0005] To achieve the above object, the present invention provides a radial bogie that actively controls the swing of a wheel set around its center, including a car body structure, a wheel set device, a rocker arm steering device, a center bolster device, and an electric control drive device; the wheel set device is arranged on the front and rear sides of the car body structure, the wheel set device is connected to the rocker arm steering device through a pin shaft, the rocker arm steering devices are symmetrically distributed on both sides of the center bolster device and are connected to the center bolster device, the center bolster device is connected to the center position of the car body structure through a pin shaft, the electric control drive device is hinged to the car body structure, a proportional lever device is arranged on one side of the center position of the center bolster device, and the proportional lever device is respectively connected to the car body structure, the center bolster device, the rocker arm steering device and the electric control drive device through pin shafts, and the rocker arm steering device is connected to both sides of the center position of the bottom of the car body structure through pin shafts.

[0006] Preferably, the axle assembly includes axles at both ends and support bearings provided on the axles. An axle housing is provided outside the support bearings. A shear-compression type buffer rubber spring is provided on the axle housing. A base slide plate is provided on the shear-compression type buffer rubber spring. A lateral limit slider is provided on the base slide plate. A grounding brush housing is provided at one end of the base slide plate away from the axle. A grounding slip ring is provided inside the grounding brush housing. A grounding brush is provided on the upper surface of the grounding brush housing. A braking unit is provided inside the axle on the side away from the grounding brush housing.

[0007] Preferably, the rocker arm steering device includes an axle force transmission tie rod and a drive rocker arm. Axle box steering arms are provided at one end of each axle force transmission tie rod and are connected to the axle housing. The axle force transmission tie rods on the side close to the proportional lever device are connected to both the drive rocker arm and the proportional lever device. The axle force transmission tie rods on the side away from the proportional lever device are connected to the drive rocker arm. One end of a diagonal drive connecting rod is connected to the middle position of the drive rocker arm through a ball joint. The other end of the diagonal drive connecting rod is connected to a drive rocker arm symmetrically distributed on the other side. The middle position of the diagonal drive connecting rod is sleeved with the center bolster device.

[0008] Preferably, the center bolster device includes a pneumatic spring turntable plate and a center rotating column. Pneumatic springs are symmetrically provided on both sides of the center rotating column. Force transmission rod connection points symmetrically distributed with the center rotating column as the center are provided on the sides of the pneumatic springs away from the center rotating column. Body longitudinal force transmission rods are connected to the force transmission rod connection points.

[0009] Preferably, the proportional lever device includes a proportional lever main 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 main body away from the center rotating column. The other end of the long connecting rod is connected to both the drive rocker arm and the axle force transmission tie rod. One end of the short connecting rod is connected to a position on the proportional lever main body close to the center rotating column. The other end of the short connecting rod is connected to the pneumatic spring turntable plate. One end of the proportional lever main body close to the center rotating column is connected to the electric control drive device. One end of the proportional lever main body away from the center rotating column is connected to the sedan chair type structure.

[0010] Preferably, 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, and the other end of the electric cylinder piston rod is connected to the servo electric cylinder. The servo electric cylinder is connected with a tail hinge seat locking mechanism, the tail hinge seat locking mechanism is connected with an electromagnet, an electromagnet power-off locking tongue tube is arranged on the electromagnet, the electromagnet is magnetically connected with an electromagnet armature, one end of an electromagnet armature connecting rod is connected to the electromagnet armature, and the other end of the electromagnet armature connecting rod is connected to a wedge cam. A tail hinge seat slide rail is arranged beside the wedge cam, a fixed end of a return spring is arranged on one side of the tail hinge seat slide rail away from the wedge cam, and the other end of the return spring is arranged on one side of the tail hinge seat slide rail close to the electromagnet armature connecting rod. The other end of the return spring is fixed at the joint activity position between the electromagnet armature connecting rod and the wedge cam.

[0011] Preferably, the electric control drive device is connected with a controller. 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. The output end of the multi-sensor information fusion module is connected to the input end of a wheel set radial motion pose calculation module. The output end of the wheel set radial motion pose calculation module is connected to the input end of a joint coordination control instruction generation module. The output end of the joint coordination control instruction generation 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 an instruction to control the electric control drive device.

[0012] Preferably, the signal acquisition module includes a bolster rotation angle sensor, a binocular vision and distance sensor group, a geographical location and track information receiver, an anti-overload force sensor, and a vehicle speed sensor. The bolster rotation angle sensor is arranged on the sedan chair structure below the air spring turntable plate and is connected to the air spring turntable plate. Vision sensor supports are symmetrically arranged on the sedan chair structure between the same-side wheel sets. The binocular vision and distance sensor group are arranged on one side of the vision sensor support close to the wheel set. The geographical location and track information receiver is arranged on the vision sensor support. The anti-overload force sensor is arranged on the electric cylinder piston rod. The vehicle speed sensor is arranged at the outer center of the wheel set.

[0013] Preferably, current collectors are arranged at the positions of the sedan chair structure between the same-side wheel sets. A magnetic rail brake is arranged below the current collector and is connected to the sedan chair structure. A linear motor stator is arranged at the bottom of the sedan chair structure.

[0014] Preferably, under normal circumstances, the controller actively controls the steering of the radial bogie. If the controller fails, the servo electric cylinder stops working, and the tail hinge seat locking mechanism automatically releases the constraint and enters the free sliding state. The pure mechanical drive is realized by driving the center bolster device and the proportional lever device, so as to realize the forced radial steering function of the track.

[0015] Therefore, the present invention adopts a radial bogie with the above structure that actively controls the swing of the wheel set around its center. Compared with the prior art, it has the following beneficial effects:

[0016] 1. There is a theoretical breakthrough in the swing of the wheel set of the radial bogie around the virtual space axis. By designing the drive link, when the train passes through a curved track, the wheel set can tend to the radial direction of the curve, and the axle rotates along the curve direction. A complete and reliable bogie structure is designed to optimize the radial steering function of the existing train;

[0017] 2. The active control function of the bogie is realized through the electric control drive device and the controller, which can better identify the track information and take corresponding steering measures, and improve the steering accuracy, thereby reducing the wear of the bogie and ensuring the stability and safety of the train steering.

[0018] The technical solution of the present invention will be further described in detail below with reference to the drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of an embodiment of a radial bogie that actively controls the swing of the wheel set around its center according to the present invention;

[0020] Figure 2 It is a top view structural diagram of an embodiment of a radial bogie that actively controls the swing of the wheel set around its center according to the present invention;

[0021] Figure 3 It is a schematic diagram of the wheel set support axle box of an embodiment of a radial bogie that actively controls the swing of the wheel set around its center according to the present invention;

[0022] Figure 4 It is a schematic diagram of the grounding brush of an embodiment of a radial bogie that actively controls the swing of the wheel set around its center according to the present invention;

[0023] Figure 5 It is a distribution diagram of sensors of an embodiment of a radial bogie that actively controls the swing of the wheel set around its center according to the present invention;

[0024] Figure 6 It is a schematic diagram of the drive link of an embodiment of a radial bogie that actively controls the swing of the wheel set around its center according to the present invention;

[0025] Figure 7Schematic diagram of a train moving straight in an embodiment of a radial bogie with an actively controlled axle set swinging about its center according to the present invention;

[0026] Figure 8 Diagram of a train turning left with the bolster rotating counterclockwise in an embodiment of a radial bogie with an actively controlled axle set swinging about its center according to the present invention;

[0027] Figure 9 Diagram of a train turning right with the bolster rotating clockwise in an embodiment of a radial bogie with an actively controlled axle set swinging about its center according to the present invention;

[0028] Figure 10 Control flowchart of an embodiment of a radial bogie with an actively controlled axle set swinging about its center according to the present invention;

[0029] Figure 11 Schematic diagram of the principle of an embodiment of a radial bogie with an actively controlled axle set swinging about its center according to the present invention;

[0030] Figure 12 Diagram of the locked state of the locking mechanism in an embodiment of a radial bogie with an actively controlled axle set swinging about its center according to the present invention;

[0031] Figure 13 Diagram of the released state of the locking mechanism in an embodiment of a radial bogie with an actively controlled axle set swinging about its center according to the present invention;

[0032] Reference numerals

[0033] 1. Carriage structure; 2. Axle set device; 3. Rocker arm steering device; 4. Central bolster device; 5. Proportion lever device; 6. Electric control drive device; 7. Current collector; 8. Magnetic rail brake; 9. Linear motor stator; 21. Axle set; 22. Support bearing; 23. Bearing housing; 24. Shear-compression type buffer rubber spring; 25. Foundation slide plate; 26. Lateral limit slider; 27. Grounding brush housing; 28. Grounding slip ring; 29. Grounding brush; 30. Brake unit; 31. Axle set force transmission tie rod; 32. Driving rocker arm; 33. Axle box steering arm; 34. Diagonal transmission connecting rod; 41. Air spring turntable plate; 42. Central rotating column; 43. Air spring; 44. Force transmission rod connection point; 45. Vehicle body longitudinal force transmission rod; 51. Proportion lever main 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 cam; 70. Return spring; 101. Bolster rotation angle sensor; 102. Visual sensor support; 103. Binocular vision and distance sensor group; 104. Geographic location and track information receiver; 105. Anti-overload force measuring sensor; 106. Vehicle speed sensor. Detailed implementation mode

[0034] Embodiment

[0035] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present invention.

[0036] As Figures 1-13 shown, a radial bogie for actively controlling the swing of a wheel set around its center according to the present invention includes a car body structure 1, a wheel set device 2, a rocker arm steering device 3, a center bolster device 4, and an electric control drive device 6; wheel set devices 2 are arranged on the front and rear sides of the car body structure 1. The wheel set device 2 is pin-connected to the rocker arm steering device 3. The rocker arm steering devices 3 are symmetrically distributed on both sides of the center bolster device 4 and are connected to the center bolster device 4. The center bolster device 4 is pin-connected to the center position of the car body structure 1. The electric control drive device 6 is hinge-connected to the car body structure 1. A proportional lever device 5 is arranged on one side of the center position of the center bolster device 4. The proportional lever device 5 is respectively pin-connected to the car body structure 1, the center bolster device 4, the rocker arm steering device 3, and the electric control drive device 6. The rocker arm steering device 3 is pin-connected to both sides of the center position at the bottom of the car body structure 1. Current collectors 7 are arranged at the positions of the car body structure 1 between the same-side wheel sets 21. A magnetic track brake 8 is arranged below the current collector 7. The magnetic track brake 8 is connected to the car body structure 1. A linear motor stator 9 is arranged at the bottom of the car body structure 1.

[0037] The wheel set device 2 includes wheel sets 21 at both ends and support bearings 22 arranged on the wheel sets 21. A bearing housing 23 is arranged outside the support bearings 22. A shear-compression type buffer rubber spring 24 is arranged on the bearing housing 23. A base slide plate 25 is arranged on the shear-compression type buffer rubber spring 24. A lateral limit slider 26 is arranged on the base slide plate 25. A grounding brush housing 27 is arranged at one end of the base slide plate 25 away from the wheel set 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. A braking unit 30 is arranged inside the wheel set 21 at one end away from the grounding brush housing 27.

[0038] The rocker arm steering device 3 includes a wheel set force transmission tie rod 31 and a drive rocker arm 32. One end of each wheel set force transmission tie rod 31 is provided with an axle box steering arm 33 which is connected to the bearing seat 23. The wheel set force transmission tie rods 31 on the side close to the proportional lever device 5 are connected to both the drive rocker arm 32 and the proportional lever device 5. The wheel set force transmission tie rods 31 on the side far from the proportional lever device 5 are connected to the drive rocker arm 32. One end of a diagonal drive connecting rod 34 is connected to the middle position of the drive rocker arm 32 through a ball joint. The other end of the diagonal drive connecting rod 34 is connected to the drive rocker arms 32 symmetrically distributed on the other side. The middle position of the diagonal drive connecting rod 34 is sleeved with the center bolster device 4. One end of a diagonal drive connecting rod 34 is connected to the middle position of the drive rocker arm 32 through a ball joint. The other end of the diagonal drive connecting rod 34 is ball-joint connected to the drive rocker arms 32 symmetrically distributed on the other side. The middle position of the diagonal drive connecting rod 34 is sleeved with the center bolster device 4. The design of the rocker arm steering device 3 can provide a torque amplification effect. The center bolster device 4 can drive the wheel set 21 with a large resistance torque to turn with a small torque, and it is easy to adjust the turning angle of the wheel set 21 to meet different turning requirements.

[0039] The center bolster device 4 includes an air spring turntable plate 41 and a center rotating column 42. Air springs 43 are symmetrically arranged on both sides of the center rotating column 42. On the side of the air spring 43 far from the center rotating column 42, there are force transmission rod connection points 44 symmetrically distributed around the center rotating column 42. The force transmission rod connection points 44 are all connected to the vehicle body longitudinal force transmission rods 45.

[0040] The proportional lever device 5 includes a proportional lever main 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 main body 51 far from the center rotating column 42. The other end of the long connecting rod 52 is connected to one side of the drive rocker arm 32 and the wheel set force transmission tie rod 31. One end of the short connecting rod 53 is connected to a position on the proportional lever main body 51 close to the center rotating column 42. The other end of the short connecting rod 53 is connected to the air spring turntable plate 41. One end of the proportional lever main body 51 close to the center rotating column 42 is connected to the electric control drive device 6. One end of the proportional lever main body 51 far from the center rotating column 42 is connected to the sedan chair structure 1; in a multi-lever system, the force balance of the entire system can be maintained through reasonable design, providing precise force and motion control, reducing vibration and wear, not prone to failures, and having 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 with a tail hinge seat locking mechanism 63, the tail hinge seat locking mechanism 63 is connected with an electromagnet 64, an electromagnet power-off locking tongue tube 65 is arranged on the electromagnet 64, the electromagnet 64 is magnetically connected with an electromagnet armature 66, one end of an electromagnet armature connecting rod 67 is connected to the electromagnet armature 66, 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 arranged beside the wedge cam 69, a fixed end of a return spring 70 is arranged on one side of the tail hinge seat slide rail 68 far away from the wedge cam 69, the other end of the return spring 70 is arranged on one side of the tail hinge seat slide rail 68 close to the electromagnet armature connecting rod 67, and the other end of the return spring 70 is fixed at the joint activity position 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 activity node between the two with the wedge cam 69 as a fixed point, so that the return spring 70 generates a gap at the tail hinge seat slide rail 68, and at this time, the function of forced radial steering of the track can be realized by operating the tail hinge seat slide rail 68.

[0042] The electric control drive device 6 is connected with a controller. 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. The output end of the multi-sensor information fusion module is connected to the input end of a wheel pair radial motion pose calculation module. The output end of the wheel pair radial motion pose calculation module is connected to the input end of a joint coordinated control instruction generation module. The output end of the joint coordinated control instruction generation 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 an instruction to control the electric control drive device 6; the signal acquisition module includes a bolster rotation angle sensor 101, a binocular vision and distance sensor group 103, a geographical location and track information receiver 104, an anti-overload force measuring sensor 105, and a vehicle speed sensor 106; the bolster rotation angle sensor 101 is arranged on the sedan chair structure 1 below the air spring turntable plate 41 and is connected to the air spring turntable plate 41. Vision sensor supports 102 are symmetrically arranged on the sedan chair structure 1 between the same-side wheel pairs 21. The binocular vision and distance sensor group 103 are arranged on one side of the vision sensor supports 102 close to the wheel pairs 21. The geographical location and track information receivers 104 are arranged on the vision sensor supports 102. The anti-overload force measuring sensor 105 is arranged on the electric cylinder piston rod 61. The vehicle speed sensor 106 is arranged at the outer center of the wheel pair 21.

[0043] The lateral limit slider 26, the braking unit 30, the grounding brush 29, and the vehicle speed sensor 106 are all arranged in a centrally symmetric installation manner; this can ensure that the lateral limit slider 26 wears evenly during movement, extend its service life, help maintain the balance of the system, and reduce vibrations caused by eccentric forces; it can ensure that the braking force generated by the braking unit 30 is evenly distributed on both sides of the shaft, improving braking efficiency and stability; it can ensure more stable contact between the grounding brush 29 and the rotating component, reduce poor contact conditions, and the uniform contact pressure helps reduce the wear of the brush and the risk of local overheating; it helps the vehicle speed sensor 106 receive a stable signal, reduce signal errors caused by installation deviations, make the calibration of the vehicle speed sensor 106 simpler, and easily achieve accurate measurement results.

[0044] The actual application situation and fault response solutions of the control system mainly composed of the controller are as follows:

[0045] During the active control process, signals from the bolster rotation angle sensor 101, the binocular vision and distance sensor group 103, the geographical location and track information receiver 104, the anti-overload force sensor 105, and the vehicle speed sensor 106 are received through the controller and the upper computer. After the signals are fused, analyzed, processed, and decided by each module in the controller, commands are output to control the electric drive device 6 to achieve the active radial steering function.

[0046] During the active control process, if the binocular vision and distance sensor group 103, the geographical location and track information receiver 104, and the vehicle speed sensor 106 fail, signals from the bolster rotation angle sensor 101 and the anti-overload force sensor 105 can be received through the controller and the upper computer. After the signals are fused, analyzed, processed, and decided by each module in the controller, commands are output to control the electric drive device 6 to achieve the assisted radial steering function.

[0047] When the controller cannot receive the signals of 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 restraint and enters the free sliding state, and pure mechanical drive is performed through the drive center bolster device 4 and the proportional lever device 5 to achieve the forced radial steering function of the track.

[0048] In the specific implementation process, to enable the train to turn within a reasonable angle range, the lateral limit slider 26 is arranged on the base slide plate 25. By determining the position of the lateral limit slider 26, the swing angle range of the wheel set is determined. One end of the wheel set force transmission connecting rod 31 is connected to each wheel set 21 through the axle box steering arm 33, and the other end is connected to the steering drive rocker arm 32. Both ends of the diagonal drive connecting rod 34 are respectively connected to the front and rear drive rocker arms 32. Among them, the diagonal drive connecting rod 34 is sleeved and installed on the central rotating column 42 of the air spring turntable plate 41. One end of the steering proportional lever main body 51 is fixed on the car body 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 main body 51 and the drive rocker arm 32, and the short connecting rod 53 is respectively connected to the proportional lever main body 51 and the air spring turntable plate 41. When the train is going straight, the input rotation angle of the center bolster device 4 is zero, so the wheel set rotation angle is zero. At this time, the lateral limit slider 26 is located at the center of the slide rail. Then, the center bolster device 4 receives the input rotation angle of the electric control drive device 6, and transmits the rotation angle to the wheel set 21 through the proportional lever device 5, the steering drive rocker arm 32 and the axle box steering arm 33, realizing the function of the wheel set turning around its center; when the train turns left, the front wheel set device 2 receives the input rotation angle from the center bolster device 4 and rotates counterclockwise around its center, and the rear wheel set device 2 rotates clockwise around its center. At this time, the lateral limit slide rail gradually approaches the right side of the slider. When the train turns right, the front wheel set device 2 receives the input rotation angle from the center bolster device 4 and rotates clockwise around its center, and the rear wheel set device 2 rotates counterclockwise around its center. At this time, the lateral limit slider 26 gradually approaches the left side of the slide rail.

[0049] Working principle

[0050] The kinematic principle of the multi-link mechanism is adopted. Through the structure and movement mode of the connecting rod, the input rotational motion is converted into the output specific trajectory motion. When the train enters the turning track, the center bolster device rotates along the bolster track around the rotation center, and an angle is formed between the car body and the frame. Taking this angle as the input, it drives the multi-link mechanism to move, and converts the rotational motion input by the center bolster device into the swing of the wheel set around the wheel set center in the horizontal plane in equal proportion, so as to complete the radial functional action of the wheel set according to the specified steering parameters and steering speed ratio.

[0051] Therefore, the present invention adopts a radial bogie with the above structure to actively control the swing of the wheel set around its center. In order to enable the train to realize the radial steering function, the kinematic principle of the multi-link 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 solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions of the present invention or make equivalent replacements, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An active control radial bogie for controlling the swing of a wheel set around its center, characterized in that: It includes a car body structure, a wheel set device, a rocker arm steering device, a center bolster device, and an electric control drive device; the wheel set device is arranged on the front and rear sides of the car body structure, the wheel set device is connected to the rocker arm steering device through a pin shaft, the rocker arm steering devices are symmetrically distributed on both sides of the center bolster device and are connected to the center bolster device, the center bolster device is connected to the center position of the car body structure through a pin shaft, the electric control drive device is hinged to the car body structure, a proportional lever device is arranged on one side of the center position of the center bolster device, and the proportional lever device is respectively connected to the car body structure, the center bolster device, the rocker arm steering device, and the electric control drive device through pin shafts, and the rocker arm steering device is connected to both sides of the center position of the bottom of the car body structure through pin shafts; The wheel set device includes wheel sets at both ends and support bearings arranged on the wheel sets, a bearing housing is arranged outside the support bearings, a shear-compression type buffer rubber spring is arranged on the bearing housing, a base slide plate is arranged on the shear-compression type buffer rubber spring, a lateral limit slider is arranged on the base slide plate, a grounding brush housing is arranged at one end of the base slide plate, 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 wheel set at the end far from the grounding brush housing; The rocker arm steering device includes a wheel set force transmission pull rod and a driving rocker arm, axle box steering arms are arranged at one end of each wheel set force transmission pull rod and are connected to the bearing housing, the wheel set force transmission pull rods on the side close to the proportional lever device are respectively connected to the driving rocker arm and the proportional lever device, the wheel set force transmission pull rods on the side far from the proportional lever device are respectively connected to the driving rocker arm, one end of a diagonal transmission connecting rod is connected to the middle position of the driving rocker arm through a ball head, 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 sleeved on the center bolster device; The center bolster device includes an air spring turntable plate and a center rotating column, air springs are symmetrically arranged on both sides of the center rotating column, force transmission rod connection points symmetrically distributed with the center rotating column as the center are arranged on the side of the air spring far from the center rotating column, and vehicle body longitudinal force transmission rods are connected to the force transmission rod connection points; The proportional lever device includes a proportional lever main 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 main body far from the center rotating column, the other end of the long connecting rod is connected to the driving rocker arm and the wheel set force transmission pull rod, one end of the short connecting rod is connected to a position on the proportional lever main body close to the center rotating column, the other end of the short connecting rod is connected to the air spring turntable plate, one end of the proportional lever main body close to the center rotating column is connected to the electric control drive device, and one end of the proportional lever main body far from the center rotating column is hinged to the car body structure.

2. The radial bogie for actively controlling the swing of the wheel set around its center according to claim 1, 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, and the other end of the electric cylinder piston rod is connected to the servo electric cylinder. The servo electric cylinder is connected with a tail hinge seat locking mechanism, the tail hinge seat locking mechanism is connected with an electromagnet, an electromagnet power-off locking tongue tube is arranged on the electromagnet, the electromagnet is magnetically connected with an electromagnet armature, one end of an electromagnet armature connecting rod is connected to the electromagnet armature, and the other end of the electromagnet armature connecting rod is connected to a wedge cam. A tail hinge seat slide rail is arranged beside the wedge cam, a fixed end of a return spring is arranged on one side of the tail hinge seat slide rail away from the wedge cam, and the other end of the return spring is arranged on one side of the tail hinge seat slide rail close to the electromagnet armature connecting rod. The other end of the return spring is fixed at the joint moving part between the electromagnet armature connecting rod and the wedge cam.

3. The radial bogie for actively controlling the swing of the wheel set around its center according to claim 2, characterized in that: The electric control drive device is connected with a controller. 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. The output end of the multi-sensor information fusion module is connected to the input end of a wheel pair radial movement pose calculation module. The output end of the wheel pair radial movement pose calculation module is connected to the input end of a joint coordinated control instruction generation module. The output end of the joint coordinated control instruction generation 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 an instruction to control the electric control drive device.

4. The radial bogie for actively controlling the swing of the wheel set around its center according to claim 3, wherein: The signal acquisition module includes a bolster rotation angle sensor, a binocular vision and distance sensor group, a geographical location and track information receiver, an anti-overload force sensor, and a vehicle speed sensor. The bolster rotation angle sensor is arranged on the sedan chair structure below the air spring turntable plate and is connected to the air spring turntable plate. Vision sensor supports are symmetrically arranged on the sedan chair structure between the same-side wheel pairs. The binocular vision and distance sensor group is arranged on the side of the vision sensor support close to the wheel pair. The geographical location and track information receiver is arranged on the vision sensor support. The anti-overload force sensor is arranged on the electric cylinder piston rod. The vehicle speed sensor is arranged at the outer center of the wheel pair.

5. An active control radial bogie for a wheel set to swing around its center, characterized in that: Current collectors are arranged at the positions of the sedan chair structure between the same-side wheel pairs. A magnetic track brake is arranged below the current collector and is connected to the sedan chair structure. A linear motor stator is arranged at the bottom of the sedan chair structure.

6. The radial bogie for actively controlling the swing of the wheel set around its center according to claim 5, characterized in that: Under normal circumstances, the controller actively controls the radial bogie to turn. If the controller fails, the servo electric cylinder stops working, and the tail hinge seat locking mechanism automatically releases the constraint and enters the free sliding state. By driving the center bolster device and the proportional lever device for pure mechanical drive, the function of forced radial turning of the track is realized.

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