Moving trolley of all-underground bogie reloading system

Abstract

The invention provides a moving trolley of an all-underground bogie reloading system, which comprises a walking system and a lifting platform, the axes of the walking wheels are higher than the upper end face of the bottom frame; the long wheel shaft is fixedly connected with the two traveling wheels which are coaxially arranged; the walking driving assembly is used for driving the long wheel shaft to rotate; the lifting platform comprises a plurality of lead screws which are vertically and rotatably mounted on the upper end surface of the bottom frame; the lifting platform is parallel to the bottom frame, and a plurality of positioning holes corresponding to the lead screws one to one are formed in the lifting platform; the lifting driving assembly is mounted on the lifting table and used for driving the lead screw penetrating through the positioning hole to rotate; the two supporting beams are arranged in parallel and fixedly connected to the upper end face of the lifting table. The multiple track beam positioning pins are fixedly connected to the two ends of the supporting beam correspondingly; the double-shaft horizontal sensor is used for monitoring the horizontal inclination angle of the lifting table in real time. The lifting stability of the moving trolley and the safety in the moving process can be improved, and automatic walking and positioning are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of bogie maintenance, and in particular to a mobile trolley for a fully underground bogie replacement system. Background Art

[0002] When the EMU runs to a certain mileage or the bogie fails, it needs to be transferred to the third-level maintenance depot or temporary maintenance depot for maintenance and replacement of the bogie.

[0003] The bogie replacement systems currently used at home and abroad mainly include pit-type car lifting machines and mobile car lifting machines. Both pit-type car lifting machines and mobile car lifting machines are basically composed of bogie lifting units, car body lifting units, etc. During the bogie replacement process, the car body lifting unit supports the car body. After the bogie is disassembled, the bogie lifting unit is lowered to the same level as the base. After the operator pushes the bogie to be replaced along the track, the replacement bogie is moved to the bogie lifting unit by repeating the operation. The bogie is then lifted to a certain height by the bogie lifting unit, and then the operator completes the installation. In this process, the bogie lifting unit has a single function, the manual labor intensity is high, and the operation efficiency is low.

[0004] Although a movable bogie replacement lifting platform has been developed, it generally uses a chain sprocket running system. This method can realize the running of the bogie to be replaced by the operator by starting the button after the disassembly of the bogie to be replaced, without the need for manual pushing of the bogie. However, the sprocket chain running system has a complex structure, wears quickly, is costly, and difficult to maintain. There are also systems that use motors to drive small-radius guide wheels along guide rails, but small-radius guide wheels have poor stability and poor anti-interference ability. If there are foreign objects on the guide rails, it will affect the stability of the bogie transportation and reduce safety.

[0005] Moreover, when a mobile lifting platform is currently used as a lifting device for the bogie, its structure is complex and the possibility of the lifting platform tilting is not considered. When the lifting platform tilts, the gravity of the bogie will damage the wheel drop machine equipment and may cause the bogie to hit the ground.

[0006] Therefore, it is necessary to invent a mobile trolley for a fully underground bogie replacement system to overcome the above problems. Summary of the invention

[0007] In order to improve the problem that the existing bogie lifting trolley has poor stability when traveling and there are potential safety hazards when lifting the bogie, the present application provides a mobile trolley for a fully underground bogie replacement system.

[0008] The mobile trolley of the fully underground bogie replacement system provided in this application adopts the following technical solution: A mobile trolley of a fully underground bogie replacement system comprises a running system and a lifting platform, wherein the running system comprises: The chassis is used for bearing; There are multiple running wheels distributed on two opposite sides of the base frame, and the axis of the running wheels is higher than the upper end surface of the base frame; A long wheel shaft, rotatably mounted on the base frame and fixedly connected to the two coaxially arranged running wheels; and A travel drive assembly, used for driving the long wheel shaft to rotate; The lifting platform comprises: A plurality of lead screws are provided and vertically rotatably mounted on the upper end surface of the base frame; A lifting platform is arranged parallel to the base frame and is provided with a plurality of positioning holes corresponding to the plurality of lead screws; A lifting drive assembly, mounted on the lifting platform and used to drive the lead screw passing through the positioning hole to rotate; Two supporting beams are arranged in parallel and fixed to the upper end surface of the lifting platform; Track beam locating pins are provided in plurality and are respectively fixed to both ends of the support beam; and The dual-axis horizontal sensor is used to monitor the horizontal inclination angle of the lifting platform in real time.

[0009] Furthermore, the lifting drive assembly includes a plurality of first servo motors and a first worm gear reducer corresponding to the plurality of lead screws one by one, the first worm gear reducer is drivingly connected to the first servo motor, and the first worm gear reducer is used to drive the lead screw to rotate; The dual-axis horizontal sensor is electrically connected to a balance controller, and multiple first servo motors are electrically connected to the balance controller. The balance controller is configured to control the corresponding first servo motor to increase or decrease the output speed to make the lifting platform tend to be horizontal when the horizontal inclination angle of the lifting platform detected by the dual-axis horizontal sensor is greater than 0 degrees.

[0010] Furthermore, the balance controller is also configured to send out an alarm signal and control all the first servo motors to stop when the dual-axis horizontal sensor detects that the horizontal inclination angle of the lifting platform is greater than a set safety value.

[0011] Furthermore, a wheel groove for accommodating the running wheel is formed on the base frame, and bearing seats are installed on both sides of the wheel groove. The running wheel is axially fixed with a short wheel axle, and both ends of the short wheel axle are installed on the bearing seats.

[0012] Furthermore, the running wheel is a large-radius EMU wheel, and its tread adopts a wear-type tread.

[0013] Furthermore, the chassis is provided with a positioning and navigation system for locating its walking position, the positioning and navigation system is electrically connected to a walking controller, and the walking controller is configured to control the walking drive assembly to stop when the positioning and navigation system detects that the chassis reaches a specified position.

[0014] Furthermore, the travel drive assembly includes a second servo motor and a second worm gear reducer corresponding to the long wheel axle, the second worm gear reducer is transmission-connected to the second servo motor, and the second worm gear reducer is used to drive the long wheel axle to rotate so as to achieve reverse self-locking of the long wheel axle after the second servo motor stops.

[0015] Furthermore, the chassis is provided with a safety warning system for detecting its position after it stops moving. The safety warning system is controlled and connected to an alarm system. If the safety warning system detects that the chassis is not in place after stopping moving, the alarm system is triggered to sound an alarm.

[0016] In summary, the present application includes at least one of the following beneficial technical effects: 1. During the whole process of replacing the bogie, since a dual-axis horizontal sensor is set on the lifting platform and the balance controller independently controls multiple first servo motors, the automatic detection and adaptive adjustment of the horizontal inclination angle of the lifting platform can be realized, so that the platform inclination angle can be automatically adjusted within a safe range during the lifting and sinking process of the lifting platform; and when the horizontal inclination angle of the lifting platform exceeds the safety value, the lifting platform position can be urgently locked and an alarm can be issued to prevent the bogie on the lifting platform from slipping, which greatly improves the safety of lifting the bogie; 2. When the mobile trolley of the present application transfers the bogie, the axis of the running wheel is higher than the upper end surface of the chassis, so that the center of the mobile trolley is extremely low, which greatly reduces the center of gravity of the mobile trolley when the lifting platform lifts the bogie, and can improve the lifting stability of the mobile trolley and the safety during the movement. In addition, because the running wheels use large-radius wheels, stable running can still be achieved in the event of foreign objects on the guide rail, which greatly improves the anti-interference performance of running; 3. Since the positioning navigation system and the safety warning system are installed on the mobile cart, the mobile cart of the present application can realize automatic movement, and perform position detection and positioning. After reaching the designated position, it can realize automatic parking; and the sensor signal in the safety warning system is used to ensure whether the mobile cart has moved to the right position, otherwise the sound and light alarm will be triggered and the car will stop in an emergency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of the running system of an embodiment of the present application; Figure 2 is a top view of the overall structure of the running system of an embodiment of the present application; Figure 3 This is a side view of the overall structure of the lifting platform of an embodiment of the present application; Figure 4 This is a top view of the overall structure of the lifting platform of the embodiment of the present application; Figure 5 It is a bottom view of the overall structure of the lifting platform of an embodiment of the present application.

[0019] Reference numerals: 11. Traveling system; 12. Lifting platform; 2. chassis; 21. wheel groove; 22. fixed seat; 31. Traveling wheel; 32. Bearing seat; 33. Short axle; 41. long wheel shaft; 42. second servo motor; 43. second worm gear reducer; 51. Lead screw; 52. First servo motor; 53. First worm gear reducer; 6. Lifting platform; 61. Positioning hole; 71. Support beam; 72. Track beam locating pin. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Reference Figure 1 and Figure 2 The present application embodiment discloses a mobile trolley of a fully underground bogie replacement system, which includes a running system 11 and a lifting platform 12. The running system 11 includes: The base frame 2 is used for bearing and specifically adopts a box beam with a simple structure; There are multiple running wheels 31 distributed on two opposite sides of the base frame 2. The axis of the running wheel 31 is higher than the upper end surface of the base frame 2. In this embodiment, there are four running wheels 31 and they are arranged at the four corners of the base frame 2. A long wheel shaft 41 is rotatably mounted on the base frame 2 and fixedly connected to two coaxially arranged running wheels 31; and The travel drive assembly is used to drive the long wheel shaft 41 to rotate.

[0022] Reference Figure 3 , Figure 4 and Figure 5 , the lifting platform 12 comprises: There are multiple lead screws 51 and they are vertically rotatably mounted on the upper end surface of the base frame 2. Specifically, four fixing seats 22 are installed at the four corners of the base frame 2, and four lead screws 51 are provided and are rotatably mounted on the four fixing seats 22 respectively; The lifting platform 6 is arranged parallel to the base frame 2, and is provided with a plurality of positioning holes 61 corresponding to the plurality of lead screws 51, which are used to constrain the freedom of the lead screws 51 and play a positioning role. The lead screws 51 pass through the corresponding positioning holes 61. The lifting platform 6 is specifically supported by a box beam as a frame, and a steel plate is laid on the frame to improve the overall height and reliability, and save materials; A lifting drive assembly, mounted on the lifting platform 6 and used to drive the lead screw 51 passing through the positioning hole 61 to rotate; Two support beams 71 are arranged in parallel and fixed to the upper end surface of the lifting platform 6, used to support the weight of the track bridge and the bogie, and the two support beams 71 have the same height and can maintain the synchronization of lifting and sinking; Track beam locating pins 72 are provided in plurality and are respectively fixed to both ends of the support beam 71 to constrain the freedom of the track bridge; and The dual-axis horizontal sensor is used to monitor the horizontal inclination angle of the lifting platform 6 in real time and is installed on the lifting platform 6, which is not shown in the figure.

[0023] The lifting drive assembly includes a plurality of first servo motors 52 and a first worm gear reducer 53 corresponding to the plurality of lead screws 51. The first worm gear reducer 53 is connected to the first servo motor 52 in a transmission manner, and the first worm gear reducer 53 is used to drive the lead screw 51 to rotate. The dual-axis horizontal sensor is electrically connected to a balance controller, and multiple first servo motors 52 are electrically connected to the balance controller. The balance controller is configured to control the corresponding first servo motor 52 to increase or decrease the output speed to make the lifting platform 6 tend to be horizontal when the horizontal inclination angle of the lifting platform 6 detected by the dual-axis horizontal sensor is greater than 0 degrees.

[0024] The balance controller is also configured to send out an alarm signal and control all first servo motors 52 to stop when the dual-axis horizontal sensor detects that the horizontal inclination angle of the lifting platform 6 is greater than a set safety value.

[0025] And, refer to Figure 1 and Figure 2 The travel drive assembly includes a second servo motor 42 and a second worm gear reducer 43 corresponding to the long wheel shaft 41. The second worm gear reducer 43 is transmission-connected to the second servo motor 42. The second worm gear reducer 43 is used to drive the long wheel shaft 41 to rotate so that the second servo motor 42 can achieve reverse self-locking of the long wheel shaft 41 after stopping.

[0026] In addition, the chassis 2 is provided with a positioning and navigation system for locating its walking position. Optionally, a laser navigation system or a SLAM positioning and navigation system is used for positioning and navigation. The positioning and navigation system is electrically connected to a walking controller, and the walking controller is configured to control the walking drive component to stop when the positioning and navigation system detects that the chassis 2 has reached a specified position. Specifically, the walking controller controls the start and stop of the second servo motor 42.

[0027] The chassis 2 is provided with a safety warning system for detecting its position after it stops moving. The safety warning system is controlled and connected to an alarm system. If the safety warning system detects that the chassis 2 is not in place after stopping, the alarm system will be triggered to alarm. Optionally, the photoelectric sensor signal or the pressure sensor signal is used to detect whether the moving trolley running system 11 is in place, otherwise the alarm system will be triggered to alarm and emergency stop. In this embodiment, the alarm system is set as an audible and visual alarm. The above-mentioned balance controller and safety warning system are both controlled and connected to the audible and visual alarm, which can intuitively warn the operator.

[0028] When replacing the EMU bogie, follow the following process: (1) Multiple first servo motors 52 start and drive the corresponding lead screws 51 to rotate synchronously, so that the lifting platform 6 rises. The timing starts after the lifting platform 6 is extended, and then the bogie is disassembled and lowered for transportation. After time t1, the electronic control system obtains the status of the lifting platform 6. If the lifting platform 6 has sunk into the ditch and no longer moves, the running system 11 of the mobile car is started, and the second servo motor 42 drives the long wheel shaft 41 to rotate, so that the running wheel 31 travels along the guide rail; if it is detected that the lifting platform 6 has not completely sunk within time t1, an alarm is triggered, and the operator presses the safety switch to restart the timing. If the bogie disassembly task is completed ahead of time and the lifting platform 6 sinks into the ditch, the operator presses the start button and the running system 11 starts.

[0029] (2) The running system 11 detects the moving position of the chassis 2 by the positioning and navigation system. When it reaches the specified position, it stops automatically. The safety warning system of the trolley running system 11 detects the position of the mobile trolley. If it reaches the position, the second servo motor 42 is locked and the second worm gear reducer 43 can prevent the running system 11 from slipping. Otherwise, the alarm system is triggered.

[0030] (3) After the lifting platform 6 is extended, the timing starts; after time t2, the electronic control system identifies the position of the lifting platform 12. If the lifting platform 12 has sunk into the trench and no longer moves, the travel system 11 starts automatically and begins to move. Otherwise, the alarm mechanism is triggered and the operator restarts the timing.

[0031] (4) When the running system 11 reaches the position directly below the bogie installation position, the running system 11 stops operating and the second servo motor 42 self-locks to prevent the vehicle from slipping.

[0032] Among them, when the bogie is being transported by sinking: (1) After the bogie is disassembled, it is locked on the track bridge, and the four first servo motors 52 are operated simultaneously, so that the lifting platform 6 is driven synchronously by the four lead screws 51 to sink.

[0033] (2) During the sedimentation process, the dual-axis horizontal sensor detects the horizontal inclination angle of the lifting platform 6 in real time. When the horizontal inclination angle is greater than 0 degrees, the balance controller receives a signal and controls the output of the first servo motor 52 to achieve adaptive adjustment. Specifically, if the dual-axis horizontal sensor detects that one side of the lifting platform 6 is lower, the balance controller controls the first servo motor 52 corresponding to that side to increase the output speed so that the side of the lifting platform 6 can be lifted quickly, until the dual-axis horizontal sensor detects that the lifting platform 6 is tending to be horizontal, and then restores the output speed of the first servo motor 52 to be the same frequency as the output speed of the other first servo motors 52.

[0034] (3) When the lifting platform 6 has finished settling, the first servo motor 52 stops, and the first worm gear reducer 53 has a self-locking function to prevent the lifting platform 6 from sliding down. Similarly, during lifting, the first servo motor 52 starts, driving the lead screw 51 to lift the lifting platform 6. During the lifting process, the horizontal inclination angle is detected by the dual-axis horizontal sensor.

[0035] (4) If the dual-axis horizontal sensor detects that the horizontal inclination angle of the lifting platform 6 exceeds the safety range, the alarm mechanism will be triggered, causing the sound and light alarm to sound, and the first servo motor 52 will immediately stop and lock. The operator will manually adjust the single first servo motor to adjust the lifting platform 12.

[0036] Therefore, during the entire process of replacing the bogie, since a dual-axis horizontal sensor is provided on the lifting platform 6 and the balance controller independently controls multiple first servo motors 52, the automatic detection and adaptive adjustment effect of the horizontal inclination angle of the lifting platform 6 can be achieved, so that the platform inclination angle of the lifting platform 6 can be automatically adjusted within a safe range during the lifting and lowering process; and when the horizontal inclination angle of the lifting platform 6 exceeds the safety value, the position of the lifting platform 6 can be urgently locked and an alarm can be sounded to prevent the bogie on the lifting platform 6 from slipping, thereby greatly improving the safety of lifting the bogie.

[0037] At the same time, when the mobile trolley of the present application transfers the bogie, the axis of the running wheel 31 is higher than the upper end surface of the chassis 2, so that the center of the mobile trolley is extremely low, which greatly reduces the center of gravity of the mobile trolley when the lifting platform 6 lifts the bogie, and can greatly improve the lifting stability of the mobile trolley and the safety during the movement. Moreover, since the running wheel 31 adopts a large radius wheel, it can still achieve stable running in the case of foreign objects on the guide rail, which greatly improves the anti-interference performance of running.

[0038] Moreover, since a positioning navigation system and a safety warning system are installed on the mobile cart, the mobile cart of the present application can realize automatic movement, and perform position detection and positioning. After reaching the designated position, it can realize automatic parking; and the sensor signal in the safety warning system is used to ensure whether the mobile cart has moved into place, otherwise the sound and light alarm will be triggered and the car will stop in an emergency.

[0039] In addition, refer to Figure 1 and Figure 2 The chassis 2 is provided with a wheel groove 21 for accommodating the running wheel 31. The chassis 2 is provided with bearing seats 32 on both sides of the wheel groove 21. The running wheel 31 is axially fixed with a short wheel axle 33. Both ends of the short wheel axle 33 are installed on the bearing seats 32. Among them, the bearing seats 32 adopt a two-stud vertical bearing seat, which has high rigidity, can withstand higher loads, and can play a good lubrication and support role. The running wheel 31 is a large-radius EMU wheel, and its tread adopts a wear-type tread, so that the axle radius of the running wheel 31 is smaller than that of the EMU wheel axle, which can ensure that the cost is reduced while meeting the requirements of the load-bearing bogie.

[0040] The implementation principle of the mobile vehicle of the fully underground bogie replacement system in the embodiment of the present application is as follows: During the entire process of replacing the bogie, since a dual-axis horizontal sensor is provided on the lifting platform 6 and the balance controller independently controls multiple first servo motors 52, the automatic detection and adaptive adjustment of the horizontal inclination angle of the lifting platform 6 can be achieved, so that the platform inclination angle of the lifting platform 6 can be automatically adjusted within a safe range during the lifting and lowering process; and when the horizontal inclination angle of the lifting platform 6 exceeds the safety value, the position of the lifting platform 6 can be urgently locked and an alarm can be sounded to prevent the bogie on the lifting platform 6 from slipping, thereby greatly improving the safety of lifting the bogie.

[0041] When the mobile trolley of the present application transfers the bogie, the axis of the running wheel 31 is higher than the upper end surface of the chassis 2, so that the center of the mobile trolley is extremely low, which greatly reduces the center of gravity of the mobile trolley when the lifting platform 6 lifts the bogie, and can increase the lifting stability of the mobile trolley and the safety during the movement. In addition, since the running wheel 31 uses a large radius wheel, it can still achieve stable running in the event of foreign objects on the guide rail, which greatly improves the anti-interference performance of running.

[0042] Moreover, since a positioning navigation system and a safety warning system are installed on the mobile cart, the mobile cart of the present application can realize automatic movement, and perform position detection and positioning. After reaching the designated position, it can realize automatic parking; and the sensor signal in the safety warning system is used to ensure whether the mobile cart has moved into place, otherwise the sound and light alarm will be triggered and the car will stop in an emergency.

[0043] 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 it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile trolley for a fully underground bogie replacement system, comprising a running system and a lifting platform, characterized in that: The running system comprises: The chassis is used for bearing; There are multiple running wheels distributed on two opposite sides of the base frame, and the axis of the running wheels is higher than the upper end surface of the base frame; A long wheel shaft, rotatably mounted on the base frame and fixedly connected to the two coaxially arranged running wheels; and A travel drive assembly, used for driving the long wheel shaft to rotate; The lifting platform comprises: A plurality of lead screws are provided and vertically rotatably mounted on the upper end surface of the base frame; A lifting platform is arranged parallel to the base frame and is provided with a plurality of positioning holes corresponding to the plurality of lead screws; A lifting drive assembly, mounted on the lifting platform and used to drive the lead screw passing through the positioning hole to rotate; Two supporting beams are arranged in parallel and fixed to the upper end surface of the lifting platform; Track beam locating pins are provided in plurality and are respectively fixed to both ends of the support beam; and The dual-axis horizontal sensor is used to monitor the horizontal inclination angle of the lifting platform in real time.

2. The mobile vehicle of the fully underground bogie replacement system according to claim 1 is characterized in that: The lifting drive assembly includes a plurality of first servo motors and a first worm gear reducer corresponding to the plurality of lead screws one by one, the first worm gear reducer is transmission-connected to the first servo motor, and the first worm gear reducer is used to drive the lead screw to rotate; The dual-axis horizontal sensor is electrically connected to a balance controller, and multiple first servo motors are electrically connected to the balance controller. The balance controller is configured to control the corresponding first servo motor to increase or decrease the output speed to make the lifting platform tend to be horizontal when the horizontal inclination angle of the lifting platform detected by the dual-axis horizontal sensor is greater than 0 degrees.

3. The mobile vehicle of the fully underground bogie replacement system according to claim 2 is characterized in that: The balance controller is also configured to send out an alarm signal and control all the first servo motors to stop when the dual-axis horizontal sensor detects that the horizontal inclination angle of the lifting platform is greater than a set safety value.

4. The mobile vehicle of the fully underground bogie replacement system according to claim 1 is characterized in that: The chassis is provided with a wheel groove for accommodating the running wheel, and the chassis is provided with bearing seats on both sides of the wheel groove. The running wheel is axially fixed with a short wheel axle, and both ends of the short wheel axle are installed on the bearing seats.

5. The mobile vehicle of the fully underground bogie replacement system according to claim 1, characterized in that: The running wheel is a large-radius EMU wheel, and its tread adopts a wear-type tread.

6. The mobile vehicle of the fully underground bogie replacement system according to claim 1, characterized in that: The chassis is provided with a positioning and navigation system for locating its walking position, and the positioning and navigation system is electrically connected to a walking controller, and the walking controller is configured to control the walking drive assembly to stop when the positioning and navigation system detects that the chassis reaches a specified position.

7. The mobile vehicle of the fully underground bogie replacement system according to claim 6, characterized in that: The travel drive assembly includes a second servo motor and a second worm gear reducer corresponding to the long wheel axle. The second worm gear reducer is transmission-connected to the second servo motor. The second worm gear reducer is used to drive the long wheel axle to rotate so that the long wheel axle can be reversely self-locked after the second servo motor stops.

8. The mobile vehicle of the fully underground bogie replacement system according to claim 6, characterized in that: The underframe is provided with a safety warning system for detecting its position after it stops moving. The safety warning system is controlled and connected to an alarm system. If the safety warning system detects that the underframe is not in place after stopping moving, the alarm system is triggered to alarm.

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