Railway vehicle control system and control method thereof

Abstract

The invention provides a railway vehicle control system and a control method thereof. The railway vehicle control system comprises a preset parking space, a moving vehicle, a trigger, a locking assembly and a control platform. The preset parking spaces are distributed on a driving road surface and are provided with trigger switches; a swing block is rotationally arranged at the top of the moving vehicle, and the swing block has a vehicle pushing state in which the swing block is kept upright and abuts against a cross beam at the bottom of the vehicle and a vehicle passing state in which the swing block swings around the rotating axis; the trigger is arranged on the mobile vehicle; the locking assembly comprises a plurality of wheel stoppers, and the wheel stoppers have the locking state that the wheel stoppers abut against vehicle wheels. The control platform is in communication connection with the moving trolley, the trigger and the multiple wheel stoppers. According to the railway vehicle control system provided by the invention, the swing block on the moving vehicle is switched between the vehicle pushing state and the swing state, so that the use flexibility is improved, the moving difficulty is reduced, and the moving efficiency of the vehicle is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of railway vehicles, and particularly relates to a railway vehicle control system and a control method thereof. Background Art

[0002] The intelligent cutting production line for railway vehicle maintenance is a production line that installs a plasma cutting power source on a robot and realizes the automated intelligent production of railway vehicles through the cooperation of a vision system. During the construction process, the railway vehicle needs to be parked in a precise parking space within plus or minus 50 millimeters in the center of the production line. If it exceeds the parking range, the vision scanning system will not be able to form a clear image, affecting the confirmation of the cutting trajectory.

[0003] Currently, the movement of railway vehicles at the workstations in railway maintenance factories is generally achieved through the cooperation of railway locomotives, forklifts, external power chains plus towing wheels, and external power steel wires plus hanging hooks. A large amount of manual operation is required, and the parking positioning accuracy is insufficient, which easily leads to equipment collisions or operation delays; the external power system has a complex structure, and the chains and steel wires are easily worn and broken, posing potential risks of equipment damage and personnel safety; the maintenance cost is high, and the parking position is inaccurate due to the influence of employee operation, and the imaging of the vision scanning system is blurred, affecting the cutting accuracy. Summary of the Invention

[0004] Embodiments of the present invention provide a railway vehicle control system and a control method thereof, aiming to solve the technical problems in the prior art that the cooperation of existing equipment is complex, prone to failures, and the operation of the equipment depends on employee operation, resulting in difficult control of parking accuracy.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows: In the first aspect, a railway vehicle control system is provided, including: A preset parking space is provided on the driving road surface, and a trigger switch is provided on the preset parking space; A moving vehicle moves along the front and rear directions of the vehicle. A swinging block is rotatably provided on the top of the moving vehicle. The top of the swinging block swings around a rotation axis, and the swinging axis is parallel to the left and right directions of the vehicle. The swinging block has a cart state in which it remains upright and abuts against the bottom crossbeam of the vehicle, and a vehicle-passing state in which it swings around the swinging axis; A trigger is provided on the moving vehicle and can contact the trigger switch in the vertical direction; A locking assembly includes a plurality of wheel stoppers that can move in the left and right directions. The plurality of wheel stoppers are distributed on the preset parking space and correspond to the four wheels of the vehicle when the vehicle stops. The wheel stopper has a locking state in which it abuts against the corresponding vehicle wheel in the front and rear directions, and an avoidance state in which it is spaced from the vehicle wheel in the left and right directions; and The control platform is communicatively connected with the mobile vehicle, the trigger and the plurality of wheel stoppers respectively.

[0006] In combination with the first aspect, in a possible implementation, the railway vehicle control system further includes a traction assembly, the traction assembly including a traction rope and two power sources, the two power sources are respectively arranged at the two ends of the driving surface, and are respectively communicatively connected to the control platform; the two ends of the traction rope are respectively connected to the two power sources, the power sources have winding shafts, and the traction ropes are selectively wound around the corresponding winding shafts so that the traction ropes themselves move in the forward and backward directions; a traction seat is provided on the mobile vehicle, and the traction rope is connected to the traction seat.

[0007] In combination with the first aspect, in a possible implementation, two elastic members are provided on the mobile vehicle, and the two elastic members are respectively provided on the front and rear sides of the swing block, one end of the elastic member is connected to the upper surface of the mobile vehicle, and the other end of the elastic member is connected to the side wall corresponding to the swing block, and the elastic member is configured with a pre-tightening force to keep the swing block in a cart state.

[0008] In combination with the first aspect, in a possible implementation, the mobile vehicle includes a frame and a plurality of mobile wheels, the bottom of the swing block is rotatably arranged on the frame, and the plurality of mobile wheels are arranged at the bottom of the frame and roll with the driving surface.

[0009] In combination with the first aspect, in a possible implementation, two limit driving components are further provided on the frame, and the two limit driving components are distributed along the front and rear directions. The limit driving components are communicatively connected to the control platform, and the limit driving components have a limit rod that is retractable along the left and right directions parallel to the cart state. In the cart state, the two limit rods are extended and respectively fit with the front and rear sides of the swing block. The limit rods can abut against the corresponding side surfaces of the swing block to keep the swing block in the cart state.

[0010] In combination with the first aspect, in a possible implementation, a limit plate is provided on the frame, the limit plate and the swing block are spaced apart in the left and right directions, and the plate surface of the limit plate is perpendicular to the left and right directions, and a limit hole is provided on the limit plate corresponding to the limit rod, and the limit hole is plugged into the corresponding limit rod to keep the swing block in a cart-pushing state.

[0011] In combination with the first aspect, in a possible implementation, the locking assembly also includes a plurality of mobile drive members, and the plurality of mobile drive members are distributed in the preset parking spaces. The mobile drive members correspond one-to-one to the wheel stoppers, and the mobile drive members have a mobile end that extends and retracts along a direction parallel to the left and right directions. The mobile end is connected to the corresponding wheel stopper to drive the wheel stopper to switch between a locking state and an avoidance state.

[0012] In combination with the first aspect, in a possible implementation manner, the side surface of the wheel stopper perpendicular to the front-rear direction has a wheel-stopping surface, and the wheel-stopping surface conforms to the outer peripheral surface of the vehicle wheel to limit the displacement of the wheel in the front-rear direction.

[0013] Compared with the prior art, the railway vehicle control system provided by the present invention drives the mobile vehicle to move in the front-rear direction through the control platform. When the mobile vehicle is in the pushing state, it drives the vehicle to move to the designated area. When the wheel stopper is in the locked state, it cooperates with the mobile vehicle to fix the vehicle, ensuring the stability of the vehicle during static processing; the setting of the trigger switch and the trigger enables the mobile vehicle to stop precisely, greatly improving the parking accuracy, ensuring clear imaging of the vision scanning system, and improving the processing efficiency and processing accuracy; when replacing the next vehicle for processing, the swing block on the mobile vehicle is in the swinging state and can easily pass under the vehicle without the mobile vehicle taking a detour. The swing block on the mobile vehicle increases the flexibility of use, reduces the moving difficulty, and improves the moving efficiency of the vehicle by switching between the pushing state and the swinging state.

[0014] In the second aspect, a railway vehicle driving control method is provided, which is implemented based on the railway vehicle control system in any of the above possible implementation manners, and includes the following steps: S1: The control platform controls the mobile vehicle to be in the pushing state and pushes the vehicle to be cut to move unidirectionally in the front-rear direction until the mobile vehicle moves to the preset parking position, and the wheel stopper corresponding to the front wheel of the vehicle to be cut moves away from the avoidance state in the left-right direction; S2: The mobile vehicle continues to move unidirectionally until the trigger touches the trigger switch, and the trigger switch generates a parking command. The control platform controls the mobile vehicle to stop moving according to the parking command. At this time, the wheel stopper corresponding to the rear wheel of the vehicle to be cut is out of the avoidance state, and multiple wheel stoppers are respectively locked and cooperated with the corresponding wheels of the vehicle to be cut to be in the locked state, and the swing block on the mobile vehicle cooperates with the wheel stopper to limit the displacement of the vehicle to be cut in the front-rear direction; S3: After the vehicle to be cut is cut, the wheel stopper moves in the left-right direction to disengage from the locked state, and the mobile vehicle drives the cut vehicle to continue to move unidirectionally until it passes through the preset parking position.

[0015] In combination with the second aspect, in a possible implementation manner, after step S3, it further includes: S4: The control platform controls the mobile vehicle to move reversely in the front-rear direction. During the movement, the swing block is in the vehicle-passing state until the mobile vehicle moves under the next vehicle to be cut; S5: The swing block changes to the pushing state, and the swing block abuts against the bottom cross beam of the vehicle to be cut, and steps S1 to S4 are repeated.

[0016] Compared with the prior art, the train operation control method provided by the present invention drives the mobile vehicle to move in the front-back direction through the control platform. When the mobile vehicle is in the pushing state, it drives the train to move to the designated area. When the wheel stopper is in the locked state, it cooperates with the mobile vehicle to fix the train, ensuring the stability of the train during static processing. The setting of the trigger switch and the trigger enables the mobile vehicle to stop accurately, greatly improving the parking accuracy, ensuring clear imaging of the vision scanning system, and improving the processing efficiency and accuracy. When changing to the next train for processing, the swing block on the mobile vehicle is in the swinging state and can easily pass under the train without the mobile vehicle having to take a detour. The swing block on the mobile vehicle increases the flexibility of use, reduces the moving difficulty, and improves the moving efficiency of the train by switching between the pushing state and the swinging state. The control platform can drive the mobile vehicle and the wheel stopper to cooperate precisely, greatly improving the degree of automation, eliminating the need for multiple employees to operate, reducing the labor intensity, saving labor costs, and enabling the mobile vehicle to move flexibly under the train at all times, reducing collisions between various devices and the number of repairs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a top view structural schematic diagram of the train control system provided by an embodiment of the present invention; Figure 2 is Figure 1 the schematic diagram of the mobile vehicle used in Figure 1 ; Figure 3 is Figure 1 the schematic diagram of the mobile vehicle used in Figure 2 ; Figure 4 is Figure 1 the schematic diagram of the mobile vehicle used in Figure 3 ; Figure 5 is Figure 1 the top view of the locking assembly used in Figure 6 is Figure 5 the side view of Figure 7 is Figure 5 the side view of the wheel stopper used in Figure 8 is Figure 5 the top view of the wheel stopper used in

[0019] Description of the reference numerals in the drawings: 1. Trigger switch 2. Moving vehicle; 21. Frame; 22. Moving wheels; 23. Swing block; 24. Elastic member; 25. Limit driving member; 251. Limit rod; 26. Limit plate; 261. Limit hole; 27. Towing seat 3. Trigger 4. Locking assembly; 41. Wheel stopper; 411. Wheel-stopping surface; 42. Moving driving member 5. Towing assembly; 51. Towing rope Detailed implementation manners

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The description of at least one exemplary embodiment below is actually only illustrative and in no way limits the present application and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0022] It should be noted that the terms used herein are only for describing the specific implementation manners and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "comprise" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0023] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for the sake of convenience in description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the specification. In all the examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0024] It should be noted that the orientation or positional relationship indicated by terms such as "length", "width", "height", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail", etc. is based on the orientation or positional relationship shown in the drawings. 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 thus should not be construed as a limitation of the invention. The orientation terms "inner" and "outer" refer to the inside and outside relative to the contour of each component itself.

[0025] It should also be noted that, unless otherwise clearly specified and defined, terms such as "install", "connect", "couple", "fix", "set", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper", etc. can be used here to describe the spatial positional relationship of a device or feature shown in the figure with other devices or features. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figure for the device. For example, if the device in the figure is inverted, the device described as "above" or "over" other devices or structures will then be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways, and corresponding interpretations should be made for the spatial relative descriptions used here.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In addition, the meanings of "a plurality" and "several" are two or more, unless otherwise specifically defined.

[0028] Please refer to Figures 1 to 8 , and now the railway vehicle control system and its control method provided by the present invention will be described. A railway vehicle control system includes a preset parking space, a moving vehicle 2, a trigger 3, a locking assembly 4, and a control platform. The preset parking space is provided on the driving road surface, and a trigger switch 1 is provided in the preset parking space; the moving vehicle 2 moves along the front-back direction of the vehicle, a swing block 23 is rotatably provided on the top of the moving vehicle 2, the top of the swing block 23 swings around a rotation axis, and the swing axis is parallel to the left-right direction of the vehicle. The top of the swing block 23 swings around the rotation axis. The swing block 23 has a cart state in which it remains upright and abuts against the bottom cross beam of the vehicle, and a passing state in which it swings around the swing axis; the trigger 3 is provided on the moving vehicle 2 and can contact the trigger switch 1 in the vertical direction; the locking assembly 4 includes a plurality of wheel stoppers 41 that can move in the left-right direction. The plurality of wheel stoppers 41 are distributed on the preset parking space and correspond to the four wheels of the vehicle when the vehicle stops. The wheel stopper 41 has a locking state in which it abuts against the corresponding vehicle wheel in the front-back direction, and an avoidance state in which it is spaced from the vehicle wheel in the left-right direction; the control platform is communicatively connected to the moving vehicle 2, the trigger 3, and the plurality of wheel stoppers 41 respectively.

[0029] It should be noted that the front-back direction is the moving direction of the vehicle in the factory, and the driving road surface is the factory floor for the vehicle to move. The two sides of the moving vehicle 2 perpendicular to the front-back direction are the front and rear sides, and the two sides of the moving vehicle 2 perpendicular to the left-right direction are the front and rear sides. Refer to Figure 1, the solid arrow indicates the front-back direction, and the dashed arrow indicates the left-right direction.

[0030] It should be noted that the swing block 23 is a rectangular columnar member. The bottom end of the swing block 23 is rotatably connected to the moving vehicle 2. When the swing block 23 is in the pushing state, the long axis of the swing block 23 is in the vertical state, and the top of the swing block 23 abuts against one side of the bottom crossbeam of the vehicle, thereby pushing the vehicle to move; when the swing block 23 is in the swinging state, the swing block 23 can swing back and forth. When the swing block 23 touches the bottom crossbeam of the vehicle, the swing block 23 swings to pass through the bottom crossbeam, enabling the moving vehicle 2 to shuttle under multiple vehicles without detouring.

[0031] It should be noted that Figure 1 refers to the top view of the preset parking space, on which 4 wheel stoppers 41 are installed, corresponding to the 4 wheels of the vehicle respectively.

[0032] It should be noted that the wheel stoppers 41 limit the vehicle in the front and rear directions to restrict the movement of the vehicle. The moving vehicle 2 and the wheel stoppers 41 cooperate to limit the vehicle in the front and rear directions and fix the vehicle together. The wheel stoppers 41 correspond to the four wheels of the vehicle respectively, and the four wheel stoppers 41 can just abut against the four wheels.

[0033] Compared with the prior art, the railway vehicle control system provided in this embodiment drives the moving vehicle 2 to move in the front-back direction through the control platform. When the moving vehicle 2 is in the pushing state, it drives the vehicle to move to the designated area. When the wheel stoppers 41 are in the locked state, they cooperate with the moving vehicle 2 to fix the vehicle, ensuring the stability of the vehicle during static processing; the setting of the trigger switch 1 and the trigger 3 enables the moving vehicle 2 to park accurately, greatly improving the parking accuracy, ensuring clear imaging of the vision scanning system, and improving the processing efficiency and processing accuracy; when changing to the next vehicle for processing, the swing block 23 on the moving vehicle 2 is in the swinging state and can easily pass under the vehicle without the moving vehicle 2 detouring. The swing block 23 on the moving vehicle 2 increases the flexibility of use, reduces the moving difficulty, and improves the moving efficiency of the vehicle by switching between the pushing state and the swinging state.

[0034] In some embodiments, referring to Figures 1 to 3 , the railway vehicle control system further includes a traction assembly 5. The traction assembly 5 includes a traction rope 51 and two power sources. The two power sources are respectively arranged at both ends of the driving road surface and are respectively in communication connection with the control platform; both ends of the traction rope 51 are respectively connected to the two power sources. The power sources have winding shafts, and the traction rope 51 is selectively wound around the corresponding winding shafts so that the traction rope 51 moves in the front-back direction. A traction seat 27 is provided on the moving vehicle 2, and the traction rope 51 is connected to the traction seat 27. The traction rope 51 occupies a small space. The two power sources cooperate to drive the traction rope 51 to move in the front-back direction. The traction rope 51 does not affect the movement and position change of the vehicle, and is convenient to use.

[0035] In specific implementation, the power source is a winch or a wire rope winding machine, the towing rope 51 is a wire rope, the wire rope is fixedly connected to the towing seat 27, and the wire rope 51 moves under the drive of the winch to drive the moving vehicle 2 to move.

[0036] As an implementation manner of the connection between the towing seat 27 and the towing rope 51, the towing seat 27 is a cylinder, the axis of the cylinder is parallel to the front-rear direction and overlaps with the long axis of the towing rope 51, the cylinder is sleeved on the outer periphery of the towing rope 51 and is connected to the towing rope 51. Preferably, insertion nails are arranged inside the cylinder, the insertion nails are distributed along the radial direction of the cylinder, and the insertion nails are inserted into the towing rope 51 to fix the seat 27 and the towing rope 51.

[0037] As another implementation manner of the connection between the towing seat 27 and the towing rope 51, a connection snap ring is arranged on the towing rope 51, the towing seat 27 is arranged at the bottom of the vehicle frame 21, a clamping groove is arranged on the towing seat 27, and the clamping groove is in clamping fit with the snap ring to fixedly connect the towing seat 27 and the towing rope 51.

[0038] As another implementation manner of the connection between the towing seat 27 and the towing rope 51. The towing rope 51 has two sections, and the end parts of the two sections of the towing rope 51 are respectively connected to the towing seat 27.

[0039] In some embodiments, referring to Figures 2 to 4 , two elastic members 24 are arranged on the moving vehicle 2, the two elastic members 24 are respectively arranged on the front and rear sides of the swing block 23, one end of the elastic member 24 is connected to the upper surface of the moving vehicle 2, the other end of the elastic member 24 is connected to the corresponding side wall of the swing block 23, and the elastic member 24 is configured with a pre-tightening force to keep the swing block 23 in the state of pushing the cart. The elastic member 24 can be compressed / stretched when the swing block 23 swings, so as to generate a reverse thrust force to make the swing block 23 reset to maintain the vertical state. After the swing block 23 swings, it can automatically reset, increasing the flexibility of use.

[0040] In specific implementation, the elastic member 24 is selected as a spring. The spring has high strength and good deformation continuity, meeting the requirements of being used as the elastic member 24. Of course, other components can also be used for the elastic member 24, such as disc springs and rubber strips, as long as they can drive the swing block 23 to reset after swinging, and they will not be listed one by one here.

[0041] In specific implementation, when the swing block 23 swings forward and tilts, the elastic member 24 located at the rear side is stretched, and the elastic member 24 located at the front side is compressed. The two elastic members 24 respectively provide reverse acting forces to make the swing block 23 automatically return to the vertical state after swinging.

[0042] In some embodiments, referring to Figures 2 to 4, the mobile vehicle 2 includes a vehicle frame 21 and a plurality of moving wheels 22. The bottom of the swing block 23 is rotatably arranged on the vehicle frame 21. The plurality of moving wheels 22 are arranged at the bottom of the vehicle frame 21 and are in rolling cooperation with the driving road surface. The vehicle frame 21 can install the swing block 23 to facilitate the installation of the trigger 3. The moving wheels 22 can make the vehicle frame 21 roll on the driving road surface, reducing the traction resistance of the traction rope 51.

[0043] During specific implementation, an installation groove is provided on the vehicle frame 21, and the swing block 23 is installed into the installation groove, and the swing axis is parallel to the left-right direction.

[0044] In some embodiments, refer to Figures 2 to 4 , two limit driving members 25 are further provided on the vehicle frame 21. The two limit driving members 25 are distributed along the front-rear direction. The limit driving members 25 are in communication connection with the control platform. The limit driving members 25 have limit rods 251 that can expand and contract along a direction parallel to the left-right direction. In the state of pushing the vehicle, the two limit rods 251 extend and are respectively in contact with the front and rear sides of the swing block 23. The limit rods 251 can be in contact with the corresponding side surfaces of the swing block 23 so that the swing block 23 maintains the state of pushing the vehicle. The limit rods 251 on the limit driving members 25 can expand and contract along the left-right direction. When the front end of the swing block 23 abuts against the cross beam of the vehicle, the limit rod 251 located at the rear side of the swing block 23 extends and abuts against the side surface of the swing block 23, restricting the swing block 23 from swinging backward, so that the swing block 23 always abuts against the vehicle cross beam, thereby pushing the vehicle to move.

[0045] During specific implementation, when the vehicle moves forward in the front-rear direction, the limit rod 251 located at the rear end of the swing block 23 extends and abuts against the swing block 23; when the vehicle moves backward in the front-rear direction, the limit rod 251 located at the front end of the swing block 23 extends and abuts against the front side surface of the swing block 23.

[0046] During specific implementation, the limit driving member 25 is selected as an electric push rod, and the piston rod of the electric push rod forms the limit rod 251.

[0047] In some embodiments, refer to Figures 2 to 4 , a limit plate 26 is provided on the vehicle frame 21. The limit plate 26 and the swing block 23 are spaced apart in the left-right direction, and the plate surface of the limit plate 26 is perpendicular to the left-right direction. A limit hole 261 corresponding to the limit rod 251 is provided on the limit plate 26, and the limit hole 261 is in plug-in fit with the corresponding limit rod 251 so that the swing block 23 maintains the state of pushing the vehicle. The plug-in connection between the limit hole 261 and the limit rod 251 can provide a limit to the limit rod 251, avoiding the limit rod 251 from tilting due to excessive force, improving the use stability, and ensuring that the swing block 23 can stably push the vehicle to move.

[0048] During specific implementation, two limit plates 26 are provided, and the two limit plates 26 are provided parallel to each other on the left and right sides of the swing block 23. When the limit rod 251 is extended, it passes through the two limit holes 261 at the same time, ensuring that the axis of the limit rod 251 is always parallel to the left and right directions, increasing the limit stability, and ensuring that the swing block 23 is always in the cart state.

[0049] In some embodiments, see Figure 1 and Figure 5 The locking assembly 4 further includes a plurality of movable drive members 42, which are distributed in the preset parking spaces. The movable drive members 42 correspond one to one with the wheel stoppers 41. The movable drive members 42 have movable ends that extend and retract in a direction parallel to the left and right directions. The movable ends are connected to the corresponding wheel stoppers 41 to drive the wheel stoppers 41 to switch between a locked state and an avoidance state. The movable ends of the movable drive members 42 drive the wheel stoppers 41 to move in the left and right directions, thereby moving the wheel stoppers 41 into the path of the vehicle's wheels to block and limit the position. The arrangement of the movable drive members 42 allows the wheel stoppers 41 to move stably, thereby facilitating the switching of the wheel stoppers 41 between the locked state and the avoidance state, thereby achieving a precise vehicle parking effect.

[0050] During specific implementation, the mobile driving member 42 is an air cylinder.

[0051] In some embodiments, multiple types of wheel stoppers 41 may be provided to block and limit different types of vehicles, thereby increasing the applicability of the system.

[0052] For example, eight wheel chocks 41 are provided, four of which are for C70 vehicles and the remaining four for C64 vehicles. The pre-set parking space has four mounting holes for wheel chocks 41, one for each of the four wheels of the C70 vehicle. Within the same mounting hole, one wheel chock 41 for the C70 vehicle and one for the C64 vehicle are installed. When moving a C70 vehicle, the wheel chock 41 corresponding to the C70 vehicle is used. When moving a C64 vehicle, the wheel chock 41 corresponding to the C64 vehicle is used.

[0053] In some embodiments, see Figure 7 and Figure 8 The side surface of the wheel stopper 41 perpendicular to the front-to-back direction has a wheel stop surface 411. The wheel stop surface 411 conforms to the outer circumference of the vehicle wheel to limit the displacement of the wheel in the front-to-back direction. The wheel stop surface 411 is a curved surface that conforms to the vehicle wheel, maximizing the contact area and improving the limiting effect.

[0054] In some embodiments, the railway vehicle control system further includes a dust collector installed in the factory building.

[0055] In some embodiments, the control platform includes an intelligent robot control module, a mobile vehicle 2 control module, and a dust removal intelligent module. The mobile vehicle 2 control module consists of a power distribution control box and a vehicle towing control cabinet. The intelligent robot control module controls the power on / off of the towing module. The intelligent robot control module consists of a PLC system control cabinet, 6 robots, and a monitoring system. The mobile vehicle 2 control module controls the movement of mobile vehicle 2. After towing the vehicle in place, the mobile vehicle 2 control module sends a signal allowing operation to the intelligent robot control module, and then the robot can operate. The dust removal intelligent control system is associated with the dust removal equipment system control cabinet and the intelligent robot control system, controlling the power on / off and related functions of the dust removal equipment.

[0056] The following is a specific embodiment of the railway vehicle control system: The vehicle towing control cabinet is equipped with an emergency stop button. Press the "Emergency Stop" button in case of emergency. Buttons on the vehicle towing control cabinet can select "Automatic" and "Manual" modes. Confirm the type of the vehicle to be towed, and select the corresponding vehicle type button on the vehicle towing control cabinet, such as "C70" or "C64". After pressing the "Vehicle Entry" button on the vehicle towing control cabinet, the first two wheel stoppers 41 of the corresponding vehicle type automatically open. When the vehicle moves forward and backward and reaches the parking position, the trigger 3 touches the contact switch 1, and the last two wheel stoppers of the corresponding vehicle type automatically open. At the same time, the traction module of mobile vehicle 2 receives a signal and automatically stops moving forward, clamping the vehicle in the cutting area to reach the precise parking position. To avoid collisions of the robot during the towing of railway vehicles, after the vehicle stops in place, the intelligent traction system sends a signal allowing operation to the intelligent robot control system. When one of the 6 robots is working, the intelligent robot control module sends a signal prohibiting the vehicle from moving and a signal to turn on the dust removal equipment to the mobile vehicle 2 control module. At this time, the red warning lights of the towing indicator lights inside and outside the cutting room are on, and the mobile vehicle 2 control module is in the state of total power off. Any control button on the vehicle towing control cabinet is ineffective. The power supply of the dust removal equipment control cabinet is turned on, and the dust removal equipment is in the normal dust removal working state. When all 6 robots complete their work and return to the starting zero position, the intelligent robot control system sends a signal allowing the vehicle to move, a signal to turn off the dust removal function of the dust removal equipment, and a signal to turn on the pulse dust ejection function to the mobile vehicle 2 control module. At this time, the green prompt lights of the towing indicator lights inside and outside the cutting room are on, the mobile vehicle 2 control module is in the state of total power on, and the control buttons on the vehicle towing control cabinet can be operated. The red light of the dust removal equipment control cabinet is on, the dust removal function is delayed to turn off, and the pulse dust ejection function is in the working state. After pressing the "vehicle departure" button on the vehicle towing control cabinet, the moving vehicle 2 control module sends a signal prohibiting operation to the intelligent robot control system. All operations of the robot's movement and actions are invalid. The four wheel stoppers 41 automatically retract to the avoidance state in the left-right direction. At the same time, after the vehicle is automatically towed to the designated position, press the "vehicle departure" button on the vehicle towing control cabinet again, and the vehicle stops.

[0057] Based on the same inventive concept, the present application also provides a railway vehicle driving control method, which is implemented based on the railway vehicle control system in any one of the above embodiments, and includes the following steps: S1: The control platform controls the moving vehicle 2 to be in the pushing state and pushes the vehicle to be cut to move unidirectionally in the front-rear direction until the moving vehicle 2 moves to the preset parking position, and the wheel stopper 41 corresponding to the front wheel of the vehicle to be cut moves in the left-right direction to disengage from the avoidance state; S2: The moving vehicle 2 continues to move unidirectionally until the trigger 3 touches the trigger switch 1, and the trigger switch 1 generates a stop command. The control platform controls the moving vehicle 2 to stop moving according to the stop command. At this time, the wheel stopper 41 corresponding to the rear wheel of the vehicle to be cut disengages from the avoidance state, and the multiple wheel stoppers 41 are respectively locked and matched with the corresponding wheels of the vehicle to be cut to be in the locked state. The swing block 23 on the moving vehicle 2 cooperates with the wheel stopper 41 to limit the displacement of the vehicle to be cut in the front-rear direction; S3: After the vehicle to be cut is cut, the wheel stopper 41 moves in the left-right direction to disengage from the locked state, and the moving vehicle 2 drives the cut vehicle to continue to move unidirectionally until it passes the preset parking position.

[0058] Specifically, as the arrangement mode of the wheel stopper 41, four wheel stoppers 41 are arranged and respectively correspond to the four wheels of the vehicle. After the moving vehicle 2 moves to the preset parking position, the two wheel stoppers 41 corresponding to the front wheels of the vehicle first move to disengage from the avoidance state. When the moving vehicle 2 continues to move and the trigger 3 touches the trigger switch 1, the two wheel stoppers 41 corresponding to the rear wheels of the vehicle move to become the locked state.

[0059] Compared with the prior art, the train operation control method provided in this embodiment drives the mobile vehicle 2 to move in the front-back direction through the control platform. When the mobile vehicle 2 is in the pushing state, it drives the vehicle to move to the designated area. When the wheel stopper 41 is in the locked state, it cooperates with the mobile vehicle 2 to fix the vehicle, ensuring the stability of the vehicle during static processing. The settings of the trigger switch 1 and the trigger 3 enable the mobile vehicle 2 to park accurately, greatly improving the parking accuracy, ensuring clear imaging of the vision scanning system, and improving the processing efficiency and accuracy. When changing to the next vehicle for processing, the swing block 23 on the mobile vehicle 2 is in the swinging state and can easily pass under the vehicle without the need for the mobile vehicle 2 to take a detour. The swing block 23 on the mobile vehicle 2 increases the flexibility of use, reduces the moving difficulty, and improves the moving efficiency of the vehicle by switching between the pushing state and the swinging state. The control platform can drive the mobile vehicle 2 and the wheel stopper 41 to cooperate precisely, greatly improving the degree of automation, eliminating the need for multiple employees to operate, reducing the manual labor intensity, saving labor costs, and enabling the mobile vehicle 2 to move flexibly under the vehicle at all times, reducing the collision between devices and the number of repairs.

[0060] In some embodiments, after step S3, it further includes: S4: The control platform controls the mobile vehicle 2 to move in the reverse front-back direction, and during the movement, the swing block 23 is in the vehicle-passing state until the mobile vehicle 2 moves under the next vehicle to be cut; S5: The swing block 23 changes to the pushing state, and the swing block 23 abuts against the bottom crossbeam of the vehicle to be cut, and steps S1 to S4 are repeated. This step enables the mobile vehicle 2 to always move in the front-back direction on the driving road surface without the need to turn and give way. The movement of the mobile vehicle 2 under the vehicle will not damage the vehicle, enabling the mobile vehicle 2 to be reused, increasing the use convenience, and reducing the cost.

[0061] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A railway vehicle control system, characterized in that, include: A preset parking space is provided on the road surface, and the preset parking space is provided with a trigger switch; A mobile vehicle moves in the front-to-rear direction of the vehicle, and a swing block is provided on the top of the mobile vehicle for rotation. The top of the swing block swings around a rotation axis, and the swing axis is parallel to the left-right direction of the vehicle. The swing block has a push state in which it remains upright and abuts against the bottom crossbeam of the vehicle, and a passing state in which it swings around the swing axis. a trigger, provided on the mobile vehicle and capable of contacting the trigger switch in a vertical direction; a locking assembly comprising a plurality of wheel chocks movable in a left-right direction, the plurality of wheel chocks being distributed over the preset parking spaces and corresponding to the four wheels of the vehicle when the vehicle is stopped, the wheel chocks having a locked state in which they abut against the corresponding vehicle wheels in a front-to-rear direction, and a avoided state in which they are spaced apart from the vehicle wheels in a left-to-right direction; as well as The control platform is communicatively connected with the mobile vehicle, the trigger and the plurality of wheel stoppers respectively.

2. The railway vehicle control system according to claim 1, characterized in that, The railway vehicle control system also includes a traction component, which includes a traction rope and two power sources. The two power sources are respectively arranged at the two ends of the driving surface and are respectively communicatively connected to the control platform; the two ends of the traction rope are respectively connected to the two power sources, and the power sources have winding shafts. The traction ropes are selectively wound around the corresponding winding shafts so that the traction ropes themselves move in the front and rear directions; a traction seat is provided on the mobile vehicle, and the traction rope is connected to the traction seat.

3. The railway vehicle control system according to claim 1, characterized in that, The mobile cart is provided with two elastic members, which are respectively provided on the front and rear sides of the swing block. One end of the elastic member is connected to the upper surface of the mobile cart, and the other end of the elastic member is connected to the corresponding side wall of the swing block. The elastic member is configured with a pre-tightening force to keep the swing block in the cart state.

4. The railway vehicle control system according to claim 2, characterized in that, The mobile vehicle comprises a vehicle frame and a plurality of mobile wheels. The bottom of the swing block is rotatably arranged on the vehicle frame. The plurality of mobile wheels are arranged at the bottom of the vehicle frame and roll in conjunction with the road surface.

5. The railway vehicle control system according to claim 4, characterized in that, The frame is also provided with two limit driving parts, which are distributed in the front and rear directions. The limit driving parts are communicatively connected to the control platform. The limit driving parts have a limit rod that is telescopic in parallel with the left and right directions. In the cart pushing state, the two limit rods are extended and respectively fit with the front and rear sides of the swing block. The limit rods can abut against the corresponding side surfaces of the swing block to keep the swing block in the cart pushing state.

6. The railway vehicle control system according to claim 5, characterized in that A limit plate is provided on the frame, and the limit plate and the swing block are spaced apart in the left and right directions, and the plate surface of the limit plate is perpendicular to the left and right directions. A limit hole is provided on the limit plate corresponding to the limit rod, and the limit hole is plugged into the corresponding limit rod to keep the swing block in the cart-pushing state.

7. The railway vehicle control system according to claim 1, wherein, The locking assembly also includes a plurality of mobile driving members, which are distributed in the preset parking spaces. The mobile driving members correspond one-to-one to the wheel stoppers. The mobile driving members have a mobile end that can be extended and retracted in parallel with the left and right directions. The mobile end is connected to the corresponding wheel stopper to drive the wheel stopper to switch between a locking state and an avoidance state.

8. The railway vehicle control system according to claim 1, characterized in that The side surface of the wheel stopper perpendicular to the front-rear direction has a wheel stop surface, and the wheel stop surface is conformed to the outer peripheral surface of the wheel of the vehicle to limit the displacement of the wheel in the front-rear direction.

9. A train vehicle driving control method is implemented based on the train vehicle control system according to any one of claims 1-8, characterized in that, The following steps are involved: S1: The control platform controls the mobile vehicle to be in a pushing state and pushes the vehicle to be cut in a one-way forward and backward direction until the mobile vehicle moves to a preset parking space, and the wheel stopper corresponding to the front wheel of the vehicle to be cut moves in the left and right direction to leave the avoidance state; S2: The mobile vehicle continues to move in one direction until the trigger touches the trigger switch, and the trigger switch generates a stop command. The control platform controls the mobile vehicle to stop moving according to the stop command. At this time, the wheel stoppers corresponding to the rear wheels of the vehicle to be cut are out of the avoidance state. The plurality of wheel stoppers are respectively locked with the corresponding wheels of the vehicle to be cut to be in a locked state. The swing block on the mobile vehicle cooperates with the wheel stoppers to limit the displacement of the vehicle to be cut in the front and rear directions. S3: After the cutting of the vehicle to be cut is completed, the wheel stopper moves in the left and right directions to disengage the locked state, and the moving vehicle drives the cut vehicle to continue moving in one direction until it passes the preset parking space.

10. The train operation control method according to claim 9, characterized in that, After step S3, the following steps are also included: S4: The control platform controls the mobile vehicle to move in the reverse direction along the front-back direction. During the movement, the swing block is in a vehicle-passing state until the mobile vehicle moves to the bottom of the next vehicle to be cut; S5: The swing block changes to the pusher state, the swing block abuts against the bottom crossbeam of the vehicle to be cut, and steps S1 to S4 are repeated.

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