Railway vehicle undercarriage full-size parameter measuring instrument and measuring method thereof

Abstract

The application discloses a track vehicle undercarriage full-size parameter measuring instrument and a measuring method thereof, and the measuring instrument comprises a reference crossbar, two clamps, a moving mechanism, a laser range finder, a horizontal position sensor, an attitude sensor and a processor; the clamp fixes the reference crossbar perpendicularly to the track direction; the laser range finder moves to the floor surface edge and the air spring support surface below to measure the distance, and the actual height in the vertical direction is obtained by combining the horizontal inclination angle compensation detected by the attitude sensor; when measuring the transverse stop interval, the distance measuring curve is continuously scanned and collected, the stop block coverage interval is recognized by using the preset stop block feature distance range, the vertical distance difference value of adjacent sampling points is calculated, the working surface edge position is determined when the difference value is greater than the thickness of the stop block, and the interval is obtained after angle compensation; the application integrates the vertical and horizontal parameter measurement, automatically compensates the reference inclination error, accurately identifies the working surface edge of the stop block, and has high measuring efficiency and good precision.

Description

Technical Field

[0001] This invention relates to the field of rail vehicle inspection technology, and specifically discloses a full-size parameter measuring instrument for the undercarriage of a rail vehicle and its measurement method. Background Technology

[0002] In the daily operation and maintenance of rail vehicles (such as subways and high-speed trains), the geometric dimensional relationships between the car body and the track, and between the car body and the bogie, are key factors affecting driving safety, passenger comfort, and component lifespan. Among these, the measurement of parameters such as the height difference between the floor and the platform, the working height of the air springs, and the distance between the working surfaces of the two lateral stops is particularly important.

[0003] The height difference between the floor and the platform directly affects the safety and convenience of passengers getting on and off the train; the working height of the air spring directly determines the stiffness characteristics of the suspension system, the stability of the vehicle, and the attitude of the car body; the lateral stop blocks are installed in pairs between the car body and the bogie to limit the lateral relative displacement and protect the traction device and suspension system from excessive lateral loads. Therefore, the accurate measurement of the distance between the working surfaces of the two lateral stop blocks is extremely important.

[0004] Currently, industry workers typically use spirit levels, measuring tapes, or laser rangefinders to take measurements separately and in multiple steps. This traditional method is not only inefficient, difficult to ensure consistent measurement benchmarks, and unable to compensate for angular errors caused by track unevenness in real time, but also requires workers to crawl under the vehicle to manually measure the lateral distance between two lateral stops, leading to high workload and significant safety risks. Therefore, this application proposes a full-size parameter measuring instrument for the undercarriage of rail vehicles. This instrument can simultaneously measure important parameters in both the vertical direction (floor height, air spring height) and the horizontal direction (lateral stop distance) using a unified benchmark. Summary of the Invention

[0005] The purpose of this invention is to provide a full-size parameter measuring instrument and method for the undercarriage of rail vehicles, so as to solve the problems of high work intensity, low measurement efficiency and inaccurate measurement results in the existing measurement of undercarriage parameters of rail vehicles.

[0006] A full-size parameter measuring instrument for the undercarriage of a rail vehicle includes a reference crossbar, two clamps, a moving mechanism, a laser rangefinder, a horizontal position sensor, an attitude sensor, and a processor. Wherein: The reference crossbar is longer than the track gauge between the two rails of the rail vehicle. Two clamps are respectively set at both ends of the reference crossbar to clamp the rails so that the reference crossbar is perpendicular to the rail direction and is fixed across the two rails. A moving mechanism is mounted on the reference crossbar and moves along the length of the reference crossbar; A laser rangefinder is mounted on the moving mechanism, and its laser emission direction is vertically upward; A horizontal position sensor is installed on the reference crossbar to detect the position coordinates of the laser rangefinder along the length of the reference crossbar; An attitude sensor, fixed to the reference crossbar, is used to detect the horizontal tilt angle of the reference crossbar; The processor is electrically connected to the laser rangefinder, the horizontal position sensor, and the attitude sensor.

[0007] As a further provision of the above scheme, one of the clamps is fixed to the end of the reference crossbar, and the other clamp is movably disposed on the reference crossbar. The reference crossbar is provided with an adjustment mechanism for adjusting the movement of the movable clamp along the length direction of the reference crossbar.

[0008] As a further provision of the above scheme, the moving mechanism includes a linear guide rail arranged along the length direction of the reference crossbar and a slider that slides with the linear guide rail. The laser rangefinder is fixed on the slider. The moving mechanism also includes a transmission component that drives the slider to move along the direction of the linear guide rail.

[0009] As a further provision of the above scheme, the transmission component is one of a belt drive, a screw drive, or a rack and pinion drive.

[0010] As a further provision of the above scheme, the horizontal position sensor is any one of a capacitive displacement sensor, an optical grating ruler, or a laser displacement sensor.

[0011] As a further feature of the above scheme, the attitude sensor is either a three-axis gyroscope or a tilt sensor.

[0012] This invention also discloses a method for measuring the undercarriage dimensional parameters of a rail vehicle using the aforementioned measuring instrument. This method includes parameter measurement in both vertical and horizontal directions, specifically comprising the following steps: (1) The reference crossbar is placed across the two rails of the rail vehicle and the two clamps are held on the rails so that the reference crossbar is fixed perpendicular to the rail direction; (2) When measuring the vertical dimension parameters, the moving mechanism is activated to move the laser rangefinder to the edge of the floor and directly below the air spring support surface. The laser rangefinder then performs vertical distance measurement, and the horizontal position sensor simultaneously measures the horizontal position of the laser rangefinder. The processor then combines the horizontal tilt angle measured by the attitude sensor with the measurement of the horizontal tilt angle. The measured vertical distance values ​​are compensated to obtain the actual values ​​of the floor surface and air spring in the vertical direction; (3) When measuring the horizontal dimension parameters, start the moving mechanism and the laser rangefinder. The moving mechanism drives the laser rangefinder to move continuously along the length of the reference horizontal bar, and collect the vertical distance value at a preset sampling step size. and the corresponding horizontal position coordinates ; Based on the collected vertical distance values Identify the X-axis interval where the two lateral stop blocks are located; Within the X-axis interval where the two lateral stop blocks are located, calculate the vertical distance difference between adjacent sampling points. ; when When the thickness D of the transverse stop block is greater than the vertical thickness D of the transverse stop block, it is determined that the edge of the working surface of the transverse stop block is located in the horizontal interval corresponding to the adjacent sampling point. Inside; This determines the position of the right end working surface edge of the left stop block. and the left end working surface edge of the right stop block Then calculate the measurement spacing along the pole. ; (4) Finally, the horizontal tilt angle is measured by the processor in conjunction with the attitude sensor. The measured spacing along the pole Compensation calculations were performed to obtain the actual horizontal distance between the working surfaces of the two transverse stop blocks. ; (4) The processor outputs and displays the actual measurement results of floor height, air spring working height and lateral stop block spacing.

[0013] As a further setting of the above scheme, in step (3), when the vertical distance values ​​of multiple consecutive sampling points are... When all values ​​fall within the characteristic distance range of the lateral stop block, the continuous area is determined to be the X-axis interval covered by the lateral stop block.

[0014] Compared with the prior art, the present invention has the following beneficial effects: This invention integrates vertical (floor height, air spring working height) and horizontal (lateral stop working surface spacing) measurement functions onto a single measuring instrument, achieving "full-size, integrated" measurement. Operators only need to set up the reference crossbar once to sequentially collect and calculate multiple key geometric parameters, eliminating the need for tool changes or multiple positioning steps. Compared to traditional multi-stage measurement methods, this invention significantly improves detection efficiency while ensuring that vertical and horizontal measurements use the same spatial reference, avoiding cumulative errors caused by multiple setups and making measurement data more consistent and comparable. Furthermore, during measurement operations, operators do not need to crawl under the vehicle for manual measurements; they can simply set up the measuring instrument and operate the buttons beside the vehicle, greatly reducing labor intensity and safety risks, meeting the needs of modern intelligent operation and maintenance of rail transit.

[0015] This invention addresses the industry pain point of accurately measuring the working surface spacing of transverse stop blocks by proposing a technical solution combining continuous scanning and automatic edge recognition. Specifically, a moving mechanism drives a laser rangefinder to continuously move along a reference crossbar, acquiring the distance measurement curve of the stop block area. Utilizing the known design value of the distance from the lower surface of the stop block to the rail, a preset characteristic distance range is established. When the distance values ​​of multiple consecutive sampling points fall within this range, the stop block coverage area is automatically determined, achieving coarse positioning of the stop block. Then, within the coarse positioning range, the vertical distance difference between adjacent sampling points is further calculated. When the difference is greater than the vertical thickness of the stop block, the horizontal interval containing the working surface edge is precisely located, and the midpoint of the interval is taken as the edge position. This method does not depend on the specific shape of the stop block's working surface, eliminating subjective errors from manual alignment and achieving high-precision, highly repeatable measurement of the transverse stop spacing.

[0016] This invention features a fixed attitude sensor mounted on a reference crossbar, enabling real-time detection of the crossbar's horizontal tilt angle. During vertical measurements, the processor performs cosine compensation on the laser ranging value based on the tilt angle, eliminating measurement errors caused by rail level differences or longitudinal slope, ensuring accurate floor height and air spring working height. During horizontal measurements, since the clamps at both ends ensure the reference crossbar is perpendicular to the track direction, only tilt angle compensation is needed to obtain the accurate lateral stop working surface spacing. This angle compensation mechanism allows the measuring instrument to adapt to different track conditions, guaranteeing the accuracy and reliability of the measurement results. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional structural schematic diagram of the full-size parameter measuring instrument under the rail vehicle in this invention; Figure 2 This is a planar schematic diagram of the measuring instrument in this invention performing measurements under a vehicle. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The following will refer to the appendix... Figures 1-2 This application will be described in detail with reference to the embodiments. Example

[0021] Example 1 discloses a full-size parameter measuring instrument for the undercarriage of a rail vehicle, such as... Figure 1 , Figure 2 As shown, the main components of the measuring instrument include a reference crossbar 1, two clamps 2 and 2', a moving mechanism 3, a laser rangefinder 4, a horizontal position sensor 5, an attitude sensor 6, and a processor 7.

[0022] The reference crossbar 1 is made of a high-rigidity, low-thermal-expansion-coefficient metal material (such as aluminum alloy or stainless steel), and its length is greater than the track gauge between the two tracks 100 of the rail vehicle to ensure that it can be placed across the two tracks 100.

[0023] Two clamps, 2 and 2', are respectively disposed at both ends of the reference crossbar 1 to clamp onto the two rails 100, so that the reference crossbar 1 is fixedly positioned between the two rails 100 perpendicular to the rail direction. Clamp 2 is fixedly disposed at the left end of the reference crossbar 1, and clamp 2' is movably disposed at the right end of the reference crossbar 1. Simultaneously, an adjustment mechanism 21 is provided on the reference crossbar 1 to adjust the movement of clamp 2' along the length direction of the reference crossbar 1, so that clamp 2' moves toward the side of the rail 100, thereby achieving clamping of clamps 2 and 2' together between the two rails 100. In this embodiment 1, the adjustment mechanism 21 includes an adjusting screw threaded to the bottom right end of the reference crossbar 1. One end of the adjusting screw is provided with a handwheel, and the other end is rotatably connected to clamp 2'. When the handwheel is rotated, the adjusting screw drives clamp 2' to move along the length direction of the reference crossbar 1, pressing it against the side of the rail 100.

[0024] The moving mechanism 3 is mounted on the reference crossbar 1 and includes a linear guide rail 31 arranged along the length of the reference crossbar 1, a slider 32 slidably engaged with the linear guide rail 31, and a transmission component 33 that drives the slider 32 to move along the linear guide rail 31. In this embodiment, the transmission component 33 is a screw drive device, which includes a screw nut fixedly connected to the slider 32, a screw acting on the screw nut, and a stepper motor that drives the screw to rotate. The processor 7 can control the rotation of the stepper motor to achieve precise position control of the slider 32 and to move it along the length of the reference crossbar 1 at a set speed. Alternatively, the transmission component 33 can also be replaced by a belt drive or a rack and pinion drive.

[0025] The laser rangefinder 4 is fixedly mounted on the slider 32, with its laser emission direction vertically upward. In this embodiment 1, the laser rangefinder 4 uses a high-precision laser range sensor to ensure that its measurement accuracy can reach ±0.1mm. It is used to measure the vertical distance from the track reference plane to the measured point (such as the edge of the floor surface 200, the support surface of the air spring 300, the lower surface of the transverse stop block 400, etc.).

[0026] A horizontal position sensor 5 is mounted on the reference crossbar 1 to detect the position coordinates of the laser rangefinder 4 along the length of the reference crossbar 1. In this embodiment, the horizontal position sensor 5 also uses a high-precision laser rangefinder sensor with a measurement accuracy of ±0.1mm. It is horizontally mounted on the left end of the reference crossbar 1, with its laser emission direction perpendicular to the slider 32. When the slider 32 moves from right to left under the action of the transmission component 33, this horizontally arranged high-precision laser rangefinder sensor can measure the position coordinates of the laser rangefinder 4 along the length of the reference crossbar 1 in real time. Alternatively, the horizontal position sensor 5 can also be replaced by a capacitive displacement sensor or a grating ruler.

[0027] An attitude sensor 6 is fixedly installed at the left end (or the middle) of the reference crossbar 1 to detect the horizontal tilt angle of the reference crossbar 1 when it is fixed to the two tracks 100. In this embodiment, the attitude sensor 6 can be either a three-axis gyroscope or a tilt sensor. When there is a horizontal height difference or a longitudinal slope between the two tracks 100, the attitude sensor 6 detects the horizontal tilt angle of the fixed reference crossbar 1. This horizontal tilt angle provides parameters for angle compensation of subsequent measurements, eliminating measurement errors caused by the reference tilt.

[0028] In this embodiment, the processor 7 is electrically connected to the laser rangefinder 4, the horizontal position sensor 5, and the attitude sensor 6. It receives measurement data from each sensor, performs angle compensation calculations, and outputs measurement values. The processor 7 can be an embedded microcontroller, a single-chip microcomputer, or an industrial control computer. In this embodiment, the processor 7 uses an ARM-based embedded processor, integrating a data acquisition module, a data processing module, a storage module, and a result display module. It is used to display measurement results in real time and store historical data. Furthermore, the measuring instrument is equipped with a rechargeable battery 8 to power all electrical components, facilitating mobile use in the field. Example

[0029] This embodiment 2 provides a method for measuring the undercarriage dimensions of a rail vehicle using the aforementioned measuring instrument. The measurement method includes two parts: vertical dimension measurement and horizontal dimension measurement. The specific steps are as follows.

[0030] S1: Before measurement, the operator places the measuring instrument under the vehicle to be measured, places the reference crossbar 1 across the two rails 100, and adjusts the position of the clamp 2' so that the two clamps 2 and 2' are pressed tightly against the outer side of the two rails 100 respectively, thereby fixing the reference crossbar 1 perpendicular to the direction of the two rails 100.

[0031] S2: The purpose of vertical dimension measurement is to obtain the actual vertical height from the edge of the floor surface and the air spring support surface to the track 100 reference surface. The operator can select the "vertical measurement" mode through the human-machine interface of the processor 7 or the corresponding button. Then, the processor 7 controls the stepper motor of the moving mechanism 3 to rotate, driving the laser rangefinder 4 on the slider 32 to move to a preset position (such as the edge of the floor surface or the air spring support surface) directly below it (this position can be pre-calibrated according to the vehicle model parameters), while the horizontal position sensor 5 measures the horizontal position of the laser rangefinder 4.

[0032] Next, the laser rangefinder 4 emits a vertically upward laser to measure the actual distance from the reference plane of track 100 to the edge of the floor surface. Or the measured distance from the track 100 reference plane to the air spring support surface. .

[0033] Meanwhile, attitude sensor 6 reads the horizontal tilt angle of reference crossbar 1 in real time. Because there may be a height difference or longitudinal slope between the two tracks 100, the reference crossbar 1 is not perfectly horizontal; therefore, the measured distance... and Including tilt error. Processor 7 performs angle compensation according to the tilt compensation formula, calculating the actual vertical height of the floor surface or air spring support surface. and .

[0034] Finally, after the measurement is completed, the processor 7 displays the measurement results on the screen in real time and automatically stores them in the memory card for subsequent data traceability and analysis.

[0035] S3: The purpose of horizontal dimension measurement is to obtain the actual horizontal distance between the working surfaces of the two lateral stop blocks. This embodiment adopts a measurement method combining continuous scanning and edge detection. The operator first selects the "horizontal measurement" mode through the human-machine interface of the processor 7 or the corresponding button. Then, the processor 7 controls the moving mechanism 3 to drive the laser rangefinder 4 to move at a constant speed from one end of the reference crossbar 1 to the other end. During the constant speed movement, a preset sampling step size is used. (In this embodiment) (Set to 1mm) Collect vertical distance values and the corresponding horizontal position coordinates .

[0036] Meanwhile, the processor 7 has a preset feature distance range for the lateral stop block. The thickness parameter D of the lateral stop block (this feature distance range and thickness parameter are pre-input based on the lateral stop block design parameters of the vehicle model being tested).

[0037] When multiple consecutive sampling points (In this embodiment, 20 consecutive points) all fall within When the sampled area falls within the range, the continuous area is determined to be the area covered by the left lateral stop (the laser rangefinder 4 moves from left to right to measure); when multiple consecutive sampling points fall within this range again, it is determined to be the area covered by the right lateral stop.

[0038] Within the area covered by the left-side lateral stop block, processor 7 calculates the vertical distance difference between adjacent sampling points. When the calculation yields If the thickness is greater than the vertical thickness D of the transverse stop block, then it is determined that the right end working surface edge of the left transverse stop block is at... and Between. To obtain the precise edge position, processor 7 takes the midpoint of this interval as the right end working surface edge of the left transverse stop block. ,Right now .

[0039] Similarly, within the area covered by the right-side stop block, when processor 7 calculates... When the distance is greater than the vertical thickness D of the transverse stop block, the midpoint of this distance is taken as the left edge position of the working surface of the right transverse stop block. .

[0040] Subsequently, processor 7 calculates the distance measured along the pole. And because the horizontal tilt angle of the reference crossbar may affect the actual lateral distance between the two lateral stop blocks relative to the working surface, the processor 7 reads the horizontal tilt angle detected by the attitude sensor 6. Angle compensation is performed according to the tilt angle compensation formula to obtain the actual working surface spacing of the lateral stop blocks. .

[0041] S4: Processor 7 measures the floor height in the vertical dimension. Air spring working height And the distance between the working surfaces of the transverse stops obtained by horizontal dimension measurement. The results are displayed on the screen and automatically stored. Operators can determine whether each parameter is qualified according to the preset tolerance range, or upload the measurement results to the vehicle operation and maintenance management system via the wireless communication module.

[0042] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A full-size parameter measuring instrument for the undercarriage of a rail vehicle, characterized in that, include: The reference crossbar is longer than the track gauge between the two rails of the rail vehicle. Two clamps are respectively set at both ends of the reference crossbar to clamp the rails so that the reference crossbar is perpendicular to the rail direction and is fixed across the two rails. A moving mechanism is mounted on the reference crossbar and moves along the length of the reference crossbar; A laser rangefinder is mounted on the moving mechanism, and its laser emission direction is vertically upward; A horizontal position sensor is installed on the reference crossbar to detect the position coordinates of the laser rangefinder along the length of the reference crossbar; An attitude sensor, fixed to the reference crossbar, is used to detect the horizontal tilt angle of the reference crossbar; The processor is electrically connected to the laser rangefinder, the horizontal position sensor, and the attitude sensor.

2. The full-size parameter measuring instrument for undercarriage of a rail vehicle according to claim 1, characterized in that, One of the clamps is fixed to the end of the reference crossbar, and the other clamp is movably mounted on the reference crossbar. The reference crossbar is provided with an adjustment mechanism for adjusting the movement of the movable clamp along the length of the reference crossbar.

3. The full-size parameter measuring instrument for undercarriage of a rail vehicle according to claim 1, characterized in that, The moving mechanism includes a linear guide rail arranged along the length of a reference crossbar and a slider that slides with the linear guide rail. The laser rangefinder is fixed on the slider. The moving mechanism also includes a transmission component that drives the slider to move along the direction of the linear guide rail.

4. The full-size parameter measuring instrument for undercarriage of a rail vehicle according to claim 3, characterized in that, The transmission component is one of a belt drive, a screw drive, or a rack and pinion drive.

5. The full-size parameter measuring instrument for undercarriage of a rail vehicle according to claim 1, characterized in that, The horizontal position sensor is any one of a capacitive displacement sensor, an optical grating ruler, or a laser displacement sensor.

6. The full-size parameter measuring instrument for undercarriage of a rail vehicle according to claim 1, characterized in that, The attitude sensor is either a three-axis gyroscope or a tilt sensor.

7. A method for measuring the undercarriage dimensional parameters of a rail vehicle using the measuring instrument according to any one of claims 1 to 6, characterized in that, Includes the following steps: The reference crossbar is laid across the two rails of the rail vehicle, and the two clamps are held on the rails so that the reference crossbar is fixed perpendicular to the rail direction. When measuring vertical dimensional parameters, the moving mechanism is activated to move the laser rangefinder sequentially to the edge of the floor surface and directly below the air spring support surface. The laser rangefinder then performs vertical distance measurement, while the horizontal position sensor simultaneously measures the horizontal position of the laser rangefinder. Finally, the processor combines the horizontal tilt angle measured by the attitude sensor with the measurement. The measured vertical distance values ​​are compensated to obtain the actual values ​​of the floor surface and air spring in the vertical direction; When measuring horizontal dimensions, the moving mechanism and laser rangefinder are activated. The moving mechanism drives the laser rangefinder to move continuously along the length of the reference horizontal bar, and vertical distance values ​​are collected at preset sampling steps. and the corresponding horizontal position coordinates ; Based on the collected vertical distance values Identify the X-axis interval where the two lateral stop blocks are located; Within the X-axis interval where the two lateral stop blocks are located, calculate the vertical distance difference between adjacent sampling points. ; when When the thickness D of the transverse stop block is greater than the vertical thickness D of the transverse stop block, it is determined that the edge of the working surface of the transverse stop block is located in the horizontal interval corresponding to the adjacent sampling point. Inside; This determines the position of the right end working surface edge of the left stop block. and the left end working surface edge of the right stop block Then calculate the measurement spacing along the pole. ; Finally, the horizontal tilt angle is measured by the processor in conjunction with the attitude sensor. The measured spacing along the pole Compensation calculations were performed to obtain the actual horizontal distance between the working surfaces of the two transverse stop blocks. ; (4) The processor outputs and displays the actual measurement results of floor height, air spring working height and lateral stop block spacing.

8. The method for measuring the undercarriage dimensions of a rail vehicle according to claim 7, characterized in that, In step (3), when the vertical distance values ​​of multiple consecutive sampling points are... When all values ​​fall within the characteristic distance range of the lateral stop block, the continuous area is determined to be the X-axis interval covered by the lateral stop block.

Images