Automatic control system and method for telescopic coupler cushioning apparatus

Abstract

An automatic control system and method for a telescopic coupler cushioning apparatus, used for coupler control. The control system comprises a locking electric cylinder (2), a telescopic electric cylinder (1), a mechanical coupler decoupling electric cylinder (4), an electric coupler telescopic electric cylinder (7), and a controller (3); the telescopic electric cylinder (1) and the locking electric cylinder (2) are both installed on a telescopic rod (81) of a mechanical coupler (8); the decoupling electric cylinder (4) is arranged at a coupler head (82) of the mechanical coupler (8); the electric coupler telescopic electric cylinder (7) is arranged on an electric coupler (701); sensors for detecting the states of the electric cylinders are respectively installed on the electric cylinders; the controller collects the states of the sensors and communicates with the electric cylinders, and outputs controls signals for the electric cylinders. The control system achieves fully-automatic control over the whole process of stretching and retracting, locking, coupling and decoupling of a mechanical coupler, and stretching and retracting, coupling and the like of an electric coupler, thereby solving the problem of some of tramcars having no gas path power source, and satisfying the requirement for a narrow space below a vehicle.

Description

Automatic control system and method for telescopic hook buffer device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on June 27, 2023, with application number 202310766163.X and application name “A telescopic hook buffer device automatic control system and method”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application belongs to the field of rail transportation technology, and in particular relates to an automatic control system and method for a telescopic coupler. Background Art

[0003] Couplers are located at both ends of the train. To achieve the purpose of rescue or reconnection, the couplers need to meet certain length requirements. However, in some cases, the space at the front end of the train body is limited. To save space for coupler installation and take into account the aesthetics of the train, tram couplers generally adopt a telescopic or folding design. This allows the coupler to be folded or retracted when the vehicle is not in reconnection operation and hidden in the opening and closing mechanism. It is only extended and used when the coupler is needed in rescue operations. Currently, conventional folding couplers or telescopic couplers are manually operated, and they mainly have the following problems:

[0004] (1) The coupler status is not intuitive and the operability is poor. Since the installation height of tram couplers is generally low, the center line of the coupler of some 100% low-floor models is less than 500mm from the rail surface. In addition, the coupler is generally located below the opening and closing mechanism. When the opening and closing mechanism is flipped up and opened, the coupler is in a folded or retracted state, which is far away from the operator and difficult to touch. In addition, the specific position of the coupler cannot be seen visually, resulting in poor perception of the coupler status, limited operating space, and poor operability.

[0005] (2) The folding coupler buffer device needs to be equipped with supporting structures such as the vehicle-end fixing device and the coupler swing stop, which makes the under-vehicle space verification and installation and debugging more complicated and difficult to achieve fully automatic operation. In addition, since the folding coupler buffer device has two rotation axes (i.e., the coupler tail pin rotation axis and the folding joint rotation axis), it has a high degree of freedom. It is usually necessary to configure structures such as stops under the vehicle to prevent the coupler from swinging randomly and hitting the under-vehicle equipment when it is in the folded state. When the coupler has two rotation axes, the left and right swing angles of the coupler and the angle between the front and rear rods of the coupler will affect the position of the hook body. When designing the position of the fixing device and the hook body fixing point, it is necessary to repeatedly check the interference situation, which is time-consuming and labor-intensive. In addition, it is difficult to achieve fully automatic straightening of the coupler through pneumatic or electric drive when it is in the folded state.

[0006] (3) Some types of trams do not have a pneumatic power source and cannot use the pneumatic method of the coupler retraction and electric hook extension device used in conventional EMUs or subway trains.

[0007] Summary of the Invention

[0008] In response to at least one shortcoming in the prior art, the present application provides an automatic control system and method for a telescopic hook buffer device.

[0009] In a first aspect, the present application provides an automatic control system for a telescopic coupler buffer device for controlling a coupler, wherein the coupler includes a mechanical coupler, the mechanical coupler includes a telescopic rod and a hook head mounted on the telescopic rod, and the control system includes:

[0010] Telescopic electric cylinder: The cylinder body is installed at the fixed end of the telescopic rod, and the cylinder rod is installed at the telescopic end of the telescopic rod. The telescopic electric cylinder is provided with a telescopic electric cylinder extension position sensor for sensing the mechanical coupler extension position signal, and a telescopic electric cylinder retraction position sensor for sensing the mechanical coupler retraction position signal;

[0011] Locking electric cylinder: fixedly connected to the telescopic rod, used to lock the position of the mechanical coupler. The locking electric cylinder is provided with a locking electric cylinder locking position sensor for sensing the locking electric cylinder locking signal, and a locking electric cylinder unlocking position sensor for sensing the locking electric cylinder unlocking signal;

[0012] Controller: communicates with the telescopic electric cylinder extension position sensor, the telescopic electric cylinder retraction position sensor, the locking electric cylinder locking position sensor, and the locking electric cylinder unlocking position sensor to collect signals from each sensor; communicates with the telescopic electric cylinder and the locking electric cylinder to output control signals for the telescopic electric cylinder and the locking electric cylinder; the controller is further configured to generate a locking control signal for the locking electric cylinder based on feedback signals from the telescopic electric cylinder extension position sensor and the telescopic electric cylinder retraction position sensor, and to generate an extension control signal and a retraction control signal for the telescopic electric cylinder based on feedback signals from the locking electric cylinder unlocking position sensor.

[0013] In some embodiments of the first aspect, the hook head is further provided with a mechanical coupler unhooking electric cylinder for driving the mechanical coupler to unhook; the mechanical coupler unhooking electric cylinder is provided with a mechanical coupler unhooking in-position sensor for sensing a mechanical coupler unhooking in-position signal, and a mechanical coupler unhooking return sensor for sensing a mechanical coupler unhooking electric cylinder reset signal;

[0014] The controller further communicates with the mechanical coupler uncoupling position sensor and the mechanical coupler uncoupling return sensor to collect signals from each sensor; communicates with the mechanical coupler uncoupling electric cylinder to output a control signal for the mechanical coupler uncoupling electric cylinder; the controller is further configured to generate a retraction control signal for the mechanical coupler uncoupling electric cylinder based on the feedback signal from the mechanical coupler uncoupling position sensor.

[0015] In some embodiments of the first aspect, a mechanical coupler spindle is provided at the hook head position of the mechanical coupler, and a mechanical coupler spindle position sensor for sensing a mechanical coupler spindle position signal is provided on the mechanical coupler spindle;

[0016] The controller further communicates with the mechanical coupler spindle position sensor, collects sensor signals, and determines the coupler connection status based on the status of the spindle sensor.

[0017] In some embodiments of the first aspect, the mechanical coupler has a mechanical coupler connecting surface, and a mechanical coupler connecting surface sensor is installed on the mechanical coupler connecting surface for sensing a signal indicating that the mechanical coupler connecting surface is connected in place;

[0018] The controller further communicates with the mechanical coupler connecting surface sensor to collect sensor signals; the controller is further configured to generate an unlocking control signal for the locking electric cylinder based on the feedback signal of the mechanical coupler connecting surface sensor and the status signal of the connecting surface sensor.

[0019] In some embodiments of the first aspect, the present invention further comprises an electric coupler, wherein the electric coupler is provided with an electric coupler extension cylinder for driving the electric coupler to extend or retract; the electric coupler extension cylinder is provided with an electric coupler extension position sensor for sensing a signal indicating that the electric coupler has reached an extension position, and an electric coupler retraction position sensor for sensing a signal indicating that the electric coupler has reached a retraction position.

[0020] The controller further communicates with the electric coupler extension position sensor and the electric coupler retraction position sensor to collect the signals of each sensor; communicates with the electric coupler extension cylinder to output the control signal to the electric coupler extension cylinder;

[0021] The controller is further configured to generate an extension control signal for the electric coupler telescopic cylinder based on the feedback signal of the mechanical coupler connection sensor, and to generate an extension control signal for the mechanical coupler uncoupling cylinder based on the feedback signal of the electric coupler retraction position sensor.

[0022] A second aspect of the present application provides an automatic control method for a telescopic coupler, comprising the following steps:

[0023] Issue a continuous suspension order;

[0024] Control the locking electric cylinder to unlock;

[0025] Detecting the unlocking state of the locking electric cylinder. When detecting that the locking electric cylinder is unlocked, controlling the telescopic electric cylinder to extend and detecting the extended position of the telescopic electric cylinder.

[0026] When it is detected that the telescopic cylinder is extended to the right position, the locking cylinder is controlled to lock;

[0027] Detect the locking status of the locking cylinder. When it is detected that the locking cylinder is locked, the two mechanical couplers are controlled to couple.

[0028] Issue the unhooking command;

[0029] Control the locking electric cylinder to unlock;

[0030] Detecting the unlocking state of the locking electric cylinder. When detecting that the locking electric cylinder is unlocked, controlling the telescopic electric cylinder to retract and detecting the retracted position of the telescopic electric cylinder.

[0031] When it is detected that the telescopic electric cylinder is retracted into position, the locking electric cylinder is controlled to be locked.

[0032] In some embodiments of the second aspect, after the unhooking command is issued and before the locking electric cylinder is controlled to unlock, the following steps are further included:

[0033] Control the extension of the mechanical coupler unhooking cylinder and detect the position of the mechanical coupler unhooking cylinder;

[0034] When it is detected that the mechanical coupler is unhooked in place, the mechanical coupler unhooking cylinder is controlled to perform a reset action and the position of the mechanical coupler unhooking cylinder is detected;

[0035] In some embodiments of the second aspect, the following steps are further included: detecting the position of the mechanical coupler main shaft, and determining the connection state of the mechanical coupler according to the position of the mechanical coupler main shaft.

[0036] In some embodiments of the second aspect, the following steps are further included:

[0037] After the two mechanical couplers are connected, the connection status of the mechanical coupler and the hanging surface is detected to determine whether the mechanical coupler and the hanging surface are connected in place;

[0038] After the uncoupling command is issued, the two mechanical couplers are controlled to separate, and the connection status of the two mechanical couplers is detected to determine whether the mechanical couplers are separated in place; when it is detected that the mechanical couplers are separated in place, the locking cylinder is controlled to unlock.

[0039] In some embodiments of the second aspect, the following steps are further included:

[0040] When it is detected that the mechanical coupler is connected to the hanging surface, the electric coupler telescopic cylinder is controlled to extend and the extension position of the electric coupler is detected;

[0041] After the uncoupling command is issued, the electric coupler telescopic cylinder is controlled to retract and the retracted position of the electric coupler is detected; when it is detected that the electric coupler is retracted into position, the mechanical coupler uncoupling cylinder is controlled to extend.

[0042] The beneficial effects of this application are:

[0043] 1. This application uses an electric cylinder to control the coupler to perform actions such as extension, locking, coupling, and uncoupling, without the need for pneumatic power, effectively solving the problem of the lack of a pneumatic power source for the fully automatic coupler and deceleration device on trams;

[0044] 2. This application uses multiple electrical signal sensors to monitor the status of various parts of the coupler buffer in real time, making the coupler status more intuitive. In addition, the status signals of various parts can be used as signal input for the next action of the coupler buffer, which is conducive to achieving fully automatic control of the coupler buffer;

[0045] 3. This application uses a design that combines electric drive elements with sensors to achieve control of the coupler buffer's operating functions and status monitoring. This not only enables fully automatic control of the coupler buffer's extension, locking, coupling, and uncoupling actions, but also enables unconventional drive control through the train control room, making the coupler buffer's operation more concise and automated.

[0046] 4. The telescopic coupler buffer device used in this application omits the vehicle end fixing device, coupler swing stop and other under-vehicle structures, saving coupler installation space. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0048] FIG1 is a perspective view of a retractable hook buffer device in Example 1 of the present application;

[0049] FIG2 is a schematic diagram of the telescopic rod of the telescopic hook buffer device in FIG1 after being retracted;

[0050] FIG3 is a second perspective view of the telescopic hook buffer device in Example 1 of the present application;

[0051] FIG4 is a third perspective view of the telescopic hook buffer device in Example 1 of the present application;

[0052] FIG5 is a partial enlarged view of the electric coupler portion of the telescopic coupler buffer device in Example 1 of the present application;

[0053] FIG6 is a top view of the telescopic hook buffer device in Example 1 of the present application;

[0054] FIG7 is a schematic diagram of the communication connection between the controller and each electric cylinder in Example 1 of the present application;

[0055] FIG8 is a flow chart of the control of the retractable hook buffer device automatic control system according to the action definition in Example 1 of the present application;

[0056] FIG9 is a flowchart of the automatic control of the hooking process in the automatic control method of the telescopic hook buffer device in Example 2 of the present application;

[0057] FIG10 is a flowchart of the automatic control of the unhooking process in the automatic control method of the telescopic hook buffer device in Example 2 of the present application;

[0058] FIG11 is a schematic diagram of the step of determining the state of the mechanical coupler according to the position of the mechanical coupler main shaft in the automatic control method of the telescopic coupler buffer device in Example 2 of the present application.

[0059] Figure: 1. Telescopic electric cylinder; 101. Cylinder body; 102. Cylinder rod; 11. Telescopic electric cylinder extension position sensor; 12. Telescopic electric cylinder retraction position sensor; 2. Locking electric cylinder; 21. Locking electric cylinder lock position sensor; 22. Locking electric cylinder unlock position sensor; 3. Controller; 4. Mechanical coupler uncoupling electric cylinder; 41. Mechanical coupler uncoupling position sensor; 42. Mechanical coupler uncoupling return position sensor; 5. Mechanical coupler spindle; 51. Mechanical coupler spindle position sensor; 6. Mechanical coupler connecting face; 61. Mechanical coupler connecting face sensor; 7. Electric coupler telescopic electric cylinder; 71. Electric coupler extension position sensor; 72. Electric coupler retraction position sensor; 701. Electric coupler; 8. Mechanical coupler; 81. Telescopic rod; 8101. Fixed end; 8102. Telescopic end; 811. Housing; 812. Drawbar; 82. Hook head; 9. Connecting rod mechanism. DETAILED DESCRIPTION

[0060] To make the objectives, technical solutions, and advantages of this application more clearly understood, the present application is described and illustrated below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely intended to explain this application and are not intended to limit this application. All other embodiments derived by persons of ordinary skill in the art based on the embodiments provided herein without inventive effort are intended to fall within the scope of protection of this application.

[0061] It should be noted that the terms used herein are only for describing specific embodiments 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 the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0062] In the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0063] The technical solution of this application is described in detail below in conjunction with specific embodiments and the accompanying drawings.

[0064] Example 1:

[0065] An embodiment of the present application provides an automatic control system for a telescopic coupler buffer device, which is used to control a coupler. The coupler includes a mechanical coupler 8, which includes a telescopic rod 81 and a hook head 82 mounted on the telescopic rod 81. Specifically, the telescopic rod 81 includes a housing 811 and a traction rod 812 that can be extended and retracted relative to the housing 811. The telescopic rod 81 includes a fixed end 8101 and a telescopic end 8102. The fixed end 8101 is the end of the housing 811 away from the traction rod 812, and the telescopic end 8102 is the end of the traction rod 812 that can extend outside the housing 811. The hook head 82 is mounted on the telescopic end 8102 of the telescopic rod 81.

[0066] As shown in FIG1 to FIG7 , the control system includes a telescopic electric cylinder 1 , a locking electric cylinder 2 and a controller 3 , and the controller 3 is provided in the vehicle system.

[0067] Among them, the cylinder body 101 of the telescopic electric cylinder 1 is installed on the fixed end 8101 of the telescopic rod 81 of the mechanical coupler, and the cylinder rod 102 of the telescopic electric cylinder 1 is installed at the telescopic end 8102 of the telescopic rod 81. The telescopic electric cylinder 1 is provided with a telescopic electric cylinder extension position sensor 11 for sensing the signal that the mechanical coupler is extended to the position, and a telescopic electric cylinder retraction position sensor 12 for sensing the signal that the mechanical coupler is retracted to the position; the cylinder rod 102 of the telescopic electric cylinder 1 can drive the telescopic end 8102 of the telescopic rod 81 to extend or retract relative to the shell 811.

[0068] The locking cylinder 2 is fixedly connected to the telescopic rod 81 and is used to lock the mechanical coupler position. The locking cylinder 2 rotates a locking block within the telescopic rod 81 via a linkage 9, ensuring that the telescopic rod 81 does not retract when the mechanical coupler is compressed. The detailed structure and operation of the linkage 9 can be found in Chinese Patent CN108839668A and are not described in detail in this application. The locking cylinder 2 is equipped with a locking cylinder position sensor 21 for detecting locking signals from the locking cylinder 2, and a locking cylinder unlocking sensor 22 for detecting unlocking signals from the locking cylinder 2.

[0069] In some embodiments, the telescopic cylinder extension position sensor 11, the telescopic cylinder retracted position sensor 12, the locking cylinder locked position sensor 21, and the locking cylinder unlocked position sensor 22 are all position sensors. It is understood that the telescopic cylinder extension position sensor 11 and the telescopic cylinder retracted position sensor 12 can be located at the end of the telescopic cylinder 1 or within the interior of the telescopic cylinder 1. The positions shown in the figure are for illustration only and do not limit the sensor's placement. The locking cylinder locked position sensor 21 and the locking cylinder unlocked position sensor 22 can be located at the end of the locking cylinder 2 or within the interior of the locking cylinder 2. The positions shown in the figure are for illustration only and do not limit the sensor's placement. Typically, commercially available telescopic cylinders and locking cylinders already have these sensors built in. The specific position sensing principles are prior art and will not be elaborated upon in this application.

[0070] The controller 3 communicates with the telescopic electric cylinder extension position sensor 11, the telescopic electric cylinder retracted position sensor 12, the locking electric cylinder lock position sensor 21, and the locking electric cylinder lock and unlock sensor 22 to collect signals from each sensor; communicates with the telescopic electric cylinder 1 and the locking electric cylinder 2 to output a control signal for the telescopic electric cylinder 1 and a control signal for the locking electric cylinder 2; the controller 3 is further configured to generate a locking control signal for the locking electric cylinder 2 based on the feedback signals from the telescopic electric cylinder extension position sensor 11 and the telescopic electric cylinder retracted position sensor 12, and to generate an extension control signal and a retraction control signal for the telescopic electric cylinder 1 based on the feedback signal from the locking electric cylinder unlock position sensor 22.

[0071] Specifically, after the controller 3 receives the hooking instruction, it controls the locking electric cylinder 2 to unlock, and collects the signal of the locking electric cylinder unlocking position sensor 22, and generates an extension control signal for the telescopic electric cylinder 1 according to the feedback signal of the locking electric cylinder unlocking position sensor 22, drives the telescopic electric cylinder 1 to extend, and collects the signal of the telescopic electric cylinder straightening position sensor 11, and generates a locking control signal for the locking electric cylinder 2 according to the feedback signal of the telescopic electric cylinder straightening position sensor 11; after the controller receives the unhooking instruction, it controls the locking electric cylinder 2 to unlock, and collects the signal of the locking electric cylinder unlocking position sensor 22, and controls the telescopic electric cylinder 1 to retract according to the feedback signal of the locking electric cylinder unlocking position sensor 22, and collects the signal of the telescopic electric cylinder retraction position sensor 12, and generates a locking control signal for the locking electric cylinder 2 according to the feedback signal of the telescopic electric cylinder retraction position sensor 12.

[0072] In the above-mentioned schematic embodiment, the automatic control system of the telescopic coupler buffer device can monitor the status of the locking electric cylinder 2 and the telescopic electric cylinder 1 through sensors, and determine whether to extend the telescopic electric cylinder 1 and lock or unlock the locking electric cylinder 2 based on the status information, thereby realizing fully automatic control of the extension and retraction of the mechanical coupler in the telescopic coupler buffer device.

[0073] To drive the mechanical coupler uncoupling, in some embodiments, the coupler head 82 is further provided with a mechanical coupler uncoupling electric cylinder 4 for driving the mechanical coupler uncoupling. This arrangement of the mechanical coupler uncoupling electric cylinder 4 on the coupler head 82 solves the problem of a tramcar lacking a pneumatic power source and also enables automatic coupler control. The coupler uncoupling electric cylinder 4 is also provided with a mechanical coupler uncoupling position sensor 41 for detecting the mechanical coupler uncoupling position, and a mechanical coupler uncoupling position sensor 42 for detecting the mechanical coupler uncoupling position reset signal. Both the mechanical coupler uncoupling position sensor 41 and the mechanical coupler uncoupling position sensor 42 are position sensors. It is understood that the mechanical coupler uncoupling position sensor 41 and the mechanical coupler uncoupling position sensor 42 can be located at the end of the coupler uncoupling electric cylinder 4 or within it. The positions shown in the figure are for illustration only and do not limit the sensor placement. Usually, the mechanical coupler uncoupling electric cylinder 4 purchased on the market has the above-mentioned sensor built in. The specific position sensing principle belongs to the existing technology and will not be described in detail in this application.

[0074] The controller 3 further communicates with the mechanical coupler uncoupling position sensor 41 and the mechanical coupler uncoupling return sensor 42 to collect signals from each sensor; communicates with the mechanical coupler uncoupling electric cylinder 4 to output a control signal for the mechanical coupler uncoupling electric cylinder 4; the controller is further configured to generate a retraction control signal for the mechanical coupler uncoupling electric cylinder 4 based on the feedback signal from the mechanical coupler uncoupling position sensor 41.

[0075] Specifically, after the controller 3 receives the uncoupling instruction, it controls the mechanical coupler uncoupling electric cylinder 4 to perform the extension action, drives the mechanical coupler to uncouple, and collects the signal of the mechanical coupler uncoupling position sensor 41, and generates a retraction control signal for the mechanical coupler uncoupling electric cylinder 4 based on the feedback signal of the mechanical coupler uncoupling position sensor 41.

[0076] In some embodiments, a mechanical coupler spindle 5 is provided on the hook head 82 of the mechanical coupler, and a mechanical coupler spindle position sensor 51 for sensing the mechanical coupler spindle position signal is provided on the mechanical coupler spindle 5; the controller further communicates with the mechanical coupler spindle position sensor 51, collects the sensor signal, and judges the mechanical coupler connection status based on the status of the mechanical coupler spindle position sensor 51.

[0077] In other embodiments, a mechanical coupler main shaft 5 and a mechanical coupler main shaft position sensor 51 for sensing the mechanical coupler main shaft position signal are provided on the hook head 8 of the mechanical coupler, and the mechanical coupler main shaft position sensor 51 is spaced apart from the mechanical coupler main shaft 5; the controller 3 further communicates with the mechanical coupler main shaft position sensor 51, collects sensor signals, and judges the mechanical coupler connection status based on the status of the mechanical coupler main shaft position sensor 51.

[0078] Specifically, the mechanical coupler main shaft 5 has two position states: an initial position and an unhooked position. When the mechanical coupler main shaft 5 is at the initial position, the mechanical coupler is in a coupled state or a waiting state. When the mechanical coupler main shaft 5 is at the unhooked position, the mechanical coupler is in an unhooked state.

[0079] The mechanical coupler spindle 5 is connected to the mechanical coupler uncoupling electric cylinder 4. Driven by the mechanical coupler uncoupling electric cylinder 4, the mechanical coupler spindle 5 rotates, thereby switching between the initial position and the uncoupling position. It will be appreciated that in some embodiments, the mechanical coupler uncoupling position sensor 41 determines whether the mechanical coupler has been uncoupled by detecting the position of the mechanical coupler spindle 5.

[0080] In some embodiments of the present application, the mechanical coupler has a mechanical coupler connecting surface 6, and a mechanical coupler connecting surface sensor 61 is installed on the mechanical coupler connecting surface 6 for sensing a signal indicating that the mechanical coupler connecting surface is connected in place; the mechanical coupler connecting surface sensor 61 is a position sensor;

[0081] The controller 3 further communicates with the mechanical coupler connection sensor 61 to collect sensor signals; the controller 3 is further configured to generate an unlocking control signal for the locking electric cylinder 2 based on the feedback signal of the mechanical coupler connection sensor 61 and the status signal of the mechanical coupler connection sensor 61.

[0082] To electrically couple the two vehicle couplers, in some embodiments, the control system further includes an electric coupler 701, which is equipped with an electric coupler extension cylinder 7 for driving the electric coupler 701 to extend or retract. The electric coupler extension cylinder 7 is equipped with an electric coupler extension position sensor 71 for sensing the electric coupler 701's extended position signal, and an electric coupler retraction position sensor 72 for sensing the electric coupler's retracted position signal. Both the electric coupler extension position sensor 71 and the electric coupler retraction position sensor 72 are position sensors. It is understood that the electric coupler extension position sensor 71 and the electric coupler retraction position sensor 72 can be located at the end of the electric coupler extension cylinder 7 or within the electric coupler extension cylinder 7. The positions shown in the figure are for illustration only and do not limit the sensor's placement. Typically, commercially available electric coupler extension cylinders 7 already have these sensors built in. The specific position sensing principles are prior art and are not detailed in this application.

[0083] The controller 3 further communicates with the electric coupler extension position sensor 71 and the electric coupler retraction position sensor 72 to collect signals from each sensor; communicates with the electric coupler telescopic cylinder 7 to output a control signal for the electric coupler telescopic cylinder 7; the controller 3 is further configured to generate an extension control signal for the electric coupler telescopic cylinder 7 based on the feedback signals from the mechanical coupler connection sensor 61 and the mechanical coupler main shaft position sensor 51, and to generate an extension control signal for the mechanical coupler uncoupling cylinder 4 based on the feedback signal from the electric coupler retraction position sensor 72.

[0084] Specifically, when the controller 3 receives the signal that the mechanical coupler connecting surface 6 is in the connected state and the signal that the mechanical coupler main shaft 5 is in the connected state, it generates an extension control signal for the electric coupler telescopic cylinder 7, drives the electric coupler 701 to extend and connect, and collects the signal of the electric coupler extension position sensor 71 to determine whether the electric coupler 701 is extended into place; when the controller receives the uncoupling instruction, it generates a retraction control signal for the electric coupler telescopic cylinder 7, drives the electric coupler 701 to uncouple and retract, and collects the signal of the electric coupler retraction position sensor 72 to determine the retraction state of the electric coupler. When it is detected that the electric coupler 701 is retracted into place, it generates an extension control signal for the mechanical coupler uncoupling cylinder 7 to control the mechanical coupler to uncouple.

[0085] In order to smoothly realize fully automatic control of various functions of the coupler, the relevant states and actions are defined. The states and actions of various parts of the coupler buffer device are defined as shown in Table 1.

[0086] Table 1: Status and action definitions of various parts of the coupler

[0087] As shown in Table 1 and Figure 8, the control implementation process of the automatic control system of this application is as follows:

[0088] In the initial state, the locking electric cylinder 2 is in the extended state, locking the retracted state of the mechanical coupler 8, and feeding back the locking electric cylinder locking signal to the controller 3; the telescopic electric cylinder 1 is in the retracted state, and feeding back the telescopic electric cylinder retracted into position signal to the controller 3; the mechanical coupler uncoupling electric cylinder 4 is in the retracted state, and feeding back the mechanical coupler uncoupling electric cylinder reset signal to the controller 3; the mechanical coupler spindle 5 is in the initial position, and feeding back the spindle initial position signal to the controller 3; the mechanical coupler connecting surface 6 is in the separated state, and feeding back the mechanical coupler connecting surface 6 separation signal to the controller 3; the electric coupler telescopic electric cylinder 7 is in the retracted state, the electric coupler 701 is retracted and closed, and feeding back the electric coupler retracted into position signal to the controller 3.

[0089] When the coupler needs to be extended and coupled, the coupling button is pressed, the locking electric cylinder 2 performs a retraction action, releases the lock on the telescopic rod 81, and feeds back a locking electric cylinder unlocking signal; after the controller 3 receives the locking electric cylinder unlocking signal, it controls the telescopic electric cylinder 1 to perform an extension action, and after extending into position, it feeds back a telescopic cylinder extension position signal to the controller 3; after the controller 3 receives the telescopic cylinder extension position signal, it controls the locking electric cylinder 2 to perform an extension action, locks the extended state of the telescopic rod 81, and feeds back a locking electric cylinder locking signal to the controller 3; when the controller 3 receives the locking electric cylinder locking signal, it controls the mechanical couplers 8 of the two vehicles to couple, and after the mechanical couplers 8 of the two vehicles are coupled, the mechanical coupler coupling surface sensor 61 feeds back a mechanical coupler coupling position connection position connection position signal to the controller 3; after the controller 3 receives the mechanical coupler connection position connection position signal, it checks the signals of each sensor, and after ensuring that the signals of each sensor are correct, it controls the electric coupler telescopic cylinders 7 on both sides to perform an extension action, and the electric coupler 701 is extended and coupled, and feeds back an electric coupler connection position connection position signal to the controller 3, at which time the coupler extension and coupling process is completed.

[0090] When the coupler needs to be uncoupled and retracted, the master vehicle presses the uncoupling button, the electrical couplers 701 of the two vehicles are uncoupled, and the electrical coupler telescopic cylinder 7 performs a retraction action. After the electrical coupler 701 is retracted, the electrical coupler retraction position signal is fed back to the controller 3; after the controller 3 receives the electrical coupler retraction position signal, it uncouples the mechanical coupler 8, controls the mechanical coupler uncoupling cylinder 4 to perform an extension action, pushes the mechanical coupler main shaft 5 to the uncoupling position, and feeds back a mechanical coupler uncoupling position signal to the controller 3. After the controller 3 receives the mechanical coupler uncoupling position signal, the mechanical coupler uncoupling cylinder 4 of the master vehicle performs a retraction action. After retracting into position, it feeds back a mechanical coupler uncoupling cylinder reset signal to the controller 3; the controller receives the mechanical coupler uncoupling cylinder reset signal. After the position signal is received, the train is controlled to separate. At this time, the mechanical coupler and the hanging surface 6 are separated, and the mechanical coupler and the hanging surface separation signal is fed back to the controller 3; after the controller 3 receives the mechanical coupler and the hanging surface separation signal, it controls the locking cylinder 2 to perform the retraction action, and after the locking cylinder 2 is unlocked, the locking cylinder unlocking signal is fed back to the controller 3; after the controller 3 receives the locking cylinder unlocking signal, it controls the telescopic cylinder 1 to perform the retraction action, and after the telescopic cylinder 1 is retracted, the telescopic cylinder retracted into position signal is fed back to the controller 3; after the controller 3 receives the telescopic cylinder retracted into position signal, it controls the locking cylinder 2 to perform the extension action, and after the locking cylinder 2 is locked, the locking cylinder locking signal is fed back to the controller 3. At this time, the coupler uncoupling and retraction process is completed, and the coupler buffer device returns to its initial state.

[0091] Example 2:

[0092] The present application also provides an automatic control method for a telescopic hook buffer device, which includes an automatic control method for coupling and an automatic control method for uncoupling.

[0093] As shown in FIG9 , the automatic control method for the coupling includes the following steps:

[0094] S11 issues a continuous hanging instruction;

[0095] S12 controls the unlocking of locking electric cylinder 2;

[0096] S13 detects the unlocking state of the locking electric cylinder 2. When it is detected that the locking electric cylinder 2 is unlocked, the telescopic electric cylinder 1 is controlled to extend and the extended position of the telescopic electric cylinder 1 is detected.

[0097] S14 controls the locking cylinder 2 to lock when it detects that the telescopic cylinder 1 has been extended to the right position;

[0098] S15 detects the locking state of the locking electric cylinder 2. When it is detected that the locking electric cylinder 2 is locked, the two mechanical couplers 8 are controlled to couple.

[0099] As shown in FIG10 , the automatic control method for unhooking includes the following steps:

[0100] S21 issues the unhooking command;

[0101] S22 controls the unlocking of locking electric cylinder 2;

[0102] S23 detects the unlocking state of the locking electric cylinder 2. When it is detected that the locking electric cylinder 2 is unlocked, the telescopic electric cylinder 1 is controlled to retract, and the retracted position of the telescopic electric cylinder 1 is detected;

[0103] S24 When it is detected that the telescopic electric cylinder 1 is retracted into position, the locking electric cylinder 2 is controlled to be locked.

[0104] In some embodiments, in the automatic control method for unhooking, after S21 issues the unhooking instruction and before S22 controls the locking electric cylinder 2 to unlock, the following steps are further included:

[0105] S202 controls the mechanical coupler unhooking cylinder 4 to extend and detects the position of the mechanical coupler unhooking cylinder 4; when it is detected that the mechanical coupler is unhooked in place, controls the mechanical coupler unhooking cylinder 4 to perform a reset action and detects the position of the mechanical coupler unhooking cylinder 4.

[0106] In some embodiments, as shown in FIG11 , the automatic control method for the telescopic hook buffer device further includes the following steps:

[0107] S3 detects the position of the mechanical coupler main shaft 5 and determines the coupling state of the mechanical coupler according to the position of the mechanical coupler main shaft 5; when the mechanical coupler main shaft 5 is in the initial position, the mechanical coupler is in the coupling state or the waiting state; when the mechanical coupler main shaft 5 is in the uncoupling position, the mechanical coupler is in the uncoupling state.

[0108] In some embodiments, the automatic control method for coupling further comprises the following steps: S16 After the two mechanical couplers are coupled, detecting the coupling state of the mechanical coupler coupling surface 6 and the coupling state of the mechanical coupler main shaft 5 to determine whether the mechanical couplers are coupled in place;

[0109] The automatic control method for uncoupling also includes the following steps: after S203 issues the uncoupling command, the two mechanical coupler connecting surfaces 6 are controlled to separate, and the connection status of the two mechanical coupler connecting surfaces 6 is detected to determine whether the mechanical coupler connecting surfaces 6 are separated in place; when it is detected that the mechanical coupler connecting surfaces 6 are separated in place, the locking electric cylinder 2 is controlled to unlock.

[0110] In some embodiments, the automatic control method for coupling further comprises the following steps: after the coupling instruction is issued in S17, the mechanical coupler is controlled to extend for coupling, and when it is detected that the mechanical coupler is coupled in place, the electric coupler telescopic cylinder 7 is controlled to extend, and the extension position of the electric coupler 7 is detected;

[0111] The automatic control method for uncoupling also includes the following steps: after S201 issues the uncoupling command, the electric coupler telescopic cylinder 7 is controlled to retract, and the retracted position of the electric coupler 701 is detected; when it is detected that the electric coupler 701 is retracted into place, the mechanical coupler uncoupling cylinder 4 is controlled to perform an extension action to perform mechanical coupler uncoupling.

[0112] Hereinafter, each step in the above control method will be described in detail in conjunction with the automatic control system of the telescopic coupler provided in Example 1.

[0113] The automatic control method of the hanging hook includes the following steps:

[0114] S11 issues a connection instruction through controller 3;

[0115] After receiving the hook-up instruction, S12 controls the locking electric cylinder 2 to unlock;

[0116] S13 detects the unlocking state of the locking cylinder 2 based on the state feedback from the locking cylinder unlocking position sensor 22. When it is detected that the locking cylinder 2 is unlocked, the controller 3 issues a control command to the telescopic cylinder 1 to control the extension of the telescopic cylinder 1, thereby controlling the extension of the telescopic rod 81, and detecting the extension position of the telescopic cylinder 1.

[0117] S14 detects the extension state of the telescopic cylinder 1 according to the state of the telescopic cylinder extension position sensor 11. When it is detected that the telescopic cylinder 1 is fully extended, it is determined that the telescopic rod 81 has been fully extended, meeting the coupling requirements of the mechanical coupler. The controller 3 issues a control instruction to lock the electric cylinder 2, causing the locking cylinder 2 to lock.

[0118] S15 detects the locking state of the locking electric cylinder 2 according to the state feedback from the locking electric cylinder locking position sensor 21, and controls the two mechanical couplers 8 to couple when it is detected that the locking electric cylinder 2 is locked.

[0119] The automatic control method of unhooking includes the following steps:

[0120] S21 issues an unhooking command via the controller 3;

[0121] S22 controls the unlocking of locking electric cylinder 2;

[0122] S23 detects the unlocking state of the locking cylinder 2 based on the state feedback from the locking cylinder unlocking position sensor 22. When it is detected that the locking cylinder 2 is unlocked, the controller 3 issues a control instruction to the telescopic cylinder 1 to control the telescopic cylinder 1 to retract. The retracted position of the telescopic cylinder 1 is detected based on the state of the telescopic cylinder retraction position sensor 12.

[0123] S24 When it is detected that the telescopic electric cylinder 1 is retracted into position, the locking electric cylinder 2 is controlled to be locked.

[0124] In some embodiments, in the automatic control method for unhooking, after S21 issues the unhooking instruction and before S22 controls the locking electric cylinder 2 to unlock, the following steps are further included:

[0125] S202 controls the mechanical coupler uncoupling cylinder 4 to extend, and detects the position of the mechanical coupler uncoupling cylinder 4 according to the state of the mechanical coupler uncoupling in place sensor 41; when it is detected that the mechanical coupler is uncoupling in place, the controller 3 issues a reset instruction to the mechanical coupler uncoupling cylinder 4, controls the mechanical coupler uncoupling cylinder 4 to perform the reset action, and detects the position of the mechanical coupler uncoupling cylinder 4.

[0126] In some embodiments of the present application, the automatic control method of the telescopic hook buffer device further includes the following steps:

[0127] S3 detects the position of the mechanical coupler main shaft 5 and determines the coupling state of the mechanical coupler according to the position of the mechanical coupler main shaft 5; when the mechanical coupler main shaft 5 is in the initial position, the mechanical coupler is in the coupling state or the waiting state; when the mechanical coupler main shaft 5 is in the uncoupling position, the mechanical coupler is in the uncoupling state.

[0128] In some embodiments, the automatic control method for the connection further includes the following steps:

[0129] S16 After the two mechanical couplers are connected, it is determined whether the mechanical couplers are connected in place according to the status of the mechanical coupler connection surface sensor 61 and the status of the mechanical coupler main shaft position sensor 51; when the mechanical coupler connection surface sensor 61 and the mechanical coupler main shaft position sensor 51 feedback detection signals that meet the conditions, it indicates that the two mechanical couplers are close and connected;

[0130] The automatic control method for uncoupling also includes the following steps: after S203 issues the uncoupling command, the two mechanical coupler connecting surfaces 6 are controlled to separate, the connection status of the two mechanical coupler connecting surfaces 6 is detected according to the status of the mechanical coupler connecting surface sensor 61, and it is judged whether the mechanical coupler connecting surfaces 6 are separated in place; when the detection signal of the mechanical coupler connecting surface sensor 61 is lost, it indicates that the two mechanical couplers have been separated; when it is detected that the mechanical coupler connecting surfaces 6 are separated in place, the controller 3 issues an unlocking command to the locking electric cylinder 2, and controls the locking electric cylinder 2 to unlock.

[0131] In some embodiments of the present application, the automatic control method of the connection further includes the following steps:

[0132] After S17 issues the coupling instruction, the mechanical coupler is controlled to extend and couple. When it is detected that the mechanical coupler is coupled in place, the controller 3 issues a control instruction to the electric coupler telescopic cylinder 7 to control the electric coupler telescopic cylinder 7 to extend and detect the extension position of the electric coupler 701.

[0133] The automatic control method for uncoupling also includes the following steps: after S201 issues the uncoupling command, the electric coupler telescopic cylinder 7 is controlled to retract, and the retracted position of the electric coupler 701 is detected; when it is detected that the electric coupler 7 is retracted into place, the mechanical coupler uncoupling cylinder 4 is controlled to perform the extension action to perform the mechanical coupler uncoupling.

[0134] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0135] The above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the same. Although the present application has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present application can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solutions of the present application. They should all be included in the scope of the technical solutions for which protection is requested in the present application.

Claims

1. An automatic control system for a telescopic coupler, used for coupler control, characterized in that: The coupler comprises a mechanical coupler, the mechanical coupler comprises a telescopic rod and a hook head mounted on the telescopic rod, and the control system comprises: Telescopic electric cylinder: Its cylinder body is installed at the fixed end of the telescopic rod, and the cylinder rod is installed at the telescopic end of the telescopic rod. The telescopic electric cylinder is provided with a telescopic electric cylinder extension position sensor for sensing the signal that the mechanical coupler is extended to the position, and a telescopic electric cylinder retraction position sensor for sensing the signal that the mechanical coupler is retracted to the position; Locking electric cylinder: fixedly connected to the telescopic rod, used to lock the position of the mechanical coupler, the locking electric cylinder is provided with a locking electric cylinder locking position sensor for sensing the locking electric cylinder locking signal, and a locking electric cylinder unlocking position sensor for sensing the locking electric cylinder unlocking signal; Controller: communicates with the telescopic electric cylinder extension position sensor, the telescopic electric cylinder retracted position sensor, the locking electric cylinder locking position sensor, and the locking electric cylinder unlocking position sensor to collect signals from each sensor; communicates with the telescopic electric cylinder and the locking electric cylinder to output a control signal for the telescopic electric cylinder and a control signal for the locking electric cylinder; the controller is further configured to generate a locking control signal for the locking electric cylinder according to feedback signals from the telescopic electric cylinder extension position sensor and the telescopic electric cylinder retracted position sensor, and to generate an extension control signal and a retraction control signal for the telescopic electric cylinder according to feedback signals from the locking electric cylinder unlocking position sensor.

2. The automatic control system of the telescopic hook buffer device according to claim 1 is characterized in that: The hook head is also provided with a mechanical coupler unhooking electric cylinder for driving the mechanical coupler to unhook; the mechanical coupler unhooking electric cylinder is provided with a mechanical coupler unhooking in place sensor for sensing a mechanical coupler unhooking in place signal, and a mechanical coupler unhooking return sensor for sensing a mechanical coupler unhooking electric cylinder reset signal; The controller further communicates with the mechanical coupler unhooking position sensor and the mechanical coupler unhooking return position sensor to collect signals from each sensor; communicates with the mechanical coupler unhooking electric cylinder to output a control signal for the mechanical coupler unhooking electric cylinder; the controller is further configured to generate a retraction control signal for the mechanical coupler unhooking electric cylinder based on the feedback signal from the mechanical coupler unhooking position sensor.

3. The automatic control system of a telescopic hook buffer device according to claim 2, characterized in that: A mechanical coupler spindle is provided at the hook head position of the mechanical coupler, and a mechanical coupler spindle position sensor for sensing a mechanical coupler spindle position signal is provided on the mechanical coupler spindle; The controller further communicates with the mechanical coupler main shaft position sensor, collects sensor signals, and determines the coupler connection state based on the state of the mechanical coupler main shaft position sensor.

4. The automatic control system of the telescopic hook buffer device according to claim 1 or 2, characterized in that: The mechanical coupler has a mechanical coupler connecting surface, and a mechanical coupler connecting surface sensor for sensing a signal that the mechanical coupler connecting surface is connected in place is installed on the mechanical coupler connecting surface; The controller further communicates with the mechanical coupler sensor to collect sensor signals; the controller is further configured to generate an unlocking control signal for the locking electric cylinder based on the feedback signal of the mechanical coupler sensor and the status signal of the mechanical coupler sensor.

5. The automatic control system of the telescopic hook buffer device according to claim 4 is characterized in that: The invention further comprises an electric coupler, wherein the electric coupler is provided with an electric coupler telescopic cylinder for driving the electric coupler to extend or retract; the electric coupler telescopic cylinder is provided with an electric coupler extension position sensor for sensing a signal that the electric coupler has extended to a certain position, and an electric coupler retraction position sensor for sensing a signal that the electric coupler has retracted to a certain position; The controller further communicates with the electric coupler extension position sensor and the electric coupler retraction position sensor to collect the signals of each sensor; communicates with the electric coupler telescopic cylinder to output the control signal of the electric coupler telescopic cylinder; The controller is further configured to generate an extension control signal for the electric coupler telescopic cylinder according to the feedback signal of the mechanical coupler connection sensor, and to generate an extension control signal for the mechanical coupler uncoupling cylinder according to the feedback signal of the electric coupler retraction position sensor.

6. An automatic control method for a telescopic hook buffer device, using the automatic control system according to any one of claims 1 to 5, characterized in that: The following steps are involved: Issue a continuous hanging order; Control the locking electric cylinder to unlock; Detecting the unlocking state of the locking electric cylinder, and when detecting that the locking electric cylinder is unlocked, controlling the telescopic electric cylinder to extend, and detecting the extended position of the telescopic electric cylinder; When it is detected that the telescopic electric cylinder is extended to the right position, the locking electric cylinder is controlled to be locked; Detect the locking state of the locking electric cylinder, and when it is detected that the locking electric cylinder is locked, control the two mechanical couplers to be connected; Issue the unhooking command; Control the locking electric cylinder to unlock; Detecting the unlocking state of the locking electric cylinder, and when detecting that the locking electric cylinder is unlocked, controlling the telescopic electric cylinder to retract, and detecting the retracted position of the telescopic electric cylinder; When it is detected that the telescopic electric cylinder is retracted into position, the locking electric cylinder is controlled to be locked.

7. The automatic control method of the telescopic hook buffer device according to claim 6, characterized in that: After the unhooking command is issued, the following steps are also included before the locking cylinder is unlocked: Control the extension of the mechanical coupler unhooking cylinder and detect the position of the mechanical coupler unhooking cylinder; When it is detected that the mechanical coupler is unhooked in place, the mechanical coupler unhooking electric cylinder is controlled to perform a reset action and the position of the mechanical coupler unhooking electric cylinder is detected.

8. The automatic control method of the telescopic hook buffer device according to claim 6, characterized in that: The following steps are also included: Detect the position of the mechanical coupler spindle and determine the connection status of the mechanical coupler based on the position of the mechanical coupler spindle.

9. The automatic control method of the telescopic hook buffer device according to claim 7, characterized in that: The following steps are also included: After the two mechanical couplers are connected, the connection status of the mechanical coupler and the hanging surface is detected to determine whether the mechanical coupler and the hanging surface are connected in place; After the unhooking command is issued, the two mechanical hooks are controlled to separate, and the connection status of the two mechanical hooks is detected to determine whether the mechanical hooks are separated in place; when it is detected that the mechanical hooks are separated in place, the locking cylinder is controlled to unlock.

10. The automatic control method of the telescopic hook buffer device according to claim 9, characterized in that: The following steps are also included: When it is detected that the mechanical hook is connected to the noodles, the electric hook telescopic cylinder is controlled to extend and the extension position of the electric hook is detected; After the unhooking command is issued, the electric coupler telescopic cylinder is controlled to retract and the retracted position of the electric coupler is detected; when it is detected that the electric coupler is retracted into place, the mechanical coupler unhooking cylinder is controlled to extend.

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