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JP2007216815A - Shaft box assist steering truck for rolling stock - Google Patents

Shaft box assist steering truck for rolling stock Download PDF

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Publication number
JP2007216815A
JP2007216815A JP2006038881A JP2006038881A JP2007216815A JP 2007216815 A JP2007216815 A JP 2007216815A JP 2006038881 A JP2006038881 A JP 2006038881A JP 2006038881 A JP2006038881 A JP 2006038881A JP 2007216815 A JP2007216815 A JP 2007216815A
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steering
bogie
axle box
carriage
assist steering
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JP4808507B2 (en
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Shogo Kamoshita
庄吾 鴨下
Akito Kazeto
昭人 風戸
Yasuhiro Umehara
康宏 梅原
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Railway Technical Research Institute
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Railway Technical Research Institute
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a shaft box assist steering truck for rolling stock, capable of correctly generating swiveling torque between a truck frame and a shaft box, and assisting the swiveling action of the truck, with a simple structure. <P>SOLUTION: In a bogie angle action steering truck having a side receiving slide plate 4 between the truck frame 1 and a steering beam 3, an assist steering actuator 11 is provided between the truck frame 1 and the shaft box 7. Swiveling torque is generated according to the swiveling of the truck in an easing curve, thereby assisting the swiveling action of the truck. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、鉄道車両用軸箱アシスト操舵台車に関するものである。   The present invention relates to a rail car axle box assist steering carriage.

現在実用化されている操舵機能付き台車は、車体(操舵梁)−台車枠間のボギー角(台車−車体間のヨー方向まわりの相対回転角)変位を操舵梁、操舵てこ、連結棒を介して軸箱に伝達し、前後輪軸のアタック角を機械的に操舵制御するようにしている。このような機構を用いることにより円曲線中での横圧低減に効果が確認されている。ただし、機械的操舵を行っても、線路の緩和曲線出入口のような曲率の変化点においては、機械的に十分な台車ボギー角が発生していないため、その効果が低くなる傾向がある。   The bogie with a steering function that is currently in practical use uses a steering beam, a steering lever, and a connecting rod to change the bogie angle between the body (steering beam) and the bogie frame (relative rotation angle about the yaw direction between the bogie and the body). Is transmitted to the axle box to mechanically control the attack angle of the front and rear wheel axles. The use of such a mechanism has been confirmed to be effective in reducing lateral pressure in a circular curve. However, even if mechanical steering is performed, at the point of curvature change such as the entrance / exit of the relaxation curve of the track, since the bogie angle is not sufficiently mechanically generated, the effect tends to be low.

そこで、線路の曲率変化点でアクチュエータによって操舵力を与え、緩和曲線での横圧低減を図ったアシスト操舵台車が本発明者らによって提案されている(特許文献1参照)。   In view of this, the present inventors have proposed an assist steering cart in which a steering force is applied by an actuator at the curvature change point of the track to reduce the lateral pressure on the relaxation curve (see Patent Document 1).

図3は従来の鉄道車両用アシスト操舵台車の模式図、図4はそのアシスト操舵台車の側面図である。   FIG. 3 is a schematic view of a conventional assist steering carriage for a railway vehicle, and FIG. 4 is a side view of the assist steering carriage.

これらの図において、51は台車枠、52はその台車枠51に枢支される操舵回動体、53は操舵回動体52の回動軸、54は前側車輪、55は車輪軸、56は軸箱、57は軸箱56と前側車輪用操舵リンク(パッシブ操舵リンク)58間に配置される軸箱前後支持ばね、59は車輪軸55と前側車輪用操舵リンク58間に配置される操舵制御用力制御アクチュエータ(アクティブ操舵制御用アクチュエータ)、60は前側車輪用操舵リンク58の操舵回動体52への取付け部、61は後側車輪、62は軸箱、63は車輪軸、64は軸箱62と後側車輪用操舵リンク(パッシブ操舵リンク)65間に配置される軸箱前後支持ばね、66は車輪軸63と後側車輪用操舵リンク65間に配置される操舵制御用力制御アクチュエータ(アクティブ操舵制御用アクチュエータ)、67は後側車輪用操舵リンク65の操舵回動体52への取付け部である。   In these drawings, 51 is a bogie frame, 52 is a steering rotating body pivotally supported by the bogie frame 51, 53 is a rotating shaft of the steering rotating body 52, 54 is a front wheel, 55 is a wheel shaft, and 56 is an axle box. , 57 is a shaft box front / rear support spring arranged between the axle box 56 and the front wheel steering link (passive steering link) 58, and 59 is a steering control force control arranged between the wheel axle 55 and the front wheel steering link 58. Actuator (actuator for active steering control), 60 is a mounting portion of the front wheel steering link 58 to the steering rotating body 52, 61 is a rear wheel, 62 is a axle box, 63 is a wheel axle, and 64 is a rear of the axle box 62. An axle box front / rear support spring disposed between the side wheel steering link (passive steering link) 65, 66 is a steering control force control actuator (active steering) disposed between the wheel shaft 63 and the rear wheel steering link 65. Controlling actuator) 67 is a mounting portion of the steering rotating body 52 for the rear wheel steering link 65.

ここでは、アクティブ操舵を行う操舵制御用力制御アクチュエータ59,66と軸箱前後支持ばね57,64は並列に設置する。これは、万一アクティブ操舵を行う操舵制御用力制御アクチュエータ59,66がフェイルした場合にも最低限の軸箱支持剛性を軸箱前後支持ばね57,64が負担できるような構成を取るためである。
特開2005−262957号公報
Here, the steering control force control actuators 59 and 66 for performing active steering and the axle box front and rear support springs 57 and 64 are installed in parallel. This is because the axle box front and rear support springs 57 and 64 can bear the minimum axle box support rigidity even if the steering control force control actuators 59 and 66 that perform active steering fail. .
JP 2005-262957 A

しかしながら、上記した従来のアシスト操舵台車では、操舵リンクと車軸との間にアクチュエータを取り付けるようにしているため実際の適用には難があった。   However, the above-described conventional assist steering carriage has difficulty in actual application because an actuator is attached between the steering link and the axle.

本発明は、上記状況に鑑みて、簡便な構成で、台車枠と軸箱間に的確に旋回トルクを発生させ、台車の旋回動作をアシストすることができる鉄道車両用軸箱アシスト操舵台車を提供することを目的とする。   In view of the above situation, the present invention provides an axle box assist steering carriage for a railway vehicle that can generate a turning torque accurately between the carriage frame and the axle box and assist the turning operation of the carriage with a simple configuration. The purpose is to do.

〔1〕台車枠と操舵梁との間に側受スリ板を有する鉄道車両用ボギー角連動操舵台車において、台車枠と軸箱との間にアクチュエータを設け、緩和曲線において台車が旋回するのに合わせて旋回トルクを発生させ、台車の旋回動作をアシストすることを特徴とする。   [1] In a bogie angle-linked steering bogie for a railway vehicle having a side plate between the bogie frame and the steering beam, an actuator is provided between the bogie frame and the axle box, and the bogie turns in a relaxation curve. In addition, a turning torque is generated to assist the turning operation of the carriage.

〔2〕上記〔1〕記載の鉄道車両用軸箱アシスト操舵台車において、前記アクチュエータと併設して車軸の前後支持剛性を保つばね要素を配置することを特徴とする。   [2] The rail car axle box assist steering carriage according to the above [1], wherein a spring element that maintains the longitudinal support rigidity of the axle is provided in combination with the actuator.

〔3〕上記〔2〕記載の鉄道車両用軸箱アシスト操舵台車において、曲線の入口緩和曲線、出口緩和曲線の位置情報を車両にデータベースとして予め持たせておき、自車の走行位置を参照しつつ、線路の曲率の変化状況や車両の走行速度に応じて前記アクチュエータにアシスト操舵力を与えて、輪軸を操舵することを特徴とする。   [3] In the axle box assist steering carriage for a railway vehicle described in [2] above, position information of the curved entrance relaxation curve and the exit relaxation curve is previously stored in the database as a database, and the traveling position of the own vehicle is referred to. On the other hand, the wheel shaft is steered by applying an assist steering force to the actuator in accordance with a change state of the curvature of the track and a traveling speed of the vehicle.

〔4〕上記〔2〕又は〔3〕記載の鉄道車両用軸箱アシスト操舵台車において、曲線に進入し、台車ボギー角が生じた場合、機械操舵リンクは前記前後支持剛性を保つばね要素およびアクチュエータを同時に変位させることを特徴とする。   [4] In the rail car axle box assist steering carriage described in [2] or [3] above, when the vehicle enters the curve and the bogie bogie angle is generated, the mechanical steering link is a spring element and an actuator that maintain the front and rear support rigidity. Are simultaneously displaced.

本発明によれば、ボギー角連動操舵台車の台車枠と軸箱との間に簡便にアクチュエータを設けることができ、線路の曲率等の地上データと車両走行時の地点検知、車両速度との照合により緩和曲線において、台車が旋回するのに合わせて旋回トルクを発生させて、台車の旋回動作をアシストすることにより、台車旋回抵抗を減少させることができ、緩和曲線走行中の発生横圧を低減させることができる。   According to the present invention, an actuator can be easily provided between a bogie frame and a shaft box of a bogie angle-linked steering bogie, and ground data such as track curvature, point detection during vehicle travel, and vehicle speed verification. By generating turning torque as the carriage turns in the relaxation curve, the turning resistance of the carriage can be reduced by assisting the turning operation of the carriage, and the generated lateral pressure during running of the relaxation curve is reduced. Can be made.

本発明の台車枠と操舵梁との間に側受スリ板を有する鉄道車両用ボギー角連動操舵台車は、台車枠と軸箱との間にアクチュエータを設け、緩和曲線において台車が旋回するのに合わせて旋回トルクを発生させ、台車の旋回動作をアシストする。   The bogie angle-linked steering bogie for railcars having a side plate between the bogie frame and the steering beam of the present invention is provided with an actuator between the bogie frame and the axle box, and the bogie turns in a relaxation curve. At the same time, turning torque is generated to assist the turning operation of the carriage.

図1は本発明の実施例を示す鉄道車両用軸箱アシスト操舵台車の上面図、図2はその鉄道車両用軸箱アシスト操舵台車のアクチュエータの制御システムの概略構成図である。   FIG. 1 is a top view of a rail car axle box assist steering cart according to an embodiment of the present invention, and FIG. 2 is a schematic configuration diagram of an actuator control system of the rail car axle box assist steering cart.

これらの図において、1は台車枠、2は台車中心ピン(操舵梁中心ピン)、3は操舵梁、4は側受スリ板、5は操舵てこ、6は操舵リンク、7は軸箱、8は輪軸、9は車輪、10は前後支持ばね、11はアシスト操舵アクチュエータ、12は制御装置、13は線路の曲率変化点の位置情報、14は車両走行位置情報である。   In these figures, 1 is a bogie frame, 2 is a bogie center pin (steering beam center pin), 3 is a steering beam, 4 is a side receiving plate, 5 is a steering lever, 6 is a steering link, 7 is an axle box, 8 Is a wheel shaft, 9 is a wheel, 10 is a front / rear support spring, 11 is an assist steering actuator, 12 is a control device, 13 is position information of the curvature change point of the track, and 14 is vehicle travel position information.

まず、ベースとなる台車の構造について説明する。   First, the structure of the base truck will be described.

この台車は、台車枠1に対して台車中心ピン(操舵梁中心ピン)2の周りに旋回可能な操舵梁3を持つボギー角操舵台車である。台車枠1と操舵梁3の間には側受スリ板4が配置され、車体重量×摩擦係数の分だけ旋回時に回転抵抗を生じるようにしている。曲線通過時に操舵梁(車体)3に対して生じる台車の回転変位を操舵てこ5、操舵リンク6を介して一定のてこ比で軸箱7に伝え、輪軸8をハの字に操舵するようにしている。つまり、緩和曲線に入り、台車が旋回し始めた後、アシスト操舵アクチュエータ11の発生力により台車旋回抵抗を低減し、先頭軸外軌側の横軸を低減する。   This bogie is a bogie angle steering bogie having a steering beam 3 that can turn around a bogie center pin (steering beam center pin) 2 with respect to a bogie frame 1. A side receiving plate 4 is arranged between the carriage frame 1 and the steering beam 3 so as to generate a rotational resistance during turning by an amount corresponding to the weight of the vehicle body x the friction coefficient. The rotational displacement of the carriage generated with respect to the steering beam (vehicle body) 3 when passing the curve is transmitted to the axle box 7 with a constant lever ratio via the steering lever 5 and the steering link 6, and the wheel shaft 8 is steered into a letter C. ing. That is, after entering the relaxation curve and the bogie starts to turn, the bogie turning resistance is reduced by the generated force of the assist steering actuator 11, and the horizontal axis on the leading shaft outer gauge side is reduced.

アシスト操舵アクチュエータ11は台車枠1と軸箱7との間に簡便に配置することができる。   The assist steering actuator 11 can be easily disposed between the carriage frame 1 and the axle box 7.

なお、車体ボギー角(台車のヨー方向の回転)が生じた場合、操舵リンク6は前後支持ゴムおよびアシスト操舵アクチュエータ11ごと輪軸8を操舵する。したがって、アシスト操舵アクチュエータ11は力制御を行い、曲線方向に合わせて操舵するため機械的操舵を阻害することはない。   When a vehicle body bogie angle (rotation in the yaw direction of the carriage) occurs, the steering link 6 steers the wheel shaft 8 together with the front and rear support rubber and the assist steering actuator 11. Therefore, since the assist steering actuator 11 performs force control and steers in accordance with the curve direction, mechanical steering is not hindered.

制御系がフェイルした場合はアクチュエータ発生力が0になるように油圧系を構成するようにしている。したがって、制御系がフェイルした場合でもアシストなしの機械的操舵と同等の特性を確保することができる。   When the control system fails, the hydraulic system is configured so that the actuator generation force becomes zero. Therefore, even when the control system fails, characteristics equivalent to mechanical steering without assistance can be ensured.

また、図2において、制御装置12は線路の曲率変化点の位置情報13と、車両走行位置情報14とを取り込むようにしている。また、制御装置12からの出力信号はアシスト操舵アクチュエータ11に出力されるように構成されている。   In FIG. 2, the control device 12 takes in the position information 13 of the track curvature change point and the vehicle travel position information 14. Further, an output signal from the control device 12 is configured to be output to the assist steering actuator 11.

そこで、アシスト操舵アクチュエータ11は発生力を制御装置12からの目標値に近づけるように制御を行う。アシスト操舵アクチュエータ11の動作を力制御とし、最大発生力を制限することにより、何らかの要因で逆操舵をした場合のフェイルセーフ性を向上させるようにしている。操舵制御の動作として、現在の制御付き振子車両と同様の地上データベースを利用したシステムが考えられる。線路の曲率変化点の位置情報13を事前に調査し、自車の走行位置情報14を参照しつつ緩和曲線の入口で曲率の変化率に合わせてアシスト操舵する。緩和曲線中の自車走行位置が進行して、台車ボギー角が次第に大きくなると、アシスト操舵アクチュエータ11によるアシスト操舵量を一定としても輪軸操舵角はボギー角の増加に応じて大きくなる。円曲線中においては、アシスト操舵量をほぼ0に戻しても台車ボギー角による機械的輪軸操舵を行うため適切な輪軸操舵を行うことができる。   Therefore, the assist steering actuator 11 performs control so that the generated force approaches the target value from the control device 12. The operation of the assist steering actuator 11 is controlled by force, and the maximum generated force is limited, so that the fail-safe property when reverse steering is performed for some reason is improved. As a steering control operation, a system using a ground database similar to the current controlled pendulum vehicle can be considered. The position information 13 of the track curvature change point is investigated in advance, and assist steering is performed at the entrance of the relaxation curve according to the curvature change rate while referring to the traveling position information 14 of the own vehicle. When the vehicle traveling position in the relaxation curve advances and the bogie bogie angle gradually increases, the wheel steering angle increases as the bogie angle increases even if the assist steering amount by the assist steering actuator 11 is constant. In the circular curve, even if the assist steering amount is returned to almost zero, the mechanical wheel shaft steering is performed by the bogie bogie angle, so that appropriate wheel shaft steering can be performed.

次に、鉄道車両用軸箱アシスト操舵台車の構成について説明する。   Next, the configuration of the rail car axle box assist steering carriage will be described.

台車枠1と軸箱7の間に台車旋回トルクを発生するアシスト操舵アクチュエータ11を配置する。線路の曲線の入口側、出口側緩和曲線において、曲率の変化に応じて台車が旋回する際に、アシスト操舵アクチュエータ11により旋回トルクを発生させて台車の旋回抵抗を減少させ車輪9とレール(図示なし)との間に生じる横圧を低減する。   An assist steering actuator 11 that generates a truck turning torque is disposed between the truck frame 1 and the axle box 7. In the entrance side and exit side relaxation curves of the track, when the carriage turns according to the change in curvature, turning torque is generated by the assist steering actuator 11 to reduce the turning resistance of the carriage 9 and the rails (illustrated). To reduce the lateral pressure generated between

また、アシスト操舵アクチュエータ11の発生力による旋回トルクは側受摩擦トルク以下とし、発生力のみでは台車は旋回していないため、制御系フェール時でも台車が旋回することはない。アシスト操舵アクチュエータ11の発生力の制御は、予め測定した地上データ(曲率)と地点検知、速度との照合により緩和曲線およびその前後の区間のみを行う。   Further, the turning torque by the generated force of the assist steering actuator 11 is set to be equal to or less than the side friction torque, and the cart does not turn only by the generated force. Therefore, the cart does not turn even during the control system failure. Control of the generated force of the assist steering actuator 11 is performed only on the relaxation curve and the sections before and after that by comparing ground data (curvature) measured in advance with point detection and speed.

上記したように、台車枠1と操舵梁3との間に側受スリ板4を有するボギー角連動操舵台車に対して、台車枠1と軸箱7との間に旋回トルクを発生するアシスト操舵アシストアクチュエータ11を新たに付設するようにした。また、アシスト操舵アクチュエータが発生する旋回トルクを側受摩擦トルク以下の設定としてフェイルセーフを確保するようにしている。   As described above, assist steering that generates a turning torque between the bogie frame 1 and the axle box 7 with respect to the bogie angle-linked steering bogie having the side receiving plate 4 between the bogie frame 1 and the steering beam 3. An assist actuator 11 is newly added. In addition, the turning torque generated by the assist steering actuator is set to be equal to or less than the side receiving friction torque so as to ensure fail-safety.

このように、ボギー角連動操舵台車の台車枠と軸箱との間にアシスト操舵アクチュエータを設けるようにしたので、曲率等の地上データと車両走行時の地点検知、車両速度との照合により緩和曲線において、台車が旋回するのに合わせて旋回トルクを発生させて、台車旋回抵抗を減少させることができる。従って、台車の旋回動作をアシストすることにより、緩和曲線における横圧が低減される。   As described above, since the assist steering actuator is provided between the bogie frame and the axle box of the bogie angle-linked steering bogie, the relaxation curve is obtained by comparing ground data such as curvature, point detection during vehicle travel, and vehicle speed. In this case, the turning torque can be generated in accordance with the turning of the carriage, and the turning resistance of the carriage can be reduced. Therefore, by assisting the turning operation of the carriage, the lateral pressure in the relaxation curve is reduced.

本発明の鉄道車両用軸箱アシスト操舵台車は、緩和曲線において台車が旋回するのに合わせて旋回トルクを発生させ、台車の旋回動作をアシストし、緩和曲線における横圧が低減されるボギー角連動操舵台車として利用可能である。   The axle box assist steering trolley for a railway vehicle according to the present invention is coupled with a bogie angle that generates a turning torque in accordance with the turning of the carriage on the relaxation curve, assists the turning operation of the carriage, and reduces the lateral pressure on the relaxation curve. It can be used as a steering cart.

本発明の実施例を示す鉄道車両用軸箱アシスト操舵台車の上面図である。1 is a top view of a rail car axle box assist steering carriage according to an embodiment of the present invention. 本発明の鉄道車両用軸箱アシスト操舵台車のアクチュエータの制御システムの概略構成図である。It is a schematic block diagram of the control system of the actuator of the axle box assist steering cart for railway vehicles of this invention. 従来の鉄道車両用アシスト操舵台車の模式図である。It is a schematic diagram of the conventional assist steering cart for railway vehicles. 従来の鉄道車両用アシスト操舵台車の側面図である。It is a side view of the conventional assist steering cart for rail vehicles.

符号の説明Explanation of symbols

1 台車枠
2 台車中心ピン(操舵梁中心ピン)
3 操舵梁
4 側受スリ板
5 操舵てこ
6 操舵リンク
7 軸箱
8 輪軸
9 車輪
10 前後支持ばね
11 アシスト操舵アクチュエータ
12 制御装置
13 線路の曲率変化点の位置情報
14 車両走行位置情報
1 Bogie frame 2 Bogie center pin (steering beam center pin)
DESCRIPTION OF SYMBOLS 3 Steering beam 4 Side receiving board 5 Steering lever 6 Steering link 7 Axle box 8 Wheel shaft 9 Wheel 10 Front and rear support spring 11 Assist steering actuator 12 Control device 13 Position information of curvature change point of track 14 Vehicle traveling position information

Claims (4)

台車枠と操舵梁との間に側受スリ板を有する鉄道車両用ボギー角連動操舵台車において、
台車枠と軸箱との間にアクチュエータを設け、緩和曲線において台車が旋回するのに合わせて旋回トルクを発生させ、台車の旋回動作をアシストすることを特徴とする鉄道車両用軸箱アシスト操舵台車。
In the bogie angle-linked steering bogie for railcars having a side plate between the bogie frame and the steering beam,
An axle box assist steering carriage for a railway vehicle, wherein an actuator is provided between the carriage frame and the axle box, and a turning torque is generated in accordance with the turning of the carriage on the relaxation curve to assist the turning operation of the carriage. .
請求項1記載の鉄道車両用軸箱アシスト操舵台車において、前記アクチュエータと併設して車軸の前後支持剛性を保つばね要素を配置することを特徴とする鉄道車両用軸箱アシスト操舵台車。   2. The rail car axle box assist steering cart according to claim 1, wherein a spring element is provided in addition to the actuator to maintain the longitudinal support rigidity of the axle. 請求項2記載の鉄道車両用軸箱アシスト操舵台車において、曲線の入口緩和曲線、出口緩和曲線の位置情報を車両にデータベースとして予め持たせておき、自車の走行位置を参照しつつ、線路の曲率の変化状況や車両の走行速度に応じて前記アクチュエータにアシスト操舵力を与えて、輪軸を操舵することを特徴とする鉄道車両用軸箱アシスト操舵台車。   3. The rail car axle box assist steering carriage according to claim 2, wherein the vehicle has in advance the position information of the curved entrance relaxation curve and the exit relaxation curve as a database, while referring to the traveling position of the own vehicle, An axle box assist steering carriage for a railway vehicle, wherein an assist steering force is applied to the actuator in accordance with a change state of curvature and a traveling speed of the vehicle to steer a wheel shaft. 請求項2又は3記載の鉄道車両用軸箱アシスト操舵台車において、曲線に進入し、台車ボギー角が生じた場合、機械操舵リンクは前記前後支持剛性を保つばね要素およびアクチュエータを同時に変位させることを特徴とする鉄道車両用軸箱アシスト操舵台車。   4. The rail car axle box assist steering cart according to claim 2, wherein when the vehicle enters a curve and a bogie bogie angle is generated, the mechanical steering link simultaneously displaces the spring element and the actuator that maintain the longitudinal support rigidity. A featured axle box assist steering cart for railway vehicles.
JP2006038881A 2006-02-16 2006-02-16 Axle box assisted steering cart for railway vehicles Expired - Fee Related JP4808507B2 (en)

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JP2010167835A (en) * 2009-01-20 2010-08-05 Railway Technical Res Inst Axle box support device
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CN114701532A (en) * 2022-04-08 2022-07-05 武汉理工大学 Multi-connecting-rod steering mechanism suitable for train bogie
CN114701533A (en) * 2022-04-08 2022-07-05 武汉理工大学 Steering error calibration control method applied to multi-connecting-rod type active radial bogie

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010505703A (en) * 2007-12-06 2010-02-25 コリア レイルロード リサーチ インスティテュート Active steering bogie for railway vehicles using lever action
JP2010167835A (en) * 2009-01-20 2010-08-05 Railway Technical Res Inst Axle box support device
JP2011213218A (en) * 2010-03-31 2011-10-27 Railway Technical Research Institute Journal box support device
CN102295009A (en) * 2011-06-09 2011-12-28 西南交通大学 Radial bogie of single-pendulous locomotive vehicle
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US10144438B2 (en) 2013-11-28 2018-12-04 Mitsubishi Heavy Industries Engineering, Ltd. Traveling bogie and track-type vehicle
CN114701532A (en) * 2022-04-08 2022-07-05 武汉理工大学 Multi-connecting-rod steering mechanism suitable for train bogie
CN114701533A (en) * 2022-04-08 2022-07-05 武汉理工大学 Steering error calibration control method applied to multi-connecting-rod type active radial bogie

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