JPH09226576A - Axle steering device for rolling stock truck - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable forced steering along a curved track, regarding an axle having axle support rigidity suitable for the stability of high-speed travel. SOLUTION: Regarding an axle box support device mounted on each of both ends of a pair of axles 3a and 3b laid in the lengthwise direction of a tuck underframe 2, the lengthwise and breadthwise support rigidity of the device is selected at a value suitable for high-speed travel. Furthermore, forced steering mechanisms 6a and 6b using actuators are installed in parallel with the device, so that a yaw angle corresponding to a yaw angle instruction value is applied to each of the axles 3a and 3b during the travel of a rolling stock along a curved track. Also, forced steering control means 10a and 10b are installed, so that a yaw angle instruction value corresponding to the curved track is applied to the forced steering mechanisms 6a and 6b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wheel shaft steering system for a rail car bogie, and more particularly to a wheel shaft steering system for a rail car bogie capable of smoothly passing a curved track having a relatively large radius of curvature. .

[0002]

2. Description of the Related Art In most of the trolleys currently in practical use, the wheel shafts arranged in front of and behind the trolley frame by the axle box support device are independent in the front-rear direction (vehicle traveling direction). ) And is relatively strongly elastically connected in the left-right direction. In this type of bogie, the front-rear direction supporting rigidity of the wheel shaft is large, the rolling direction of the wheel does not match the tangential direction of the curve when passing a sharp curve, and excessive lateral pressure acts on the wheel flange and rail, There were drawbacks such as accelerated wear and squeaking noise caused by increased lateral pressure.

There is also a problem that uneven wear, which is considered to be caused by a minute slip (creep) between the wheel and the rail, occurs on the wheel or the rail.

On the other hand, for the purpose of improving the curve passing performance,
For example, as described in Japanese Patent Laid-Open No. 3-19729, the support rigidity of the wheel shaft in the front-rear direction is configured to be small, and the yawing motions of the pair of front and rear wheel shafts have opposite phases. A bogie for a railway vehicle has been proposed which has a steering device in which a pair of wheel shafts are connected by a mechanism.

In order to further increase the steering function,
For example, as described in Japanese Patent Application Laid-Open No. 4-19264, a vehicle body and a steering device are connected by a link, and by this link, relative yawing motion between the vehicle body and the bogie underframe is transmitted to the steering device and driven. By doing so, a trolley for a railway vehicle of a forced steering system that steers the wheel shafts, or, for example, JP-A-1
As described in Japanese Patent No. -132463, four actuators are attached to a bogie frame that supports the axle box softly in the front-rear direction, and forcibly steers in accordance with a curved trajectory. Such a wheel steering device for a railway vehicle has been proposed.

[0006]

In the conventional link type steering trolley, it is necessary to design the link and the steering device so as to withstand a large steering force when forcibly steering on a curved track having a small radius of curvature. There is a problem that the size of the device increases and the unsprung weight increases, and the load applied to the track during high-speed traveling increases. In addition,
Since the trucks are connected to each other by a link or the like, vibrations generated in the trucks are easily transmitted to the vehicle body, which may lead to deterioration in riding comfort.

On the other hand, in the conventional forced steering system using the actuator, the supporting rigidity of the wheel shaft in the front-rear direction is extremely small and the steering performance is stable at low speed running, but it is stable against snake action at high speed running. There is a problem that the sex is lowered.

An object of the present invention is to provide a conventional bogie in which the supporting rigidity in the front-rear and left-right directions between the wheel shaft and the bogie frame is selected to be a value suitable for high-speed traveling stability. The track detection means and the forced steering control means are provided together to yaw only the wheel shafts that need to be steered when passing the curved track, and the forced steering along the curved track is executed to improve the curved track passing performance and high-speed running. An object of the present invention is to provide a wheel shaft steering device for a bogie for a railway vehicle that can achieve both stability.

[0009]

In order to achieve the above object, the present invention provides a pair of wheel shafts which are separately arranged in the front-rear direction of a bogie frame of a railway vehicle and support a pair of wheels, respectively, and each wheel shaft. A pair of axle boxes that are rotatably supported on the respective wheel axles, and a plurality of axle box support devices that elastically couple the axle boxes with the bogie frame to support the axle boxes. In a bogie for a railroad vehicle equipped with, among the axle box support devices that respectively support a pair of axle boxes disposed at both ends of each wheel axle, each wheel axle is provided alongside one or two axle box support devices. A forcible steering mechanism using one or two actuators that gives a yaw angle according to the yaw angle command value and a plurality of forcible steering control means for outputting the yaw angle command value corresponding to the curved trajectory to each forcible steering mechanism. Wheel axle control for bogies for railway vehicles characterized by being provided You configure the device.

Further, the present invention is the bogie for a railway vehicle,
Of the plurality of axle boxes, a pair of axle boxes located diagonally to each other with a center portion of the bogie frame interposed therebetween and a pair of axle box supporting devices respectively supporting the pair of axle boxes are provided side by side with the respective wheel axles. A plurality of forcible steering mechanisms using an actuator that gives a yaw angle according to the yaw angle command value, and a plurality of forcible steering control means for outputting a yaw angle command value corresponding to a curved trajectory to each forcible steering mechanism are provided. The present invention constitutes a wheel shaft steering device for a bogie for a railway vehicle.

Further, according to the present invention, in the railway vehicle having a plurality of bogies, one or both of axle box supporting devices for respectively supporting a plurality of axle boxes disposed on wheel shafts located at both ends thereof. Forced steering mechanism using one or more actuators attached to the axle box support device to give a yaw angle according to the yaw angle command value to each wheel axis, and each forcible steering mechanism with a yaw angle command value corresponding to a curved track It is possible to configure a wheel shaft steering device for a bogie for a railway vehicle, which is provided with a plurality of forced steering control means for outputting to.

The following functions can be added when constructing the wheel shaft steering device for each of the railcar bogies.

(1) The axle box supporting device provided with each forcible steering mechanism can be constructed with a support rigidity that is softer than other axle box supporting devices.

(2) The forced steering control means detects the lateral vibration acceleration of the axle box by means of the acceleration sensor installed in the axle box, and a specific vibration frequency component contained in the detection signal or
A curved trajectory detecting means for detecting a curved trajectory from a low frequency component including a steady acceleration, and a yaw angle command value generating means for generating a yaw angle command value corresponding to the curved trajectory based on the detection value of the curved trajectory detecting means. It consists of

(3) The forced steering control means is obtained from a receiver for receiving a vehicle passage signal from the ground element arranged on the track, a vehicle passage signal received by the receiver, and a speedometer installed in the vehicle. Based on the vehicle speed signal, a mileage calculating means for calculating the mileage of the vehicle by using a designated point as a starting point for calculating the mileage of the vehicle, and curve position data indicating the distance from the starting point for calculating the mileage to the curved track And a storage means for storing curve data of a curved track, information about control instructions such as a moving direction of a wheel shaft, a moving amount, and a time, and a calculated value of a traveling distance calculating means and curve position storage data of the storing means. The comparison means and the control signal generation means for generating a control signal for driving the forced steering mechanism based on the comparison result of the comparison means.

(4) The forced steering control means includes a forced steering limiting means that outputs the yaw angle command value only when passing through a curved track having a curvature in a preset range.

(5) The forced steering control means includes forced steering limiting means for outputting the yaw angle command value only when traveling in the traveling direction preset by the vehicle traveling direction command signal.

(6) The actuator as a forced steering mechanism has a cylinder chamber having a pair of ports connected to a pipe line for accommodating a fluid and two cylinder chambers reciprocally inserted into the cylinder chamber. It has a piston that divides into a piston and a piston rod that is connected to the piston, and the pipeline connected to each port of the cylinder chamber opens the pipeline when traveling on the set curved track, and otherwise A control valve for closing the pipe is arranged, and a throttle device for bypassing one cylinder chamber and the other cylinder chamber divided by the piston with a passage narrower than the pipe.

According to the above-mentioned means, when passing through a curved trajectory, the forced steering mechanism is driven by the yaw angle command value output from the forced steering control means, but the steering force generated by the forced steering mechanism is By setting the restraint force to be larger than the restraining force of the box support device in the front-rear direction, each wheel shaft yaws according to the yaw angle command value, so that forced steering along a curved track becomes possible. In this case, in each of the two axle box supporting devices provided at both ends of each wheel shaft, which is provided with a forced steering mechanism, by controlling the driving directions of the left and right actuators to have opposite phases, Each wheel axle can be yawed. Also,
When the forced steering mechanism is attached to one axle box support device for each wheel axle, the wheel axle rotates around the axle box part where the forced steering mechanism is not attached as a fulcrum. Although the amount increases, the number of actuators can be reduced and the increase in unsprung weight can be suppressed.

On the other hand, the steady value of the lateral pressure generated on each wheel shaft when a railway vehicle having a plurality of bogies at the bottom of the vehicle body travels on a curved track has a maximum value at the frontmost wheel shaft in the vehicle traveling direction. This is clarified from the results of the running tests and simulation results so far. Further, in the wheel shafts arranged in front of and behind the bogie frame, there is a large disagreement between the rolling direction and the tangential direction of the curve at the front wheel shaft in the vehicle traveling direction, and the rear wheel shaft is the cone of the wheel tread. Due to the self-steering function based on the shape and the like, the vehicle travels relatively well on a curved track.

Therefore, according to the traveling direction of the railway vehicle,
The forcible steering control means can be configured to drive only the forcible steering mechanism installed on one or a plurality of wheel shafts located in front of the vehicle traveling direction, and reliable forcible steering can be performed with a small number of drive sources. . Since the forced steering control means includes the forced steering control means for outputting the control signal for driving the forced steering mechanism only when passing through the curved track having the curvature in the preset range, it is extremely present in the station yard or the like. When passing a curved orbit with a small radius of curvature at a low speed,
The forced steering can be stopped, and the curved steering path can be passed without applying an excessive force to the forced steering mechanism.

In addition, at times other than during forced steering, the control valve closes the pipeline, and one cylinder chamber divided by the piston and the other cylinder chamber are connected by the expansion device, so that the actuator is used as a hydraulic damper. Therefore, when traveling on a straight track or traveling on a curved road having a large radius of curvature, the actuator operates so as to limit the yaw motion of the wheel shaft, and the stability at high speed traveling is improved.

[0023]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a wheel shaft steering device for a bogie for a railway vehicle according to the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a side view showing an embodiment of the present invention. In FIGS. 1 and 2, a bogie for a railroad vehicle is a pair of bogie underframes 2 arranged at the bottom of a vehicle body 1 of the railroad car, and a pair of bogie underframes that are separately arranged in the front-rear direction (the traveling direction of the vehicle). Wheel axle 3a,
3b, axle boxes 4a, 4a ', 4 arranged at both ends of each wheel axle 3a, 3b to rotatably support each wheel axle 3a, 3b.
b, 4b ', each axle box 4a, 4a', 4b, 4b 'and the bogie frame 2 are elastically coupled to each axle box 4a, 4a', 4b,
Axial box supporting devices 5a, 5b (5a ', 5) for supporting 4b'
b'is not shown), actuators 7a, 7a 'and 7b, 7b', conduits 8, 8 are provided as the forced steering mechanisms 6a, 6b, and the curved trajectory detecting means 9a, 9b.
b, forced steering control means 10a, 10b.

The vehicle body 1 is elastically supported by the bogie underframe 2 via pillow springs (not shown), and the wheel shafts 3a and 3b are
The bogie frame 2 is elastically supported in the front-rear direction and the left-right direction with appropriate rigidity by elastic members arranged inside the axle box supporting devices 5a and 5b. On the other hand, the actuator 7
a, 7a ', 7b, 7b' are the respective axle boxes 4a, 4a ', 4
b, 4b 'and the bogie underframe 2 between the axle box supporting device 5a,
It is rotatably attached via a spherical bush or a rubber bush so as to be in parallel with (5a '), 5b, (5b'). Also, the actuators 7a, 7a 'and 7b
And 7b 'are connected via pipe lines 8 and 8 so as to be displaced in opposite phases to each other.

Each actuator 7a, 7a ', 7b, 7
As shown in FIG. 3, b ′ is a cylinder 71 that stores the fluid from the forced steering control means 10, and is reciprocally inserted into the cylinder 71 so that the inside of the cylinder 71 is a cylinder chamber 72.
The cylinder 74 is provided with a piston 74 divided into 73 and a piston rod 75 connected to the piston 74, and the pipes 8 and 8 are connected to the ports 76 and 77 of the cylinder 71. Also,
A seal 78 is mounted between the piston 74 and the cylinder 71. When the two actuators 7a, 7a 'to 7b, 7b' are supplied with fluids corresponding to the control command values from the forced steering control means 10a to 10b during traveling on a curved track, the actuators corresponding to the fluid pressures are supplied. 7a, 7a 'to 7b, 7b' are driven.

The curved track detecting means 9a and 9b are provided in the shaft box 4.
It is composed of an acceleration sensor that detects lateral vibration acceleration of a and 4b, and the detection output is input to the steering control device 11 in the forced steering control means 10a and 10b. According to actual measurement, it is known that when traveling on a curved track, left-right vibration acceleration of a specific frequency is generated in the axle box due to stick-slip vibration due to left-right slip between wheels and rails, and it is included in the detection signal of the acceleration sensor. By steering according to the magnitude of the specific frequency component, the stick-slip vibration can be suppressed and the wavy wear of the wheels / rails can be prevented. It is also possible to detect the entry into the curved track from the low frequency component including the steady acceleration of the acceleration sensor.

The forced steering control means 10a, 10b are composed of a steering control device 11, a servo valve 12, a shutoff valve 13, a control command line 14, a hydraulic pressure source 15, etc., and are installed in the vehicle body 1. The steering control device 11, when the curved track is detected by the curved track detecting means 9a and 9b,
Based on the signals from the curved track detecting means 9a and 9b, the required steering amount of the wheel shafts 3a and 3b corresponding to the curved track is calculated as a yaw angle command value, and the servo valve 1 is operated according to this calculated value.
2 is operated. When the servo valve 12 is operated, the hydraulic pressure sent out from the hydraulic pressure source 15 is controlled according to the required steering amount, and the controlled hydraulic pressure is passed through the shutoff valve 14 and the conduit 8 to each actuator 7a, 7a '. , 7b, 7
b '. Each actuator 7a, 7a ', 7
When b and 7b 'are driven according to the hydraulic pressure, the wheel shafts 3a,
3b is forcibly steered to match the curved track.

Further, the steering control device 11 includes a forced steering control means for judging whether or not the forced steering is carried out according to the magnitude of the output signals of the curved trajectory detection means 9a, 9b, and the linear trajectory The actuators 7a, 7a 'to 7a are used when there is no need for forced steering such as when traveling or when traveling at a low speed on a curved track having an extremely small radius of curvature such as in a station yard.
b, 7b 'and the shut-off valve 13 provided between the servo valve 12
Is operated according to a command from the steering control device 11 to close the pipeline 8. Further, even when a problem occurs in the forced steering mechanism 6, it is possible to switch to the self steering by operating the shutoff valve 13.

Further, as shown in FIG. 3, a throttle valve 16 can be installed in the forced steering control means 10 in parallel with the conduits 8 and 8 of the actuator 7, and the shutoff valve 13 is operated when traveling on a straight track. The supply of the hydraulic pressure from the hydraulic pressure source 15 may be cut off, the throttle valve 16 may be opened, and the hydraulic pressure in the cylinder 71 may be bypassed via the throttle valve 16.

With the above construction, when the bogie of the railway vehicle travels on a straight track, as shown in FIG. 1, forcible steering is not executed and the front and rear wheel shafts 3a and 3b are substantially parallel to each other along the track. Be steered. Further, during the straight track running, the straight steering track is detected by the forced steering limiting means included in the steering control device 11, and the cutoff valve 13 is operated by this detection output to operate the hydraulic pressure source 15 to the actuator 7
The supply of hydraulic pressure to (7a, 7a ', 7b, 7b') is cut off. Further, since the throttle valve 16 opens in response to the operation of the shutoff valve 13, each cylinder chamber 7 of the actuator 7
The fluid moves between Nos. 2 and 73 via the throttle valve 16, and the actuator 7 can be operated as a hydraulic damper. Therefore, when traveling on a straight track, the actuator 7
Since (7a, 7a ', 7b, 7b') functions as a hydraulic damper, the damping effect on the yawing vibrations of the wheel shafts 3a, 3b is enhanced, and the high-speed running stability on a straight track can be improved.

On the other hand, when the bogie for the railroad vehicle shifts from the straight track to the curved track, the yaw angle command is issued based on the outputs of the curved track detecting means 9a and 9b and the necessary steering amounts of the wheel shafts 3a and 3b corresponding to the curved track. The value is calculated by the steering control device 11. The servo valve 12 is operated according to this calculated value, and the hydraulic pressure corresponding to this operation amount is applied to the actuator 7 (7
a, 7a ', 7b, 7b'), the actuator 7 (7a, 7a ', 7b, 7b') is forcibly steered so that the front and rear wheel shafts 3a, 3b are aligned with the curved track. It FIG. 4 shows the behavior of the wheel shafts 3a and 3b in the curved track of the bogie for railcars of this embodiment.
When traveling on a curved track having a radius of curvature R, the wheel shafts 3a, 3
b is driven by actuators 7a, 7a ', 7b, 7b' to spread from the wheel shaft center positions oa-oa ', ob-ob' to the front and rear sides when the wheel shafts 3a, 3b travel on a straight track.
The inner track side is moved in the direction of narrowing, and the front and rear wheel shafts 3a, 3
b is forcibly steered to match the curved track, excessive lateral pressure can be prevented from being generated, and traveling safety on the curved track is improved. In addition, actuators 7a, 7a 'and 7b, 7 installed corresponding to the front and rear wheel shafts 3a, 3b.
Since b'is individually controlled by the forced steering control means 10a, 10b, the front and rear wheel shafts 3a, 3b can be forcedly steered so as to be correctly aligned with the curved track.

Further, in this embodiment, the devices installed under the spring of the truck are actuators 7a, 7a ', 7b, 7b'.
Part and the mounting members for the axle boxes 4a, 4a ', 4b, 4b', the unsprung weight increase is small, downsizing can be achieved, and the vehicle body and the bogie frame are connected. Since the forced steering mechanism is not used, it is possible to prevent the high speed driving performance and the riding comfort from being impaired.

Further, according to this embodiment, the actuators 7 (7a, 7a ', 7b, 7b') can be operated as hydraulic dampers when traveling on a straight track, so that the axle box supporting devices 5a, (5a '). ), 5b, (5b ') is made softer in the front-rear direction supporting rigidity to further reduce the size and weight of the actuator, and it is possible to achieve both curved track passing performance and stability against snake action during high-speed traveling.

Although the hydraulic actuator 7 is used in this embodiment, the same effect can be obtained by using an electric mechanism, for example. Further, the hydraulic pressure source 15 is
Although hydraulic pressure or the like can be used, since the supply pressure is high, it is possible to downsize the actuator 7, the servo valve 12, and the like by using hydraulic pressure with good response.

Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 5 is an explanatory view showing the second embodiment of the present invention, and FIG. 6 is an explanatory view showing the behavior of the wheel shaft in the curved track of the bogie of the second embodiment of the present invention.

In this embodiment, the actuators 7a and 7b of the forced steering mechanism 6 are connected to the axle box 4 of one of the wheel axles 3a and 3b.
It is provided between a and 4b 'and the bogie underframe 2, and is used for curved track detecting means 9a and 9b and forced steering control means 10a and 10b.
b and the like are the same as in the embodiment. According to the present embodiment, when traveling on a curved track, as shown in FIG. 6, the axle boxes 4a ', 4b are on the fixed side, and the axle boxes 4a, 4b' are on the movable side, so that the front and rear wheel axles 3a, 3b are provided. Is yaw-displaced with the axle boxes 4a ', 4b as fulcrums, so that the front and rear wheel shafts 3a, 3b are forcibly steered so as to match the curved tracks by driving the actuators 7a, 7b, and excessive lateral pressure is generated. It can be prevented, and the traveling safety on a curved track is improved.

As described above, according to the present embodiment, the equipment installed under the spring of the bogie is only a part of the actuators 7a, 7b and the mounting members for the axle boxes 4a, 4b ', and the unsprung weight. Since the increase in the value of is extremely small, the influence on the high-speed running performance is small, and the reliability is significantly improved. Also,
Axle boxes 4a ', 4 without the actuators 7a, 7b installed
The axle box supporting device of the part b is not so affected by the steering performance even if the support rigidity is made to be the same as or higher than the conventional one. Therefore, the axle boxes 4a, 4 in which the actuators 7a, 7b are installed are installed.
The actuator 7 has a structure in which the support rigidity of the b'part is made soft.
It is possible to further reduce the size and weight of a and 7b, and it is possible to achieve both the curved track passing performance and the stability against snake action during high-speed traveling.

FIG. 7 is a block diagram showing another embodiment of the forced steering control means 10 of the present invention. In FIG. 7, the forced steering control means 10 includes a distance calculation device 23, a comparison circuit 24, a storage device 25, and an amplifier 26.
Signals from the receiver 21 and the speedometer 22 are input to the.

The receiver 21 is an ATS installed on the line.
A signal from a ground element (not shown) of the (automatic train stop device) is received, it is detected that the vehicle has passed on the track, and this detection signal is output to the distance calculation device 23. When the signal from the receiver 21 is input, the distance calculation device 23 uses the installation point of the ground element as the starting point of the traveling distance of the vehicle, and uses the vehicle speed signal obtained from the speedometer 22 installed on the vehicle side. The traveling distance is calculated based on the calculated distance, and the calculated value is output to the comparison circuit 24. Comparison circuit 24
Is configured to search the storage data in the storage device 25 according to the calculated value obtained by the distance calculation device 23 and output the comparison result according to the search. The storage device 25 stores the curve position data indicating the distance to the curve point and the curve data of the curve trajectory. Therefore, when the comparison result is output from the comparison circuit 24, the comparison result is amplified by the amplifier 26, and the amplified signal is output to the servo valve 12 as a signal indicating the yaw angle command value. It should be noted that the forced steering control means 10 may be installed in one or two trains for one vehicle or one train. Normally, it is installed near the driver's cabs at both ends, and a servo valve provided for each bogie or each wheel axle. 12 is configured to drive.

According to this embodiment, the curved track can be accurately detected by the distance calculation device 23 and the storage device 25 which stores the curve position data and the like, so that the forced steering of the wheel shafts 3a and 3b can be performed with high accuracy. Therefore, it is possible to contribute to the improvement of the traveling safety of the railway vehicle and the stability of high-speed traveling.
Further, by composing the forcible steering control means 10 with a microcomputer, the forcible steering can be carried out without being influenced by the disturbance such as the deviation of the track and the passage of points, and the reliability and the riding comfort can be improved. Can also contribute.

FIG. 8 shows the wheel shafts 3a, 3 arranged on the vehicle body 1 of a general railway vehicle in which the forced steering mechanism is not installed.
When b, 3c, 3d pass through a curved track, each wheel shaft 3
It shows the result of performing the simulation about the steady value of the lateral pressure generated in a, 3b, 3c, 3d, the wheel shaft that first passes the curved track in the vehicle traveling direction 3
a is an analysis result when the wheel shafts 3b, 3c, 3d successively pass through the same curved track at the same speed.

According to the figure, the front wheel shaft 3 in the vehicle traveling direction is shown.
The maximum lateral pressure is generated at the outer-gauge wheel of a. Further, comparing the wheel shafts 3a and 3b and 3c and 3d in each trolley, the wheel shafts 3a and 3c in the forward direction of the vehicle are compared.
Has a large lateral pressure and is located rearward in the vehicle traveling direction.
It can be seen that the lateral pressures of b and 3d are extremely small.

Therefore, of the plurality of forced steering devices installed corresponding to the wheel shafts in one vehicle, only the forced steering device installed corresponding to the leading wheel shaft 3a in the vehicle traveling direction is driven. The excessive lateral pressure can be almost prevented, and the curved steering path can be smoothly driven by driving the forced steering device installed corresponding to at least the wheel shafts 3a and 3c in the front of the vehicle in the vehicle traveling direction. Can be passed.

9 and 10 are explanatory views showing the third and fourth embodiments of the present invention. In this embodiment, a railcar for one car is constructed by installing a plurality of wheel shaft steering devices for a bogie for a railroad vehicle, the railcar comprising the first embodiment shown in FIG. 1 or the second embodiment shown in FIG. Then, the plurality of forced steering control means 10a, 10b, 10c, 10d provided in the wheel shaft steering device are provided with the forced steering control means for limiting the execution of the forced steering according to the traveling direction of the vehicle.

FIG. 9 shows the axle boxes 4a, 4b ', 4c, 4d' which rotatably support the wheel axles 3a, 3b, 3c, 3d arranged on the bogie frames 2, 2'of the vehicle body 1. Forced steering mechanisms 6a, 6b, 6c, 6d are installed respectively, and forced steering control means 10a, 10b, 10c, 10d for driving and controlling the forced steering mechanisms 6a, 6b, 6c, 6d are attached to the vehicle body 1, Each forced steering control means 10a, 10b, 1
The steering control device 11 (see FIG. 1,
3), a traveling direction command signal Rv obtained from a master control device (not shown) or the like installed in the driver's cab of the vehicle and switching the traveling direction of the vehicle is input, and the traveling direction command signal R is input.
By driving only the forced steering mechanisms 6a, 6c to 6b, 6d installed on the wheel shafts 3a, 3c to 3b, 3d in the forward direction of the vehicle in accordance with v, the wheel shafts are forcedly steered so as to match the curved track. It

Further, in the fourth embodiment of the present invention shown in FIG. 10, the forced steering mechanisms 6a and 6d are provided on the wheel shafts 3a and 3d located at both ends of the vehicle body 1 and the forced steering control means for driving and controlling them. 10a, 10d and the like are installed, and the vehicle steering direction command signal Rv is input to the forced steering control means 10a, 10d so that the wheel shafts 3a to 3d are always at the head of the vehicle traveling direction.
Only the steer is forced to match the curved track.

As described above, according to the third and fourth embodiments of the present invention, the forcible steering mechanism provided on a plurality of wheel shafts in one vehicle and the plurality of forcible steering mechanisms for driving and controlling the forcible steering mechanism are provided. Of the control means, only the wheel shafts that generate a relatively large lateral pressure are forcibly steered in accordance with the vehicle traveling direction, so that the hydraulic pressure source for driving the steering device is reduced in capacity. As a result, the entire device can be made smaller and lighter, and an economical and highly reliable wheel shaft steering device can be provided.

[0049]

According to the present invention, the support rigidity in the front-rear and left-right directions between the wheel shafts and the bogie frame is elastically coupled by the axle box supporting device set to a value suitable for high-speed running stability. Since a forced steering mechanism using an actuator was installed in parallel with the axle box support device, each wheel shaft was forcibly steered to match the curved track, and it was possible to prevent the occurrence of excessive lateral pressure. It is possible to achieve both improved driving safety and high-speed driving stability.

Further, the required steering amount on the curved track is calculated for each wheel axis unit, and the forced steering is performed, and the forced steering is restricted for each wheel axis according to the traveling direction of the vehicle. Therefore, the increase in unsprung weight can be suppressed, and the size can be reduced. It also improves the safety of railway vehicles when traveling on curved tracks,
Improves passing speed, prevents wavy wear of wheels and rails,
It is possible to reduce running noise and extend maintenance return of vehicles and tracks.

Further, since there is no connection between the vehicle body and the bogie by the forced steering mechanism, the transmission of the bogie vibration to the vehicle body can be reliably prevented, and the yawing vibrations of the vehicle body and the bogie are coupled when the vehicle travels at high speed. Can be prevented, which can contribute to improvement of riding comfort.

[Brief description of drawings]

FIG. 1 is a block diagram showing one embodiment of the present invention.

FIG. 2 is a side view showing an embodiment of the present invention.

FIG. 3 is a block diagram showing an embodiment of an actuator and forced steering control means of the present invention.

FIG. 4 is an explanatory view showing a behavior of a wheel shaft in a curved track of the bogie of the present invention.

FIG. 5 is an explanatory diagram showing a second embodiment of the present invention.

FIG. 6 is an explanatory view showing a behavior of a wheel shaft in a curved track of the bogie of the second embodiment of the present invention.

FIG. 7 is a block diagram showing another embodiment of the forced steering control means of the present invention.

FIG. 8 is an explanatory diagram of a simulation result showing a relationship between a tendency of lateral pressure to be generated in a curved track of each wheel shaft of one railcar and a vehicle traveling direction.

FIG. 9 is an explanatory diagram showing a third embodiment of the present invention.

FIG. 10 is an explanatory diagram showing a fourth embodiment of the present invention.

[Explanation of symbols]

2, 2 '... bogie frame 3a, 3b ... wheel shaft, 4a, 4
a ', 4b, 4b' ... axle box, 6a, 6b ... forced steering mechanism, 7a, 7a ', 7b, 7b' ... actuator, 9
a, 9b ... curve trajectory detection means, 10a, 10b ... forced steering control means, 11 ... steering control device, 12 ... servo valve, 1
3 ... Shut-off valve, 14 ... Control command line.

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Shuji Ishida 14-8 Katsuta Chuo, Hitachinaka City, Ibaraki Prefecture Katsuta Chamber of Commerce and Industry Inside Hitachinaka Techno Center

Claims (11)

[Claims] 1. A bogie frame of a railway vehicle, a pair of wheel shafts that are separately arranged in the front-rear direction of the bogie frame and support a pair of wheels, respectively, and are arranged at both ends of each wheel shaft. A pair of axle boxes that rotatably support each wheel axle are provided, and a plurality of axle box support devices that elastically couple the axle boxes and the bogie underframe to support the axle boxes. In a bogie for a railway vehicle, among the axle box support devices that respectively support a pair of axle boxes disposed at both ends of each wheel axle, one or two axle box support devices are provided side by side to provide yaw to each wheel axle. A forcible steering mechanism using one or two actuators that give a yaw angle according to the angle command value and a plurality of forcible steering control means for outputting a yaw angle command value corresponding to a curved trajectory to each forcible steering mechanism are provided. Wheel axle steering of bogies for railway vehicles characterized by apparatus. 2. A bogie frame of a railway vehicle, a pair of wheel shafts which are separately arranged in the front-rear direction of the bogie frame and support a pair of wheels, respectively, and are arranged at both ends of each of the wheel shafts. A pair of axle boxes that rotatably support each wheel axle are provided, and a plurality of axle box support devices that elastically couple the axle boxes and the bogie underframe to support the axle boxes. In a bogie for a railroad vehicle, among the axle box support devices that respectively support a pair of axle boxes disposed at both ends of each wheel axle, one wheel axle support device is provided side by side with a yaw angle for each wheel axle. Each forcible steering is provided with a plurality of forcible steering mechanisms using an actuator that gives a yaw angle according to the command value, and a plurality of forcible steering control means for outputting a yaw angle command value corresponding to a curved trajectory to each forcible steering mechanism. The axle box support device with the mechanism is attached to another axle box support device. A wheel axle steering device for a bogie for a railway vehicle, which is configured to have a support rigidity that is softer than that of a vehicle. 3. A bogie frame of a railway vehicle, a pair of wheel shafts arranged separately in the front-rear direction of the bogie frame and supporting a pair of wheels, respectively, and arranged at both ends of each of the wheel shafts. A railway including a pair of axle boxes that rotatably support the respective wheel axles, and a plurality of axle box support devices that elastically couple the axle boxes and the bogie underframe to support the axle boxes. In the vehicle bogie, a pair of axle boxes that are diagonally positioned with respect to the center of the bogie frame of the plurality of axle boxes and a pair of axle box support devices that respectively support the pair of axle boxes. A plurality of forced steering mechanisms that use actuators to give yaw angles corresponding to the yaw angle command values to each wheel axis, and a plurality of forced steering controls that output yaw angle command values corresponding to curved trajectories to each forced steering mechanism A bogie for a railroad car, characterized in that Wheel axle steering system. 4. A bogie frame of a railway vehicle, a pair of wheel shafts that are separately arranged in the front-rear direction of the bogie frame and support a pair of wheels, respectively, and are arranged at both ends of each wheel shaft. A railway including a pair of axle boxes that rotatably support the respective wheel axles, and a plurality of axle box support devices that elastically couple the axle boxes and the bogie underframe to support the axle boxes. In the vehicle bogie, a pair of axle boxes that are diagonally positioned with respect to the center of the bogie frame of the plurality of axle boxes and a pair of axle box support devices that respectively support the pair of axle boxes. A plurality of forced steering mechanisms that use actuators to give yaw angles corresponding to the yaw angle command values to each wheel axis, and a plurality of forced steering controls that output yaw angle command values corresponding to curved trajectories to each forced steering mechanism Axle box support equipped with means and each forced steering mechanism A wheel shaft steering device for a bogie for a railway vehicle, characterized in that the device has a supporting rigidity that is softer than other axle box supporting devices. 5. A plurality of bogie underframes of a railway vehicle, a plurality of wheel shafts which are separately arranged in the front-rear direction of each bogie frame and support a pair of wheels, respectively, and are arranged at both ends of each wheel shaft. And a plurality of axle boxes that rotatably support the respective wheel axles, and a plurality of axle box support devices that elastically couple the axle boxes and the bogie underframe to support the axle boxes. In a railway vehicle, among axle box supporting devices that respectively support a plurality of axle boxes arranged on wheel axles located at both ends of the railway vehicle, one or both axle box supporting devices are provided side by side with each wheel axle. A forced steering mechanism using one or a plurality of actuators that gives a yaw angle according to the yaw angle command value and a plurality of forced steering control means that outputs the yaw angle command value corresponding to the curved trajectory to each forced steering mechanism. Wheel axle control for bogies for railway vehicles characterized by being provided Rudder device. 6. A plurality of bogie underframes of a railroad vehicle, a plurality of wheel shafts arranged separately in the front-rear direction of each bogie underframe, and supporting a pair of wheels respectively, and arranged at both ends of each of the wheel shafts. And a plurality of axle boxes that rotatably support the respective wheel axles, and a plurality of axle box support devices that elastically connect the axle boxes and the bogie underframe to support the axle boxes. In the vehicle, among the axle box support devices that respectively support a plurality of axle boxes arranged on the wheel axles located at both ends of the railway vehicle, one or both axle box support devices are provided side by side for each wheel axle. A forcible steering mechanism using one or a plurality of actuators for giving a yaw angle according to the yaw angle command value and a plurality of forcible steering control means for outputting a yaw angle command value corresponding to a curved trajectory to each forcible steering mechanism are provided. , Axial box support device equipped with each forced steering mechanism A wheel axle steering device for a bogie for a railway vehicle, characterized by being configured with a support rigidity that is softer than that of an axle box support device. 7. The forced steering control means detects lateral vibration acceleration of the axle box by an acceleration sensor installed in the axle box, and a specific vibration frequency component included in the detection signal or
Curve trajectory detecting means for detecting a curve trajectory from a low frequency component including steady acceleration, and yaw angle command value generating means for generating a yaw angle command value according to the curve trajectory based on the detection value of the curve trajectory detecting means. Claims 1, 2, which consist of
A wheel shaft steering device for a bogie for a railway vehicle according to 3, 4, 5 or 6. 8. The forced steering control means is obtained from a receiver for receiving a vehicle passage signal from a ground element arranged on a track, a vehicle passage signal received by the receiver, and a speedometer installed in the vehicle. Based on the vehicle speed signal, a mileage calculating means for calculating the mileage of the vehicle by using a designated point as a starting point for calculating the mileage of the vehicle, and curve position data indicating the distance from the starting point for calculating the mileage to the curved track And storage means for storing the curve data of the curved trajectory, comparison means for comparing the calculated value of the traveling distance calculation means with the storage data of the storage means, and a yaw angle command value according to the comparison result of the comparison means. A yaw angle command value generating means and a yaw angle command value generating means.
2. A wheel shaft steering device for a bogie for railway vehicles according to 2, 3, 4, 5 or 6. 9. The railway vehicle according to claim 7, wherein the forced steering control means includes forced steering limiting means for outputting a yaw angle command value only when passing through a curved track having a curvature in a preset range. Wheel axis steering device for dolly. 10. The forced steering control means according to claim 7, wherein the forced steering control means includes a forced steering limiting means that outputs a yaw angle command value only when traveling in a traveling direction preset by a vehicle traveling direction command signal. Wheel axle steering system for bogies for railway vehicles. 11. The actuator includes a cylinder chamber having a pair of ports connected to a pipe line for containing a fluid,
A piston, which is reciprocally inserted into the cylinder chamber and divides the cylinder chamber into two chambers, and a piston rod connected to the piston, are provided in a pipe line connected to each port of the cylinder chamber. A control valve that opens the pipeline when traveling on a curved track and closes the pipeline at other times is placed,
7. A throttle device for bypassing one of the cylinder chambers divided by the piston and the other of the cylinder chambers with a flow passage narrower than the pipe line is provided. A wheel shaft steering device for a bogie for a railway vehicle as described above.