Signal responder displacement system of automatic vehicle base and control method thereof

文档序号：579578 发布日期：2021-05-25 浏览：7次中文

阅读说明：本技术 一种自动化车辆基地的信号应答器变位系统及其控制方法 (Signal responder displacement system of automatic vehicle base and control method thereof ) 是由刘奥周小斌程春阳史明红叶芹禄廖永亮姚应峰肖潜飞李威王俊王德威于 2021-02-02 设计创作，主要内容包括：本发明公开了一种自动化车辆基地的信号应答器变位系统及其控制方法,属于轨道交通车辆检修技术领域,其通过设置由总控台、分控台、变位装置组成的三级控制系统,利用各部件的对应匹配以及分控台与SPKS开关的信息交互,使得信号应答器在相应状态下准确伸出或折叠,实现全自动运行车辆入库时的准确引导和车辆入库停稳检修时的恢复畅通。本发明的自动化车辆基地的信号应答器变位系统,其系统简单,控制方法便捷,能有效保证全自动运行车辆在自动化车辆基地中进出库的安全性和稳定性,确保检修作业人员和检修设备在检修地沟中的正常检修,提升全自动运行车辆的检修质量和检修效率,降低全自动运行车辆的检修成本,具有较好的实用价值和推广价值。(The invention discloses a signal responder displacement system of an automatic vehicle base and a control method thereof, belonging to the technical field of rail transit vehicle maintenance. The signal transponder displacement system of the automatic vehicle base is simple in system and convenient and fast in control method, can effectively ensure the safety and stability of the full-automatic running vehicle entering and exiting the garage in the automatic vehicle base, ensures the normal maintenance of maintenance operators and maintenance equipment in a maintenance trench, improves the maintenance quality and maintenance efficiency of the full-automatic running vehicle, reduces the maintenance cost of the full-automatic running vehicle, and has better practical value and popularization value.)

1. A signal transponder displacement system of an automatic vehicle base is characterized by comprising a main control console, a sub-control console and a displacement device;

the master control station is in communication connection with the branch control stations and is used for sending instructions to the branch control stations and receiving information feedback from the branch control stations;

the branch control tables are arranged in one-to-one correspondence with the overhaul subareas and are electrically connected with the SPKS switches in the overhaul subareas so as to receive state information of the SPKS switches, acquire the conversion condition of an unmanned area and an occupied area of the overhaul subareas, and control the displacement device to execute corresponding actions so that the signal responder is in an extending state or a folding state;

the displacement device is arranged in the parking row positions, and a plurality of displacement devices are arranged in each parking row position at intervals; each displacement device is respectively provided with a signal responder, and each signal responder can enter a designated position in the overhaul trench or be far away from the designated position under the driving of the corresponding displacement device; and the displacement devices on all the parking train positions in the maintenance subarea are respectively and electrically connected with the sub-control console in the maintenance subarea, so that the sub-control console can control the displacement devices to work and collect corresponding state data.

2. The shift system of the automatic vehicle base transponder according to claim 1, wherein a sensing component is disposed corresponding to the shift device and electrically connected to the corresponding sub-console for detecting whether the state switching of the shift device is in place and feeding back the detection result to the sub-console.

3. The automated vehicle base transponder shifting system of claim 2, wherein an alarm component is provided in correspondence with said sensing component for alarming when said sensing component detects that said shifting device state switch is not in place.

4. An automated vehicle base transponder shifting system as claimed in any one of claims 1 to 3 wherein the shifting device is a self-resetting shifting device comprising a base plate, a rotating assembly and a rotary drive assembly;

the base plate is fixed at the bottom of a steel rail in a parking row; one end of the rotating component is rotatably connected to the substrate, the other end of the rotating component is provided with a carrying component, and the signal responder is arranged on the carrying component; the rotary driving assembly corresponds to the rotary assembly and is used for driving the rotary assembly to rotate, and then the signal transponder is controlled to stretch into the upper portion of the overhaul trench or be retracted to the lower portion of the steel rail.

5. The shift system for the signal responder in the automated vehicle base according to any one of claims 1 to 4, wherein a plurality of parking spaces are arranged in the maintenance subarea, the branch control console can independently control all the shift devices in any parking space to switch the state, and the branch control console can simultaneously control all the shift devices in all the parking spaces to switch the state.

6. The automated vehicle base transponder shifting system of claim 4, wherein said rotary drive assembly includes a drive member and a retraction member;

the driving part is used for driving the rotating assembly to rotate from a folded state to a working state; the retraction component is used for retracting the rotating assembly from the working state to the folded state and realizing the resetting of the driving component.

7. The automated vehicle base transponder shifting system of claim 6, wherein said rotating assembly includes a first rotating bar and a second rotating bar;

one end of the first rotating rod is connected to the base plate through the rotating piece, and the other end of the first rotating rod is connected with the carrying assembly;

one end of the second rotating rod is fixedly connected to the first rotating rod, and the other end of the second rotating rod is connected with the driving component in a matching mode, so that the second rotating rod can move under the driving of the driving component and drives the first rotating rod to rotate.

8. The automated vehicle base transponder shifting system of claim 7, wherein the drive component includes a counterweight and a drive rope, and a counterweight mounting plate is provided corresponding to the counterweight;

the top of the counterweight mounting plate is fixedly connected to the base plate, and at least two pulleys are arranged on a plate body of the counterweight mounting plate; one end of the driving rope is matched with the second rotating rod, and the other end of the driving rope is matched with the counterweight after passing around each pulley, so that the driving rope can drive the second rotating rod to rotate under the traction of the counterweight or realize the lifting of the counterweight under the rotation of the second rotating rod.

9. An automated vehicle base transponder shifting system as claimed in any one of claims 6 to 8 wherein the retraction means includes a servo motor, retraction wheels and retraction cords;

the servo motor is fixed on the substrate, and an output shaft of the servo motor is coaxially connected with the withdrawing wheel, so that the servo motor can drive the withdrawing wheel to rotate; one end of the retraction rope is connected to the retraction wheel, and the other end of the retraction rope is connected to the rotating assembly; then the retracting rope can be retracted on the retracting wheel through the rotation of the retracting wheel, and the switching of the rotating assembly from the working state to the folding state is realized.

10. A method of controlling an automated vehicle base station transponder shifting system as claimed in any one of claims 1 to 9, comprising the steps of:

(1) before a fully-automatic running vehicle enters a garage, determining station track information to be parked by a yard scheduling system, and ensuring that an SPKS switch of a maintenance partition where the station track is located is in a closed state; the sub-console acquires the closing state information of the SPKS switch, and all the displacement devices in the corresponding parking positions are ensured to be in working states;

(2) the method comprises the following steps of automatically operating vehicles to enter a garage, and realizing accurate speed reduction and parking under the guidance of a corresponding signal responder in a parking position;

(3) the maintenance operator carries out point requesting operation, activates an SPKS switch, and changes the parking position from an unmanned area to an occupied area; the branch control console controls each displacement device to switch states by acquiring the opening state information of the SPKS switch, drives each signal responder to a non-working position, recovers the smoothness of the overhaul trench and provides conditions for overhaul operation in the overhaul trench;

(4) the maintenance operation personnel and/or maintenance operation equipment enter the maintenance trench, and perform train inspection operation on the full-automatic running vehicle until the maintenance of the full-automatic running vehicle is completed; after that, the maintenance worker and/or the maintenance operation equipment is removed from the maintenance trench;

(5) the maintenance operator closes the SPKS switch, performs 'pin point' operation, and changes the parking position from an 'occupied area' to an 'unmanned area'; the sub-console controls each displacement device to switch states by acquiring the closing state information of the SPKS switch, and drives each signal responder to an accurate working position;

(6) the full-automatic running vehicle which completes the overhaul completes the departure operation under the guidance of each signal responder.

Technical Field

The invention belongs to the technical field of rail transit vehicle maintenance, and particularly relates to a signal responder displacement system of an automatic vehicle base and a control method thereof.

Background

With the continuous development of the full-automatic driving technology, the application of the full-automatic driving technology in urban rail transit is more and more extensive, more and more automatic vehicle bases enter actual operation, the efficiency and the safety of an urban rail transit operation system are effectively improved, and the capability of accurately stopping trains is improved. However, with the application of the fully-automatic running vehicle, a signal transponder must be installed in the overhaul trench of the train inspection warehouse in the vehicle base to ensure that the position information of the train is accurately, timely and reliably acquired, and then the fully-automatic running vehicle can be accurately stopped in the vehicle base.

In general, a signal transponder in a parking train and examination room of a vehicle base is installed in the center of a track bridge of an inspection trench, and is often about 120mm away from the top surface of a steel rail. The conventional mounting of the transponder is to use a support means which is raised from the ground or which spans the access trench, thereby locating the transponder at a reasonable height. Although the above-mentioned mode can satisfy the demand that sets up of signal transponder to a certain extent, however, because signal sensor occupies the space of overhauing the trench great, traditional mounting means is fixed installation, can block to overhaul operating personnel and the automation and overhaul the current of robot in overhauing the trench, influences the maintenance efficiency of full-automatic operation vehicle, can't fully satisfy the maintenance demand of full-automatic operation vehicle.

Disclosure of Invention

Aiming at one or more of the defects or the improvement requirements of the prior art, the invention provides a signal responder displacement system of an automatic vehicle base and a control method thereof, which can accurately realize the synchronous control of the signal responders in each maintenance trench in the automatic vehicle base, meet the different functional requirements of the maintenance trench during the vehicle warehousing and the vehicle maintenance, ensure the safety and the accuracy of the fully-automatic running vehicle warehousing and parking, and improve the maintenance efficiency of the fully-automatic running vehicle.

In order to achieve the above object, according to one aspect of the present invention, there is provided an automatic transponder shifting system for a vehicle base, comprising a main console, a sub console and a shifting device;

As a further improvement of the present invention, a sensing component is disposed corresponding to the displacement device, and is electrically connected to the corresponding sub-console, and is configured to detect whether the state switching of the displacement device is in place and feed back the detection result to the sub-console.

As a further improvement of the invention, an alarm component is arranged corresponding to the sensing component and used for alarming when the sensing component detects that the state switching of the displacement device is not in place.

As a further improvement of the invention, a plurality of parking positions are arranged in the maintenance subarea, the branch control console can independently control all the position-changing devices in any parking position to switch the state, and the branch control console can simultaneously control all the position-changing devices in each parking position to switch the state.

As a further improvement of the present invention, the displacement device is a self-resetting displacement device, which comprises a substrate, a rotating assembly and a rotating driving assembly;

As a further improvement of the present invention, the rotary drive assembly comprises a drive member and a retraction member;

As a further improvement of the present invention, the rotating assembly includes a first rotating lever and a second rotating lever;

one end of the first rotating rod is connected to the base plate through the rotating piece, and the other end of the first rotating rod is connected with the carrying assembly;

As a further improvement of the invention, the driving part comprises a counterweight and a driving rope, and a counterweight mounting plate is arranged corresponding to the counterweight;

As a further improvement of the invention, the retraction part comprises a servo motor, a retraction wheel and a retraction rope;

In another aspect of the present invention, there is provided a control method of the above-mentioned automatic vehicle base station transponder shifting system, comprising the steps of:

(6) the full-automatic running vehicle which completes the overhaul completes the departure operation under the guidance of each signal responder.

The above-described improved technical features may be combined with each other as long as they do not conflict with each other.

Generally, compared with the prior art, the technical scheme conceived by the invention has the following beneficial effects:

(1) the signal responder displacement system of the automatic vehicle base forms a three-level control system of the signal responder displacement system through the corresponding arrangement of the main control console, the sub-control console and the displacement device, and then effectively realizes the accurate control of all the displacement devices on corresponding parking positions in corresponding maintenance subareas through the electrical connection of the main control console and the sub-control consoles in different maintenance subareas, the electrical connection of the sub-control console and all the displacement devices in the same maintenance subarea and the information interaction of SPKS switches in the sub-control console and the maintenance subareas, realizes the accurate acquisition of the states of the SPKS switches by the sub-control console, accurately identifies the maintenance subareas and can switch between a manned area and an unmanned area, ensures the accurate work of the signal responder in the unmanned area state and the accurate folding in the manned area state, and ensures the accurate parking of a full-automatic running vehicle, On the basis of operation, normal maintenance work of maintenance operators and/or maintenance operation equipment is fully guaranteed, the safety and the accuracy of maintenance of the full-automatic operation vehicle are improved, and the maintenance efficiency of the full-automatic operation vehicle is guaranteed;

(2) according to the signal responder displacement system of the automatic vehicle base, the in-place state of the displacement device can be accurately detected through the corresponding arrangement of the sensing component and the alarm component, and the rapid adjustment of the in-place state of the displacement device can be realized by matching with the corresponding matching work of the SPKS switch and the sub-control console, so that the working accuracy of the signal responder displacement system is fully ensured, and the guarantee is provided for the safe running of a full-automatic running vehicle, the smooth maintenance of maintenance operation equipment and maintenance operation personnel;

(3) according to the signal transponder shifting system of the automatic vehicle base, the shifting device is correspondingly arranged through the base plate, the rotating assembly, the rotary driving assembly and other components, so that the signal transponder can be retracted below the steel rail or extended between two steel rails of the maintenance trench under the driving of the rotating assembly, the accurate guiding during the warehousing of the full-automatic running vehicle and the smoothness recovery of the maintenance trench after the warehousing and the stability stopping of the full-automatic running vehicle are realized, the warehousing and parking safety of the full-automatic running vehicle are ensured, conditions are provided for the maintenance of subsequent maintenance operators and/or automatic maintenance equipment in the maintenance trench, the problem that the signal transponder in the maintenance trench of the automatic vehicle base obstructs the maintenance operation is solved, and the maintenance efficiency of the full-automatic running vehicle is effectively improved;

(4) the signal responder displacement system of the automatic vehicle base enables the rotating assembly to accurately realize the driving switching between the working state and the folding state through the corresponding arrangement of the driving part and the withdrawing part in the rotating driving assembly; meanwhile, through the combined arrangement of mechanisms such as a counterweight, a driving rope, a pulley and the like in the driving part, the rotating assembly can pull the counterweight to a certain height in a folded state, and further, as long as the retracting part releases the locking of the rotating assembly, the counterweight can drive the rotating assembly to a working state under the action of self weight; even if the device is powered off or the system fails, the signal responder can be driven by the driving part to realize automatic reset, so that the accuracy of driving control of the displacement device is fully ensured, and the normal vehicle receiving and dispatching operation of an automatic vehicle base is further ensured;

(5) the signal transponder displacement system of the automatic vehicle base is simple in system and convenient and fast in control method, can accurately realize reliable guide of full-automatic running vehicles when the full-automatic running vehicles enter and exit the automatic vehicle base, ensures safety and stability of warehousing and parking of the full-automatic running vehicles, fully ensures the normal condition of overhauling ditches when overhauling operators and overhauling equipment carry out overhauling operation on the full-automatic running vehicles on the basis, improves overhauling quality and overhauling efficiency of the full-automatic running vehicles, reduces overhauling cost of the full-automatic running vehicles, and has good practical value and popularization value.

Drawings

FIG. 1 is a schematic diagram of the system components of a transponder indexing system in an embodiment of the present invention;

FIG. 2 is a schematic control flow diagram of a transponder indexing system in an embodiment of the present invention;

FIG. 3 is a schematic view of an embodiment of the invention with the indexing device deployed in a manhole;

FIG. 4 is a schematic view of an indexing device of an embodiment of the present invention folded in an access trench;

FIG. 5 is a top view of the indexing device in accordance with an embodiment of the present invention;

FIG. 6 is a side view of the structure of the indexing device in an embodiment of the present invention;

FIG. 7 is a bottom view of the indexing device in accordance with an embodiment of the present invention;

FIG. 8 is a bottom view of the indexing device of an embodiment of the present invention;

FIG. 9 is a rear view of the structure of the indexing means in an embodiment of the present invention;

FIG. 10 is a top plan view of the indexing device of an embodiment of the present invention;

FIG. 11 is a side view of the deflection unit of an embodiment of the present invention in the configuration when it is retracted;

in all the figures, the same reference numerals denote the same features, in particular:

1. a substrate; 2. a counterweight mounting plate; 3. a rotating assembly; 4. a rotary drive assembly; 5. mounting a component; 6. a steel rail; 7. a bridge pier;

101. a fastener; 102. a rotating member;

201. a first pulley; 202. a second pulley; 203. a third pulley;

301. a first rotating rod; 302. a second rotating rod; 303. a guide member; 304. a slider; 305. a limiting member; 306. a blocking member;

401. balancing weight; 402. a drive rope; 403. a servo motor; 404. retracting the wheels; 405. retracting the rope;

501. a connecting rod; 502. a mounting seat; 503. a signal transponder.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Example (b):

referring to fig. 1, the shift system of the automatic vehicle base transponder in the preferred embodiment of the present invention is a three-level control system, which includes a main console, a sub-console, and a shift device.

The master control station is preferably one, is arranged in a waiting room of a parking train inspection library of an automatic vehicle base, is responsible for monitoring the state of each node and gives an alarm to an abnormal node; meanwhile, the master control station is also responsible for sending commands to all nodes, so that the purpose of remote control of all nodes is achieved. Common remote control processes include, but are not limited to, power on/off control, retraction control of the displacement device, status monitoring of the displacement device, and the like.

The sub-control panels are arranged in one-to-one correspondence with the service zones, while the automated vehicle base in the preferred embodiment is often provided with a plurality of independent service zones, i.e., a plurality of sub-control panels. Meanwhile, a power supply control box is respectively arranged in each maintenance subarea and is mainly used for power transmission, and a 220VAC power supply is converted into a 24VDC power supply to be used for supplying power to each position changing device. In the setting process, the power control box is electrically connected with the master console, and can receive commands issued by the master console to realize the function of the intelligent switching power supply.

When the device is actually arranged, the power supply control box and the branch control panel can be integrally arranged to form a branch control console arranged in each maintenance subarea, so that the control and adjustment of each displacement device in each maintenance subarea can be realized. In a preferred embodiment, the main console is electrically connected with each sub console, and can perform corresponding information communication with each other, so as to realize the interaction of instructions and signals. Further preferably, the main console and the sub-console are linked by wireless communication, and the sub-console and each displacement device are linked by wired communication.

Further, in actual installation, a plurality of parallel service tracks are often simultaneously installed in one service partition, for example, in a preferred embodiment, two service tracks are simultaneously installed in the same service partition. Furthermore, it is preferable for the same service aisle to be able to park multiple trains simultaneously, i.e. the service aisle includes multiple parking spaces, for example, in the above-mentioned preferred embodiment, the number of parking spaces in the same service aisle is two, i.e. the number of parking spaces in one service bay is four.

Correspondingly, a plurality of signal responders are respectively arranged in each parking row, each signal responder is respectively carried on the position changing device, and the signal responders can be switched between the working position and the folding position through the control of the position changing device. In actual setting, the number of the signal transponders in one parking space can be set to be different, for example, 3, 5 or 8 at intervals, according to the type of the parked train, the type of the signal system and other actual design requirements.

Furthermore, the sub-control console in each maintenance subarea is in communication connection with an SPKS Switch (Staff Protection Key Switch) in the maintenance subarea, so that the sub-control console can accurately acquire the state of the SPKS Switch, accurately identify the switching between a 'manned area' and an 'unmanned area', further control each displacement device to execute corresponding actions, and realize accurate guidance during the warehousing of the fully-automatic running vehicle and smooth recovery during the warehousing and stable-parking maintenance of the vehicle.

It should be noted that, the SPKS switch is disposed corresponding to an inlet and an outlet of the maintenance partition, and the connection or disconnection between the internal and external areas of the maintenance partition can be realized by turning on or turning off the SPKS switch, that is, the switching between the "occupied area" and the "unoccupied area" is realized.

Specifically, before the maintenance operation, the maintenance operator goes to a train yard to schedule a "please spot", the train yard schedule opens the authority of the designated maintenance subarea, and the maintenance subarea is allowed to be changed from an unmanned area to an occupied area. Then, the maintenance worker turns on the SPKS switch of the maintenance partition with a key, and changes the "unmanned zone" to the "occupied zone". Meanwhile, the sub-console recognizes the state of the SPKS switch at the moment and sends a control instruction to each displacement device, so that each displacement device is changed from a normal working state to a folded state.

After the maintenance operation, the maintenance operation personnel and the maintenance operation equipment leave the maintenance subarea, and the SPKS switch is closed, namely, the maintenance subarea is changed from an 'occupied area' to an 'unoccupied area'. At this time, the sub-console recognizes the state of the SPKS switch, and controls each displacement device to change from the folded state to the operating state. And then, the overhaul operator arrives at the yard to dispatch to remove the 'sales point', the overhaul subarea in the yard dispatching and confirming system is in an 'unmanned area' state, and the train can wake up, automatically dispatch and the like at any time.

Further, for the displacement device in the preferred embodiment, in addition to the design of its own structure, a control unit and a communication unit are further provided for each displacement device, and the control unit preferably employs a microelectronic controller, which is electrically connected with the sub-control panel, and is responsible for integrating data and executing a preset command, thereby controlling the displacement device to realize the switching between the working state (also referred to as "initial state") and the folded state. Meanwhile, the communication unit is responsible for data interaction with the sub-control panel so as to feed back the state information of the displacement device to the sub-control console. The switching between the working state and the folding state of the signal responder can be accurately realized by utilizing the matching of the two units and the actuating mechanism on the position changing device.

For the transponder shifting system in the preferred embodiment, it preferably has the following functions after the setup is completed:

(1) possess the wireless communication function: the main control console and each node (power control box and position changing device) are interconnected by using LORA communication technology, so that the state of each node can be monitored, and a command can be sent to control each node to work;

(2) possess the automatic function that shifts: according to the command of the sub-console, the position changing device can execute the extending or folding action of the signal responder, and the requirements of the receiving and dispatching operation or the maintenance operation of the full-automatic running vehicle are met.

(3) Having an enabling function: the train parking position or the maintenance subarea is taken as a control unit, and the master control console has the capability of enabling all the displacement devices in the parking position or the maintenance subarea to be enabled as a whole so as to avoid an abnormal contraction event at the stage of train entering a garage;

(4) possess with yard scheduling and SPKS communication function: the master control station has the function of communicating with a train yard dispatching system so as to determine the specific parking train position information of the train entering and stopping; the sub-control console has the function of acquiring SPKS switch state information and identifies relevant information of a maintenance sub-area as an unmanned area or an occupied area;

(5) possesses self-protection function: each power supply control box has the functions of power supply overload, short circuit and surge protection; the displacement device has the protection functions of buffering, loosening prevention and the like.

More specifically, the arrangement form of the displacement device in the displacement system in the overhaul trench is shown in figures 3-4. Wherein the displacing means shown in fig. 3 is in an operative state; the indexing device shown in figure 4 is in a folded state. Under the working state, the signal transponder 503 extends into the upper part of the ground of the overhaul trench for a certain distance, so that the accurate warehousing and parking of the fully-automatic running vehicle are guaranteed, and the precise parking of the fully-automatic running vehicle in the vehicle base is realized. Under fold condition, the signal transponder 503 is folded to the below of rail 6, keeps away from and overhauls the trench to this is guaranteed to overhaul the unobstructed of trench, ensures that overhaul operating personnel and maintenance operation equipment can be current smoothly overhauing the trench.

As shown in fig. 5 to 11, the displacement device in the preferred embodiment includes a base plate 1, a counterweight mounting plate 2, a rotating assembly 3, and a rotation driving assembly 4. The displacement device is preferably arranged between two piers 7 in the overhaul trench and is fixed below the steel rail 6 through the base plate 1. Meanwhile, the rotating assembly 3 is rotatably connected to the base plate 1, and can be driven by the rotating driving assembly 4 to rotate, so that the folding state and the working state can be switched.

In particular, the base plate 1 in the preferred embodiment is a plate-like structure that is disposed at the bottom of the rails 6 for providing support for the placement of other components of the indexing device. In the preferred embodiment, the base plate 1 is fixed to the bottom of the rail 6 by two fasteners 101 respectively disposed on two lateral sides of the rail 6, and the fasteners 101 are in an "L" shape, one end of each fastener is fixed to the base plate 1, and the other end of each fastener is fastened to the bottom of the rail 6. Through the arrangement, the base plate 1 can be arranged, and the interference to a track running area after the base plate 1 is arranged can be avoided.

Further, other components of the displacement device in the preferred embodiment are disposed below the base plate 1, wherein a rotating member 102 is disposed on the bottom surface of the base plate 1 near one end of the manhole corresponding to the rotating assembly 3 for rotatably connecting the end of the rotating assembly 3. In actual implementation, the rotating member 102 is a hinged member as shown in fig. 8; it is obvious, however, that the above-mentioned rotating member 102 may be replaced by other configurations in the prior art according to actual needs, as long as the rotation control of the end of the rotating assembly 3 is satisfied.

Meanwhile, in a preferred embodiment, the rotating assembly 3 includes a first rotating lever 301 and a second rotating lever 302, and one end of the first rotating lever 301 is connected to the rotating member 102, so that a driving process of rotating around the end portion can be realized under the rotation of the rotating member 102. Accordingly, one end of the second rotating rod 302 is fixedly connected to one side of the first rotating rod 301, and can rotate synchronously with the first rotating rod 301.

In practical arrangement, the second rotating lever 302 is made to be in a horizontal state when the rotating assembly 3 is in the folded state, and is made to be in a vertical state when the rotating assembly 3 is in operation, i.e. the rotating assembly 3 is rotated by 90 ° when being converted from the folded state to the operating state. Obviously, the setting angle can be adjusted according to actual needs, which can be determined according to specific situations.

Further, a guide 303 is provided on the second rotating lever 302 along the length direction thereof, and a slider 304 is provided corresponding to the guide 303, the slider 304 being fitted on the guide 303 and being reciprocally slidable along the axis of the guide 303. In practical arrangement, the combination of the sliding member 304 and the guiding member 303 may be a combination of a sliding block and a sliding rail, as shown in fig. 10, or a combination of a guide groove and a sliding pin, which may also be preferable according to practical situations.

Preferably, a limiting member 305 is disposed on an end of the first rotating lever 301 or the second rotating lever 302 close to the base plate 1, and correspondingly, a blocking member 306 is disposed on a bottom of the base plate 1, so that the limiting member 305 just matches and abuts against the blocking member 306 after the first rotating lever 301 rotates from the folded state to the position. For example, in the preferred embodiment shown in fig. 5, the limiting member 305 and the blocking member 306 are respectively of a plate-like structure extending horizontally, the limiting member 305 is of a plate-like structure extending longitudinally along the steel rail 6, and the blocking member 306 is of a plate-like structure extending transversely along the steel rail 6, which are abutted and matched just after the rotating assembly 3 is rotated in place, so as to avoid over-rotation of the rotating assembly 3 and ensure that the transponder 503 on the carrying assembly 5 can be rotated in place accurately. Obviously, in practical arrangement, another blocking member may be disposed on the bottom surface of the other end of the base plate 1 for limiting the blocking when the rotating assembly 3 is retracted.

Further preferably, when the blocking member 306 is actually disposed, one end of the blocking member 306 abutting against the limiting member 305 may be set as an elastic end, so that the contact between the blocking member 306 and the limiting member 305 may be buffered to some extent. For example, the blocking member 306 is configured as a spring damper to ensure that the rotating assembly 3 can be effectively damped after rotating to the proper position, thereby avoiding over-rotation of the rotating assembly 3. Of course, it is understood that the spring damper and the blocking member 306 may be provided at the same time, and the blocking member provided when the corresponding rotating assembly 3 is retracted may be provided in the above-described damping manner.

In addition, in practical application, a sensing assembly can be provided for the working state and/or the folding state of the rotating assembly 3 to display whether the rotating assembly 3 is rotated or retracted. And preferably, the alarm components are arranged corresponding to the sensing components, once the sensing components do not move in place, the alarm can be given through the corresponding alarm components, and then the maintainers can perform corresponding control and adjustment operation. Meanwhile, the sensing assembly and the alarm assembly are respectively and electrically connected with the corresponding sub-control consoles, so that the working states of the sensing assembly and the alarm assembly can be accurately fed back to the sub-control consoles and fed back to the main control console through the sub-control consoles, and the state monitoring of the main control console on all the displacement devices in each maintenance partition is realized.

Specifically, in a preferred embodiment, a pressure sensor is disposed at the bottom of the substrate 1 with respect to the limiting member 305, so that after the rotating assembly 3 rotates to the right position, the limiting member 305 may abut against the pressure sensor, and whether the rotating assembly 3 rotates to the right position is determined by the state of the pressure sensor. Meanwhile, another pressure sensor may be disposed below the substrate 1 with respect to the connecting rod 501 of the rotating assembly 3 or the carrying assembly 5, so that after the rotating assembly 3 is retracted to the proper position, the rotating assembly 3 or the connecting rod 501 may correspondingly abut against the pressure sensor, and it is determined whether the rotating assembly 3 is retracted to the proper position.

Obviously, the above sensing assembly can be implemented in other forms according to the actual design and application requirements, for example, in another preferred embodiment, optical sensors are respectively disposed on the rotating assembly 3 and the substrate 1, and one of the optical sensors emits sensing light, and the other optical sensor receives the sensing light, so as to determine whether the rotating assembly is rotated in place. Similarly, a similar optical sensor may be provided corresponding to the retraction of the rotating assembly 3, so as to determine whether the folded state is in place.

Referring to fig. 5 to 10, in the preferred embodiment, a rotation driving assembly 4 is further disposed corresponding to the rotation assembly 3, and is mainly used for the rotation driving and the rotation retracting of the rotation assembly 3. The drive component comprises a counterweight 401 and a drive rope 402, and a counterweight mounting plate 2 is arranged corresponding to the drive component, the plate surface of the counterweight mounting plate 2 is arranged vertically, and the plate surface of the counterweight mounting plate 2 is preferably perpendicular to the longitudinal direction of the steel rail 6, namely the plate surface of the steel rail 6 extends in the transverse direction of the steel rail 6.

Further specifically, the top of the counterweight mounting plate 2 is fixed on the bottom surface of the base plate 1, and at least two pulleys are provided on a side thereof close to the rotating assembly 3 for matching the operation of the driving rope 402. In the preferred embodiment, the number of the pulleys is 3, that is, the first pulley 201, the second pulley 202, the third pulley 203, the second pulley 202 and the third pulley 203 are arranged at one end of the counterweight mounting plate 2, the first pulley 201 is arranged at the other end of the counterweight mounting plate 2, then one end of the driving rope 402 is matched with the counterweight 401, the other end of the driving rope is wound around the bottom of the second pulley 202 after being wound above the first pulley 201, and is matched and connected on the sliding member 304 after being wound above the third pulley 203.

Through the arrangement, the counterweight 401 can pull the driving rope 402 to move under the action of self weight, and then the unlocking rotating assembly 3 is driven to a working state from a folding state. Obviously. In actual installation, the driving rope 402 can be driven to rotate only by connecting one end of the driving rope to the end of the second rotating rod 302, so that the sliding member 304 can be regarded as a connecting member fixed to the end of the guiding member 303. Although the above arrangement can satisfy the actual driving requirement, the length of the driving rope 402 is long, and the driving stroke of the counterweight 401 is also long. Therefore, it is also preferable to attach the end of the drive cord 402 to the movable slider 304 when actually setting up.

Further, the retracting member in the preferred embodiment is disposed at the bottom of the end of the base plate 1 facing away from the rotator 102 for retracting the rotating assembly 3 from the working state. In practice, the retraction member may be provided in different forms, depending on the design requirements.

For example, in a preferred embodiment, the retracting means includes a servo motor 403, a retracting wheel 404, and a retracting rope 405, as shown in fig. 6, one end of the retracting rope 405 is connected to the back of the first rotating lever 301, and the other end thereof is connected to the retracting wheel 404. Meanwhile, the retracting wheel 404 is coaxially matched with the output shaft of the servo motor 403, the retracting rope 405 can be wound back on the retracting wheel 404 through the work of the servo motor 403, further, the retracting of the rotating assembly 3 is realized, and after the rotating assembly 3 is retracted in place, the rotating assembly 3 can be kept in a folded state only by locking the servo motor 403. Once the servo motor 403 is unlocked, the rotating assembly 3 can be rapidly extended by the counterweight 401, and thus self-reset.

Obviously, the retraction member may be provided in other forms than the above, for example, in another preferred embodiment, the retraction member is provided in the form of a telescopic cylinder, one end of which is hinged to the bottom of the base plate 1, and the end of the output shaft thereof is hinged to the back of the first rotating rod 301, and the retraction of the rotating assembly 3 can be achieved by the retraction of the output shaft. It is clear that when the retraction member is provided in the above-described manner, it may also essentially function as a drive member, i.e. by extension of the output shaft, to switch the rotation assembly 3 from the folded state to the operative state.

Further, a mounting unit 5 for mounting the transponder 503 is provided on the rotating unit 3. In a preferred embodiment, the carrying assembly 5 comprises a connecting rod 501 and a mounting seat 502, one end of the connecting rod 501 is connected to the first rotating rod 301, the end of the other end is provided with the mounting seat 502, and the signal transponder 503 is arranged on the mounting seat 502. Preferably, when the rotating assembly 3 is rotated to the position, the connecting rod 501 is just in the horizontal state, and the mounting seat 502 supports the signal transponder 503 at the middle position of the two rails 6 (the top surface of the signal transponder 503 is lower than the rail surface height of the two rails 6 by a certain distance, usually 120 mm), and the top surface of the signal transponder 503 is horizontally arranged. Accordingly, when the rotating assembly 3 is in the folded state, the connecting rod 501 is preferably in the vertical state, and the top surface of the transponder 503 is in the vertical state, as shown in fig. 11.

The preferred embodiment of the self-resetting indexing device is shown in its operative position in fig. 6 and in its collapsed position in fig. 11. The working process is as follows:

when the displacement device needs to be switched from the folded state to the working state, the rotating assembly 3 can be driven by the counterweight 401 to realize self-resetting and rotate to the working state only by releasing the locking of the servo motor 403. After the device is stretched out in place, whether the device is stretched out in place or not can be judged through the corresponding sensing assembly on the displacement device.

On the contrary, when the position changing device needs to be switched from the working state to the folding state, only the servo motor 403 needs to be controlled to work, the retracting rope 405 is retracted to the retracting wheel 404, at the moment, the second rotating rod 302 rotates to pull the driving rope 402, so that the counterweight 401 is lifted by a certain height under the driving of the driving rope 402 until the corresponding sensing component on the position changing device judges that the device is retracted to the place, and then the servo motor 403 is locked, and the position changing device can be locked in the folding state.

For the preferred embodiment automated vehicle-based transponder shifting system, the control process is preferably as shown in FIG. 2, and includes the steps of:

(1) before a fully-automatic running vehicle enters a garage, determining station track information to be parked by a yard dispatching system, and ensuring that an SPKS switch of a maintenance partition where the station track is located is in a closed state; the sub-console acquires the SPKS closing state information to ensure that all the displacement devices in the corresponding parking lot are in working states, namely the corresponding signal responder 503 simultaneously extends between two steel rails 6 of a parking section to prepare for the warehousing guidance of the fully-automatic running vehicle;

if the sensing assembly in the parking lot displays that part or all of the deflection devices are not accurately in the working state, the corresponding sub-control panel needs to be controlled by the master console preferentially so as to adjust the corresponding deflection devices to be in the accurate working state; or after the SPKS switch is activated, a maintenance operator enters a parking position to manually adjust the displacement device, and after the adjustment is finished, the SPKS switch is closed.

(2) The full-automatic running vehicle enters a garage, and accurate deceleration and parking are realized under the guidance of a corresponding signal responder 503 in a parking position;

(3) the maintenance operator carries out point-requesting operation, activates the SPKS switch, and changes the maintenance subarea from an unmanned area to an occupied area; meanwhile, the sub-console controls each displacement device to switch states by acquiring the state information of the SPKS switch, namely controls each withdrawing component to work, carries out folding operation of each displacement device, withdraws the rotating assembly 3 of the displacement device from the working state, and the signal transponder 503 is retracted to the lower part of the steel rail 6 along with the rotating assembly 3, so that the smoothness of the recovery of the parking position is realized, and conditions are provided for maintenance operation in the maintenance trench.

After the retraction of the transponder 503 is completed, the sensing components detect whether the transponder 503 is retracted in place; if the column is in place, starting the subsequent column inspection operation; if not, alarming (such as sound and light alarming) is carried out through the alarming assembly, and then the corresponding withdrawing component is controlled through the sub-control panel to carry out adjustment operation until each sensing assembly respectively displays that each position changing device is retracted in place.

(4) The maintenance operation personnel and/or the maintenance operation robot enter the maintenance trench, and train inspection operation is carried out on the train until the train maintenance is completed; thereafter, the service operator and/or the service robot is removed from the service trench.

(5) And (3) performing 'pin point' operation by a maintenance operator, closing the SPKS switch, and converting the parking position from an 'occupied area' to an 'unoccupied area'. Then, the sub-console acquires the state information of the SPKS switch, and controls each displacement device to perform state switching, that is, to release the lock of each retraction member on the rotating assembly 3, and to complete the resetting of the rotating assembly 3 by the driving member (for example, to pull the rotating assembly 3 to rotate in place by the gravity of the counterweight 401).

If the sensing assembly detects that the displacement device has the inaccurate condition that resets, then report to the police through the warning subassembly, afterwards, activate the SPKS switch, make the parking position of being listed as the position change into "someone district", later overhaul operating personnel can get into to overhaul the trench and overhaul the adjustment, perhaps carry out adjustment control through dividing the control panel, show the completion that resets until the sensing assembly. Thereafter, the process in the above step (5) is performed again to perform the "pinning point" operation.

(6) The full-automatic running vehicle which completes the overhaul completes the departure operation under the guidance of each signal responder.

According to the signal responder displacement system of the automatic vehicle base, a three-level control system consisting of a master control station, a slave control station and a displacement device is arranged in the automatic vehicle base, so that the signal responder can accurately guide a full-automatic running vehicle to enter a garage and stop, the signal responder can be folded and retracted after the vehicle enters the garage and stops stably, the smoothness of a maintenance trench in the vehicle maintenance process is ensured, the guarantee is provided for the passing of maintenance operators and/or automatic maintenance equipment in the maintenance trench, and the efficiency and the accuracy of the full-automatic running vehicle maintenance are improved; moreover, the control mode of the total control and the sub control of the signal responder displacement system not only enables the displacement devices in each parking row to realize unified control, but also can be respectively controlled according to the requirements, thereby improving the reliability and the flexibility of system control, facilitating the maintenance and the adjustment of the whole control system and having better practical value and popularization value.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

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Signal responder displacement system of automatic vehicle base and control method thereof

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