JP2002234439A - Independent wheel bogie for railway vehicles and its control method - Google Patents

Abstract

(57) [Summary] [Problem] To achieve both a smooth curve passing and a straight running stability by controlling the rotation speeds of left and right wheels. A driving force generated by a motor is distributed by a torque limiter to left and right independent rotating wheels. Torque limiter 7 and left and right independent rotating wheels 4L, 4
The reduction gears 8L and 8R are provided between R and R. Left and right wheels 4L,
The 4R includes left and right braking devices 11L and 11R, respectively. Information about the track on which the truck is traveling is detected by the track sensors 12L and 12R. Orbit sensor 12
The control device 13 individually controls the braking force by the left and right braking devices 11L and 11R according to the shape of the trajectory according to the signals from L and 12R.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an independent wheel bogie for a railway vehicle and a control method thereof, and more particularly to an independent wheel bogie used for a low floor tram for an LRV (Light Rail Vehicle) passing a sharp curve. It is suitable for the control method.

[0002]

2. Description of the Related Art As a prior art of this type, as described in, for example, U.S. Pat. No. 4,941,409 and the drawings, both left and right wheels are driven by a single motor, and the speeds of the left and right wheels are kept the same in principle. Two-axle trolleys are known. In this truck, the torque limiter is used to increase the speed of the wheel on the other side only when there is a large running resistance on the wheel on one side. Is higher than the speed of the wheels on the inner rail, making it easier to pass through a curve.

Further, as described in, for example, Japanese Patent Application Laid-Open No. 8-268277, a rotation speed difference between left and right independent wheels is detected by a sensor, and the left and right wheels are independently controlled in rotation speed so that the difference becomes zero. As described in, for example, Japanese Patent Application Laid-Open No. Hei 7-132823, the amount of deviation of a wheel track (rail) in the normal direction and the attack angle (the difference between the rotational direction of the wheel and the tangent of the track) are described. An angle which is detected by a sensor and the torque of the left and right wheels is independently controlled.

[0004]

However, according to the technology described in the above-mentioned U.S. Pat. No. 4,941,409 and the drawings, the speed of the right and left wheels is changed by using the force received from the track in the curved line. Sliding occurs between them, which may cause wear.

[0005] Also, Japanese Patent Application Laid-Open No. 8-268277,
According to the technique disclosed in Japanese Patent Application Laid-Open No. Hei 7-132823, when the motor cannot generate a desired rotation speed or torque due to a trouble in an electric system or a communication system, there is a possibility that smooth passage cannot be performed. Further, since the left and right wheels are not connected by a mechanical device, stability in a straight line is inferior to that of a normal bogie.

Meanwhile, in the case of a bogie traveling on a sharp curve such as a tram called LRV, independent wheels must be employed in order to absorb slippage by absorbing the difference between the right and left track lengths. Is desirable. However, adoption of independent wheels
From the viewpoint of securing stability in a straight line, a speed difference is easily generated between the left and right wheels, which is disadvantageous.

The present invention has been made in view of the above points, and has an independent wheel bogie for a railway vehicle capable of achieving both smooth curved passage and running stability in a straight line by controlling the rotational speeds of left and right wheels. And a control method thereof.

[0008]

In order to achieve the above object, the invention of claim 1 includes: a) a left and right independent rotating wheel, and a motor for generating driving force of both the left and right independent rotating wheel, A torque limiter that distributes a driving force generated by a motor to left and right independent rotating wheels, and an output of the motor is distributed by the torque limiter, and is an independent wheel bogie for a railway vehicle transmitted to left and right wheels, b) left and right braking devices mounted on each of the left and right wheels; c) trajectory detection means for detecting information about the trajectory on which the bogie is traveling; d) the signal from the trajectory detection means, and the shape of the trajectory And a control device for individually controlling the braking force of the left and right braking devices according to

According to the first aspect of the present invention, when traveling on a straight track or a gently curved track, for example, the left and right braking devices are not individually controlled and a single motor is used. By distributing and transmitting the driving force equally to the left and right wheels via the torque limiter, the left and right wheels run at the same rotational speed. At this time, on a gentle curved trajectory, a speed difference is generated due to the gradient of the tread surface of the wheel, and stable running is expected similarly to the straight trajectory.

On the other hand, for example, when the vehicle approaches a steep curved track, the track detecting means detects information about the track, and applies a braking action to the left and right independent rotating wheels individually by a braking device. At the appropriate torque or speed. Normally, the braking force on the wheels traveling on the inner track side of the curved track is made larger than that of the wheels on the outer track side. When two motors are provided, the driving force for the wheels traveling on the inner track is usually made equal to or smaller than that of the wheels on the outer track. In any case, by giving a large torque difference between the inner track side and the outer track side of the curved track, the torque limiter acts to switch to the state in which the so-called interlock is interrupted, and the rotation speed of the left and right rotating wheels on the inner track side The number of rotations (more precisely, the rotation speed) of the wheels traveling on the wheels on the inner rail side is smaller than the number (more exactly, the rotation speed). In this way, on a steep curved track, the rotation speed of the wheels on the outer rail side becomes faster than that on the inner rail side, and the vehicle runs while turning properly and smoothly.

In addition, the above-mentioned US Pat.
Unlike the case of No. 9, the torque limiter is not controlled by the resistance force that the wheels receive from the track, in other words, the torque limiter is controlled by the braking force applied by the braking device. And the risk of wear is extremely low. Therefore, even if the wheel speed is used for a long period of time, the amount of wear of the wheel is small, so that the difference between the actual speed and the measured speed when, for example, the speed of the wheel is detected by the rotation speed detecting means is small.

Further, the truck can be reduced in size and weight, and it is particularly suitable for application to a low-floor tram with a limited installation space for the truck, and the cost can be reduced and it is economical.

The track detecting means c) detects the curve shape of the track immediately before the wheel approaches the curved track and activates the braking device. In addition to the contact type, the track detecting means irradiates infrared rays or ultrasonic waves. Non-contact type for detecting the shape with the received wave, a device for calculating the track shape using the traveling position / velocity or acceleration, or a device for transmitting the data of the track shape to the control device of the above d) using communication Etc. can be used.

While the information (lateral displacement, attack angle, etc.) from the trajectory detecting means is input to the controller d), the number of rotations and the rotation torque are fed back from the motor, Then, the rotation speed and the rotation torque are fed back, and a signal for controlling the braking force to the brake device and the motor to control the rotation speed and the torque is output to the braking device based on the processing data which is calculated based on all the data and set in advance.

According to the first aspect of the present invention, basically, a driving force from a motor is transmitted to left and right wheels via a torque limiter to cause the vehicle to travel, and under this condition, the braking device is moved on a particularly sharp curved track. In this case, an appropriate speed difference is generated between the left and right wheels by the braking action of the vehicle. Therefore, even if a malfunction occurs in the control, by returning to the state in which the control is not performed, the driving force from the motor is transmitted to the left and right wheels via the torque limiter, so that the vehicle is in the original state in which the vehicle travels. Running can be secured.

Although the speed reducer is not always necessary, the speed reducer may be arranged between the torque limiter and the motor.

According to a third aspect of the present invention, there is provided: A) the left and right independent rotating wheels, the left and right motors that generate driving force for the left and right independent rotating wheels, and the left and right independent rotating wheels via a torque limiter. An independent wheel bogie for a railway vehicle, the output of the left and right motors being transmitted to left and right wheels, respectively; B) left and right braking devices mounted on each of the left and right wheels; A track detecting means for detecting information about a track on which the vehicle is traveling; and D) a control device for receiving signals from the track detecting means and individually controlling braking forces of the left and right braking devices according to the shape of the track. And

The third aspect of the present invention having the above configuration is different from the first aspect of the present invention in that the driving force from the motor is transmitted to the wheels to cause the vehicle to travel, and under this condition, the vehicle is particularly suddenly moved. An appropriate speed difference is generated between the left and right wheels by using one or both of the driving action by the motor and the braking action by the braking device on a curved curved track.

According to a third aspect of the present invention, the left and right motors are provided for the left and right wheels, respectively, and the left and right wheels are interlocked via a torque limiter and an interlocking shaft. It changes like

That is, in a straight track, the right and left wheels are running at substantially the same rotational speed with no torque difference, so that the torque limiter rotates synchronously with the interlocking shaft, while the driving action of the motor or the When a braking effect is generated by the braking device and a torque difference between the left and right wheels is generated, the torque limiter separates the drive when a torque difference between the left and right wheels is generated, and switches to a state in which so-called interlocking is interrupted. As a result, the left and right wheels are independently driven by the corresponding motors, and smoothly travel on curved trajectories under the minimum braking action of the braking device.

Further, when one of the two motors breaks down and becomes idle, the state becomes exactly the same as that of the first aspect of the present invention, which may hinder the running of the vehicle. Absent. Therefore, the invention of claim 2 is disadvantageous in reducing the size and weight by using two motors, but has the advantage that it can run without trouble even if one of the motors fails.

According to the third aspect of the present invention, the speed reducer is not necessarily required, but as described in the fourth aspect, the braking device is disposed between the wheel and the torque limiter, and the braking device and the torque limiter are connected to each other. A speed reducer may be provided between the limiters or between the braking device and the wheels.

With this configuration, the position of the braking device can be changed in accordance with the layout and installation space of the device on the lower surface of the vehicle on which the bogie according to the present invention is installed. The truck can be easily and easily installed even in limited space.

According to a fifth aspect of the present invention, it is preferable that the trajectory detecting means be provided with left and right wheel rotational speed detecting means.

According to this configuration, a driving action or a braking action on each wheel on a curved road or the like can be accurately executed in accordance with the rotation speeds of the left and right wheels detected by the rotation speed detecting means.

According to a sixth aspect of the present invention, the left and right wheels may be provided so as to be independently steerable, and the steering angles of the left and right wheels may be interlocked by a steering connecting shaft.

According to the invention having this configuration, the left and right wheels are steered along the curved path of the track even when traveling on a sharp curve having a turning radius of 30 m or less, such as the track of a low-floor tram. It can turn smoothly and run,
The left and right wheels are mechanically interlocked by an interlocking shaft and are steered at equal angles. Therefore, the driving action or the braking action can be controlled more accurately by detecting the steering angle of the wheel,
Enables smooth running on sharp curves.

According to a seventh aspect of the present invention, there are provided left and right independent rotating wheels, a motor for generating a driving force for both the left and right independent rotating wheels, and a torque limiter for distributing torque to the left and right independent rotating wheels. An output of the motor is distributed by a torque limiter, and is a method for controlling an independent wheel bogie for a railway vehicle to be transmitted to left and right wheels, wherein information on a track on which the bogie is traveling is detected, and the motor is controlled. While driving, the left and right wheels are individually braked according to the shape of the track.

In the control method according to the seventh aspect of the present invention, basically, similarly to the first aspect of the present invention, the vehicle is driven by transmitting the driving force from the motor to the left and right wheels via a torque limiter. In a particularly steep curved trajectory under a condition, the braking device causes an appropriate speed difference between the inside and outside of the curved trajectory on the left and right wheels by a braking action. Therefore, even if a malfunction occurs in the control, by returning to the state in which the control is not performed, the driving force from the motor is transmitted to the left and right wheels via the torque limiter to cause the vehicle to run, and the vehicle becomes stable. Travel is ensured. In addition, in the same manner as described above with respect to the first aspect of the invention, when the vehicle travels on a straight track or a gentle curved track, the individual control for the left and right wheels is stopped, and the driving force from one motor is supplied to the left and right wheels with a torque limiter. By equally distributing and transmitting via the motor, the left and right wheels are driven at the same rotational speed, and stable driving is expected. On the other hand, in traveling on a steep curved track, the rotation speed of the wheels on the outer rail side becomes faster than that of the wheels on the inner rail side due to the braking action, and the vehicle travels while turning properly and smoothly. In addition, since the torque limiter is controlled by the braking force applied by the braking device, there is very little risk that the wheels will wear due to frictional force with the track. The difference between the actual speed and the measured speed when the speed of the wheel is detected by the detecting means is small.

According to the present invention, the left and right independent rotating wheels, the left and right motors independently generating the driving force of the left and right independent rotating wheels, and the left and right independent rotating wheels are connected via a torque limiter. A method for controlling an independent wheel bogie for a railcar in which outputs from the left and right motors are transmitted to left and right wheels, respectively, comprising detecting an information about a track on which the bogie is traveling. The left and right wheels are individually braked or braked according to the shape of the track.

The control method according to the eighth aspect of the present invention is basically similar to the first aspect of the invention, in that even if a malfunction occurs in the control, the control is returned to a non-controlled state, so that the drive from the left and right motors can be performed. Since the power is transmitted independently to the left and right wheels to bring the vehicle into a running state, stable running can be ensured. In the same manner as in the second aspect of the present invention, the left and right wheels are running at substantially the same ground angle rotation speed with no difference in torque in the straight track, so that the torque limiter rotates synchronously with the interlocking shaft. On the other hand, in a curved track or the like, a driving action by a motor or a braking action by a braking device occurs on wheels traveling on a track on the outer track side and wheels traveling on the inside,
When a difference in rotational speed and torque between the left and right wheels occurs, the torque limiter separates the driving of the left and right wheels and switches to a state in which the so-called interlock is cut off, so that the left and right wheels are driven by the corresponding individual motors. Driven independently,
In addition, the vehicle travels smoothly on a curved track under the minimum braking action of the braking device. Moreover, even if one of the left and right motors breaks down, the state becomes exactly the same as that of the above-mentioned invention, and there is no hindrance to the running of the vehicle.

[0032]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic view showing an independent wheel bogie for a railway vehicle according to the present invention.

The bogie 1 has a bogie frame 3 for supporting a vehicle body (not shown) via pillow springs 2L and 2R. Left and right wheels 4L and 4R, which are independent drive wheels, are connected to the bogie frame 3 by primary spring elements. A low-floor frame 5 is attached via a (not shown) rotatably about a horizontal axis.

The output from one motor 6 for rotationally driving the left and right wheels 4L, 4R is a torque limiter 7
(Left and right) by a (differential device), the left side is directly transmitted to the left wheel 4L via the speed reducer 8L, while the right side is transmitted via the torsion shaft 9 (interlocking shaft) and via the speed reducer 8R. And transmitted to the right wheel 4R to rotate them.

The torque limiter 7 is configured to output the same speed to the left and right wheels 4L and 4R in principle. However, when there is a large rotation resistance of a certain fixed value or more in either of the left and right output shafts, the output is performed so that the speed on the opposite side becomes larger.

The left and right wheels 4L and 4R are provided with left and right braking devices 11L and 11R which can be controlled independently. The trolley 1 is provided with trajectory sensors 12L and 12R which are attached to the trolley frame 3 and detect a lateral displacement or an attack angle from the relative position of the trajectory and the left and right wheels 4L and 4R in contact with or in contact with the trajectory. One or more track sensors may be arranged. The trajectory sensor 12
Instead of L and 12R, a speed sensor for measuring the speed of the left and right wheels 4L and 4R may be provided, or both may be provided.

The track shape (track radius and track interval) is calculated from the measured values (lateral displacement, attack angle) of the track sensors 12L and 12R, and the left and right braking devices 11L, 11R and 11R are calculated according to the values indicated by the speed sensors. It has a control device 13 (orbit detection means) that transmits an operation command to the motor 6 independently. Also, the signals from the rotation speed sensors 14L and 14R (rotation speed detecting means) for detecting the rotation speeds of the wheels 4L and 4R also correspond to the rotation speeds of the left and right wheels 4L and 4R detected by the rotation speed sensors 14L and 14R. The input is made to the control device 13 so that the braking action on the left and right wheels 4L, 4R on a curved road or the like can be accurately executed.

As shown in FIG. 2, the control device 13
The signal from the track sensors 12L and 12R is received to detect the shape of the track (track shape). Depending on the shape of the orbit,
A speed / torque signal or a braking force signal as a control signal is sent to the motor 6 or the braking devices 11L and 11R to control them. The braking devices 11L and 11R apply a braking force to the wheels 4L and 4R based on the braking force signal, and perform torque control. The output of the motor 6 whose speed / torque has been controlled is
And the torque of the left and right wheels 4L, 4R is controlled via the torque limiter 7. Information on the position / speed / torque for the left and right wheels 4L and 4R is also fed back to the control device 13.

According to such a configuration, when the bogie 1 travels in a straight section or a gentle curved section, a large rotational resistance does not occur on either of the left and right wheels 4L, 4R, and therefore, the braking device 11L , 11R are stopped and the driving force from one common motor 6 is equally distributed and transmitted to the left and right wheels 4L, 4R via the torque limiter 7, so that the left and right wheels 4L, 4R are the same. Speed is provided. Therefore, in a straight section or a gentle curved section, the bogie 1 exhibits the same stability as a normal high-speed rail bogie in which the wheel set is formed of a single rigid body.

On the other hand, the control device 13
When it is determined that the vehicle is traveling in a sharply counterclockwise curved section, for example, based on the signals from L and 12R, the track sensors 12L and 12R
Based on the signal from R, the control device 13 detects the information about the trajectory, and more strongly activates the left braking device 11L installed on the inner rail side of the curved section. Therefore, since the rotation speed of the left wheel 4L on the inner rail side is reduced as compared with the rotation speed of the right wheel 4R on the outer rail side of the curved section, the left wheel 4 on the inner rail side is reduced.
The rotation resistance to L becomes larger than that of the right wheel 4R on the outer rail, and thus, in a sharp curve section, the rotation speed of the left wheel 4L on the outer rail becomes faster than that of the right wheel 4R on the inner rail. Therefore, the vehicle travels while turning properly and smoothly. In this case, since rotational resistance is generated in the left wheel 4L on the inner rail, a greater speed acts on the right wheel 4R on the outer rail than the left wheel 4L on the inner rail due to the differential effect of the torque limiter 7, and The traveling distance of the right wheel 4R on the rail side is the left wheel 4 on the inner rail side.
L and can pass through the curve without abrading the left and right wheels 4L, 4R and the track.

The motor 6 may be driven at an appropriate torque or speed depending on the situation.

The cart 1 can be reduced in size and weight, and is particularly suitable for application to a low-floor tram where the installation space for the cart 1 is limited. Further, the cost can be reduced and it is economical.

In the above-described embodiment, one motor 6 is arranged outside the bogie 1. However, as shown in FIGS. 4 and 5, for example, the torque limiters 7 of the wheels 4L and 4R on one side or both sides are connected to each other. Two motors 6L and 6R (left and right motors) may be arranged between the wheels 4L and 4R to form a bogie that controls the driving force of the left and right motors 4L and 4R with a difference.

In this way, since the left and right wheels 4L and 4R are running at substantially the same rotational speed with no torque difference in the straight track, the torque limiter 7 is synchronized with the torsion shaft 9 as an interlocking shaft. On the other hand, when a braking action is generated by the braking devices 11L and 11R on the curved track, and a difference in rotational speed and a difference in torque between the left and right wheels 4L and 4R is generated, the torque limiter 7 causes the left and right wheels 4L and 4L to rotate.
The drive of the 4R is separated, and the state is switched to a state in which the so-called interlock is interrupted. As a result, the left and right wheels 4L, 4R are independently driven by the corresponding motors 6L, 6R, and travel smoothly on curved trajectories under the minimum braking action by the braking devices 11L, 11R. Therefore, the operation of the torque limiter 7 and the like are exactly the same except for the difference in the way of generating the difference between the left and right torques.

As described above, the motors 6L and 6R are connected to the torque limiters 7 of the left and right wheels 4L and 4R and the left and right wheels 4L and 4R.
If the control device 13 is disposed between the trajectory sensor 12
When the shape of the track is detected based on the signals from L and 12R, for example, when it is detected that the vehicle is traveling on a sharp left turn,
The control device 13 drives the motor 6R on the outer track side so that the torque or the number of revolutions is the same as or larger than the inner track side, and at the same time, drives the braking device 11L on the inner track side to the outer track side. Will work in the same way as
Or it will work harder.

The bogie according to the present invention is described above in the second embodiment.
Although described above, the present invention is not limited to this, and various modifications can be made as described below.

Although the bogie according to the embodiment of the present invention has been described above, the present invention is not limited to this, and various modifications can be made as described below. In the following description, the same components will be denoted by the same reference numerals, and detailed description thereof will be omitted.

(1) In the above embodiment, the braking devices 11L and 11R are connected to the speed reducers 8L and 8R and the wheels 4L and 4R.
However, the present invention is not limited to this. For example, as shown in FIG.
And the torque limiter 7. Further, instead of disposing the reduction gears 8L and 8R between the torque limiter 7 and the wheels 4L and 4R, the reduction gears 8L and 8R are disposed between the motor 6 and the torque limiter 7 or the reduction gear is omitted to constitute the bogie 1A. You may make it.

(2) In the above embodiment, the left and right wheels 4L and 4R, which are independently steerable, are attached to the low floor frame 5 via the primary spring element, but the present invention is not limited to this. Not left and right wheels 4L,
The left and right axles 4L, 4R are connected by linking the steering angles of the left and right wheels 4L, 4R with the steering connection shaft 21.
Shaft 21 so that the extension lines of
Can be arranged to form a truck.

In this case, the track sensors 12L, 12R
Is connected to the bogie frame 3, and the connecting shaft 21 for steering
Either one or both of those linked with are arranged. In addition, in order to complement the track sensors 12L and 12R, a sensor for measuring the turning angle of the left and right wheels 4L and 4R with respect to the bogie 3 may be provided.

(3) In the above embodiment, the carriages 1 and 1A have only one axis, but the present invention is not limited to this, and the carriages 1 and 1A may have two axes. In that case, one shaft has a structure similar to that of the above-described embodiment, and the other shaft may be an independent wheel bogie, or a wheel shaft in which ordinary left and right wheels are combined, or the above-described embodiment. It may have a structure similar to the form.

(4) In the above embodiment, the track sensors 12L and 12R which approach or touch the track to detect the relative positions of the track and the wheels, and the track sensors 12L and 1R
The control device 13 that calculates the track shape (track shape) based on the signal from the 2R is used, but the present invention is not limited to this, and the speeds of the left and right wheels of the independent wheel bogie disposed in front of the bogie are determined. Use a sensor to measure and a device that calculates information about the shape of the track from the speed difference, or output the sensor that measures the centrifugal force acting on the vehicle body or bogie, and obtain information about the shape of the track from the speed of the vehicle. Uses a device that computes, or a device that computes information about the shape of the trajectory from the output of a sensor that measures the traveling distance, speed, or acceleration of wheels and map information that is stored in advance (self-propelled), Using a device that acquires the current position of the vehicle using GPS and obtains information about the shape of the track from map information stored in advance (GPS, use of grounding elements) Alternatively, a device that acquires information about the shape of the orbit using communication with a radio wave transmitting device disposed on the ground (a method of directly transmitting the radius of a curve from a ground child) may be used.

[0054]

The present invention is embodied as described above, and has the following effects.

According to the first aspect of the present invention, for example, when the vehicle travels on a straight track or a gentle curved track, the braking operation of the braking device is stopped and the driving force from one common motor is applied to the left and right wheels. Since the signals are equally distributed and transmitted via the limiter, the left and right wheels can run stably at the same rotation speed. For example, when approaching a steep curved trajectory, the trajectory detecting means detects information about the trajectory, and the braking device individually applies a braking action to the left and right wheels. Is faster than that of the inner wheels, so that the vehicle can run while turning properly and smoothly. Further, unlike the above-mentioned U.S. Patent, the torque limiter is not controlled by the resistance force received by the wheels from the track, in other words, the torque limiter is controlled by the braking force applied by the braking device. There is very little risk of wear due to frictional force with the roller.

According to the second aspect of the present invention, a speed reducer is provided between the torque limiter and the motor.
When installing a reduction gear, it can be installed without difficulty.

According to a third aspect of the present invention, the driving force from the left and right motors is transmitted to the left and right wheels to cause the vehicle to travel. Under this condition, the braking device applies a braking action to the left and right wheels on a particularly steep curved track. An appropriate speed difference can be generated between the inside and outside of the curved track, and at the same time, the running speed of the vehicle can be reduced to an appropriate speed. In addition, when one of the two left and right motors breaks down and becomes idle, the state becomes exactly the same as that of the first aspect of the present invention, and there is no hindrance to the running of the vehicle. .

If the braking device is disposed at the position described in claim 4, the position of the braking device can be changed according to the layout and installation space of the device on the lower surface of the vehicle on which the truck according to the present invention is installed. It can be easily and easily installed in limited space below the floor, especially on low-floor trams.

According to a fifth aspect of the present invention, if the trajectory detecting means is provided with left and right wheel rotational speed detecting means,
According to the rotation speed of each of the left and right wheels detected by the rotation speed detection means,
The braking action on each wheel on a curved road or the like can be accurately executed.

According to a sixth aspect of the present invention, when the left and right wheels are provided so as to be steerable independently of each other and the steering angles of the left and right wheels are interlocked by a steering connecting shaft, the turning radius is 30 m. Even when traveling on the following sharp curves, the left and right wheels can be steered along the curved path of the track, turning smoothly and running, and the left and right wheels are mechanically linked by a connecting shaft and equal angle steering it can. Therefore, the braking action of the braking device can be more accurately controlled by detecting the steering angle of the wheel, and smooth traveling on a steep curved road is enabled.

According to the seventh and eighth aspects of the invention, similarly to the first and second aspects of the present invention, for example, on a sharp curved track, the braking device individually applies to the left and right wheels by a braking device. By providing a braking action, the rotation speed of the wheels on the outer rail side becomes faster than that of the inner wheels, and the vehicle can run while turning properly and smoothly. .

[Brief description of the drawings]

FIG. 1 is a schematic view showing a bogie for a railway vehicle having independent wheels according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a control system of the bogie for a railway vehicle.

FIG. 3 is a view similar to FIG. 1, showing a second embodiment.

FIG. 4 is a view similar to FIG. 1, showing a third embodiment.

FIG. 5 is a view similar to FIG. 1, showing a fourth embodiment.

FIG. 6 is a view similar to FIG. 1, showing a fifth embodiment.

[Explanation of symbols]

 1 cart 2L, 2R pillow spring 3 cart frame 4L, 4R wheels 5 low floor frame 6 motor 6L. 6R Motor 7 Torque limiter 8R, 8L Reduction gear 9 Torsion shaft 11L, 11R Braking device 12R, 12L Track sensor 13 Control device 14L, 14R Rotation speed sensor 21 Steering connection shaft

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[Procedure amendment]

[Submission date] February 13, 2001 (2001.2.1)
3)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0001

[Correction method] Change

[Correction contents]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an independent wheel bogie for a railway vehicle and a control method thereof, and more particularly to an independent wheel bogie for an LRV (Light Rail Vehicle) passing a sharp curve and a control method thereof. .

 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Koji Kadota 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Inside the Akashi Plant (72) Inventor Osamu Oji 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries Inside the Akashi Factory Co., Ltd. (72) Inventor Hirohide Matsushima 1-1, Kawasaki-cho, Akashi City, Hyogo Prefecture Kawasaki Heavy Industries, Ltd. 3D045 AA07 BB40 GG00 GG27

Claims (8)

[Claims] 1. A vehicle comprising: a left and right independent rotating wheel; a motor for generating driving force for both the left and right independent rotating wheel; and a torque limiter for distributing a driving force generated by the motor to the left and right independent rotating wheel. An output of the motor is distributed by a torque limiter and transmitted to right and left wheels, and is an independent wheel bogie for a railway vehicle, wherein left and right braking devices mounted on each of the left and right wheels, and a track on which the bogie travels. Orbit detection means for detecting the information of the trajectory, and a control device for receiving a signal from the trajectory detection means and individually controlling the braking force by the left and right braking devices according to the shape of the trajectory- Independent wheel bogie for rolling stock. 2. Between the torque limiter and a motor,
The independent wheel bogie for a railway vehicle according to claim 1, wherein a speed reducer is provided. 3. The vehicle according to claim 1, further comprising: left and right independent rotating wheels; left and right motors for generating driving forces for the left and right independent rotating wheels; and an interlocking shaft for interlocking the left and right independent rotating wheels via a torque limiter. An independent wheel bogie for railway vehicles in which the output of the motor is transmitted to the left and right wheels, respectively, a left and right braking device mounted on each of the left and right wheels, and a track for detecting information about a track on which the bogie is traveling A detection unit, and a control unit that receives a signal from the trajectory detection unit and individually controls the rotation speed or torque of the left and right motors or the braking force of the left and right braking devices according to the shape of the trajectory. -Independent wheel bogie for railway vehicles characterized by the following. 4. The braking device is disposed between the wheel and the torque limiter, and a speed reducer is disposed between the braking device and the torque limiter or between the braking device and the wheel. The independent wheel bogie for a railway vehicle according to claim 1 or 3, wherein: 5. The independent wheel bogie for a railway vehicle according to claim 1, further comprising a rotation speed detecting means for left and right wheels together with the track detecting means. 6. The independent wheel for a railway vehicle according to any one of claims 1 to 5, wherein the left and right wheels are arranged so as to be independently steerable, and the steering angles of the left and right wheels are linked by a steering connection shaft. Trolley. 7. A motor for generating left and right independent rotating wheels, a motor for generating driving force for both the left and right independent rotating wheels, and a torque limiter for distributing torque to the left and right independent rotating wheels, wherein an output of the motor is Distributed by a torque limiter,
A method for controlling an independent wheel bogie for a railway vehicle transmitted to left and right wheels, comprising detecting information about a track on which the bogie is traveling, and driving the motor while controlling the left and right wheels according to the shape of the track. A method for controlling an independent wheel bogie for a railway vehicle, wherein the wheels are individually braked. 8. The vehicle includes left and right independent rotating wheels, left and right motors that independently generate driving forces for the left and right independent rotating wheels, and an interlocking shaft that interlocks the left and right independent rotating wheels via a torque limiter. A method for controlling an independent wheel bogie for a railway vehicle in which outputs from the left and right motors are transmitted to left and right wheels, respectively, wherein information on a track on which the bogie is traveling is detected, and the information is determined according to a shape of the track. And independently driving or braking the left and right wheels, respectively.