JP5975592B2 - Track running vehicle - Google Patents

Description

  The present invention relates to a track traveling vehicle capable of traveling on a track.

An example of an orbital traveling vehicle is a railroad vehicle. A track-and-rail vehicle is based on a truck body that has tire wheels (road wheels for road travel) and is capable of traveling on the road, and a track traveling device for traveling on the track and the work when entering the track. It is comprised including the rolling device which makes it easy (for example, refer patent document 1). The track traveling device is configured to have a track traveling iron wheel (orbit traveling wheel) that protrudes downward from the vehicle body. The iron wheel is rotatably supported by an iron wheel support member provided on the vehicle body, and the iron wheel can be positioned at a predetermined retracted position and an extended position by displacing the iron wheel support member in the vertical direction by a displacement mechanism. It is configured as follows.

In such a track-and-rail vehicle, when running on a track, the engine is driven to take out engine power by a power take-off mechanism, and the hydraulic pump is driven by this engine power.
A track-and-rail vehicle is known that is configured to drive a hydraulic motor using hydraulic oil discharged from a hydraulic pump and drive an iron wheel by the hydraulic motor to travel on a track.
In addition, since the driving sound of the engine may become a noise in such a rail vehicle, the vehicle body is provided with a battery for track travel, and during the track travel, the engine drive is stopped and power from the track travel battery is reduced. There is also known a track-and-rail vehicle that is configured to drive an electric motor using the electric motor and drive an iron wheel by the electric motor to travel on a track.

JP 2010-126309 A

By the way, when the track traveling vehicle travels on the track, the maximum driving force that can be used as the traveling driving force among the output torque of the traveling motor is determined by the frictional force between the iron wheel and the track. For this reason, even if a high torque is output from the travel motor, it may not be possible to use all of it as travel drive force, and acceleration power (particularly, acceleration power at the time of start) cannot be improved. It was. Also, since the braking force is determined by the frictional force between the iron wheel and the track, if the vertical load acting on the braked iron wheel is not sufficiently large, slippage occurs between the iron wheel and the track, which is desired. There was a problem that it was difficult to slow down.

The present invention has been made in view of such a problem, and an object thereof is to provide a track traveling vehicle capable of improving acceleration force and braking force.

In order to solve the above problems, a track traveling vehicle according to the present invention includes a pair of left and right track traveling front wheels (for example, the front iron wheels 12f and 12f in the embodiment) and a track traveling rear wheel (for example, a track traveling vehicle). The vehicle body having the rear iron wheels 12r, 12r) in the embodiment and the front wheel side electric motor (for example, the front wheel drive motor 13 in the embodiment) for driving the track traveling front wheel.
13) and a rear wheel side electric motor (for example, the rear wheel drive motors 14 and 14 in the embodiment) for driving the track traveling rear wheel, and a traveling operation device for setting the target speed (for example, the track traveling in the embodiment). A travel control device (for example, the travel control unit 52 and the travel in the embodiment) that controls the rotational speeds of the front wheel side and rear wheel side electric motors so as to be the target speed set by the operation lever 43). The state determination unit 52a) and travel speed detection means (for example, the speed detector 55 in the embodiment) for detecting the travel speed of the vehicle body are provided. Then, the travel control device compares the target speed set by the travel operation device with the detected speed detected by the travel speed detecting means in any of the acceleration travel state, the constant speed travel state, and the deceleration travel state. Four-wheel drive control is performed to drive the track traveling front wheel and the track traveling rear wheel in the acceleration traveling state, and in the constant speed traveling state, the track traveling front wheel and the track traveling are performed. Two-wheel drive control for driving one of the rear wheels is performed, and four-wheel braking control for braking the track traveling front wheel and the track traveling rear wheel is performed in the deceleration traveling state.

The track traveling vehicle having the above-described configuration includes an inclination angle detection unit (for example, an inclination angle detector 56 in the embodiment) that detects an inclination angle of the vehicle body with respect to a horizontal plane, and the traveling control device includes the inclination angle detection unit. The gradient of the running track is obtained based on the inclination angle of the vehicle body detected by the vehicle, and when the obtained gradient is an upward gradient exceeding a predetermined gradient, the track running is also performed in the constant speed running state. It is preferable that the four-wheel drive control for driving the front wheels and the rear wheel for track traveling is performed. Further, it is preferable that the two-wheel drive control is performed in the constant speed traveling state when the obtained gradient is a downward gradient exceeding a predetermined gradient.

In the track traveling vehicle having the above-described configuration, the traveling control device drives the wheel on the side on which a large load is applied among the front wheel for track traveling and the rear wheel for track traveling during the two-wheel drive control. Preferably it is comprised.

Further, in the track traveling vehicle having the above-described configuration, the traveling control device may perform the four-wheel drive control and the four-wheel braking control according to a load applied to the track traveling front wheel and the track traveling rear wheel. It is preferable that the driving force distribution and the braking force distribution of the track traveling front wheel and the track traveling rear wheel are controlled.

Further, in the track traveling vehicle having the above-described configuration, a pair of left and right road traveling wheels (for example, the tire wheel 3 in the embodiment) provided before and after the vehicle body, an engine, and an electric motor for wheels (for example, the road in the embodiment). A hybrid drive system having a road running battery for supplying electric power to the running motor M) and the wheel electric motor, and driving the road running wheel by power of at least one of the engine and the wheel electric motor. (For example, the power control unit 8 in the embodiment) and a battery for track running (for example, the bodywork battery 70 in the embodiment) for supplying electric power to the front wheel side and rear wheel side electric motors, The rear wheel side electric motor is rotationally driven by the track traveling front wheel and the track traveling rear wheel. And generating regenerative braking to brake the front wheels for track travel and the rear wheels for track travel. When the power from the battery for track travel is insufficient, the travel control device The front wheel side and rear wheel side electric motors are controlled using electric power from the running battery, and when the state of charge of the track running battery is equal to or higher than a predetermined charge amount, the front wheel side and rear wheel side electric motors are driven. It is preferable that the power generated by the motor is controlled to be charged in the road driving battery.

According to the track traveling vehicle of the present invention, when the vehicle is in the acceleration traveling state, all four wheels of the track traveling front wheel and the rear wheel are driven by the front wheel side and rear wheel side electric motors. The maximum driving force determined by the frictional force between the track running wheel and the track becomes larger than the configuration of the two-wheel drive that drives the rear wheel side. Therefore, a large traveling driving force output by the front wheel side and rear wheel side electric motors can be reliably transmitted to the track by the four wheels of the track traveling front wheel and the rear wheel, and the acceleration force of the vehicle can be improved. . Further, when the vehicle is in a decelerating running state, all four wheels of the track traveling front wheel and the rear wheel are braked, so that the braking force can be reliably transmitted to the track by the four wheels of the track traveling front wheel and the rear wheel. The braking force of the vehicle can be improved.

Further, when the vehicle is traveling at a constant speed, two-wheel drive control is performed in which either the front wheel side electric motor or the rear wheel side electric motor is driven to drive either the front wheel or the rear wheel for track traveling. In the constant speed traveling state, the required traveling driving force is small, and if the traveling driving force is distributed to the front wheels and the rear wheels for track traveling, the front wheel side and rear wheel side electric motors are inefficient. . Therefore, when the two-wheel drive control is performed in the constant speed traveling state, the electric motor that drives the two wheels increases the traveling driving force that is output, so that the motor efficiency is improved and the track traveling wheel side that is not driven is improved. Electric motors can reduce power consumption,
It is possible to travel with good energy efficiency.

Further, when the traveling track has an upward gradient exceeding a predetermined gradient, all four wheels, the front wheel and the rear wheel for track traveling, are driven by the front wheel and rear wheel electric motors even in the constant speed traveling state. If it is configured to be driven, even if the ascending slope is tight, the ascending slope can be reliably climbed, and the climbing ability of the vehicle can be improved.

In addition, when performing two-wheel drive control for driving either the front wheel or the rear wheel for track traveling, the track traveling wheel on the side on which the large load is applied is driven among the front wheel and the rear wheel for track traveling. If it is configured in this way, it will be difficult for slippage between the wheel for track running and the track,
The traveling driving force can be reliably transmitted to the track by the track traveling wheel.

Further, when all four wheels, the front wheels and the rear wheels for track traveling are driven and braked, the driving force distribution and the braking force distribution for the front wheels and rear wheels for the track traveling are distributed according to the load applied to the front wheels and rear wheels for the track traveling. If it is configured to control, for example, by performing control to increase the driving force distribution and braking force distribution of the wheel on the side where a large load is applied, slip between the track running wheel and the track (slip) Is less likely to occur, and stable track travel can be ensured.

In addition, a hybrid drive system having an engine, an electric motor, and a road traveling battery is provided to drive the road traveling wheel, and when the power from the track traveling battery is insufficient, the power from the road traveling battery is also used. If it is configured to drive the front wheel side and rear wheel side electric motors for traveling, for example, a large track traveling driving force is required when the ascending slope is tight, so that only the power from the track traveling battery is insufficient. However, even in such a case, electric power can be interchanged between the two batteries, and the necessary track driving force can be output from the front wheel side and rear wheel side electric motors. In addition, when the state of charge of the track battery is equal to or greater than a predetermined charge amount (close to a fully charged state), the road travel battery is charged with the electric power generated by the front wheel side and rear wheel side electric motors. If the track running battery is close to a fully charged state, the regenerative braking force may be reduced because the power generated by the front and rear wheel electric motors is less likely to be charged to the track running battery. Even in such a case, it is possible to prevent the regenerative braking force from being reduced by charging the generated battery with the generated power. Further, the deceleration energy can be regenerated without waste.

It is a side view of a track-and-rail work vehicle which is an example of a track traveling vehicle concerning the present invention. It is a block diagram which shows the drive structure in the said railroad working vehicle. It is a block diagram which shows the control structure in the said railroad work vehicle.

Embodiments of the present invention will be described below with reference to the drawings. As an example of a track traveling vehicle according to the present invention, a track work vehicle 1 is shown in FIGS. The track-and-rail work vehicle 1 has a driving cab 4 at the front of a vehicle body 2 and is a truck vehicle that can travel on a road by a pair of left and right tire wheels 3 (road driving wheels) disposed in front and rear of the vehicle body 2. The base is configured. The car body 2
The vehicle body frame is composed of a chassis frame 5 and a sub-frame 6 mounted on the chassis frame 5.

The railroad work vehicle 1 includes a parallel hybrid system including an engine E, a road traveling motor M (electric motor) directly connected to the engine E, and a power control unit 8 that controls driving of the engine E and the road traveling motor M. Vehicle. The power control unit 8 includes a road travel controller 8a, a road travel inverter 8b, and a road travel battery 8c, and includes tire wheels 3 on the left side of the vehicle body 2 (chassis frame 5).
3 is provided between the two. The railroad work vehicle 1 regenerates energy generated when the vehicle is decelerated by the road traveling motor M and stores it in the road traveling battery 8c, and assists the power of the engine E by the road traveling motor M during acceleration. Further, the vehicle is configured to travel on the road by transmitting the power from the road traveling motor M to the left and right tire wheels 3 via the transmission TM and the differential device D. The tire wheel 3 is driven only by the power of the engine E.
, 3 can be driven, and the tire wheels 3, 3 can be driven only by the power of the road driving motor M.

A pair of left and right iron wheel support members 11f and 11r are disposed in the front and rear of the vehicle body 2 (the rear side of each tire wheel 3), and a pair of left and right front iron wheels 1 are disposed at the tips of the iron wheel support members 11f and 11r.
2f and the rear side iron wheel 12r are rotatably arranged. Left and right front iron wheels 12f, 12f
Are connected to the output shafts of the left and right front wheel drive motors 13 and 13 (electric motors), respectively, and the outputs of these front wheel drive motors 13 and 13 are transmitted via the speed reducers G and G to be rotationally driven. It is configured to be. The left and right rear iron wheels 12r, 12r are respectively connected to the output shafts of the left and right rear wheel drive motors 14, 14 (electric motors), and the outputs of the rear wheel drive motors 14, 14 are the speed reducers G, G. It is comprised so that it may be rotationally driven by transmitting via.

The front and rear wheel drive motors 13 and 14 are rotationally driven by the electric power supplied from the bodywork battery 70 provided in the vehicle body 2 via the track running inverters 71 and 71, and the front and rear iron wheels 12f and 12r. Drive. One track running inverter 71 is provided for each of the front wheel and rear wheel drive motors 13, 14. The front and rear wheel drive motors 13 and 14 are driven to rotate by the front and rear iron wheels 12f and 12r to generate electric power, and have a regenerative braking function for braking the front and rear iron wheels 12f and 12r. Yes. The front wheel and rear wheel drive motors 13 and 14 are configured such that the rotation direction and the rotation speed are controlled in accordance with the operation direction and operation amount of a track traveling operation lever 43 provided in an operation box 42 described later. .

The bodywork battery 70 is always driven when the engine E is running to generate power.
The battery is charged by the generated power of 2. The bodywork battery 70 is a battery different from the existing chassis battery 80 and the road running battery 8c in the power control unit 8 in the vehicle body 2 for electrically driving the starter motor of the engine E. Also,
The generator 72 is a generator different from the existing alternator 81 in the vehicle body 2 that is driven by the engine E to supply generated power to the chassis battery 80.

The iron wheel support members 11f and 11r are attached to the vehicle body 2 (chassis frame 5) so as to be swingable in the vertical direction, and are rocked up and down by the expansion and contraction operation of the iron ring extension cylinder 15 provided inside thereof. Can be projected downward from the tire wheel 3 or stored upward. To overhang and store the iron rings 12f and 12r in this way (
In order to transfer the railroad work vehicle 1 onto the track, a chassis (not shown) is provided at the center of the lower portion of the chassis frame 5 so as to extend and contract. The turntable is a state in which the vehicle body 2 is lifted downward by the extension operation of the turntable cylinder 16 provided inside (the tire wheel 3).
In a state of being lifted from the ground).

At the front, rear, left and right of the vehicle body 2 (subframe 6), a jack 17 that can be extended and contracted vertically to stabilize the vehicle by lifting and supporting the railroad work vehicle 1 when working at a high place using a boom 30 or the like described later. Is arranged. The jack 17 includes a jack cylinder 18 provided inside.
The vehicle body 2 can be supported in a state where the vehicle body 2 is lifted downward by the extension operation of the vehicle body.

A swivel base 20 that is driven by a swivel motor 21 and configured to be capable of horizontal swiveling is provided at the front part of the bodywork area behind the driving cab 4 in the vehicle body 2 (front part of the subframe 6).
The booms 30 are supported by foot pins 23 on the support posts 22 extending upward from the swivel base 20.
Is attached so that it can swing up and down (can be raised and lowered).

The boom 30 is configured by nesting a base end boom 30a, an intermediate boom 30b, and a front end boom 30c, which are attached to the support columns 22 and 22 freely by a foot pin 23. A boom telescopic cylinder 31 is provided inside the boom 30, and the boom 30 can be telescopically operated in the longitudinal direction by the telescopic operation of the boom telescopic cylinder 31. A boom hoisting cylinder 32 is straddled between the proximal boom 30a and the support column 22, and the boom 30 can be hoisted in the upper and lower surfaces by expansion and contraction of the boom hoisting cylinder 32. .

A worktable support bracket 35 is attached to the distal end portion of the distal end boom 30c so as to be swingable within the undulating surface of the boom 30. The worktable support bracket 35 is configured such that the upper surface of the worktable support bracket 35 is always held horizontally regardless of the up-and-down angle of the boom 30 by the expansion and contraction operation of the leveling cylinder 36 provided therein. A work table 40 is attached to the upper surface of the work table support bracket 35 so as to be able to turn horizontally. A swing motor 41 is provided inside the worktable support bracket 35, and by driving the swing motor 41, the worktable 40 is horizontally swung (swinged) with respect to the worktable support bracket 35. It is configured to be able to. Worktable support bracket 3 as described above
Since the upper surface of 5 is always held horizontally, the floor surface of the work table 40 is also held horizontally regardless of the undulation angle of the boom 30.

Iron wheel overhang cylinder 15, turntable cylinder 16, jack cylinder 18, turning motor 21
The boom telescopic cylinder 31, the boom hoisting cylinder 32, the leveling cylinder 36 and the swing motor 41 are discharged from a hydraulic pump 60 provided in the vehicle body 2 and are controlled by a control valve group 63.
It is driven by hydraulic oil supplied through The control valve 63 group includes a plurality of control valves V1 to V4 (see FIG. 3) provided corresponding to each cylinder and motor. The swing motor 21, the boom telescopic cylinder 31, the boom hoisting cylinder 32, the leveling cylinder 36, and the swing motor 41 are hereinafter collectively referred to as a work actuator A.
Called. The hydraulic pump 60 is driven by a pump drive motor 61. The pump drive motor 61 is rotationally driven by electric power supplied from the bodywork battery 70 via the pump drive inverter 62. Iron wheel overhanging cylinder 15, turntable cylinder 16, jack cylinder 18
Is configured to be controlled in accordance with operations of the iron wheel overhanging operation device 47, the turntable operation device 48, and the jack operation device 49 provided on the vehicle body 2. Work actuator A
Is configured to be controlled in response to an operation of a work operation device 44 provided in an operation box 42 described later.

On the work table 40, an operation box 42 including a work operation device 44 is provided. The work operation device 44 includes a turning operation lever for turning the turning body 20, a raising / lowering operation lever for raising / lowering the boom 30, an expansion / contraction operation lever for extending / contracting the boom 30, and a work table 40.
And a swing operation lever for performing the swing operation. Each control lever is configured to be tiltable in the front-rear direction from the neutral position in the vertical state, and is configured to automatically return to the neutral position by the force of the built-in spring when the hand is released from the tilt operation state. . When each operation lever is operated, a voltage signal corresponding to the operation direction (tilt direction) and the operation amount (tilt amount) with respect to the neutral position is output, and the work control unit 51 of the controller 50 is used as a work operation signal. (See FIG. 3). Further, when each of the iron wheel overhanging operation device 47, the turntable operation device 48 and the jack operation device 49 provided on the vehicle body 2 is operated, respective work operation signals are input to the work control unit 51.

As shown in FIG. 3, the work control unit 51 electromagnetically drives the spools of the corresponding control valves V <b> 1 to V <b> 4 in the direction and amount according to the input work operation signal, from the hydraulic pump 60 to each cylinder 15, 16, 18 and the operation direction and the supply amount of the hydraulic oil supplied to the work actuator A are controlled, and the operation direction and the operation speed of each cylinder 15, 16, 18 and the work actuator A are controlled. Further, the work control unit 51 controls the electric power supplied from the bodywork battery 70 to the pump drive motor 61 via the pump drive inverter 62 according to the input work operation signal, and is discharged from the hydraulic pump 60. Control the amount of hydraulic fluid.

An operator who is on the ground or on the vehicle body 2 has an iron wheel extension operation device 47 and a turntable operation device 4.
8 is operated to extend the turntable downward to support and lift the vehicle.
, 12r projecting downward, the track work vehicle 1 can be mounted on the track and moved. Further, by operating the jack operating device 49, the jack 17 can be extended downward to lift and support the vehicle, and the vehicle can be stabilized. In addition, work table 4
The operator who has boarded 0 operates each operation lever of the work operation device 44 to raise and lower the boom 30, turn the revolving body 20, swing the work table 40, and swing the work table 40. Can be moved to a desired height position.

The voltage level of the work operation signal output by the operation of each operation lever of the work operation device 44 is substantially proportional to the operation amount, and the corresponding cylinder is adjusted by adjusting the operation amount of the operation lever. The operating speeds of the motors 31 and 32 and the motors 21 and 41 can be adjusted. In addition, the work operation device 44 is also provided in the vehicle body 2, and is configured such that an operator on the ground or the vehicle body 2 can operate the swivel base 20, the boom 30, and the work table 40. Yes.

The operation box 42 includes front iron wheels 12f and 12f and rear iron wheels 12r and 12r.
There is provided a track traveling operation lever 43 for performing a traveling operation at the time of track traveling using.
The track running operation lever 43 is configured to be tiltable in the front-rear direction from a neutral position in a vertical state, and automatically returns to the neutral position by the force of a built-in spring when the hand is released from the tilt operation state. Yes. When the track travel operation lever 43 is tilted, a voltage signal corresponding to an operation direction (tilt direction) and an operation amount (tilt amount) with respect to the neutral position is output, and a travel control unit of the controller 50 is used as a travel command signal. 52 is input. The tilting operation forward from the neutral position of the track traveling operation lever 43 corresponds to a forward traveling command of the vehicle, and the larger the tilting operation amount, the larger the target speed for forward traveling is set in the traveling control unit 52. The Further, the tilting operation from the neutral position to the rear of the track travel operation lever 43 corresponds to a reverse travel command of the vehicle, and the larger the tilt operation amount, the larger the target speed during reverse travel in the travel control unit 52. Is set. Further, the operation of returning the track travel operation lever 43 to the neutral position corresponds to a vehicle stop command. The track traveling operation lever 43 is also provided in the driving cab 4 and is configured so that a traveling operation at the time of track traveling can be performed by an operator in the driving cab 4.

The vehicle body 2 includes a speed detector 55 that detects the traveling speed of the vehicle during track traveling using the front and rear iron wheels 12f and 12r, and an inclination angle detector that detects an inclination angle of the vehicle body 2 in the front-rear direction with respect to a horizontal plane. 56 are provided. The speed detector 55 detects the rotational speed of the front and rear wheel drive motors 13 and 14, or the rotational speed of the front and rear iron wheels 12f and 12r.
The track traveling speed of the vehicle is detected based on the rotational speed, and the detected track traveling speed information is input to the traveling control unit 52 of the controller 50. The tilt angle detector 56 is configured to detect a tilt angle in the front-rear direction of the vehicle body 2 based on a pendulum or a change in liquid level, and the detected vehicle body tilt angle information is input to the travel control unit 52 of the controller 50. It is like that.

The travel control unit 52 determines the travel state of the vehicle during track travel.
a. The traveling state determination unit 52a compares the target speed Vt set by the track traveling operation lever 43 with the detected speed Vd (track traveling speed of the vehicle) detected by the speed detector 55, and the detected speed Vd is the target speed. When Vt ± α is smaller than the allowable speed range (tolerance), it is determined that the vehicle is in an accelerated traveling state, and when the detected speed Vd is greater than the target speed Vt ± α, the vehicle is in a decelerating traveling state. When the detected speed Vd is within the range of the target speed Vt ± α, it is determined that the vehicle is in a constant speed running state.

The traveling control unit 52 calculates the gradient of the traveling track based on the inclination angle in the front-rear direction of the vehicle body 2 with respect to the horizontal plane detected by the inclination angle detector 56, and the calculated gradient is a predetermined setting gradient. It is configured to determine whether the slope is an upward or downward gradient exceeding ± Ge. Further, the traveling control unit 52 is configured to set the front and rear iron wheels 12 set in the vehicle design.
Based on the set load applied to f and 12r and the inclination angle of the vehicle body 2 detected by the inclination angle detector 56, the load applied to each of the front and rear iron wheels 12f and 12r during the track traveling is calculated. The front side and the rear side iron wheels 12f and 12r are configured to determine whether a large load is applied.

When the traveling state determination unit 52a determines that the vehicle is in the accelerated traveling state, the traveling control unit 52 applies the front wheel driving motors 13 and 13 and the rear wheel driving motors 14 and 14 to each track traveling from the body battery 70. Electric power is supplied via the inverter 71 to provide the front iron wheels 12f, 1
2f and the rear iron wheels 12r and 12r are driven so that the detected speed Vd (vehicle track speed) detected by the speed detector 55 becomes the target speed Vt set by the track control lever 43. The electric power supplied to the front and rear wheel drive motors 13 and 14 is controlled to control the rotational speed of the front and rear wheel drive motors 13 and 14. At this time, the traveling control unit 52
Controls the driving force distribution of the front and rear wheel drive motors 13 and 14 in accordance with the load applied to the front and rear iron wheels 12f and 12r. For example, control is performed to increase the driving force distribution of the driving motor that drives the iron wheel on the side where a large load is applied. Moreover, the traveling control unit 52 has a small amount of battery remaining in the bodywork battery 70 and supplies necessary power to the front and rear wheel drive motors 1.
3 and 14, the power from the road travel battery 8 c of the power control unit 8 (hybrid drive system for driving the tire wheels 3) is supplied to the front and rear wheel drive motors 13 through the track travel inverters 71. 14 is controlled.

The traveling control unit 52 determines that the vehicle is in a constant speed traveling state in the traveling state determination unit 52a, and determines that the gradient of the traveling track is not an upward gradient exceeding a predetermined set gradient + Ge. When (when it is determined that the gradient is within the installation gradient ± Ge (including the flat ground) and the downward gradient exceeding the set gradient -Ge), the front and rear iron wheels 12f,
Front wheel and rear wheel drive motor 1 for driving the iron wheel on the side where a large load is applied in 12r
Electric power is supplied from the bodywork battery 70 via the track running inverters 71 and 71 to one of the drive motors 3 and 14, and a large load is applied to the front iron wheels 12f and 12f and the rear iron wheels 12r and 12r. The detected speed Vd (the vehicle track running speed) detected by the speed detector 55 is driven, and the target speed Vt ± set by the track running operation lever 43 is driven.
Drive motors (front wheel drive motors 13, 1) that drive the two wheels so as to stay within the range of α.
3 or the rear wheel drive motors 14, 14) are controlled to control the rotational speed of the drive motors. Also at this time, the traveling control unit 52 uses the power from the road traveling battery 8c of the power control unit 8 for the track traveling when the remaining amount of the battery of the bodywork battery 70 is small and the necessary power cannot be supplied to the drive motor. Control to supply the drive motor via the inverter 71 is performed.

On the other hand, the traveling control unit 52 determines that the vehicle is in a constant speed traveling state in the traveling state determination unit 52a, and determines that the gradient of the traveling track is an upward gradient exceeding a predetermined set gradient + Ge. The front wheel drive motors 13, 13 and the rear wheel drive motors 14, 14
Electric power is supplied to the front side wheel 1 from the bodywork battery 70 via each track running inverter 71.
The electric power supplied to the front and rear wheel drive motors 13 and 14 is driven so that the four wheels 2f and 12f and the rear iron wheels 12r and 12r are driven and the detected speed Vd (orbit traveling speed of the vehicle) becomes the target speed Vt. To control the rotational speeds of the front and rear wheel drive motors 13 and 14. At this time, the traveling control unit 52 controls the distribution of the driving force of the front and rear wheel drive motors 13 and 14 according to the load applied to the front and rear iron wheels 12f and 12r. For example, control is performed to increase the driving force distribution of the driving motor that drives the iron wheel on the side where a large load is applied. In addition, the traveling control unit 52, when the battery power of the bodywork battery 70 is low and the necessary power cannot be supplied to the front and rear wheel drive motors 13 and 14, the power control unit 8
The power from the road traveling battery 8c is supplied to the front and rear wheel drive motors 13 and 14 via the track traveling inverter 71.

The traveling control unit 52 operates the front wheel driving motors 13 and 13 and the rear wheel driving motors 14 and 14 as a generator to operate the front iron wheel 12f when the traveling state determining unit 52a determines that the vehicle is in a decelerating traveling state. , 12f and the rear iron wheels 12r, 12r are braked, and the detected speed Vd (vehicle track speed) detected by the speed detector 55 becomes the target speed Vt set by the track control lever 43. Thus, the braking force generated by the front and rear wheel drive motors 13 and 14 is controlled. At this time, the traveling control unit 52 determines whether the front and rear wheel drive motors 13 are in accordance with loads applied to the front and rear iron wheels 12f and 12r.
, 14 is controlled. For example, control is performed to increase the braking force distribution of the drive motor that drives the iron wheel on the side where a large load is applied. Further, when the state of charge of the bodywork battery 70 is less than a predetermined charge amount, the traveling control unit 52 charges the bodywork battery 70 with the electric power generated by the front wheel drive motors 13 and 13 and the rear wheel drive motors 14 and 14. Control
When the state of charge of the bodywork battery 70 is equal to or greater than the predetermined charge amount (when it is close to the fully charged state), the power control unit 8 (hybrid drive system that drives the tire wheels 3)
Control is performed to charge the road running battery 8c.

For example, when the track running control lever 43 is tilted forward from the neutral position and the target speed Vt is set to 20 km / h while the track work vehicle 1 is stopped, the front and rear wheel drive motors 13 and 14 The front and rear wheel drive motors 13 and 14 are driven such that the front and rear iron wheels 12f and 12r are driven so that the traveling speed (detected speed Vd) is 20 km / h.
The rotation speed is controlled. When the traveling speed reaches 20 ± α km / h (when the traveling speed is constant), the front side and rear iron wheels 12f and 12r, on the side where a large load is applied, 2
The rotation of the drive motor that drives the two wheels is controlled so that the wheels are driven and the traveling speed remains within the range of 20 ± α km / h. However, at this time, when the gradient of the running track is an upward gradient exceeding a predetermined set gradient + Ge, the front wheel and rear wheel drive motors 13, 1
4 drives the front and rear steel wheels 12f and 12r, and the traveling speed is 20 ± αk.
The rotational speeds of the front and rear wheel drive motors 13 and 14 are controlled so as to remain within the range of m / h.

Then, the orbital travel operation lever 43 is further tilted forward to set the target speed Vt to 20 km.
When changing from / h to 40 km / h, the front and rear wheel drive motors 13 and 14 again drive the four wheels of the front and rear iron wheels 12f and 12r, and the traveling speed (detected speed Vd) is 40 km / h. Thus, the rotational speeds of the front and rear wheel drive motors 13 and 14 are controlled. When the traveling speed reaches 40 ± α km / h (when the vehicle is in a constant speed traveling state), the two wheels on the side on which a large load is applied among the front and rear iron wheels 12f and 12r are driven, and the traveling speed becomes 40 The rotation of the drive motor that drives the two wheels is controlled so as to stay within the range of ± α km / h. However, at this time, similarly to the above, when the gradient of the traveling track is an upward gradient exceeding a predetermined set gradient + Ge, the front and rear iron wheels 12f and 12r are driven by the front and rear wheel drive motors 13 and 14, respectively. The four wheels are driven and the traveling speed is 40 ± αkm / h
The rotational speeds of the front wheel and rear wheel drive motors 13 and 14 are controlled so as to remain within the range. Then, when the operation of returning the track running operation lever 43 to the neutral position is performed, the front wheels and the rear wheel drive motors 13 and 14 are operated as generators to brake the four wheels of the front and rear iron wheels 12f and 12r, The braking force generated by the front wheel and rear wheel drive motors 13 and 14 is controlled so that the track work vehicle 1 stops. At this time, when the track work vehicle 1 cannot be stopped within a predetermined braking distance only by the braking force by the front wheel and rear wheel drive motors 13 and 14,
A deficient braking force may be generated by a mechanical brake device (not shown) driven by a hydraulic or electric actuator.

Thus, in the track-and-rail work vehicle 1, the target speed Vt set by the track travel operation lever 43 is set.
And the detected speed Vd detected by the speed detector 55, it is determined whether the vehicle is in an accelerated traveling state, a constant speed traveling state, or a decelerating traveling state. When the vehicle is in an accelerating running state, the front and rear wheel drive motors 13 and 14 drive all four wheels, the front and rear iron wheels 12f and 12r. Therefore, the maximum driving force determined by the frictional force between the iron wheel and the track is larger than the conventional two-wheel drive configuration for driving the front or rear iron wheel. Therefore, the large driving force output by the front and rear wheel drive motors 13 and 14 can be reliably transmitted to the track by the four wheels of the front and rear iron wheels 12f and 12r, and the acceleration force of the vehicle is improved. Can do. Also, when the vehicle is in a decelerating running state,
The front and rear wheel drive motors 13 and 14 are operated as generators, and the front and rear iron wheels 12 are operated.
Since all four wheels f and 12r are braked, the braking force is applied to the front and rear iron wheels 12f and 12
The four wheels r can be reliably transmitted to the track, and the braking force of the vehicle can be improved.

When the vehicle is running at a constant speed, one of the front and rear wheel drive motors 13 and 14 is driven to drive one of the front and rear iron wheels 12f and 12r. In the constant speed traveling state, the necessary traveling driving force is small, and when the traveling driving force is distributed to the front and rear iron wheels 12f and 12r, the front wheel and rear wheel drive motors 1 are provided.
In 3 and 14, the efficiency is poor. Accordingly, when the two-wheel drive control is performed in the constant speed traveling state, the driving motor that drives the two wheels increases the traveling driving force that is output, so that the motor efficiency is improved and the drive motor on the iron wheel side that is not driven. In this case, since power consumption is suppressed, it is possible to perform energy efficient traveling.

Further, in the track-and-work vehicle 1, when the gradient of the traveling track is an ascending gradient exceeding a predetermined set gradient + Ge, the front wheel and rear wheel drive motors 13 and 1 even in the constant speed traveling state.
4 drives all four wheels of the front and rear iron wheels 12f and 12r. Therefore, even when the uphill is tight, the uphill can be reliably climbed, and the climbing ability of the vehicle can be improved.

Moreover, in the track-and-rail work vehicle 1, when performing two-wheel drive control which drives any one of the front and rear iron wheels 12f and 12r, the side on which a large load is applied on the front and rear iron wheels 12f and 12r. The iron wheel is driven. As a result, slippage is unlikely to occur between the iron wheel and the track, and the driving force can be reliably transmitted to the track by the iron wheel. Also,
In the track-and-rail work vehicle 1, when all four wheels of the front and rear iron wheels 12f and 12r are driven and braked, the front and rear wheel drive motors 13 and 14 are driven according to the load applied to the front and rear iron wheels 12f and 12r. The driving force distribution and the braking force distribution are controlled.
Therefore, for example, by performing control to increase the driving force distribution and braking force distribution of the iron wheel on the side where a large load is applied, slip (slip) is unlikely to occur between the track traveling wheel and the track, Stable track running can be ensured.

Further, in the track-and-rail work vehicle 1, when the remaining battery power of the bodywork battery 70 is small and the necessary power cannot be supplied to the front and rear wheel drive motors 13 and 14, the power control unit 8 (hybrid drive that drives the tire wheels 3). The system is configured to perform control to supply power from the road traveling battery 8c to the front and rear wheel drive motors 13 and 14. For example, when the ascending slope is tight, a large orbital driving force is required, so that the electric power from the bodywork battery 70 may be insufficient, but even in such a case, 2
The electric power can be interchanged between the two batteries, and the required track driving force can be output from the front wheel and rear wheel drive motors 13 and 14. Further, when the state of charge of the bodywork battery 70 is equal to or greater than a predetermined amount of charge (when it is close to a fully charged state), the front wheel and rear wheel drive motors 13
, 14 is configured to perform control for charging the road running battery 8c. Therefore, when the body battery 70 is almost fully charged, the electric power generated by the front and rear wheel drive motors 13 and 14 becomes difficult to be charged to the body battery 70, so the regenerative braking force may be reduced. Even in such a case, it is possible to prevent the regenerative braking force from being reduced by charging the generated power to the road running battery 8c. Further, the deceleration energy can be regenerated without waste.

Although the embodiment according to the present invention has been described so far, the scope of the present invention is not limited to that shown in the above-described embodiment. For example, in the above-described embodiment, the four-wheel drive control is performed when it is determined that the vehicle is in a constant speed traveling state and the gradient of the traveling track is an upward gradient exceeding a predetermined set gradient + Ge. Although the configuration to be performed has been described, it may be configured to perform the two-wheel drive control when the necessary driving force can be ensured without slipping even when the two-wheel drive is performed at such a determination. . Further, in the above-described embodiment, the configuration in which the four-wheel braking control is performed when the vehicle is in the deceleration traveling state has been described. However, the gradient of the traveling track is the predetermined set gradient + Ge. When it is determined that the slope is higher than the upper slope, the two-wheel braking control may be performed when the necessary braking force can be ensured even with the two-wheel braking.

In the above-described embodiment, the configuration in which the four-wheel drive control is performed when the vehicle is in the acceleration traveling state has been described. However, the gradient of the traveling track in the acceleration traveling state is a predetermined set gradient −Ge. When it is determined that the vehicle has a downward slope exceeding 1, if a sufficient driving force (acceleration force) can be obtained even with two-wheel drive, two-wheel drive control may be performed. Further, in the above-described embodiment, the two-wheel drive control is performed when it is determined that the vehicle is in the constant speed traveling state and the gradient of the traveling track is a downward gradient exceeding a predetermined set gradient -Ge. However, in such a determination, when the battery is close to battery regeneration saturation, it may be configured to perform four-wheel drive control that reduces the regeneration efficiency.

In the above-described embodiment, the front wheel drive motors 13 and 13 and the rear wheel drive motors 14 and 1
The configuration including four drive motors 4 has been described. However, the front iron wheels 12f and 12f and the rear iron wheels 12r and 12r are each driven by one drive motor (two drive motors in total) using a drive shaft or the like. Also good. In the above-described embodiment, the track traveling operation lever 43 is described as a traveling operation device that performs a traveling operation during track traveling. However, the configuration of the traveling operation device is not limited to the operation lever, and for example, the traveling direction is set. It may be configured by a switch and a pedal for setting a target speed.

In the above-described embodiment, the front and rear iron wheels 12f set in the vehicle design,
The configuration for calculating the load applied to the front and rear iron wheels 12f and 12r during the track traveling based on the set load applied to 12r and the inclination angle of the vehicle body 2 detected by the inclination angle detector 56 has been described. The load detector may be configured to detect a load applied to the front and rear iron wheels 12f and 12r. In the above-described embodiment, the parallel hybrid vehicle in which the wheel electric motor M is directly connected to the engine E has been described. However, another hybrid vehicle may be used. Moreover, although the above-mentioned embodiment demonstrated the railroad working vehicle as an example of the track traveling vehicle to which this invention is applied, this invention is not limited to a railroad working vehicle, The track | truck which can drive | work on a track | orbit The present invention can be applied to any traveling vehicle.

1 Railroad work vehicle (orbital vehicle)
2 Car body 3 Tire wheels (road driving wheels)
8 Power control unit (hybrid drive system)
8c Road running batteries 12f, 12f Front side wheels (front wheels for track running)
12r, 12r rear side wheel (rear wheel for track running)
13, 13 Front wheel drive motor (front wheel side electric motor)
14, 14 Rear wheel drive motor (rear wheel side electric motor)
43 Track travel control lever (travel control device)
50 controller 52 travel control unit (travel control device)
52a Traveling state determination unit (traveling control device)
55 Speed detector (traveling speed detection means)
56 Inclination angle detector (Inclination angle detection means)
70 Bodywork battery (battery battery)
E Engine M Road motor (electric motor for wheels, hybrid drive system)

Claims (6)

A vehicle body having a pair of right and left front wheels and a rear wheel capable of traveling on a track;
A front wheel side electric motor that drives the track traveling front wheel and a rear wheel side electric motor that drives the track traveling rear wheel;
A travel operation device for setting a target speed;
A travel control device that controls the rotational speeds of the front wheel side and rear wheel side electric motors so as to be the target speed set by the travel operation device;
Travel speed detecting means for detecting the travel speed of the vehicle body,
Whether the travel control device is in an acceleration travel state, a constant speed travel state, or a deceleration travel state by comparing the target speed set by the travel operation device with the detected speed detected by the travel speed detecting means. Four-wheel drive control is performed to drive the track traveling front wheel and the track traveling rear wheel in the acceleration traveling state, and in the constant speed traveling state, the track traveling front wheel and the track traveling rear Two-wheel drive control for driving any one of the wheels, and four-wheel braking control for braking the front wheel for track traveling and the rear wheel for track traveling when in the decelerating traveling state are performed. . Inclination angle detection means for detecting the inclination angle of the vehicle body with respect to a horizontal plane,
The traveling control device obtains the gradient of the traveling track based on the inclination angle of the vehicle body detected by the inclination angle detection means, and when the obtained gradient is an upward gradient exceeding a predetermined gradient, The track traveling vehicle according to claim 1, wherein four-wheel drive control for driving the track traveling front wheel and the track traveling rear wheel is performed even in a high speed traveling state. Inclination angle detection means for detecting the inclination angle of the vehicle body with respect to a horizontal plane,
The traveling control device obtains the gradient of the traveling track based on the inclination angle of the vehicle body detected by the inclination angle detecting means, and when the obtained gradient is a downward gradient exceeding a predetermined gradient, The track vehicle according to claim 1 or 2, wherein the two-wheel drive control is performed in a high-speed driving state. The said traveling control apparatus drives the wheel of the side to which a big load is applied among the said front wheel for track travel, and the said rear wheel for track travel at the time of the said two-wheel drive control. The track vehicle according to any one of the above. In the four-wheel drive control and the four-wheel braking control, the traveling control device is configured so that the track traveling front wheel and the track traveling rear are in accordance with loads applied to the track traveling front wheel and the track traveling rear wheel. The wheel driving force distribution and the braking force distribution are controlled.
The track vehicle according to any one of? A pair of left and right road wheels provided on the front and rear of the vehicle body;
An engine, an electric motor for wheels, and a road driving battery for supplying electric power to the electric motor for wheels, and a hybrid drive that drives the road driving wheels by the power of at least one of the engine and the electric motor for wheels System,
A battery for running a track for supplying electric power to the front wheel side and rear wheel side electric motors,
The front wheel side and rear wheel side electric motors are driven to rotate by the track traveling front wheels and the track traveling rear wheels to generate electric power, and also apply regenerative braking to brake the track traveling front wheels and the track traveling rear wheels. Has function,
When the power from the track traveling battery is insufficient, the traveling control device performs control to drive the front wheel side and rear wheel side electric motors using the power from the road traveling battery, and The control of charging the road driving battery with the electric power generated by the front wheel side and rear wheel side electric motors when the state of charge of the battery is equal to or greater than a predetermined amount of charge. The track vehicle according to any one of the above.

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