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WO2009072692A1 - Bogie directeur actif pour véhicules ferroviaires utilisant un bras de levier - Google Patents

Bogie directeur actif pour véhicules ferroviaires utilisant un bras de levier Download PDF

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Publication number
WO2009072692A1
WO2009072692A1 PCT/KR2007/006609 KR2007006609W WO2009072692A1 WO 2009072692 A1 WO2009072692 A1 WO 2009072692A1 KR 2007006609 W KR2007006609 W KR 2007006609W WO 2009072692 A1 WO2009072692 A1 WO 2009072692A1
Authority
WO
WIPO (PCT)
Prior art keywords
bogie
hinged
joint
steering
links
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2007/006609
Other languages
English (en)
Inventor
Joon-Hyuk Park
Won-Hee You
Hyun-Moo Hur
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Korea Railroad Research Institute KRRI
Original Assignee
Korea Railroad Research Institute KRRI
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Korea Railroad Research Institute KRRI filed Critical Korea Railroad Research Institute KRRI
Priority to CN2007800161637A priority Critical patent/CN101588952B/zh
Priority to EP07851577.2A priority patent/EP2086812B1/fr
Priority to JP2009544782A priority patent/JP4994461B2/ja
Publication of WO2009072692A1 publication Critical patent/WO2009072692A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • B61F5/38—Arrangements or devices for adjusting or allowing self- adjustment of wheel axles or bogies when rounding curves, e.g. sliding axles, swinging axles
    • B61F5/386—Arrangements or devices for adjusting or allowing self- adjustment of wheel axles or bogies when rounding curves, e.g. sliding axles, swinging axles fluid actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • B61F5/38—Arrangements or devices for adjusting or allowing self- adjustment of wheel axles or bogies when rounding curves, e.g. sliding axles, swinging axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves

Definitions

  • the present invention relates to an active steering bogie for railway vehicles, which can improve driving stability of a railway vehicle running at a high speed, thereby increasing the stability of the railway vehicle, so that the railway vehicle is not derailed, and also minimize vibration of wheels and rails during the driving of the railway vehicle, thereby ensuring driving comfort. More particularly, the present invention relates to an active steering bogie for railway vehicles using leverage, in which the structure of links for steering wheel shafts of the bogie is simple, and which can use leverage to actuate the links with a small force, thereby remarkably reducing the weight of the bogie and facilitating maintenance .
  • a bogie used in a railway vehicle acts to support the weight of a vehicle body in such a fashion that the weight of the vehicle body is uniformly distributed to respective wheels, and also can freely turn with respect to the vehicle body in order to facilitate straight or curved driving of the railway vehicle.
  • the steering force provided by conventional bogies is not sufficient to alleviate excessive centrifugal force and guide weight, which occur between a wheel and a rail, so that the friction between a wheel flange and a lateral rail face generates high levels of noise and vibration, thereby worsening the driving comfort of passengers.
  • This matter also causes abrasion to the wheels and damage to the rails, so that a severe accident, such as derailment of a railway vehicle, can take place.
  • the steering bogie 10 includes front and rear wheel shafts 12 arranged in front and rear parts of a bogie frame 11, wheels 13 press-fitted onto both ends of the wheel shafts 12, and axle boxes 14 and servo motors 15 fixed to the bogie frame 11.
  • Each of the servo motors 15 is coupled with axle boxes 14 of the front or rear wheel shaft 12 via several links.
  • the bogie 10 has a pair of steering units, each steering unit including one servo motor 15 and corresponding links combined with the motor 15 in order to separately steer the front wheel shaft 12 and the rear wheel shaft 12.
  • a controller (not shown) generates a signal to trigger the servo motor 15.
  • each of the servo motors 15 rotates a rotation shaft in the clockwise direction via a speed reducer 16.
  • a first drive link 17, eccentrically hinged to the rotation shaft, is pulled to directly steer the rear right wheel shaft 12 of the steering bogie 10.
  • a second drive link 18 is hinged to a first follower link 19 to rotate a transmission link 20, which in turn rotates a second follower link 21, located at a position opposite the bogie 10, thereby pulling a driven link 22 hinged to the second follower link 21, so that the driven link 22 steers the rear left wheel shaft 12.
  • the servo motors 15, the first and second drive links 17 and 18, the first and second follower links 19 and 21, the transmission links 20 and the driven links 22 are symmetrically arranged in front and rear parts of the steering bogie 10, so that the front and rear wheel shafts 12 are steered, in the same fashion, by the rotation of respective servo motors 15.
  • the controller (not shown) generates a signal causing the servo motors 15 to rotate in the counterclockwise direction, so that the front and rear wheel shafts 12 of the steering bogie 10 are steered as shown in FIG. 3.
  • the steering bogie 10 for railway vehicles as described above is constructed to transmit the rotation of the servo motors 15 through the links, thereby steering the front and rear wheel shafts 12 of the bogie 10.
  • the steering bogie 10 is difficult to maintain due to the complicated construction of the links, and the weight of the steering bogie 10 is also increased due to the heavy weight of the reducers 16, which are fastened to the servo motors 15 to increase the torque of the servo motors 15.
  • the present invention has been made to solve the foregoing problems with the prior art, and therefore the present invention provides an active steering bogie for railway vehicles using leverage, in which steering links for steering front and rear wheel shafts of the bogie have a simplified construction in order to improve maintainability and steering responsiveness of the bogie, and thus, the steering links can be actuated using a small amount of force from an actuator based on leverage, without the use of a reducer.
  • the invention provides an active steering bogie for railway vehicles using leverage, in which steering links for steering front and rear wheel shafts of the bogie are provided on both sides of the bogie, and the steering links on both sides of the bogie can steer respective wheel shafts in opposite directions, so that the wheel shaft can be greatly displaced even if the links are displaced a small amount, thereby improving the steering ability of the railway vehicle.
  • the invention provides an active steering bogie for railway vehicles.
  • the active steering bogie includes a front steering unit, which is hinged to front axle boxes on both sides of a front wheel shaft to steer the front wheel shaft; and a rear steering unit, which is hinged to rear axle boxes on both sides of a rear wheel shaft to steer the rear wheel shaft, whereby the wheel shafts are steered using actuators based on leverage .
  • each of the front and rear steering units includes a corresponding one of the actuators; drive links hinged to a bogie frame to transmit force generated by the actuator; follower links, each of which is hinged to a corresponding one of the drive links to steer a corresponding one of the axle boxes; and a transmission link connecting the drive links, which are provided on both lateral portions of the bogie.
  • the actuators are arranged on both sides of the bogie frame to be symmetric to each other along an oblique line.
  • the drive link 203 is hinged to the actuator, and has a first end and a second end on both sides of a first joint, the first end being hinged to the follower link, and the second end being hinged to the transmission link, which is connected to the drive link 203a at a position opposite the bogie frame.
  • the drive link 203a is hinged at a first end thereof to the transmission link and at a second end thereof to the bogie frame, and the follower link is hinged inside the drive link 203a.
  • the distance from the first joint to the frame joint is at least four times that from a second joint to the frame joint.
  • the actuator be actuated by an electric linear motor.
  • the follower link is hinge coupled via a second or fifth joint and an axle box joint. It is desirable that the second or fifth joint be a spherical joint.
  • the drive links hinged to the bogie frame and interlocked via the transmission link, are rotated around the frame joint by the actuator, and the follower links hinged to the drive links pull or push to rotate the wheel shaft, whereby the bogie is steered.
  • the active steering bogie for railway vehicles using leverage has a simplified construction of steering links for steering front and rear wheel shafts of the bogie, which can remarkably improve the maintainability and steering responsiveness of the bogie, and thus, the steering links can be actuated using a small amount of force of an actuator based on leverage without the use of a reducer. Accordingly, the weight of the railway vehicle can be reduced.
  • the steering links for steering front and rear wheel shafts of the bogie are provided on both sides of the bogie, and the steering links on both sides of the bogie can steer respective wheel shafts in opposite directions, so that the wheel shafts can be greatly displaced even if the links are displaced a small amount, thereby improving the steering ability of the railway vehicle. Accordingly, it is possible to ensure the driving comfort of passengers irrespective of track conditions, such as whether a railroad track along which the railway vehicle is running is linear or curved.
  • FIG. 1 is a perspective view illustrating the construction of a conventional active steering bogie
  • FIGS. 2 and 3 are perspective views illustrating operation states of the conventional steering bogie
  • FIG. 4 is a side elevation view illustrating a steering bogie of the invention
  • FIG. 5 is a perspective view illustrating the steering bogie of the invention
  • FIGS. 6 to 9 illustrates the steering bogie steered via links and running along corresponding curved railroad tracks; and FIG. 10 is a cross sectional view illustrating a coupling structure of steering links.
  • FIG. 4 is a side elevation view illustrating a steering bogie of the invention
  • FIG. 5 is a perspective view illustrating the steering bogie of the invention
  • FIGS. 6 to 9 illustrate the steering bogie steered via links and running on corresponding curved railroad tracks.
  • the active steering bogie 100 for railway vehicles using leverage of the invention includes a front steering unit 200, which is hinged to axle boxes 104 on opposite ends of the front wheel shaft 102 to steer the front wheel shaft 102, and a rear steering unit 200A, which is hinged to axle boxes on opposite ends of the rear wheel shaft 102 to steer the rear wheel shaft 102.
  • each of the front and rear wheel shafts 102 of a bogie frame 101 is supported by a highly rigid suspension device, and wheels are fastened to opposite ends of the wheel shaft 102 via the axle boxes.
  • the front steering unit 200 acts to steer the front wheel shaft 102 of the bogie 100
  • the rear steering unit 200A acts to steer the rear wheel shaft 102 of the bogie 100.
  • the front steering unit 200 and the rear steering unit 200A act to steer the front and rear wheel shafts 102 in such a fashion that the railway vehicle can smoothly run along the curved railroad track.
  • Each of the front and rear steering units 200 and 200A includes an actuator 201, drive links 203 and 203a, which are hinged to the bogie frame 101 and transmit force from the actuator 201, follower links 204 and 204a, hinged to respective drive links 203 and 203a to steer the axle boxes 104, and a transmission link 205 connecting the drive links 203 and 203a, which are disposed at opposite lateral portions of the bogie 100, with each other.
  • the drive links 203 and 203 are hinged to the bogie frame 101, the drive links 203 and 203a are hinged to the follower links 204 and 204a, and the drive links 203 and 203a on the opposite sides of the bogie 100 are interlocked with each other via the transmission link 205.
  • the actuators 201 which drive the drive links 203 and 203a of the front and rear steering units 200 and 200A, are fixed to opposite parts of the frame 101 of the bogie 100, in such a fashion that the front steering unit 200 and the rear steering units 200A are set to be symmetric along a diagonal line. This consequently makes the same weight act on opposite parts of the bogie 100, thereby increasing the driving stability of the railway vehicle.
  • the drive links 203 of the bogie 100 are driven by the actuators 201 of the front steering unit 200 and the rear steering unit 200A, as constructed above, angular displacement is transmitted from the drive links 203 to the drive links 203a through the transmission links 203a.
  • the drive link 203 is hinged to the actuator 201, in which one portion of the drive link 203 corresponding to the first joint 230 is hinged to the follower link 203, and in which the other portion of the drive link 203 is hinged to the transmission link 205 and is connected, via the transmission link 205, to one end of the drive link 203a in the opposite part of the bogie frame 101.
  • the drive link 203a is in turn hinged, at the other end thereof, to the bogie frame 101, and the follower link 204a is hinged to the inside of the drive link 203a. That is, as the drive links 203 and 203a rotate in the same direction due to the transmission link 205, the follower links 204 and 204a generate displacement in opposite directions, thereby rotating the wheel shaft 102.
  • the drive link 203 acts as a lever to transmit force from the actuator 201 to the follower link 204 by amplifying the force.
  • the distance from the frame joint 240 of the drive link 203 to the first joint 230, by which the actuator 201 is hinged to the drive link 203, is preferably four or more times the distance from the frame joint 240 to a second joint 250, by which the drive link 203 is hinged to the follower link 204.
  • the drive links 203 and 203a act as a lever to transmit the force from the actuators 201 to the follower links 204 and 204a by amplifying the force in order to steer the wheel shafts 102. Accordingly, even if the actuators 201 are implemented in the form of a well known electric linear motor, they can satisfactorily steer the wheel shafts 102 via the drive links 203 and 203a without the use of a speed reducer.
  • the actuators 201 can be implemented not only with an electric linear motor but also with a hydraulic actuator or a pneumatic actuator, the hydraulic or pneumatic actuator requires additional hydraulic or pneumatic lines to be provided, in addition to an actuator pump, thereby complicating the construction. Accordingly, it is preferable to use an electric linear motor.
  • the second joint 250 and a fifth joint 280 by which the drive links 203 and 203a are hinged to the follower links 204 and 204a, and axle box joints 220, by which the drive links 203 and 203a are hinged to the axle boxes 104, be implemented with a spherical joint.
  • the spherical joints such as the second and fifth joints 250 and 280 and the axle box joints 220, can absorb axial displacement of the wheel shafts 102 generated by the follower links 204 and 204a in the steering of the wheel shafts 102 of the bogie 100, so that the wheel shaft 102 can freely rotate without restriction.
  • a rubber bushing 107 is inserted into a socket 106 of each of the spherical joints in order to absorb vibrations produced when the railway vehicle is running, or vibrations or impacts produced when the follower links 204 and 204a rotate the wheel shafts 102, thereby enhancing the driving stability of the railway vehicle.
  • a controller (not shown) generates a steering signal, which triggers the operation of the actuator 201 to steer the wheel
  • the actuators 201 operate in response to the steering signal, which the controller generates when a curved section of railroad track is detected. Then, the actuators 201 fixed to the opposite parts of the frame 101 of the bogie 100 operate in opposite directions to thus steer the wheel shafts 102. That is, when a rod 202 of one of the actuators 201 protrudes out, the rod 202 of the other one of the actuators 201 retracts into the housing of the actuator 201.
  • the bogie shown in FIG. 5 moves along the railroad track, from left to right in the drawing, the right and the left of the bogie are set based on the moving direction thereof, and the moving direction of the bogie is assumed to be to the front, or forward .
  • the controller detects the curved railroad track and generates a steering signal.
  • the rod 202 of the actuator 201 of the rear steering unit 200A which is fixed to the right part of the bogie frame 101, as shown in FIG. 6, protrudes out to rotate the drive link 202 in the counterclockwise direction around the frame joint 240.
  • the drive link 203 rotating in the counterclockwise direction, pulls the follower link 204, which is hinged to the right axle box 104 of the rear wheel shaft 102.
  • the left drive link 203a of the rear steering unit 200A of the bogie 100 which is connected to the drive link 203 via the transmission link 205, rotates in the counterclockwise direction around the frame joint 290 to push the left axle box 104 of the rear wheel shaft 102 and the follower link 204a, thereby rotating the wheel shaft 102.
  • the right drive link 203 of the bogie 100 is provided on both sides of the frame joint 240 with the first joint 203, which is hinged to the actuator 201, and the second joint 250, which is hinged to the follower link 204, so as to rotate in the counterclockwise direction to pull the follower link 204.
  • the left drive link 203a of the bogie 100 is provided with the fourth joint 270, to which the drive link 203a and the transmission link 205 are hinged, and with the frame joint 290, by which the drive link 203a is hinged to the bogie frame 101 on both sides of the fifth joint 280, by which the drive link 203a is hinged to the follower link 204a, so as to rotate in the counterclockwise direction, thereby pushing the follower link 204a.
  • the rod 202 of the actuator 201 of the front steering unit 200 which is fixed to the left part of the bogie, retracts into the housing of the actuator 201 in response to the steering signal from the controller, thereby rotating the drive link 203 in the counterclockwise direction around the frame joint 240.
  • the drive link 203 rotating in the counterclockwise direction, pushes the follower link 204, which is hinged to the left axle box 104 of the front wheel shaft 102, and the right drive shaft 203a of the front steering unit 200 of the bogie 100, which is connected to the drive link 203 via the transmission link 205, rotates in the counterclockwise direction around the frame joint 290 to pull the right follower link 204a of the front wheel shaft 102, thereby rotating the wheel shaft 102.
  • the left drive link 203 of the bogie 100 is provided with the first joint 230 and the second joint 250 on both sides of the frame joint 230, so as to rotate in the counterclockwise direction, thereby pushing the follower link 204
  • the right drive link 203a of the bogie 100 is provided with the fourth joint 270 and the frame joint 290 on both sides of the fifth joint 280, so as to rotate in the counterclockwise direction, thereby pulling the follower link 204a .
  • the controller detects the curved section of railroad track and generates a steering signal.
  • the rod 202 of the actuator 201 of the rear steering unit 200A protrudes out, and the rod 202 of the actuator 201 of the front steering unit 200 retracts into the actuator housing. This consequently rotates the front and rear wheel shafts 102 of the bogie 100, so that the railway vehicle can stably run along the section of railroad track that is curved to the right, as shown in FIG. 7.
  • the controller detects the curved railroad track and generates a steering signal.
  • the rod 202 of the actuator 201 of the rear steering unit 200A retracts into the actuator housing, as shown in FIG. 8, and the rod 202 of the actuator 201 of the front steering unit 200 protrudes out. This consequently rotates the front and rear wheel shaft 102 of the bogie 100, so that the railway vehicle can stably run along a section of railroad track that is curved to the left.
  • the second joints 250, the fifth joints 280 and the axle box joints 220 of the follower links 204 and 204a are implemented with a spherical joint.
  • the spherical joint is adapted to absorb axial displacement of the wheel shaft 102, which occurs when the follower links 204 and 204a steer the wheel shaft 102 of the bogie 100, thereby allowing the wheel shaft 102 to freely rotate without being restricted by the axial displacement, so that the railway vehicle can stably run along the curved railroad track.
  • a rubber bushing 107 is inserted between a ball 105 and a socket 106 of the spherical joint, so as to absorb vibration produced when the railway vehicle is running, or vibration or impacts produced when the follower links 204 and 204a are rotating the wheel shafts 102, thereby enhancing the driving stability of the railway vehicle.
  • the active steering bogie for railway- vehicles of the present invention can improve the driving stability of a railway vehicle running at a high speed, thereby increasing the stability of the railway vehicle, so that the railway vehicle is not derailed, and also minimize the vibration of wheels and rails during the driving of the railway vehicle, thereby ensuring driving comfort.
  • the active steering bogie for railway vehicles using leverage of the present invention has a simple structure of links for steering wheel shafts of the bogie and can use leverage to actuate the links with a small force, thereby remarkably reducing the weight of the bogie and facilitating maintenance.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)

Abstract

L'invention concerne un bogie directeur actif destiné à des véhicules ferroviaires qui peut améliorer la stabilité d'un véhicule ferroviaire se déplaçant à haute vitesse, de sorte que ce véhicule ne déraille pas, et qui peut minimiser les vibrations des roues et des rails pendant la marche de ce véhicule, assurant ainsi un confort de marche. Ce bogie directeur actif utilise un bras de levier, possède une structure simple de bielles pour diriger les arbres de roue du bogie et, peut utiliser un bras de levier pour actionner les bielles avec une force modérée, réduisant ainsi le poids du bogie et facilitant la maintenance. Ce bogie directeur actif comprend une unité directrice avant articulée à des boîtes d'essieu avant des deux côtés d'un arbre de roue avant destinée à diriger cet arbre de roue avant et, une unité directrice arrière articulée à des boîtes d'essieu arrière des deux côtés d'un arbre de roue arrière pour diriger cet arbre de roue arrière.
PCT/KR2007/006609 2007-12-06 2007-12-18 Bogie directeur actif pour véhicules ferroviaires utilisant un bras de levier Ceased WO2009072692A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN2007800161637A CN101588952B (zh) 2007-12-06 2007-12-18 利用杠杆作用的铁路车辆主动导向转向架
EP07851577.2A EP2086812B1 (fr) 2007-12-06 2007-12-18 Bogie directeur actif pour vehicules ferroviaires utilisant un bras de levier
JP2009544782A JP4994461B2 (ja) 2007-12-06 2007-12-18 てこの作用を利用した鉄道車両用アクティブ操舵ボギー

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020070126426A KR100916594B1 (ko) 2007-12-06 2007-12-06 지렛대작용을 이용한 철도차량용 능동 조향대차
KR10-2007-0126426 2007-12-06

Publications (1)

Publication Number Publication Date
WO2009072692A1 true WO2009072692A1 (fr) 2009-06-11

Family

ID=40717860

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2007/006609 Ceased WO2009072692A1 (fr) 2007-12-06 2007-12-18 Bogie directeur actif pour véhicules ferroviaires utilisant un bras de levier

Country Status (5)

Country Link
EP (1) EP2086812B1 (fr)
JP (1) JP4994461B2 (fr)
KR (1) KR100916594B1 (fr)
CN (1) CN101588952B (fr)
WO (1) WO2009072692A1 (fr)

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WO2017157740A1 (fr) * 2016-03-17 2017-09-21 Siemens Ag Österreich Train roulant pour un véhicule ferroviaire
WO2018153436A1 (fr) * 2017-02-21 2018-08-30 Siemens Ag Österreich Châssis pour véhicules sur rails
US10913470B2 (en) 2016-01-14 2021-02-09 Kawasaki Jukogyo Kabushiki Kaisha Railcar steering bogie including brake unit
US11285976B2 (en) * 2017-04-21 2022-03-29 Siemens Mobility GmbH Method for compensating for a loss of traction of a rail vehicle

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KR101084157B1 (ko) 2009-12-24 2011-11-16 한국철도기술연구원 철도차량용 능동 조향 제어 장치 및 방법
JP6185727B2 (ja) * 2013-03-06 2017-08-23 川崎重工業株式会社 平行カルダン駆動方式の操舵台車
KR101536658B1 (ko) * 2014-03-21 2015-07-16 한국철도기술연구원 철도차량용 능동 조향 제어를 위한 조향 액추에이터 장치
CN104002830A (zh) * 2014-05-30 2014-08-27 西南交通大学 机车径向转向架
CN107000770B (zh) * 2014-12-17 2020-07-03 川崎重工业株式会社 铁道车辆用导向转向架
JP6506677B2 (ja) * 2015-10-29 2019-04-24 川崎重工業株式会社 鉄道車両用操舵台車
CN105774838B (zh) * 2016-04-28 2018-07-03 同济大学 一种主副构架弹性铰接的径向转向架
CN107128323B (zh) * 2017-05-16 2019-01-11 中车株洲电力机车有限公司 一种扭杆式径向机构及转向架、车辆
CN108248628B (zh) * 2018-01-04 2019-07-12 武汉理工大学 一种主动径向转向架及自适应协同控制方法
KR102407954B1 (ko) 2021-07-23 2022-06-14 한국철도기술연구원 능동 조향 제어 시스템이 구비된 철도 차량
CN114454725B (zh) * 2022-01-06 2024-01-30 广西西交轨道交通产业技术研发有限公司 一种磁浮轨道交通系统的主动导向设备
CN114701533A (zh) * 2022-04-08 2022-07-05 武汉理工大学 应用于多连杆式主动径向转向架的转向误差校准控制方法
CN114701532A (zh) * 2022-04-08 2022-07-05 武汉理工大学 一种适用于列车转向架的多连杆转向机构
FR3154372A1 (fr) * 2023-10-18 2025-04-25 Société Nationale SNCF Bogie de véhicule ferroviaire comprenant des roues orientables

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KR100916594B1 (ko) 2009-09-11
EP2086812A1 (fr) 2009-08-12
EP2086812B1 (fr) 2015-11-18
KR20090059530A (ko) 2009-06-11
CN101588952B (zh) 2012-03-21
EP2086812A4 (fr) 2013-03-27
CN101588952A (zh) 2009-11-25
JP4994461B2 (ja) 2012-08-08
JP2010505703A (ja) 2010-02-25

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