CN101319914A - Roller type rail-moving machine-walking position detection apparatus - Google Patents
Roller type rail-moving machine-walking position detection apparatus Download PDFInfo
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- CN101319914A CN101319914A CNA2008101244883A CN200810124488A CN101319914A CN 101319914 A CN101319914 A CN 101319914A CN A2008101244883 A CNA2008101244883 A CN A2008101244883A CN 200810124488 A CN200810124488 A CN 200810124488A CN 101319914 A CN101319914 A CN 101319914A
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Abstract
The invention relates to a detecting device for the walking position of an idler wheel track moving machine; the section of the bracket of a detecting wheel is ''U''-shaped; the detecting wheel is arranged on the bracket of the detecting wheel by a bearing; a rotating coder is arranged on the bracket of the detecting wheel by a bracket; the rotating shaft of the rotating coder is coaxially and fixedly connected with the axis of the detecting wheel; a straight slot is arranged at the bottom part of the detecting device; the detecting wheel and the rotating coder are arranged on the frame body of the detecting device; the upper end of an adjusting screw is matched with a screw hole above the frame body of the detecting device; the lower end of the adjusting screw is movably connected with the pressure pad of a spring; at least two slide rods are vertically sheathed on the pressure pad of the spring; a horizontal clapboard is fixed in the frame body of the detecting device; the slide rods and the adjusting screw rod are sheathed and connected with a guide hole on the clapboard; the lower ends of the slide rods are connected with the upper end of the bracket of the detecting wheel; the spring is sheathed on the slide rod between the pressure pad of the spring and the bracket of the detecting device. The detecting device of the invention has the advantages of high location detecting precision, stable and reliable property, high anti-interference capacity and simple structure; besides, the detecting device of the invention is applicable for severe environments and does not interface the walking operation of the moving machine.
Description
Technical field
The present invention relates to a kind of position detecting device, specifically relate to a kind of roller type rail-moving machine-walking position detection apparatus.
Background technology
Existing rail-moving machine-walking detection and localization and operation are main still to rely on range estimation and experience to be finished by operator, and bearing accuracy is low.Because the traveling location is inaccurate, often causes the mechanically moving frequent start-stop, not only shortens the serviceable life of equipment, also reduces the security of equipment greatly, increases working strength of workers.
In order to improve the traveling bearing accuracy of mechanically moving, numerous technician have successively attempted multiple detection techniques such as " gamma-rays formula ", " dry-reed ", " bar code-type ", " contact relay ", " infrared coding technology ", " RFID technology ", " inductive wireless technology " through great efforts.But, the technology working service difficulty that have low owing to the technology for detection precision that has, the technology that has can not be applicable to and many-sided reasons such as multiple rugged surroundings, the technology implementation that has are with high costs can not get user's extensive approval, can't further promote the use of.
Find (the number of applying for a patent: propose 200610054590.1): a kind of code wheel locating device of " coding wheel positioning device for commuting of track vehicle and the control gear thereof " of people such as Xie Zhijiang invention by prior art documents.This device includes the CPU processor on bearing, frame, rotary coding wheel, incremental encoder and the railway carriage.Wherein bearing is fixed on railway carriage bottom surface and hinged with the upper end of frame, and rotary coding wheel is installed in the lower end of frame by main shaft and rolls with track and contacts, and on the termination of main shaft incremental encoder is installed, by railway carriage in tow or pushing away frame and move.Incremental encoder inside is equipped with photoelectric code disk, and photoelectric code disk output A, the photoelectric pulse signal that B two-way sequential is different are given the CPU processor processing.The CPU processor realizes that by counting photoimpact number travel distance detects, and differentiates direction of travel by the difference of injection time of A, B two paths of signals.Example: when the rotary coding wheel advanced, the CPU processor added counted number of pulses with the pulse number that receives; When retreating, the CPU processor is deducted the pulse number that receives from counted number of pulses.This device is regulated the friction force between rotary coding wheel and the track by the counterweight on the increase and decrease frame.This Device Testing precision is 0.4mm, and repeatable accuracy is 0.8mm.
This application adopts the frame upper end hinged with track railway carriage bottom surface, by railway carriage in tow or pushing away gantry motion, makes the device frame produce the play gap in the horizontal direction of hinged place in the motion process easily.Again because this application adopts frame counterweight (20 kilograms to 100 kilograms) mode to improve wheel and interorbital friction force, when railcar starts or brakes, heavy frame easily makes the hinge parts of its frame upper end often be subjected to thump, constantly enlarge horizontal play gap, causing the intrinsic horizontal direction of this contrive equipment to detect error constantly enlarges, make device when starting or brake, have one section idling stopping distance, influence accuracy of detection.
This application is owing to adopt the mode that increases counterweight on the frame to improve rotary coding wheel and interorbital friction force, but not the friction factor between the raising surface of contact, the inevitable requirement main shaft has quite high support strength, this reduces the flexibility ratio of main shaft greatly, and the rotary coding wheel becomes big with the interorbital maximum static friction force.Friction factor between the invar material is little, easily causes code wheel to skid; And, have only the increasing counterweight in order to strengthen friction force, after counterweight is big, load and unload very inconvenient.
In addition, the scrambler of this application employing is an incremental encoder.Cooperate each pulse of CPU processor real-time recording increment formula scrambler output, and differentiate the scrambler sense of rotation, reach and increase or subtract the counted number of pulses of preserving in the CPU processor according to two-way pulse sequence difference.In testing process, the CPU processor can not be lost any one pulse, otherwise, will cause positioning error.But the CPU processor quite is subject to the influence of inside and outside interference, can not guarantee not pulse-losing, further influences accuracy of detection.
Because the positioning function of this application depends on the CPU processor and realizes, therefore, in the time of can not working, rail-moving machine just can not move because of certain reason (as: outage etc.) when the CPU processor, otherwise just can't detect at the travel distance that the CPU processor can not duration of work.The operation of rail-moving machine generally can not be satisfied such requirement.If the CPU processor not the duration of work rail-moving machine position change has taken place, after the CPU processor is reworked, must demarcate again code wheel.Because rail-moving machine-walking speed is low, track length is long, and once demarcating generally needs dozens of minutes, and this has a strong impact on its operating efficiency.
Therefore, in sum, there is intrinsic unsurmountable error in its structure, also has bigger limitation in actual use.
Summary of the invention
For solving the deficiencies in the prior art, the object of the present invention is to provide a kind of roller type rail-moving machine-walking position detection apparatus, it has the detection wheel of floating structure, be equipped with the multiturn absolute type rotary encoder, be fixedly connected on the rail-moving machine, realize that pick-up unit does not rely on external unit, can independently finish the detection of rail-moving machine-walking position, guarantee that pick-up unit has accuracy of detection steady in a long-term.
To achieve the above object of the invention, the present invention is achieved by the following technical solutions:
A kind of roller type rail-moving machine-walking position detection apparatus is characterized in that comprising: pick-up unit framework, unsteady detection wheel mechanism, spring energized mechanism and rotary encoder; Described unsteady detection wheel mechanism comprises detection wheel, detection wheel support, slide bar, and the cross section of detection wheel support is " U " font, detection wheel by Bearing Installation on two sides of detection wheel support; Side at the detection wheel support is fixed with support, and described rotary encoder is rack-mount, and its turning axle is coaxial with detection wheel, and fixedly connected; Have straight trough in described pick-up unit bottom, above-mentioned detection wheel and rotary encoder are installed in the pick-up unit framework; Described spring energized mechanism comprises spring, spring bearer plate and adjusting screw(rod), the adjusting screw(rod) upper end cooperates with the threaded hole of pick-up unit framework top, its lower end and spring bearer plate flexibly connect, 2 slide bars of suit at least vertically on spring bearer plate, in the pick-up unit framework, flatly be fixed with dividing plate, pilot hole socket on slide bar and adjusting screw(rod) and the dividing plate, the lower end of slide bar is connected with the upper end of detection wheel support, be set with spring on slide bar, spring is between spring bearer plate and detection wheel support.
Aforesaid roller type rail-moving machine-walking position detection apparatus is characterized in that also comprising web joint, and described web joint is fixed on a side of pick-up unit framework outside surface, and the pick-up unit framework is fixedlyed connected with mechanically moving by web joint.
Aforesaid roller type rail-moving machine-walking position detection apparatus is characterized in that described slide bar is 3.
Aforesaid roller type rail-moving machine-walking position detection apparatus is characterized in that described rotary encoder is the multiturn absolute type rotary encoder.
Aforesaid roller type rail-moving machine-walking position detection apparatus is characterized in that described detection wheel made by nonmetallic materials.
Aforesaid roller type rail-moving machine-walking position detection apparatus is characterized in that described detection wheel made by high-intensity engineering plastics or thermoplasticity elastic polyurethane.
Aforesaid roller type rail-moving machine-walking position detection apparatus is characterized in that described detection wheel made by metal material, and its circumferential outer surface is with nylon material.
The invention has the beneficial effects as follows: pick-up unit is fixedlyed connected with mechanically moving by adopting in the present invention, detection wheel full floating structure, detection wheel adopt nonmetallic materials or metal material surface to remember technological means such as detection position and high resolution detection precision through non-metallic processing, mechanical code-disc, eliminated the horizontal play error between pick-up unit and mechanically moving, need not increase external device (ED) just can free adjustment to rail pressure, solved detection wheel friction force and detection wheel and rotated contradiction between the dirigibility.Machinery code-disc memory walking position makes that pick-up unit is not had a power failure, the influence of external disturbance.Bearing accuracy reaches ± 0.18mm.
Description of drawings
Fig. 1 is the schematic appearance of roller type rail-moving machine-walking position detection apparatus of the present invention;
Fig. 2 is the A-A sectional view of Fig. 1.
Embodiment
Fig. 1 is the schematic appearance of roller type rail-moving machine-walking position detection apparatus of the present invention; Fig. 2 is the A-A sectional view of Fig. 1.
As shown in Figure 1 and Figure 2, roller type rail-moving machine-walking position detection apparatus of the present invention comprises: pick-up unit framework 9, unsteady detection wheel mechanism, spring energized mechanism and rotary encoder 2.
The detection wheel mechanism of floating comprises detection wheel 1, detection wheel support 7 and slide bar 5, and the cross section of detection wheel support 7 is " U " font, detection wheel 1 by Bearing Installation on two sides of detection wheel support 7.
Side at detection wheel support 7 is fixed with support 10, and rotary encoder 2 is installed on the support 10, and its turning axle is coaxial with detection wheel 1, and fixedlys connected with the turning axle of detection wheel 1.
Have straight trough in pick-up unit 9 bottoms, above-mentioned detection wheel 1 is installed in the pick-up unit framework 9 with rotary encoder 2.
Spring energized mechanism comprises spring 3, spring bearer plate 4 and adjusting screw(rod) 6, above pick-up unit framework 9, be provided with threaded hole, adjusting screw(rod) 6 upper ends cooperate with the threaded hole of pick-up unit framework 9 tops, its lower end and spring bearer plate 4 flexibly connects, 2 slide bars 5 of suit at least vertically on spring bearer plate 4.To detection wheel 1 up and down guiding, slide bar 5 can be arranged to three, can certainly be more for better.Flatly be fixed with dividing plate in pick-up unit framework 9, dividing plate is provided with a plurality of holes, and the borehole jack on slide bar 5 and adjusting screw(rod) 6 and the dividing plate connects.Be provided with a plurality of holes in the upper end of detection wheel support 7, the lower end of slide bar 5 is passed the hole on the detection wheel support 7 respectively, in cooperating with nut of detection wheel support 7.Be respectively installed with spring 3 on slide bar 5, spring 3 is between spring bearer plate 4 and detection wheel support 7.
For pick-up unit framework 9 is fixedlyed connected with mechanically moving, on pick-up unit framework 9, be welded with web joint 8, pick-up unit framework 9 is fastenedly connected by web joint 8 and mechanically moving.Detection wheel 1, detection wheel support 7 are formed relocation mechanism with slide bar 5, can only move up and down in pick-up unit framework 9.
Principle of work of the present invention is:
Pick-up unit framework 9 is fastenedly connected by web joint 8 and mechanically moving, and whole device and mechanically moving are connected to one.By rotation adjusting screw(rod) 6, change the upper-lower position of spring bearer plate 4, thereby change the normal pressure of 1 pair of track of detection wheel, detection wheel 1 is compressed in orbit.Drive detection wheel 1 during moving machine-walking and roll, with the axle synchronous follow-up of detection wheel 1 coaxial mounted multiturn absolute type rotary encoder 2.Read the output valve of rotary encoder 2, just can obtain the current location of mechanically moving.
The pick-up unit framework of whole detection device is fixed on the frame of mechanically moving by web joint.Unsteady detection wheel mechanism is connected and composed by detection wheel 1, slide bar 5, detection wheel support 7.Slide bar 5 passes the pilot hole of pick-up unit framework, and the unsteady detection wheel mechanism of restriction can only move in the vertical direction, and makes not have relatively moving of horizontal direction between detection wheel 1 and the mechanically moving, has therefore also prevented to produce the gap of horizontal direction.Spring energized mechanism is made up of spring 3, spring bearer plate 4, adjusting screw(rod) 6.By the position that adjusting screw(rod) 6 promoted or reduced spring bearer plate 4, spring 3 is discharged or compression, reach the purpose that changes 1 pair of track normal pressure of detection wheel, regulate the friction force between detection wheel 1 and the track.
The circumferential outer surface that adopts the metal detection wheel is carried out non-metallic processing, promptly adhere to nylon material, increase the friction factor between detection wheel and the track.
Multiturn absolute type rotary encoder among the present invention comprises absolute value photoelectric code disk and gear magnetic multi-turn code-disc.By many circle optical channel grooves, every circle groove is followed successively by 2 lines, 4 lines, 8 lines, 16 lines on the absolute value photoelectric code disk ...Like this, in each position of rotary encoder individual pen, by reading the logical, dark of per pass groove, obtain one group from 2 zero degree side the 2 unique scale codings to 2 n-1 power.In each position of scrambler, the per pass groove by reading gear magnetic multi-turn code-disc logical, dark also obtains one group of unique 2 scale coding about the number of turns.Two group of 2 scale coding combined, just drawn unique coding of each position correspondence of scrambler.Therefore, the position encoded mechanical location decision of multiturn absolute type rotary encoder by code-disc, it is not had a power failure, the influence of external disturbance.Because each position of scrambler is unique, need not remember, and need not look for reference point, and without continuous counter, therefore, as long as scrambler is connected all the time with mechanically moving, even the pick-up unit power down, in case recover, the coding of scrambler output is exactly the current walking position of mechanically moving.Certainly, do not limit this kind scrambler herein.
In order to prevent that detection wheel 1 from skidding, the present invention adopted the friction force that increases between detection wheel 1 and the track, alleviate the relocation mechanism deadweight, spring energized mechanism is set, improve the method for friction factor.Friction force can realize with two kinds of methods between increase detection wheel 1 and the track: the one, and the normal pressure of 1 pair of track of increase detection wheel, the 2nd, increase both friction factor.If only increase normal pressure (for example: increase deadweight), in the friction force that increases between detection wheel 1 and the track, also increased the frictional resistance of detection wheel 1 both sides rolling bearing self.When normal pressure is excessive, detection wheel 1 even can't roll in orbit, and increase wearing and tearing.Therefore, the normal pressure of 1 pair of track of increase detection wheel is limited.The friction factor of steel-steel is generally 0.10～0.20, detection wheel 1 usefulness metal material of the present invention is made, circumferential outer surface at detection wheel 1 carries out nonmetal processing, and behind the additional nylon material of the circumferential outer surface of detection wheel 1, the friction factor of itself and track can reach 0.50～0.70.Simultaneously, whole detection wheel 1 also can use nonmetallic materials to make, and makes such as high-intensity engineering plastics, thermoplasticity elastic polyurethane (TPE, TPR, SBS, SEBS, TPV, TPU, TPEE etc.).The detection wheel of identical deadweight, big more with the friction factor of track, its friction force is also big more, but the frictional resistance of detection wheel both sides rolling bearing self is identical.Therefore, improve friction factor between detection wheel 1 and the track, both can improve friction force, the dirigibility that has kept detection wheel 1 to roll again.
Because detection wheel 1 spring 3 by spring energized mechanism is flexible, apply the normal pressure to track, the direction of this normal pressure is vertically downward, does not have horizontal component, detection wheel 1 is to move vertically, does not increase the impact of direction of travel between slide bar 5 and the pilot hole; Again because the deadweight that has alleviated detection wheel 1, in mechanically moving start-stop moment, impact between slide bar 5 and the pilot hole just can be controlled in the limited scope, can not enlarge the horizontal clearance of direction of travel between pick-up unit and the mechanically moving, has guaranteed the accuracy of detection long-term stability.
The foregoing description does not limit the present invention in any form, and all employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of requirement of the present invention.
Claims (7)
1, a kind of roller type rail-moving machine-walking position detection apparatus is characterized in that comprising: pick-up unit framework, unsteady detection wheel mechanism, spring energized mechanism and rotary encoder; Described unsteady detection wheel mechanism comprises detection wheel, detection wheel support and slide bar, and the cross section of detection wheel support is " U " font, detection wheel by Bearing Installation on two sides of detection wheel support; Side at the detection wheel support is fixed with support, and described rotary encoder is rack-mount, and its turning axle is coaxial with detection wheel, and fixedly connected; Have straight trough in described pick-up unit bottom, above-mentioned detection wheel and rotary encoder are installed in the pick-up unit framework; Described spring energized mechanism comprises spring, spring bearer plate and adjusting screw(rod), the adjusting screw(rod) upper end cooperates with the threaded hole of pick-up unit framework top, its lower end and spring bearer plate flexibly connect, 2 slide bars of suit at least vertically on spring bearer plate, in the pick-up unit framework, flatly be fixed with dividing plate, pilot hole socket on slide bar and adjusting screw(rod) and the dividing plate, the lower end of slide bar is connected with the upper end of detection wheel support respectively, be respectively installed with spring on slide bar, spring is between spring bearer plate and detection wheel support.
2, roller type rail-moving machine-walking position detection apparatus according to claim 1, it is characterized in that also comprising web joint, described web joint is fixed on a side of pick-up unit framework outside surface, and the pick-up unit framework is fixedlyed connected with mechanically moving by web joint.
3, roller type rail-moving machine-walking position detection apparatus according to claim 1 is characterized in that described slide bar is 3.
4, roller type rail-moving machine-walking position detection apparatus according to claim 1 is characterized in that described rotary encoder is the multiturn absolute type rotary encoder.
5, roller type rail-moving machine-walking position detection apparatus according to claim 1 is characterized in that described detection wheel made by nonmetallic materials.
6, roller type rail-moving machine-walking position detection apparatus according to claim 5 is characterized in that described detection wheel made by high-intensity engineering plastics or thermoplasticity elastic polyurethane.
7, roller type rail-moving machine-walking position detection apparatus according to claim 1 is characterized in that described detection wheel made by metal material, at its circumferential outer surface with nylon material.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200810124488A CN100587408C (en) | 2008-07-17 | 2008-07-17 | Roller type rail-moving machine-walking position detection apparatus |
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| CN200810124488A CN100587408C (en) | 2008-07-17 | 2008-07-17 | Roller type rail-moving machine-walking position detection apparatus |
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| CN101319914A true CN101319914A (en) | 2008-12-10 |
| CN100587408C CN100587408C (en) | 2010-02-03 |
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| CN103075983A (en) * | 2012-12-31 | 2013-05-01 | 太原重工工程技术有限公司 | Mechanical position detecting device for track moving |
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| CN103363932A (en) * | 2012-03-26 | 2013-10-23 | 深圳迈瑞生物医疗电子股份有限公司 | Motion position detection mechanism and X-ray imaging device |
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| CN105588842A (en) * | 2016-01-28 | 2016-05-18 | 北京金久瑞科技有限公司 | Pulse generation device and tunnel surface detection vehicle |
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| CN100587408C (en) | 2010-02-03 |
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