CN106932758A - Radar detection servomechanism and radar antenna intelligent mobile lifting test platform - Google Patents
Radar detection servomechanism and radar antenna intelligent mobile lifting test platform Download PDFInfo
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- CN106932758A CN106932758A CN201511032180.2A CN201511032180A CN106932758A CN 106932758 A CN106932758 A CN 106932758A CN 201511032180 A CN201511032180 A CN 201511032180A CN 106932758 A CN106932758 A CN 106932758A
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- frame
- crawler belt
- support
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- servomechanism
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
A kind of radar detection servomechanism of the invention and radar antenna intelligent mobile lifting test platform, radar antenna intelligent mobile lifting test platform includes running gear, it is arranged on the lifting support system in the running gear, and radar detection servomechanism, radar detection servomechanism includes lower bracing frame, boss is supported, upper support frame is connected to boss and supports by " ten " word auxiliary connection, " ten " word auxiliary connection includes the first connector, second connector, first rotary shaft, second rotary shaft, and first rotary shaft " ten " word intersected with the second rotary shaft be connected, on upper support frame tie point on four is formed around around the junction of the second connector in upper support frame；Lower bracing frame or boss support are provided with four lower tie points；Spring is provided with four, and its upper end is connected with upper tie point, and lower end connects with corresponding lower tie point.Radar antenna intelligent mobile lifting test platform of the invention has trackability good, stablizes, and can adapt to various detection environment, and detection accuracy advantage high.
Description
Technical field
The present invention relates to detection device field, and in particular to a kind of radar detection servomechanism and with this
The radar antenna intelligent mobile lifting test platform of radar detection servomechanism.
Background technology
Radar antenna intelligent mobile lifting test platform is designed exclusively for geologic radar detection is carried out
Mobile device, it is intended to examined to Engineering Task face etc. by providing a workbench to detection radar
Survey work.It is mainly used in mine, tunnel, the geology detecting of factory building top board.Radar antenna intelligent sliding
Dynamic lifting test platform is by underpan traveling system, vertical lift system, backup radar detection servomechanism
Three parts are constituted.Wherein backup radar detection servomechanism is essential during radar detection
A part, for fixing, supporting radar detection antenna.Main Function is can to become with test surface shape
Change the relative position for being capable of adjust automatically radar antenna and test surface, so that radar is in optimal detection
Angle.Chinese patent literature CN201707453U discloses a kind of radar nondestructive detection used in wall of tunnel auxiliary
Device, the device includes a walking mechanism for carrying servicing unit, is arranged on returning in walking mechanism
Rotation mechanism, supporting mechanism fixed respectively and the drag-line branch of control supporting mechanism lifting on slew gear
Dagger；Supporting mechanism is parallelogram linkage, be provided with supporting mechanism fixed radar without
Damage the supporting plate of detection servicing unit；Two bottoms of supporting mechanism are connected using hinges, wherein one end
It is set to telescopic brace rod structure.In supporting plate bottom and the parallelogram sturcutre upper bottom edge of supporting mechanism
Junction is provided with the spring for absorbing the unsmooth discrepancy in elevation of tunnel wall, and top is equipped with the limit connected by branch bar
Position pulley.
In the auxiliary device for radar nondestructive detection used in wall of tunnel of above-mentioned patent document, because supporting plate is by hinge
Chain is connected on supporting mechanism, therefore, supporting plate can only realize that around hinge axle enters horizontal deflection self adaptation,
In detection process, yawing moment is limited to cause supporting plate deflection very flexible, it is impossible to which servo-actuated adaptation is not
Smooth tunnel wall, and stability is also bad, therefore, inconvenience is used, it is dumb,
Self-adapting following performance truly can not be realized.
Additionally, the supporting mechanism in the patent document is the linkage of parallelogram, therefore, rigidity
Difference, when vibration and impact that detection topography variation brings are passed on the connecting rod of supporting mechanism, it may appear that
Shake as so as to influence the detection accuracy of radar.
The content of the invention
Therefore, the technical problem to be solved in the present invention be overcome in the prior art tunnel wall radar without
Damage detection servicing unit unreasonable structure, there is trackability and stability be poor, deflect it is dumb so that
Easily have influence on the defect of radar detection precision, so as to provide a kind of simple and compact for structure, trackability and
Stablize, detection accuracy backup radar detection servomechanism high and with high auxiliary of the detection accuracy
The radar antenna intelligent mobile of radar detection servomechanism is helped to lift test platform.
In order to solve the above technical problems, a kind of radar detection servomechanism of the invention, including
Lower bracing frame；
Boss is supported, and is arranged in lower bracing frame；
Upper support frame, is connected to the boss and supports by " ten " word auxiliary connection, and peace is adapted to thereon
Dress radar detection antenna, " ten " the word auxiliary connection includes being connected to the of the boss branch support
A connection piece, be connected to the upper support frame bottom the second connector, level and rotationally set
The first rotary shaft on first connector is put, is rotatably arranged on second connector
The second rotary shaft, and first rotary shaft intersects " ten " word and is connected with second rotary shaft,
Junction on the upper support frame around second connector is formed around four in the upper support frame
Individual upper tie point, four upper tie points are oppositely arranged two-by-two, and wherein two be oppositely arranged it is described
Upper tie point is on same straight line with the junction, and the straight line is parallel with first rotary shaft；
The another two described upper tie points being oppositely arranged are also on same straight line with the junction, and the straight line
It is parallel with second rotary shaft；In the lower bracing frame or boss support in a respective direction
It is provided with four lower tie points；
Spring, is provided with four, and the upper end of the spring is connected with the upper tie point, lower end with it is corresponding
Described lower tie point connection.
In radar detection servomechanism of the invention, the upper tie point and the corresponding lower connection
Spring between point is obliquely installed, and the spring the distance of axis that is supported away from the boss of upper end
The distance of the axis supported away from the boss than the lower end of the spring is big.
In radar detection servomechanism of the invention, first connector, second connector
One end be connecting rod, the other end is " U " type frame, and one end of the connecting rod and " U "
The bottom connection of type frame, first rotary shaft or second rotary shaft are rotatably connected to described
Between the two opposing parallel side walls of " U " type frame.
In radar detection servomechanism of the invention, the lower bracing frame is by two or more
Flat board, is connected through the hinge into folding folding stand.
In radar detection servomechanism of the invention, the side wall of the boss support is provided with four and leads to
Hole, the upper end of the spring is connected by ball pair with the described upper tie point of the upper support frame, described
The lower end of spring is connected through the corresponding through hole with the described lower tie point of the lower bracing frame.
In radar detection servomechanism of the invention, the lower bracing frame is provided with to be led to the spring
To guide pipe, the lower end of the spring is connected through the guide pipe with the lower bracing frame.
A kind of radar antenna intelligent mobile lifting test platform of the invention, including running gear, are set
Lifting support system in the running gear, is connected with as described above in the lifting support system
Backup radar detection servomechanism.
In radar antenna intelligent mobile of the invention lifting test platform, the lifting support system bag
Include
Column support, is provided with multiple, and nested step by step, and each described column support includes upper and lower two
Polygonal frame, and two vertical columns of the polygonal frame of some connections；
Pulley, is arranged on each polygonal frame, the upper polygon of the column support of the bottom
Framework is provided with two fixed pulleys in left and right；The upper shape changeable frame of the column support of top is provided with
One fixed pulley, lower polygon frame is provided with two movable pulleys in left and right；The column support in intermediate layer
Upper polygon row framework on be respectively equipped with two fixed pulleys in left and right, under be respectively equipped with a left side on polygon row framework
Right two movable pulleys；
Rope, according to the fixed pulley on the upper polygonal frame on the column support for first passing through the bottom around to
Movable pulley on the lower polygonal frame of the column support of adjacent second bottom, further around the column to the second bottom
Fixed pulley on the upper polygonal frame of frame, further around the lower polygon on the column support to adjacent last layer
Movable pulley on framework, by the coiling successively from bottom to the top of such mode；
Electric capstan, draws the rope, pulls the column support to be lifted successively from light to heavy by quality.
In radar antenna intelligent mobile of the invention lifting test platform, column support described in adjacent two layers
Described vertical column between be additionally provided with guide runner, one end welding of the guide runner wherein
On the described vertical column of the column support, it is recessed that the other end of the guide runner is shaped to the first circular arc
Groove, the described vertical column that first arc groove is adapted to another column support is embedded within.
In radar antenna intelligent mobile of the invention lifting test platform, except the column of the bottom
Outside frame, it is provided with each angle of the polygonal frame of the bottom of remaining column support and makees angle sliding block,
Described to make to be formed with the second arc groove on the outside of the sliding block of angle, second arc groove is adapted to low one-level
The column of the column support is embedded within.
In radar antenna intelligent mobile of the invention lifting test platform, the running gear includes the
One crawler belt, is arranged on the first driving frame, the second crawler belt in first crawler belt, is arranged on described
The second driving frame in two crawler belts, connects first driving frame and the second driving frame, for installing
State the support frame of lifting support system.
In radar antenna intelligent mobile of the invention lifting test platform, support frame as described above includes adjustable
The crawler belt metamorphic mechanisms of the relative distance between first crawler belt, second crawler belt are saved, and will
The lifting support system is adjusted to the tune of the medium position between first crawler belt and second crawler belt
Middle mechanism, wherein the crawler belt metamorphic mechanisms include
Housing supports, which is provided with some big sleeve mounting holes, and be installed with least one
One feed screw nut；
Big sleeve, is provided with some side by side, and described big sleeve one end is arranged on first crawler belt, separately
One end is fixedly connected through the big sleeve mounting hole and with the housing supports；
Small sleeve, is provided with some side by side, and one end of the small sleeve is arranged on second crawler belt,
The other end is inserted in the corresponding big sleeve；
First leading screw, its one end is connected with first crawler belt or second crawler belt, and the other end is passed through
First feed screw nut；
Mounting bracket is installed, the lifting support system is arranged on the mounting bracket on the adjusting mechanism
On.
In radar antenna intelligent mobile of the invention lifting test platform, the adjusting mechanism includes
Second feed screw nut, on the mounting bracket；
Second leading screw, its one end is connected on first crawler belt or second crawler belt, and the other end is worn
Cross second feed screw nut；
First fixes sleeve, is provided with some, and its one end is connected on first crawler belt；
Second fixes sleeve, is provided with some, and its one end is connected on second crawler belt, and with it is described
First fixes sleeve is coaxially disposed；
Quill, is provided with some, and its one end is set in first fixes sleeve, other end set
It is located in second fixes sleeve, the mounting bracket is fixed on the quill.
It is first crawler belt, described in radar antenna intelligent mobile of the invention lifting test platform
Second crawler belt includes the first explosion-proof belt, is arranged on the internal tooth of the inner surface of the described first explosion-proof belt,
And it is arranged on the external tooth of the outer surface of the described first explosion-proof belt.
It is first crawler belt, described in radar antenna intelligent mobile of the invention lifting test platform
Crawler driving whell on second crawler belt includes seamless steel pipe, is fitted in around the seamless steel pipe described
The second explosion-proof belt on the outer wall of seamless steel pipe, and the outer wall for being arranged on the seamless steel pipe two ends
On sliding tooth.
Technical solution of the present invention, has the following advantages that：
1. the boss support in radar detection servomechanism of the invention provides certain sky to be servo-actuated deflection
Between improve support stiffness simultaneously and ensure that the stationarity of radar detection.The arrangement of spring be radar detection with
Dynamic system can realize the key being constantly servo-actuated, in the front, rear, left and right four direction point of upper support frame
Not Bu Zhi a spring be connected with lower bracing frame.When test surface run-off the straight, four springs of the mechanism
Can be according to the stretching of test surface four springs of inclined angle and direction adjust automatically and compressive state with suitable
Answer different test surfaces.The cross auxiliary connection set between upper support frame and support rim can not only be realized
Two degrees of freedom is deflected, but also yawing moment can be limited in stretching and the compression direction of spring,
So as to ensure that the stability of radar detection servomechanism.
2. in the present invention, lower bracing frame is connected through the hinge into by two or more flat boards
Folding folding stand.The lower bracing frame of this spline structure can realize being folded down for servomechanism, drop
The height that low radar is installed.
3. in the present invention, the lifting support system of this form realizes the work of " standing tree top is very heavy "
Make principle, strength has all been pressed in the axial direction of vertical column, born compared with scissor structure
Load is greatly reduced.The principle for having used scissor-type mechanism to be hinged step by step simultaneously, overcomes column type knot
Structure stability shortcoming not high, operating efficiency is significantly improved.
4. in the present invention, the crawler belt metamorphic mechanisms of support frame can be carried out to the width between two crawler belts
Regulation such that it is able to according to the environment of detection, be adjusted to the relative distance between two crawler belts, from
And ensure the stability of chassis system.
5. in the present invention, when crawler width expands, in order to ensure total system center of gravity not
Glance off, can support system call interception to track center just lifting using the adjusting mechanism of support frame
In walking.When such as comparing the top board test surface for keeping to the side to detection simultaneously, support frame can be adjusted to
Nearly crawler belt side completes detections of radar.
6. in the present invention, bonded on belt interior as the main carriers of crawler belt using explosion-proof belt
Tooth, external tooth realize that crawler belt is manufactured, and so not only can guarantee that track strength requirement but also can meet requirement of explosion proof.
7. in the present invention, crawler driving whell can be subtracted in the form of seamless steel pipe welding sliding tooth
Light crawler body weight, while in order to reach requirement of explosion proof, one layer of the surface laminating of seamless steel pipe is explosion-proof
Belt increases friction.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, under
Face will be briefly described to the accompanying drawing to be used needed for specific embodiment or description of the prior art,
It should be evident that drawings in the following description are some embodiments of the present invention, it is general for this area
For logical technical staff, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation that radar antenna intelligent mobile of the invention lifts test platform；
Fig. 2 is the stereogram of radar detection servomechanism of the invention；
Fig. 3 is the stereogram under another visual angle of radar detection servomechanism of the invention；
Fig. 4 is the stereogram of " ten " word auxiliary connection；
Fig. 5 is the stereogram of lifting support system of the invention；
Fig. 6 is the layout drawing of landing group in lifting support system of the invention；
Fig. 7 is the stereogram of guide runner；
Fig. 8 is the stereogram for making angle sliding block；
Fig. 9 is the stereogram of running gear；
Figure 10 is the schematic diagram of the support frame of running gear；
Figure 11 is the schematic diagram of the adjusting mechanism of running gear；
Figure 12 is the structural representation of crawler belt；
Figure 13 is the structural representation of crawler driving whell
Figure 14 is the schematic diagram of radar antenna intelligent mobile hoistable platform fluid power system of the invention；
Description of reference numerals：
1- lower bracing frames；2- boss is supported；3- upper support frames；4- " ten " word auxiliary connection；41- first
Connector；The rotary shafts of 411- first；The connectors of 42- second；The rotary shafts of 421- second；5- springs；6-
Flat board；7- hinges；8- ball pairs；9- guide pipes；10- column supports；The vertical columns of 11-；12- pulleys；
13- ropes；14- electric capstans；15- guide runners；The arc grooves of 16- first；The circular arcs of 17- second are recessed
Groove；The crawler belts of 18- first；The crawler belts of 19- second；20- housing supports；The feed screw nuts of 21- first；22- is big
Sleeve；23- small sleeves；The leading screws of 24- first；25- mounting brackets；The feed screw nuts of 26- second；27- second
Leading screw；28- quills；The explosion-proof belts of 29- first；30- internal tooths；31- external tooths；32- seamless steel pipes；
33- sliding tooths；The explosion-proof belts of 34- second；35- gear pumps；36- hydraulic motors；37- choke valves；38-
Reversal valve；The fixes sleeves of 39- first；The fixes sleeves of 40- second；A- radar detection servomechanisms；B-
Lifting support system；C- running gears.
Specific embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that
Described embodiment is a part of embodiment of the invention, rather than whole embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art are obtained under the premise of creative work is not made
Every other embodiment, belong to the scope of protection of the invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, art
Language " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected,
Can also be detachably connected, or be integrally connected；Can mechanically connect, or electrically connect；
Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two element internals
Connection.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
As long as additionally, technical characteristic involved in invention described below different embodiments that
Conflict is not constituted between this can just be combined with each other.
Embodiment 1
As Figure 2-3, a kind of radar detection servomechanism of the invention, including
Lower bracing frame 1；
Boss support 2, is arranged in lower bracing frame 1；
Upper support frame 3, is connected to the boss and supports on 2 by " ten " word auxiliary connection 4, fits thereon
Close and radar detection antenna is installed, " ten " the word auxiliary connection 4 includes being connected to the boss support 2
First connector 41 at top, be connected to the upper support frame 3 bottom the second connector 42, water
The first rotary shaft 411 that is flat and being rotatably arranged on first connector 41, rotationally sets
Put the second rotary shaft 421 on second connector 42, and first rotary shaft 411 and institute
State the second rotary shaft 421 and intersect the connection of " ten " word, around the upper branch on the upper support frame 3
Support 3 is provided with four upper tie points, four upper connections with the junction of second connector 42
Point is oppositely arranged two-by-two, and the wherein two described upper tie points being oppositely arranged are in together with the junction
On one straight line, and the straight line is parallel with first rotary shaft 411；Another two be oppositely arranged it is described on
Tie point is also on same straight line with the junction, and the straight line and second rotary shaft 421
It is parallel；Connect under being provided with four in a respective direction in the lower bracing frame 1 or boss support 2
Contact；
Spring 5, is provided with four, and the upper end of the spring 5 is connected with the upper tie point, lower end with it is right
The described lower tie point answered is connected.
Such scheme is core scheme of the invention, and the system is completed to different detections using balancing spring
The self-adapting following in face.Wherein upper support frame is used for fixed support detection radar；Lower bracing frame is used for thunder
Up to detection servomechanism and the connection for lifting support system；Boss support is connection upper support frame and lower branch
Support stiffness is improved simultaneously for servo-actuated deflection provides certain space and is protected in part between support, the part
The stationarity of radar detection is demonstrate,proved.The arrangement of spring is the key that the system can be realized constantly being servo-actuated,
The front, rear, left and right four direction of upper support frame is respectively arranged a spring and is connected with lower bracing frame.
When test surface run-off the straight, four springs of the mechanism can be according to the inclined angle and direction of test surface certainly
The stretching of dynamic four springs of adjustment and compressive state are adapting to different test surfaces.
Defect using spring is that spring is preferable in stretching and compression direction upward stability, if upper branch
Support spring when there are stress or deformation in the axial direction of spring can twist, whole upper support frame stability
Can be affected so as to have influence on the precision of radar detection.Therefore, upper support frame and support rim it
Between " ten " word auxiliary connection be set be merely able to realize that two degrees of freedom is deflected, therefore, the deflection of upper support frame
It is more flexible.
Further：Spring between the upper tie point and the corresponding lower tie point is obliquely installed,
And the lower end of the distance than the spring of axis of the upper end of the spring away from boss support 2 is away from institute
The distance for stating the axis of boss support 2 is big.Oblique, upper support after such four springs connection
When frame is deflected, under the limitation of " ten " word auxiliary connection, yawing moment is limited in stretching and the pressure of spring
Contracting direction, so as to ensure that the stability of servomechanism deflection, and then ensure that the precision of radar detection.
Therefore, the characteristics of radar detection servomechanism of the invention has flexible, servo-actuated, stable.
As shown in figure 4, further, it is preferable to first connector 41, second connector 42
One end be connecting rod, the other end is " U " type frame, and one end of the connecting rod and " U "
The bottom connection of type frame, first rotary shaft 411 or second rotary shaft 421 rotationally connect
It is connected between the two opposing parallel side walls of described " U " type frame." ten " word auxiliary connection of this spline structure
Simple structure, deflection is flexible.
The lower bracing frame 1 is connected into foldable by two or more flat boards 6 by hinge 7
Folding stand.The lower bracing frame 1 of this spline structure can realize being folded down for servomechanism, reduce
The height that radar is installed, in the present embodiment, lower bracing frame 1 includes two flat boards 6, two flat boards 6
By hinge formed ">" shape, lower bracing frame 1 be bolted lifting support system on.
The side wall of the boss support 2 is provided with four through holes, and the upper end of the spring 5 passes through ball pair 8
It is connected with the described upper tie point of the upper support frame 3, the lower end of the spring 5 passes through corresponding institute
Through hole is stated to be connected with the described lower tie point of the lower bracing frame 1.The connection of ball pair 8, enables to
A kind of radar detection servomechanism deflection of the invention is more flexible.
The lower bracing frame 1 is provided with the guide pipe 9 being oriented to the spring 5, under the spring 5
End is connected through the guide pipe 9 with the lower bracing frame 1.The setting of guide pipe 9 can not only consolidate
Determine spring 5, but also the flexible of spring 5 can be oriented to, while spring 5 can also be adjusted
Install so that a kind of radar detection servomechanism deflection of the invention is more stable.
As represented in figures 1 through 14, a kind of radar antenna intelligent mobile lifting test platform, including running gear
C, is arranged on the lifting support system B on the running gear C, connects on the lifting support system B
It is connected to radar detection servomechanism A as described above.
Lifting support system B is the device for completing radar detection lifting platform, by elevating mechanism
Motion can change the height of radar detection, realize the detection to different height top board face.Such as Fig. 4
With shown in 5, the lifting support system B of the present embodiment includes
Column support 10, is provided with multiple, and nested step by step, and each described column support 10 includes upper and lower
Two polygonal frames, and two vertical columns 11 of the polygonal frame of some connections；
Pulley 12, is arranged on each polygonal frame, the column support 10 of the bottom it is upper many
Side shape framework is provided with two fixed pulleys in left and right, the upper shape changeable frame of the column support 10 of top
A fixed pulley is provided with, lower polygon frame is provided with two movable pulleys in left and right；Intermediate layer it is described
Two fixed pulleys in left and right are respectively equipped with the upper polygon row framework of column support 10, under on polygon row framework point
Two movable pulleys in left and right are not provided with；
Rope 13, according to the fixed pulley on the upper polygonal frame on the column support 10 for first passing through the bottom
Movable pulley on from the lower polygonal frame to the column support 10 of adjacent second bottom, further around to the second bottom
Column support 10 upper polygonal frame on fixed pulley, further around the column support 10 to adjacent last layer
On lower polygonal frame on movable pulley, by the coiling successively from bottom to the top of such mode；
Electric capstan 14, draws the rope 13, pulls the column support 10 to press quality from light to heavy
Lifted successively.Upper and lower two polygonal frames of column support can be triangular framing, positive direction frame
Frame, five deformation frameworks etc., in the present embodiment, preferably triangular framing, two triangular framings
A triangular prism shape is connected into by three vertical columns 11.Lifting support system uses multilevel phase
Together, but the column support nesting that tapers into of triangular framing size is formed, per adjacent two-stage column support 10
Between be connected with pulley and rope 13, rope 13 is preferably steel wire rope.Bottom column support is fixed on
On chassis, electric capstan is fixed on bottom column support.When needing to raise, electric capstan drives steel
Cord pulls column supports at different levels to be lifted successively from light to heavy by quality.The lifting support system of this form
The operation principle of " standing tree top is very heavy " is realized, strength has all been pressed in the axial direction of vertical column 11
On, the load born compared with scissor structure is greatly reduced.Scissor-type mechanism is used step by step simultaneously
The principle being hinged, overcomes column type structural stability shortcoming not high, and operating efficiency is significantly improved.
Elevating mechanism type of drive, as drive device connecting steel wire ropes, is driven using two electric capstans
Column support is lifted successively from light to heavy.Elevating mechanism be respectively designated as from bottom to top bottom frame, two layer frames,
Three layer frames ..., top layer frame.The steel wire rope of electric capstan connection first passes around the pulley on bottom frame top,
The pulley of two layer frame bottoms is then passed around, the pulley on two layer frame tops is bypassed afterwards, each layer is bypassed successively
Pulley.For increase driving force, raising rising or falling speed, and enhancing stability etc. are many to be examined
Consider, two electric capstans are preferably installed and are driven jointly, pacify in the bottom set square centre position of top layer frame
A pulley is filled, the two sets of steel wire ropes in left and right are connected together.Accordingly even when only one of which motor works,
System can also run well, simply output power of motor increase, not interfere with system work.
Further, in order to ensure that between each layer column smooth stabilization can be lifted, as shown in fig. 6,
Guide runner 15 is additionally provided between the described vertical column 11 of column support 10 described in adjacent two layers, it is described
One end of guide runner 15 is welded on the described vertical column 11 of column support 10 described in wherein, institute
The other end for stating guide runner 15 is shaped to the first arc groove 16, and first arc groove 16 is fitted
The described vertical column 11 for closing another column support 10 is embedded within.In one end of guide runner 15
Weld when on the described vertical column 11 of column support described in wherein, can be set on guide runner 15
Through hole is put, vertical column 11 is welded again after passing through the through hole.
As shown in figure 8, in addition to the column support 10 of the bottom, under remaining described column support 10
It is provided with each angle of the polygonal frame in portion and makees angle sliding block, the outside for making angle sliding block is formed
There is the second arc groove 17, second arc groove 17 is adapted to the vertical of column support 10 described in low one-level
Post is embedded within.11 groups of the vertical column of the second arc groove 17 and next layer of adjacent triangle-frame
Into sliding pair connection.Existing preferable centering, while also playing the work of guiding for the lifting of tripod
With the stationarity in the lifting process for greatly improving.
As shown in Figures 9 and 10, running gear C uses caterpillar chassis, and it is whole to move drive by chassis
The movement of individual platform.The running gear C includes the first crawler belt 18, is arranged on first crawler belt 18
Interior the first driving frame, the second crawler belt 19, is arranged on the second driving frame in second crawler belt 19,
First driving frame and the second driving frame are connected, the support frame for installing the lifting support system,
And support frame as described above can adjust the relative distance between first crawler belt 18, second crawler belt 19,
And lifting support system can be accordingly adjusted between first crawler belt 18 and second crawler belt 19
Medium position.Running gear is made up of left crawler belt, right-hand track chiain, support frame.Left and right crawler belt and ground
Contact surface, in order to adapt to more different tunnels and tunnel width, support frame is set to left and right wide
Degree is adjustable.
The broad-adjustable structure of support frame or so has various, in the present embodiment, preferred support frame as described above
Crawler belt including can adjust the relative distance between first crawler belt 18, second crawler belt 19 becomes born of the same parents
Mechanism, and the lifting support system is adjusted to first crawler belt 18 with second crawler belt 19
Between medium position adjusting mechanism, wherein the crawler belt metamorphic mechanisms include
Housing supports 20, which is provided with some big sleeve mounting holes, and be installed with least one
First feed screw nut 21；
Big sleeve 22, is provided with some, and described one end of big sleeve 22 is arranged on first crawler belt 18,
The other end is fixedly connected through the big sleeve mounting hole and with the housing supports 20；
Small sleeve 23, is provided with some, and one end of the small sleeve 23 is arranged on second crawler belt 19
On, the other end is inserted in the corresponding big sleeve 22；
First leading screw 24, its one end is connected with first crawler belt 18 or second crawler belt 19, separately
One end passes through first feed screw nut 21；
Mounting bracket 25 is installed, the lifting support system is arranged on the mounting bracket on the adjusting mechanism
On 25.
The width of the first crawler belt 18 of left and right setting, the second crawler belt 19 is set to 1000mm.Work as liter
, it is necessary to improve chassis stability during acquisition mode at descending branch support system, it is necessary to increase chassis area.It is logical
Cross the first leading screw 24 of control to rotate, drive the first feed screw nut 21 to move axially, so that band moving sleeve
Support 20 is moved axially, and then realizes stretching between big sleeve 22 and small sleeve 23, so as to adjust
The distance between two crawler belts, two crawler belt ultimate ranges can reach 1600mm, so as to ensure chassis system
Stability.
The structure of adjusting mechanism has various, as shown in figs. 9-11, in the present embodiment, preferably described tune
Middle mechanism includes
Second feed screw nut 26, on the mounting bracket 25；
Second leading screw 27, its one end is connected on first crawler belt 18 or second crawler belt 19,
The other end passes through second feed screw nut 26；
First fixes sleeve 39, is provided with some side by side, and its one end is connected on first crawler belt 18；
Second fixes sleeve 40, is provided with some side by side, and its one end is connected on second crawler belt 19,
And be coaxially disposed with first fixes sleeve 39；
Quill 28, is provided with some, and its one end is set in first fixes sleeve 39, another
End is set in second fixes sleeve 40, and the mounting bracket 25 is bolted on the work
On moving sleeve 28.The radical one of the first fixes sleeve 39, the second fixes sleeve 40 and quill 28
Cause, and radical can be set according to actual needs, in the present embodiment, the first fixes sleeve 39, second
Fixes sleeve 40 is respectively provided with three with quill 28, and the second leading screw 27, the second feed screw nut 26 set
Have a set of.It is preferred that the diameter with diameter greater than the second fixes sleeve 40 of the first fixes sleeve 39, activity
Sleeve 28 by various sizes of rubber position it is complete respectively with the first fixes sleeve 39, the second fixes sleeve
40 connections.
When crawler width expands, in order to the center of gravity for ensureing total system is not glanced off, using branch
Lifting can be supported that system call interception is easy to walking to track center by the adjusting mechanism of support.If simultaneously
Detect when comparing the top board test surface for keeping to the side, support frame can be adjusted to nearly crawler belt side and complete radar
Detection.Synchronization when above-mentioned adjusting mechanism can not only ensure to be adjusted with support frame, additionally it is possible to by rotation
Turn position of the regulation mounting bracket of the second leading screw 27 on crawler body.
As shown in figure 12, first crawler belt 18, second crawler belt 19 include the first explosion-proof belt
29, the internal tooth 30 of the inner surface of the described first explosion-proof belt 29 is arranged on, and be arranged on described first
The external tooth 31 of the outer surface of explosion-proof belt 29.The explosion-proof of crawler belt is from the making and material of crawler belt first
Consider.1400mm is reached because the track length of hoistable platform crawler body is more long, crawler belt area is very big,
Crawler belt is made using general rubber die sinking, it is impossible to fully meet mine explosion requirement.The design will
Using existing explosion-proof belt as the main carriers of crawler belt, internal tooth is bonded on belt (both with driving wheel
The tooth being meshed), external tooth (with ground Contact Tooth) realize crawler belt manufacture, so both can guarantee that crawler belt was strong
Degree requires that again requirement of explosion proof can be met.Internal tooth pastes one layer of belt and is embedded into belt inner side using steel plate, outward
Tooth is embedded into belt outside using angle steel.
As shown in figure 13, the crawler driving whell on first crawler belt 18, second crawler belt 19 is wrapped
Seamless steel pipe 32 is included, is fitted on the outer wall of the seamless steel pipe 32 around the seamless steel pipe 32
Second explosion-proof belt 34, and the sliding tooth 33 on the outer wall at the two ends of the seamless steel pipe 32 is arranged on,
Usual sliding tooth 33 is welded on seamless steel pipe 32 by welding manner.In order to mitigate crawler body weight
Amount, while in order to reach requirement of explosion proof, crawler driving whell is in the form of seamless steel pipe welding sliding tooth.
In order to ensure service life and transmission efficiency of the driving wheel during driving, slip teeth is prevented, taken off
Fit one layer of explosion-proof belt to increase friction in situation about falling, the surface of seamless steel pipe.Explosion-proof belt art
Highly developed, seamless steel pipe can strengthen the intensity of driving wheel with welding sliding tooth using steel.
As shown in figure 14, lifting support system B and running gear C is required to power, and the design is being carried out
Small size hydraulic pump station being set up on band chassis, power source is provided.Conversion process of energy is：Using alternating current generator
Power supply, motor belt motor hydrodynamic press pump rotates the pressure energy that the mechanical energy of motor is converted into fluid.Hydraulic oil
Drive hydraulic motor rotation that pressure energy is converted to the mechanical energy of hydraulic motor.Finally by hydraulic motor band
Dynamic crawler belt driving wheel rotation, completes the driving to creeper undercarriage.The hydraulic system uses a tooth
Wheel pump 35 is used as four tunnels of power source point supply hydraulic motor 36.Four hydraulic motors 36 are used to perform
Element, the left and right wheel of creeper truck is driven with a hydraulic motor 36 respectively, and lifting support system B is used
Two hydraulic motors drive simultaneously.Controlled by four different hand-operated three-positions 38 respectively
The rotation situation of hydraulic motor processed 36.Influent is controlled using a choke valve 37 on each in-line
The fluid flow of pressure motor 36, controls the rotating speed of hydraulic motor 36.And then control what creeper truck advanced
The speed of speed and lifting support system B raising and lowerings.
Obviously, above-described embodiment is only intended to clearly illustrate example, and not to embodiment party
The restriction of formula.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no need and unable to give all of implementation method
With exhaustion.And the obvious change thus extended out or change guarantor still in the invention
Among shield scope.
Claims (15)
1. a kind of radar detection servomechanism, it is characterised in that including
Lower bracing frame (1)；
Boss supports (2), is arranged in lower bracing frame (1)；
Upper support frame (3), is connected to the boss and supports (2) by " ten " word auxiliary connection (4)
On, radar detection antenna is adapted to fit thereon, " ten " the word auxiliary connection (4) is including being connected to
State the first connector (41) at the top of boss support (2), be connected to the bottom of the upper support frame (3)
Second connector (42) in portion, level and is rotatably arranged on first connector (41)
First rotary shaft (411), is rotatably arranged in the second rotation on second connector (42)
Axle (421), and first rotary shaft (411) intersects " ten " with second rotary shaft (421)
Word is connected, and the junction on the upper support frame (3) around second connector (42) exists
Upper support frame (3) is formed around four upper tie points, and four upper tie points are oppositely arranged two-by-two,
And wherein two the described upper tie point being oppositely arranged and the junction be on same straight line, and this is straight
Line is parallel with first rotary shaft (411)；The another two described upper tie points being oppositely arranged and the company
The place of connecing is also on same straight line, and the straight line is parallel with second rotary shaft (421), it is described under
Four lower tie points are provided with a respective direction on support frame (1) or boss support (2)；
Spring (5), is provided with four, and the upper end of the spring (5) is connected with the upper tie point, under
End connects with the corresponding lower tie point.
2. radar detection servomechanism according to claim 1, it is characterised in that the upper company
Spring between contact and the corresponding lower tie point is obliquely installed, and the spring upper end away from institute
The distance for stating the axis of boss support (2) is supported (2) than the lower end of the spring away from the boss
The distance of axis is big.
3. radar detection servomechanism according to claim 1 and 2, it is characterised in that
First connector (41), one end of second connector (42) are connecting rod, separately
One end is " U " type frame, and one end of the connecting rod is connected with the bottom of " U " type frame,
First rotary shaft (411) or second rotary shaft (421) are rotatably connected to " U "
Between two opposing parallel side walls of type frame.
4. radar detection servomechanism according to claim 3, it is characterised in that the lower branch
Support (1) is connected into folding by two or more flat boards (6) by hinge (7)
Folding stand.
5. radar detection servomechanism according to claim 1, it is characterised in that the boss
Support the side wall of (2) to be provided with four through holes, the upper end of the spring (5) by ball pair (8) and
The described upper tie point connection of the upper support frame (3), the lower end of the spring (5) passes through correspondence
The through hole be connected with the described lower tie point of the lower bracing frame (1).
6. radar detection servomechanism according to claim 5, it is characterised in that the lower branch
Support (1) is provided with the guide pipe (9) being oriented to the spring (5), under the spring (5)
End is connected through the guide pipe (9) with the lower bracing frame (1).
7. a kind of radar antenna intelligent mobile lifting test platform, including running gear (C), is arranged on
Lifting support system (B) on the running gear (C), it is characterised in that the lifting support system
Connected on system (B) and detect servomechanism (A) just like the backup radar any one of claim 1-6.
8. radar antenna intelligent mobile according to claim 7 lifts test platform, and its feature exists
In lifting support system (B) includes
Column support (10), is provided with multiple, and nested step by step, and each described column support (10) includes
Upper and lower two polygonal frames, and two vertical columns of the polygonal frame of some connections
(11)；
Pulley (12), is arranged on each polygonal frame, the column support (10) of the bottom
Upper polygonal frame be provided with left and right two fixed pulleys, the column support (10) of top it is upper
Shape changeable frame is provided with a fixed pulley, and lower polygon frame is provided with two movable pulleys in left and right, in
Two fixed pulleys in left and right are respectively equipped with the upper polygon row framework of the column support (10) of interbed, under
Two movable pulleys in left and right are respectively equipped with polygon row framework；
Rope (13), according to determining on the upper polygonal frame on the column support 10 for first passing through the bottom
Movable pulley of the pulley on the lower polygonal frame to the column support 10 of adjacent second bottom, further around to this time
Fixed pulley on the upper polygonal frame of the column support 10 of bottom, further around the column support to adjacent last layer
The movable pulley on lower polygonal frame on 10, by the coiling successively from bottom to the top of such mode；
Electric capstan (14), draws the rope (13), pulls the column support (10) by quality
Lifted successively from light to heavy.
9. radar antenna intelligent mobile according to claim 8 lifts test platform, and its feature exists
In, be additionally provided between the described vertical column (11) of column support described in adjacent two layers (10) guiding slide
Weld the institute of column support described in (10) wherein in block (15), one end of the guide runner (15)
State on vertical column (11), the other end of the guide runner (15) is shaped to the first arc groove
(16), first arc groove (16) is adapted to the described vertical vertically of another column support (10)
Post (11) is embedded within.
10. radar antenna intelligent mobile according to claim 9 lifts test platform, and its feature exists
In, in addition to the column support (10) of the bottom, the institute of the bottom of remaining column support (10)
State to be provided with each angle of polygonal frame and make angle sliding block, it is described to make to be formed with second on the outside of the sliding block of angle
Arc groove (17), second arc groove (17) is adapted to column support (10) described in low one-level
Column is embedded within.
11. radar antenna intelligent mobile lifting test platforms according to claim 10, its feature
It is that the running gear (C) includes the first crawler belt (18), is arranged on first crawler belt (18)
Interior the first driving frame, the second crawler belt (19), is arranged on the second row in second crawler belt (19)
Vehicle frame, connects first driving frame and the second driving frame, for installing the lifting support system
Support frame.
12. radar antenna intelligent mobile lifting test platforms according to claim 11, its feature
Be, support frame as described above include can adjust first crawler belt (18), second crawler belt (19) it
Between relative distance crawler belt metamorphic mechanisms, and lifting support system (B) is adjusted to described the
The adjusting mechanism of the medium position between one crawler belt (18) and second crawler belt (19), wherein institute
Stating crawler belt metamorphic mechanisms includes
Housing supports (20), which is provided with some big sleeve mounting holes, and be installed with least one
Individual first feed screw nut (21)；
Big sleeve (22), is provided with some side by side, and described big sleeve (22) one end is arranged on described first
On crawler belt (18), the other end is consolidated through the big sleeve mounting hole and with the housing supports (20)
Fixed connection；
Small sleeve (23), is provided with some side by side, and one end of the small sleeve (23) is arranged on described the
On two crawler belts (19), the other end is inserted in the corresponding big sleeve (22)；
First leading screw (24), its one end and first crawler belt (18) or second crawler belt (19)
Connection, the other end passes through first feed screw nut (21)；
Mounting bracket (25) is installed, the lifting support system is arranged on the peace on the adjusting mechanism
Shelve on (25).
13. radar antenna intelligent mobile lifting test platforms according to claim 12, its feature
It is that the adjusting mechanism includes
Second feed screw nut (26), on the mounting bracket (25)；
Second leading screw (27), its one end is connected to first crawler belt (18) or second crawler belt (19)
On, the other end passes through second feed screw nut (26)；
First fixes sleeve (39), is provided with some side by side, and its one end is connected to first crawler belt (18)
On；
Second fixes sleeve (40), is provided with some side by side, and its one end is connected to second crawler belt (19)
On, and be coaxially disposed with first fixes sleeve (39)；
Quill (28), is provided with some, and its one end is set on first fixes sleeve (39),
The other end is set on second fixes sleeve (40), and the mounting bracket (25) is fixed on described
On quill (28).
14. radar antenna intelligent mobile lifting test platforms according to claim 11, its feature
It is that first crawler belt (18), second crawler belt (19) include the first explosion-proof belt (29),
The internal tooth (30) of the inner surface of the described first explosion-proof belt (29) is arranged on, and is arranged on described
The external tooth (31) of the outer surface of one explosion-proof belt (29).
15. radar antenna intelligent mobile lifting test platforms according to claim 11, its feature
It is that the crawler driving whell on first crawler belt (18), second crawler belt (19) includes nothing
Seam steel pipe (32), the outer wall of the seamless steel pipe (32) is fitted in around the seamless steel pipe (32)
On the second explosion-proof belt (34), and be arranged on the outer wall at the seamless steel pipe (32) two ends
Sliding tooth (33).
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| CN107462870A (en) * | 2017-08-30 | 2017-12-12 | 苏交科集团股份有限公司 | A kind of geological radar Pilot Operational Equipment |
| CN108748214A (en) * | 2018-08-08 | 2018-11-06 | 田国力 | A kind of constant stress multifunction manipulator |
| CN109249867A (en) * | 2018-10-24 | 2019-01-22 | 北京环境特性研究所 | It is a kind of for vehicle-mounted large-scale Three Degree Of Freedom scanning support |
| CN110187339A (en) * | 2019-05-07 | 2019-08-30 | 山东大学 | The geological radar antenna mobile remote control auxiliary device and method of underground space detection |
| CN111965649A (en) * | 2020-08-14 | 2020-11-20 | 安徽硖石智能装备科技有限公司 | Safety precaution device with radar detection |
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| CN113442670A (en) * | 2021-06-28 | 2021-09-28 | 中铁十二局集团有限公司 | Novel tunnel engineering amphibious climbing detection robot |
| CN114470637A (en) * | 2022-02-26 | 2022-05-13 | 河南省人民医院 | Ankle joint mobility-based monitoring system and method for patients after lower limb venous malformation |
| CN116666939A (en) * | 2023-08-01 | 2023-08-29 | 江苏北斗信创科技发展有限公司 | Beidou antenna maintenance-free universal supporting device and Beidou antenna |
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