CN109334815A - Moving trolley and accelerator maintenance device - Google Patents
Moving trolley and accelerator maintenance device Download PDFInfo
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- CN109334815A CN109334815A CN201811289338.8A CN201811289338A CN109334815A CN 109334815 A CN109334815 A CN 109334815A CN 201811289338 A CN201811289338 A CN 201811289338A CN 109334815 A CN109334815 A CN 109334815A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 3
- 230000008602 contraction Effects 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 description 26
- 239000000523 sample Substances 0.000 description 23
- 238000010586 diagram Methods 0.000 description 8
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 238000013519 translation Methods 0.000 description 5
- 239000011324 bead Substances 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 239000002360 explosive Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
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- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
Abstract
A kind of moving trolley disclosed in the present application and accelerator maintenance device, wherein moving trolley includes chassis, and chassis is equipped with vehicle wheel component, and each vehicle wheel component includes a wheel, and the travel-driving mechanism for driving vehicle wheel rotation；Chassis is additionally provided with wheel tread adjusting mechanism, and the wheelspan driving device that the wheel group supporting beam including being slidably connected with chassis and driving wheel group supporting beam are slided along vehicle-width direction, vehicle wheel component is fixed on the outer end of wheel group supporting beam；Wheel group supporting beam is arranged in a one-to-one correspondence with wheel.The moving trolley of the application is equipped with the wheel that can actively travel, can be according to the wheelspan between the wheel of the width adjusting trolley two sides in tunnel, it is ensured that trolley can contact always with the step in tunnel, keep stablizing traveling；Vehicle wheel component can avoid wheels travel direction from moving towards inconsistent with tunnel according to the contraction in tunnel or the direction of expansion adjustment wheel so that wheel remains the direction running parallel with the wall in tunnel, cause to collide and damage equipment.
Description
Technical field
This application involves accelerator field more particularly to a kind of moving trolley that wheelspan is adjustable and accelerator maintenance dresses
It sets.
Background technique
It needs to carry out alignment measurement, tunnel to the magnet in 24 meters of section tunnels when the plant maintenance of Chinese spallation neutron source CSNS
Road is equipped with the step extended along its length, and the wall above step is equipped with wall target seat, sets in the equipment below step
There is magnet target seat, each magnet target seat and wall target seat into tunnel is needed to launch and recycle during alignment measurement
Collimate bead.Since 24 meters of section tunnel environments are under accelerator shutdown status, there are still the residual radiations of doses, therefore need
It wants a set of equipment to substitute people, carries out tunnel environment and carry out corresponding plant maintenance.It is then desired to which one can be in the step in tunnel
The moving trolley of upper walking carries to maintain equipment.
Since the distance of tunnel second half section two sides becomes larger, whole in horn-like, existing moving trolley can only be adapted to
The walking of tunnel front half section, and when second half section tunnel gradually broadens, existing moving trolley can be fallen when walking from the step in tunnel,
It can not be normal through.
Summary of the invention
The present invention provides a kind of moving trolley and accelerates its maintenance device, it is intended to which solving existing moving trolley can not be adaptive
Should be by accelerator tunnel the problem of.
A kind of moving trolley disclosed in the present application, including chassis, the chassis are equipped with:
Vehicle wheel component, each vehicle wheel component include a wheel, and the traveling for driving the vehicle wheel rotation
Driving mechanism；
Wheel tread adjusting mechanism, including the wheel group supporting beam being slidably connected with the chassis, and the driving wheel group supporting beam
Along the wheelspan driving device of vehicle-width direction sliding, the vehicle wheel component is fixed on the outer end of the wheel group supporting beam；
The wheel group supporting beam is arranged in a one-to-one correspondence with the wheel.
The moving trolley, which is characterized in that the vehicle wheel component further includes for measuring the wheel and tunnel wall
Between distance sensor, the chassis be equipped with respectively with the wheelspan driving device, sensor and travel driving unit electricity
The power control cabinet of connection.
The moving trolley, which is characterized in that the wheel tread adjusting mechanism further includes being set to the tray bottom table
The first round in face, the upper surface of the wheel group supporting beam, which is fixed with, to be adapted with the first round away from guide rail is adjusted away from guide rail is adjusted
The first round away from adjusting slider.
The moving trolley, which is characterized in that the first round is fixed in the wheel group supporting beam away from adjusting slider
The upper surface at end, the wheel group upper surface of support beam are additionally provided with the second wheelspan being parallel to each other with the first round away from adjusting guide rail
Guide rail is adjusted, the lower surface of the chassis outer end is fixed with the second wheelspan compatible with second wheelspan adjusting guide rail and adjusts
Sliding block.
The moving trolley, which is characterized in that the wheelspan driving device has the fixation being fixed on the chassis
End and can the flexible ejection end of the relatively described fixing end, the ejection end is fixedly connected with the wheel group supporting beam, for driving
The wheel group supporting beam is slided along the first round away from guide rail is adjusted.
The moving trolley, which is characterized in that the fixing end is equipped with sleeve, and the ejection end is equipped with one end and is inserted into institute
The push rod that sleeve outer end is socketed with it is stated, the sleeve inner end is additionally provided with for driving the push rod to stretch in the sleeve
Wheelspan transmission device；The wheelspan transmission device includes the ball-screw with push rod transmission connection, and the push rod inner cavity is solid
Surely there is ball screw compatible with the ball-screw, the sleeve tail end is equipped with for driving the ball screw turns
Wheelspan adjusts motor.
The moving trolley, which is characterized in that the vehicle wheel component includes wheel shaft, for fixing the wheel shaft both ends
Spoked support plates, and be fixed on the spoked support plates for driving the running motor of the wheel shaft rotation.
The moving trolley, which is characterized in that the vehicle wheel component further includes for controlling the wheel direction of travel
Steering mechanism, the steering mechanism includes the steering shaft that output end is fixedly connected with the spoked support plates, and is fixed on
For driving the steer-drive of the steering axes in the wheel group supporting beam.
The moving trolley, which is characterized in that the vehicle wheel component further includes wheel group mounting base, the wheel group mounting base
One end is fixedly connected with the wheel group supporting beam, and the other end is fixedly connected by the steering mechanism with the spoked support plates；
The steer-drive includes the steering motor being fixed in the wheel group mounting base, the output end of the steering motor and institute
State steering shaft transmission connection.
A kind of accelerator maintenance device, including the grasping system for grabbing collimation ball, and for carrying the crawl
The moving trolley of system, the moving trolley are above-described moving trolley.
Moving trolley disclosed in this invention and accelerator maintenance device, equipped with the wheel that can actively travel, on chassis
It is additionally provided with wheel tread adjusting mechanism, it can be according to the wheelspan between the wheel of the width adjusting trolley two sides in tunnel, it is ensured that trolley begins
It can be contacted eventually with the step in tunnel, keep stablizing traveling；Vehicle wheel component sets steering mechanism, can be according to the contraction or expansion in tunnel
The direction for opening adjustment wheel avoids wheels travel direction so that wheel remains the direction running parallel with the wall in tunnel
The side extending direction is inconsistent with tunnel, causes to jolt and damage equipment.
Detailed description of the invention
Fig. 1 is the overall structure diagram of accelerator maintenance device in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of moving trolley in the embodiment of the present invention；
Fig. 3 is the explosive view of moving trolley in the embodiment of the present invention；
Fig. 4 is the structural scheme of mechanism of wheel group supporting beam in the embodiment of the present invention；
Fig. 5 is the exploded view of wheel group supporting beam in the embodiment of the present invention；
Fig. 6 is the structural schematic diagram of wheelspan driving device in the embodiment of the present invention；
Fig. 7 is the explosive view of wheelspan driving device in the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of vehicle wheel component in the embodiment of the present invention；
Fig. 9 is the explosive view of vehicle wheel component in the embodiment of the present invention；
Figure 10 is the structural schematic diagram of translation mechanism in the embodiment of the present invention；
Figure 11 is the exploded view of translation mechanism in the embodiment of the present invention；
Figure 12 is another visual angle flowering structure schematic diagram of translation mechanism in the embodiment of the present invention；
Figure 13 is the structural schematic diagram of grasping system in the embodiment of the present invention；
Figure 14 is the main view of grasping system in the embodiment of the present invention；
Figure 15 be in Figure 14 G-G to partial sectional view；
Figure 16 is the overall structure diagram of probe assembly in the embodiment of the present invention；
Figure 17 is the explosive view of probe assembly in the embodiment of the present invention.
The label of the present embodiment attached drawing part:
Moving trolley 1, cross-brace beam 11, longitudinal support beam 12, power control cabinet 13, lateral walking guide rail 14, synchronous cross
Band 15, accommodating case 16, holding tank 160；
Three axis running gears 2, lateral walker 21, transverse direction walking sliding block 210, synchronous cross wheel drive unit 211, transverse direction
Driving wheel 212, longitudinal walking guide rail 213, longitudinal synchronous belt 214；Longitudinal direction is in walker 22, longitudinal walking sliding block 220, Zong Xiangtong
It walks wheel drive unit 221, longitudinal direction synchronizing wheel 222, sliding block 223 of vertically walking, vertical synchronous wheel drive unit 224, vertically synchronize
Wheel 225, vertical walker 23, longitudinal walking guide rail 230, vertical synchronous belt 231；
Grasping system 3, probe 30, guide head 301, electromagnet 302, spherical cavity 303, probe socket 31, fixed ear 310,
Laterally fine tuning guide rail 32, fixed plate 33, laterally fine tuning sliding block 34, longitudinal fine tuning guide rail 35, longitudinal fine tuning sliding block 36, framework 37；
Vehicle wheel component 4, wheel 40, wheel shaft 41, spoked support plates 42, running motor 43, wheel group mounting base 44, fixed ring
440, connecting plate 45, through-hole 450, speed reducer 46, steering shaft 461, bolt 462, steering motor 47, photoelectric sensor 48, backplate
480；
Wheel tread adjusting mechanism 5, wheel group supporting beam 50, the first round are away from adjusting guide rail 51, the first round away from adjusting slider 52, second
Wheelspan adjusts guide rail 53, the second wheelspan adjusting slider 54；Sleeve 55, push rod 56, ball-screw 57, wheelspan adjust motor 58, rolling
Pearl screw 59；
Cantilever 6, drive shaft 60, diverter 61, output shaft 610, cantilever fixing seat 62, new line motor 63, retarder 64, pendulum
Arm motor 65.
Specific embodiment
The application is described in further detail below by specific embodiment combination attached drawing.It is involved below the present embodiment
And moving trolley " inner end " and " outer end ", wherein "inner" as direction indicate from two side of moving trolley to center be directed toward, "outside"
It indicates to be directed toward from moving trolley center to two sides.
A kind of accelerator to maintain equipment provided by the present embodiment, including moving trolley 1, are fixed in moving trolley 1
Three axis running gears 2, and the grasping system 3 for grabbing collimation bead.Three axis running gears 2 can drive grasping system 3 to exist
The movement in space is carried out in moving trolley 1.As shown in Figure 1-Figure 3, moving trolley 1 includes chassis, and tray bottom is equipped with wheel group
Part 4, tray bottom are additionally provided with the wheel tread adjusting mechanism 5 slided for controlling vehicle wheel component along vehicle-width direction.Tray bottom
Four base angles are respectively equipped with four vehicle wheel components 4, and each vehicle wheel component 4 includes a wheel 40, and for driving wheel 40
The travel-driving mechanism of rotation.Wheel tread adjusting mechanism 5 includes the wheel group supporting beam 50 that tray bottom is arranged in, and vehicle wheel component 4 is solid
Due to the outer end of wheel group supporting beam 50, wheel group supporting beam 50 can do inside and outside sliding in tray bottom, i.e. control wheel 40 is in trolley 1
Folding and unfolding in width direction, to change the wheelspan of the width direction of moving trolley 1.Turbine regulating mechanism 5 further includes driving wheel group
The mobile wheelspan driving device of supporting beam 50.1 four jiaos of moving trolley of four vehicle wheel components 4, each vehicle wheel component 4 are fixed respectively
In the outer end of a wheel group supporting beam 50 that (width direction) extends inside and outside trolley, that is, wheel group supporting beam 50 and wheel 40 1
One is corresponding.
As shown in Figure 3-Figure 5, chassis includes cross-brace beam 11 and longitudinal support beam 12,11 bottom surface of cross-brace beam
The first round is equipped with away from adjusting slider 52 away from guide rail 51, the upper surface of wheel group supporting beam 50 is adjusted equipped with the first round, and the first round is away from tune
Section guide rail 51 moves along the width direction setting of trolley 1, and the first round is away from adjusting slider 52 in the first round away from adjusting guide rail 51
Sliding.The first round is located at the upper surface of the inner end of wheel group supporting beam 50 away from adjusting slider 52, and the upper surface of wheel group supporting beam 50 is also
Guide rail 53 is adjusted equipped with the second wheelspan, the second wheelspan adjusts guide rail 53 and extended outward by the inner end of wheel group supporting beam 50.Laterally
The lower surface of 11 outer end of supporting beam is fixed with the second wheelspan adjusting slider 54, and the second wheelspan adjusts guide rail 53 can be with respect to the second wheelspan
Adjusting slider 54 slides.By the first round on cross-brace beam 11 away from adjusting guide rail 51 and the first of 50 inner end of wheel group supporting beam
Wheelspan adjusting slider 52 is adapted, the second wheelspan adjusting slider and 50 upper surface of wheel group supporting beam of 11 outer end of cross-brace beam
Second wheelspan adjusts guide rail 53 and is adapted, and this structure design is so that wheel group supporting beam 50 is suspended in 11 following table of cross-brace beam
Face, and can stretch on vehicle-width direction, then band motor car wheel 40 carries out interior external extension.
As shown in Figure 1-Figure 3,11 bottom surface of cross-brace beam is parallel to each other and two groups of wheel groups of setting separately support
Beam 50, every group includes two wheel group supporting beams 50, and this two wheel group supporting beams 50 are contrary.Positioned at 1 front of moving trolley
One group of 50 outer end of wheel group supporting beam fix a wheel 40 respectively, two front-wheels of the two wheels 40 as moving trolley 1,
After two as moving trolley 1 of two wheels 40 fixed positioned at one group of 50 outer end of wheel group supporting beam at 1 rear of moving trolley
Wheel.It is corresponding with every group of wheel group supporting beam 50, two 11 lower surfaces of cross-brace beam be equipped with it is two rows of parallel and adjacent to first
Wheelspan adjusts guide rail 51, and is equipped with a second wheelspan adjusting slider away from the outer end for adjusting guide rail 51 positioned at each first round
54.In this way, each wheel group supporting beam 50, in doing inside and outside sliding process, the first round can the whole and first round away from adjusting slider 52
It is contacted away from guide rail 51 is adjusted, and the second wheelspan adjusting slider 54 whole can adjust guide rail 53 with the second wheelspan and contact.
As shown in figure 3, wheelspan driving device includes fixing end and ejection end, the cross-brace beam 11 on fixing end and chassis is solid
Fixed connection, ejection end are fixedly connected with the side of wheel group supporting beam 50.Specifically, as shown in FIG. 6 and 7, fixing end includes set
Cylinder 55, ejection end includes push rod 56, and 55 tail portion of sleeve is fixed on cross-brace beam 11, and 56 one end of push rod extend into sleeve 55
End, the other end expose 55 end of sleeve and are fixedly connected with 50 side of wheel group supporting beam, and driving push rod 56 is equipped in sleeve 55
Axially retractable wheelspan transmission device inside it.Wheelspan transmission device includes the ball-screw being arranged in inside sleeve 55
57, the wheelspan for being fixed on 55 tail end of sleeve adjusts motor 58, and is fixed on the ball screw 59 of 57 inner cavity of push rod.Wherein, it rolls
57 end of ballscrew extend into 56 inner cavity of push rod, and is adapted with ball screw 59, and the tail portion of ball-screw 57 and wheelspan are adjusted
The output shaft of motor 58 is sequentially connected, and wheelspan adjusts motor 58 and is fixed on cross-brace beam 11.It is corresponding each in the present embodiment
Wheel group supporting beam 50 is equipped with a set of wheelspan driving device, realizes that the folding and unfolding of each wheel 40 in the direction of the width can be independent
Control.
As shown in figure 8, vehicle wheel component 4 includes the wheel shaft 41 across wheel 40, it is fixed on the wheel shaft support at 41 both ends of wheel shaft
Plate 42, the side of spoked support plates 42 are fixed with running motor 43, and running motor 43 and wheel shaft 42 are sequentially connected, are gone by control
Sail the start and stop of motor 43 and the rotation of the i.e. controllable wheel 40 of positive and negative rotation.It is additionally provided with and is firmly connected with it above spoked support plates 42
Wheel group mounting base 44, and the connecting plate 45 of two spoked support plates 42 of connection, connecting plate 45 is fixedly arranged above steering mechanism.Such as
Shown in Fig. 4 and Fig. 5,44 one end of wheel group mounting base is fixedly connected with steering mechanism, and the other end is equipped with and 50 outer end of wheel group supporting beam
The flanging that is fixedly connected of side.As can be seen from figures 8 and 9, steering mechanism includes the speed reducer being fixed in wheel group mounting base 44
46, and the steering motor 47 being fixed on speed reducer 46.Specifically, as shown in figure 9, wheel group mounting base 44 is equipped with for fixing
The fixed ring 440 of speed reducer 46,46 output end of speed reducer pass through fixed ring 440 and connection fixed thereto.The output of speed reducer 46
End is equipped with steering shaft 461, and 45 upper surface of connecting plate is equipped with a ring through hole 450, and steering shaft 461 is by passing through the multiple of through-hole 450
Bolt 462 is fixedly connected with connecting plate 45.It is designed using such mechanism, as long as the i.e. controllable vehicle of control steering motor 47 rotation
The deflection of wheel 40, to control the driving direction of moving trolley.In order to which moving trolley 1 smoothly moves ahead, need in its traveling process
In always with tunnel inner wall keeping parallelism, avoiding wheel 40 from impinging upon causes trolley stuck on tunnel inner wall.In order to keep
The deflection direction of wheel 40 is parallel with tunnel inner wall always, and the photoelectric transfer for measuring distance is further fixed on spoked support plates 42
Sensor 48.It is closer between outside and tunnel in 1 walking process of moving trolley, leads to photoelectric sensor 48 in order to avoid scratching
It damages, photoelectric sensor 48 is fixed on the end of connecting plate 45 by backplate 480 in the present embodiment.In order to ensure wheel 40 and tunnel
The measurement of the distance between road inner wall is accurate, and a photoelectric sensor 48 is respectively arranged in 45 rear and front end of connecting plate.
Be fixed with power control cabinet 13 on the longitudinal support beam 12 of moving trolley 1, power control cabinet 13 respectively with photoelectric sensor 48, row
It sails motor 58, steering motor 47 and wheelspan and adjusts the electrical connection of motor 58, for powering for above-mentioned electric elements, while controlling respectively
The working condition of electric appliance.Power control cabinet 13 receives the range information of the wheel 40 that photoelectric sensor 48 is fed back and tunnel inner wall, and root
Steering motor 47 is controlled according to the range information and wheelspan adjusting motor 58 constantly adjusts drift angle and the wheelspan of wheel 40, so that moving
Dynamic trolley 1 adjusts wheelspan according to the width in tunnel at any time, and according to the drift angle for moving towards adjustment wheel 40 of tunnel inner wall, controls vehicle
Wheel 40 remains parallel with tunnel inner wall, and maintains specific distance.
Moving trolley disclosed in the present embodiment is additionally provided with wheelspan adjusting equipped with the wheel that can actively travel on chassis
Mechanism, can be according to the wheelspan between the wheel of the width adjusting trolley two sides in tunnel, it is ensured that trolley always can be with tunnel
Step contact keeps stablizing traveling；Vehicle wheel component sets steering mechanism, can be according to the contraction in tunnel or the court of expansion adjustment wheel
To avoiding wheels travel direction and the tunnel side from extending so that wheel remains the direction running parallel with the wall in tunnel
Direction is inconsistent, causes to jolt and damage equipment.
Disclosed herein as well is three axis running gears and the embodiments of grasping system.Wherein, as shown in Figure 10, three axis are walked
System includes the elevating mechanism for driving grasping system lifting, and the translation machine for driving grasping system to move in the horizontal direction
Structure.As shown in Fig. 1, Figure 10-Figure 12, translation mechanism includes lateral walker 21, longitudinal walker 22 and vertical walker 23.It is horizontal
It is fixed on above chassis and can walk on chassis along horizontal cross to walker 21, longitudinal walker 22 is fixed on lateral line
It walks on frame 21 and can walk on lateral walker 21 along horizontal longitudinal direction；Vertical walker 23 is fixed on longitudinal 22 side of walker
Surface, and can be gone up and down along the vertical direction in longitudinal 22 side surface of walker.Specifically, as shown in Figure 10-Figure 12, cross-brace beam
11 upper surfaces are equipped with the lateral walking guide rail 14 and synchronous cross band 15 extended along horizontal cross, and lateral 21 bottom of walker is equipped with
Laterally walking sliding block 210 compatible with lateral walking guide rail 14, lateral walker are located above laterally walking sliding block 210 also
If synchronous cross wheel drive unit 211, synchronous cross wheel drive unit 211 has the synchronous cross wheel 212 being driven by it, laterally
Synchronous belt 15 bypasses synchronous cross wheel 212.When synchronous cross wheel drive unit 211 drives synchronous cross wheel 212 to rotate, Ji Ketong
Cross synchronous cross band 15 pull lateral walker 21 in lateral walking guide rail 14 along horizontal cross walking (horizontal cross moves
The width direction of trolley 1).
Lateral 21 upper surface of walker is equipped with the longitudinal walking guide rail 213 longitudinally extended along level and longitudinal synchronous belt 214,
Longitudinal 22 bottom of walker is equipped with longitudinal sliding block 220 of walking compatible with longitudinal walking guide rail 213, and longitudinal walker 22 is located at
Longitudinal synchronous wheel drive unit 221 is additionally provided with above longitudinal walking sliding block 220, longitudinal synchronous wheel drive unit 221 is equipped with by it
Longitudinal synchronizing wheel 222 of driving, longitudinal synchronous belt 214 bypass longitudinal synchronizing wheel 222.Longitudinal synchronous wheel drive unit 221 drives
When longitudinal synchronizing wheel 222 rotates, longitudinal walker 22 can be pulled by longitudinal synchronous belt 214 in longitudinal walking guide rail 213
Along the longitudinal walking of level (direction of advance of horizontal longitudinal i.e. moving trolley 1).
Longitudinal 22 side of walker is equipped with the vertical walking sliding block 223 extended along the vertical direction, longitudinal side of walker 22
Surface is further fixed on vertical synchronous wheel drive unit 224, and vertical synchronous wheel drive unit 224 is equipped with the vertical synchronization being driven by it
Wheel 225.Vertical walker 23 is equipped with vertical walking guide rail 230 compatible with vertical walking sliding block 223, and with it is vertical synchronous
Take turns 225 compatible vertical synchronous belts 231.When vertical synchronous wheel drive unit 224 drives vertical synchronizing wheel 225 to rotate
Vertical walker 23 is dropped in longitudinal walking guide rail 230 by vertical synchronous belt 231 to go up and down along the vertical direction.
As shown in Figure 1, grasping system is fixed at vertical 23 bottom of walker.As shown in Figure 13-Figure 15, grasping system
3 include the probe assembly for grabbing collimation bead, and probe assembly is fixedly connected by cantilever 6 with vertical walker 23.Cantilever 6
It stretches in the horizontal direction, end and probe assembly are sequentially connected, and root and the vertical walker 23 are sequentially connected, described outstanding
Arm is equipped with the head-lifting mechanism for adjusting pitch angle in perpendicular for controlling probe assembly.As shown in figure 14, inside cantilever 6
Equipped with the drive shaft 60 extended along its axial (length direction), the end of cantilever 6 is connected with diverter 61.Probe assembly includes visiting
First 30 and probe socket 31, probe socket 31 and diverter 61 are sequentially connected.Specifically, the input terminal of diverter 61 and drive shaft 60 pass
Dynamic connection, 61 output end of diverter are equipped with the output shaft 610 that horizontal direction extends, and 610 both ends of output shaft are all exposed diverter 61
Outside.As shown in figure 15,31 two sides of probe socket are equipped with two symmetrical fixed ears 310, fixed ear 310 and output shaft
610 both ends are fixedly connected.The root of cantilever 6 is fixed with cantilever fixing seat 62, and 62 one end of cantilever fixing seat is fixed with new line motor
63, new line motor 63 is used to that output shaft 60 is driven to rotate, and turns in this way, driving can be realized by the control rotation of new line motor 63
The output shaft 610 of device 61 rotates, so that probe assembly be driven to do pitching movement in setting plane.Wherein, inside diverter 61
Output shaft 610 is driven to by 90 degree of torque steering of drive shaft 60 by structures such as steering box or Worm Wheel Systems.
As shown in Figure 13-Figure 15, longitudinal 23 bottom of walker, which is set, is fixed with retarder 64, and the output end of retarder 64 is fixed
There is swing arm motor 65, the output end of retarder 64 is fixedly connected with the other end of cantilever fixing seat 62.In this way, passing through control swing arm
Motor 65 rotates, i.e., controllable cantilever 6 is axis rotation with vertical walker 23, to realize swinging arm.
As depicted in figs. 16 and 17,31 bottom of probe socket is equipped with control probe 30 and carries out the freqency fine adjustment machine finely tuned in a certain range
Structure.Specifically, as shown in figure 16,31 bottom of probe socket is nested with the lateral fine tuning guide rail 32 extended along horizontal cross, laterally micro-
Suspention on guide rail 32 is adjusted to have fixed plate 33.33 upper surface of fixed plate is equipped with to be slided along the lateral fine tuning that laterally fine tuning guide rail 32 slides
Block 34, lower surface are fixed with longitudinal fine tuning guide rail 35, and longitudinal finely tune is nested with longitudinal fine tuning sliding block 36 on guide rail 35.Probe socket 31
Bottom, which is further fixed on, is contained in framework 37 therein, 37 upper and lower opening of framework for micro-adjusting mechanism, and top is used for solid with probe socket 31
Fixed connection, lower ending opening is for exposing probe 30.While framework 37 plays receiving micro-adjusting mechanism, also acts as and laterally fine tuning is slided
The position-limiting action of block 34 and longitudinal fine tuning sliding block 36.The position of probe 30 can be more easily adjusted by micro-adjusting mechanism, increased
Launch and grab the precision of collimation ball.
As shown in figure 17, probe 30 includes guide head 301 and the electromagnet 302 for being fixed on 301 root of guide head.Guiding
First 301 lower end is equipped with the downward spherical cavity 303 of wide mouth part, and upper end slot end is fixedly connected with electromagnet 302, electromagnet 302
It is fixedly connected with framework 33.303 inner surface of spherical cavity of 301 lower end of guide head is located at the spherical surface that collimation ball mutually agrees with, in electricity
Alignment liner ball plays positioning action when magnet absorption collimation ball, and collimation ball position is avoided to deviate.
When collimation ball portion enters in the spherical cavity 303 of guide head 301, under the reaction force of collimation ball, visit
Head will receive the thrust to collimation direction of bowl, so that micro-adjusting mechanism be driven to act, drive probe 30 to do in the horizontal direction micro-
The effect of auxiliary probe positioning is played in small movement, improves positioning accuracy, reduces the difficulty of crawl collimation ball.
As shown in Figure 1, accommodating case 16 is further fixed between two stringer supporting beams 12 on chassis, the distribution of 16 surface of accommodating case
Have multiple for storing the holding tank 160 of collimation ball.
Moving trolley disclosed in the present application and accelerator maintenance device, moving trolley are equipped with the wheel that can actively travel,
It is additionally provided with wheel tread adjusting mechanism on its chassis, it can be according to the wheelspan between the wheel of the width adjusting trolley two sides in tunnel, really
Protecting trolley can contact always with the step in tunnel, keep stablizing traveling；Vehicle wheel component sets steering mechanism, can be according to tunnel
It shrinks or the direction of expansion adjustment wheel avoids wheel so that wheel remains the direction running parallel with the wall in tunnel
Driving direction and tunnel the side extending direction are inconsistent, cause to jolt and damage equipment.It is driven and is grabbed using three axis running gears
The space that system does large scale is mobile, makes accessible unspecified angle of popping one's head in conjunction with oscillating arm mechanisms, head-lifting mechanism, can not only
Launch the collimation ball on the magnet target seat below tunnel, additionally it is possible to which the target seat on tunnel wall launches collimation bead.It visits
Micro-adjusting mechanism is set in head assembly, further decreases the dispensing difficulty of collimation ball, is increased and is launched precision, whole equipment is easy to operate,
As long as single stroke, which can be completed, launches collimation ball to all targets, rapidly and efficiently.
The foregoing is a further detailed description of the present application in conjunction with specific implementation manners, and it cannot be said that this Shen
Specific implementation please is only limited to these instructions.For those of ordinary skill in the art to which this application belongs, it is not taking off
Under the premise of from the present application design, a number of simple deductions or replacements can also be made.
Claims (10)
1. a kind of moving trolley, which is characterized in that including moving trolley, the moving trolley includes chassis, and the chassis is equipped with:
Vehicle wheel component, each vehicle wheel component include a wheel, and for driving the traveling of the vehicle wheel rotation to drive
Mechanism；
Wheel tread adjusting mechanism, including the wheel group supporting beam being slidably connected with the chassis, and the driving wheel group supporting beam is along institute
The wheelspan driving device of vehicle-width direction sliding is stated, the vehicle wheel component is fixed on the outer end of the wheel group supporting beam；It is described
Wheel group supporting beam is arranged in a one-to-one correspondence with the wheel.
2. moving trolley as described in claim 1, which is characterized in that the vehicle wheel component further includes for measuring the wheel
The sensor of distance between tunnel wall, the chassis is equipped with drives with the wheelspan driving device, sensor and walking respectively
The power control cabinet of dynamic device electrical connection.
3. moving trolley as described in claim 1, which is characterized in that the wheel tread adjusting mechanism further includes being set to the bottom
The first round on pan bottom surface, the upper surface of the wheel group supporting beam, which is fixed with, led with the first round away from adjusting away from guide rail is adjusted
The rail compatible first round is away from adjusting slider.
4. moving trolley as claimed in claim 3, which is characterized in that the first round is fixed on the wheel group away from adjusting slider
The upper surface of supporting beam inner end, the wheel group upper surface of support beam, which is additionally provided with, to be parallel to each other with the first round away from guide rail is adjusted
Second wheelspan adjusts guide rail, and the lower surface of the chassis outer end, which is fixed with, adjusts guide rail compatible second with second wheelspan
Wheelspan adjusting slider.
5. moving trolley as described in claim 1, which is characterized in that the wheelspan driving device, which has, is fixed on the chassis
On fixing end and can the flexible ejection end of the relatively described fixing end, the ejection end is fixedly connected with the wheel group supporting beam,
For driving the wheel group supporting beam to slide along the first round away from guide rail is adjusted.
6. moving trolley as claimed in claim 5, which is characterized in that the fixing end is equipped with sleeve, and the ejection end is equipped with
The push rod that the sleeve outer end is socketed with it is inserted into one end, and the sleeve inner end is additionally provided with for driving the push rod in the set
The wheelspan transmission device to stretch in cylinder；The wheelspan transmission device includes the ball-screw with push rod transmission connection, described
Push rod inner cavity is fixed with ball screw compatible with the ball-screw, and the sleeve tail end is equipped with for driving the ball
The wheelspan of lead screw rotation adjusts motor.
7. moving trolley as described in claim 1, which is characterized in that the vehicle wheel component includes wheel shaft, described in fixed
The spoked support plates at wheel shaft both ends, and be fixed on the spoked support plates for driving the traveling electricity of the wheel shaft rotation
Machine.
8. moving trolley as claimed in claim 7, which is characterized in that the vehicle wheel component further includes for controlling the wheel
The steering mechanism of direction of travel, the steering mechanism include the steering shaft that output end is fixedly connected with the spoked support plates, with
And it is fixed in the wheel group supporting beam for driving the steer-drive of the steering axes.
9. moving trolley as claimed in claim 8, which is characterized in that the vehicle wheel component further includes wheel group mounting base, described
Wheel group mounting base one end is fixedly connected with the wheel group supporting beam, and the other end passes through the steering mechanism and the spoked support plates
It is fixedly connected；The steer-drive includes the steering motor being fixed in the wheel group mounting base, the steering motor
Output end and the steering shaft are sequentially connected.
10. a kind of accelerator maintenance device, including the grasping system for grabbing collimation ball, and for carrying the crawl system
The moving trolley of system, the moving trolley are any moving trolley of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811289338.8A CN109334815A (en) | 2018-10-31 | 2018-10-31 | Moving trolley and accelerator maintenance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811289338.8A CN109334815A (en) | 2018-10-31 | 2018-10-31 | Moving trolley and accelerator maintenance device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109334815A true CN109334815A (en) | 2019-02-15 |
Family
ID=65312684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811289338.8A Pending CN109334815A (en) | 2018-10-31 | 2018-10-31 | Moving trolley and accelerator maintenance device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109334815A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109909972A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | The adjustable water-cooling wall of wheelspan detects robot |
| WO2022143177A1 (en) * | 2020-12-31 | 2022-07-07 | 同方威视技术股份有限公司 | Conveying device used for radiation inspection and radiation inspection system |
| CN116872724A (en) * | 2023-09-07 | 2023-10-13 | 西安航空学院 | Distributed electric drive test vehicle |
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