CN113788283B - Method for adjusting deviation of cart of material loading and unloading machine - Google Patents
Method for adjusting deviation of cart of material loading and unloading machine Download PDFInfo
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- CN113788283B CN113788283B CN202110961345.3A CN202110961345A CN113788283B CN 113788283 B CN113788283 B CN 113788283B CN 202110961345 A CN202110961345 A CN 202110961345A CN 113788283 B CN113788283 B CN 113788283B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses a method for adjusting the deviation of a cart of a loading and unloading machine, which can be used for adjusting when an automatic deviation correcting system of the cart of the large loading and unloading machine of a nuclear power plant fails. When the invention is used, the main hand-operated mechanism and the secondary hand-operated mechanism need to be rotated simultaneously, and in the first step, the cart is firstly subjected to pure linear motion, and the wheel rim closest to the track moves towards the direction of the distance of the standard wheel rim. And step two, the cart is driven in the same speed and different directions by the two driving wheels to rotate in situ, and step three, the distance of the reference wheels is repeatedly adjusted and the cart is rotated, so that the cart is finally corrected. After the novel method is used, rolling friction is generated between the wheels and the guide rail when the cart moves, the problems of sliding friction and huge resistance in the traditional adjusting method are solved, the engineering quantity of six persons and four hours required by the original traditional method is reduced to the engineering quantity of four persons and two hours, the working efficiency is greatly improved, and the radiation dose of personnel is reduced.
Description
Technical Field
The invention relates to the field of loading and unloading machines in nuclear power plants, in particular to a cart deviation adjusting method of a loading and unloading machine.
Background
The loading and unloading machine is the key equipment of fuel operation and storage system in nuclear power plant, and can make X, Y, Z and three coordinate axis directions and make 0-270 deg. range of rotation movement to complete the task of loading, unloading and transferring nuclear fuel assembly. Generally, the loading and unloading machine is installed in a containment vessel of a reactor, above a refueling water pool and at an elevation of at least 20 meters, and can load and unload fuel assemblies when the reactor is loaded and unloaded for the first time and the fuel assemblies can be transported between a reactor core and a fuel transfer device.
Taking the M310 handler manufactured by the sienna nuclear equipment limited company as an example, the handler is generally composed of a longitudinal moving cart, a transverse moving cart, and a series of lifting mechanisms and grabbing mechanisms. The cart moves on the corresponding track in a manner similar to that of a rail, the distance between each wheel rim of the cart and the track is equal under normal conditions, but the width of the tread of the cart wheels is larger than that of the contact surface of the track, so that the situation that the distance between the wheel rim and the track is unequal, namely the situation that the cart deviates, is difficult to avoid. The safety level of the reactor is very high, so the requirement of the loading and unloading machine on the positioning precision is also very high, and the cart is not allowed to deviate on the running track. In order to avoid the deviation of the cart, encoders are generally arranged on the left driving wheel and the right driving wheel of the cart in the existing design, the encoders can conduct rack running operation on racks arranged along a guide rail, whether the cart deviates or not is judged through counting difference of the number of teeth in the same time, besides, guide wheels are arranged on the left side and the right side of the bottom of the cart, the guide wheels can be installed after the encoders are calibrated, and the two guide wheels clamp the rail from the outer side of the rail to achieve secondary positioning. Because the precision difference between the left rack and the right rack and the precision difference of the encoder gear counting device, the situation that the encoder misjudges occasionally occurs, namely the cart does not actually deviate and the encoder misjudges and performs deviation rectifying action, when the cart of the loading and unloading machine moves for a plurality of cycles, a signal fed back to the console by the encoder is likely to occur, namely the cart does not deviate, and the cart actually deviates, at the moment, the action of the encoder fails, and the guide wheel also deforms and fails under the condition of forced extrusion, namely the cart deviates.
After the cart is found to be off tracking, in order to avoid a series of subsequent chain problems, the loading and unloading operation should be stopped, the loading and unloading machine is stopped to a safe position, the off tracking reason is searched and the maintenance treatment is carried out. Since the encoder has failed at this time, only manual adjustment can be used, and the standard bit of the encoder is repositioned after adjustment. The hand-operated driving mechanism is used for adjusting the position of the cart, the hand-operated mechanism on the driving wheel on one side is rotated only to make the cart do circular motion around the driving wheel on the other side, and the hand-operated mechanism on different sides is changed continuously to make the cart perform snake-shaped motion in the same direction, so that the standard position is reached finally. Since the large vehicle is very heavy in ten tons, several people need to wait in line to turn the hand crank mechanism every adjustment. The traditional method has the defects that when the hand-operated mechanism on one side is kept still, the driving wheel shaken by the hand-operated mechanism rolls on the guide rail, and other three wheels do translational friction motion, so that the hand wheel is very labourious to rotate, the operation consumes time and labor, the overhaul period is delayed, the risk that the radiation measurement of an operator is increased, and the service life of a loading and unloading machine cart, a cart wheel and the guide rail is influenced by forcibly rotating the cart by a single fulcrum.
Disclosure of Invention
The invention aims to provide a method for adjusting the deviation of a cart of a loading and unloading machine, which solves the problems of difficult operation, time and labor consumption, high radiation dose received by workers and increased equipment damage probability in the prior art.
The technical scheme of the invention is realized as follows:
the utility model provides a handling stock machine cart off tracking adjustment method, wherein the handling stock machine cart includes the automobile body, install respectively in the drive wheel of automobile body both sides and follow the driving wheel, follow the driving wheel and be two and install respectively in automobile body front end both sides, the drive wheel has two, installs respectively in automobile body rear end both sides, all is equipped with hand mechanism on every drive wheel, and the automobile body passes through the wheel tread of wheel and sets up the rail connection in the wheel below, all be provided with the rim on the wheel, the rim sets up between two tracks for prevent automobile body roll-off track, the distance between rim and the track is D, and the edge rail distance is D promptly, and the edge rail distance of every wheel is D0 under the standard condition, D0 is an interval value, and the biggest interval value is Dmax, and the minimum interval value is Dmin, then need adjust the cart when the rim distance leaves D0 interval, its characterized in that: the adjusting method comprises the following steps of:
s1, defining an edge rail distance D as the closest distance between a virtual line passing through the center of a wheel rim and being vertical to a plane of a track contact surface and a track, defining Dmid as (Dmax + Dmin)/2, defining the shortest edge rail distance among four large wheels as D1, defining the edge rail distance of a wheel on the side opposite to the wheel to which the D1 belongs as D2, defining the edge rail distance of a wheel on the same side as D3, defining the edge rail distance of a wheel on the side opposite to the wheel to which the D3 belongs as D4, and after the definition is finished, not redefining D1, D2, D3 and D4 in subsequent adjustment;
s2, simultaneously shaking the two hand-operated mechanisms in the same direction and at the same speed to drive the driving wheels to enable the cart to do linear motion along the track in the direction that the D1 approaches to the Dmid, stopping shaking for a certain distance, measuring the value of the D1, and if the D1 is not in the linear motion, measuring the D1
D1-Dmid >0.1mm, the shaking is continued until the D1-Dmid <0.1mm, at which time
| D2-Dmid | <0.5mm, D3= D0+ X, X is a variable;
s3, simultaneously shaking the two hand-operated mechanisms in different directions and at the same speed to drive the driving wheels to rotate the cart in the direction that the D3 approaches to the Dmid, and stopping and measuring the values of D1, D2, D3 and D4 once after the hand-operated mechanisms rotate for a certain number of turns;
s4, if | D1-Dmid | < (Dmax-Dmin)/2, | D2-Dmid | < (Dmax-Dmin)/2, | D3-Dmid | < (Dmax-Dmin)/2 and | D4-Dmid | < (Dmax-Dmin)/2 are adjusted, if the value of any one of | D1-Dmid |, | D2-Dmid |, | D3-D |, and | D4-Dmid | is greater than (Dmax-Dmin)/2 and | D1-Dmid | >0.1mm, performing step S5, otherwise, repeating the step S3;
s5, simultaneously rotating the two hand-operated mechanisms in the same direction and at the same speed to drive the driving wheels, so that the cart makes linear motion along the track towards the direction that D1 approaches Dmid, and stopping and measuring the value of D1 after rotating for a certain number of turns;
s6, if the | D2-Dmid | is less than 0.1mm, performing the step S3, otherwise, performing the step S5.
The further technical scheme is that Dmax =8mm, and Dmin =7.0mm.
The further technical scheme is that a certain number of turns in the step S3 is ten turns.
A further technical solution is that, if the value of X measured after completion of step S2 is greater than 1mm, the certain number of turns in step S3 is twenty turns, if the value of X is 0.5 mm-restricted X-restricted 1mm, the certain number of turns in step S3 is ten turns, and if the value of X is X <0.5mm, the certain number of turns in step S3 is five turns.
The further technical scheme is that the certain number of turns in the step S5 is ten turns.
A further technical solution is that, when D1 measured after the step S3 is completed is | D1-7.5m | >0.5mm, the certain number of turns in the step S5 is ten turns, and when D1 measured after the step S3 is completed is | D1-7.5m | <0.5mm, the certain number of turns in the step S5 is five turns.
The invention has the beneficial effects that:
when the method is used for adjusting the deviation of the loading and unloading machine cart, the main driving wheel and the secondary driving wheel are driven simultaneously, so that the four wheels of the cart perform rolling sliding instead of translational sliding on the guide rail, rolling friction is generated when the wheels move, and the friction force is far smaller than that of the translational sliding, so that the labor is saved when an operator rotates the hand-operated mechanism, and the number of operators can be reduced. After the rotation number of the hand-operated mechanism is changed, the operation method also carries out adaptive matching, and in the first step, the cart carries out pure linear motion, and the wheel rim closest to the track moves towards the direction of the distance of the standard wheel rim. And secondly, the cart is driven in situ by the two driving wheels in the same speed and different directions, different stop detection driving amounts are set according to different deviation amounts of the cart, and thirdly, the cart repeats the first step and the second step to finally return the cart. After the new method is used, the project quantity of six persons and four hours required by the original traditional method is reduced to the project quantity of four persons and two hours, the working efficiency is greatly improved, and the radiation dose of personnel is reduced.
Drawings
FIG. 1 is a general schematic view of a loader truck of the present invention;
FIG. 2 is a top plan view of the cart of the present invention in a standard position;
FIG. 3 is a diagram of the initial state of the cart offset;
FIG. 4 is a schematic diagram illustrating a first adjustment step in a conventional method;
FIG. 5 is a schematic diagram illustrating a second step of conventional adjustment;
FIG. 6 is a schematic diagram illustrating an Nth step of adjustment in a conventional method;
FIG. 7 is a schematic diagram of a first step of a cart deviation adjusting method of a material handling machine according to the present invention;
FIG. 8 is a schematic diagram of a second step of the deviation adjusting method for a cart of a material handling machine according to the present invention;
FIG. 9 is a schematic flow chart of a cart deviation adjusting method for a material handling machine according to the present invention;
FIG. 10 is a schematic view of the calculation of the angle when the cart is not deflected;
fig. 11 is a schematic view of the calculation of the angle when the cart has maximum deflection.
In the figure, 1 vehicle body, 2 tracks, 3 main driving wheels, 4 secondary driving wheels, 5 driven wheels, 6 main hand-operated mechanisms, 7 hand-operated mechanisms, 8 driving motors and 9 wheel rims.
Detailed Description
In order to better understand the technical content of the invention, specific embodiments are provided below, and the invention is further described with reference to the accompanying drawings.
Referring to fig. 1 to 8, taking an M310 handler manufactured by west ann nuclear equipment limited as an example, the distance between each wheel rim of a large vehicle and a rail should be equal under normal conditions, and the distance between the wheel rim and the rail is defined as the closest distance between a virtual line passing through the center of the wheel rim and perpendicular to the plane of the contact surface of the rail and the rail. However, the tread width of the wheels of the cart is larger than the contact surface width of the track, so that the situation that the distance between the wheel rim and the track is unequal, namely the situation that the cart deviates, is difficult to avoid. The safety level of the reactor is very high, so the requirement of the loading and unloading machine on the positioning precision is also very high, and the cart is not allowed to deviate on the running track. In order to avoid the deviation of the cart, encoders are generally arranged on the left driving wheel and the right driving wheel of the cart in the existing design, the encoders can conduct rack running operation on racks arranged along a guide rail, whether the cart deviates or not is judged through counting difference of the number of teeth in the same time, besides, guide wheels are arranged on the left side and the right side of the bottom of the cart, the guide wheels can be installed after the encoders are calibrated, and the two guide wheels clamp the rail from the outer side of the rail to achieve secondary positioning. Because the manufacturing precision difference between the left rack and the right rack and the manufacturing precision difference of the encoder gear counting device, the situation that the encoder misjudges frequently occurs, namely the cart does not actually deviate and the encoder misjudges and performs deviation rectifying action, when the cart of the material loading and unloading machine moves for a plurality of cycles, a signal fed back to the control console by the encoder is that the cart does not deviate, and the cart actually deviates, the action of the encoder fails at the moment, and the guide wheel also deforms and fails under the condition of forced extrusion, namely the cart deviates.
The cart of the loading and unloading machine has the following detailed conditions:
a loading and unloading cart comprises a cart body, a track, a main driving wheel, a secondary driving wheel, a driven wheel, a driving motor and a hand-operated mechanism, wherein the driven wheel is installed on two sides of the front end of the cart body, the main driving wheel and the secondary driving wheel are installed on two sides of the rear end of the cart body, the two driving wheels are respectively provided with the driving motor, the hand-operated mechanism is rotationally connected with an output shaft of the driving motor, and the cart body can run under the action of the driving motor and also can run under the driving of the hand-operated mechanism. All wheels are provided with wheel rims which are arranged between the two rails and used for preventing the vehicle body from sliding out of the rails, and the wheel treads are connected with the rails. When the cart is at a standard position, the distance between the wheel rim and the track is a standard distance D0, namely D1= D2= D3= D4= D0=7.5mm +/-0.5 mm, and a virtual connecting line between the two driving wheel centers is perpendicular to the track. When the encoder on the driving wheel of the cart runs for a period of time, misjudgment faults can occur to cause the cart to deviate, and because the cart is provided with a deviation correcting mechanism and limited by the structure of the cart, the deviation angle of the cart cannot exceed 0.5 degree when the cart deviates. According to field measurement, the actual wheel base of the cart is about 5000mm, the wheel base is about 9000mm, the diameter of the cart wheel is about 300 mm, the flange protrudes about 30 mm, and the thickness of the flange is about 8mm, and according to theoretical calculation, the deflectable angle of the cart in a standard position is the largest, and the deflectable angle is calculated as follows:
referring to fig. 10 to 11, when the cart is not deflected, taking the left upper wheel as an example, the vertical distance L1 from the point a of the wheel rim to the horizontal extension line passing through the rotation center of the cart is: l1= track length 2+ rim thickness =9000mm 2+8mm =4508mm;
the distance L2 from the vertical center of the wheel flange A point and the horizontal extension line passing through the rotation center of the cart to the rotation center is as follows: l2= wheel base ÷ 2+ wheel radius + rim projection =5000mm ÷ 2+300 ÷ 2+30=2680mm;
the distance L3 of the connecting line between the wheel rim A point and the cart rotation center is as follows:
L3＝(L1 2 +L2 2 ) 1/2 ＝(4508 2 +2680 2 ) 1/2 ≈5244.47mm；
according to the trigonometric function, an initial angle alpha of an acute angle between a connecting line of the rim A point and the rotation center of the cart when the cart is not deflected and a horizontal extension line can be obtained as follows:
ɑ≈arctan(L1÷L2)≈arctan(4508÷2680)≈59.2686°；
when the cart deflects to a limit angle theta, namely the wheel flange collides with the track, the distance L1 theta is as follows:
l1 theta = track distance ÷ 2+ rim thickness + standard position rail distance =4508mm +7.5mm =4515.5mm;
the angle alpha 1 after the rotation of the cart can be obtained according to the trigonometric function is as follows:
ɑ1≈arcsin(L1θ÷L3)≈arcsin(4515.5÷5244.47)≈59.4293°；
obtaining the maximum allowable deflection angle theta by using alpha 1-alpha as follows:
θ＝ɑ1-ɑ＝(59.4293°-59.2686°)＝0.1607°；
the vertical distance L4 from the point B of the wheel rim to the horizontal extension line of the rotation center of the cart is as follows:
l4= track length 2+ rim thickness =9000mm 2+8mm =4508mm;
the distance L5 from the vertical center of the wheel rim center B point and the horizontal extension line passing through the cart rotation center to the rotation center is as follows: l5= wheel base ÷ 2=5000mm ÷ 2=2500mm;
the distance L6 between the center B of the wheel rim and the rotation center of the cart is as follows:
L6＝(L4 2 +L5 2 ) 1/2 ＝(4508 2 +2500 2 ) 1/2 ≈5154.81mm；
according to the trigonometric function, the initial angle beta of the acute angle included angle between the connecting line of the wheel rim center B point and the cart rotation center when the cart is not deflected and the horizontal extension line can be obtained as follows:
β≈arctan(L4÷L5)≈arctan(4508÷2500)≈60.9886°；
when the cart deflects by θ =0.1607 °, the deflected angle β 1 is:
β1＝β+θ＝60.9886°+0.1607°＝61.1493°；
from the trigonometric function, the L4 theta after deflection can be obtained
L4θ＝sinβ1×L6＝sin61.1493°×5154.81mm＝4515.00mm；
From the above, when the cart has the maximum deflection, the difference N between L1 θ and L4 θ is:
N＝L1θ-L4θ＝4515.50mm-4515.00mm＝0.5mm；
therefore, when manual measurement is carried out, the measurement requirement of the adjustment cart can be met only by measuring the distance between the wheel flange and the track, and the error range can be controlled within 0.5mm. And with the continuous adjustment of the cart, the smaller the deflection angle is, the more N approaches to 0, and the more the fineness of the backward adjustment measurement is.
As shown in FIG. 3, in most cases, the cart will be shifted in the Y-axis direction to one side, where D1 ≈ 1mm and D3 ≈ 2mm, and the deflection angle of the cart is about 0.0114 ° through trigonometric function calculation.
Before describing the novel tuning method of the present invention in detail, it is necessary to describe the conventional tuning method.
Referring to fig. 3 to 6, in view of the above-mentioned offset situation, the conventional adjustment method is as follows:
the first step is as follows: the secondary driving wheel is driven by the hand-operated mechanism, the main driving wheel is kept still, the vehicle body moves towards the X axis in the positive direction and rotates anticlockwise around the main driving wheel, the distance is adjusted to D3=0mm as shown in figure 4, and the value of D1 is 2 mm-3 mm;
the second step is that: driving a main driving wheel, keeping a secondary driving still, enabling the vehicle body to rotate anticlockwise around the secondary driving wheel while moving towards the X axis in the positive direction, and adjusting until D4=0mm as shown in figure 5, wherein the value of D1 is 1-2 mm;
the third step: repeating the first step, and adjusting the D3=0mm and the D1 value to be 2.5 mm-3.5 mm;
the fourth step: repeating the second step until D4=0mm and the value of D1 is 1.5-2.5 mm;
the method is characterized by comprising the following steps of (8230) (\8230)
And (N) step: until D3=0, D2=6mm to 8mm, or D4=0, D1=6mm to 8mm, the fine adjustment is performed according to actual conditions, and finally, the adjustment is performed to D1= D2= D3= D4= D0=7.5mm ± 0.5mm as shown in fig. 6.
In the process, the wheels of the cart move by about 1mm every time the hand-operated mechanism rotates by about 40 circles, at least six persons are needed in the whole process, and the duration is about four hours.
Referring to fig. 3 and fig. 7 to 9, a method for adjusting the cart deviation of the loading and unloading machine is shown as follows in view of the above deviation situation:
the first step is as follows: firstly, shaking two hand-operated mechanisms of the cart at basically the same speed, enabling the cart to gradually move along the negative direction of an X axis and the positive direction of a Y axis, stopping after shaking for a certain distance, measuring the value of D1, if | D1-7.5m | >0.1mm, continuing the shaking of the steps until | D1-7.5m | <0.1mm, stopping the adjustment, as shown in figure 7, because two wheels move at the same speed, at the moment, D2 ≈ 7.5mm, D3 ≈ 8.5mm, and D4 ≈ 6.5mm;
the second step: and meanwhile, the main driving wheel and the secondary driving wheel are driven in different directions, the main driving wheel moves towards the positive direction of the X axis, the secondary driving wheel moves towards the negative direction of the X axis, the rotating speed of the hand-operated mechanism on the secondary driving wheel is kept to be the same as that of the hand-operated mechanism on the main driving wheel, the cart can be kept to rotate in place, the hand-operated mechanisms on the two sides stop measuring the values of D1, D2, D3 and D4 once every ten turns of rotation, and if the D1= D2= D3= D4=7.5mm +/-0.5 mm, the adjustment is finished. If the value of any of D1, D2, D3, D4 is not within 7.5mm ± 0.5mm and | D1-7.5m | >0.1mm then the third step is performed, otherwise ten turns are made again until D1= D2= D3= D4=7.5mm ± 0.5mm. Preferably, if the value X of D3-7.5 occurring during the repeated adjustment is 0.5mm or less and X is or less than 1mm, the measurement is stopped once every ten revolutions, if the value X is less than 0.5mm, the measurement is stopped once every five revolutions, if the value X before the second step of the cart occurs is more than 1mm, the measurement is stopped once every twenty revolutions.
The third step: and simultaneously rotating the hand-operated wheels at two sides in the same direction and at the same speed to enable the cart to move towards the positive direction of the X axis and the negative direction of the Y axis, stopping measuring the value of R1 when rotating ten circles, repeating the second step if | D1-7.5m | <0.1mm, reversely rotating the hand-operated wheels at two sides if D1 is less than 7.4mm to enable the cart to move towards the negative direction of the X axis and the positive direction of the Y axis until | D1-7.5m | <0.1mm, and repeating the second step again, wherein the specific number of circles of stopping measuring D1 value when reversely rotating can be adjusted according to the actual situation, preferably, when | D1-7.5m | >0.5mm, measuring can be performed once every ten circles, and when | D1-7.5m | <0.5mm, measuring can be performed once every five circles.
It is verified that the operation process only needs four people, and the duration is two hours.
The working principle of the invention is as follows:
when the method is used for adjusting the deviation of the loading and unloading machine cart, the main driving wheel and the secondary driving wheel are rotated simultaneously, so that the four wheels of the cart perform rolling sliding instead of translational sliding on the guide rail, rolling friction is generated when the wheels move, and the friction force is far smaller than that of the translational sliding, so that the labor is saved when an operator rotates the hand-operated mechanism, and the number of operators can be reduced. And simultaneously, theoretical calculation and actual operation conditions are combined with each other to form a new adjusting method, and in the first step, the cart is made to perform pure linear motion, and the wheel rim closest to the track is made to move towards the direction away from the track. The method comprises the following steps that firstly, a large vehicle is rotated in a first step, secondly, the large vehicle is rotated in different directions at the same speed by two driving wheels, and the large vehicle is rotated in situ, but because the large vehicle has the problems of manufacturing precision, friction coefficient difference of different parts of a wheel tread, precision difference of a transmission gear and incapability of completely synchronizing operators, an in-situ rotation track taking virtual connecting line centers of four wheels as circular points cannot occur to the large vehicle, deviation occurs to a certain extent, then, the large vehicle is translated again by using a method of the third step, the second step is repeated after the distance D1 of a reference wheel returns to a reference value, and finally, the large vehicle is corrected.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. The utility model provides a handling stock machine cart off tracking adjustment method, wherein the handling stock machine cart includes the automobile body, install respectively in the drive wheel of automobile body both sides and follow the driving wheel, follow the driving wheel and be two and install respectively in automobile body front end both sides, the drive wheel has two, installs respectively in automobile body rear end both sides, all is equipped with hand mechanism on every drive wheel, and the automobile body passes through the wheel tread of wheel and sets up the rail connection in the wheel below, all be provided with the rim on the wheel, the rim sets up between two tracks for prevent automobile body roll-off track, the distance between rim and the track is D, and the edge rail distance is D promptly, and the edge rail distance of every wheel is D0 under the standard condition, D0 is an interval value, and the biggest interval value is Dmax, and the minimum interval value is Dmin, then need adjust the cart when the rim distance leaves D0 interval, its characterized in that: the adjusting method comprises the following steps of:
s1, defining an edge rail distance D as the closest distance between a virtual line passing through the center of a wheel rim and being vertical to a plane of a track contact surface and a track, defining Dmid as (Dmax + Dmin)/2, defining the shortest edge rail distance among four large wheels as D1, defining the edge rail distance of a wheel on the side opposite to the wheel to which the D1 belongs as D2, defining the edge rail distance of a wheel on the same side as D3, defining the edge rail distance of a wheel on the side opposite to the wheel to which the D3 belongs as D4, and after the definition is finished, not redefining D1, D2, D3 and D4 in subsequent adjustment;
s2, simultaneously shaking the two hand-operated mechanisms in the same direction and at the same speed, driving a driving wheel, enabling the cart to do linear motion along the track towards the direction that D1 approaches Dmid, shaking for a certain distance, stopping, measuring the value of D1, if | D1-Dmid | is larger than 0.1mm, continuing shaking until | D1-Dmid | is smaller than 0.1mm, at the moment, | D2-Dmid | is smaller than 0.5mm, D3= D0+ X, and X is a variable;
s3, simultaneously shaking the two hand-operated mechanisms in different directions and at the same speed to drive the driving wheels to rotate the cart in the direction that the D3 approaches to the Dmid, and stopping and measuring the values of D1, D2, D3 and D4 once after the hand-operated mechanisms rotate for a certain number of turns;
s4, if | D1-Dmid | < (Dmax-Dmin)/2, | D2-Dmid | < (Dmax-Dmin)/2, | D3-Dmid | < (Dmax-Dmin)/2 and | D4-Dmid | < (Dmax-Dmin)/2 are adjusted, if the adjustment is finished, if any value of | D1-Dmid |, | D2-Dmid |, | D3-Dmid |, and | D4-Dmid | is greater than (Dmax-Dmin)/2 and | D1-Dmid | >0.1mm, performing step S5, otherwise, repeating the step S3;
s5, simultaneously rotating the two hand-operated mechanisms in the same direction and at the same speed to drive the driving wheels, so that the cart makes linear motion along the track towards the direction that D1 approaches Dmid, and stopping and measuring the value of D1 after rotating for a certain number of turns;
and S6, if the | D2-Dmid | is less than 0.1mm, performing the step S3, otherwise, performing the step S5.
2. The method for adjusting the deviation of the cart of the loading and unloading machine according to claim 1, characterized in that: dmax =8mm, dmin =7.0mm.
3. The method for adjusting the deviation of the cart of the loading and unloading machine according to claim 2, characterized in that: the certain number of turns in the step S3 is ten turns.
4. The method for adjusting the deviation of the cart of the loading and unloading machine according to claim 2, characterized in that: if the value of X measured after completion of step S2 is greater than 1mm, the certain number of turns in step S3 is twenty turns, if the value of X is 0.5mm but is made of X-cloth-1mm, the certain number of turns in step S3 is ten turns, and if the value of X is less than 0.5mm, the certain number of turns in step S3 is five turns.
5. The method for adjusting the deviation of the cart of the loading and unloading machine according to claim 3, characterized in that: the certain number of turns in the step S5 is ten turns.
6. The method for adjusting the deviation of the cart of the loading and unloading machine according to claim 3, characterized in that: the certain number of turns in step S5 is ten turns when D1 measured after completion of step S3 is | D1-7.5m | >0.5mm, and the certain number of turns in step S5 is five turns when D1 measured after completion of step S3 is | D1-7.5m | <0.5 mm.
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| JP2000159099A (en) * | 1998-11-27 | 2000-06-13 | Nkk Corp | Track-equipped dolly |
| JP2000351437A (en) * | 1999-06-07 | 2000-12-19 | Frp:Kk | Conveyor device |
| CN101704474A (en) * | 2009-11-11 | 2010-05-12 | 甘肃省电力公司刘家峡水电厂 | 400-ton bridge crane end beam movement difference correcting system |
| JP2012201460A (en) * | 2011-03-25 | 2012-10-22 | Mitsui Eng & Shipbuild Co Ltd | Crane |
| CN202643112U (en) * | 2012-06-25 | 2013-01-02 | 武汉钢铁(集团)公司 | Detection deflection-correction control device for eliminating beam type crane gnawing track |
| CN102795543A (en) * | 2012-09-10 | 2012-11-28 | 三一集团有限公司 | Deviation rectification system, crane and deviation rectification method |
| CN105776027B (en) * | 2016-05-12 | 2018-04-27 | 中南大学 | Correction control method and system in bridge crane walking process |
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| CN208856801U (en) * | 2018-09-17 | 2019-05-14 | 湖南中铁五新重工有限公司 | Bridge crane deviation correcting device and bridge crane |
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