CN203767503U - Three-degree-of-freedom self-adaptive trolley - Google Patents

Three-degree-of-freedom self-adaptive trolley Download PDF

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Publication number
CN203767503U
CN203767503U CN201420151814.0U CN201420151814U CN203767503U CN 203767503 U CN203767503 U CN 203767503U CN 201420151814 U CN201420151814 U CN 201420151814U CN 203767503 U CN203767503 U CN 203767503U
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CN
China
Prior art keywords
base plate
board
fixed
roller
stage clip
Prior art date
Application number
CN201420151814.0U
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Chinese (zh)
Inventor
陈嘉杰
刘青松
余冰
李晓
钱建华
董亚超
李志�
Original Assignee
中科华核电技术研究院有限公司
中国广核集团有限公司
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Priority to CN201310628702.X priority Critical
Priority to CN201310628702 priority
Application filed by 中科华核电技术研究院有限公司, 中国广核集团有限公司 filed Critical 中科华核电技术研究院有限公司
Priority to CN201420151814.0U priority patent/CN203767503U/en
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Publication of CN203767503U publication Critical patent/CN203767503U/en

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    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00Energy generation of nuclear origin
    • Y02E30/30Nuclear fission reactors

Abstract

The utility model discloses a three-degree-of-freedom self-adaptive trolley which comprises a main rack part, a roller supporting part and an adaptive guide mechanism. The main rack part comprises a bottom plate, a top plate and pressure spring jacking mechanisms, each pressure spring jacking mechanism comprises a guide column, a guide sleeve and a supporting pressure spring, each guide column is fixed on one of the bottom plate and the top plate, each guide sleeve is fixed on one of the bottom plate and the top plate, each guide column is connected in the corresponding guide sleeve in an inserted manner, each supporting pressure spring sleeves the corresponding guide column and the corresponding guide sleeve, two ends of each supporting pressure spring jack and push the bottom plate and the top plate respectively, the roller supporting part comprises a mounting block and a roller, the roller is supported in a rail in a rolling manner, the adaptive guide mechanism comprises a guide core block, a transverse guide rail or a transverse guide groove is arranged at the upper end of the top plate, the guide core block is slidably arranged in the transverse guide rail or the transverse guide groove, and the guide core block and an operation detection part are in rotatable fit through a round boss and a round groove. The three-degree-of-freedom self-adaptive trolley can realize three-degree-of-freedom automatic adjusting to meet operation and detection needs.

Description

Three degree of freedom self adaptation dolly

Technical field

The present invention relates to a kind of carrying and conveyer, relate in particular to a kind of three degree of freedom self adaptation dolly.

Background technology

Main equipment, facility are being assembled or detected when maintenance, usually needing to provide support platform with carrying and conveyer for operating personnel or operation detection part, and transporting operating personnel or operation detection part arrives the job position of appointment.

In nuclear power technology field, because many places in nuclear station all have nuclear radiation or have nuclear radiation risk, therefore during operation, need to avoid operating personnel to be directly exposed to these places as far as possible, just need the operation detection part can complete independently operation and according to operating condition and environment, carry out self and adjust.Such as the pressure container of nuclear power plant reactor, pressure container is a kind of large-scale gyro-rotor container, and the seal groove on its top cover can be corroded by the high-temperature steam in pressure container after long-term use, causes roughness of surface to decline, thereby affects sealing property; Meanwhile, in seal groove, also easily pile up dirt.Therefore, need to detect with detection part the sealing property of seal groove, and use seal groove grinder, seal groove cleaning machine etc. to seal groove grind, the operation such as cleaning.In above detection, operation process, the top seal groove of pressure container is difficult to reach concentric and parallel completely with the track that supplies carrying and conveyer to travel, therefore can longitudinally there is deviation on (vertically), horizontal (level) and this three degree of freedom of angle in carrying and conveyer, in order accurately to fulfil assignment, the adjustment that needs carrying and conveyer can carry out this three degree of freedom is to revise above-mentioned deviation.Yet carrying of the prior art and conveyer do not have the function that can adjust three degree of freedom.

Therefore, be necessary to provide a kind of and can carry out to three degree of freedom carrying and the conveyer of self adaptation adjustment.

Summary of the invention

The object of the present invention is to provide a kind of carrying that can adjust three degree of freedom and conveyer.

The carrying and the conveyer that provide another kind to adjust three degree of freedom are provided.

To achieve these goals, the invention provides a kind of three degree of freedom self adaptation dolly, comprise mainframe parts, roller supporting parts and adapt to guiding mechanism.Described mainframe parts comprise base plate, top board and stage clip lifting body; Described top board is positioned at described base plate top relative with described base plate, described stage clip lifting body is arranged between described base plate and top board and comprises guidepost, pilot sleeve and support stage clip, described guidepost is fixed on the wherein one of described base plate and top board, described pilot sleeve is fixed on the another one in described base plate and top board, described pilot sleeve is hollow structure and described guidepost is plugged in described pilot sleeve slidably, and described support compression spring sleeve is located at outside described guidepost and pilot sleeve and two ends respectively base plate and described top board described in pushing tow.Described roller supporting parts comprise mounting blocks and two rollers, and described mounting blocks is installed on described base plate, and described in two, roller is arranged at respectively described mounting blocks rolling support in track.Described adaptation guiding mechanism comprises the guiding pellet of carrying operation detection part, the upper end of described top board is provided with cross slide way or horizontal guide groove, described guiding pellet slides and is arranged at described cross slide way or described horizontal guide groove, and the one in described guiding pellet and described operation detection part is provided with round boss, another one is provided with the circular groove corresponding with described round boss, and described round boss inserts described circular groove rotationally.

Compared with prior art, because the present invention is provided with by described guidepost, pilot sleeve and supports the described stage clip lifting body that stage clip forms between described base plate and top board, utilize the elastic force of described support stage clip to support the described top board of carrying operation detection part, and described support stage clip can, along described guidepost and pilot sleeve generation deformation, can make dolly self adaptation and revise the deviation producing in a longitudinal direction by this deformation.In addition, described guiding pellet in described adaptation guiding mechanism can be along described cross slide way or laterally guide groove slip, thereby described operation detection part can be moved in a lateral direction, eliminate lateral deviation, described round boss with can allow described operation detection part that circumferentially rotation occurs coordinating of described circular groove to adapt to the angular deviation between operation detection part and operation detected object.By adjusting in the self adaptation longitudinally, laterally and on this three degree of freedom of angle, three degree of freedom self adaptation dolly of the present invention can automatically be revised the deviation existing between operation detection part and operation detected object according to operating environment, make operation detection part keep operation, detection position, complete in time, exactly and detect and various operation.

The present invention provides again a kind of three degree of freedom self adaptation dolly, comprises mainframe parts, roller supporting parts and adapts to guiding mechanism.Described mainframe parts comprise base plate, top board and stage clip lifting body; Described top board is positioned at described base plate top relative with described base plate, described stage clip lifting body is arranged between described base plate and top board and comprises guidepost, pilot sleeve and support stage clip, described guidepost is fixed on the wherein one of described base plate and top board, described pilot sleeve is fixed on the another one in described base plate and top board, described pilot sleeve is hollow structure and described guidepost is plugged in described pilot sleeve slidably, and described support compression spring sleeve is located at outside described guidepost and pilot sleeve and two ends respectively base plate and described top board described in pushing tow.Described roller supporting parts comprise mounting blocks and two rollers, and described mounting blocks is installed on described base plate, and described in two, roller is arranged at respectively described mounting blocks rolling support in track.Described adaptation guiding mechanism comprises the guiding pellet of carrying operation detection part, and the upper end of described top board is provided with cross slide way or horizontal guide groove, and described guiding pellet slides and is arranged at described cross slide way or described horizontal guide groove.

Compared with prior art, because the present invention is provided with by described guidepost, pilot sleeve and supports the described stage clip lifting body that stage clip forms between described base plate and top board, utilize the elastic force of described support stage clip to support the described top board of carrying operation detection part, and described support stage clip can, along described guidepost and pilot sleeve generation deformation, can make dolly self adaptation and revise the deviation producing in a longitudinal direction by this deformation.In addition, described guiding pellet in described adaptation guiding mechanism can be along described cross slide way or laterally guide groove slip, thereby described operation detection part can be moved in a lateral direction, eliminate lateral deviation, pilot sleeve coordinates with socket between guidepost can be allowed described operation detection part that certain circumferential rotation occurs to adapt to the angular deviation between operation detection part and operation detected object.By adjusting in the self adaptation longitudinally, laterally and on this three degree of freedom of angle, three degree of freedom self adaptation dolly of the present invention can automatically be revised the deviation existing between operation detection part and operation detected object according to operating environment, make operation detection part keep operation, detection position, complete in time, exactly and detect and various operation.

Preferably, described stage clip lifting body also comprises top lift adjustment part, and described top lift adjustment part is arranged between described support stage clip and described top board and/or described base plate and changes the amount of compression of described support stage clip.By described top lift adjustment part being set between described support stage clip and described top board and/or described base plate, can change the amount of compression of described support stage clip, thereby changed the top lift of described stage clip lifting body to described top board, and then make described three degree of freedom self adaptation dolly can carry the operation detection part of Different Weight, can also after the flexibility decrease of described support stage clip, increase amount of compression to keep enough top lifts simultaneously.

Particularly, described top lift adjustment part is adjusting nut, the lateral wall of described guidepost has screw thread, described adjusting nut is threadedly connected to described guidepost, one end of described support stage clip is resisted against described adjusting nut, and the other end of described support stage clip is resisted against the another one in described base plate and top board.The two ends of described support stage clip are resisted against respectively the another one in described adjusting nut and described base plate and top board, and described adjusting nut is threadedly connected to described guidepost, described guidepost is the wherein one that is fixed on described base plate and top board, and therefore described support stage clip is the equal of to be arranged between described base plate and top board.When rotating described adjusting nut up and down along described guidepost, described support stage clip is extruded or loosens, and has realized the change of the amount of compression of described support stage clip.

Preferably, described mainframe parts also comprise compression catch gear, described compression catch gear comprises bracing frame, handle, moving part and lock piece, support frame as described above is fixed on described base plate, one end of described handle is articulated in support frame as described above, the two ends of described moving part are connected to described top board and described handle and under the driving of described handle, pull described top board to move down, and the fixing described handle of described lock piece is also located described top board.By operating described handle, described top board can be pulled downwards and make described top board relatively near described base plate, and described lock piece can form self-locking and prevent that described support stage clip is by described top board jacking described handle is fixing.After described top board is moved down, thereby described mainframe parts are compressed, described three degree of freedom dolly volume is reduced, described operation detection part and dolly are easily removed from track.

Particularly, described moving part comprises stay cord and stay cord rotating shaft, one end of described handle is fixed on described stay cord rotating shaft and described stay cord rotating shaft is articulated in support frame as described above, and described top board is fixed in one end of described stay cord, and the other end of described stay cord is fixed on the sidewall of described stay cord rotating shaft; Described lock piece comprises ratchet, ratchet and replys extension spring, described coaxial ratchet ground is fixed on described stay cord rotating shaft, described ratchet is arranged at actively described base plate and engages described ratchet and limit described ratchet one-way and rotate, the state that described reply extension spring is connected in described ratchet and keeps described ratchet to engage with described ratchet.The two ends of described stay cord are individually fixed in the sidewall of described top board and described stay cord rotating shaft, described handle and described stay cord rotating shaft are fixed and stay cord rotating shaft is articulated in support frame as described above, therefore support frame as described above provides rotational support for described stay cord rotating shaft and handle, when handle rotates, described stay cord rotating shaft is rotated and is driven and described stay cord that it is fixing is wound on described stay cord rotating shaft, and described stay cord further drives described top board to move down.Therefore described ratchet can only be done unidirectional rotation with guaranteeing described ratchet and stay cord rotating shaft coordinating of ratchet, and described stay cord can not be released from described stay cord rotating shaft, and described top board can not be again in the situation that described ratchet engages described ratchet moves on again.

Particularly, described moving part is a pull bar, one end of described pull bar is articulated in described top board and has the first drive-connecting shaft, the other end of described pull bar is articulated between the two ends of described handle and has the second drive-connecting shaft, between one end of described handle and support frame as described above, have the 3rd drive-connecting shaft, described lock piece is the screens post that is fixed on the side of described base plate; When rotating position that described handle makes described the first drive-connecting shaft, the 3rd drive-connecting shaft and the second drive-connecting shaft in same straight line, the described screens post described handle that is fixed.Described handle can drive described top board to move down when rotating by the connection of described pull bar, when rotating described handle to the position of described the first drive-connecting shaft, the 3rd drive-connecting shaft and the second drive-connecting shaft during in same straight line, described handle forms self-locking state and locked described top board, do not allow on top board and move, now the described screens post described handle that is fixed, prevents described handle separating lock dead position.

Preferably, described roller supporting parts also comprise fastening bolt, Anti-extrusion nut and columniform erection column; Described mounting blocks is fixed on the lower end of described erection column, on described base plate, offer the through hole corresponding with described erection column, described erection column is inserted in described through hole rotationally, the upper end of described erection column is exposed on described base plate and sidewall is provided with screw thread, described Anti-extrusion nut thread is connected in the upper end of described erection column, and described fastening bolt is connected with described base thread and the sidewall of described grip bolt and described through hole clamps described erection column jointly.Described mounting blocks and roller are installed to by described erection column in the described through hole of described base plate, and the effect of described Anti-extrusion nut is that described erection column is longitudinal positioning of on described base plate, prevent that described erection column from departing from described base plate.Described erection column can rotate in described through hole, thereby changes the direction of travel of described roller, and when described roller travel direction is in orbit constant, the actual of change is described mainframe parts and the direction that adapts to guiding mechanism.After direction adjustment completes, fastening bolt stretches in described through hole described in turn, the clamping of encircling forming erection column of supporting to erection column cylinder by described fastening bolt and through-hole side wall, fixing described erection column and roller.

Preferably, described roller supporting parts also comprise CD-ROM drive motor and gear case; The upper end of described mounting blocks is through base plate and carry described CD-ROM drive motor, described gear case is fixed on the lower end of described mounting blocks, the output shaft of described CD-ROM drive motor and the input shaft of described gear case are in transmission connection, and described in two, roller lays respectively at the both sides of described gear case and is connected with the output shaft of described gear case.By described CD-ROM drive motor and gear case being set in described roller supporting parts, by described CD-ROM drive motor, via described gear case, drive described roller to rotate, make described roller supporting parts self there is power, and drive without external force, therefore structurally more independent.

Preferably, described roller supporting parts also comprise synchronous drive mechanism and sensor, described synchronous drive mechanism comprises the first belt wheel, the second belt wheel and Timing Belt, on described mounting blocks, be articulated with the first rotating shaft, described roller is fixed on the outside of described the first rotating shaft, described the first belt wheel is fixed on the inner side of the first rotating shaft, and described the second belt wheel is fixed on the input shaft of described sensor, and described Timing Belt is sheathed on described the first belt wheel and the second belt wheel.The setting of described synchronous drive mechanism and sensor be for by the rotary state of described roller synchronous pass to sensor, thereby make described three degree of freedom self adaptation dolly that position feedback information and motion state parameters can be outwards provided, be convenient to external control adjustment.

Preferably, described roller supporting parts also comprise roller guiding mechanism, and described roller guiding mechanism is guide vane or track adjusting wheel; Described guide vane is formed at the outward flange of described roller and along the extending radially outwardly of described roller, described in two, guide vane clamps described track; The two ends of described mounting blocks are fixed with respectively two track adjusting wheel adapter plates, are articulated with respectively track adjusting wheel described in two on track adjusting wheel adapter plate, the rotating shaft of described track adjusting wheel vertically arrange and described in two track adjusting wheel roll and to contact with two lateral walls of described track respectively.The effect of described roller guiding mechanism is that described roller supporting parts are limited on track, even described roller stably rolls on track, and can not send on track, do not depart from, guarantee that described three degree of freedom self adaptation dolly detects stability and the safety of machine and operation.

Accompanying drawing explanation

Fig. 1 is the working condition schematic diagram of three degree of freedom self adaptation dolly in first embodiment of the invention.

Fig. 2 is the structural representation of the compression catch gear in first embodiment of the invention.

Fig. 3 is the enlarged drawing at D place in Fig. 2.

The lateral plan of the roller supporting parts in Fig. 4 first embodiment of the invention.

Fig. 5 is the front elevation of the roller supporting parts in first embodiment of the invention.

Fig. 6 is the front elevation of the adaptation guiding mechanism in first embodiment of the invention.

Fig. 7 is the birds-eye view of the adaptation guiding mechanism in first embodiment of the invention.

Fig. 8 is the working condition schematic diagram of three degree of freedom self adaptation dolly in second embodiment of the invention.

Fig. 9 is the structural representation of the compression catch gear in second embodiment of the invention.

Figure 10 is the front elevation of driving roller support component in second embodiment of the invention.

Figure 11 is the lateral plan of driving roller support component in second embodiment of the invention.

Figure 12 is the front elevation of return idler support component in second embodiment of the invention.

Figure 13 is the lateral plan of return idler support component in second embodiment of the invention.

The specific embodiment

Below in conjunction with the Figure of description providing, preferred embodiment of the present invention is made to description.

As shown in Figure 1, three degree of freedom self adaptation dolly 300 in first embodiment of the invention moves along track a, and for operation detection part 400 provides a support platform, operation detection part 400 is in order to detect gyro-rotor seal groove b or the operation such as clean, polishing.Described three degree of freedom self adaptation dolly 300 can adapt to gyro-rotor seal groove b and track a automatically because of decentraction and not parallel longitudinal (vertically) causing, laterally (level) and the circumferential deviation in (angle) three directions.

Described three degree of freedom self adaptation dolly 300 comprises mainframe parts 31, roller supporting parts 32 and adapts to guiding mechanism 33.Described mainframe parts 31 are for described roller supporting parts 32 and adapt to the adaptive ability that guiding mechanism 33 provides fixed base and has longitudinally (in Fig. 1 A to).Described roller supporting parts 32 are installed on described mainframe parts 31 lower ends rolling support in described track a, and described adaptation guiding mechanism 33 is installed on described mainframe parts 31 upper ends and has laterally (in Fig. 1 B to) and the circumferential adaptation function of (in Fig. 1 C to).

Please refer to Fig. 2, described mainframe parts 31 comprise base plate 310, top board 311, stage clip lifting body and compression catch gear.Described top board 311 is positioned at described base plate 310 tops relative with described base plate 310 and be parallel to each other.The quantity of described stage clip lifting body is four, and four described stage clip lifting bodies are distributed in four corners of described top board 311.Described stage clip lifting body is arranged between described base plate 310 and top board 311 and comprises columniform guidepost 312 and pilot sleeve 313, and supports stage clip 314.Described top board 311 is fixed in the upper end of described guidepost 312, described base plate 310 is fixed in the lower end of described pilot sleeve 313, described guidepost 312 and described pilot sleeve 313 are all vertical setting, and described guidepost 312 and pilot sleeve 313 can be specifically bolt-locking modes with the fixed form of described top board 311 and base plate 310.Described pilot sleeve 313 is hollow structure, and the lower end of described guidepost 312 is plugged in described pilot sleeve 313 slidably.Described support stage clip 314 is sheathed on outside described guidepost 312 and pilot sleeve 313 and two ends respectively base plate 310 and described top board 311 described in pushing tow.Described compression catch gear comprises bracing frame 315, handle 316, moving part 317 and lock piece, support frame as described above 315 is fixed on described base plate 310, one end of described handle 316 is articulated in support frame as described above 315, the two ends of described moving part 317 are connected to described top board 311 with described handle 316 and under the driving of described handle 316, pull described top board 311 to move down, and the fixing described handle 316 of described lock piece is also located described top board 311.By operating described handle 316, described top board 311 can be pulled downwards and make described top board 311 relatively near described base plate 310, and described lock piece can form self-locking and prevent that described support stage clip 314 is by described top board 311 jackings described handle 316 is fixing.After described top board 311 is moved down, thereby compressed described three degree of freedom self adaptation dolly 300 volumes that make of described mainframe parts 31 reduce, and described operation detection part 400 and dolly are easily removed from track a.Certainly, even if described compression catch gear is not set, described three degree of freedom self adaptation dolly 300 still can complete it and on three degree of freedom, carry out the function of self adaptation adjustment.

In conjunction with Fig. 3, in the present embodiment, the quantity of bracing frame 315 is two, described moving part 317 comprises stay cord 317a and stay cord rotating shaft 317b, one end of described handle 316 is fixed on described stay cord rotating shaft 317b and described stay cord rotating shaft 317b along continuous straight runs is articulated in (two support frame as described above 315 location overlaps in Fig. 2 between two support frames as described above 315, therefore only show one), two support frames as described above 315 provide pivot point for described stay cord rotating shaft 317b and handle 316.Described top board 311 is fixed in the upper end of described stay cord 317a, and the sidewall of described stay cord rotating shaft 317b is fixed in the lower end of described stay cord 317a.Particularly, the lower end of described top board 311 is fixed with a stay cord hanging block 311a, on described stay cord hanging block 311a, be connected with the first hanging point bolt 311b, the upper end of described stay cord 317a is set around described the first hanging point bolt 311b and is tightened and be fixed on described stay cord hanging block 311a by described the first hanging point bolt 311b; On the sidewall of described stay cord rotating shaft 317b, be inserted with the second hanging point bolt 317c, the lower end of described stay cord 317a forms ring-type and is set around described the second hanging point bolt 317c and is tightened by described the second hanging point bolt 317c the sidewall that is fixed on described stay cord rotating shaft 317b.

Review Fig. 2, described lock piece comprises ratchet 318a, ratchet 318b, ratchet mounting blocks 318c and reply extension spring 318d, described ratchet 318a is fixed on described stay cord rotating shaft 317b coaxially by key fit system, on described base plate 310, by bolt-locking mode, be fixed with described ratchet mounting blocks 318c, the end of described ratchet 318b is articulated in the upper end of described ratchet mounting blocks 318c, and shaft parallel is in described stay cord rotating shaft 317b, described ratchet 318b can swing on described ratchet mounting blocks 318c, described ratchet 318b engages described ratchet 318a and limits described ratchet 318a unidirectional rotation, described ratchet mounting blocks 318c is fixed in one end of described reply extension spring 318d, the state that the other end is placed in the front end of described ratchet 318b and keeps described ratchet 318b to engage with described ratchet 318a, only at the elastic force that overcomes described reply extension spring 318d, upwards stir after described ratchet 318b, described ratchet 318a just can carry out two-way rotation.

When handle 316 rotates, described stay cord rotating shaft 317b rotates and drives with its described stay cord 317a fixing and is wound on described stay cord rotating shaft 317b, and the described top board 311 of the further drive of described stay cord 317a moves down.Described ratchet 318a can only do unidirectional rotation with guaranteeing described ratchet 318a and stay cord rotating shaft 317b coordinating of ratchet 318b, therefore described stay cord 317a can not be released from described stay cord rotating shaft 317b, and described top board 311 can not be again in the situation that described ratchet 318b engages described ratchet 318a moves on again.

In order to adjust the vertical bearing force of described stage clip lifting body to described top board 311, can also in described stage clip lifting body, top lift adjustment part be set, described top lift adjustment part is arranged between described support stage clip 314 and described top board 311 and/or described base plate 310 and changes the amount of compression of described support stage clip 314.By described top lift adjustment part being set between described support stage clip 314 and described top board 311 and/or described base plate 310, can change the amount of compression of described support stage clip 314, thereby changed the top lift of described stage clip lifting body to described top board 311, and then make described three degree of freedom self adaptation dolly 300 can carry the operation detection part 400 of Different Weight, can also after the flexibility decrease of described support stage clip 314, increase amount of compression to keep enough top lifts simultaneously.Particularly, in the present embodiment, described top lift adjustment part is the adjustment pad 319 with multi-thickness specification, described adjustment pad 319 can only be arranged between the upper end and described top board 311 of described support stage clip 314, also can only be arranged between the lower end and described base plate 310 of described support stage clip 314, can certainly be arranged on the upper/lower terminal of described support stage clip 314 simultaneously.When the upper/lower terminal at described support stage clip 314 all arranges described adjustment pad 319, described support stage clip 314 is actual comes top board 311 and base plate 310 described in pushing tow by two adjustment pads 319.Described adjustment pad 319 overlaps removably and is set on described guidepost 312 or pilot sleeve 313, by changing the described adjustment pad 319 of different-thickness, can realize the object of the amount of compression that changes described support stage clip 314.

Please refer to Fig. 4 and Fig. 5, described roller supporting parts 32 comprise columniform erection column 320, Anti-extrusion nut 321, fastening bolt 322, mounting blocks 323 and two rollers 324.The lateral wall of the upper end of described erection column 320 is provided with screw thread, and described mounting blocks 323 is fixed on the lower end of described erection column 320, and described in two, roller 324 is arranged at respectively described mounting blocks 323 rolling support in described track a.The quantity of described roller supporting parts 32 is two, and is separately positioned on the two ends of described base plate 310.

On described base plate 310, offer the through hole corresponding with described erection column 320, described erection column 320 is from bottom to top inserted in described through hole rotationally, the upper end of described erection column 320 is exposed on described base plate 310, described Anti-extrusion nut 321 is threadedly connected to the upper end of described erection column 320 and fixes in a longitudinal direction described erection column 320, prevents that described erection column 320 from departing from described base plate 310.Described fastening bolt 322 is threaded with described base plate 310 and the sidewall of described grip bolt and described through hole clamps described erection column 320 jointly, particularly, described fastening bolt 322 can be the cylinder that directly stretches in described through hole and support described erection column 320, also can be the one end that is resisted against a clamp, the other end of described clamp has the corresponding cambered surface of cylinder with described erection column 320, by the cambered surface of this clamp, support and clamp described erection column 320, effect is better.Described mounting blocks 323 and roller 324 are installed in the described through hole of described base plate 310 by described erection column 320, and can in described through hole, rotate, thereby change the travel direction of described roller 324, when the travel direction of described roller 324 on track a is constant, the actual of change is described mainframe parts 31 and the direction that adapts to guiding mechanism 33.After direction adjustment completes, fastening bolt 322 described in turn, the clamping of encircling forming erection column 320 of supporting to erection column 320 cylinders by described fastening bolt 322 and through-hole side wall, fixing described erection column 320 and roller 324.

Described mounting blocks 323 comprises the first adapter plate 323a, the second adapter plate 323b and two the 3rd adapter plate 323c, described the first adapter plate 323a on even keel is fixed on the lower end of described erection column 320, described the second adapter plate 323b on even keel is fixed on the lower end of described the first adapter plate 323a, described in two, the 3rd adapter plate 323c is fixed on respectively the two ends, left and right (direction in Fig. 5) of described the second adapter plate 323b vertically, described in two, roller 324 is articulated in respectively the outside of the 3rd adapter plate 323c described in two, and the rotating shaft along continuous straight runs of described roller 324 arranges and perpendicular to the bearing of trend of described track a.Wherein, described the first adapter plate 323a, the second adapter plate 323b and two the 3rd adapter plate 323c can be integrated structures.

As preferred embodiment a kind of, described roller supporting parts 32 can also comprise roller guiding mechanism, and described roller guiding mechanism is two track adjusting wheels 325.Described mounting blocks 323 also comprises brace panel 323d, and described brace panel 323d is fixed on the front end of the 3rd adapter plate 323c described in two, and plays the effect of strengthening structural stability.The both sides of described brace panel 323d lower end are fixed with respectively two track adjusting wheel adapter plates 326, described in two track adjusting wheel 325 be articulated in two respectively described in track adjusting wheel adapter plate 326, and the rotating shaft of described track adjusting wheel 325 vertically arranges, perpendicular to the rotating shaft of described roller 324, described in two, track adjusting wheel 325 is rolled and is contacted with two lateral walls of described track a respectively.Similarly, described brace panel 323d and track adjusting wheel adapter plate 326 can be also integrated complete structures with three above adapter plates.The effect of described roller guiding mechanism is that described roller supporting parts 32 are limited on track a, even described roller 324 stably rolls on track a, and can not send on track a, do not depart from, guarantee stability and the safety of described three degree of freedom self adaptation dolly 300 detection machines and operation.

Shown in Fig. 6, Fig. 7, described adaptation guiding mechanism 33 comprises the guiding pellet 330 that carries described operation detection part 400, the upper end of described top board 311 is provided with horizontal guide groove 331, and the setting party of described horizontal guide groove 331 along continuous straight runs settings and the best is to the bearing of trend that is perpendicular to described track a.Described guiding pellet 330 slides and is arranged at described horizontal guide groove 331, and the upper surface of described guiding pellet 330 is provided with round boss 330a, the lower surface of described operation detection part 400 is provided with the circular groove corresponding with described round boss 330a, and described round boss 330a inserts described circular groove rotationally.In the present embodiment, the upper end that the upper end of described top board 311 is fixed with the fixture block 332 that leads described in two relative guiding fixture blocks 332, two bends extension towards the other side, and described in two, leads and between fixture block 332, form described horizontal guide groove 331.The lower end of described guiding pellet 330 is contained in described horizontal guide groove 331 slidably, and upper end has the platform of the described operation detection part 400 of carrying, and described round boss 330a is formed at described platform.Certainly, can on described top board 311, cross slide way be set, and the chute of guide rail described in slip fit is set on described guiding pellet 330; Upper surface at described guiding pellet 330 arranges circular groove, and the lower surface of operation detection part 400 arranges round boss.

For prevent described guiding pellet 330 in the process of sliding from the interior disengaging of described horizontal guide groove 331, can fix two limiting stopper 311c in the both sides, front and back of described top board 311, described limiting stopper 311c is arranged on described in the end of described horizontal guide groove 331 block the laterally opening of guide groove 331.

Fig. 8 is to Figure 13 shows that second embodiment of the present invention.The self adaptation of three degree of freedom described in the present embodiment dolly 300 ' comprise mainframe parts 31 ', roller supporting parts and adapt to guiding mechanism 33 '.In the present embodiment, the quantity of roller supporting parts is two, and one of them be driving rolls support component 32 ', another be return idler support component 34 ', the described mainframe parts 31 of described driving rolls support component 32 ' and return idler support component 34 ' be arranged on respectively ' two ends.The parts of mainframe described in the present embodiment 31 ' and adapt to guiding mechanism 33 ' have the equally function of carrying out self adaptation adjustment on A, B, C three degree of freedom.

As shown in Figure 9, described mainframe parts 31 ' comprise top board 311 ', base plate 310 ', stage clip lifting body and compression catch gear.Wherein top board 311 ' and base plate 310 ' setting as the first embodiment, and stage clip lifting body in the present embodiment only has one, and described stage clip lifting body be arranged on described top board 311 ' and base plate 310 ' position, middle.Described stage clip lifting body comprise columniform guidepost 312 ' with pilot sleeve 313 ', support stage clip 314 ' and top lift adjustment part.Described pilot sleeve 313 ' upper end be fixed on described top board 311 ', described guidepost 312 ' lower end be fixed on described base plate 310 ', the vertical setting of described guidepost 312 ' and described pilot sleeve 313 ' be all, described guidepost 312 ' upper end be plugged in be slidably the described pilot sleeve 313 of hollow structure ' in, particularly, described guidepost 312 ' fixed form be first by the hole of the described base plate 310 of described guidepost 312 ' be assembled to ' above offer, described guidepost 312 ' the lateral wall of lower end be provided with screw thread and be arranged in described base plate 310 ', and pass described base plate 310 ' part be provided with a dowel hole, then use column jam nut 312a ' to lock described guidepost 312 ' and eliminate endplay by screw thread fit, re-use anti-rotation locating dowel pin 312b ' through described base plate 310 ' on pin-and-hole and the dowel hole of guidepost 312 ' lower end with limit described guidepost 312 ' base plate 310 ' on rotation, thereby complete fixing.In addition, for prevent the described pilot sleeve 313 of described guidepost 312 ' depart from described pilot sleeve 313 ' interior slip ', adopt the mode of free-running fit to connect, described guidepost 312 ' on an Anti-extrusion pin is set, and described pilot sleeve 313 ' on the corresponding elongated hole extending along described vertical direction of offering, described Anti-extrusion pin is slidably arranged in described elongated hole, thus guarantee described pilot sleeve 313 ' can be at described guidepost 312 ' slide up and down outward and not can with described guidepost 312 ' disengaging.The width of described elongated hole is a bit larger tham the external diameter of described Anti-extrusion pin, therefore described pilot sleeve 313 ' can also described guidepost 312 ' on do the axial rotation of certain limit.By described pilot sleeve 313 ' with described guidepost 312 ' relative rotation, carry the described top board 311 of described operation detection part 400 ' can produce certain rotation, thereby realized the object of circumferential adjustment.

Described top lift adjustment part be an adjusting nut 319 ', the described guidepost 312 of described adjusting nut 319 ' be threadedly connected to ' lower end, the described guidepost 312 of described support stage clip 314 ' be sheathed on ' and pilot sleeve 313 ' outside, and described support stage clip 314 ' upper end support described pilot sleeve 313 ', described support stage clip 314 ' lower end support described adjusting nut 319 ', described support stage clip 314 ' by pilot sleeve 313 ' with described top board 311 ' fixed relationship and top board 311 described in pushing tow ', and by described adjusting nut 319 ' with described guidepost 312 ' screw thread fit and base plate 310 described in pushing tow '.By described guidepost 312 ' on adjusting nut 319 described in turn ', change described adjusting nut 319 ' and described pilot sleeve 313 ' between distance, can change described support stage clip 314 ' amount of compression, thereby change described support stage clip 314 ' to described top board 311 ' top lift.

Described compression catch gear in the present embodiment comprise equally bracing frame 315 ', handle 316 ', moving part and lock piece, difference is, the described moving part in the present embodiment be the pull bar 317 in the middle of with bending '.The described base plate 310 of support frame as described above 315 ' be fixed on ', described handle 316 ' one end be articulated in support frame as described above 315 ' and there is the 3rd drive-connecting shaft, described pull bar 317 ' upper end is articulated in described top board 311 ' and have the first drive-connecting shaft, described pull bar 317 ' lower end be articulated in described handle 316 ' two ends between and there is the second drive-connecting shaft.Described the first drive-connecting shaft, the second drive-connecting shaft and the equal along continuous straight runs setting of the 3rd drive-connecting shaft and be parallel to each other.Particularly, described pull bar 317 ' with described top board 311 ' pivot joint mode be described top board 311 ' on thread connecting mode, install and to fix a pull bar hanging block 311a ' with cross bar (parallel with the first drive-connecting shaft, the second drive-connecting shaft and the 3rd drive-connecting shaft), described pull bar 317 ' upper end be bent to form a hook and this hook is hung on the cross bar of described pull bar hanging block 311a '.

Described lock piece be fixed on described base plate 310 ' side screens post 318 '.When the position that rotates described handle 316 ' make described the first drive-connecting shaft, the 3rd drive-connecting shaft and the second drive-connecting shaft is during in same straight line, the described screens post 318 ' described handle 316 that is fixed '.Described handle 316 ' by described pull bar 317 ' connection and when rotating, can drive described top board 311 ' move down, when the position of described the first drive-connecting shaft, the 3rd drive-connecting shaft and the second drive-connecting shaft is during in same straight line, described handle 316 ' formation self-locking state locked described top board 311 ', do not allow top board 311 ' above move, now the described screens post 318 ' described handle 316 that is fixed ', prevent described handle 316 ' separating lock dead position.

Please refer to shown in Figure 10 and Figure 11, the described driving rolls support component 32 in the present embodiment ' comprise fastening bolt, mounting blocks 323 ', two rollers 324 ', CD-ROM drive motor 325 ', gear case 326 ' and coupler (not shown).Wherein said mounting blocks 323 ' comprise columniform erection column 323a ', be fixed on the back-up block 323b ' and be fixed on the gear case adapter plate 323c ' of described erection column 323a ' lower end of travelling of described erection column 323a ' upper end, described erection column 323a ', travel back-up block 323b ' and gear case adapter plate 323c ' can be integrated integral body.

Described erection column 323a ' is arranged in the through hole of described base plate 310 ' above offer rotationally, and it is identical with the annexation of described through hole and fastening bolt and the first embodiment, at this, does not repeat to introduce.

The described back-up block 323b ' that travels be positioned at described base plate 310 ' upper end and fixed pedestal described in CD-ROM drive motor 325 ', described gear case adapter plate 323c ' be positioned at described base plate 310 ' below and fixing described gear case 326 ', described CD-ROM drive motor 325 ' output shaft by described coupler and described gear case 326 ' input shaft be in transmission connection, the described gear case 326 of roller 324 described in two ' lay respectively at ' both sides and with described gear case 326 ' output shaft be connected.By described driving rolls support component 32 ' in arrange described CD-ROM drive motor 325 ' and gear case 326 ', by described CD-ROM drive motor 325 ' via described coupler and gear case 326 ' drive described roller 324 ' rotation, make described driving rolls support component 32 ' self have power and can drive dolly to travel, and drive without external force, therefore structurally more independent.

Figure 12 to Figure 13 shows that described return idler support component 34 in the present embodiment ', described return idler support component 34 ' comprise erection column 340 ', Anti-extrusion nut 341 ', fastening bolt (not shown), mounting blocks 342 ', synchronous drive mechanism, sensor 343 ' and two rollers 344 '.The described erection column 340 of described mounting blocks 342 ' be fixed on ' lower end, described erection column 340 ', Anti-extrusion nut 341 ' and fastening bolt and described base plate 310 ' annexation and driving rolls support component 32 ' and the first embodiment is identical.

Described mounting blocks 342 ' two ends extended to form two axles mounting blocks 342a ' downwards, described in two wheel shaft mounting blocks 342a ' respectively along continuous straight runs be articulated with driven spindle 342b ', and the setting party of described driven spindle 342b ' is to preferably perpendicular to the bearing of trend of described track a.Described roller 344 ' the be fixed on outside of described driven spindle 342b '.Described synchronous drive mechanism comprise the first belt wheel 345 ', the second belt wheel 346 ' and Timing Belt 347 '.Described the first belt wheel 345 ' the be fixed on inner side of driven spindle 342b ' described in, the described sensor 343 of described the second belt wheel 346 ' be fixed on ' input shaft, the described base plate 310 of described sensor 343 ' can be mounted on ' and can be the sensor of contact or contactless sensor, described the first belt wheel 345 of described Timing Belt 347 ' be sheathed on ' and the second belt wheel 346 '.Described synchronous drive mechanism and sensor 343 ' setting be for by described roller 344 ' rotary state synchronous pass to sensor 343 ', thereby make described three degree of freedom self adaptation dolly 300 ' position feedback information and motion state parameters can be outwards provided, be convenient to external control adjustment.

In conjunction with Figure 10 and Figure 12, for by roller 324 ', 344 ' be limited on described track a, prevent roller 324 ', 344 ' depart from described track, can described driving rolls support component 32 ' and return idler support component 34 ' in roller guiding mechanism is set, this roller guiding mechanism specifically a kind of guide vane 329 ', 349 ', described guide vane 329 ', 349 ' be formed at described roller 324 ', 344 ' outward flange and along described roller 324 ', 344 ' extend radially outwardly, guide vane 329 described in two ', 349 ' clamp respectively described track a.

What the horizontal adaptive mode of the described adaptation guiding mechanism 33 in the present embodiment ' realize and the first embodiment different were to use in the first embodiment is the mode of slide rail, adopts in the present embodiment spherical guide mode.Described top board 311 ' be above provided with caging bolt 311c ', its effect is identical with the limiting stopper 311c in the first embodiment.

Refer again to Fig. 9; the three degree of freedom self adaptation dolly 300 of the present embodiment ' be also provided with an initial position identification switch 351 '; the described base plate 310 of described initial position identification switch 351 ' be arranged at ' bottom and by a switch protection cover 352 ' protect; described base plate 310 ' bottom be also provided with bottom protective case 353 '; described bottom protective case 353 ' play protection cable and dustproof effect, described initial position identification switch 351 ' be arranged on described bottom protective case 353 ' side.Described initial position identification switch 351 ' be a kind of micro-switch; it coordinates with the upper tick lables piece arranging of described track a; thereby and when travelling through described tick lables piece, dolly stirred triggering by described tick lables piece; its radical function is the initial position of automatically identifying moving of car, is convenient to the position after the record operation number of turns and auto-stop.Correspondingly, described base plate 310 ' on be also provided with controller 354 ', connection box 355 ' and cable socket 356 ', to be electrically connected with outside and dolly controlled.

In above two embodiment, in order to increase the friction force between roller and described track a, prevent wheel slip, reduce the vibrations of dolly, can on the wheel face of roller, adopt the mode of surperficial encapsulate to process.In addition, between roller and its fixing wheel shaft (rotating shaft), be provided with wheelspan and adjust pad, by the pad of different-thickness or the change of pad quantity, can change the distance between two rollers, thereby dolly can be travelled on the track of different in width.

The present invention compared with prior art, because the present invention is at described base plate 310, 310 ' with top board 311, 311 ' between be provided with by described guidepost 312, 312 ', pilot sleeve 313, 313 ' and support stage clip 314, the described stage clip lifting body of 314 ' composition, utilize described support stage clip 314, 314 ' the described top board 311 of elastic force to carrying operation detection part 400, 311 ' support, and described support stage clip 314, 314 ' can be along described guidepost 312, 312 ' and pilot sleeve 313, 313 ' generation deformation, by this deformation, can make dolly self adaptation and revise the deviation producing in a longitudinal direction.In addition, described guiding pellet 330 in described adaptation guiding mechanism 33 can slide along described horizontal guide groove 331, thereby described operation detection part 400 can be moved in a lateral direction, eliminate lateral deviation, described round boss 330a and described circular groove coordinate or described guidepost 312 ' with pilot sleeve 313 ' between socket coordinates and can allow the circumferential rotation of described operation detection part 400 generation adapt to the angular deviation between operation detection part 400 and operation detected object.By adjusting in the self adaptation longitudinally, laterally and on this three degree of freedom of angle, three degree of freedom self adaptation dolly 300,300 of the present invention ' can automatically revise the deviation existing between operation detection part 400 and operation detected object according to operating environment, make operation detection part 400 keep operation, detection position, complete in time, exactly and detect and various operation.

Above disclosed is only preferred embodiments of the present invention, its effect is facilitate those skilled in the art to understand and implement according to this, certainly can not limit with this interest field of the present invention, therefore the equivalent variations of doing according to the present patent application the scope of the claims, still belongs to the scope that the present invention is contained.

Claims (11)

1. a three degree of freedom self adaptation dolly, is characterized in that: comprise mainframe parts, roller supporting parts and adapt to guiding mechanism;
Described mainframe parts comprise base plate, top board and stage clip lifting body; Described top board is positioned at described base plate top relative with described base plate, described stage clip lifting body is arranged between described base plate and top board and comprises guidepost, pilot sleeve and support stage clip, described guidepost is fixed on the wherein one of described base plate and top board, described pilot sleeve is fixed on the another one in described base plate and top board, described pilot sleeve is hollow structure and described guidepost is plugged in described pilot sleeve slidably, and described support compression spring sleeve is located at outside described guidepost and pilot sleeve and two ends respectively base plate and described top board described in pushing tow;
Described roller supporting parts comprise mounting blocks and two rollers, and described mounting blocks is installed on described base plate, and described in two, roller is arranged at respectively described mounting blocks rolling support in track;
Described adaptation guiding mechanism comprises the guiding pellet of carrying operation detection part, the upper end of described top board is provided with cross slide way or horizontal guide groove, described guiding pellet slides and is arranged at described cross slide way or described horizontal guide groove, and the one in described guiding pellet and described operation detection part is provided with round boss, another one is provided with the circular groove corresponding with described round boss, and described round boss inserts described circular groove rotationally.
2. a three degree of freedom self adaptation dolly, is characterized in that: comprise mainframe parts, roller supporting parts and adapt to guiding mechanism;
Described mainframe parts comprise base plate, top board and stage clip lifting body; Described top board is positioned at described base plate top relative with described base plate, described stage clip lifting body is arranged between described base plate and top board and comprises guidepost, pilot sleeve and support stage clip, described guidepost is fixed on the wherein one of described base plate and top board, described pilot sleeve is fixed on the another one in described base plate and top board, described pilot sleeve is hollow structure and described guidepost is plugged in described pilot sleeve slidably, and described support compression spring sleeve is located at outside described guidepost and pilot sleeve and two ends respectively base plate and described top board described in pushing tow;
Described roller supporting parts comprise mounting blocks and two rollers, and described mounting blocks is installed on described base plate, and described in two, roller is arranged at respectively described mounting blocks rolling support in track;
Described adaptation guiding mechanism comprises the guiding pellet of carrying operation detection part, and the upper end of described top board is provided with cross slide way or horizontal guide groove, and described guiding pellet slides and is arranged at described cross slide way or described horizontal guide groove.
3. three degree of freedom self adaptation dolly as claimed in claim 1 or 2, it is characterized in that: described stage clip lifting body also comprises top lift adjustment part, described top lift adjustment part is arranged between described support stage clip and described top board and/or described base plate and changes the amount of compression of described support stage clip.
4. three degree of freedom self adaptation dolly as claimed in claim 3, it is characterized in that: described top lift adjustment part is adjusting nut, the lateral wall of described guidepost has screw thread, described adjusting nut is threadedly connected to described guidepost, one end of described support stage clip is resisted against described adjusting nut, and the other end of described support stage clip is resisted against the another one in described base plate and top board.
5. three degree of freedom self adaptation dolly as claimed in claim 1 or 2, it is characterized in that: described mainframe parts also comprise compression catch gear, described compression catch gear comprises bracing frame, handle, moving part and lock piece, support frame as described above is fixed on described base plate, one end of described handle is articulated in support frame as described above, the two ends of described moving part are connected to described top board and described handle and under the driving of described handle, pull described top board to move down, and the fixing described handle of described lock piece is also located described top board.
6. three degree of freedom self adaptation dolly as claimed in claim 5, it is characterized in that: described moving part comprises stay cord and stay cord rotating shaft, one end of described handle is fixed on described stay cord rotating shaft and described stay cord rotating shaft is articulated in support frame as described above, described top board is fixed in one end of described stay cord, and the other end of described stay cord is fixed on the sidewall of described stay cord rotating shaft; Described lock piece comprises ratchet, ratchet and replys extension spring, described coaxial ratchet ground is fixed on described stay cord rotating shaft, described ratchet is arranged at actively described base plate and engages described ratchet and limit described ratchet one-way and rotate, the state that described reply extension spring is connected in described ratchet and keeps described ratchet to engage with described ratchet.
7. three degree of freedom self adaptation dolly as claimed in claim 5, it is characterized in that: described moving part is a pull bar, one end of described pull bar is articulated in described top board and has the first drive-connecting shaft, the other end of described pull bar is articulated between the two ends of described handle and has the second drive-connecting shaft, between one end of described handle and support frame as described above, have the 3rd drive-connecting shaft, described lock piece is the screens post that is fixed on the side of described base plate; When rotating position that described handle makes described the first drive-connecting shaft, the 3rd drive-connecting shaft and the second drive-connecting shaft in same straight line, the described screens post described handle that is fixed.
8. three degree of freedom self adaptation dolly as claimed in claim 1, is characterized in that: described roller supporting parts also comprise fastening bolt, Anti-extrusion nut and columniform erection column; Described mounting blocks is fixed on the lower end of described erection column, on described base plate, offer the through hole corresponding with described erection column, described erection column is inserted in described through hole rotationally, the upper end of described erection column is exposed on described base plate and sidewall is provided with screw thread, described Anti-extrusion nut thread is connected in the upper end of described erection column, and described fastening bolt is connected with described base thread and the sidewall of described fastening bolt and described through hole clamps described erection column jointly.
9. three degree of freedom self adaptation dolly as claimed in claim 2, is characterized in that: described roller supporting parts also comprise CD-ROM drive motor and gear case; The upper end of described mounting blocks is through base plate and carry described CD-ROM drive motor, described gear case is fixed on the lower end of described mounting blocks, the output shaft of described CD-ROM drive motor and the input shaft of described gear case are in transmission connection, and described in two, roller lays respectively at the both sides of described gear case and is connected with the output shaft of described gear case.
10. three degree of freedom self adaptation dolly as claimed in claim 2, it is characterized in that: described roller supporting parts also comprise synchronous drive mechanism and sensor, described synchronous drive mechanism comprises the first belt wheel, the second belt wheel and Timing Belt, on described mounting blocks, be articulated with the first rotating shaft, described roller is fixed on the outside of described the first rotating shaft, described the first belt wheel is fixed on the inner side of the first rotating shaft, described the second belt wheel is fixed on the input shaft of described sensor, and described Timing Belt is sheathed on described the first belt wheel and the second belt wheel.
11. three degree of freedom self adaptation dollies as claimed in claim 1 or 2, is characterized in that: described roller supporting parts also comprise roller guiding mechanism, described roller guiding mechanism is guide vane or track adjusting wheel; Described guide vane is formed at the outward flange of described roller and along the extending radially outwardly of described roller, described in two, guide vane clamps described track; The two ends of described mounting blocks are fixed with respectively two track adjusting wheel adapter plates, are articulated with respectively track adjusting wheel described in two on track adjusting wheel adapter plate, the rotating shaft of described track adjusting wheel vertically arrange and described in two track adjusting wheel roll and to contact with two lateral walls of described track respectively.
CN201420151814.0U 2013-11-29 2014-03-31 Three-degree-of-freedom self-adaptive trolley CN203767503U (en)

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CN201420151814.0U CN203767503U (en) 2013-11-29 2014-03-31 Three-degree-of-freedom self-adaptive trolley
CN201420152751.0U CN203844867U (en) 2013-11-29 2014-03-31 Rolling type location plate
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CN103868930A (en) 2014-06-18
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CN103868930B (en) 2017-05-31
CN203844867U (en) 2014-09-24
CN103868929A (en) 2014-06-18

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