CN208173252U - Cambered surface clears up actuator experimental rig - Google Patents
Cambered surface clears up actuator experimental rig Download PDFInfo
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- CN208173252U CN208173252U CN201820166062.3U CN201820166062U CN208173252U CN 208173252 U CN208173252 U CN 208173252U CN 201820166062 U CN201820166062 U CN 201820166062U CN 208173252 U CN208173252 U CN 208173252U
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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
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Abstract
The utility model relates to a kind of cambered surfaces to clear up actuator experimental rig, suitable for testing cleaning effect of the cleaning actuator in cambered surface comprising mobile platform, driving mechanism, control centre and the cambered surface analogue body for simulating environment for clearance；The control centre and the mobile platform, driving mechanism are electrically connected；Described driving mechanism one end and the mobile platform are hinged, and the other end is connect with cleaning actuator to be tested；It is mobile that the control centre controls the mobile platform, so that the cleaning actuator moves on the cambered surface analogue body, the control centre controls the driving mechanism movement to drive the cleaning actuator to be affixed on the face for clearance of the cambered surface analogue body.The utility model cambered surface cleaning actuator experimental rig can simulate environment for clearance and the individually cleaning effect and reliability of test cleaning actuator, and flexibility is high, strong applicability.
Description
Technical field
The utility model relates to nuclear power engineering pollution clean-up technology field more particularly to a kind of cambered surface cleaning actuator test dresses
It sets.
Background technique
In recent years, as the demand to the energy is more and more, the exploration of new energy is in continuous carry out.Wherein, core
Electricity is used as a kind of main new energy type, has obtained more and more attention.In the power generation process of nuclear power, need by big
Type tunnel introduces seawater.Due to adulterating Marine Planktonic, fouling organism and house refuse etc. in seawater, they can be attached to tunnel
Hole inner wall surface, it is permanent previous, will form it is one layer thicker be hard dirt, the not only introduction of influence seawater, but also can be to tunnel
Hole inner wall generates destruction.Therefore it needs periodically to clean tunnel inner wall surface, keeps the cleaning of inner wall surface.
In order to clear up the hard dirt in tunnel surface, we often using special cleaning actuator to the inner wall of tunnel into
Row cleaning.But since the environment of tunnel is special, we can not often carry out site test to understand the cleaning effect of cleaning actuator
Fruit, it is assumed that encounter and be connected to the mobile vehicle of cleaning actuator and the special circumstances such as do not complete, cleaning actuator can not be independent
Test will result in cleaning actuator come into operation or mass production before cannot pass through test and adjust and improve, even
It will affect the progress of integrated testability engineering.
Therefore, it is badly in need of wanting a kind of cambered surface that can be simulated environment for clearance and individually test cleaning actuator cleaning effect clear
Actuator experimental rig is managed to overcome above-mentioned defect.
Utility model content
Based on this, it is necessary to be directed to prior art problem, environment for clearance can be simulated and individually test clear by providing one kind
The cambered surface for managing actuator cleaning effect clears up actuator experimental rig.
The utility model provides a kind of cambered surface cleaning actuator experimental rig, suitable for test cleaning actuator in cambered surface
Cleaning effect, including mobile platform, driving mechanism, control centre and cambered surface analogue body for simulating environment for clearance；It is described
Control centre and the mobile platform, driving mechanism are electrically connected；Described driving mechanism one end and the mobile platform are hinged, separately
One end is connect with cleaning actuator to be tested；It is mobile that the control centre controls the mobile platform, so that the cleaning is held
Row device moves on the cambered surface analogue body, and the control centre controls the driving mechanism movement to drive the cleaning to execute
Device is affixed on the face for clearance of the cambered surface analogue body.
Preferably, the mobile platform includes X to mobile mechanism, Y-direction mobile mechanism, Z-direction mobile mechanism, pedestal, first
Bracket and second support, the Y-direction mobile mechanism are set on the pedestal, and it is mobile that the first support is connected to the Y-direction
The output end of mechanism, the X are set in the first support to mobile mechanism, and the second support is connected to the X to shifting
The output end of motivation structure, the Z-direction mobile mechanism are set in the second support, the output end of the Z-direction mobile mechanism with
The driving mechanism is hinged.
Preferably, the X to mobile mechanism include first motor and be fixed on the first support X-direction on tooth
Item, the first motor is fixed in the second support and output shaft is equipped with gear, and the gear is engaged with the rack gear,
To drive the second support mobile in X-direction.
Preferably, the Y-direction mobile mechanism includes the second motor, and is symmetrically disposed on the deceleration of the pedestal two sides
Device, the first sliding screw, the first guide rail and the first sliding block, first sliding block are fixed on the first support, and described first is sliding
Block is slidably matched with first guide rail and connect with first sliding screw, and second motor is connected simultaneously by retarder
First sliding screw is driven to rotate, so that the first support moves in the Y direction.
Preferably, the Z-direction mobile mechanism includes the third motor being set in the second support, the second sliding silk
Bar, the second guide rail and the second sliding block, second sliding block and second guide rail be slidably matched and with second sliding screw
It connects, the rotation of the second sliding screw described in the third motor driven, so that second sliding block moves in z-direction.
Preferably, the driving mechanism includes the swing arm of the first expansion bend with the output end for being articulated in the mobile platform,
First expansion bend both ends are pivotally connected respectively with the output end of the mobile platform and swing arm to drive the swing arm to swing.
Preferably, the first pressure sensor for detecting pressure, the first pressure are equipped in first expansion bend
Sensor and the control centre are electrically connected.
Preferably, the driving mechanism further includes the second expansion bend, and second expansion bend is connected to the swing arm to drive
It moves the cleaning actuator and is affixed on the cambered surface analogue body.
Preferably, second expansion bend is inner and/or outer is equipped with second described in elastic component and elastic component offer pushing tow
The elastic force of expansion bend elongation, so that the cleaning actuator adaptively fits in the face for clearance of the cambered surface analogue body.
Preferably, second expansion bend is externally provided with the flexible guide rod for supporting the cleaning actuator.
Preferably, the driving mechanism further includes the rotating mechanism for driving the cleaning actuator to rotate, the rotation
Rotation mechanism is set to the output end of second expansion bend.
Preferably, angular transducer is equipped in the rotating mechanism, the angular transducer and the control centre are electrical
Connection.
Preferably, it is provided with hydraulic lock used for positioning in first expansion bend and/or swing arm, with the fixation swing arm
Position and prevent from landing.
Preferably, the cambered surface cleaning actuator experimental rig further includes intending body cleaning situation for observing the globoidal model
Observation platform.
Preferably, the cambered surface cleaning actuator experimental rig further includes for recording the cambered surface analogue body cleaning situation
Video camera, the video camera and the control centre are electrically connected and by collected data feedbacks to the control centre.
Preferably, the cleaning actuator is that disc type clears up actuator or drum-type clears up actuator.
The beneficial effects of the utility model are：Cambered surface provided by the utility model clears up actuator experimental rig, due to setting
It is equipped with mobile platform, driving mechanism, control centre and cambered surface analogue body, it is mobile using control centre's control mobile platform, and
Driving mechanism movement is controlled, the cleaning actuator to be tested to be synergistically connected to driving mechanism is close and is tightly attached to cambered surface
The cambered surface for clearance of analogue body, makes cleaning actuator run and clear up cambered surface, and mobile platform and driving mechanism can be executed in cleaning
Device moves when clearing up, to change the clear position of cleaning actuator and it is made to be tightly attached to the cambered surface being cleaned always, therefore, entirely
Experimental rig can simulate cleaning scene, the last cleaning effect for only needing to simulate body surface face by observation cambered surface and damage journey
Degree can assess the cleaning ability and reliability of cleaning actuator.In addition, using the compound motion of driving mechanism and mobile platform,
It can make any position cleared up in actuator arrival space, suitable for different test experiments；Moreover, tester can be according to need
It wants any replacement cleaning actuator to be tested and is individually detected, strong applicability；Cambered surface analogue body can be according to practical need
It modifies or directly replaces to simulate various cambered surfaces, survey can be met without reaching the dangerous scene such as tunnel and test
The demand of examination person；To sum up, the cambered surface cleaning actuator experimental rig of the utility model can simulate scene for clearance and independent
The cleaning effect of test cleaning actuator, flexibility is high, strong applicability.
Detailed description of the invention
Fig. 1 is the schematic perspective view that the utility model cambered surface clears up actuator experimental rig.
Fig. 2 is the partial enlarged view of the A of Fig. 1.
Fig. 3 is that the utility model cambered surface clears up the mobile platform of actuator experimental rig and the stereochemical structure of control centre is shown
It is intended to.
Fig. 4 is the schematic perspective view for the driving mechanism that the utility model cambered surface clears up actuator experimental rig.
Fig. 5 is the sectional view at the B-B of Fig. 4.
Fig. 6 is the disc type cleaning actuator to be installed that the utility model cambered surface clears up actuator experimental rig.
Fig. 7 is the drum-type cleaning actuator to be installed that the utility model cambered surface clears up actuator experimental rig.
Specific embodiment
For technology contents, the construction feature, the objects and the effects that the utility model is described in detail, below in conjunction with implementation
Mode simultaneously cooperates attached drawing to be explained in detail.
Fig. 1-3 is please referred to, the cambered surface cleaning actuator experimental rig of the utility model is illustrated comprising mobile platform 1,
Driving mechanism 2, control centre 3 and the cambered surface analogue body 4 for simulating environment for clearance, control centre 3 respectively with mobile platform
1, driving mechanism 2 is electrically connected, and 2 one end of driving mechanism and the output end of mobile platform 1 are hinged, the other end with it is to be tested clear
Actuator 5 is managed to connect, it is mobile that control centre 3 controls mobile platform 1, so that cleaning actuator 5 moves on cambered surface analogue body 4,
Control centre 3 controls the movement of driving mechanism 2 to drive cleaning actuator 5 to be affixed on the face for clearance of cambered surface analogue body 4.Control centre
3 control cleaning actuators 5 run and clear up cambered surface, pass through mobile platform 1 and the i.e. changeable cleaning of the compound motion of driving mechanism 2
The clear position of actuator 5 simultaneously makes to clear up the face for clearance that actuator 5 fits in cambered surface analogue body 4 always, observes cleaning effect
The cleaning ability and reliability of cleaning actuator 5 can be assessed.More specifically, as follows：
Please refer to Fig. 1-3, mobile platform 1 includes X to mobile mechanism 11, Y-direction mobile mechanism 12, Z-direction mobile mechanism 13, base
Frame 14, first support 15 and second support 16, Y-direction mobile mechanism 12 are set on pedestal 14, and first support 15 is connected to Y-direction shifting
The output end of motivation structure 12, X are set in first support 15 to mobile mechanism 11, and second support 16 is connected to X to mobile mechanism
11 output end, Z-direction mobile mechanism 13 are set in second support 16, and the output end and driving mechanism 2 of Z-direction mobile mechanism 13 are cut with scissors
It connects.Specifically, pedestal 14 is fixed frame, ground etc., and but not limited to this, and first support 15 can be moved up in the Y-direction of pedestal 14
Dynamic, second support 16 can move in the X-direction of first support 15；X includes first motor 111 and rack gear to mobile mechanism 11
112, rack gear 112 is fixed in the X-direction of first support 15, and first motor 111 is fixed in second support 16 and on output shaft
Equipped with gear 113, gear 113 is engaged with rack gear 112, to drive second support 16 mobile in X-direction；Y-direction mobile mechanism 12 wraps
The second motor 121 is included, and is symmetrically disposed on the retarder 122 of 14 two sides of pedestal, the first sliding screw 123, the first guide rail
124 and first sliding block 125, the second motor 121, retarder 122 and the first guide rail 124 are respectively fixedly connected in pedestal 14, and first
Sliding screw 123 is set on pedestal 14, and the first sliding block 125 is fixed on first support 15, the first sliding block 125 and the first guide rail 124
It is slidably matched and is connect with the first sliding screw 123, the second motor 121 connects by retarder 122 and drives the first sliding silk
Bar 123 rotates, so that first support 15 moves in the Y direction, is preferably, the quantity of the second motor 121 is 1, retarder
122, the quantity of the first sliding screw 123, the first guide rail 124 and the first sliding block 125 is 2, two the first sliding screws 123
By same motor as power source drive, and by the synchronously control of two identical speed reducers, guarantee first support
15 in the Y direction move back and forth during without clamping stagnation；Z-direction mobile mechanism 13 includes the third motor being set in second support 16
131, the second sliding screw 132, the second guide rail 133 and the second sliding block 134, third motor 131 and the second guide rail 133 are respectively with
Two brackets 16 are fixedly connected, and the second sliding screw 132 is set in second support 16, and the second sliding block 134 and the second guide rail 133 are sliding
Dynamic to connect with merging with the second sliding screw 132, third motor 131 drives the rotation of the second sliding screw 132, so that the second sliding block
134 move in z-direction；Further, control centre 3 controls the operating of each motor on mobile platform 1 by encoder,
It is moved on tri- directions X, Y and Z using the components such as retarder 122 and sliding screw driving driving mechanism 2, this transmission
Mode requires less the output torque of motor and control precision is high.
Fig. 1 and Fig. 4-5 is please referred to, driving mechanism 2 includes the first expansion bend 21, swing arm 22, the second expansion bend 23 and rotation
The output end of mechanism 26, swing arm 22 and mobile platform 1 is pivotally connected, and specifically, swing arm 22 is pivotally connected with the second sliding block 134, and first stretches
One end of contracting device 21 and the second sliding block 134 are pivotally connected, and the other end and swing arm 22 are pivotally connected, and the first expansion bend 21 telescopically acts on movement
Between platform 1 and swing arm 22, so that swing arm 22 be driven to swing.The first pressure for detecting pressure is equipped in first expansion bend 21
Sensor (not shown), first pressure sensor and the first expansion bend 21 are electrically connected with control centre 3 respectively, control centre 3
It controls the first expansion bend 21 according to the feedback data of first pressure sensor to stretch, the surrounding of the first expansion bend 21 is surrounded with and can stretch
The guide rod (not shown) of contracting, guide rod are linear guide, and the setting of linear guide can bear the biggish moment of flexure of swing arm 22, to make
Swing arm 22 is able to bear the biggish external loadings such as cleaning actuator 5, is preferably, the first expansion bend 21 is telescopic hydraulic
Cylinder, cylinder etc., but not limited to this.Second expansion bend 23 is connect with swing arm 22, is equipped with second pressure in the second expansion bend 23 and is passed
Sensor (not shown), the second expansion bend 23 and second pressure sensor are electrically connected with control centre 3 respectively, 3, control centre
The second expansion bend 23 is controlled according to the feedback data of second pressure sensor to stretch, and cambered surface simulation is affixed on driving cleaning actuator 5
Body 4 simultaneously adjusts entire length, is preferably, the second expansion bend 23 is double acting hydraulic cylinder, double-acting cylinder etc., but not as
Limit.For rotating mechanism 26 for driving cleaning actuator 5 to rotate, rotating mechanism 26 is connected to the output end of the second expansion bend 23, revolves
Angular transducer (not shown) is equipped in rotation mechanism 26, angular transducer and control centre 3 are electrically connected, and pass through angular transducer
Data feedback, in real time adjust cleaning actuator 5 posture, guarantee cleaning work effectively carry out, be preferably rotating mechanism 26
Control cleaning actuator 5 rotates in the range of -20 °~20 °, and rotating mechanism 26 is rotating hydraulic cylinder and rotary cylinder etc., but
It is not limited with this.Second expansion bend 23 is externally provided with the flexible guide rod 25 of support cleaning actuator 5, stretches guide rod 25 telescopically
It presses between swing arm 22 and rotating mechanism 26, the quantity of flexible guide rod 25 is provided with multiple and stretching around the second expansion bend 23
Contracting end is distributed evenly in outside the second expansion bend 23, and the moment of flexure that the load on 22 end of swing arm generates swing arm 22, which can be transferred to, stretches
On contracting guide rod 25, guarantee the second expansion bend 23 be not in that bar curved bar is disconnected or oil cylinder inside cylinder barrel phenomena such as pulling, improve the
The load capacity of two expansion bends 23 and the service life for extending single unit system are preferably that the quantity of flexible guide rod 25 is 4.
Second expansion bend 23 is inner and outer equipped with elastic component 24, or, being equipped with elastic component 24 in the second expansion bend 23, and or, the second expansion bend
23 are externally provided with elastic component 24, and elastic component 24 provides the elastic force that the second expansion bend of pushing tow 23 extends, so that cleaning actuator 5 is adaptive
Fit in cambered surface analogue body 4 face for clearance with answering, which is preferably that elastic component 24 is set to outside the second expansion bend 23 and is socketed on, stretches
Outside contracting guide rod 25, elastic component 24 provides the elastic force that pushing tow stretches the elongation of guide rod 25, thus the second expansion bend of pushing tow 23 indirectly
It extends and cleaning actuator 5 is made adaptively to fit in face for clearance indirectly, the quantity of elastic component 24 is provided with multiple and surrounds
The telescopic end of second expansion bend 23 is uniformly distributed, and the quantity of elastic component 24 is 4.It is special using the automatic adjusument of elastic component 24
Property driving mechanism 2 can be made to be adjusted according to the actual conditions of work, flexibility is high.It is set in first expansion bend 21 and swing arm 22
It is equipped with hydraulic lock (not shown) used for positioning, or, being provided with hydraulic lock used for positioning on the first expansion bend 21, and or, pendulum
Hydraulic lock used for positioning is provided on arm 22, to fix the position of swing arm 22 and prevent unexpected landing, the setting energy of hydraulic lock
Enough guarantee swing arm 22 hovering when not will be slow landing, prevented also from swing arm 22 due to the special circumstances such as pipeline leak rapid descent
The phenomenon that, to effectively avoid the generation of safety accident；Further, driving mechanism 2 is driven using multiple hydraulic cylinders, liquid
Pressure drives fan-out capability more simpler and easy to control than motor-driven structure and hydraulic strong, and power to volume ratio is big；Benefit
7 meters of tunnel is up to the length analog diameter of swing arm 22, and swing arm 22 is higher with respect to other structures intensity, can carry heavier
Cleaning actuator 5, bear stronger torque and moment of flexure；It, both can be actively using the combination of the second expansion bend 23 and elastic component 24
The entire length of driving mechanism 2 is adjusted, while when carrying out cleaning work, length needed for 2 auto-changing of driving mechanism can be made,
Do not increase control element additionally while reaching requirement.
Referring to Fig. 1, driving mechanism 2 and cleaning actuator 5 are connected by flange 7, the flange-interface of driving mechanism 2 and clear
The interface of reason actuator 5 matches, and to realize the two quickly docking and dismounting, therefore, cleaning actuator 5 can be for such as Fig. 6 institute
The disc type cleaning actuator 51 or drum-type as shown in Figure 7 cleaning actuator 52 shown, but not limited to this.
Referring to Fig. 1, cambered surface cleaning actuator experimental rig further includes the sight for clearing up situation for observing cambered surface analogue body 4
Platform 6 is surveyed, cambered surface analogue body 4 and observation platform 6 are respectively arranged at the two sides of pedestal 14, and observation platform 6 is fixed with expansion bolt
On the ground, cambered surface analogue body 4 is concrete test block and is fixed on the ground by bracket with expansion bolt, coated thereon 20mm
The foreign matters such as the mud of thickness are not coated with foreign matter in top and left sides certain distance towards cambered surface analogue body 4.Observation and
The video camera that observation platform 6 also can be replaced for recording the cleaning situation of cambered surface analogue body 4 when assessment cleaning situation (is schemed not
Show), video camera and control centre 3 are electrically connected and by collected data feedbacks to control centre 3.Control centre 3 includes electricity
Case (not shown) and hydraulic station (not shown) are controlled, cambered surface clears up actuator experimental rig and uses servo-hydraulic control, hydraulic
Control element such as servo valve and proportioning valve etc. are mounted on electric cabinet and hydraulic station in system.Hydrauservo System is each to device
The signal for locating the feedback of sensor is handled, and controls electric cabinet and hydraulic station collaborative work, so that each hydraulic cylinder is accurately fast
Swing arm 22 is adjusted to experiment desired position, and prevents each hydraulic cylinder low pressure and over-voltage phenomenon by the movement of speed, can be effectively
Protect each component；Fuel tank (not shown) in hydraulic station is provided with temperature sensor (not shown), in temperature sensor and control
The heart 3 is electrically connected, and control centre 3 controls cooler refrigeration according to the temperature data of feedback with regulating oil tank temperature, prevents oil liquid
Temperature is excessively high and causes the damage of the elements such as pump, servo valve, hydraulic cylinder in hydraulic system；Control centre 3 is also settable for mending
The pressure compensator (not shown) for repaying cylinder pressure, accelerates the response time of entire Hydrauservo System.
In conjunction with shown in Fig. 1 to Fig. 7, to the preparation before the test of the utility model cambered surface cleaning actuator experimental rig
It is described in detail with course of work when test：
After completing cambered surface cleaning actuator experimental rig Each part installation and debugging, by cleaning actuator 5 to be tested
It is connected to swing arm 22 by flange 7, simulates the environment of the tunnel foreign matters such as coated mud, control centre 3 on cambered surface analogue body 4
Control mobile platform 1 is restored to initial position, and when test, each sensor in experimental provision is by data Real-time Feedback into control
The heart 3, control centre 3 handle data and move in the x, y, and z directions by servo-hydraulic control mobile platform 1 and make to put
The hinge joint of arm 22 and mobile platform 1 is near the radial center of circle of cambered surface analogue body 4, and control centre 3 controls the first expansion bend
21 telescopically act on swing arm 22, and swing arm 22 is increased to desired height by swinging, and the first expansion bend 21 keeps pressure to make swing arm
The 22 skyborne designated positions of hovering are simultaneously locked by hydraulic lock, are stretched out by the second expansion bend and rotating mechanism rotation adjusts
It clears up the position of actuator 5 and it is made to be tightly attached to the face for clearance of cambered surface analogue body 4, elastic component 24 is in compressive state at this time,
23 pressure release of the second expansion bend of servo-hydraulic control swing arm 22, the elasticity after 24 pressure release of elastic component are restored to make to clear up actuator
5 are adaptively tightly attached to face for clearance and it are made to keep certain contact force with face for clearance, and elastic component 24 is still at this time
Then compressive state clears up actuator 5 and starts to rotate and clear up, when cleaning, control centre 3 controls second support 16 with respect to pedestal
14 move along the direction X, at the same small range adjust the position of first support 15 in the Y direction, driving mechanism 2 can pass through in real time
The flexible change length of second expansion bend 23, and clear up actuator 5 and can guarantee the face for clearance rotation of close fit cambered surface analogue body 4
Turn, after cleaning, swing arm 22 is retracted, and cleaning actuator 5 shuts down, and is observed on cambered surface analogue body 4 on observation platform 6
Foreign matter cleaning effect, and observe whether cleaning actuator 5 in rotary course constitutes damage trace to 4 surface of cambered surface analogue body
Mark, to assess the cleaning ability and reliability of cleaning actuator 5.
Due to being provided with mobile platform 1, driving mechanism 2, control centre 3 and cambered surface analogue body 4, controlled using control centre 3
Mobile platform 1 processed is mobile, and control driving mechanism 2 moves, to be synergistically connected to the cleaning to be tested of driving mechanism 2
Actuator 5 is close and is tightly attached to the cambered surface for clearance of cambered surface analogue body 4, makes to clear up the operation of actuator 5 and clears up cambered surface, mobile flat
Platform 1 and driving mechanism 2 can be moved when clearing up actuator 5 and clearing up, to change the clear position of cleaning actuator 5 and make its beginning
It is tightly attached to the cambered surface being cleaned eventually, therefore, entire experimental rig can simulate cleaning scene, last only to need through observation arc
The cleaning effect and degree of injury on 4 surface of face analogue body can assess the cleaning ability and reliability of cleaning actuator 5.In addition,
Using the compound motion of driving mechanism 2 and mobile platform 1, any position cleared up in the arrival of actuator 5 space can be made, be applicable in
In different test experiments；Moreover, tester can arbitrarily replace cleaning actuator 5 to be tested as needed and individually be examined
It surveys, strong applicability；Cambered surface analogue body 4 can modify according to actual needs or directly replace to simulate various cambered surfaces, nothing
The dangerous scene such as tunnel, which need to be reached, and test can meet the needs of tester；To sum up, the cambered surface cleaning of the utility model is held
Row device experimental rig can simulate scene for clearance and the individually cleaning effect of test cleaning actuator, and flexibility is high, is applicable in
Property is strong.
Natural, this cambered surface cleaning actuator experimental rig can also be used in nuclear power station except tunnel cleaning executes
The test of cleaning actuator except device, can also be used in the technical field that other cambered surfaces are removed contamination, not be with nuclear power station field
Limit.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it should not be understood as limiting the scope of the patent of the utility model.It should be pointed out that for the common of this field
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (16)
1. a kind of cambered surface clears up actuator experimental rig, suitable for testing cleaning effect of the cleaning actuator in cambered surface, feature
It is：Including mobile platform, driving mechanism, control centre and cambered surface analogue body for simulating environment for clearance；The control
Center and the mobile platform, driving mechanism are electrically connected；Described driving mechanism one end and the mobile platform are hinged, the other end
It is connect with cleaning actuator to be tested；The control centre controls the mobile platform movement, so that the cleaning actuator
It is moved on the cambered surface analogue body, the control centre controls the driving mechanism movement to drive the cleaning actuator to paste
In the face for clearance of the cambered surface analogue body.
2. cambered surface according to claim 1 clears up actuator experimental rig, it is characterised in that：The mobile platform includes X
To mobile mechanism, Y-direction mobile mechanism, Z-direction mobile mechanism, pedestal, first support and second support, the Y-direction mobile mechanism is set
It is placed on the pedestal, the first support is connected to the output end of the Y-direction mobile mechanism, and the X is arranged to mobile mechanism
In in the first support, the second support is connected to output end of the X to mobile mechanism, and the Z-direction mobile mechanism sets
It is placed in the second support, the output end of the Z-direction mobile mechanism and the driving mechanism are hinged.
3. cambered surface according to claim 2 clears up actuator experimental rig, it is characterised in that：The X is wrapped to mobile mechanism
The rack gear for including first motor and being fixed in the X-direction of the first support, the first motor are fixed on the second support
Upper and output shaft is equipped with gear, and the gear is engaged with the rack gear, to drive the second support mobile in X-direction.
4. cambered surface according to claim 2 clears up actuator experimental rig, it is characterised in that：The Y-direction mobile mechanism packet
The second motor is included, and is symmetrically disposed on retarder, the first sliding screw, the first guide rail and the first cunning of the pedestal two sides
Block, first sliding block are fixed on the first support, first sliding block be slidably matched with first guide rail and with it is described
The connection of first sliding screw, second motor is connected by retarder and first sliding screw is driven to rotate, so that institute
First support is stated to move in the Y direction.
5. cambered surface according to claim 2 clears up actuator experimental rig, it is characterised in that：The Z-direction mobile mechanism packet
Include the third motor being set in the second support, the second sliding screw, the second guide rail and the second sliding block, second sliding block
It is slidably matched with second guide rail and is connect with second sliding screw, the second sliding silk described in the third motor driven
Bar rotation, so that second sliding block moves in z-direction.
6. cambered surface according to claim 1 clears up actuator experimental rig, it is characterised in that：The driving mechanism includes the
The swing arm of one expansion bend and the output end for being articulated in the mobile platform, first expansion bend both ends are flat with the movement respectively
The output end of platform and swing arm pivot joint are to drive the swing arm to swing.
7. cambered surface according to claim 6 clears up actuator experimental rig, it is characterised in that：It is set in first expansion bend
There is the first pressure sensor for detecting pressure, the first pressure sensor and the control centre are electrically connected.
8. cambered surface according to claim 6 clears up actuator experimental rig, it is characterised in that：The driving mechanism further includes
Second expansion bend, second expansion bend are connected to the swing arm to drive the cleaning actuator to be affixed on the cambered surface simulation
Body.
9. cambered surface according to claim 8 clears up actuator experimental rig, it is characterised in that：In second expansion bend
And/or the elastic force of the second expansion bend elongation described in elastic component and elastic component offer pushing tow is provided, so that the cleaning
Actuator adaptively fits in the face for clearance of the cambered surface analogue body.
10. cambered surface according to claim 8 clears up actuator experimental rig, it is characterised in that：Outside second expansion bend
Equipped with the flexible guide rod for supporting the cleaning actuator.
11. cambered surface according to claim 8 clears up actuator experimental rig, it is characterised in that：The driving mechanism is also wrapped
The rotating mechanism for driving the cleaning actuator to rotate is included, the rotating mechanism is set to the output of second expansion bend
End.
12. cambered surface according to claim 11 clears up actuator experimental rig, it is characterised in that：It is set in the rotating mechanism
Angled sensor, the angular transducer and the control centre are electrically connected.
13. cambered surface according to claim 6 clears up actuator experimental rig, it is characterised in that：First expansion bend and/
Or hydraulic lock used for positioning is provided in swing arm, with the position of the fixation swing arm and prevent from landing.
14. cambered surface according to claim 1 clears up actuator experimental rig, it is characterised in that：The cambered surface cleaning executes
Device experimental rig further includes the observation platform for intending body cleaning situation for observing the globoidal model.
15. cambered surface according to claim 1 clears up actuator experimental rig, it is characterised in that：The cambered surface cleaning executes
Device experimental rig further includes the video camera for recording cambered surface analogue body cleaning situation, in the video camera and the control
The heart is electrically connected and by collected data feedback to the control centre.
16. cambered surface according to claim 1 clears up actuator experimental rig, it is characterised in that：The cleaning actuator is
Disc type clears up actuator or drum-type clears up actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820166062.3U CN208173252U (en) | 2018-01-30 | 2018-01-30 | Cambered surface clears up actuator experimental rig |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820166062.3U CN208173252U (en) | 2018-01-30 | 2018-01-30 | Cambered surface clears up actuator experimental rig |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208173252U true CN208173252U (en) | 2018-11-30 |
Family
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110097985A (en) * | 2018-01-30 | 2019-08-06 | 岭东核电有限公司 | Cambered surface clears up actuator experimental rig |
| CN110181537A (en) * | 2019-06-28 | 2019-08-30 | 北京史河科技有限公司 | A kind of cleaning device and cleaning robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110097985A (en) * | 2018-01-30 | 2019-08-06 | 岭东核电有限公司 | Cambered surface clears up actuator experimental rig |
| CN110181537A (en) * | 2019-06-28 | 2019-08-30 | 北京史河科技有限公司 | A kind of cleaning device and cleaning robot |
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