CN212022348U - Trolley capable of walking on reducing cambered surface of rotary cement kiln - Google Patents
Trolley capable of walking on reducing cambered surface of rotary cement kiln Download PDFInfo
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- CN212022348U CN212022348U CN201922409813.7U CN201922409813U CN212022348U CN 212022348 U CN212022348 U CN 212022348U CN 201922409813 U CN201922409813 U CN 201922409813U CN 212022348 U CN212022348 U CN 212022348U
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The utility model relates to a walking field of rotary cement kiln reducing cambered surface specifically is a dolly that can walk in rotary cement kiln reducing cambered surface, including the automobile body frame that is used for supporting the wheel and setting up controlling means and the lithium electricity power supply unit on the automobile body frame, still include: the large-scale wheel hub motor walking device, the wheel adjusting device and the obstacle avoidance device are arranged on the front end face of the vehicle body frame, can sense and identify obstacles in a front set area, and can stop and alarm when the obstacles appear in a safe distance, so that the safety and the reliability of the vehicle are guaranteed; when the variable-diameter part of the rotary kiln is passed, the small wheel group is independently adjusted front and back, so that the wheels can be always attached to the kiln body.
Description
Technical Field
The utility model relates to a walking field of rotary cement kiln reducing cambered surface specifically is a dolly that can walk at rotary cement kiln reducing cambered surface.
Background
The traditional rotary cement kiln is paved, detected, maintained and the like by manual work, the required equipment and raw materials are large in size and heavy in weight, and the rotary cement kiln can only be carried by manual work or a small forklift at present, so that the labor intensity is high; the kiln body is extruded by the forklift wheels, the safety of the forklift and the service life of tires are influenced, the kiln body is greatly damaged by reciprocating walking, and the transportation efficiency is limited; the cement clinker dust cleaning machine works in a toxic and harmful closed environment filled with cement clinker dust for a long time, and poses no small threat to the personal safety of workers. The existing of no effective special transport tool exists, and advanced technologies such as modern automatic laying devices for rotary cement kiln refractory bricks cannot be effectively carried out in a kiln body.
Disclosure of Invention
In order to solve the problem, the utility model provides a can be at dolly of rotary cement kiln reducing cambered surface walking.
The utility model provides a can be at dolly of rotary cement kiln reducing cambered surface walking, includes the automobile body frame that is used for supporting the wheel and sets up controlling means and the lithium electricity power supply unit on the automobile body frame, still includes:
the large-scale wheel hub motor walking device is arranged on the vehicle body frame, is matched with the wheels and is used for integrating power, transmission and braking into the wheel hubs of the wheels so that each wheel is driven independently;
the wheel adjusting devices are distributed at two ends of the vehicle body frame, and do circular arc motion in a vertical plane where the axis of the wheel is located by taking the connection point of the wheel and the vehicle frame as the center of a circle to adapt to the cambered surface profile of the variable-diameter kiln body part;
the obstacle avoidance device is arranged on the front end face of the vehicle body frame, can sense and identify obstacles in a front set area, and can give an alarm when the obstacles appear in a safe distance, so that the safety and the reliability of the vehicle are guaranteed.
The large-scale in-wheel motor walking device comprises a plurality of groups of driving supports arranged on the lower end face of the vehicle body frame, a hinge mechanism which enables wheels to be connected and matched with the driving supports, and in-wheel motors arranged on the wheels and used for driving the wheels to independently drive.
The wheel adjusting device comprises a servo motor, a double-output-shaft speed reducer which is matched with the servo motor to perform reverse transmission and is used for keeping walking stability, and a connecting rod sliding mechanism which is matched with the double-output-shaft speed reducer and is used for converting linear motion into rotary motion of the wheel shaft.
The servo motor on be provided with miniature revolving stage, miniature revolving stage on install the laser range finder of the circular arc diameter that accessible multiple spot position measurement reachd the walking, laser range finder can measure the diameter of the circular arc that the front and back wheelset belongs to respectively for the front and back wheelset can be according to the independent regulation of place cambered surface diameter and automobile body angle, can adapt to the walking requirement of reducing kiln body part.
The connecting rod sliding mechanism comprises a sliding rail arranged on the vehicle body frame, a sliding block matched with the sliding rail, a worm gear lead screw lifter arranged on the sliding block, and a telescopic coupler arranged on the worm gear lead screw lifter, wherein a wheel shaft is connected with the sliding block.
The double-output-shaft speed reducer and the worm screw lifter realize synchronous adjustment of wheels on two sides, can adapt to the walking requirement of the arc surface of the kiln body, and keep the wheels and the tangent plane of the contact kiln body vertical all the time.
The obstacle avoidance device is composed of two laser obstacle avoidance sensors which sense and identify obstacles in a front set area and ensure the safety and reliability of the trolley.
The control device comprises a control mounting plate arranged on the vehicle body frame and an integrated control cabinet which is arranged on the control mounting plate, can complete the receiving and the calculation of signals and sends corresponding motion instructions to a driving and adjusting servo motor.
The lithium battery power supply device comprises a battery mounting frame arranged on the lower end face of the vehicle body frame and batteries which are arranged in the battery mounting frame and can respectively supply power to the large-scale hub motor walking device and the control device.
The utility model has the advantages that: the included angle between the wheels and the vehicle body can be automatically adjusted by the trolley through the wheel adjusting device according to the change of the diameter of the kiln body, the radian of the kiln body is adapted, the damage to the kiln body can be reduced to the greatest extent when the trolley travels in the kiln body, and the bearing and transportation capacity of the trolley is improved; when the rotary kiln passes through the variable-diameter part, the small wheel groups are independently adjusted front and back, so that the wheels can be always attached to the kiln body; the height difference generated by adjusting the wheel set can offset the height difference generated by reducing the kiln body, so that the vehicle body can be kept horizontal, modern operation equipment such as an automatic refractory brick laying device of a rotary cement kiln can be carried, and the working efficiency and quality of the rotary cement kiln in laying, detection and maintenance are improved.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a schematic diagram of the formal structure of the present invention;
fig. 4 is a schematic top view of the present invention.
Detailed Description
In order to make the utility model realize, the technical means, the creation characteristics, the achievement purpose and the efficacy are easy to understand and understand, and the utility model is further explained below.
As shown in fig. 1 to 4, a trolley capable of walking on a reducing arc surface of a rotary cement kiln comprises a vehicle body frame 104 for supporting wheels, and a control device and a lithium battery power supply device which are arranged on the vehicle body frame 104, and further comprises:
the large-scale wheel hub motor walking device is arranged on the vehicle body frame 104 and matched with the wheels, and is used for integrating power, transmission and braking into the wheel hubs of the wheels so that each wheel can be driven independently;
the wheel adjusting devices are distributed at two ends of the body frame 104, and do circular arc motion in a vertical plane where the axis of the wheel is located by taking the connection point of the wheel and the frame as the center of a circle to adapt to the cambered surface profile of the variable-diameter kiln body part;
the obstacle avoidance device is arranged on the front end face of the vehicle body frame 104 and can sense and identify obstacles in a front set area, and when the obstacles appear in a safe distance, the vehicle stops and gives an alarm, so that the safety and the reliability of the vehicle are guaranteed.
The included angle between the wheels and the vehicle body can be automatically adjusted by the trolley through the wheel adjusting device according to the change of the diameter of the kiln body, the radian of the kiln body is adapted, the damage to the kiln body can be reduced to the greatest extent when the trolley travels in the kiln body, and the bearing and transportation capacity of the trolley is improved; when the rotary kiln passes through the variable-diameter part, the small wheel groups are independently adjusted front and back, so that the wheels can be always attached to the kiln body; the height difference generated by adjusting the wheel set can offset the height difference generated by reducing the kiln body, so that the vehicle body can be kept horizontal, modern operation equipment such as an automatic refractory brick laying device of a rotary cement kiln can be carried, and the working efficiency and quality of the rotary cement kiln in laying, detection and maintenance are improved.
The large-scale in-wheel motor walking device comprises a plurality of groups of driving supports 103 arranged on the lower end face of a vehicle body frame 104, a hinge mechanism 102 enabling wheels to be connected and matched with the driving supports 103, and in-wheel motors 101 arranged on the wheels and used for driving the wheels to independently drive.
And scanning the kiln body through a 3D recognition camera, and calculating refractory bricks and stacking positions required by the cambered surface through a stacking algorithm.
The wheel adjusting device comprises a servo motor 401, a double-output-shaft speed reducer 404 which is matched with the servo motor 401 to perform reverse transmission and is used for keeping walking stability, and a connecting rod sliding mechanism which is matched with the double-output-shaft speed reducer 404 and is used for converting linear motion into rotary motion of a wheel shaft.
Servo motor 401 on be provided with miniature revolving stage 402, miniature revolving stage 402 on install the laser range finder 403 that accessible multiple spot position measurement reachd the circular arc diameter of walking, laser range finder 403 can measure the diameter of the circular arc that front and back wheelset belongs to respectively for front and back wheelset can be according to the independent regulation of cambered surface diameter of place and automobile body angle, can adapt to the walking requirement of reducing kiln body part.
The connecting rod sliding mechanism comprises a sliding rail 408 arranged on the vehicle body frame 104, a sliding block 407 matched with the sliding rail 408, a worm screw elevator 406 arranged on the sliding block 407, and a telescopic coupler 405 arranged on the worm screw elevator 406, wherein a wheel shaft is connected with the sliding block 407.
The double-output-shaft speed reducer 404 and the worm screw lifter 406 realize synchronous adjustment of wheels on two sides, can adapt to the running requirement of the arc surface of the kiln body, and keep the wheels and the tangent plane of the contact kiln body vertical all the time.
The obstacle avoidance device is composed of two laser obstacle avoidance sensors 501 for sensing and identifying obstacles in a front set area and ensuring safety and reliability of the trolley.
The control device comprises a control mounting plate 301 arranged on the automobile body frame 104 and an integrated control cabinet 302 which is arranged on the control mounting plate 301, can receive and calculate signals and sends corresponding motion instructions to a driving and adjusting servo motor 401.
The lithium battery power supply device comprises a battery mounting frame 201 arranged on the lower end face of the vehicle body frame 104 and batteries 202 which are arranged in the battery mounting frame 201 and can respectively supply power to the large-scale in-wheel motor walking device and the control device.
The utility model discloses a use method: before the trolley enters the rotary cement kiln to work, the trolley is in an initial state, the wheel shaft is parallel to the ground, the wheels are vertical to the ground, the trolley can conveniently transport and walk on the flat ground, when the trolley starts to run into the kiln body, the laser distance measuring instrument 403 of the wheel group in front of the trolley starts to detect data, the micro rotary table 402 starts to rotate to each set position to start laser distance measurement, and the diameter of the kiln body is obtained through measurement and calculation;
after the servo motor 401 is decelerated and boosted by the double-output-shaft speed reducer 404, the worm screw lifter 406 is driven to do corresponding telescopic motion through the telescopic coupling 405, the worm screw lifter 406 drives the left wheel and the right wheel to synchronously rotate for a certain angle through the connecting rod sliding mechanism so as to adapt to the radian of a kiln body, at the moment, the rear wheel set of the trolley does not enter the kiln body, the laser ranging of the rear wheel set is performed, the laser ranging 403 of the rear wheel set does not detect data, the tire is still vertical to the ground, when the laser ranging 403 of the rear wheel set detects the data of the kiln body, the action of adapting to the cambered surface is performed according to the same principle as that of the front wheel set, and the trolley normally runs after the;
when the trolley passes through the diameter-variable part of the kiln body, the laser range finder 403 of the wheel set in front of the trolley detects data change, the micro rotating table 402 starts to rotate to each set position to start laser range finding, and the diameter of the kiln body where the micro rotating table is located is obtained through measurement and calculation; the servo motor 401 drives the worm screw lifter 406 to do corresponding telescopic motion through the double-output-shaft speed reducer 404, and drives wheels to rotate to adapt to the radian of the kiln body, so that the left wheel and the right wheel of the front wheel set are synchronously adjusted;
if the diameter of the kiln body through which the front wheel set passes is smaller, the angle between the front wheel set and the horizontal vehicle body after adjustment is smaller, the front wheel set correspondingly becomes lower relative to the rear wheel set, the level of the vehicle body is kept, and vice versa, the diameter-changing walking adjustment process of the wheel set at the rear of the trolley is the same as the principle of the front wheel set, and independent walking adjustment is carried out according to the data change detected by the laser ranging 403 in front of the wheel set;
the whole walking process is that the trolley wheels are always perpendicular to the kiln body, the kiln body cannot be extruded, deformation and abrasion of the kiln body are reduced, equipment and materials carried by the trolley bear load, the load is uniformly distributed on the front side of the wheels, damage to the car body structure and the wheels cannot be caused, safety and service life of the trolley are improved, the trolley can still keep the car body level in the diameter-variable part, the borne equipment can continuously and accurately work in the diameter-variable part, and the materials can also stably not slide off.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and what is described in the specification are the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, and these changes and modifications are intended to fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a can be at dolly of rotary cement kiln reducing cambered surface walking, includes automobile body frame (104) and the controlling means and the lithium electricity power supply unit of setting on automobile body frame (104) that are used for supporting the wheel, its characterized in that: further comprising:
the large-scale wheel hub motor walking device is arranged on the vehicle body frame (104), is matched with the wheels and is used for integrating power, transmission and braking into the wheel hubs of the wheels so that each wheel can be driven independently;
the wheel adjusting devices are distributed at two ends of the vehicle body frame (104), and do circular arc motion in a vertical plane where the axis of the wheel is located by taking the connection point of the wheel and the vehicle frame as the center of a circle to adapt to the cambered surface profile of the variable-diameter kiln body part;
the obstacle avoidance device is arranged on the front end face of the vehicle body frame (104), can sense and identify obstacles in a front set area, and can give an alarm when the obstacles appear in a safe distance, so that the safety and the reliability of the vehicle are guaranteed.
2. The trolley capable of walking on the reducing cambered surface of the rotary cement kiln as claimed in claim 1, wherein: the large-scale in-wheel motor walking device comprises a plurality of groups of driving supports (103) arranged on the lower end face of a vehicle body frame (104), a hinge mechanism (102) enabling wheels to be connected and matched with the driving supports (103), and in-wheel motors (101) arranged on the wheels and used for driving the wheels to independently drive.
3. The trolley capable of walking on the reducing cambered surface of the rotary cement kiln as claimed in claim 1, wherein: the wheel adjusting device comprises a servo motor (401), a double-output-shaft speed reducer (404) which is matched with the servo motor (401) to perform reverse transmission and used for keeping walking stability, and a connecting rod sliding mechanism which is matched with the double-output-shaft speed reducer (404) and used for converting linear motion into rotary motion of a wheel shaft.
4. The trolley capable of walking on the reducing cambered surface of the rotary cement kiln as claimed in claim 3, wherein: servo motor (401) on be provided with miniature revolving stage (402), miniature revolving stage (402) on install laser range finder (403) that accessible multiple spot position measurement reachd the circular arc diameter of walking, laser range finder (403) can measure the diameter of the circular arc that front and back wheelset belongs to respectively for front and back wheelset can be according to the independent regulation of cambered surface diameter of place and automobile body angle, can adapt to the walking requirement of reducing kiln body part.
5. The trolley capable of walking on the reducing cambered surface of the rotary cement kiln as claimed in claim 3, wherein: the connecting rod sliding mechanism comprises a sliding rail (408) arranged on the vehicle body frame (104), a sliding block (407) matched with the sliding rail (408), a worm screw elevator (406) arranged on the sliding block (407), and a telescopic coupler (405) arranged on the worm screw elevator (406), wherein a wheel shaft is connected with the sliding block (407).
6. The trolley capable of walking on the reducing cambered surface of the rotary cement kiln as claimed in claim 5, wherein: the double-output-shaft speed reducer (404) and the worm screw lifter (406) realize synchronous adjustment of wheels on two sides, can adapt to the walking requirement of the arc surface of the kiln body, and keep the wheels and the tangent plane of the contact kiln body vertical all the time.
7. The trolley capable of walking on the reducing cambered surface of the rotary cement kiln as claimed in claim 1, wherein: the obstacle avoidance device is composed of two laser obstacle avoidance sensors (501) which sense and identify obstacles in a front set area and ensure the safety and reliability of the trolley.
8. The trolley capable of walking on the reducing cambered surface of the rotary cement kiln as claimed in claim 3, wherein: the control device comprises a control mounting plate (301) arranged on the vehicle body frame (104) and an integrated control cabinet (302) which is arranged on the control mounting plate (301) and can receive and calculate signals and send corresponding motion instructions to a driving and adjusting servo motor (401).
9. The trolley capable of walking on the reducing cambered surface of the rotary cement kiln as claimed in claim 1, wherein: the lithium battery power supply device comprises a battery mounting frame (201) arranged on the lower end face of the vehicle body frame (104) and batteries (202) which are arranged in the battery mounting frame (201) and can respectively supply power to the large-scale hub motor walking device and the control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922409813.7U CN212022348U (en) | 2019-12-28 | 2019-12-28 | Trolley capable of walking on reducing cambered surface of rotary cement kiln |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922409813.7U CN212022348U (en) | 2019-12-28 | 2019-12-28 | Trolley capable of walking on reducing cambered surface of rotary cement kiln |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212022348U true CN212022348U (en) | 2020-11-27 |
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ID=73481597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922409813.7U Active CN212022348U (en) | 2019-12-28 | 2019-12-28 | Trolley capable of walking on reducing cambered surface of rotary cement kiln |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212022348U (en) |
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2019
- 2019-12-28 CN CN201922409813.7U patent/CN212022348U/en active Active
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