CN112943355A - Magnetic suspension device for tunnel fault monitoring and emergency material delivery - Google Patents
Magnetic suspension device for tunnel fault monitoring and emergency material delivery Download PDFInfo
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- CN112943355A CN112943355A CN202110309105.5A CN202110309105A CN112943355A CN 112943355 A CN112943355 A CN 112943355A CN 202110309105 A CN202110309105 A CN 202110309105A CN 112943355 A CN112943355 A CN 112943355A
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- 239000000725 suspension Substances 0.000 title claims abstract description 74
- 239000000463 material Substances 0.000 title claims abstract description 39
- 238000012544 monitoring process Methods 0.000 title claims abstract description 23
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 28
- 238000004804 winding Methods 0.000 claims description 20
- 238000005339 levitation Methods 0.000 claims description 10
- 238000000819 phase cycle Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract description 9
- 230000006698 induction Effects 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 229910000976 Electrical steel Inorganic materials 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000009351 contact transmission Effects 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 229910001234 light alloy Inorganic materials 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G54/00—Non-mechanical conveyors not otherwise provided for
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
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- Linear Motors (AREA)
Abstract
The invention discloses a magnetic suspension device for tunnel fault monitoring and emergency material delivery, which comprises a machine body, two groups of suspension modules, a track, a driving assembly, a binocular camera and a loading and unloading device, wherein the two groups of suspension modules are fixedly connected with the machine body and positioned on two sides of the machine body, the two groups of suspension modules are symmetrically arranged on two sides of the track, the driving assembly is fixedly connected with the machine body and positioned between the machine body and the track, the binocular camera is fixedly connected with the machine body and positioned at the front end of the machine body, and the loading and unloading device is detachably connected with the machine body and positioned below the machine body. The invention utilizes the magnetic suspension principle, greatly improves the running speed and the stability of the device, carries a multi-angle binocular camera and combines a corresponding target detection algorithm to quickly and accurately find tunnel faults, and applies the electromagnetic principle to quickly load and unload materials.
Description
Technical Field
The invention relates to the technical field of magnetic suspension, in particular to a magnetic suspension device for tunnel fault monitoring and emergency material delivery.
Background
Because the built tunnel needs to be regularly checked and maintained, and the safety problem in the tunnel is frequent, a mechanical device is urgently needed to replace human beings to carry out the work. Although conventional tunnel detection devices can perform some conventional detections, the existing tunnel detection devices cannot bear material conveying work in an emergency and cannot monitor tunnel faults due to the fact that general mechanical transmission devices are used.
Disclosure of Invention
The invention aims to provide a magnetic suspension device for tunnel fault monitoring and emergency material delivery, and aims to solve the technical problems that a general mechanical transmission device in the prior art cannot bear material delivery work under an emergency condition and cannot monitor tunnel faults.
In order to achieve the purpose, the magnetic suspension device for tunnel fault monitoring and emergency material delivery comprises a machine body, two groups of suspension modules, a track, two driving assemblies, two binocular cameras and a loading and unloading device, wherein the two groups of suspension modules are fixedly connected with the machine body and are positioned on two sides of the machine body, the two groups of suspension modules are symmetrically arranged on two sides of the track, the driving assemblies are fixedly connected with the machine body and are positioned between the machine body and the track, the binocular cameras are fixedly connected with the machine body and are positioned at the front end of the machine body, and the loading and unloading device is detachably connected with the machine body and is positioned below the machine body.
Each group of suspension module comprises a suspension limiting plate, two suspension electromagnets and two electromagnet fixing frames, wherein the suspension limiting plate is arranged on one side of the track, the two electromagnet fixing frames are respectively and fixedly connected with the suspension limiting plate and are positioned at two ends of the suspension limiting plate, and each electromagnet fixing frame is provided with the suspension electromagnet.
Each suspension electromagnet comprises a first iron core and a first winding, the first iron core is fixedly connected with the electromagnet fixing frame, and the first winding is wound outside the first iron core.
The driving assembly comprises a fixing frame, a second iron core and a second winding, the fixing frame is fixedly connected with the machine body, the second iron core is detachably connected with the fixing frame, and the second winding is wound outside the second iron core according to a phase sequence.
The loading and unloading device comprises a loading and unloading primary plate, an electromagnet core, a coil, a loading and unloading secondary plate and a loading and unloading body, wherein the loading and unloading primary plate is fixedly connected with the machine body and is positioned at the bottom of the machine body, a through hole is formed in the loading and unloading primary plate, the electromagnet core penetrates through the through hole and is fixedly connected with the machine body, the coil is embedded into the electromagnet core and is fixedly connected with the bottom of the machine body, the loading and unloading secondary plate is attracted with the electromagnet core, and the loading and unloading body is fixedly connected with the loading and unloading secondary plate.
Wherein, the track includes bearing track, two F type tracks and secondary tablet, two the F type track respectively with bearing track fixed connection to the symmetry set up in bearing track's bottom, secondary tablet with bearing track fixed connection, and be located two between the F type track.
The invention has the beneficial effects that: by utilizing the distribution characteristic of the magnetic force lines of the electromagnets, non-contact conduction of force between the device and the rail is realized, horizontal correction force for guiding is provided, the stability of the magnetic suspension device is greatly improved, the binocular camera is carried and a corresponding target detection algorithm is combined to quickly and accurately find tunnel faults, and the magnetic suspension device can be used for quickly loading and unloading materials based on the electromagnetic principle of the loading and unloading device, so that the magnetic suspension device can bear the material conveying work under emergency conditions and can monitor the tunnel faults.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a schematic structural diagram of a suspension module according to the present invention;
FIG. 3 is a schematic view of the structure of the track of the present invention;
FIG. 4 is a schematic structural view of the drive assembly of the present invention;
FIG. 5 is a schematic diagram of the configuration of the binocular camera of the present invention;
FIG. 6 is a schematic view of the structure of the handling device of the present invention.
1-machine body, 2-suspension module, 3-track, 4-drive component, 5-binocular camera, 6-loading and unloading device, 21-first iron core, 22-first winding, 23-electromagnet fixing frame, 25-suspension limiting plate, 31-secondary induction plate, 32-force bearing track, 33-F type track, 41-second iron core and 42-second winding, 43-fixed mount, 51-camera body, 52-longitudinal rotating shaft, 53-conversion device, 54-transverse rotating shaft, 55-fixed seat, 61-positioning hole, 62-loading and unloading primary plate, 63-electromagnet core, 64-coil, 65-positioning boss, 66-loading and unloading secondary plate, 67-loading and unloading body and 7-wire slot.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 6, the present invention provides a magnetic levitation device for tunnel fault monitoring and emergency material delivery, which includes a machine body 1, two levitation modules 2, a track 3, a driving assembly 4, a binocular camera 5 and a loading and unloading device 6, wherein the number of the levitation modules 2 is two, the two levitation modules 2 are both fixedly connected with the machine body 1 and located at both sides of the machine body 1, the two levitation modules 2 are both symmetrically arranged at both sides of the track 3, the driving assembly 4 is fixedly connected with the machine body 1 and located between the machine body 1 and the track 3, the binocular camera 5 is fixedly connected with the machine body 1 and located at the front end of the machine body 1, and the loading and unloading device 6 is detachably connected with the machine body 1 and located below the machine body 1.
In the embodiment, the machine body 1 is formed by welding non-magnetic light alloy, the machine body 1 is connected with the suspension assembly and the machine body 1 are connected with the driving assembly 4 through hexagon bolts, the suspension module 2 and the track 3 are responsible for providing suspension force for the device, the driving assembly 4 is responsible for driving the machine body 1 to move back and forth, the binocular camera 5 is responsible for fault monitoring and real-time monitoring, and the loading and unloading device 6 is responsible for loading and unloading materials; utilize fuselage 1, suspension module 2, track 3, drive assembly 4, binocular camera 5 and handling device 6 cooperate jointly, then through utilizing the distribution characteristic of electromagnet magnetic force line, not only realized the non-contact conduction of power between the device with track 3, still provide the horizontal corrective force that is used for the direction, improved this magnetic suspension device's stability greatly, and carry on binocular camera 5 and combine corresponding target detection algorithm quick accurate discovery tunnel trouble, and based on handling device 6 has utilized the electromagnetism principle to carry out the fast loading and unloading of goods and materials, with this realization this magnetic suspension device can undertake goods and materials transport work under the emergency to can monitor the tunnel trouble.
Further, each group of suspension modules 2 includes a suspension limiting plate 25, two suspension electromagnets and two electromagnet fixing frames 23, the suspension limiting plate 25 is disposed on one side of the track 3, the two electromagnet fixing frames 23 are respectively and fixedly connected with the suspension limiting plate 25 and located at two ends of the suspension limiting plate 25, and each electromagnet fixing frame 23 is provided with the suspension electromagnet.
Each suspension electromagnet comprises a first iron core 21 and a first winding 22, the first iron core 21 is fixedly connected with the electromagnet fixing frame 23, and the first winding 22 is wound outside the first iron core 21.
In this embodiment, suspension limiting plate 25 then mainly used handles the interim support when the device does not start and the trouble, does not carry out size change and structure enhancement to this structure according to the biggest load goods and materials weight of device and design as main atress device, in addition suspension limiting plate 25 is used for the restriction suspension height, every the both ends of suspension limiting plate 25 all are provided with the suspension electro-magnet, the usable hexagon bolt of suspension electro-magnet is fixed on electro-magnet mount 23, every the suspension electro-magnet by first winding 22 twines the outside of first iron core 21 and constitutes, the suspension electro-magnet is used for providing vertical ascending suction and is used for balancing fuselage 1 and carrying the gravity of goods and materials.
Further, the driving assembly 4 includes a fixing frame 43, a second iron core 41 and a second winding 42, the fixing frame 43 is fixedly connected to the body 1, the second iron core 41 is detachably connected to the fixing frame 43, and the second winding 42 is wound around the outside of the second iron core 41 according to a phase sequence. The second core 41 has a slot 7, and the second winding 42 is wound in the slot 7 of the second core 41 according to a phase sequence.
In this embodiment, the fixing frame 43 is used for installing the second iron core 41 and the second winding 42, the fixing frame 43 is connected to the body 1, the second iron core 41 is connected to the fixing frame 43, and the second winding 42 is wound in the wire slot 7 of the second iron core 41 in a phase sequence. The drive assembly 4 can be used as a drive motor, and the magnetic suspension device for tunnel fault monitoring and emergency material delivery achieves non-contact transmission, so that a linear induction motor which can perform linear transmission without contact is used for achieving the purpose.
Further, the handling device 6 includes a handling primary plate 62, an electromagnet core 63, a coil 64, a handling secondary plate 66 and a handling body 67, the handling primary plate 62 is fixedly connected to the body 1 and located at the bottom of the body 1, a through hole is formed in the handling primary plate 62, the electromagnet core 63 penetrates through the through hole and is fixedly connected to the body 1, the coil 64 is embedded into the electromagnet core 63 and is fixedly connected to the bottom of the body 1, the handling secondary plate 66 is attracted to the electromagnet core 63, and the handling body 67 is fixedly connected to the handling secondary plate 66.
In this embodiment, the fuselage 1 with through between the handling device 6 the closed magnetic linkage that passes through electromagnet core 63, loading and unloading secondary plate 66 formed provides the suction force, electromagnet core 63 with loading and unloading secondary plate 66 all uses soft iron or silicon steel material to make, loading and unloading primary plate 62 is fixed on the fuselage 1, coil 64 imbeds electromagnet core 63 and installs on loading and unloading primary plate 62, the bottom surface of electromagnet core 63 with loading and unloading primary plate 62's bottom surface parallel and level, the purpose be in order to reduce with loading and unloading secondary plate 66's air gap, reduce the magnetic resistance as far as possible, loading and unloading secondary plate 66 installs the time with loading and unloading body 67 upper surface parallel and level.
The traditional road material conveying equipment needs to depend on the terrain, is complex in loading and unloading process, and consumes redundant time in case of emergency. The electromagnet core 63 and the loading and unloading secondary plate 66 generate attraction force to enable the loading and unloading body 67 to be adsorbed under the condition that certain current is introduced into the coil 64 for excitation. In addition, the assembling and disassembling device 6 comprises two positioning bosses 65, the two positioning bosses 65 are respectively fixedly connected with the assembling and disassembling body 67 and are positioned at two ends of the assembling and disassembling body 67, and the assembling and disassembling primary plate 62 is provided with positioning holes 61 matched with the positioning bosses 65. The positioning hole 61 and the positioning boss 65 are used for positioning, and the purpose is to prevent the electromagnet core 63 and the assembling and disassembling secondary plate 66 from being dislocated to cause the assembling and disassembling body 67 to slide off.
Further, the track 3 includes a force bearing track 32, two F-shaped tracks 33 and a secondary induction plate 31, two of the F-shaped tracks 33 are respectively and fixedly connected with the force bearing track 32 and symmetrically arranged at the bottom of the force bearing track 32, and the secondary induction plate 31 is fixedly connected with the force bearing track 32 and is located between the two F-shaped tracks 33.
In the embodiment, the force bearing rail 32 is mainly used for supporting the weight of the whole device (mainly from the F-shaped rail 33); the F-shaped rail 33 is made of silicon steel material and is used for forming the weight of the suction force balancing device with the suspension electromagnet. The secondary induction plate 31 is made of red copper and is used for cooperating with the driving component 4 to drive the device to move forward and backward, which is similar to the rotor of a rotary induction motor.
Further, the binocular motor includes fixing base 55, transverse rotating shaft 54, conversion equipment 53, longitudinal rotating shaft 52 and camera body 51, fixing base 55 with fuselage 1 fixed connection, transverse rotating shaft 54's one end with fixing base 55 rotates and connects, transverse rotating shaft 54's the other end with conversion equipment 53 rotates and connects, conversion equipment 53's both sides are provided with longitudinal rotating shaft 52, every all be provided with on the longitudinal rotating shaft 52 camera body 51.
In this embodiment, it is required for the camera to be able to identify some common faults and sizes of the inner wall surface of the tunnel, so that the binocular camera 5 is required to be adopted, and the transverse rotating shaft 54 and the longitudinal rotating shaft 52 are used for the camera to view different angles, so as to more efficiently identify and predict the tunnel fault.
The magnetic suspension device for tunnel fault monitoring and emergency material delivery has the following principle:
when the device is used, the device has two modes of fault monitoring and material delivery:
in the fault monitoring mode, the handling device 6 is not operated. When the magnetic suspension device for tunnel fault monitoring and emergency material delivery is started, PWM signals generated by the suspension module 2 through the MCU are amplified by the driving amplification circuit and then flow through the first winding 22 to generate electromagnetic suction, PWM signals with different duty ratios can enable the suspension electromagnet to generate different suction, and the generated suction is matched with the F-shaped rail 33 of the rail 3 to enable the machine body 1 to suspend, and the air gap between the F-shaped rail 33 and the first iron core 21 reaches a set stable value and fluctuates within a certain range through an algorithm. When the device is suspended, the SPWM driving module is controlled by the MCU to supply three-phase alternating current to the second winding 42 of the driving component 4, the three-phase alternating current reacts with the loading and unloading secondary plate 66 to generate thrust along the direction of the track 3, and the principle of the device is the same as that of a rotary induction motor. In addition, some fault conditions in the tunnel are detected through the binocular camera 5, the detected images are subjected to sampling, feature extraction, fault identification and other operations, and the algorithm amount during distance identification is greatly reduced by using the binocular camera 5.
In the material delivery mode, the binocular camera 5 is responsible for determining the location of the occurrence of an emergency and real-time monitoring of the situation. The starting and running mechanism of the device is the same as the monitoring mode, when the device loads materials, the device sends a signal to the MCU in the device through the mobile computer equipment, after the device receives a command, the electromagnet on the loading and unloading device 6 is controlled to be switched on, suction force is generated to combine the electromagnet iron core 63 and the loading and unloading secondary plate 66 together, and the positioning boss 65 is matched with the positioning hole 61 when the device is combined. The purpose of using said positioning bosses 65 in spherical form is to enable automatic correction of certain angles of error during loading. When the materials are unloaded, the MCU receives a command of the control end or the content recognized by the binocular camera 5 reaches a certain trigger condition, the MCU controls the electromagnet to be disconnected, and the materials and the loading and unloading secondary plate 66 are automatically separated.
The invention provides a magnetic suspension device for tunnel fault monitoring and emergency material delivery, which has the following advantages:
the magnetic suspension technology is adopted at the joint of the tracks 3 of the device, so that the components of the machine body 1 are not mechanically connected with the tracks 3 when the machine body 1 moves, the service life of a transmission structure is greatly prolonged, and the machine body 1 is only subjected to frictional resistance when moving due to no direct contact, so that the speed limitation of the device in a tunnel is greatly improved, and the device can quickly execute tasks even in emergency.
The drive assembly 4 of the device uses a linear induction motor. The linear motor technology is mature, is widely applied to precision machine tools, and is characterized in that electric energy can be directly converted into linear motion through the linear motor without a conversion device 53. And due to the special motor structure, the primary and the secondary realize non-contact transmission, which is just in line with the original intention of applying magnetic suspension technology to the device.
The image acquisition part of the device is the binocular camera 5, and because of the requirement on the acquired fault identification precision, the algorithm amount for calculating the size and distance of the identified object is greatly reduced when the fault is identified by adopting the binocular camera 5, and the calculation amount of the MCU is greatly reduced, so that other tasks can be processed.
The loading and unloading structure of the device adopts electromagnet loading and unloading, is similar to an electromagnetic crane, can reduce the material loading and unloading steps by using the electromagnet at the structure, and can complete the loading and unloading process only by controlling the electromagnet to be electrified when needing loading and to be powered off when needing unloading.
In summary, the following steps: the suspension device utilizes the distribution characteristic of magnetic lines of force of the electromagnet, not only realizes the non-contact conduction of the force between the device and the track 3, but also provides horizontal correction force for guiding, and greatly improves the stability of the device. The invention utilizes the magnetic suspension principle, greatly improves the running speed and the stability of the device, carries the multi-angle binocular camera 5 and combines the corresponding target detection algorithm to quickly and accurately find the tunnel fault, and applies the electromagnetic principle to quickly load and unload materials. The invention solves the defect of slow speed of the traditional detection device, is suitable for emergent material delivery, greatly improves the rapidity and the accuracy of fault detection and solves the problem of material delivery when a tunnel accident occurs.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A magnetic suspension device for tunnel fault monitoring and emergency material delivery is characterized in that,
including fuselage, suspension module, track, drive assembly, two mesh cameras and handling device, the quantity of suspension module is two sets of, two sets of the suspension module all with fuselage fixed connection, and be located the both sides of fuselage, and two sets of the equal symmetry of suspension module set up in orbital both sides, drive assembly with fuselage fixed connection, and be located the fuselage with between the track, two mesh cameras with fuselage fixed connection, and be located the front end of fuselage, handling device with the connection can be dismantled to the fuselage, and is located the below of fuselage.
2. Magnetic levitation apparatus for tunnel fault monitoring and emergency material delivery as claimed in claim 1,
each group of suspension module comprises a suspension limiting plate, two suspension electromagnets and two electromagnet fixing frames, wherein the suspension limiting plate is arranged on one side of the track, the two electromagnet fixing frames are respectively and fixedly connected with the suspension limiting plate and are positioned at two ends of the suspension limiting plate, and each electromagnet fixing frame is provided with the suspension electromagnet.
3. Magnetic levitation apparatus for tunnel failure monitoring and emergency material delivery as claimed in claim 2,
each suspension electromagnet comprises a first iron core and a first winding, the first iron core is fixedly connected with the electromagnet fixing frame, and the first winding is wound outside the first iron core.
4. Magnetic levitation apparatus for tunnel fault monitoring and emergency material delivery as claimed in claim 1,
the driving assembly comprises a fixing frame, a second iron core and a second winding, the fixing frame is fixedly connected with the machine body, the second iron core is detachably connected with the fixing frame, and the second winding is wound outside the second iron core according to a phase sequence.
5. Magnetic levitation apparatus for tunnel fault monitoring and emergency material delivery as claimed in claim 1,
the loading and unloading device comprises a loading and unloading primary plate, an electromagnet core, a coil, a loading and unloading secondary plate and an loading and unloading body, wherein the loading and unloading primary plate is fixedly connected with the machine body and is positioned at the bottom of the machine body, a through hole is formed in the loading and unloading primary plate, the electromagnet core penetrates through the through hole and is fixedly connected with the machine body, the coil is embedded into the electromagnet core and is fixedly connected with the bottom of the machine body, the loading and unloading secondary plate is attracted with the electromagnet core, and the loading and unloading body is fixedly connected with the loading and unloading secondary plate.
6. Magnetic levitation apparatus for tunnel fault monitoring and emergency material delivery as claimed in claim 1,
the track includes bearing track, two F type tracks and secondary tablet, two the F type track respectively with bearing track fixed connection to the symmetry set up in the orbital bottom of bearing, secondary tablet with bearing track fixed connection, and be located two between the F type track.
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| CN202110309105.5A CN112943355A (en) | 2021-03-23 | 2021-03-23 | Magnetic suspension device for tunnel fault monitoring and emergency material delivery |
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| CN202110309105.5A CN112943355A (en) | 2021-03-23 | 2021-03-23 | Magnetic suspension device for tunnel fault monitoring and emergency material delivery |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113280866A (en) * | 2021-06-16 | 2021-08-20 | 清华大学 | Automatic overhauling system and method for tunnel |
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