CN113788283A - Method for adjusting deviation of cart of loading and unloading machine - Google Patents
Method for adjusting deviation of cart of loading and unloading machine Download PDFInfo
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- CN113788283A CN113788283A CN202110961345.3A CN202110961345A CN113788283A CN 113788283 A CN113788283 A CN 113788283A CN 202110961345 A CN202110961345 A CN 202110961345A CN 113788283 A CN113788283 A CN 113788283A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention discloses a method for adjusting the deviation of a cart of a loading and unloading machine, which can be used for adjusting when an automatic deviation correcting system of the cart of the large loading and unloading machine of a nuclear power plant fails. When the invention is used, the main hand-operated mechanism and the secondary hand-operated mechanism need to be rotated simultaneously, and in the first step, the cart is firstly subjected to pure linear motion, and the wheel rim closest to the track moves towards the direction of the distance of the standard wheel rim. And step two, the cart is driven in the same speed and different directions by the two driving wheels to rotate in situ, and step three, the distance of the reference wheels is repeatedly adjusted and the cart is rotated, so that the cart is finally corrected. After the novel method is used, rolling friction is generated between the wheels and the guide rail when the cart moves, the problems of sliding friction and huge resistance in the traditional adjusting method are solved, the engineering quantity of six persons and four hours required by the original traditional method is reduced to the engineering quantity of four persons and two hours, the working efficiency is greatly improved, and the radiation dose of personnel is reduced.
Description
Technical Field
The invention relates to the field of loading and unloading machines in nuclear power plants, in particular to a cart deviation adjusting method of a loading and unloading machine.
Background
The loading and unloading machine is the key equipment of the fuel operation and storage system of the nuclear power plant, and can do X, Y, Z, three coordinate axis directions and rotate within the range of 0-270 degrees to complete the tasks of loading, unloading and transferring nuclear fuel assemblies. Generally, the loading and unloading machine is installed in a containment vessel of a reactor, above a refueling water pool and at an elevation of at least 20 meters, and can load and unload fuel assemblies when the reactor is loaded and unloaded for the first time and the fuel assemblies can be transported between a reactor core and a fuel transfer device.
Taking the M310 handler manufactured by the sienna nuclear equipment limited company as an example, the handler is generally composed of a longitudinal moving cart, a transverse moving cart, and a series of lifting mechanisms and grabbing mechanisms. The cart moves on the corresponding track in a manner similar to that of a rail, the distance between each wheel rim of the cart and the track is equal under normal conditions, but the width of the tread of the cart wheels is larger than that of the contact surface of the track, so that the situation that the distance between the wheel rim and the track is unequal, namely the situation that the cart deviates, is difficult to avoid. The safety level of the reactor is very high, so the requirement of the loading and unloading machine on the positioning precision is also very high, and the cart is not allowed to deviate on the running track. In order to avoid the deviation of the cart, encoders are generally arranged on the left driving wheel and the right driving wheel of the cart in the existing design, the encoders can conduct digital operation on racks arranged along the guide rail, whether the cart deviates or not is judged through the counting difference of the internal tooth numbers in the same time, besides, guide wheels are arranged on the left side and the right side of the bottom of the cart, the guide wheels are installed after the encoders are calibrated, and the two guide wheels clamp the rail from the outer side of the rail to achieve secondary positioning. Because the precision difference between the left rack and the right rack and the precision difference of the encoder gear counting device, the situation that the encoder misjudges occasionally occurs, namely the cart does not actually deviate and the encoder misjudges and performs deviation rectifying action, when the cart of the loading and unloading machine moves for a plurality of cycles, a signal fed back to the console by the encoder is likely to occur, namely the cart does not deviate, and the cart actually deviates, at the moment, the action of the encoder fails, and the guide wheel also deforms and fails under the condition of forced extrusion, namely the cart deviates.
After the cart is found to be off tracking, in order to avoid a series of subsequent chain problems, the loading and unloading operation should be stopped, the loading and unloading machine is stopped to a safe position, the off tracking reason is searched and the maintenance treatment is carried out. Since the encoder has failed at this time, only manual adjustment can be used, and the standard bit of the encoder is repositioned after adjustment. The left driving wheel and the right driving wheel of the cart are respectively provided with a hand-operated driving mechanism for adjusting the position of the cart, the traditional cart deviation adjusting method is that the hand-operated mechanism on the driving wheel on one side is only rotated, so that the cart surrounds the driving wheel which is not moved on the other side to do circular motion, the hand-operated mechanisms on different sides are continuously changed to enable the cart to do snake-shaped motion in the same direction, and finally the standard position is reached. Since the large vehicle is very heavy in ten tons, several people need to wait in line to turn the hand crank mechanism every adjustment. The traditional method has the defects that when the hand-operated mechanism on one side is kept still, the driving wheel which is shaken by the hand-operated mechanism rolls on the guide rail, and other three wheels do translational friction motion, so that the hand wheel is very labored to rotate, the operation consumes time and labor, the overhaul period is delayed, the risk that the radiation measurement of an operator is increased, and the service life of a loading and unloading machine cart, a cart wheel and the guide rail is influenced by forcibly rotating the cart by a single pivot.
Disclosure of Invention
The invention aims to provide a method for adjusting the deviation of a cart of a loading and unloading machine, which solves the problems of difficult operation, time and labor consumption, high radiation dose received by workers and increased equipment damage probability in the prior art.
The technical scheme of the invention is realized as follows:
a method for regulating the deviation of the cart of loading-unloading machine is disclosed, which features that said cart is composed of a cart body, a drive wheel and a driven wheel installed to both sides of said cart body, two driven wheels are respectively arranged at two sides of the front end of the vehicle body, two driving wheels are respectively arranged at two sides of the rear end of the vehicle body, each driving wheel is provided with a hand-operated mechanism, the vehicle body is connected with a track arranged below the wheels through wheel treads of the wheels, the wheels are provided with rims which are arranged between the two tracks and used for preventing the vehicle body from sliding out of the tracks, the distance between the rims and the tracks is D, namely, the distance between the edge rail is D, the distance between the edge rail of each wheel in the standard state is D0, the D0 is a section value, the maximum section value is Dmax, the minimum section value is Dmin, and when the distance between the edge rail is far away from the D0 section, the cart needs to be adjusted, which is characterized in that: the adjusting method comprises the following steps of:
s1, defining the edge rail distance D as the closest distance between a virtual line passing through the center of a wheel rim and being vertical to the plane of the contact surface of the track and the track, defining Dmid as (Dmax + Dmin)/2, defining the shortest edge rail distance among four large wheels as D1, defining the edge rail distance of the wheel on the side opposite to the wheel with D1 as D2, defining the edge rail distance of the wheel on the same side as D3, defining the edge rail distance of the wheel on the side opposite to the wheel with D3 as D4, and after the definition is finished, not redefining D1, D2, D3 and D4 in the subsequent adjustment;
s2, simultaneously shaking the two hand-operated mechanisms in the same direction and at the same speed to drive the driving wheel, making the cart move linearly along the track in the direction that D1 approaches Dmid, shaking for a certain distance and stopping, measuring the value of D1, if the D1 value is not equal to the Dmid value
(ii) D1-Dmid | >0.1mm, continue shaking until | D1-Dmid | <0.1mm, at which point
D2-Dmid | <0.5mm, D3 ═ D0+ X, X is a variable;
s3, simultaneously shaking the two hand-operated mechanisms in different directions and at the same speed to drive the driving wheel to rotate the cart in the direction that the D3 approaches to Dmid, stopping the hand-operated mechanisms after rotating for a certain number of turns and measuring the values of D1, D2, D3 and D4 once;
s4, if | D1-Dmid | < (Dmax-Dmin)/2 and | D2-Dmid | < (Dmax-Dmin)/2 and | D3-Dmid | < (Dmax-Dmin)/2 and | D4-Dmid | < (Dmax-Dmin)/2 are adjusted, if the value of any one of | D1-Dmid |, | D2-Dmid |, | D3-Dmid |, and | D4-Dmid | is greater than (Dmax-Dmin)/2 and | D1-Dmid | >0.1mm, performing step S5, otherwise, repeating the step S3;
s5, simultaneously rotating the two hand-operated mechanisms in the same direction and at the same speed to drive the driving wheel, so that the cart moves linearly along the track towards the direction that D1 approaches Dmid, and stopping and measuring the value of D1 after rotating for a certain number of turns;
s6, if | D2-Dmid | <0.1mm, go to step S3, otherwise go to step S5.
The further technical scheme is that Dmax is 8mm, and Dmin is 7.0 mm.
The further technical scheme is that the certain number of turns in the step S3 is ten turns.
The method further includes the steps of determining that the number of the certain turns in step S3 is twenty turns if the value of X measured after step S2 is completed is greater than 1mm, determining that the number of the certain turns in step S3 is ten turns if the value of X is 0.5mm < X <1mm, and determining that the number of the certain turns in step S3 is five turns if the value of X is X <0.5 mm.
The further technical scheme is that the certain number of turns in the step S5 is ten turns.
A further technical solution is that, when D1 measured after the step S3 is completed is | D1-7.5m | >0.5mm, the certain number of turns in the step S5 is ten turns, and when D1 measured after the step S3 is completed is | D1-7.5m | <0.5mm, the certain number of turns in the step S5 is five turns.
The invention has the beneficial effects that:
when the method is used for adjusting the deviation of the loading and unloading machine cart, the main driving wheel and the secondary driving wheel are driven simultaneously, so that the four wheels of the cart perform rolling sliding instead of translational sliding on the guide rail, rolling friction is generated when the wheels move, and the friction force is far smaller than that of the translational sliding, so that the labor is saved when an operator rotates the hand-operated mechanism, and the number of operators can be reduced. After the rotation number of the hand-operated mechanism is changed, the operation method also carries out adaptive matching, and in the first step, the cart carries out pure linear motion, and the wheel rim closest to the track moves towards the direction of the distance of the standard wheel rim. And secondly, the cart is driven in situ by the two driving wheels in the same speed and different directions, different stop detection driving amounts are set according to different deviation amounts of the cart, and thirdly, the cart repeats the first step and the second step to finally return the cart. After the new method is used, the project quantity of six persons and four hours required by the original traditional method is reduced to the project quantity of four persons and two hours, the working efficiency is greatly improved, and the radiation dose of personnel is reduced.
Drawings
FIG. 1 is a general schematic view of a loader truck of the present invention;
FIG. 2 is a top plan view of the cart in a standard position of the present invention;
FIG. 3 is a diagram of the initial state of the cart offset;
FIG. 4 is a schematic diagram illustrating a first step of conventional method adjustment;
FIG. 5 is a schematic diagram illustrating a second step of conventional adjustment;
FIG. 6 is a schematic diagram illustrating an Nth step of adjustment in a conventional method;
FIG. 7 is a schematic diagram of a first step of a cart deviation adjusting method of a material handling machine according to the present invention;
FIG. 8 is a schematic diagram of a second step of the deviation adjusting method for the cart of the material loading and unloading machine according to the present invention;
FIG. 9 is a schematic flow chart of a cart deviation adjusting method of a loading and unloading machine according to the present invention;
FIG. 10 is a schematic view of the calculation of the angle when the cart is not deflected;
fig. 11 is a schematic view of the calculation of the angle when the cart has maximum deflection.
In the figure, 1 vehicle body, 2 tracks, 3 main driving wheels, 4 secondary driving wheels, 5 driven wheels, 6 main hand-operated mechanisms, 7 secondary hand-operated mechanisms, 8 driving motors and 9 wheel rims.
Detailed Description
In order to better understand the technical content of the invention, specific embodiments are provided below, and the invention is further described with reference to the accompanying drawings.
Referring to fig. 1 to 8, taking an M310 handler manufactured by the west ann nuclear equipment limited company as an example, the distance between each wheel rim of the cart and the rail should be equal under normal conditions, and the distance between the wheel rim and the rail is defined as the closest distance between a virtual line passing through the center of the wheel rim and perpendicular to the plane of the contact surface of the rail and the rail. However, the tread width of the wheels of the cart is larger than the width of the contact surface of the track, so that the situation that the distance between the wheel rim and the track is unequal, namely the situation that the cart deviates, is difficult to avoid. The safety level of the reactor is very high, so the requirement of the loading and unloading machine on the positioning precision is also very high, and the cart is not allowed to deviate on the running track. In order to avoid the deviation of the cart, encoders are generally arranged on the left driving wheel and the right driving wheel of the cart in the existing design, the encoders can conduct digital operation on racks arranged along the guide rail, whether the cart deviates or not is judged through the counting difference of the internal tooth numbers in the same time, besides, guide wheels are arranged on the left side and the right side of the bottom of the cart, the guide wheels are installed after the encoders are calibrated, and the two guide wheels clamp the rail from the outer side of the rail to achieve secondary positioning. Because the manufacturing precision difference between the left rack and the right rack and the manufacturing precision difference of the encoder gear counting device, the situation that the encoder misjudges frequently occurs, namely the cart does not actually deviate and the encoder misjudges and performs deviation rectifying action, when the cart of the loading and unloading machine moves for a plurality of cycles, a signal fed back to the control console by the encoder is likely to occur, namely the cart does not deviate, and the cart actually deviates, at the moment, the action of the encoder fails, and the guide wheel also deforms and fails under the condition of forced extrusion, namely the cart deviates.
The cart of the loading and unloading machine has the following details:
the utility model provides a handling material machine cart, includes automobile body, track, main drive wheel, secondary drive wheel, follows driving wheel, driving motor and hand mechanism, installs in automobile body front end both sides from the driving wheel, and main drive wheel and secondary drive wheel are installed in automobile body rear end both sides, respectively are provided with a driving motor on two drive wheels, and hand mechanism rotates with driving motor's output shaft to be connected, and the automobile body can travel under driving motor's effect, also can travel under the drive of hand mechanism. All wheels are provided with wheel rims which are arranged between the two rails and used for preventing the vehicle body from sliding out of the rails, and the wheel treads are connected with the rails. When the cart is at a standard position, the distance between the wheel rim and the track is a standard distance D0, namely D1-D2-D3-D4-D0-7.5 mm +/-0.5 mm, and a virtual connecting line between the two driving wheel centers is perpendicular to the track. When the encoder on the driving wheel of the cart runs for a period of time, misjudgment faults can occur to cause the cart to deviate, and because the cart per se is provided with a deviation correcting mechanism and limited by the structure of the cart per se, the deviation angle of the cart during deviation cannot exceed 0.5 degrees. According to field measurement, the actual wheel base of the cart is about 5000mm, the wheel base is about 9000mm, the diameter of the cart wheel is about 300 mm, the flange protrudes about 30 mm, and the thickness of the flange is about 8mm, and according to theoretical calculation, the deflectable angle of the cart in a standard position is the largest, and the deflectable angle is calculated as follows:
referring to fig. 10 to 11, when the cart is not deflected, taking the left upper wheel as an example, the vertical distance L1 from the point a of the wheel rim to the horizontal extension line passing through the rotation center of the cart is: l1 ═ track distance ÷ 2+ rim thickness ═ 9000mm ÷ 2+8mm ÷ 4508 mm;
the distance L2 from the vertical center of the wheel flange A point and the horizontal extension line passing through the rotation center of the cart to the rotation center is as follows: l2 ═ wheelbase ÷ 2+ wheel radius + rim protrusion ÷ 5000mm ÷ 2+300 ÷ 2+30 ÷ 2680 mm;
the distance L3 between the connecting line of the wheel flange A point and the rotation center of the cart is as follows:
L3＝(L12+L22)1/2＝(45082+26802)1/2≈5244.47mm；
according to the trigonometric function, an initial angle alpha of an acute angle between a connecting line of the rim A point and the rotation center of the cart when the cart is not deflected and a horizontal extension line can be obtained as follows:
ɑ≈arctan(L1÷L2)≈arctan(4508÷2680)≈59.2686°；
when the cart deflects to the limit angle theta, namely the rim collides with the track, the distance L1 theta is as follows:
l1 θ is wheel base 2+ rim thickness + standard bit rail distance 4508mm +7.5mm 4515.5 mm;
the angle alpha 1 after the rotation of the cart can be obtained according to the trigonometric function is as follows:
ɑ1≈arcsin(L1θ÷L3)≈arcsin(4515.5÷5244.47)≈59.4293°；
obtaining the maximum allowable deflection angle theta by using alpha 1-alpha as follows:
θ＝ɑ1-ɑ＝(59.4293°-59.2686°)＝0.1607°；
the vertical distance L4 from the point B of the rim center to the horizontal extension line of the rotation center of the cart is as follows:
l4 ═ track distance ÷ 2+ rim thickness ═ 9000mm ÷ 2+8mm ÷ 4508 mm;
the distance L5 from the vertical center of the wheel rim center B point and the horizontal extension line passing through the cart rotation center to the rotation center is as follows: l5 ═ wheelbase ÷ 2 ═ 5000mm ÷ 2 ═ 2500 mm;
the distance L6 between the center B of the wheel rim and the rotation center of the cart is as follows:
L6＝(L42+L52)1/2＝(45082+25002)1/2≈5154.81mm；
according to the trigonometric function, the initial angle beta of the acute angle included angle between the connecting line of the wheel rim center B point and the cart rotation center when the cart is not deflected and the horizontal extension line can be obtained as follows:
β≈arctan(L4÷L5)≈arctan(4508÷2500)≈60.9886°；
when the cart deflection θ is 0.1607 °, the angle β 1 after deflection is:
β1＝β+θ＝60.9886°+0.1607°＝61.1493°；
from the trigonometric function, the post-deflection L4 θ can be found as
L4θ＝sinβ1×L6＝sin61.1493°×5154.81mm＝4515.00mm；
From the above, when the cart has the maximum deflection, the difference N between L1 θ and L4 θ is:
N＝L1θ-L4θ＝4515.50mm-4515.00mm＝0.5mm；
therefore, when manual measurement is carried out, the measurement requirement of the adjustment cart can be met only by measuring the distance between the wheel rim and the track, and the error range can be controlled within 0.5 mm. And with the continuous adjustment of the cart, the smaller the deflection angle is, the N also approaches to 0, and the more the fineness of the adjustment measurement is.
As shown in fig. 3, in most cases, the cart will be shifted in the Y-axis direction to one side, where D1 ≈ 1mm and D3 ≈ 2mm, and the yaw angle of the cart is about 0.0114 ° through the trigonometric function calculation.
Before describing the novel tuning method of the present invention in detail, it is necessary to describe the conventional tuning method.
Referring to fig. 3 to 6, in view of the above-mentioned offset situation, the conventional adjustment method is as follows:
the first step is as follows: the secondary driving wheel is driven by the hand-operated mechanism, the main driving wheel is kept still, the vehicle body rotates anticlockwise around the main driving wheel while moving forwards towards the X axis, and the distance is adjusted until D3 is 0mm as shown in figure 4, and at the moment, the value of D1 is 2 mm-3 mm;
the second step is that: driving the main driving wheel, keeping the secondary driving still, making the vehicle body rotate counterclockwise around the secondary driving wheel while moving forward towards the X axis, and adjusting until D4 is 0mm as shown in figure 5, wherein the value of D1 is 1 mm-2 mm;
the third step: repeating the first step until the D3 is 0mm and the D1 value is 2.5 mm-3.5 mm;
the fourth step: repeating the second step until the D4 is 0mm and the D1 value is 1.5 mm-2.5 mm;
and so on … …
And (N) step: when D3-D2-6-8 mm or D4-0 or D1-6-8 mm is adjusted, fine adjustment is performed according to actual conditions, and finally, D1-D2-D3-D4-D0-7.5 mm ± 0.5mm is adjusted as shown in fig. 6.
In the process, the wheels of the cart move by about 1mm every time the hand-operated mechanism rotates by about 40 circles, at least six persons are needed in the whole process, and the duration is about four hours.
Referring to fig. 3 and 7 to 9, in view of the above-mentioned deviation, a method for adjusting the deviation of the loader cart is as follows:
the first step is as follows: firstly, shaking two hand-operated mechanisms of the cart at basically the same speed, enabling the cart to gradually move along the negative direction of the X axis and the positive direction of the Y axis, stopping after shaking for a certain distance, measuring the value of D1, if | D1-7.5m | >0.1mm, continuing the shaking of the steps until | D1-7.5m | <0.1mm, stopping the adjustment, as shown in FIG. 7, because two wheels move at the same speed, at the moment, D2 ≈ 7.5mm, D3 ≈ 8.5mm, and D4 ≈ 6.5 mm;
the second step is that: and simultaneously driving the main driving wheel and the secondary driving wheel in different directions, enabling the main driving wheel to move towards the positive direction of the X axis, enabling the secondary driving wheel to move towards the negative direction of the X axis, keeping the rotating speed of the hand-operated mechanism on the secondary driving wheel the same as that of the hand-operated mechanism on the main driving wheel at the moment, namely enabling the cart to rotate in place, stopping measuring the values of D1, D2, D3 and D4 once every ten times of rotation of the hand-operated mechanisms on the two sides, and finishing the adjustment if D1 is equal to D2, equal to D3, equal to D4, equal to 7.5mm +/-0.5 mm. If any of D1, D2, D3, D4 is not within 7.5mm ± 0.5mm and | D1-7.5m | >0.1mm, the third step is performed, otherwise ten rotations are performed again until D1 ═ D2 ═ D3 ═ D4 ═ 7.5mm ± 0.5 mm. Preferably, if the value X of D3-7.5 occurring during repeated adjustment is 0.5mm < X <1mm, the measurement is stopped once every ten revolutions, if the value X of X <0.5mm, the measurement is stopped once every five revolutions, if the value X of the cart before the second step starts is greater than 1mm, the measurement is stopped once every twenty revolutions.
The third step: and simultaneously rotating hand-operated wheels at two sides in the same direction and at the same speed to enable the cart to move towards the positive direction of the X axis and the negative direction of the Y axis, stopping measuring the value of R1 every ten turns of rotation, repeating the second step if | D1-7.5m | <0.1mm, reversely rotating the rocking wheels at two sides if D1 is less than 7.4mm to enable the cart to move towards the negative direction of the X axis and the positive direction of the Y axis until | D1-7.5m | <0.1mm, and repeating the second step again, wherein the specific reverse rotation number of stop-measuring D1 values can be adjusted according to the actual situation, preferably, when | D1-7.5m | >0.5mm, the measurement can be performed every ten turns of rotation, and when | D1-7.5m | <0.5mm, the measurement can be performed every five turns of rotation.
It was verified that this procedure only required four people for two hours.
The working principle of the invention is as follows:
when the method is used for adjusting the deviation of the loading and unloading machine cart, the main driving wheel and the secondary driving wheel are rotated simultaneously, so that the four wheels of the cart perform rolling sliding instead of translational sliding on the guide rail, rolling friction is generated when the wheels move, and the friction force is far smaller than that of the translational sliding, so that an operator can save more labor when rotating the hand-operated mechanism, and the number of operators can be reduced. And simultaneously, theoretical calculation and actual operation conditions are combined with each other to form a new adjusting method, and in the first step, the cart is made to perform pure linear motion, and the wheel rim closest to the track is made to move towards the direction away from the track. And secondly, the cart is rotated in situ by a method of rotating two driving wheels in different directions at the same speed, but because of the manufacturing precision problem of the cart, the friction coefficient difference of different parts of a wheel tread, the precision difference of a transmission gear and the problem that an operator cannot completely synchronize, the cart cannot have an in-situ rotation track with virtual connecting line centers of four wheels as round points, and a deviation occurs, the cart needs to be translated again by a method of the third step, the second step is repeated after the distance D1 of the reference wheel returns to a reference value, and finally the cart is corrected.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. A method for regulating the deviation of the cart of loading-unloading machine is disclosed, which features that said cart is composed of a cart body, a drive wheel and a driven wheel installed to both sides of said cart body, two driven wheels are respectively arranged at two sides of the front end of the vehicle body, two driving wheels are respectively arranged at two sides of the rear end of the vehicle body, each driving wheel is provided with a hand-operated mechanism, the vehicle body is connected with a track arranged below the wheels through wheel treads of the wheels, the wheels are provided with rims which are arranged between the two tracks and used for preventing the vehicle body from sliding out of the tracks, the distance between the rims and the tracks is D, namely, the distance between the edge rail is D, the distance between the edge rail of each wheel in the standard state is D0, the D0 is a section value, the maximum section value is Dmax, the minimum section value is Dmin, and when the distance between the edge rail is far away from the D0 section, the cart needs to be adjusted, which is characterized in that: the adjusting method comprises the following steps of:
s1, defining the edge rail distance D as the closest distance between a virtual line passing through the center of a wheel rim and being vertical to the plane of the contact surface of the track and the track, defining Dmid as (Dmax + Dmin)/2, defining the shortest edge rail distance among four large wheels as D1, defining the edge rail distance of the wheel on the side opposite to the wheel with D1 as D2, defining the edge rail distance of the wheel on the same side as D3, defining the edge rail distance of the wheel on the side opposite to the wheel with D3 as D4, and after the definition is finished, not redefining D1, D2, D3 and D4 in the subsequent adjustment;
s2, simultaneously shaking the two hand-operated mechanisms at the same speed in the same direction to drive a driving wheel, enabling the cart to do linear motion along a track in a direction that D1 approaches Dmid, shaking for a certain distance and then stopping, measuring the value of D1, if | D1-Dmid | is larger than 0.1mm, continuing shaking until | D1-Dmid | is smaller than 0.1mm, at the moment, | D2-Dmid | is smaller than 0.5mm, D3 is D0+ X, and X is a variable;
s3, simultaneously shaking the two hand-operated mechanisms in different directions and at the same speed to drive the driving wheel to rotate the cart in the direction that the D3 approaches to Dmid, stopping the hand-operated mechanisms after rotating for a certain number of turns and measuring the values of D1, D2, D3 and D4 once;
s4, if | D1-Dmid | < (Dmax-Dmin)/2 and | D2-Dmid | < (Dmax-Dmin)/2 and | D3-Dmid | < (Dmax-Dmin)/2 and | D4-Dmid | < (Dmax-Dmin)/2 are adjusted, if the value of any one of | D1-Dmid |, | D2-Dmid |, | D3-Dmid |, and | D4-Dmid | is greater than (Dmax-Dmin)/2 and | D1-Dmid | >0.1mm, performing step S5, otherwise, repeating the step S3;
s5, simultaneously rotating the two hand-operated mechanisms in the same direction and at the same speed to drive the driving wheel, so that the cart moves linearly along the track towards the direction that D1 approaches Dmid, and stopping and measuring the value of D1 after rotating for a certain number of turns;
s6, if | D2-Dmid | <0.1mm, go to step S3, otherwise go to step S5.
2. The method for adjusting the deviation of the cart of the loading and unloading machine according to claim 1, wherein the method comprises the following steps: the Dmax is 8mm, and the Dmin is 7.0 mm.
3. The method for adjusting the deviation of the cart of the loading and unloading machine according to claim 2, characterized in that: the certain number of turns in the step S3 is ten turns.
4. The method for adjusting the deviation of the cart of the loading and unloading machine according to claim 2, characterized in that: if the value of X measured after the completion of step S2 is greater than 1mm, the number of fixed turns in step S3 is twenty turns, if the value of X is 0.5mm < X <1mm, the number of fixed turns in step S3 is ten turns, and if the value of X is X <0.5mm, the number of fixed turns in step S3 is five turns.
5. The method for adjusting the deviation of the cart of the loading and unloading machine according to claim 3, wherein the method comprises the following steps: the certain number of turns in the step S5 is ten turns.
6. The method for adjusting the deviation of the cart of the loading and unloading machine according to claim 3, wherein the method comprises the following steps: the certain number of turns in step S5 is ten turns when D1 measured after completion of step S3 is | D1-7.5m | >0.5mm, and the certain number of turns in step S5 is five turns when D1 measured after completion of step S3 is | D1-7.5m | <0.5 mm.
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| CN113788283B (en) | 2022-11-22 |
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