Intelligent dynamic balancing device for long and steep tunnel test

Abstract

The application discloses an intelligent dynamic balancing device for long and steep tunnel testing. The device comprises an arc-shaped plate (1), three universal wheels (2) are arranged on the bottom surface of the arc-shaped plate (1) at equal distances, an adjustable mounting system is arranged on the inner concave surface of the upper 1 / 3 of the arc-shaped plate (1), a mounting balancing system is arranged on the inner concave surface of the middle of the arc-shaped plate (1), and an intelligent balancing system box (20) is arranged on the inner concave surface of the arc-shaped plate (1) between the adjustable mounting system and the mounting balancing system. The device is convenient, practical and low in cost.

Description

Technical Field

[0001] This invention belongs to the field of pumped storage and automation technology, specifically relating to an intelligent dynamic balancing device for testing long and steep tunnels. Background Technology

[0002] With the rapid advancement and commissioning of pumped storage power stations nationwide, key components of pumped storage projects, such as long-distance (hundreds to thousands of meters), large-diameter (5 to 8 meters), and steep-angle (50° to 60°) steel-lined water conveyance tunnels, require regular inspection and safety assessments. Currently, wall-climbing robots can assist in inspections, but these robots are difficult to control at long distances without GPS signals, resulting in high operating costs and low work efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent dynamic balancing device for testing long and steep tunnels. This invention is convenient to use, practical, and low in cost.

[0004] The technical solution of this invention is: an intelligent dynamic balancing device for testing long and steep tunnels, comprising an arc-shaped platform, with three omnidirectional wheels evenly spaced on the bottom, middle, and lower parts of the arc-shaped platform. An adjustable mounting system is arranged on the concave surface of the upper 1 / 3 of the arc-shaped platform. The adjustable mounting system includes a carrier support fixed to the arc-shaped platform, a carrier support rod, and a carrier. The carrier is supported by a lower support rod of the carrier support rod. The carrier telescopic support rod is positioned, and the carrier support rod telescopic anchor is used to fix the length of the support rod. The carrier support rod offset anchor is used to fix the lateral offset of the carrier support rod around the carrier support by an arc 'a'. A mounting balancing system is arranged on the concave surface of the middle part of the arc-shaped platform, and the mounting balancing system includes a counterweight block disposed on the arc-shaped platform. The moving groove and the counterweight moving groove are slidably connected to the counterweight, which is fixed by counterweight anchor bolts. A permanent magnet block is fixed by a permanent magnet block anchor bolt near the middle of the upper edge of the arc-shaped vehicle plate. An intelligent balance system box is set on the concave surface of the arc-shaped vehicle plate between the adjustable mounting system and the mounting balance system. The left and right sides of the intelligent balance system box are fixed by intelligent balance system box anchor bolts. An electronic level is horizontally set in the middle of the intelligent balance system box. The motor control system box is supported by a support box in the middle. Four fixed pulleys are arranged on the upper left and right sides. The belt is limited by the fixed pulleys and the motor shaft. A lead balance block is set in the middle of the upper part of the belt. The motor control system box contains the motor control system and the motor. The electronic level is connected to the motor control system by the electronic level connection.

[0005] In the aforementioned intelligent dynamic balancing device for long and steep tunnel testing, the casters on the bottom, middle, and lower parts of the curved vehicle platform, and those located on the center line of the curved vehicle platform, are supported and fixed to the bottom surface of the curved vehicle platform by caster fixing support rods; the casters on the bottom, middle, and lower parts of the curved vehicle platform, and those located at the edges of the curved vehicle platform, are supported by caster adjusting support rods. The upper support rod of the caster adjusting support rod is used for support, the lower support rod is used for positioning, and the anchor clip of the caster support rod is used for fixation.

[0006] In the aforementioned intelligent dynamic balancing device for long and steep tunnel testing, the rolling resistance coefficient of the caster wheel is ≤0.01 and the difference is less than 5%, and the steering resistance coefficient of the caster wheel is ≤0.10 and the difference is less than 5%.

[0007] In the aforementioned intelligent dynamic balancing device for testing long and steep tunnels, the length of the fixed support rod of the universal wheel is L = 15cm, and the height of the universal wheel is L0 = 5cm. When the actual construction diameter of the tunnel is D = 2·300 + (L + L0), the support length of the support rod under the universal wheel is L1 = L. When the actual construction diameter of the tunnel is D ≠ 2·300 + (L + L0), L1 = 300·(1 - sin(400 / 2 / 300) / sin(400 / 2 / (DL-L0))) - L0.

[0008] In the aforementioned intelligent dynamic balancing device for testing long and steep tunnels, the weight of the carrier is M0, and the weight of the counterweight is M1 = 2M0.

[0009] With the centerline of the arc-shaped vehicle platform as the zero line, the offset arc 'a' of the carrier support rod is 0, and the counterweight is placed on the centerline;

[0010] When the carrier support rod shifts to the left, the counterweight is placed on the right side; when the carrier support rod shifts to the right, the counterweight is placed on the left side.

[0011] The length of the carrier support rod is h, and the horizontal distance of the counterweight from the centerline is s.

[0012] s=+M g ·h / 2)·SIN / 2·M0

[0013] In the formula, M0 is the weight of the carrier; M g h is the weight of the carrier support rod; h is the length of the carrier support rod; h0 is the distance from the center of the carrier weight to the top of the carrier support rod; a is the offset arc of the carrier support rod.

[0014] In the aforementioned intelligent dynamic balancing device for testing long and steep tunnels, the attraction force F of the permanent magnet block...

[0015] F = η·9.8·M0

[0016] In the formula, F is the adsorption force; η is the adjustment coefficient, which takes a value of 3.6 to 3.9; and M0 is the weight of the carrier.

[0017] In the aforementioned intelligent dynamic balancing device for long and steep tunnel testing, the motor control system includes a 12V DC battery and a motor switch controller. The electronic level reading is positive on the right and negative on the left. The motor switch controller uses an electronic level reading greater than |Δ| as the start threshold. A positive value starts the motor by driving the belt to move 0.1m clockwise via the motor shaft, while a negative value starts the motor by driving the belt to move 0.1m counterclockwise via the motor shaft. After a 5-second pause, the motor switch controller re-evaluates the reading. The weight of the lead balance block is 1 / 3 to 1 / 5 of the weight of the counterweight block.

[0018] Δ=±1~5

[0019] In the formula, Δ is the start-up threshold.

[0020] In the aforementioned intelligent dynamic balancing device for testing long and steep tunnels, the curved vehicle frame and the curved vehicle plate are made of carbon fiber plates.

[0021] In the aforementioned intelligent dynamic balancing device for testing long and steep tunnels, the thickness of the arc-shaped vehicle plate is 20mm, the length is 450cm, the arc width is 400cm, and the arc radius R is 300cm.

[0022] The advantages of this invention are: compared with the prior art, in the testing of long and steep steel-lined tunnels, the device system of this invention utilizes the characteristic of the center of gravity being downward and adopts a sliding self-balancing method, which enables the testing equipment to maintain a certain state or position and move quickly at a long distance, making the testing of long and steep steel-lined tunnels possible and convenient to implement. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 This is a diagram showing the connection of the omnidirectional wheels at the edge;

[0025] Figure 3 This is a schematic diagram of the adjustable mounting system structure;

[0026] Figure 4 This is a schematic diagram of the intelligent balancing system box structure.

[0027] The markings in the attached diagram are as follows: 1: Arc-shaped vehicle; 2: Universal wheel; 3: Universal wheel fixed support rod; 4: Universal wheel adjusting support rod; 4-1: Universal wheel lower support rod; 4-2: Universal wheel upper support rod; 4-3: Universal wheel support rod anchor; 5: Carrier support rod; 5-1: Carrier lower support rod; 5-2: Carrier upper support rod; 5-3: Carrier support rod telescopic anchor; 5-4: Carrier support rod offset anchor; 6: Carrier support; 7: Carrier; 8: Permanent magnet block; 9: Permanent magnet block anchor bolt; 10: Counterweight block; 11: Counterweight block anchor bolt. 12: Counterweight moving slot; 13: Center point of the arc-shaped vehicle; 14: Traction cable; 15: Tunnel wall; 20: Intelligent balancing system box; 20-1: Electronic level; 20-2: Motor control system box; 20-3: Motor control system; 20-4: Motor; 20-5: Motor shaft; 20-6: Electronic level connection; 20-7: Lead balance block; 20-8: Balance block moving belt; 20-9: Belt fixing pulley; 20-10: Motor control system support box; 20-11: Intelligent balancing system box anchor bolt. Detailed Implementation

[0028] Example 1. An intelligent dynamic balancing device for testing long and steep tunnels, see [link to example]. Figure 1-4The system includes an arc-shaped platform 1, with three omnidirectional wheels 2 evenly spaced on the bottom, middle, and lower parts of the platform 1. An adjustable mounting system is located on the concave surface of the upper third of the platform 1. This system includes a carrier support 6 fixed to the platform 1, a carrier support rod 5, and a carrier 7. The carrier 7 is supported by a lower support rod 5-1 of the carrier support rod 5, positioned by a telescopic support rod 5-2, and its length is fixed by a telescopic anchor 5-3. An offset anchor 5-4 fixes the lateral offset of the carrier support rod 5 around the carrier support 6 by an arc 'a'. A mounting balance system is located on the concave surface of the middle part of the platform 1. This system includes a counterweight movement groove 12 on the platform 1, which is slidably connected to a counterweight 10, which is fixed by a counterweight anchor bolt 11. A permanent magnet block 8, fixed with a permanent magnet block anchor bolt 9, is set near the middle of the upper edge of the plate 1; an intelligent balance system box 20 is set on the concave surface of the arc-shaped plate 1 between the adjustable mounting system and the mounting balance system, and the left and right sides of the intelligent balance system box 20 are fixed by intelligent balance system box anchor bolts 20-11; an electronic level 20-1 is set horizontally in the middle of the intelligent balance system box 20, and a motor control system box 20-2 is supported by a support box 20-10 in the middle; four fixed pulleys 20-9 are arranged on the upper left and right sides; a belt 20-8 is limited by the fixed pulleys 20-9 and the motor shaft 20-5; a lead balance block 20-7 is set in the middle of the upper part of the belt 20-8; a motor control system 20-3 and a motor 20-4 are set in the middle of the motor control system box 20-2; and the electronic level 20-1 is connected to the motor control system 20-3 by an electronic level connection line 20-6.

[0029] The aforementioned casters 2 on the bottom, middle, and lower parts of the arc-shaped vehicle platform 1, located on the center line of the arc-shaped vehicle platform 1, are supported and fixed to the bottom surface of the arc-shaped vehicle platform 1 by caster fixing support rods 3; the casters 2 on the bottom, middle, and lower parts of the arc-shaped vehicle platform 1, located at the edge of the arc-shaped vehicle platform 1, are supported by caster adjusting support rods 4. The upper support rod 4-2 of the caster adjusting support rod 4 is used for support, the lower support rod 4-1 of the caster is used for positioning, and the anchor clip 4-3 of the caster support rod is used for fixing.

[0030] The rolling resistance coefficient of the aforementioned caster wheel 2 is ≤0.01, and the difference is less than 5%. The steering resistance coefficient of the caster wheel 2 is ≤0.10, and the difference is less than 5%.

[0031] The length of the aforementioned universal wheel fixed support rod 3 is L = 15cm, and the height of the universal wheel 2 is L0 = 5cm; when the actual construction diameter of the tunnel is D = 2·300 + (L + L0), the support length of the universal wheel lower support rod 4-1 is L1 = L; when the actual construction diameter of the tunnel is D ≠ 2·300 + (L + L0), L1 = 300·(1 - sin(400 / 2 / 300) / sin(400 / 2 / (DL-L0))) - L0.

[0032] The aforementioned carrier 7 has a weight of M0, and the counterweight 10 has a weight of M1 = 2M0;

[0033] With the centerline of the arc-shaped vehicle plate 1 as the zero line, the offset arc a of the carrier support rod 5 is 0, and the counterweight 10 is placed on the centerline;

[0034] When the carrier support rod 5 is shifted to the left, the counterweight 10 is placed on the right side; when the carrier support rod 5 is shifted to the right, the counterweight 10 is placed on the left side.

[0035] The length of the carrier support rod 5 is h, and the horizontal distance of the counterweight 10 from the centerline is s.

[0036] s=M0·(h+h0+M g ·h / 2·SINa / 2·M0

[0037] In the formula, M0 is the weight of the carrier; M g h is the weight of the carrier support rod; h is the length of the carrier support rod; h0 is the distance from the center of the carrier weight to the top of the carrier support rod; a is the offset arc of the carrier support rod.

[0038] The aforementioned permanent magnet block 8 has an attraction force F

[0039] F = η·9.8·M0

[0040] In the formula, F is the adsorption force; η is the adjustment coefficient, which takes a value of 3.6 to 3.9; and M0 is the weight of the carrier.

[0041] The aforementioned motor control system 20-3 includes a 12V DC battery and a motor 20-4 switch controller. The reading of the electronic level 20-1 is positive on the right and negative on the left. The motor 20-4 switch controller uses a reading of the electronic level 20-1 greater than |Δ| as the start threshold. A positive value starts the motor 20-4 by driving the belt 20-8 clockwise by the motor shaft 20-5 to move 0.1m, while a negative value starts the motor 20-4 by driving the belt 20-8 counterclockwise by the motor shaft 20-5 to move 0.1m. After a 5-second pause, the motor 20-4 switch controller re-evaluates the threshold. The weight of the lead balance block 20-7 is 1 / 3 to 1 / 5 of the weight of the counterweight block 10.

[0042] Δ=±1~5

[0043] In the formula, Δ is the start-up threshold.

[0044] The aforementioned curved frame 1 has a curved body panel 1 made of carbon fiber.

[0045] The aforementioned curved car body 1 has a thickness of 20mm, a length of 450cm, an arc width of 400cm, and an arc radius R of 300cm.

[0046] An intelligent dynamic balancing method for testing long and steep tunnels includes the following steps:

[0047] ① First, construct an intelligent dynamic balance arc-shaped vehicle frame. On top of this frame, fabricate a carbon fiber arc-shaped vehicle plate 1 with a thickness of approximately 20mm, a length of approximately 450cm, an arc width of 400cm, and an arc radius of R=300cm. Arrange three omnidirectional wheels 2 at equal intervals along the center line, left side, and right side of the lower part of the arc-shaped vehicle plate 1. The center line omnidirectional wheel 2 is supported by an omnidirectional wheel fixing support rod 3; the left and right side omnidirectional wheels 2 are supported by omnidirectional wheel adjusting support rods 4, supported by upper support rods 4-2, positioned by lower support rods 4-1, and fixed by anchor clips 4-3.

[0048] ② An adjustable mounting system is set up for the arc-shaped vehicle 1. On the upper 1 / 3 of the cross-section of the arc-shaped vehicle 1, a carrier support 6, a carrier support rod 5, and a carrier 7 are arranged. The carrier 7 is supported by a lower carrier support rod 5-1, positioned by a carrier telescopic support rod 5-2, its length is fixed by a telescopic anchor 5-3, and its offset anchor 5-4 fixes the left and right offset angle α of the carrier support rod 5.

[0049] ③ A balancing system is installed on the arc-shaped vehicle 1. A counterweight moving groove 12, a counterweight 10, and a counterweight anchor bolt 11 are set on the cross section in the middle of the arc-shaped vehicle plate 1. The counterweight 10 can move left and right on the counterweight moving groove 12 and is then fixed by the counterweight anchor bolt 11. A permanent magnet block 8 and a permanent magnet block anchor bolt 9 are set on the edge of the center line of the arc-shaped vehicle plate 1.

[0050] ④ Set up a fine-tuning intelligent dynamic balancing system. In the middle of the upper part of the arc-shaped car 1, the intelligent balancing system box 20 is horizontally placed and fixed on both sides by intelligent balancing system box anchor bolts 20-11. The intelligent balancing system box 20 is horizontally set in the middle of the intelligent balancing system box 20. The motor control system box 20-2 is supported by the support box 20-10 in the middle. Four fixed pulleys 20-9 are arranged on the upper left and right sides. The belt 20-8 is limited by the fixed pulleys 20-9 and the motor shaft 20-5. A lead balance block 20-7 is set in the middle of the upper part of the belt 20-8. The motor control system box 20-2 is set with the motor control system 20-3 and the motor 20-4 in the middle. The electronic level 20-1 is connected to the motor control system 20-3 by the electronic level connection line 20-6.

[0051] After installation and startup, the intelligent dynamic balancing device automatically slides down the traction cable 14 at the bottom of the upper end of the long and steep tunnel wall 15 according to the design speed, and conducts relevant test operations.

Claims

1. An intelligent dynamic balancing device for testing long and steep tunnels, characterized in that, The vehicle includes an arc-shaped platform (1), on which three universal wheels (2) are evenly spaced at the bottom, middle, and lower parts. An adjustable mounting system is arranged on the concave surface of the upper 1 / 3 of the arc-shaped platform (1). The adjustable mounting system includes a carrier support (6), a carrier support rod (5), and a carrier (7) fixed on the arc-shaped platform (1). The carrier (7) is supported by the lower carrier support rod (5-1) of the carrier support rod (5), positioned by the upper carrier support rod (5-2), and anchored by the telescopic anchor of the carrier support rod. (5-3) Fixed support rod length; Carrier support rod offset anchor (5-4) Fixed carrier support rod (5) Circumferential offset a around carrier support (6); The arc-shaped vehicle plate (1) has a mounting balance system arranged on its concave surface in the middle. The mounting balance system includes a counterweight moving groove (12) set on the arc-shaped vehicle plate (1). The counterweight moving groove (12) is slidably connected to the counterweight (10). The counterweight (10) is fixed by a counterweight anchor bolt (11); The upper edge of the arc-shaped vehicle plate (1) is set near the middle. A permanent magnet block (8) is fixed with a permanent magnet block anchor bolt (9); an intelligent balance system box (20) is set on the concave surface of the arc-shaped vehicle plate (1) between the adjustable mounting system and the mounting balance system. The left and right sides of the intelligent balance system box (20) are fixed by intelligent balance system box anchor bolts (20-11); an electronic level (20-1) is set horizontally in the middle of the bottom surface of the intelligent balance system box (20), and a motor control system box (20-2) is supported and placed above the electronic level by a support box (20-10). Four fixed pulleys (20-9) are arranged on the upper left and right sides of the intelligent balance system box (20). The belt (20-8) is sleeved on the fixed pulleys (20-9) and the motor shaft (20-5). A lead balance block (20-7) is set in the middle of the upper part of the belt (20-8). The motor control system box (20-2) is equipped with a motor control system (20-3) and a motor (20-4) in the middle. The electronic level (20-1) is connected to the motor control system (20-3) by the electronic level connection line (20-6). The casters (2) on the bottom, middle and lower parts of the arc-shaped vehicle platform (1) located on the center line of the arc-shaped vehicle platform (1) are supported and fixed to the bottom surface of the arc-shaped vehicle platform (1) by the caster fixing support rod (3); the casters (2) on the bottom, middle and lower parts of the arc-shaped vehicle platform (1) located on the edge of the arc-shaped vehicle platform (1) are supported by the caster adjusting support rod (4). The caster upper support rod (4-2) of the caster adjusting support rod (4) is used for support, the caster lower support rod (4-1) is used for positioning, and the caster support rod anchor (4-3) is used for fixing.

2. The intelligent dynamic balancing device for testing long and steep tunnels according to claim 1, characterized in that, The rolling resistance coefficient of the universal wheel (2) is ≤0.01, the difference in rolling resistance coefficient between multiple universal wheels (2) is less than 5%, the steering resistance coefficient of the universal wheel (2) is ≤0.10, and the difference in steering resistance coefficient between multiple universal wheels (2) is less than 5%.

3. The intelligent dynamic balancing device for testing long and steep tunnels according to claim 1, characterized in that, The weight of the carrier (7) is M0, and the weight of the counterweight (10) is M1 = 2M0; With the center line of the arc-shaped vehicle plate (1) as the zero line, the offset arc a of the carrier support rod (5) is 0, and the counterweight (10) is placed on the center line; The carrier support rod (5) is shifted to the left and the counterweight (10) is placed on the right side; the carrier support rod (5) is shifted to the right and the counterweight (10) is placed on the left side. The length of the carrier support rod (5) is h, and the horizontal distance of the counterweight (10) from the centerline is s: ， In the formula, M0 is the weight of the carrier; M g h is the weight of the carrier support rod; h is the length of the carrier support rod; h0 is the distance from the center of the carrier weight to the top of the carrier support rod; a is the offset arc of the carrier support rod.

4. The intelligent dynamic balancing device for testing long and steep tunnels according to claim 1, characterized in that, The attraction force F of the permanent magnet block (8): F=ƞ·9.8·M0 In the formula, F is the adsorption force; ƞ is the adjustment coefficient, which takes a value of 3.6 to 3.9; and M0 is the weight of the carrier.

5. The intelligent dynamic balancing device for testing long and steep tunnels according to claim 1, characterized in that, The curved car body (1) is made of carbon fiber.

6. The intelligent dynamic balancing device for testing long and steep tunnels according to claim 1, characterized in that, The arc-shaped car body (1) has a thickness of 20mm, a length of 450cm, an arc width of 400cm, and an arc radius R of 300cm.

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