A centering mechanism and turnout of a medium-low speed maglev turnout

Abstract

Provided are a centering mechanism of a low-medium speed maglev turnout and the turnout. The centering mechanism comprises a mounting base plate, a guide groove is mounted in the mounting base plate; a sliding fitting mounting sliding block is mounted in the guide groove; one end of a trolley connecting rod is fixedly connected to the sliding block; the other end of the trolley connecting rod is fixedly connected to a trolley; the centers of the front and rear arc-shaped guide groove plates coincide with the centers of the front and rear arc surfaces of the sliding block, so that the sliding block rotates around the center of the guide groove, and the centers of the guide groove and the sliding block are concentrically positioned to the rotation center of the turnout beam line type design. The active beam only needs one driving point to drive multiple driven beams to switch, and the interference and influence of the hinge shaft connecting rod with other structures of the turnout in the length direction, the width direction and the height direction of the turnout are eliminated, the feasibility of 1+3 type or even 1+multiple type turnout structure design is realized, and the height of the whole turnout can be greatly reduced due to the non-interference and influence of the centering mechanism and the trolley.

Description

Technical Field

[0001] This invention belongs to the field of railway turnout technology for operation and transportation, specifically relating to a centering mechanism and turnout for a medium-low speed maglev turnout. Background Technology

[0002] Medium- and low-speed maglev turnouts are important system equipment for medium- and low-speed maglev rail transit. See turnout structure for details. Figure 1 The hinge shaft connecting rod serves as the centering mechanism for the turnout beam. One end is connected to the trolley, and the other end is connected to the foundation platform. The end of the hinge shaft connecting rod connected to the foundation platform has a hinge shaft mechanism, which allows the hinge shaft connecting rod to rotate around the center line of the hinge shaft. The trolley connected to the hinge shaft connecting rod is connected to the turnout beam by bolts.

[0003] When the drive device 5 drives the active beam 7 to rotate, the active beam 7 rotates around the fixed rotation point of the hinge shaft link II3 and the foundation platform through the trolley II4 and the hinge shaft link II3. At the same time, the active beam 7 transmits force through the beam connection device 8, driving the driven beam II9 to move. The driven beam II9 rotates around the fixed rotation point of the hinge shaft link I1 and the foundation platform through the trolley I2 and the hinge shaft link I1. Finally, the driven beam II9 transmits force through the beam connection device 8, driving the driven beam I10 to rotate around the fixed hinge shaft.

[0004] The advantage of this structure for medium- and low-speed maglev turnouts is that the active beam 7 and the two driven beams each have independent and fixed centers of rotation. The movement trajectory of each turnout beam has a fixed arc of rotation center, thus requiring only one drive device 5 to achieve the switching movement of the entire turnout. For the turnout switching principle, please refer to [link to relevant documentation]. Figure 2 .

[0005] Among them, the hinge shaft connecting rod, as shown in Figure 3, inevitably interferes with other structures of the turnout due to the turnout alignment and structural design. Figure 1 As shown, the hinge shaft connecting rod II3 is connected to the trolley I2. In the turnout structure consisting of one active beam 7 and two driven beams, since the turning amplitude of the driven beam II9 is ​​small, the moving distance of the trolley I2 is also small. A certain movement gap is left between the two wheels of the trolley I2 and the trolley II4, which can be used to arrange the fixed turning point of the hinge shaft connecting rod II3.

[0006] When a turnout requires a larger turning angle or a higher lateral passing speed, the alignment and structural design based on the original design principles necessitates a turnout consisting of one active beam (7 beams) and three driven beams, with the structure as follows: Figure 4As shown. At this point, the hinge shaft connecting rod III12 and the trolley II4 cause severe interference in both the length and width directions of the turnout. Furthermore, because the hinge shaft connecting rod III12 must avoid interfering with the trolley II4 in the height direction, the overall height of the turnout increases. Therefore, it is necessary to abandon the original design principles and methods and seek alternative turnout solutions with different structural forms. The following technical solution is proposed to address this issue. Summary of the Invention

[0007] The technical problem solved by this invention is to provide a centering mechanism and turnout for medium and low speed maglev turnouts, and to solve the technical problems of interference between multiple driven beam turnouts along the length and width of the turnouts and the increase in the overall height of the turnouts.

[0008] The technical solution adopted in this invention is: a centering mechanism for a medium-low speed maglev turnout. The centering mechanism includes a mounting base plate, a guide groove installed in the mounting base plate, a slider slidably installed in the guide groove, one end of the slider being fixedly connected to a trolley connecting rod, and the other end of the trolley connecting rod being fixedly connected to the trolley. The centers of the front and rear arc-shaped guide groove plates coincide with the centers of the front and rear arc surfaces of the slider, so that the slider rotates around the center of the guide groove, and the centers of the guide groove and the slider are concentrically positioned at the rotation center of the turnout beam alignment design.

[0009] In the above technical solution, further: the guide groove has a guide groove plate and a guide groove base plate; the guide groove plate is fixedly installed on the guide groove base plate; the guide groove plate is formed by two concentric arc guide groove plates with radius R and radius R+a, forming an arc-shaped guide groove with a width of a; a slider is slidably installed inside the arc-shaped guide groove; a rectangular window is formed on the horizontal side of the guide groove plate; the rectangular window is used to pass through the trolley connecting rod; a cover plate mounting threaded hole is formed on the upper surface of the guide groove plate; a rubber washer is inserted into the cover plate mounting threaded hole and then the top cover is installed.

[0010] In the above technical solution, further: the slider has a slider body; the front and rear sides of the slider body are made of concentric arc edges, wherein the front side is an R arc edge and the rear side is an R+a arc edge, and the front and rear thicknesses of the slider body are a; a brass wear-resistant plate is fastened to the bottom surface of the slider body; the outer contour of the brass wear-resistant plate is not greater than the outer contour line of the slider body.

[0011] In the above technical solution, further: the trolley connecting rod is an isosceles trapezoidal truss structure; a slider connecting plate is provided at the upper bottom end of the trolley connecting rod; a trolley connecting plate is provided at the lower bottom end of the trolley connecting rod; the slider connecting plate is used for fastening the slider; the trolley connecting plate is used for fastening the trolley.

[0012] This invention also claims protection for a medium-low speed maglev turnout, wherein the turnout is a turnout using any of the aforementioned centering mechanisms; it includes an active beam and multiple driven beams, the active beam and the multiple driven beams being connected in series through multiple beam-to-beam connecting devices for force transmission; a trolley and a drive device are provided at the bottom of the active beam; a trolley and a centering mechanism are respectively provided at the bottom of the multiple driven beams; the drive device drives the active beam to turn, and the active beam drives the multiple driven beams to turn through a drive point.

[0013] In the above technical solution, the preferred configuration includes: driven beam I, driven beam II, and driven beam III; trolley I, trolley II, trolley III, and trolley IV; and centering mechanism I and centering mechanism II.

[0014] In the above technical solution, further: Trolleys IV and III are fixedly connected to the bottom of both ends of the active beam; a driving device is provided at the bottom of the middle of the active beam; trolley III is provided at the bottom of one end of the active beam connected to the driven beam III; trolley III is connected to the centering mechanism II; one end of the driven beam III is connected to the active beam via a beam-to-beam connection device; the other end of the driven beam III is connected to one end of the driven beam II via a beam-to-beam connection device; the other end of the driven beam II is connected to one end of the driven beam I via a beam-to-beam connection device; the other end of the driven beam I is rotatably connected to the foundation platform via a beam-to-beam connection device; the driven beam III is connected to the driven beam II via a beam-to-beam connection device, and trolley II is fixedly connected to the bottom of the force-transmitting connection part of the driven beam III; trolley II is connected to the centering mechanism I; the driven beam II is connected to the driven beam I via a beam-to-beam connection device, and trolley I is fixedly connected to the bottom of the force-transmitting connection part of the driven beam II; trolley I is rotatably connected to the foundation platform via a hinge shaft connecting rod I.

[0015] Advantages of this invention compared to existing technologies:

[0016] 1. This invention retains the characteristics of the hinged shaft connecting rod having a fixed rotation point and the active beam only needing one driving point to drive multiple driven beams to turn, thus eliminating the interference and influence that the hinged shaft connecting rod may have with other structures of the turnout in the length, width, and height directions. This makes it feasible to design 1+3 or even 1+multiple types of turnout structures. At the same time, since there is no interference between the centering mechanism and the trolley, the overall height of the turnout can be significantly reduced.

[0017] 2. The combination of the arc-shaped guide groove and the arc-shaped slider in the centering mechanism of the present invention allows the slider to slide around the center of the arc-shaped guide groove within the guide groove, thereby achieving the purpose of rotating around a fixed rotation point.

[0018] 3. The centering mechanism of this invention does not require any structure or component for connection and positioning with the fixed turning point, thus avoiding interference with other mechanisms or structures of the turnout.

[0019] 4. The turnout of this invention adopts a centering mechanism, which eliminates the interference and influence between the hinge shaft connecting rod and the trolley and trolley foundation in the previous design, making the turnout structure design more flexible.

[0020] 5. The centering mechanism of the present invention has the center of the guide groove and the center of the slider concentrically positioned to the rotation center of the turnout beam line design, which has the advantages of excellent concentricity and smooth turnout. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a two-driven beam turnout under existing technology;

[0022] Figure 2 Under existing technology Figure 1 The diagram shows the switching principle of the turnout.

[0023] Figure 3(a) shows Figure 1 Front view of the connecting rod of the central hinge shaft;

[0024] Figure 3(b) shows Figure 1 Top view of the connecting rod of the central hinge shaft;

[0025] Figure 4 This is a schematic diagram of the structure of a three-driven beam turnout under existing technology;

[0026] Figure 5(a) is a top view of the centering mechanism of the present invention;

[0027] Figure 5(b) is a cross-sectional view of the centering mechanism of the present invention as shown in Figure 5(a);

[0028] Figure 6(a) is a front view of the guide groove of the present invention without the top cover;

[0029] Figure 6(b) is a top view of the guide groove of the present invention without the top cover;

[0030] Figure 7(a) is a front view of the slider of the present invention;

[0031] Figure 7(b) is a cross-sectional view of the slider of the present invention as shown in Figure 7(a);

[0032] Figure 8(a) is a front view of the trolley connecting rod of the present invention;

[0033] Figure 8(b) is a right view of the trolley linkage diagram 8(a) of the present invention;

[0034] Figure 9 This is a schematic diagram of the centering principle of the centering mechanism of the present invention;

[0035] Figure 10 A schematic diagram of the structure of the three driven beam turnouts equipped with a centering mechanism according to the present invention. Figure 1 ;

[0036] Figure 11 A schematic diagram of the structure of the three driven beam turnouts equipped with a centering mechanism according to the present invention. Figure 2 ;

[0037] In the diagram: 1-Hinge shaft connecting rod I, 2-Trolley I, 3-Hinge shaft connecting rod II, 4-Trolley II, 5-Drive device, 6-Trolley III, 7-Active beam, 8-Beam connection device, 9-Driven beam II, 10-Driven beam I, 11-Driven beam III, 12-Hinge shaft connecting rod III, 13-Trolley IV, 14-Centering mechanism I, 15-Centering mechanism II, 16-Mounting base plate, 17-Guide groove, 1701-Guide groove plate, 1702-Guide groove base plate, 17011 -R radius circular arc guide plate, 17012-R+a radius circular arc guide plate, 1703-rectangular window, 1704-circular arc guide groove, 1705-cover plate mounting threaded hole; 18-slider, 1801-slider body, 18011-R circular arc edge, 18012-R+a circular arc edge, 1802-brass wear-resistant plate; 19-carriage connecting rod, 1901-slider connecting plate, 1902-carriage connecting plate; 20-top cover, 21-rotation center. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to Figures 5-11. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] A centering mechanism for a medium-low speed maglev turnout (as shown in Figure 5) includes a mounting base plate 16, a guide groove 17 installed in the mounting base plate 16; a slider 18 is slidably installed in the guide groove 17; the slider 18 is fixedly connected to one end of a trolley connecting rod 19; and the other end of the trolley connecting rod 19 is fixedly connected to the trolley.

[0040] (combination) Figure 9 The centers of the front and rear arc-shaped guide plates of the guide groove 17 (Figures 6 and 7) coincide with the centers of the front and rear arc surfaces of the slider 18, causing the slider 18 to rotate around the center of the guide groove 17. Furthermore, the centers of the guide groove 17 and the slider 18 are concentrically positioned at the rotation center 21 of the turnout beam alignment design (see Figure 6 and 7). Figure 9 ).

[0041] Since the center of the guide groove 17 coincides with the center of the slider 18, and there are no other necessary structures between the center and the centering mechanism, there will be no cross interference with the turnout trolley. This allows for a turnout structure design where one driving point drives one active beam, which in turn drives multiple driven beams to rotate. Furthermore, spatial interference between the various mechanisms of the turnout is avoided, allowing for further optimization of the turnout's structure and height.

[0042] (As shown in Figure 6) In the above embodiment, the guide groove 17 further includes a guide groove plate 1701 and a guide groove bottom plate 1702; the guide groove plate 1701 is fixedly installed on the guide groove bottom plate 1702.

[0043] The guide plate 1701 is formed by two concentric arc guide plates 17011 with a radius of R and 17012 with a radius of R+a, forming an arc-shaped guide groove 1704 with a width of a. The annular closed structure formed by the arc guide plates 17011 with a radius of R and 17012 enhances the rigidity of the guide plate 1701 and resists deformation of the guide groove 17.

[0044] The slider 18 is slidably fitted within the arc-shaped guide groove 1704, allowing the slider 18 to rotate around the center of the guide groove 1704.

[0045] (Referring to Figure 5) A rectangular window 1703 is formed on the horizontal side of the guide plate 1701; the rectangular window 1703 is used to pass through the trolley connecting rod 19.

[0046] The upper end face of the guide plate 1701 is provided with a cover plate mounting threaded hole 1705; after a rubber gasket is inserted into the cover plate mounting threaded hole 1705, the upper cover 20 is installed.

[0047] (As shown in Figure 7) In the above embodiment, further: the slider 18 has a slider body 1801; the slider body 1801 has concentric arc edges on its front and rear sides, wherein the front side is an R arc edge 18011 and the rear side is an R+a arc edge 18012, and the thickness of the slider body 1801 is a. That is, the slider 18 rotates around the center of the guide groove 17.

[0048] The bottom surface of the slider body 1801 is fastened with a brass wear-resistant plate 1802; the outer contour of the brass wear-resistant plate 1802 is not larger than the outer contour line of the slider body 1801 to avoid interference.

[0049] (As shown in Figure 8) In the above embodiment, the trolley connecting rod 19 is an isosceles trapezoidal truss structure.

[0050] The upper bottom end of the trolley connecting rod 19 is provided with a slider connecting plate 1901; the lower bottom end of the trolley connecting rod 19 is provided with a trolley connecting plate 1902; the slider connecting plate 1901 is used for fastening the slider 18; the trolley connecting plate 1902 is used for fastening the trolley (refer to Figure 5).

[0051] (like Figure 10 , Figure 11(As shown) This invention also claims protection for a medium-low speed maglev turnout, wherein the turnout uses any of the aforementioned centering mechanisms; the turnout includes a driving beam 7 and multiple driven beams, the driving beam 7 and the multiple driven beams being connected in series via multiple beam-to-beam connecting devices 8; the bottom of the driving beam 7 is provided with a trolley and a driving device 5; the bottom of each of the multiple driven beams is provided with a trolley and a centering mechanism; the driving device 5 drives the driving beam 7 to turn, and the driving beam 7 drives the multiple driven beams to turn through a driving point. In use, one driving device 5 drives the driving beam 7 to turn, and the driving beam 7 drives the remaining driven beams to turn.

[0052] In the above embodiments, preferably, taking the embodiment with three driven beams as an example, the driven beams include driven beam I 10, driven beam II 9, and driven beam III 11. The trolleys include trolley I 2, trolley II 4, trolley III 6, and trolley IV 13. The centering mechanism includes centering mechanism I 14 and centering mechanism II 15.

[0053] In the above embodiment, further: the bottom ends of the active beam 7 are fixedly connected to the trolleys IV 13 and III 6; a driving device 5 is provided at the bottom middle of the active beam 7; a trolley III 6 is provided at the bottom of one end of the active beam 7 connected to the driven beam III 11; the trolley III 6 is connected to the centering mechanism II 15; one end of the driven beam III 11 is connected to the active beam 7 through the beam-to-beam connection device 8; the other end of the driven beam III 11 is connected to one end of the driven beam II 9 through the beam-to-beam connection device 8; the other end of the driven beam II 9 is connected to... The beam-to-beam connection device 8 connects one end of the driven beam I10; the other end of the driven beam I10 is rotatably connected to the foundation platform through the beam-to-beam connection device 8; the driven beam III11 transmits force to the driven beam II9, and the bottom of the force transmission connection part of the driven beam III11 is fixedly connected to the trolley II4; the trolley II4 is connected to the centering mechanism I14; the driven beam II9 transmits force to the driven beam I10, and the bottom of the force transmission connection part of the driven beam II9 is ​​fixedly connected to the trolley I2; the trolley I2 is rotatably connected to the foundation platform through the hinge shaft connecting rod I1.

[0054] It should be understood that when there are more than three driven beams, the connection structure of the multiple driven beams is extended according to the above connection method. That is, only the bottom of the driven beam at the end is provided with a hinge shaft connecting rod I1, and the bottom of the remaining driven beams is provided with a centering mechanism.

[0055] The working principle of this invention is as follows: (e.g.) Figure 10 , Figure 11As shown in Figure 5, the active beam only needs one driving point to drive multiple driven beams to switch. That is, when the trolley moves, it drives the slider 18 to rotate within the guide groove 17 along the concentric arc guide groove plates 17011 and 17012 with radius R and radius R+a, forming an arc guide groove 1704 of width a. Since the center of the arc guide groove plates 17 coincides with the center of the arc surfaces of the slider 18, the slider 18 actually rotates around the center of the guide groove 17, which is the rotation center 21 of the turnout beam alignment design (in conjunction with...). Figure 9 ).

[0056] It should be noted that: (e.g.) Figure 10 , Figure 11 (As shown) When the rectangular window 1703 on the guide groove 17 is located on the arc guide groove plate 17012 with radius R+a, the centering mechanism is arranged on the side of the trolley facing the rotation center, as shown. Figure 10 As shown; when the rectangular window 1703 on the guide groove 17 is located on the arc guide groove plate 17011 with radius R, the centering mechanism is arranged on the side of the trolley facing away from the rotation center. At this time, it is only necessary to increase the radius R as needed so that the center of the guide groove 17 coincides with the rotation center 21 of the turnout beam alignment design. This achieves the same centering effect by changing the arrangement direction of the centering mechanism, making the application range of the centering mechanism wider. The turnout with the centering mechanism eliminates the interference and influence between the hinge shaft connecting rod and the trolley and trolley foundation in the previous design, making the turnout structure design more flexible. Compared with the original design, the turnout structure can be further improved, especially the height is significantly reduced.

[0057] As can be seen from the above description, the present invention retains the characteristics of the hinge shaft connecting rod having a fixed rotation point and the active beam only needing one driving point to drive multiple driven beams to turn, thus eliminating the interference and influence that the hinge shaft connecting rod may have with other structures of the turnout in the length, width, and height directions of the turnout. This makes it feasible to design a 1+3 type or even 1+multiple type turnout structure. At the same time, since there is no interference between the centering mechanism and the trolley part, the overall height of the turnout can be reduced significantly.

[0058] The combination of the arc-shaped guide groove 17 and the arc-shaped slider 18 in the centering mechanism of the present invention allows the slider 18 to slide around the center of the arc-shaped guide groove 17 within the guide groove 17, thereby achieving the purpose of rotating around a fixed rotation point.

[0059] The centering mechanism of this invention does not require any structure or component to connect and position with the fixed turning point, thus avoiding interference with other mechanisms or structures of the turnout.

[0060] The present invention adopts a turnout with a centering mechanism, which eliminates the interference and influence between the hinge shaft connecting rod and the trolley and trolley foundation in the previous design, making the turnout structure design more flexible.

[0061] The centering mechanism of the present invention has the center of the guide groove 17 and the slider 18 concentrically positioned to the rotation center 21 of the turnout beam line design, which has the advantages of excellent concentricity and smooth turnout.

[0062] In summary, this invention solves the technical problems of interference in the length and width directions of multiple driven beam turnouts and the increase in the overall height of the turnouts; it realizes the feasibility of 1+3 type or even 1+multi-type turnout structural design; at the same time, since there is no interference between the centering mechanism and the trolley part, the overall height of the turnout can be reduced significantly.

[0063] The various embodiments in this specification are described in a related manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0064] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A centering mechanism for a medium-low speed maglev turnout, characterized in that: The centering mechanism includes a mounting base plate (16), in which a guide groove (17) is installed; a slider (18) is slidably installed in the guide groove (17); the slider (18) is fixedly connected to one end of the trolley connecting rod (19); the other end of the trolley connecting rod (19) is fixedly connected to the trolley; the center of the front and rear arc-shaped guide groove plates of the guide groove (17) coincides with the center of the front and rear arc surfaces of the slider (18), so that the slider (18) rotates around the center of the guide groove (17), and the centers of the guide groove (17) and the slider (18) are concentrically positioned at the rotation center (21) of the turnout beam alignment design. The guide groove (17) has a guide groove plate (1701) and a guide groove bottom plate (1702); the guide groove plate (1701) is fixedly installed on the guide groove bottom plate (1702); the guide groove plate (1701) is formed by two concentric arc guide groove plates (17011) with a radius of R and an arc guide groove plate (17012) with a radius of R+a to form an arc-shaped guide groove (1704) with a width of a; the slider (18) is slidably fitted inside the arc-shaped guide groove (1704); a rectangular window (1703) is formed on the horizontal side of the guide groove plate (1701); the rectangular window (1703) is used to pass through the trolley connecting rod (19); a cover plate mounting threaded hole (1705) is formed on the upper end face of the guide groove plate (1701); after a rubber washer is inserted into the cover plate mounting threaded hole (1705), the top cover (20) is installed. The slider (18) has a slider body (1801); the slider body (1801) has concentric arc edges on the front and back, wherein the front side is an R arc edge (18011) and the rear side is an R+a arc edge (18012), and the thickness of the slider body (1801) is a; a brass wear-resistant plate (1802) is fastened to the bottom surface of the slider body (1801); the outer contour of the brass wear-resistant plate (1802) is not greater than the outer contour line of the slider body (1801).

2. The centering mechanism according to claim 1, characterized in that: The trolley connecting rod (19) is an isosceles trapezoidal truss structure; the upper bottom end of the trolley connecting rod (19) is provided with a slider connecting plate (1901); the lower bottom end of the trolley connecting rod (19) is provided with a trolley connecting plate (1902); the slider connecting plate (1901) is used for fastening the slider (18); the trolley connecting plate (1902) is used for fastening the trolley.

3. A medium-low speed maglev turnout, characterized in that: The turnout is a turnout using any one of the centering mechanisms of claims 1-2; the turnout includes an active beam (7) and multiple driven beams, the active beam (7) and the multiple driven beams are connected in series by multiple beam-to-beam connecting devices (8) to transmit force; the bottom of the active beam (7) is provided with a trolley and a driving device (5); the bottom of the multiple driven beams is respectively provided with a trolley and a centering mechanism; the driving device (5) drives the active beam (7) to turn, and the active beam (7) drives the multiple driven beams to turn through a driving point.

4. The turnout according to claim 3, characterized in that: The driven beam includes driven beam I (10), driven beam II (9), and driven beam III (11); the trolley includes trolley I (2), trolley II (4), trolley III (6), and trolley IV (13); the centering mechanism includes centering mechanism I (14) and centering mechanism II (15).

5. The turnout according to claim 4, characterized in that: The bottom ends of the active beam (7) are fixedly connected to the trolley IV (13) and the trolley III (6); the bottom of the active beam (7) is provided with a driving device (5); the bottom of the active beam (7) connected to the driven beam III (11) is provided with the trolley III (6); the trolley III (6) is connected to the centering mechanism II (15); one end of the driven beam III (11) is connected to the active beam (7) through the beam connection device (8); the other end of the driven beam III (11) is connected to one end of the driven beam II (9) through the beam connection device (8); the other end of the driven beam II (9) is connected to the beam connection device (8). Device (8) is connected to one end of driven beam I (10); the other end of driven beam I (10) is rotatably connected to the foundation platform through beam connection device (8); driven beam III (11) is connected to driven beam II (9) through force transmission, and the bottom of the force transmission connection part of driven beam III (11) is fixedly connected to trolley II (4); trolley II (4) is connected to centering mechanism I (14); driven beam II (9) is connected to driven beam I (10) through force transmission, and the bottom of the force transmission connection part of driven beam II (9) is fixedly connected to trolley I (2); trolley I (2) is rotatably connected to the foundation platform through hinge shaft connecting rod I (1).

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