Rail walking vehicle capable of adjusting posture of module in multiple dimensions

Abstract

The utility model relates to a track walking vehicle capable of adjusting the posture of a module in multiple dimensions, which comprises a track and a walking vehicle, and a horizontal deflection angle adjusting mechanism is arranged on a box body of the walking vehicle. The horizontal deflection adjusting mechanism comprises a plane bearing with an inner ring fixed on the upper surface of the box body, a protective cover fixed on an outer gear ring of the plane bearing, a first integrated motor speed reducer fixed on the box body and a transmission gear connected to an output shaft of the first integrated motor speed reducer, and the transmission gear is further meshed with outer teeth of the plane bearing; a pitch angle adjusting mechanism is fixedly arranged at the top of the protective cover, the pitch angle adjusting mechanism comprises a support fixed on the protective cover and a module protective box rotationally supported on the support, and a module clamp is fixedly arranged on the module protective box; the support is further provided with a pitch angle adjusting transmission gear set used for driving the module protection box to rotate. According to the multi-dimensional module posture adjusting device, multi-dimensional module posture adjusting is well achieved, and multi-scene application experience is provided for users.

Description

Technical Field

[0001] The utility model belongs to the technical field of electromechanical product testing, and in particular relates to a track traveling vehicle capable of adjusting module postures in multiple dimensions. Background Art

[0002] In order to test the performance and parameters of a product module when it moves horizontally in different postures, especially for cylindrical modules, it is not only necessary for the module to move horizontally under the support of the traveling vehicle, but also necessary to adjust the module's horizontal deflection angle and pitch angle, i.e., multi-dimensional posture adjustment. However, there is no mature finalized equipment at present, so a track traveling vehicle with multi-dimensional adjustment of module posture is developed. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a rail-based traveling vehicle for adjusting the module posture in multiple dimensions to fill the gaps in the above-mentioned existing equipment technology, so as to provide real, reliable and effective experimental data for verifying the safety and reliability of the module as well as the research and development of new products and technological innovation.

[0004] The purpose of the utility model and the solution to its technical problems are achieved by adopting the following technical solutions. According to a rail vehicle for adjusting the module posture in multiple dimensions proposed in the utility model, it includes a track and a vehicle, and a horizontal deflection angle adjustment mechanism is provided on the box of the vehicle, and the horizontal deflection adjustment mechanism includes a plane bearing whose inner ring is fixed to the upper surface of the box, a shield fixed to the outer gear ring of the plane bearing, a first integrated motor reducer fixed to the box, and a transmission gear connected to the output shaft of the first integrated motor reducer, and the transmission gear is also engaged with the outer teeth of the plane bearing; a pitch angle adjustment mechanism is fixedly provided on the top of the shield, and the pitch angle adjustment mechanism includes a bracket fixed to the shield and a module guard box rotatably supported on the bracket, and a module clamp is fixed on the module guard box; the bracket is also provided with a pitch angle adjustment transmission gear set for driving the module guard box to rotate.

[0005] The purpose of the utility model and the solution to its technical problems can also be further achieved by adopting the following technical measures.

[0006] The aforementioned rail travel vehicle with multi-dimensional adjustment of module posture, the pitch angle adjustment transmission gear set includes a small diameter gear, a large diameter external gear plate and a second integrated motor reducer that drives the small diameter gear to rotate, wherein the large diameter external gear plate is located above the small diameter gear and is fixedly connected to the module protective box.

[0007] In the aforementioned rail-mounted vehicle for adjusting the module posture in multiple dimensions, the large-diameter outer gear disc is concentric with the rotating shaft.

[0008] The aforementioned rail traveling vehicle for adjusting the module posture in multiple dimensions, the module protective box includes a supporting base plate and supporting waist parts fixed on both sides of the base plate, the cross-section of the module protective box is a trapezoid with a small bottom and a large top, and the angle θ between the supporting base plate and the supporting waist is the supplementary angle of the maximum pitch angle required for the test.

[0009] The aforementioned rail travel vehicle for adjusting the module posture in multiple dimensions, the bracket is U-shaped, and bearing seats are provided on both vertical sides of the bracket. The module protective box is connected to the bearing seats through a rotating shaft fixed on the outer side of the supporting waist.

[0010] The aforementioned rail travel vehicle for adjusting the module posture in multiple dimensions, wherein the rotation axis is at the same height as the center line of the module fixture.

[0011] The aforementioned rail travel vehicle with multi-dimensional adjustment of module posture, the large-diameter outer gear disc is also provided with a pitch locking groove, and the pitch angle adjustment locking bolt passes through the pitch locking groove and is fastened to the bracket.

[0012] The aforementioned rail travel vehicle with multi-dimensional adjustment of module posture, the shield is also provided with a horizontal locking groove, and the horizontal deflection locking bolt passes through the horizontal locking groove and is fastened to the upper surface of the travel vehicle box.

[0013] The aforementioned rail travel vehicle for adjusting the module posture in multiple dimensions comprises a box body and a travel mechanism, and the box body is also provided with a control unit for controlling the movement of the travel mechanism, the pitch angle adjustment mechanism and the horizontal deflection angle adjustment mechanism.

[0014] The aforementioned rail travel vehicle for adjusting the module posture in multiple dimensions, the rail is formed by connecting multiple sections, and one end of each section is processed into a wedge-shaped pin column, and the other end is processed into a wedge-shaped pin hole adapted to the above-mentioned wedge-shaped pin column.

[0015] Compared with the prior art, the utility model has obvious advantages and beneficial effects. By means of the above technical solution, the utility model can achieve considerable technical progress and practicality, and has wide industrial utilization value, and has at least the following advantages:

[0016] The utility model well realizes multi-dimensional adjustment of module posture, providing users with multi-scenario application experience; realizes the acquisition of module operation performance data under different postures, and improves the flexibility and convenience of module testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a front view of the rail travel vehicle for adjusting the module posture in multiple dimensions according to the utility model;

[0018] Figure 2 A side view of the rail travel vehicle for adjusting the module posture in multiple dimensions according to the utility model;

[0019] Figure 3is a schematic diagram of the track structure;

[0020] Figure 4 for Figure 3 A partial enlarged view of

[0021] Figure 5 It is a structural schematic diagram of the horizontal deflection angle adjustment mechanism;

[0022] Figure 6 A schematic diagram of the composition of the control unit.

[0023]

Main component symbol description

[0024] 1: Track; 2: Traveling mechanism and box; 3: Horizontal deflection angle adjustment mechanism; 4: Pitch angle adjustment mechanism; 5: Control unit; 1.1: Wedge-shaped pin; 1.2: Wedge-shaped pin hole; 1.3: Tightening lock; 1.4.1: Deceleration magnet; 1.4.2: Parking magnet; 1.4.3: Over-distance limit magnet; 1.5: Mechanical limit block; 2.1: Motor; 2.2: Reducer; 2.3: Wheel set; 2.4: Brake components; 2.5: Box; 2.6: Control unit; 2.7: Supply Electrical unit; 2.8: remote control transceiver; 3.1: plane bearing; 3.2: horizontal deflection locking bolt; 3.3: transmission gear; 3.4: first integrated motor reducer; 3.5: protective cover; 3.6: horizontal locking groove; 4.1: bracket; 4.2: clamp; 4.3: module protective box; 4.4: pitch angle adjustment transmission gear set; 4.5: pitch angle adjustment locking bolt; 4.6: second integrated motor reducer; 4.7: bearing seat; 4.8: pitch locking groove; 4.9: rotating shaft. DETAILED DESCRIPTION

[0025] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation method, structure, characteristics and effects of the rail traveling vehicle with multi-dimensional adjustment of module posture proposed by the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0026] See also Figure 1-6 , which is a schematic diagram of the structure of each part of the rail travel vehicle for adjusting the module posture in multiple dimensions of the utility model, the rail travel vehicle comprises a track 1, a travel vehicle 2, a horizontal deflection angle adjustment mechanism 3 and a pitch angle adjustment mechanism 4. The travel vehicle 2 can move along the track 1, the box 2.5 of the travel vehicle 2 is provided with a horizontal deflection angle adjustment mechanism 3, the pitch angle adjustment mechanism 4 is fixed on the horizontal deflection angle adjustment mechanism 3 and can rotate horizontally relative to the box of the travel vehicle 2 under the action of the horizontal deflection angle adjustment mechanism 3, the pitch angle adjustment mechanism 4 is provided with a clamp 4.2 for fixing the module, and the pitch angle adjustment mechanism 4 can make the clamp 4.2 swing relative to the box.

[0027] The pitch angle adjustment mechanism 4 includes a bracket 4.1, a module fixture 4.2, a module protection box 4.3, a pitch angle adjustment transmission gear set 4.4, a pitch angle adjustment locking bolt 4.5 and a second integrated motor reducer 4.6. The pitch angle adjustment mechanism 4 is fixed on the horizontal deflection angle adjustment mechanism 3. Specifically, the bracket 4.1 is fixed on the horizontal deflection angle adjustment mechanism 3. The bracket 4.1 includes a horizontal horizontal side fixed on the horizontal deflection angle adjustment mechanism 3 and two vertical sides relatively fixed at both ends of the horizontal horizontal side, and the upper ends of the two vertical sides are respectively provided with bearing seats 4.7. In this embodiment, the bracket 4.1 is "U" shaped.

[0028] The module protection box 4.3 includes a support base plate and support waists fixed at both ends of the support base plate. In this embodiment, the support waists are arranged relatively, and the distance between the two support waists increases from bottom to top, so that the module protection box is in the shape of an isosceles trapezoid with a large mouth and a small bottom. The module fixture 4.2 is fixed in the module protection box 4.3. Rotating shafts 4.9 are arranged on the outer sides of the two support waists of the module protection box 4.3, and are rotatably connected to the bearing seats 4.7 on the two vertical sides of the bracket 4.1 through the two rotating shafts 4.9. In this embodiment, the rotating shaft 4.9 is located at the center line of the long side direction of the support waist, and its height is the same as the center line of the module fixture 4.2, so that the center of gravity of the module is always on the rotating shaft 4.9 when the module is pitched, thereby reducing the transmission torque of the pitch angle adjustment mechanism 4.

[0029] The bracket 4.1 is also provided with a pitch angle adjustment transmission gear set 4.4, which is located below the module guard box 4.3 and is used to drive the module guard box 4.3 to rotate so as to adjust the pitch angle of the module fixture 4.2 in the module guard box 4.3. The pitch angle adjustment transmission gear set 4.4 includes a small diameter gear 4.4.1 and a large diameter outer gear disc 4.4.2, wherein the large diameter outer gear disc 4.4.2 is welded to the outside of the supporting waist of the module guard box 4.3 and is concentric with the rotating shaft 4.9, and the small diameter gear 4.4.1 is rotatably supported on the bracket 4.1 and meshes with the large diameter outer gear disc 4.4.2 above to drive the large diameter outer gear disc to rotate, so that the module guard box 4.3 rotates with the rotating shaft 4.9 as the axis. In this embodiment, the large diameter outer gear disc 4.4.2 is semicircular, so that the rotation angle of the module guard box 4.3 is not greater than 90 degrees. Preferably, the angle θ between the bottom plate and the waist of the module protection box 4.3 is the supplementary angle of the maximum pitch angle required by the test, so as to minimize the height of the bracket 4.1 while meeting the pitch angle requirement. The small diameter gear 4.4.1 is connected to the output shaft of the second integrated motor reducer 4.6, and the second integrated motor reducer 4.6 is fixed on the bracket 4.1.

[0030] The large diameter outer gear disc 4.4.2 is also provided with a pitch locking groove 4.8, which is in an arc-shaped hollow shape, and the pitch angle adjustment locking bolt 4.5 passes through the pitch locking groove 4.8 and is fastened to the bracket 4.1, thereby locking the rotation position of the module protection box 4.3, so that the module is kept at a specific pitch angle position. Specifically, a fixing seat is extended upward on the adapting horizontal side of the bracket 4.1, and the small diameter gear 4.4.1 is supported on the fixing seat, and the pitch angle adjustment locking bolt 4.5 is located on the fixing seat.

[0031] In this embodiment, the "U"-shaped width of the bracket 4.1 is 460mm, the height is 288mm, the large-diameter outer gear disc of the transmission gear set 4.4 has an outer diameter of 360mm, a thickness of 10mm, and an outer tooth module of 1; the locking bolt 4.5 is M12; the number of teeth of the transmission gear is 14, and the module is 1; the motor of the second integrated motor reducer 4.6 is a 57-type stepper motor, and the reducer speed ratio is 80; the arc-shaped hollow pitch locking groove 4.8 has a width of 12.5mm and an arc of 100° to meet the requirement that the pitch angle adjustment range is at least 45°.

[0032] In this embodiment, the module clamp 4.2 is a double semicircular combined circular bayonet structure, and two clamps are provided. The bottom of the module clamp 4.2 is connected to the upper end surface of the supporting bottom plate of the module protection box 4.3, and the circular bayonet of the two clamps clamps the two ends of the cylindrical module.

[0033] The horizontal deflection angle adjustment mechanism 3 includes a plane bearing 3.1 with an outer gear ring, a horizontal deflection locking bolt 3.2, a transmission gear 3.3, a first integrated motor reducer 3.4 and a shield 3.5. The first integrated motor reducer 3.4 is fixed on the housing 2.5 of the traveling vehicle 2, the transmission gear 3.3 is rotatably supported on the housing 2.5 and connected to the output shaft of the first integrated motor reducer 3.4, and the transmission gear 3.3 is also meshed and connected with the outer gear ring of the plane bearing 3.1 to drive the outer gear ring of the plane bearing 3.1 to rotate. The inner ring of the plane bearing 3.1 is connected to the upper surface of the housing 2.5 of the traveling vehicle 2, and the shield 3.5 is fixed on the outer gear ring of the plane bearing 3.1, so that when the first integrated motor reducer 3.4 drives the transmission gear 3.3 to rotate, the transmission gear 3.3 drives the outer gear ring of the plane bearing 3.1 to rotate, thereby driving the shield 3.5 thereon to rotate, and the pitch angle adjustment mechanism 4 fixed on the shield also rotates accordingly.

[0034] The shield 3.5 is also provided with a horizontal locking groove 3.6, which is in an arc-shaped hollow shape. The horizontal deflection locking bolt 3.2 passes through the horizontal locking groove 3.6 and is fastened to the upper surface of the box 2.5 of the traveling vehicle 2; thereby, the shield 3.5 is fixedly positioned after adjusting its position in the horizontal direction.

[0035] In this embodiment, there are two arc-shaped hollow horizontal locking grooves 3.6, which are evenly distributed on both sides of the horizontal bearing. Each horizontal locking groove 3.6 is provided with a horizontal deflection locking bolt 3.2. The horizontal locking groove 3.6 has a width of 12.5 mm and an arc of 175°. The horizontal deflection locking bolt 3.2 is M12. The plane bearing 3.1 has an outer diameter of 399 mm, an inner diameter of 340 mm, a thickness of 22 mm, and an external tooth module of 1.5. The transmission gear 3.3 has 14 teeth and a module of 1.5. The motor of the first integrated motor reducer 3.4 is a 57-type stepping motor, and the reducer is a worm gear reducer to improve positioning stability, and the speed ratio is 80 to improve the angle adjustment accuracy. The dual fastening function of the worm gear reducer and the locking bolt 3.2 fully guarantees the stability of operation.

[0036] The traveling vehicle comprises a box 2 and a traveling mechanism, wherein the traveling mechanism is composed of a motor 2.1, a reducer 2.2, a wheel set 2.3 and a brake 2.4; a control unit 2.6 and a power supply unit 2.7 are installed in the box 2.5, and the control unit 2.6 is mainly composed of a PLC 2.6.1, a deceleration position detection switch 2.6.3, a parking position detection switch 2.6.4, an overtravel position detection switch 2.6.5, an encoder 2.6.9, a remote control transceiver 2.8.1, a first motor driver 2.6.6, a second motor driver 2.6.7 and a third motor driver 2.6.8, and the power supply unit 2.7 is a battery; wherein the PLC 2.6.1 adopts a Siemens 200smart series PLC, and a touch screen 2.6.2 is provided with a PLC 2.6.1 Communication forms a human-machine dialogue interface, completes intelligent process control and safety protection, wired or wireless communication functions, and has automatic / remote control operation modes. The operating speed can be set arbitrarily within the range of 0-5m / s, the acceleration and deceleration can be set arbitrarily within the range of 0-0.7m / s2, and the travel distance can be set arbitrarily within the total length of the track. Once the acceleration and deceleration, rated speed and travel distance are set, PLC 2.6.1 automatically generates the deceleration point and parking point of this operation after calculation; in the automatic operation mode, the preset number of operations, acceleration and deceleration, and rated speed indicators are completed and the preset reciprocating operation is completed; in the remote control operation mode, the acceleration and deceleration and rated speed indicators set by the remote control are used to complete this trip, and the remote control distance can reach 500m; the parameters can be set and the actual real-time operation status and parameter position can be displayed through the touch screen 2.6.2; the detection switch is installed at the bottom of the traveling vehicle, and the position detection switch uses a magnetic induction contactless switch, which is activated by the magnetic steel induction on the track , a total of 6 switches are set, including forward and reverse deceleration position switch 2.6.3, forward and reverse parking position switch 2.6.4, and forward and reverse overtravel position switch 2.6.5. The deceleration position switch 2.6.3, the parking position switch 2.6.4, and the overtravel position switch 2.6.5 are installed in pairs at both ends of the bottom of the traveling vehicle to realize the maximum forward and reverse travel control and protection respectively; the encoder 2.6.9 is installed on the transmission shaft of the wheel set 2.3, and the signals of the position detection switches 2.6.3-2.6.5 and the encoder 2.6.9 are transmitted to the PLC 2.6.1 is used to calculate the real-time position and speed of the traveling vehicle; the motor 2.1 is connected to the reducer 2.2, the reducer 2.2 is connected to the wheel set 2.3, the brake 2.4 is connected to the motor 2.1, the brake is a normally closed electromagnetic brake (voltage is DC48v), the electromagnetic brake can be manually released to facilitate the movement of the traveling vehicle 2 after a fault, the motor 2.1 is controlled by the first motor driver 2.6.6, wherein the motor 2.1 is a DC servo motor (voltage is DC48v) with closed-loop speed control, the reducer 2.2 is a planetary gear reducer with a speed ratio of 5, the wheel set 2.3 is divided into a driving wheel set and a follower wheel set, the wheel set is a single-axis double-wheel structure, and the wheel body is made of nylon to reduce walking noise.The PLC 2.6.1 has a communication interface with the module, and can read and store the test data of the module. In this embodiment, the box 2.5 is in the shape of a cuboid, with a length×width×height dimension of 1200×800×450 (mm), and the box 2.5 can bear a load of 200kg, but is not limited thereto.

[0037] The motor in the first integrated motor reducer 3.4 is controlled by the second motor driver 2.6.7 in the box 2.5 of the traveling vehicle 2. The motor in the second integrated motor reducer 4.6 is controlled by the third motor driver 2.6.8 in the box 2.5 of the traveling vehicle 2.

[0038] The remote control unit 2.8 is composed of a remote control transceiver 2.8.1 and a remote control 5. The remote control transceiver 2.8.1 is installed in the box 2.5 of the traveling vehicle 2, and the remote control 5 is externally mounted and carried by the operator. The remote control 5 is provided with a touch screen 5.1, through which the walking direction and walking speed of the traveling vehicle 2, the horizontal deflection angle and pitch angle of the module can be controlled in real time, and the operation status and parameters can be viewed in real time.

[0039] The track 1 is formed by connecting multiple sections, one end of each track section is processed into a wedge-shaped pin 1.1 and the other end is processed into a wedge-shaped pin hole 1.2. The connection between adjacent sections is that the wedge-shaped pin 1.1 of this section is connected with the wedge-shaped pin hole 1.2 of the next section. Multiple sections can be overlapped and combined according to the total length of the track required. The track joint gap is ≯0.01mm, the horizontal error of the joint is ≯0.01mm, and the left and right error of the joint is ≯0.01mm. In order to ensure the stability of the connection between adjacent sections of the track, a tightening lock 1.3 combination is used to achieve a flat and tight track joint while also achieving a quick tool-free connection.

[0040] Deceleration magnets 1.4.1, parking magnets 1.4.2, and over-distance limit magnets 1.4.3 are provided at both ends of the total length of the track 1. At any end of the track 1, the deceleration magnets 1.4.1, parking magnets 1.4.2, and over-distance limit magnets 1.4.3 are distributed in the order of gradually approaching the track end along the track extension direction and are installed at staggered positions in the gauge direction. The above-mentioned magnets are installed on the cross braces of the track. Each magnet corresponds to the excitation of its respective deceleration, parking, and over-distance limit switches to ensure the action accuracy, effectiveness, and reliability of the deceleration, parking, and over-distance limit switches. That is, the forward and reverse deceleration magnets 1.4.1 correspond to the forward and reverse deceleration position switches 2.6.3, the forward and reverse parking magnets 1.4.2 correspond to the forward and reverse parking position switches 2.6.4, the forward and reverse over-distance limit magnets 1.4.3 correspond to the forward and reverse over-travel position switches 2.6.5. The deceleration magnets 1.4.1, parking magnets 1.4.2, and over-distance limit magnets 1.4.3 and their respective corresponding deceleration position switches 2.6.3, parking position switches 2.6.4, and over-travel position switches 2.6.5 achieve forward and reverse maximum travel control and protection. Once the acceleration, deceleration, rated speed, and travel distance are set through the touch screen 2.6.2 or the remote control 5, the PLC 2.6.1 will automatically generate the deceleration point and the parking point for this operation after calculation. At this time, if the travel distances of the deceleration point and the parking point are less than the corresponding travel distances limited by the magnets, the walking vehicle will decelerate and stop according to the deceleration point and the parking point calculated by the PLC 2.6.1, but the deceleration point and the parking point limited by the magnets still play a backup protection role.

[0041] Mechanical limit blocks 1.5 are also provided at both ends of the total length of the track to prevent the walking vehicle from rushing out of the track in case of a malfunction, thus ensuring the driving safety of the walking vehicle. The mechanical limit blocks 1.5 are elastic, and the strength of the elasticity is preferably such that the braking deceleration is not greater than 2g when the walking vehicle 2冲向 the mechanical limit blocks 1.5 at the maximum load and the rated speed.

[0042] In this embodiment, the track 1 is made of aluminum alloy rectangular tube material to improve portability. The specifications of the aluminum alloy rectangular tube are 50x25x3 (mm), with one section every 2 meters, and the weight of each section is 7.96 kg, reducing the labor intensity of the staff during handling, splicing, and storage; each section is set as a "day" - shaped frame structure, with a gauge of 900 mm and a cross brace spacing of 1000 mm.

[0043] The utility model well realizes the real - time control of the walking direction and walking speed of the track walking vehicle, and through the intelligent automatic / remote control operation mode, it realizes the function of one - person multi - control. The intelligent control saves personnel configuration and reduces labor intensity, having great economic and social benefits.

[0044] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A track traveler for adjusting the module posture in multiple dimensions, comprising a track and a traveler, characterized in that: A horizontal deflection angle adjustment mechanism is provided on the box body of the traveling vehicle, and the horizontal deflection adjustment mechanism includes a plane bearing whose inner ring is fixed on the upper surface of the box body, a shield fixed on the outer gear ring of the plane bearing, a first integrated motor reducer fixed on the box body, and a transmission gear connected to the output shaft of the first integrated motor reducer, and the transmission gear is also engaged with the outer teeth of the plane bearing; a pitch angle adjustment mechanism is fixedly arranged on the top of the shield, and the pitch angle adjustment mechanism includes a bracket fixed on the shield and a module protection box rotatably supported on the bracket, and a module clamp is fixedly arranged on the module protection box; the bracket is also provided with a pitch angle adjustment transmission gear set for driving the module protection box to rotate.

2. The rail-mounted vehicle for adjusting the module posture in multiple dimensions according to claim 1, characterized in that: The pitch angle adjustment transmission gear set comprises a small diameter gear, a large diameter outer gear disc and a second integrated motor reducer that drives the small diameter gear to rotate, wherein the large diameter outer gear disc is located above the small diameter gear and is fixedly connected to the module protection box.

3. The rail-mounted vehicle for adjusting the module posture in multiple dimensions according to claim 2, characterized in that: The large-diameter outer gear disc is concentric with the rotating shaft.

4. The rail-mounted vehicle for adjusting the module posture in multiple dimensions according to claim 3, characterized in that: The module protection box includes a supporting bottom plate and supporting waist parts fixed on both sides of the bottom plate. The cross section of the module protection box is a trapezoid with a small bottom and a large top, and the angle θ between the supporting bottom plate and the supporting waist part is the supplementary angle of the maximum pitch angle required by the test.

5. The rail-mounted vehicle for adjusting the module posture in multiple dimensions according to claim 4, characterized in that: The bracket is U-shaped, and bearing seats are arranged on both vertical sides of the bracket. The module protection box is connected with the bearing seats through a rotating shaft fixed on the outer side of the supporting waist.

6. The rail-mounted vehicle for adjusting the module posture in multiple dimensions according to claim 5, characterized in that: The rotation axis is at the same height as the center line of the module fixture.

7. The rail-mounted vehicle for adjusting the module posture in multiple dimensions according to any one of claims 2 to 6, characterized in that: The large-diameter outer gear disc is also provided with a pitch locking groove, and the pitch angle adjustment locking bolt passes through the pitch locking groove and is fastened to the bracket.

8. The rail-mounted vehicle for adjusting the module posture in multiple dimensions according to claim 7, characterized in that: The guard cover is also provided with a horizontal locking groove, and the horizontal deflection locking bolt passes through the horizontal locking groove and is fastened to the upper surface of the traveling vehicle box body.

9. The rail-mounted vehicle for adjusting the module posture in multiple dimensions according to claim 8, characterized in that: The traveling vehicle comprises a box and a traveling mechanism, wherein a control unit for controlling the movement of the traveling mechanism, the pitch angle adjustment mechanism and the horizontal deflection angle adjustment mechanism is arranged in the box; a remote control transceiver connected to the control unit and a remote controller outside the box are also arranged in the box.

10. The rail-mounted vehicle for adjusting the module posture in multiple dimensions according to claim 9, characterized in that: The track is connected by multiple sections, and one end of each section is processed into a wedge-shaped pin column, and the other end is processed into a wedge-shaped pin hole adapted to the wedge-shaped pin column.

Images