CN101934827B

CN101934827B - Running gear with double-expansion-arm magnetic wheels

Info

Publication number: CN101934827B
Application number: CN2009100723940A
Authority: CN
Inventors: 韩宏波
Original assignee: Individual
Current assignee: Individual
Priority date: 2009-06-29
Filing date: 2009-06-29
Publication date: 2012-02-08
Anticipated expiration: 2029-06-29
Also published as: CN101934827A

Abstract

The invention discloses a running gear with double-expansion-arm magnetic wheels, which is mainly used for running on the inner surface and the outer surface of magnetic steel tubes and is characterized in that a front support tube and a back supporting tube can be rotated in a front copper bush and a back copper bush; the rotation at any direction can be realized by utilizing front and the back rotation motors through front and back rotation driving synchronizing wheels, front and back rotation driven synchronizing wheels and front and back rotation synchronizing belts; when front and back rubber axles are parallel to form a plane, a driving cross arm and a driven cross arm are parallel under a sweep template; forward and backward running is realized by the front and the back drive motors and front and back chains; and when the front and the back rotation motors drive the running gear to steer, especially when the front and the back rubber axles approach the same axis, the driving cross arm and the driven cross arm are clockwise and counterclockwise expanded to the upright position of the sweep template to avoid the tipping of the running gear on the drive of an expansion arm drive motor through a driving expansion synchronizing wheel, a driven expansion synchronizing wheel and an expansion arm synchronizing belt.

Description

The two exhibition of band arm magnet-wheel running gear

Technical field:

The present invention relates to a kind of device that is used in the inside and outside surface walking of magnetic steel pipe.

Background technology:

Current, some device in magnetic inside and outside surface walking all is the mode that adopts four magnetic wheel type double-crawler types basically, and oad is all very big, and manoevreability is poor, adapts to various surperficial difficulty in walking and especially is very easy to tumble in the vertical surface walking.

Summary of the invention:

It is little that the present invention is intended to propose a kind of appearance and size; Good and the two arm magnet-wheel running gears of opening up of band that on vertical plane, do not tumble of mobility; Its concrete technical scheme is: steer motor and rear steering motor before below the sweep two ends, being fixed with; Before preceding steering spindle and steering spindle upper end, back are fixed with, turn to main synchronizing wheel with after turn to main synchronizing wheel, forward and backward steering spindle lower end links to each other with forward and backward steer motor respectively, preceding stay pipe of insertion and rear supporting tube in the preceding copper sheathing on fixing sweep and the back copper sheathing; Respectively on preceding stay pipe and rear supporting tube before the assembly jump ring with the back jump ring; Again preceding turn to from synchronizing wheel with after turn to from synchronizing wheel and be separately fixed at back and front supporting pipe upper center, the front wheel driving motor is fixed on the front shoe, the rear drive motor is fixed on the rear fixed plate; The upper end of stay pipe and rear supporting tube before again front shoe, rear fixed plate being respectively fixed to; Stay pipe and rear supporting tube lower end before preceding level board and back level board be fixed on, preceding be fixed on the rubber wheel shaft from driven wheel in the middle of, fix two preceding rubber wheels in that rubber wheel shaft two ends are symmetrical again; Before with two front-wheel support plates the rubber wheel shaft being associated in rotationally below the level board; The back is fixed on the rubber wheel shaft in the middle of the rubber wheel after two from driven wheel, with two trailing wheel support plates the rubber wheel shaft is rotatably fixed to below the level board of back, and two preceding magnet-wheels are connected outside two front-wheel support plates by preceding magnet-wheel axle; Magnet-wheel is connected two trailing wheel support plate outsides by back magnet-wheel axle after two; Preceding main driven wheel and the main driven wheel in back are separately fixed on front motor axle and the rear motor axle, preceding main driven wheel and preceding are connected together from driven wheel by preceding cochain hole and preceding down chain hole with preceding chain again, with the back chain by chain hole under cochain hole, back and the back after main driven wheel and after connect together from driven wheel; With before turning to synchronous band before turning to main synchronizing wheel to connect together with before turning to from synchronizing wheel, with after turn to synchronous band after turn to main synchronizing wheel and after turn to from synchronizing wheel and connect together; Exhibition arm drive motors is fixed on the sweep centre position; And the main fixing master's of the going up exhibition in the axle middle part synchronizing wheel of opening up that links to each other with exhibition arm drive motors; Main exhibition axle lower end and main transverse arm are fixed together; Main universal wheel is fixed together by perpendicular arm of main exhibition and main transverse arm, is fixed on blocking and can rotate with axle from exhibition axle copper sheathing on the sweep passing from the exhibition axle, will be fixed in the middle of the exhibition axle from the exhibition synchronizing wheel again; Be fixed with from transverse arm from an exhibition axle lower end, from universal wheel by being fixed on from transverse arm from opening up perpendicular arm.

Its principle of work is: the back and front supporting pipe can rotate in forward and backward copper sheathing; The power resources of its rotation are in forward and backward steer motor; And turn to main synchronizing wheel through forward and backward, forward and backwardly turn to from synchronizing wheel and forward and backwardly turn to synchronous band to realize that any direction turns to.When plane of the parallel formation of the rubber wheel shaft of two forward and backward rubber wheels, main transverse arm with from transverse arm and corresponding master and slave cardan wheel with regard to parallel below sweep.Through forward and backward drive motor, forward and backward chain, forward and backward main driven wheel and forward and backward from driven wheel realization front and back walking; When forward and backward steer motor driving turns to; The rubber wheel rays close of especially current, latter two rubber wheel is when same axis; Main transverse arm reaches from transverse arm under exhibition arm drive motor drives; Through main exhibition synchronizing wheel, from exhibition synchronizing wheel and exhibition arm synchronously band carry out suitable, conter clockwise is expanded to and the sweep upright position, thereby avoided this device to tumble.

Technical scheme involved in the present invention is rational in infrastructure simple, and design is unique and ingenious, is prone to production and processing, will be used widely.

Description of drawings:

Fig. 1. the two exhibition of band arm magnet-wheel running gear front view

Fig. 2. the two exhibition of band arm magnet-wheel running gear birds-eye view

Fig. 3. the two exhibition of band arm magnet-wheel running gear A-A is to view

Fig. 4. the two exhibition of band arm magnet-wheel running gear B-B is to view

Wherein:

1, preceding steer motor 2, preceding steering shaft 3, preceding crossover port

4, sweep 5, preceding main synchronizing wheel 6, the synchronizing wheel bolt of turning to

7, preceding turn to be with 8 synchronously, preceding turning to from synchronizing wheel 9, front shoe

10, before driving motor 11, front motor axle 12, preceding chain

13, preceding main driven wheel 14, preceding cochain hole 15, front shoe

16, preceding support tube 17, preceding copper sheathing 18, exhibition arm drive motor

19, rear drive motor 20, back chain 21, rear motor axle

22, the main driven wheel in back 23, cochain hole, back 24, rear fixed plate

25, rear supporting tube 26, after turn to from synchronizing wheel 27, after turn to synchronous band

28, turn to main synchronizing wheel 29, back steering shaft 30, back crossover port after

31, rear steering motor 32, back jump ring 33, back horizontal plate

34, trailing wheel support plate 35, back rubber wheel 36, back magnet-wheel

37, back magnet-wheel axle 38, back from driven wheel 39, back chain hole down

40, back copper sheathing 41, main cardan wheel 42, main transverse arm

43, main exhibition synchronizing wheel 44, main exhibition arm 45, exhibition axis hole

46, preceding horizontal plate 47, preceding from driven wheel 48, front-wheel support plate

49, preceding rubber wheel 50, preceding magnet-wheel 51, preceding magnet-wheel axle

52, preceding chain hole 53 down, preceding jump ring 54, the perpendicular arm of main exhibition

55, from an exhibition axle copper sheathing 56, from transverse arm 57, from cardan wheel

58, from open up perpendicular arm 59, from exhibition axle 60, from the exhibition synchronizing wheel

61, axle card 62, exhibition arm be with 63 synchronously, the rubber wheel shaft

The specific embodiment:

At first below sweep (4) rear and front end, fixedly go forward steer motor (1) and rear steering motor (31); Steering shaft (2) passes through preceding crossover port (3) and turns to main synchronizing wheel (5) before sweep (4) and upper end are fixed with simultaneously, back steering shaft (29) also pass sweep (4) through back crossover port (30) and be fixed with after turn to main synchronizing wheel (28); Be fixed on preceding copper sheathing (17) and back copper sheathing (40) on sweep (4) line of centers again; Put into preceding copper sheathing (17) to preceding support tube (16); On the preceding support tube (16) at preceding copper sheathing (17) two ends, upper and lower two preceding jump rings (53) are housed; In back copper sheathing (40), put into rear supporting tube (25) and last be equipped with two after jump ring (32), back and front supporting pipe (16), (25) can only be rotated in forward and backward copper sheathing (17), (40), can not about play.

, preceding support tube (16) upper center turns to before being fixed with from synchronizing wheel (8); Be fixed with front shoe (15) in the top again; Go up fixedly before driving motor (10) at front shoe (15), before main driven wheel (13) be fixed on the front motor axle (11), preceding horizontal plate (46) is fixed on preceding support tube (16) lower end; Before be fixed in the middle of the rubber wheel shaft (63) from driven wheel (47); Two ends are fixed with two preceding rubber wheels (49), and rubber wheel shaft (63) is fixed to through two front-wheel support plates (48) below the preceding horizontal plate (46), and rubber wheel shaft (63) can rotate between two front-wheel support plates (48).Two preceding magnet-wheels (50) are fixed on front-wheel support plate (48) outside through preceding magnet-wheel axle (51); Two preceding magnet-wheels (50) are gone up rotatable at preceding magnet-wheel axle (51), connect preceding main driven wheel (13) and preceding from driven wheel (47) through preceding cochain hole (14) and preceding following chain hole (52) with preceding chain (12).After turn to from synchronizing wheel (26), rear fixed plate (24), back main driven wheel (22), rear drive motor (19), back horizontal plate (33), back magnet-wheel (36), back magnet-wheel axle (37), back rubber wheel (35) and back chain (20) mounting means with in proper order with fwd before rubber wheel parts such as (49) consistent.

With before turn to synchronous band (7) will be before turn to main synchronizing wheel (5) and before turn to from synchronizing wheel (8) and connect together, with after turn to synchronous band (27) after turn to main synchronizing wheel (28) and after turn to from synchronizing wheel (26) and connect together.

Exhibition arm drive motor (18) fixedly on sweep (4) midway location; Main exhibition axle (44) has main exhibition synchronizing wheel (43) through exhibition axis hole (45) center fixed; Its lower end is fixed with main transverse arm (42), and main cardan wheel (41) is fixed on the main transverse arm (42) through the perpendicular arm (54) of main exhibition; From exhibition axle (59) pass be fixed on sweep (4) behind exhibition axle copper sheathing (55), load onto axle card (61); To be fixed on from exhibition axle (59) middle part from exhibition synchronizing wheel (60) again; Fixing from exhibition axle (59) lower end from transverse arm (56); From cardan wheel (57) through being fixed on from transverse arm (56), through exhibition arm drive motor (18), main exhibition axle (44), main exhibition synchronizing wheel (43), be with (62) to realize that master and slave transverse arm (42), (56) are suitable, C.C.W. launches and reset synchronously from exhibition synchronizing wheel (60) and exhibition arm from opening up perpendicular arm (58).Enforcement finishes.

Claims

1. be with two exhibition arm magnet-wheel running gears for one kind, it is characterized in that:

Steer motor and rear steering motor before below the sweep two ends, being fixed with; Before preceding steering spindle and steering spindle upper end, back are fixed with, turn to main synchronizing wheel with after turn to main synchronizing wheel; Forward and backward steering spindle lower end links to each other with forward and backward steer motor respectively; Stay pipe and rear supporting tube before inserting in preceding copper sheathing on fixing sweep and the back copper sheathing, jump ring and back jump ring before the assembly on preceding stay pipe and rear supporting tube respectively, again preceding turn to from synchronizing wheel and after turn to from synchronizing wheel and be separately fixed at back and front supporting pipe upper center; The front wheel driving motor is fixed on the front shoe; The rear drive motor is fixed on the rear fixed plate, and the upper end of stay pipe and rear supporting tube before again front shoe, rear fixed plate being respectively fixed to is fixed on preceding stay pipe and rear supporting tube lower end to preceding level board and back level board; Preceding be fixed on the rubber wheel shaft from driven wheel in the middle of; Two preceding rubber wheels on rubber wheel shaft two ends symmetries is fixing again, before with two front-wheel support plates the rubber wheel shaft being associated in rotationally below the level board, the back is fixed on the middle rubber wheel shaft of rubber wheel after two from driven wheel; With two trailing wheel support plates the rubber wheel shaft be rotatably fixed to the back level board below; Two preceding magnet-wheels are connected two front-wheel support plates outsides by preceding magnet-wheel axle, and magnet-wheel is connected two trailing wheel support plates outsides by back magnet-wheel axle after two, preceding main driven wheel with after main driven wheel be separately fixed on front motor axle and the rear motor axle; Preceding main driven wheel and preceding is connected together from driven wheel by preceding cochain hole and preceding down chain hole with preceding chain again; Main driven wheel in back and back are connected together from driven wheel the chain hole down by cochain hole, back and back with the back chain, with before turning to synchronous band to connect together before turning to main synchronizing wheel and before turning to from synchronizing wheel, with after turn to synchronous band after turn to main synchronizing wheel and after turn to from synchronizing wheel and connect together; Exhibition arm drive motors is fixed on the sweep centre position; And the main fixing master's of the going up exhibition in the axle middle part synchronizing wheel of opening up that links to each other with exhibition arm drive motors; Main exhibition axle lower end and main transverse arm are fixed together; Main universal wheel is fixed together by perpendicular arm of main exhibition and main transverse arm, is fixed on blocking and can rotate with axle from exhibition axle copper sheathing on the sweep passing from the exhibition axle, will be fixed in the middle of the exhibition axle from the exhibition synchronizing wheel again; Be fixed with from transverse arm from an exhibition axle lower end, from universal wheel by being fixed on from transverse arm from opening up perpendicular arm.