CN103587604A - Magnetic force climbing vehicle - Google Patents

Magnetic force climbing vehicle Download PDF

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Publication number
CN103587604A
CN103587604A CN201310528724.9A CN201310528724A CN103587604A CN 103587604 A CN103587604 A CN 103587604A CN 201310528724 A CN201310528724 A CN 201310528724A CN 103587604 A CN103587604 A CN 103587604A
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China
Prior art keywords
magnetic force
magnetic
climbing car
force climbing
magnet piece
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CN201310528724.9A
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CN103587604B (en
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史国权
曹国华
吕琼莹
王德民
陶希家
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Changchun University of Science and Technology
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Changchun University of Science and Technology
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Publication of CN103587604A publication Critical patent/CN103587604A/en
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Abstract

The invention provides a magnetic force climbing vehicle. The magnetic force climbing vehicle comprises a vehicle frame (100), a motor (200), a transmission device (300), a walking mechanism (400) and a plurality of magnetic force suction cups (500), wherein the motor (200) is fixed on the vehicle frame (100), and the walking mechanism (400) is a crawler type and comprises at least two sets of chain wheels (411 and 412) and two transmission chains (420) meshed with the two sets of chain wheels (411 and 412). Each magnetic force suction cup (500) is provided with a magnet used for attracting the magnetic force climbing vehicle to the tower wall made of steel and iron materials of a tower to be climbed through magnetic force. The motor (200) drives the chain wheels of the walking mechanism (400) to rotate to drive the two transmission chains (420) to roll, and accordingly the magnetic force climbing vehicle is driven to move along the tower wall.

Description

A kind of magnetic force climbing car
Technical field
The present invention relates to a kind of magnetic force climbing car, specifically, relate to a kind of for magnetic force climbing car mobile on tower of wind generating set barrel.
Background technology
Wind energy more and more comes into one's own as a kind of clean regenerative resource.Utilize wind power generation plant wind energy can be converted to electric energy, wind-power electricity generation neither needs fuel, also can not produce radiation or aerial contamination.The required device of wind-power electricity generation mainly comprises the tower cylinder of wind wheel, generator set and steel.Wind-force drives wind wheel rotation, the kinetic energy of wind is converted to mechanical energy, the mechanical energy that generator set obtains wind wheel is converted to electric energy, and tower cylinder is the framework that supports wind wheel and generator set, in order to obtain more greatly and more uniform wind-force, tower cylinder is highly set to 80～100 meters or over 100 meters, and along with tower cylinder highly increases, tower cylinder diameter reduces ， China gradually, the tower cylinder base diameter of 1.5MW main flow wind power generating set is 4.5 meters, and tower cylinder top diameter is 2.4 meters.In addition, generator set generating capacity is stronger, tower cylinder required arrange highly higher.
Tower cylinder highly brings great inconvenience for service personnel in plant maintenance process.Carrying out wind power equipment while safeguarding, be provided with the cat ladder that connects tower cylinder bottom and top in tower cylinder inside, maintainer adopts the mode of free-hand climbing, not still to human physiology and psychological challenge, and the danger fallen of existence.And equipment and part lift by hoisting crane, but due to the increase of mass penalty and the hoisting depth of weight, lifting precision is reduction accordingly also.And along with the trend that generator set maximizes, the mode of free-hand climbing and crane hanging component can not meet the requirement of wind power equipment upkeep operation.Thereby, need a kind of equipment maintainer and equipment part can be delivered to the arbitrary height of tower cylinder, and take back safely ground.
Summary of the invention
The object of the present invention is to provide a kind of magnetic force climbing car, this magnetic force climbing car can lean on magnetic-adsorption on the tower barrel of iron and steel material quality, and along tower barrel, climb under the driving of engine installation, the load-carrying capacity of this magnetic force climbing car is strong, maintainer, equipment and part can be delivered to the arbitrary height of tower cylinder.
For achieving the above object, the invention provides a kind of magnetic force climbing car, this magnetic force climbing car comprises: vehicle frame, and described vehicle frame comprises many vertical bars and many horizon bars that are connected described many vertical bars, in described vehicle frame rear end, be provided with bracing frame, vehicle frame is provided with a plurality of adapter plates; Electrical motor, described electrical motor is fixed on the bracing frame of described vehicle frame, is bolted with support frame as described above and fixes; Driving device, described driving device is comprised of multiple strand chain transmission device, and the sprocket wheel of every one-level chain drive and messenger chain are all symmetrically arranged, for the axle of sprocket wheel is installed, are fixed on the adapter plate of vehicle frame by flange, and sprocket wheel is positioned at the two ends of described axle; Traveling gear, described traveling gear is crawler type, by sprocket wheel, messenger chain and a plurality of magnetic suction disc, formed, described sprocket wheel and messenger chain are all symmetrically arranged, for the axle of sprocket wheel is installed, be fixed on the adapter plate of vehicle frame by flange, sprocket wheel is positioned at the two ends of described axle, and described in each, magnetic suction disc is fixed by connecting strap and described messenger chain, described magnetic suction disc comprises bracket, a plurality of magnet piece and a plurality of elastomer block, is intervally distributed with described magnet piece and described elastomer block on described bracket.
Preferably, described bracket is made by permeability magnetic material.
Preferably, described magnetic patch is permanent magnet.
Preferably, the magnetic pole of adjacent described magnetic patch is contrary.
Preferably, described magnetic patch is shaped as cube.
Preferably, the height of described elastomer block is greater than the height of magnetic patch.
In addition, preferably, the elastomer block near two ends in described bracket has curved surfaces.
According to description above and put into practice known, one, the magnetic patch in magnetic suction disc produces enough large adsorption affinity to tower barrel, elastomer block contacts generation and rubs with tower barrel, this friction force straight up and the gravitational equilibrium of magnetic force climbing car and load; Magnetic force climbing car and electrical motor drives driving device, and drive traveling gear to realize the climbing sports along outer wall of wind power tower by this driving device, therefore can realize climbing function automatically on tower barrel.They are two years old, the magnetic patch that a plurality of magnetic poles are contrary is spaced apart and arranged in magnetic suction disc, and forms magnetic boots with the bracket of magnetic conduction, all can increase the adsorption affinity of single magnetic patch, thereby the adsorption affinity that can realize unit mass magnetic patch is maximum, to increase the lifting weight of magnetic force climbing car.
Accompanying drawing explanation
By below in conjunction with accompanying drawing, embodiment being described, above-mentioned feature of the present invention and technological merit will become apparent and easily understand.
Fig. 1 is the schematic diagram of the magnetic force climbing car described in one embodiment of the present of invention;
Fig. 2 shows the vehicle frame schematic diagram of the magnetic force climbing car described in Fig. 1;
Fig. 3 shows transmission device and the walking structure schematic diagram of the magnetic force climbing car described in Fig. 1;
Fig. 4 shows the magnetic suction disc schematic diagram of the magnetic force climbing car described in Fig. 1.
The specific embodiment
The embodiment of magnetic force climbing car of the present invention is described below with reference to the accompanying drawings.Those of ordinary skill in the art can recognize, without departing from the spirit and scope of the present invention in the situation that, can to described embodiment, revise with various mode or its combination.Therefore, the embodiment of the accompanying drawings and the description below is illustrative in itself, rather than for limiting the protection domain of claim.In addition, in this manual, accompanying drawing is schematically, not necessarily by actual ratio, draws device of the present invention.And identical Reference numeral represents identical part in each accompanying drawing.
Fig. 1 is the schematic diagram of the magnetic force climbing car described in one embodiment of the present of invention.Fig. 2 shows the vehicle frame schematic diagram of the magnetic force climbing car described in Fig. 1.Fig. 3 shows driving device and the walking structure schematic diagram of the magnetic force climbing car described in Fig. 1.Fig. 4 shows the magnetic suction disc schematic diagram of the magnetic force climbing car described in Fig. 1.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the magnetic force climbing car 1000 of one embodiment of the present of invention comprises vehicle frame 100, electrical motor 200, driving device 300, traveling gear 400 and magnetic suction disc 500.
Vehicle frame 100 comprises many vertical bars, many horizon bars, a plurality of adapter plate and bracing frames.In one embodiment of the invention, as shown in Figure 2, vehicle frame 100 comprises the horizon bar 121,122,123,124 of two vertical bars 110 and four vertical connecting bars 110, between horizon bar 121 and horizon bar 122, be provided with adapter plate 141, between horizon bar 123 and horizon bar 124, be provided with adapter plate 142,143, on the sidewall of adapter plate 141,142,143, be equipped with a plurality of through holes, between horizon bar 123 and horizon bar 124, be provided with bracing frame 130, bracing frame is provided with a plurality of through holes.
Electrical motor 200 is fixed on vehicle frame 100, is conventionally fixed on bracing frame 130, and electrical motor 200 drives driving device, for reducing the output speed of electrical motor 200, with the output torque of increasing motor 200.In one embodiment of the invention, electrical motor 200 both sides respectively drive two groups of messenger chains that intersect vertically.Referring to Fig. 3, the transmission of first order chain comprises as the sprocket wheel 311 of drive sprocket with as the sprocket wheel 312 of driven sprocket, by messenger chain 321, connect, second stage chain transmission comprises as the sprocket wheel 313 of drive sprocket with as the outer sprocket wheel 314 of driven sprocket, by messenger chain 322, connects.The diameter of driven sprocket 312 is greater than the diameter of drive sprocket 311, and the diameter of driven outer sprocket wheel 314 is greater than the diameter of drive sprocket 313.Drive sprocket 313 diameters in the second stage are less than the diameter of first order driven sprocket 312.Two relative sprocket wheels 311 are fastened on the output shaft 210 of electrical motor 200 by key, two relative sprocket wheels 312 and two relative sprocket wheels 313 are all fastened on axle 330 by key, the two ends of axle 330 are all supported by bearing 350, bearing 350 is positioned at flange 340 inner sides, and flange 340 is bolted on the adapter plate 143 that is fixed on vehicle frame 100.
Traveling gear comprises a plurality of sprocket wheels (411,412), many messenger chains and a plurality of flanges etc.In one embodiment of the invention, as shown in Figure 3, traveling gear is provided with two groups of sprocket wheels (411, 412), between horizon bar 123 and horizon bar 124, be provided with first group of sprocket wheel 411, it comprises two sprocket wheels 411, these two sprocket wheels 411 are fixed on an adapter shaft 431, rotating coaxially, in each sprocket wheel 411 outside, be provided with outer sprocket wheel 314, sprocket wheel 411 is coaxial with outer sprocket wheel 314 and all by key, be connected and axle 431(or 432) fixing, the two ends of axle 431 are all supported by bearing 461, bearing 461 is positioned at flange 451 inner sides, flange 451 is bolted on the adapter plate 142 that is fixed on vehicle frame 100.Between horizon bar 121 and horizon bar 122, be provided with another group sprocket wheel, this group sprocket wheel comprises two sprocket wheels 412 large with sprocket wheel 411 grades, be positioned at sprocket wheel 411 and sprocket wheel 412 and messenger chain 420 engagements of the same side, sprocket wheel 412 centers are provided with through hole, two relative sprocket wheels 412 are fastened on axle 432 by key, when first group of sprocket wheel 411 rotates under the driving of electrical motor 200, first group of sprocket wheel 411 drives messenger chain 420 to roll forward or backward, thereby make magnetic force climbing car, moves forward or successively.The two ends of axle 432 are all supported by bearing 462, and bearing 462 is positioned at flange 452 inner sides, and flange 452 is bolted on the adapter plate 141 that is fixed on vehicle frame 100.
Magnetic suction disc 500 comprises bracket 510, and is fixed on a plurality of magnetic patch 520 in bracket 510, sees Fig. 4.Preferably, bracket 510 is made by permeability magnetic material; Magnetic patch 520 is permanent magnet.The two ends of bracket 510 are connected with messenger chain 420 by connecting strap 440.In the present embodiment, every joint messenger chain 420 connects a magnetic suction disc 500, and every joint messenger chain 420 is equipped with connecting strap 440, and connecting strap 440 is provided with through hole, the through hole at bracket 510 base plate two ends overlaps with through hole on the connecting strap 440 of messenger chain 420, is bolted fixing.Referring to Fig. 4, on bracket 510, be provided with support slot, a plurality of magnetic patch 520 are arranged in support slot.At the two ends of support slot, be provided with elastomer block 531 or elastic strip 533, for the protection of frangible magnetic patch 520, avoid colliding the sidewall of support slot., between adjacent magnetic patch 520, being provided with the elastomer block 532 higher than magnetic patch, its diff-H is 1～2mm.
Preferably, the magnetic pole of adjacent magnetic patch 520 is contrary.First, polylith magnetic patch 520 is used the adsorption affinity that contributes to increase single magnetic patch 520 simultaneously; Secondly, adopt the elastomer block 520 of insulation to be placed between the magnetic patch 520 that two adjacent magnetic poles are contrary, between synonyms pole, there is higher magnetic induction line density, can improve the adsorption affinity of magnetic patch 520; Finally, between the bracket 510 of magnetic patch 520 and magnetic conduction, can form magnetic boots, to increase the adsorption affinity of magnetic patch 520.Preferably, magnetic patch 520 be shaped as cube, with respect to the magnetic patch of other shapes, the adsorption affinity of the unit mass magnet of cube magnetic patch 520 is the strongest.Preferably, the height of elastomer block 531 and elastomer block 532 is all greater than the height of magnetic patch 520, its diff-H is 1～2mm, neither affect the adsorption affinity between magnetic patch 520 and tower barrel, can avoid again magnetic patch 520 to be directly adsorbed on tower barrel, the impact bringing with the friction of eliminating between magnetic patch 520 and tower barrel.Preferably, the interior elastomer block 531 near two ends of bracket 510 has curved surfaces.The elastomer block 531 at bracket 510 interior two ends is consistent with the radian of the circular surface of tower cylinder, in magnetic suction disc 500 moving process, more adapts to the cylindrical surface of tower cylinder.In the present embodiment, at three magnetic patch 520 of the interior placement of bracket 510, the magnetic pole of adjacent magnetic patch 520 is contrary.Magnetic patch 520 be shaped as cube, its each limit length of side is 40mm.Between three adjacent magnetic patch 520, be provided with rubber block 532, rubber block 532 height are a little more than magnetic patch 520 height, and its diff-H is 1～2mm.And the end face of magnetic patch 520 is preferably circular arc, its radian of magnetic suction disc is consistent with the radian of tower barrel.
Magnetic force climbing car 1000 is adjusted to attitude, make its direction for straight up, then by climbing car 1000 gradually near tower cylinder until with the adhesive of tower cylinder, restart electrical motor 200, electrical motor 200 drives sprocket wheel 311 rotations of both sides, drive messenger chain 321 rotations, messenger chain 321 band movable sprocket 312 rotations, axle 330 rotates thereupon, and be with movable sprocket 313 to rotate, sprocket wheel 313 rotarily drives messenger chain 322, outer sprocket wheel 314 rotates thereupon, axle 431 is along with outer sprocket wheel 314 rotations, axle 431 band movable sprocket 411 rotations, sprocket wheel 411 rotarily drives messenger chain 420, messenger chain 420 band movable sprocket 412 rotations.The magnetic suction disc 500 being connected with messenger chain 420 by connecting strap 440 is along with the variation of messenger chain 420 positions changes, along tower barrel, realizing the soaring of vertical direction moves, maintainer, equipment and part and magnetic force climbing car are fixed, drive the motion of magnetic force climbing car, can change it at the height of vertical direction.
According to description above and put into practice known, one, the magnetic patch in magnetic suction disc produces enough large adsorption affinity to tower barrel, elastomer block contacts generation and rubs with tower barrel, this friction force straight up and the gravitational equilibrium of magnetic force climbing car and load; Magnetic force climbing car and electrical motor drives driving device, and drive traveling gear to realize the climbing sports along outer wall of wind power tower, therefore can realize climbing function automatically on tower barrel.They are two years old, the magnetic patch that a plurality of magnetic poles are contrary is spaced apart and arranged in magnetic suction disc, and forms magnetic boots with the bracket of magnetic conduction, all can increase the adsorption affinity of single magnetic patch, thereby the adsorption affinity that can realize unit mass magnetic patch is maximum, to increase the lifting weight of magnetic force climbing car.
Under above-mentioned instruction of the present invention; those skilled in the art can carry out various improvement and distortion on the basis of above-described embodiment; and these improvement and distortion; all drop in protection scope of the present invention; those skilled in the art should be understood that; above-mentioned specific descriptions are just explained object of the present invention better, and protection scope of the present invention is limited by claim and equivalent thereof.

Claims (9)

1. a magnetic force climbing car, comprising:
Vehicle frame;
Electrical motor, is fixed on the bracing frame of described vehicle frame;
Crawler type walking mechanism, comprise at least two group sprocket wheels, with two groups of messenger chains of described sprocket engagement;
Magnetic suction disc, is provided with magnet on it, for magnetic force climbing car being adsorbed on by magnetic force to the tower wall that will climb;
Wherein, sprocket rotation described at least one group of direct motor drive, to drive described two groups of messenger chains to roll, thereby drives described magnetic force climbing car to move.
2. magnetic force climbing car as claimed in claim 1,
Also comprise driving device, electrical motor is by sprocket rotation described in actuator drives.
3. magnetic force climbing car as claimed in claim 1, wherein,
Described magnetic suction disc comprises a plurality of magnetic suction discs, be arranged between described two groups of messenger chains, and can carry out along with the rolling of messenger chain crawler-mounted rolling, thereby make always to have at least one magnetic suction disc face the tower wall that will climb and magnetic force climbing car is adsorbed on to Ta Bishang.
4. magnetic force climbing car as claimed in claim 1, wherein, described in each, magnetic suction disc comprises bracket, is arranged on a plurality of magnet pieces in bracket.
5. magnetic force climbing car as claimed in claim 4, wherein, is provided with elastomer block between each magnet piece and between magnet piece and bracket sidewall, to prevent between magnet piece and the collision of magnet piece and bracket and cause magnet piece damaged.
6. the magnetic force climbing car as described in claim 4 or 5, wherein, described bracket is made by permeability magnetic material.
7. the magnetic force climbing car as described in claim 4 or 5, wherein, described magnet piece is permanent magnet or electromagnet.
8. magnetic force climbing car as claimed in claim 1, wherein, the magnetic pole of adjacent described magnetic patch is contrary.
9. magnetic force climbing car as claimed in claim 5, wherein, the height of described elastomer block is greater than the height of magnet piece, to avoid magnet piece and the collision of described tower wall.
CN201310528724.9A 2013-10-31 2013-10-31 A kind of magnetic force climbing car Active CN103587604B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107310651A (en) * 2016-04-26 2017-11-03 广西大学 A kind of crawler type electromagnetic adsorption climbing robot walking mechanism
CN110303477A (en) * 2019-07-05 2019-10-08 北京理工大学 Magnetic driving soft robot and its manufacturing method, workbench

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2764694Y (en) * 2005-02-02 2006-03-15 胡广怀 Automatically descaling and spraying paint engineering truck
CN201633804U (en) * 2009-11-03 2010-11-17 大连海事大学 Climbing robot for descaling ship walls
CN202201082U (en) * 2011-08-15 2012-04-25 福建工程学院 Crawler-type wall-climbing adsorption structure

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
CN2764694Y (en) * 2005-02-02 2006-03-15 胡广怀 Automatically descaling and spraying paint engineering truck
CN201633804U (en) * 2009-11-03 2010-11-17 大连海事大学 Climbing robot for descaling ship walls
CN202201082U (en) * 2011-08-15 2012-04-25 福建工程学院 Crawler-type wall-climbing adsorption structure

Non-Patent Citations (1)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107310651A (en) * 2016-04-26 2017-11-03 广西大学 A kind of crawler type electromagnetic adsorption climbing robot walking mechanism
CN110303477A (en) * 2019-07-05 2019-10-08 北京理工大学 Magnetic driving soft robot and its manufacturing method, workbench
CN110303477B (en) * 2019-07-05 2021-01-05 北京理工大学 Magnetic drive soft robot and manufacturing method and working platform thereof

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