CN103587604B - A kind of magnetic force climbing car - Google Patents
A kind of magnetic force climbing car Download PDFInfo
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- CN103587604B CN103587604B CN201310528724.9A CN201310528724A CN103587604B CN 103587604 B CN103587604 B CN 103587604B CN 201310528724 A CN201310528724 A CN 201310528724A CN 103587604 B CN103587604 B CN 103587604B
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Abstract
The present invention provides a kind of magnetic force climbing car, including: vehicle frame (100); Motor (200), is fixed on described vehicle frame (100); Actuating device (300); Walking mechanism (400), described walking mechanism is crawler type, including two driving-chains (420) of at least two group sprocket wheels (411,412) and this at least two groups sprocket engagement; And multiple magnetic suction disc (500) composition. Described magnetic suction disc is provided with magnet on (500), for magnetic force climbing car being adsorbed on by magnetic force the tower wall being made up of ferrous materials of the tower to climb, motor (200) drives the sprocket wheel of walking mechanism (400) to rotate, to drive two driving-chains (420) to roll, thus driving magnetic force climbing car to move along tower wall.
Description
Technical field
The present invention relates to a kind of magnetic force climbing car, specifically, relate to a kind of magnetic force climbing car for movement on tower of wind generating set barrel.
Background technology
Wind energy increasingly comes into one's own as the regenerative resource of a kind of cleaning. Utilizing wind power generation plant wind energy can be converted to electric energy, wind-power electricity generation had not both needed fuel, without producing radiation or air pollution. Needed for wind-power electricity generation, device mainly includes the tower of wind wheel, generating set and steel. Wind-force drives wind wheel to rotate, the kinetic energy of wind is converted to mechanical energy, the mechanical energy that wind wheel is obtained by generating set is converted to electric energy, and tower is to support the framework of wind wheel and generating set, in order to obtain bigger and more uniform wind-force, tower height is set to 80～100 meters or more than 100 meters, and along with tower height increases, tower diameter is gradually reduced, in China, the tower base diameter of 1.5MW main flow wind power generating set is 4.5 meters, and atop a tower diameter is 2.4 meters. It addition, generating set generating capacity is more strong, then needed for tower, rational height is more high.
Tower height brings great inconvenience for attendant in plant maintenance process. When carrying out wind power equipment and safeguarding, being provided with and connect bottom tower and the cat ladder at top inside tower, maintainer adopts the mode of free-hand climbing, not still to human physiology and psychological challenge, and there is the danger fallen. And equip and lifted by crane with part, but owing to the quality of weight increases the increase with hoisting depth, lifting precision also reduces accordingly. And, along with the trend that generating set maximizes, the mode of free-hand climbing and crane hanging component can not meet the requirement of wind power equipment upkeep operation. It is then desired to a kind of equipment can deliver to maintainer and equipment part the arbitrary height of tower, and take back ground safely.
Summary of the invention
It is an object of the invention to provide a kind of magnetic force climbing car, this magnetic force climbing car can lean on magnetic-adsorption on the tower wall of iron and steel material quality, and climb along tower wall under the driving of power set, the load capacity of this magnetic force climbing car is strong, it is possible to maintainer, equipment and part are delivered to the arbitrary height of tower.
For achieving the above object, the present invention provides a kind of magnetic force climbing car, and this magnetic force climbing car includes: vehicle frame, and described vehicle frame includes many vertical bars and connects many horizon bars of described many vertical bars, being provided with bracing frame in described vehicle frame rear end, vehicle frame is provided with multiple fixing plate; Motor, described motor is fixed on the bracing frame of described vehicle frame, is bolted and fixes with support frame as described above; Actuating device, described actuating device is made up of multiple strand chain drive mechanism, and the sprocket wheel of every one-level chain-drive mechanism and driving-chain are all symmetrically arranged, is fixed on the fixing plate of vehicle frame by flange for installing the axle of sprocket wheel, and sprocket wheel is positioned at the two ends of described axle; Walking mechanism, described walking mechanism is crawler type, it is made up of sprocket wheel, driving-chain and multiple magnetic suction disc, described sprocket wheel and driving-chain are all symmetrically arranged, be fixed on the fixing plate of vehicle frame by flange for installing the axle of sprocket wheel, sprocket wheel is positioned at the two ends of described axle, and each described magnetic suction disc is fixed with described driving-chain by connecting sheet, described magnetic suction disc includes bracket, multiple magnetic piece and multiple elastomer block, and described bracket is intervally distributed with described magnetic piece and described elastomer block. Preferably, described bracket is made by permeability magnetic material. Described sprocket wheel at least two group.
Preferably, described magnetic piece is permanent magnet or electric magnet.
Preferably, the magnetic pole of adjacent described magnetic piece is contrary.
Preferably, described block shape is cube.
Preferably, the height of described elastomer block is more than the height of magnetic piece.
Furthermore it is preferred that the elastomer block near two ends has curved surfaces in described bracket.
As described above and practice it can be seen that one, tower wall is produced sufficiently large absorption affinity by the magnetic piece in magnetic suction disc, and elastomer block contact generation and rubs with tower wall, the gravitational equilibrium of this frictional force straight up and magnetic force climbing car and load; And, motor drives actuating device, and drives walking mechanism to realize the climbing sports along outer wall of wind power tower by this actuating device, therefore magnetic force climbing car can realize automatically climbing function on tower wall. They are two years old, the magnetic piece that multiple 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 absorption affinity of single magnetic piece, such that it is able to the absorption affinity realizing unit mass magnetic piece is maximum, to increase the lifting weight of magnetic force climbing car.
Accompanying drawing explanation
By embodiment being described below in conjunction with accompanying drawing, the features described above of the present invention and technological merit will become apparent with easy to understand.
Fig. 1 is the schematic diagram of the magnetic force climbing car described in one embodiment of the present of invention;
Fig. 2 illustrates the vehicle frame schematic diagram of the magnetic force climbing car described in Fig. 1;
Fig. 3 illustrates drive mechanism and the walking structure schematic diagram of the magnetic force climbing car described in Fig. 1;
Fig. 4 illustrates the magnetic suction disc schematic diagram of the magnetic force climbing car described in Fig. 1.
Detailed description of the invention
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 will be consequently realised that, when without departing from the spirit and scope of the present invention, it is possible to various different modes or its combination, described embodiment is modified. Therefore, the embodiment of the accompanying drawings and the description below is inherently illustrative, rather than is used for limiting scope of the claims. Additionally, in this manual, accompanying drawing is schematic, it is not necessary to draw assembly of the invention by actual ratio. Further, identical in various figures accompanying drawing labelling represents identical part.
Fig. 1 is the schematic diagram of the magnetic force climbing car described in one embodiment of the present of invention. Fig. 2 illustrates the vehicle frame schematic diagram of the magnetic force climbing car described in Fig. 1. Fig. 3 illustrates actuating device and the walking structure schematic diagram of the magnetic force climbing car described in Fig. 1. Fig. 4 illustrates 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 includes vehicle frame 100, motor 200, actuating device 300, walking mechanism 400 and magnetic suction disc 500.
Vehicle frame 100 includes many vertical bars, many horizon bars, multiple fixing plate and bracing frame. In one embodiment of the invention, as shown in Figure 2, vehicle frame 100 includes two vertical bars 110 and four horizon bars 121,122,123,124 connecting vertical bar 110, fixing plate 141 it is provided with between horizon bar 121 and horizon bar 122, fixing plate 142,143 it is provided with between horizon bar 123 and horizon bar 124, being equipped with multiple through hole on the sidewall of fixing plate 141,142,143, be provided with bracing frame 130 between horizon bar 123 and horizon bar 124, bracing frame is provided with multiple through hole.
Motor 200 is fixed on vehicle frame 100, is typically secured on bracing frame 130, and motor 200 drives actuating device, for reducing the output speed of motor 200, to increase the output torque of motor 200.In one embodiment of the invention, motor 200 both sides respectively drive two groups of driving-chains intersected vertically. Referring to Fig. 3, first order Chain conveyer includes the sprocket wheel 311 as drive sprocket and the sprocket wheel 312 as driven sprocket, being connected by driving-chain 321, second level Chain conveyer includes the sprocket wheel 313 as drive sprocket and the outer sprocket wheel 314 as driven sprocket, is connected by driving-chain 322. The diameter of driven sprocket 312 is more than the diameter of drive sprocket 311, and the diameter of driven outer sprocket wheel 314 is more than the diameter of drive sprocket 313. Second level drive sprocket 313 diameter is less than the diameter of first order driven sprocket 312. Two relative sprocket wheels 311 are fastened on the output shaft 210 of motor 200 by key, two relative sprocket wheels 312 and two relative sprocket wheels 313 are fastened on axle 330 each through key, the two ends of axle 330 support each through bearing 350, bearing 350 is positioned at inside flange 340, and flange 340 is bolted on the fixing plate 143 being fixed on vehicle frame 100.
Walking mechanism include multiple sprocket wheel 411,412, a plurality of driving-chain and multiple flanges etc. in one embodiment of the invention, in conjunction with shown in Fig. 1 and Fig. 3, walking mechanism is provided with two groups of sprocket wheels 411, 412, between horizon bar 123 and horizon bar 124, it is provided with first group of sprocket wheel 411, it includes two sprocket wheels 411, the two sprocket wheel 411 is fixed on one and connects on axle 431, rotating coaxially, outer sprocket wheel 314 it is provided with outside each sprocket wheel 411, sprocket wheel 411 is coaxial with outer sprocket wheel 314 and connects fixing with axle 431 or 432 each through key, the two ends of axle 431 support each through bearing 461, bearing 461 is positioned at inside flange 451, flange 451 is bolted on the fixing plate 142 being fixed on vehicle frame 100. between horizon bar 121 and horizon bar 122, it is provided with another group sprocket wheel, this group sprocket wheel includes two sprocket wheels 412 big with sprocket wheel 411 grade, the sprocket wheel 411 and the sprocket wheel 412 that are positioned at the same side engage with a driving-chain 420, sprocket wheel 412 center is provided with through hole, two relative sprocket wheels 412 are fastened on axle 432 by key, when first group of sprocket wheel 411 is when being rotated by of motor 200, first group of sprocket wheel 411 drives driving-chain 420 to roll forward or backward, so that magnetic force climbing car moves forward or successively. the two ends of axle 432 support each through bearing 462, and bearing 462 is positioned at inside flange 452, and flange 452 is bolted on the fixing plate 141 being fixed on vehicle frame 100.
Magnetic suction disc 500 includes bracket 510 and the multiple magnetic piece 520 being fixed in bracket 510, sees Fig. 4. Preferably, bracket 510 is made by permeability magnetic material; Magnetic piece 520 is permanent magnet. The two ends of bracket 510 are connected with driving-chain 420 by connecting sheet 440. In the present embodiment, often joint driving-chain 420 connects a magnetic suction disc 500, and often joint driving-chain 420 is equipped with connection sheet 440, connects sheet 440 and is provided with through hole, the through hole at bracket 510 base plate two ends overlaps with through hole on the connection sheet 440 of driving-chain 420, is bolted fixing. Referring to Fig. 4, being provided with support slot on bracket 510, multiple magnetic piece 520 are arranged in support slot. Elastomer block 531 or elastic strip 533 it is provided with, for protecting frangible magnetic piece 520, it is to avoid collide the sidewall of support slot at the two ends of support slot. , it being provided with the elastomer block 532 higher than magnetic piece between adjacent magnetic piece 520, its difference in height is 1～2mm.
Preferably, the magnetic pole of adjacent magnetic piece 520 is contrary. First, polylith magnetic piece 520 uses the absorption affinity contributing to increasing single magnetic piece 520 simultaneously;Secondly, adopt the elastomer block 520 of insulation to be placed between two contrary magnetic piece of adjacent magnetic pole 520, there is between synonyms pole higher magnetic induction line density, it is possible to improve the absorption affinity of magnetic piece 520; Finally, between the bracket 510 of magnetic piece 520 and magnetic conduction, magnetic boots can be formed, to increase the absorption affinity of magnetic piece 520. Preferably, magnetic piece 520 be shaped as cube, relative to the magnetic piece of other shapes, the absorption affinity of the unit mass Magnet of cube magnetic piece 520 is the strongest. Preferably, the height of elastomer block 531 and elastomer block 532 is all higher than the height of magnetic piece 520, its difference in height is 1～2mm, neither affect the absorption affinity between magnetic piece 520 and tower wall, magnetic piece 520 can be avoided again to directly adsorb on tower wall, to eliminate the impact that the friction between magnetic piece 520 and tower wall brings. Preferably, in bracket 510, the elastomer block 531 at close two ends has curved surfaces. In bracket 510, the elastomer block 531 at two ends is consistent with the radian of the circular surface of tower, in magnetic suction disc 500 moving process, more adapts to the cylindrical surface of tower. In the present embodiment, placing three pieces of magnetic piece 520 in bracket 510, the magnetic pole of adjacent magnetic piece 520 is contrary. Magnetic piece 520 be shaped as cube, its each limit length of side is 40mm. Being provided with block rubber 532 between three adjacent magnetic piece 520, block rubber 532 height is slightly above magnetic piece 520 height, and its difference in height is 1～2mm. And, the end face of magnetic piece 520 is preferably in circular arc, and its radian of magnetic suction disc is consistent with the radian of tower wall.
Magnetic force climbing car 1000 is adjusted attitude, make its direction for straight up, then climbing car 1000 is moved closer to tower until with tower adhesive, restart motor 200, motor 200 drives the sprocket wheel 311 of both sides to rotate, driving-chain 321 is driven to rotate, driving-chain 321 band movable sprocket 312 rotates, axle 330 rotates with, and band movable sprocket 313 rotates, sprocket wheel 313 rotarily drives driving-chain 322, outer sprocket wheel 314 rotates with, axle 431 rotates along with outer sprocket wheel 314, axle 431 band movable sprocket 411 rotates, sprocket wheel 411 rotarily drives driving-chain 420, driving-chain 420 band movable sprocket 412 rotates. the magnetic suction disc 500 being connected with driving-chain 420 by connecting sheet 440 changes along with the change of driving-chain 420 position, namely realize the soaring of vertical direction along tower wall to move, maintainer, equipment and part and magnetic force climbing car are fixed, drive the motion of magnetic force climbing car, then can change its height at vertical direction.
As described above and practice it can be seen that one, tower wall is produced sufficiently large absorption affinity by the magnetic piece in magnetic suction disc, and elastomer block contact generation and rubs with tower wall, the gravitational equilibrium of this frictional force straight up and magnetic force climbing car and load; And, motor drives actuating device, and drives walking mechanism to realize the climbing sports along outer wall of wind power tower, therefore magnetic force climbing car can realize automatically climbing function on tower wall. They are two years old, the magnetic piece that multiple 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 absorption affinity of single magnetic piece, such that it is able to the absorption affinity realizing unit mass magnetic piece is maximum, to increase the lifting weight of magnetic force climbing car.
Under the above-mentioned instruction of the present invention; those skilled in the art can carry out various improvement and deformation on the basis of above-described embodiment; and these improve and deformation; all it is within the scope of the present invention; those skilled in the art should be understood that; above-mentioned specific descriptions simply explain the purpose of the present invention better, and protection scope of the present invention is limited by claim and equivalent thereof.
Claims (6)
1. a magnetic force climbing car, including:
Vehicle frame;
Motor, is fixed on the bracing frame of described vehicle frame;
Crawler type walking mechanism, two groups of driving-chains and multiple magnetic suction disc including at least two group sprocket wheels and described sprocket engagement, wherein, described magnetic suction disc is arranged between described two groups of driving-chains, and caterpillar rolling can be carried out along with the rolling of driving-chain, each described magnetic suction disc is included bracket, installs within the carrier and multiple magnetic piece spaced apart and multiple elastomer block, for magnetic force climbing car is adsorbed on by magnetic force the tower wall to climb;
Wherein, sprocket wheel described in motor-driven least one set rotates, to drive described two groups of driving-chains to roll, thus driving described magnetic force climbing car to move.
2. magnetic force climbing car as claimed in claim 1,
Also including actuating device, motor is rotated by sprocket wheel described in actuator drives.
3. magnetic force climbing car as claimed in claim 1, wherein, described bracket is made by permeability magnetic material.
4. magnetic force climbing car as claimed in claim 1, wherein, described magnetic piece is permanent magnet or electric magnet.
5. magnetic force climbing car as claimed in claim 1, wherein, the magnetic pole of adjacent described magnetic piece is contrary.
6. magnetic force climbing car as claimed in claim 1, wherein, the height of described elastomer block is more than the height of magnetic piece, to avoid magnetic piece and the collision of described tower wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310528724.9A CN103587604B (en) | 2013-10-31 | 2013-10-31 | A kind of magnetic force climbing car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310528724.9A CN103587604B (en) | 2013-10-31 | 2013-10-31 | A kind of magnetic force climbing car |
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| Publication Number | Publication Date |
|---|---|
| CN103587604A CN103587604A (en) | 2014-02-19 |
| CN103587604B true CN103587604B (en) | 2016-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310528724.9A Active CN103587604B (en) | 2013-10-31 | 2013-10-31 | A kind of magnetic force climbing car |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107310651A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of crawler type electromagnetic adsorption climbing robot walking mechanism |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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