CN107738702B - Furnace tube outer wall walking mechanism with guiding and obstacle crossing function - Google Patents
Furnace tube outer wall walking mechanism with guiding and obstacle crossing function Download PDFInfo
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- CN107738702B CN107738702B CN201710953501.5A CN201710953501A CN107738702B CN 107738702 B CN107738702 B CN 107738702B CN 201710953501 A CN201710953501 A CN 201710953501A CN 107738702 B CN107738702 B CN 107738702B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The present invention relates to the furnace tube outer wall walking mechanisms with guiding and obstacle crossing function, by left traveling wheel, left directive wheel, left Stump-jump wheel, right traveling wheel, right directive wheel, right Stump-jump wheel, power wheel shaft and vehicle frame composition, left traveling wheel, left directive wheel, left Stump-jump wheel, right traveling wheel, right directive wheel, right Stump-jump wheel and power wheel shaft constitute self-powered walking unit, by self-powered walking unit, the furnace tube outer wall walking mechanism with guiding and obstacle crossing function walked on left furnace tube outer wall and right furnace tube outer wall is formed with the identical second self-powered walking unit of self-powered walking unit and vehicle frame, in addition increase and the identical third self-powered walking unit of self-powered walking unit and the second vehicle frame, one triple axle walked on left furnace tube outer wall and right furnace tube outer wall of the second self-powered walking unit hinged in series composition is shared with guiding by two vehicle frames and is got over Hinder the furnace tube outer wall walking mechanism of function, walking mechanism can be realized walking, guiding and obstacle detouring on left furnace tube outer wall and right furnace tube outer wall.
Description
Technical field
The furnace tube outer wall walking mechanism with guiding and obstacle crossing function that the present invention relates to a kind of, belongs to vehicle chassis technology neck
Domain, in particular to special cylindrical type rail vehicle operation technique range.
Background technique
In many commercial plants in China, such as oil plant, part pyrolysis furnace, heating furnace heating tube in section of convection chamber are by several rows of
Regular and horizontally disposed finned tube or studded tube composition, fin or ailhead can increase the external surface area of boiler tube, be conducive to heat
Transmission improves heat transfer efficiency.In the process of running, the solid particles such as the oil coke in inner flue gas of the stove, powdered carbon, sulfide, minerals
When mutually colliding with heating tube in section of convection chamber outer wall, partial particulate is deposited on the fin surface of furnace tube outer wall under the action of inertia force
Or head surface.Meanwhile the corrosive mediums such as sulfur dioxide in flue gas have certain corrosiveness to boiler tube, corrosion product also holds
Easily it is adhered to furnace tube outer wall.With the extension of stove runing time, the dirt of furnace tube outer wall accumulation is more and more.It is dirty when serious
Dirt all wraps up boiler tube, can not see the fin or ailhead of furnace tube outer wall substantially, greatly reduces the biography of heating tube in section of convection chamber
Hot property causes convection cell flue gas exit temperature to increase, the decline of stove heat transfer efficiency.In order to guarantee that stove has good heat transfer
Performance, it is therefore desirable to periodically furnace tube outer wall be cleaned.Furnace internally finned tube or studded tube may be up to tens of rice, diameter
At 0.1 meter or more, the tube sheet being used to support is distributed among it, tube sheet is 0.12 meter wide, it is higher by 0.03 meter of top layer boiler tube, and
Finned tube or the multi-layer intercrossed arrangement of studded tube, neighbouring finned tube or studded tube are arranged at triangular pitch or hexagon.
Currently, the cleaning of furnace tube outer wall dirt is divided into online cleaning and cleaning of stopping work, cleaning of stopping work is stopped transport the phase in stove
Between clean furnace tube outer wall dirt, main means be dry ice cleaning, chemical spray cleaning.Since these clean methods cannot clean
The finned tube or studded tube of depths bottom, cause cleaning efficiency low, cleaning effect is poor in furnace.Patent No. US 2014/
The patent of 0014141Al realizes mechanization by being mounted with the creeper truck of the swingable angle spray boom walking operations on furnace tube outer wall
Substitution is accomplished manually the cleaning to furnace tube outer wall, and with the cleanable multilayer furnace tube outer wall of the swing of spray boom, cleaning effect mentions significantly
Height, but this creeper truck cannot achieve whole process along boiler tube axis walking operations on furnace tube outer wall, while encounter sagging plate
When, it can not voluntarily cross tube sheet obstacle.
Summary of the invention
The invention aims to provide a kind of furnace tube outer wall walking mechanism with guiding and obstacle crossing function, solve in furnace
Walking in pipe outer wall, and can be realized along furnace tube outer wall guiding and cross the function of sagging plate obstacle, to complete pair
The cleaning and detection of furnace tube outer wall provide job platform.
It is as follows in order to reach the technical solution that the purpose of the present invention is taken:
Furnace tube outer wall walking mechanism with guiding and obstacle crossing function includes: left traveling wheel (1), left directive wheel (2), Zuo Yue
Barrier wheel (3), right traveling wheel (5), right directive wheel (6), right Stump-jump wheel (7), power wheel shaft (9) and vehicle frame (13), left Stump-jump wheel (3)
It is tooth form with the outer rim of right Stump-jump wheel (7), tooth height is set as h, and the outer rim of left directive wheel (2) and right directive wheel (6) is respectively that a left side is led
To the conical surface (4) and the right guiding conical surface (8), left traveling wheel (1) and left Stump-jump wheel (3) and power wheel shaft (9) coaxial line connect firmly and around
Vehicle frame (13) rotation, left directive wheel (2) rotates around power wheel axis (9) coaxial line to be coupled, right traveling wheel (5) and right Stump-jump wheel (7)
It connects firmly with power wheel shaft (9) coaxial line and is rotated around vehicle frame (13), right directive wheel (6) rotates around power wheel axis (9) coaxial line to be joined
It connects, left traveling wheel (1) is walked on left furnace tube outer wall (15), and right traveling wheel (5) is walked on right furnace tube outer wall (16), and left lateral is walked
The wheelspan for taking turns (1) and right traveling wheel (5) is b, and the center of left furnace tube outer wall (15) and right furnace tube outer wall (16) is away from for a, it is desirable that a=
B, left directive wheel (2) and right directive wheel (6) are arranged in the left side of left furnace tube outer wall (15) and the right side of right furnace tube outer wall (16)
Side, the left guiding conical surface (4) and the left side of left furnace tube outer wall (15) are tangent, the right side of right the guiding conical surface (8) and right furnace tube outer wall (16)
Side is tangent, and left Stump-jump wheel (3) and right Stump-jump wheel (7) are arranged in left side and the right furnace tube outer wall (16) of left furnace tube outer wall (15)
Right side, the maximum tip diameter of left traveling wheel (1) and right traveling wheel (5) is d1, left directive wheel (2) and right directive wheel (6)
Maximum tip diameter is d2, the maximum tip diameter of left Stump-jump wheel (3) and right Stump-jump wheel (7) is d3, it is desirable that d3> d2+2h、d2>
d1, left traveling wheel (1), left directive wheel (2), left Stump-jump wheel (3), right traveling wheel (5), right directive wheel (6), right Stump-jump wheel (7) and
Power wheel shaft (9) constitutes outer guiding, the self-powered walking unit (10) of outer obstacle detouring, and self-powered walking unit (10) is about power wheel shaft
(9) axis midpoint (11) symmetrically, by self-powered walking unit (10), with self-powered walking unit (10) identical second self-powered
Walking unit (12) and vehicle frame (13) form one walk on left furnace tube outer wall (15) and right furnace tube outer wall (16) with leading
To the furnace tube outer wall walking mechanism with obstacle crossing function；In mechanism walking process: left traveling wheel (1) and right traveling wheel (5) provide row
Walk driving force, left Stump-jump wheel (3) and right Stump-jump wheel (7) idle running, the left side phase of left the guiding conical surface (4) and left furnace tube outer wall (15)
Cut and the right guiding conical surface (8) and the right side of right furnace tube outer wall (16) it is tangent, realize have guiding and obstacle crossing function boiler tube outside
Guiding of the wall walking mechanism when walking on left furnace tube outer wall (15) and right furnace tube outer wall (16), when self-powered walking unit (10) exists
Walking encounters sagging plate (17) and needs to cross sagging plate (17) obstacle on left furnace tube outer wall (15) and right furnace tube outer wall (16)
When, the left Stump-jump wheel (3) and right Stump-jump wheel (7) of self-powered walking unit (10) no longer dally, but rely on their tooth form outer rim
Sagging plate (17) obstacle is crossed under power wheel shaft (9) driving and the dragging of the second self-powered walking unit (12), in obstacle detouring mistake
Cheng Zhong, left traveling wheel (1) separate with left furnace tube outer wall (15) and are dallied, right traveling wheel (5) separated with right furnace tube outer wall (16) and
Idle running, similarly, the second self-powered walking unit (12) then crosses sagging plate (17) obstacle and walks on.This hair is constituted as a result,
The bright furnace tube outer wall walking mechanism (as shown in Figure 1,5) with guiding and obstacle crossing function.
In the above-mentioned furnace tube outer wall walking mechanism with guiding and obstacle crossing function, left directive wheel (2) and right directive wheel (6)
The right side of left furnace tube outer wall (15) and the left side of right furnace tube outer wall (16) are arranged in, outside the left guiding conical surface (4) and left boiler tube
The right side of wall (15) is tangent, the right guiding conical surface (8) and the left side of right furnace tube outer wall (16) are tangent, form in guiding, outer obstacle detouring
Self-powered walking unit (as shown in Figure 2).
In the above-mentioned furnace tube outer wall walking mechanism with guiding and obstacle crossing function, left Stump-jump wheel (3) and right Stump-jump wheel (7)
It is arranged in the right side of left furnace tube outer wall (15) and the left side of right furnace tube outer wall (16), forms the self-powered of outer guiding, interior obstacle detouring
Walking unit (as shown in Figure 3).
In the above-mentioned furnace tube outer wall walking mechanism with guiding and obstacle crossing function, left directive wheel (2) and right directive wheel (6)
The right side of left furnace tube outer wall (15) and the left side of right furnace tube outer wall (16) are arranged in, outside the left guiding conical surface (4) and left boiler tube
The right side of wall (15) is tangent, and the right guiding conical surface (8) and the left side of right furnace tube outer wall (16) are tangent, left Stump-jump wheel (3) and right obstacle detouring
Wheel (7) is arranged in the right side of left furnace tube outer wall (15) and the left side of right furnace tube outer wall (16), form in guiding, interior obstacle detouring
Self-powered walking unit (as shown in Figure 4).
In the above-mentioned furnace tube outer wall walking mechanism with guiding and obstacle crossing function, increase complete with self-powered walking unit (10)
It is single to be provided with the walking of the second self-powered on the second vehicle frame (18) for exactly the same third self-powered walking unit (14) and the second vehicle frame (18)
First (12) and third self-powered walking unit (14) are provided with self-powered walking unit (10) on vehicle frame (13) and the second self-powered are walked singly
First (12), vehicle frame (13) and the second vehicle frame (18) share the second self-powered walking unit (12), thus form one outside left boiler tube
The triple axle walked on wall (15) and right furnace tube outer wall (16) has the furnace tube outer wall walking mechanism of guiding and obstacle crossing function, three axis
Formula walking mechanism has more high bearing capacity.
The beneficial effects of the present invention are what is proposed has the furnace tube outer wall walking mechanism of guiding and obstacle crossing function, can
To realize walking, guiding and obstacle detouring on furnace tube outer wall, it can be used for special cylindrical type rail vehicle operation, additionally by mechanism
It is upper load different mechanical device can be used for heating furnace, the mechanized cleaning of Convection Tube of A Cracking Furnace outer wall, dedusting, welding,
Detection and maintenance of pipeline outer wall etc..
Detailed description of the invention
Fig. 1 is the furnace tube outer wall walking mechanism schematic diagram with guiding and obstacle crossing function；
Fig. 2 is the self-powered walking unit schematic diagram of interior guiding, outer obstacle detouring；
Fig. 3 is the self-powered walking unit schematic diagram of outer guiding, interior obstacle detouring；
Fig. 4 is the self-powered walking unit schematic diagram of interior guiding, interior obstacle detouring；
Fig. 5 is that the furnace tube outer wall walking mechanism with guiding and obstacle crossing function overlooks schematic diagram；
Fig. 6 is the furnace tube outer wall walking mechanism schematic diagram that triple axle has guiding and obstacle crossing function；
Fig. 7 is the furnace tube outer wall walking mechanism obstacle detouring schematic diagram with guiding and obstacle crossing function；
Fig. 8 is Stump-jump wheel outer rim tooth form figure；
In figure, (1): left traveling wheel；(2): left directive wheel；(3): left Stump-jump wheel；(4): the left guiding conical surface；(5): right lateral is walked
Wheel；(6): right directive wheel；(7): right Stump-jump wheel；(8): the right guiding conical surface；(9): power wheel shaft；(10): self-powered walking unit；
(11): axis midpoint；(12): the second self-powered walking unit；(13): vehicle frame；(14): third self-powered walking unit；(15): left furnace
Pipe outer wall；(16): right furnace tube outer wall；(17): sagging plate；(18): the second vehicle frame.
Specific embodiment
The embodiment of the present invention is described below according to attached drawing.
The furnace tube outer wall walking mechanism schematic diagram with guiding and obstacle crossing function shown in FIG. 1, comprising: left traveling wheel 1, a left side
Directive wheel 2, left Stump-jump wheel 3, right traveling wheel 5, right directive wheel 6, right Stump-jump wheel 7, power wheel shaft 9 and vehicle frame 13, left 3 He of Stump-jump wheel
The outer rim of right Stump-jump wheel 7 is tooth form, and tooth height is set as h, wherein h=6mm (as shown in Figure 8), and the minimum spacing f between two teeth and
Meet f >=c+2mm between seamed edge fillet c on sagging plate 17, Stump-jump wheel can be effectively reduced in this way and crossing intermediate tube
It is had skidded when 17 obstacle of plate, the voluntarily obstacle performance of hoisting mechanism, the outer rim of left directive wheel 2 and right directive wheel 6 is respectively a left side
It is oriented to the conical surface 4 and the right guiding conical surface 8, taper angle theta=45 ° of left directive wheel 2 and right directive wheel 6, the left guiding conical surface 4 and right guide cone
8 surface of face is smooth, can reduce the friction during the motion between furnace tube outer wall and be reduced simultaneously to the directive wheel guiding conical surface
Abrasion, improves the guide function of directive wheel, left traveling wheel 1 and left Stump-jump wheel 3 and 9 coaxial line of power wheel shaft connects firmly and around vehicle frame 13
Rotation, left directive wheel 2 rotate connection, right traveling wheel 5 and right Stump-jump wheel 7 and 9 coaxial line of power wheel shaft around 9 coaxial line of power wheel axis
It connects firmly and is rotated around vehicle frame 13, right directive wheel 6 is rotated around 9 coaxial line of power wheel axis to be coupled, and left traveling wheel 1 is in left furnace tube outer wall 15
Upper walking, right traveling wheel 5 are walked on right furnace tube outer wall 16, and left traveling wheel 1 and 5 tyre surface coefficient of friction of right traveling wheel are high, movement
The friction between furnace tube outer wall can be increased in the process, be conducive to mechanism and walk on furnace tube outer wall, left traveling wheel 1 and right lateral are walked
The wheelspan of wheel 5 is b, and the center of left furnace tube outer wall 15 and right furnace tube outer wall 16 is away from for a, it is desirable that a=b=199.2mm, left directive wheel
2 and right directive wheel 6 be arranged in the left side of left furnace tube outer wall 15 and the right side of right furnace tube outer wall 16, the left guiding conical surface 4 with it is left
The left side of furnace tube outer wall 15 is tangent, and the right guiding conical surface 8 and the right side of right furnace tube outer wall 16 are tangent, can guarantee mechanism along furnace in this way
Pipe axial-movement realizes that guide function, left Stump-jump wheel 3 and right Stump-jump wheel 7 are arranged in the left side and the right side of left furnace tube outer wall 15
The maximum tip diameter of the right side of furnace tube outer wall 16, left traveling wheel 1 and right traveling wheel 5 is d1, left directive wheel 2 and right directive wheel 6
Maximum tip diameter be d2, the maximum tip diameter of left Stump-jump wheel 3 and right Stump-jump wheel 7 is d3, it is desirable that d3> d2+2h、d2> d1,
The wherein maximum tip diameter d of traveling wheel1=100mm, the maximum tip diameter d of directive wheel2=160mm, the most bull wheel of Stump-jump wheel
Edge diameter d3=180mm, requires in addition that d1>=2e+20mm, wherein e=31mm is that 17 upper surface of sagging plate is higher by outside left boiler tube
The minimum spacing of wall 15, right furnace tube outer wall 16, left traveling wheel 1, left directive wheel 2, left Stump-jump wheel 3, right traveling wheel 5, right directive wheel
6, right Stump-jump wheel 7 and power wheel shaft 9 constitute outer guiding, the self-powered walking unit 10 of outer obstacle detouring, and self-powered walking unit 10 is about dynamic
The axis midpoint 11 of wheels axis 9 is symmetrical, by self-powered walking unit 10 and the identical second self-powered row of self-powered walking unit 10
Unit 12 and vehicle frame 13 are walked according to given wheelbase L=300mm and there is same median symmetry plane to form one outside left boiler tube
That walks on wall 15 and right furnace tube outer wall 16 has the furnace tube outer wall walking mechanism of guiding and obstacle crossing function, which may be implemented
It walks, be oriented to and voluntarily obstacle detouring on furnace tube outer wall.
The self-powered walking unit schematic diagram of interior guiding shown in Fig. 2, outer obstacle detouring, left directive wheel 2 and right directive wheel 6 distinguish cloth
Set the right side in left furnace tube outer wall 15 and the left side of right furnace tube outer wall 16, the right side phase of left the guiding conical surface 4 and left furnace tube outer wall 15
It cuts, the right guiding conical surface 8 and the left side of right furnace tube outer wall 16 are tangent, and left Stump-jump wheel 3 and right Stump-jump wheel 7 are arranged in outside left boiler tube
The right side in the left side of wall 15 and right furnace tube outer wall 16, this it is interior guiding, outer obstacle detouring self-powered walking unit directive wheel be arranged in two furnaces
Between pipe, be conducive to the guide function for improving mechanism.
The self-powered walking unit schematic diagram of outer guiding shown in Fig. 3, interior obstacle detouring, left directive wheel 2 and right directive wheel 6 distinguish cloth
Set the left side in left furnace tube outer wall 15 and the right side of right furnace tube outer wall 16, the left side phase of left the guiding conical surface 4 and left furnace tube outer wall 15
It cuts, the right guiding conical surface 8 and the right side of right furnace tube outer wall 16 are tangent, and left Stump-jump wheel 3 and right Stump-jump wheel 7 are arranged in outside left boiler tube
The left side on the right side of wall 15 and right furnace tube outer wall 16, this it is outer guiding, interior obstacle detouring self-powered walking unit Stump-jump wheel be arranged in two furnaces
Between pipe, be conducive to the voluntarily obstacle performance of hoisting mechanism.
The self-powered walking unit schematic diagram of interior guiding shown in Fig. 4, interior obstacle detouring, left directive wheel 2 and right directive wheel 6 distinguish cloth
Set the right side in left furnace tube outer wall 15 and the left side of right furnace tube outer wall 16, the right side phase of left the guiding conical surface 4 and left furnace tube outer wall 15
It cuts, the right guiding conical surface 8 and the left side of right furnace tube outer wall 16 are tangent, and left Stump-jump wheel 3 and right Stump-jump wheel 7 are arranged in outside left boiler tube
The left side on the right side of wall 15 and right furnace tube outer wall 16, the interior guiding, the self-powered walking unit directive wheel of interior obstacle detouring and Stump-jump wheel are same
When be arranged between two boiler tubes, be conducive to the guiding and voluntarily obstacle crossing function that improve mechanism.
It is shown in fig. 5 that there is guiding and the furnace tube outer wall walking mechanism of obstacle crossing function to overlook schematic diagram, left directive wheel 2 and the right side
Directive wheel 6 is arranged in the left side of left furnace tube outer wall 15 and the right side of right furnace tube outer wall 16, the left guiding conical surface 4 with outside left boiler tube
The left side of wall 15 is tangent, and the right guiding conical surface 8 and the right side of right furnace tube outer wall 16 are tangent, and left Stump-jump wheel 3 and right Stump-jump wheel 7 distinguish cloth
The left side in left furnace tube outer wall 15 and the right side of right furnace tube outer wall 16 are set, in mechanism walking process: left traveling wheel 1 and right traveling wheel
5 provide hoofing part power, and left Stump-jump wheel 3 and right Stump-jump wheel 7 dally, and the left guiding conical surface 4 and the left side of left furnace tube outer wall 15 are tangent,
And the right guiding conical surface 8 and the right side of right furnace tube outer wall 16 it is tangent, realize have guiding and obstacle crossing function furnace tube outer wall walk
Guiding of the mechanism when walking on left furnace tube outer wall 15 and right furnace tube outer wall 16, when self-powered walking unit 10 is in left furnace tube outer wall 15
With when walking encounters sagging plate 17 and needs to cross 17 obstacle of sagging plate on right furnace tube outer wall 16, a left side for self-powered walking unit 10
Stump-jump wheel 3 and right Stump-jump wheel 7 no longer dally, but rely on their tooth form outer rim in the driving of power wheel shaft 9 and the second self-powered row
Walk to cross 17 obstacle of sagging plate under the dragging of unit 12, during obstacle detouring, left traveling wheel 1 separated with left furnace tube outer wall 15 and
Idle running, right traveling wheel 5 are separated with right furnace tube outer wall 16 and are dallied, and the left guiding conical surface 4 and the left furnace tube outer wall 15 of left directive wheel 2 divide
From nontangential, the right guiding conical surface 8 of right directive wheel 6 separated with right furnace tube outer wall 16 it is nontangential, by the second self-powered walking unit 12
Left traveling wheel and right traveling wheel provide hoofing part power, driving mechanism advance (as shown in Figure 7)；When self-powered walking unit 10 is got over
After crossing 17 obstacle of sagging plate, left traveling wheel 1 and right traveling wheel 5 provide hoofing part power, and left Stump-jump wheel 3 and right Stump-jump wheel 7 are empty
Turn, it is left guiding the conical surface 4 and left furnace tube outer wall 15 left side it is tangent and it is right be oriented to the conical surface 8 and right furnace tube outer wall 16 right side phase
It cuts, realizes that the furnace tube outer wall walking mechanism with guiding and obstacle crossing function is walked on left furnace tube outer wall 15 and right furnace tube outer wall 16
When guiding, walk on left furnace tube outer wall 15 and right furnace tube outer wall 16 when the second self-powered walking unit 12 and encounter sagging plate 17
When needing to cross 17 obstacle of sagging plate, the left Stump-jump wheel and right Stump-jump wheel of the second self-powered walking unit 12 no longer dally, but
17 obstacle of sagging plate is crossed under the driving of power wheel shaft and the dragging of self-powered walking unit 10 by their tooth form outer rim,
During obstacle detouring, the left traveling wheel of the second self-powered walking unit 12 is separated with left furnace tube outer wall 15 and is dallied, right traveling wheel and the right side
Furnace tube outer wall 16 separate and dally, the left guiding conical surface of left directive wheel separated with left furnace tube outer wall 15 it is nontangential, right directive wheel
The right guiding conical surface separates nontangential with right furnace tube outer wall 16, is provided by the left traveling wheel 1 and right traveling wheel 2 of self-powered walking unit 10
Hoofing part power, driving mechanism are advanced, and sagging plate obstacle is voluntarily crossed in thus mechanism realization.
Triple axle shown in fig. 6 has the furnace tube outer wall walking mechanism schematic diagram of guiding and obstacle crossing function, increase and self-powered
The identical third self-powered walking unit 14 of walking unit 10 and the second vehicle frame 18 are provided with the second self-powered on second vehicle frame 18
Walking unit 12 and third self-powered walking unit 14 are provided with self-powered walking unit 10 and the second self-powered walking unit on vehicle frame 13
12, vehicle frame 13 and the second vehicle frame 18 share the second self-powered walking unit 12, by self-powered walking unit 10, the second self-powered walking unit
12 and third self-powered walking unit 14 by vehicle frame 13 and 18 hinged in series of the second vehicle frame form one in left 15 He of furnace tube outer wall
The triple axle walked on right furnace tube outer wall 16 has the furnace tube outer wall walking mechanism of guiding and obstacle crossing function；Mechanism walking process
In: six traveling wheels provide hoofing part power, guiding of six directive wheel implementation mechanisms when walking on furnace tube outer wall, when encountering
When 17 obstacle of sagging plate, four traveling wheels provide hoofing part power, and four directive wheel implementation mechanisms are walked on furnace tube outer wall
When guiding, therefore triple axle walking mechanism have more high bearing capacity, and have better guide function.
Furnace tube outer wall walking mechanism with guiding and obstacle crossing function, realizes left and right wheel relative frame central plane
Symmetric motion can make mechanism walk on furnace tube outer wall along boiler tube axis, from without departing from special by two sides directive wheel
Cylindrical type track, can largely meet walking, guiding and the obstacle detouring requirement under particular surroundings on furnace tube outer wall, it can be achieved that
Special cylindrical type rail vehicle operation, and may be implemented to heating furnace by loading different mechanical devices in mechanism, split
Solve mechanized cleaning, dedusting, welding, the detection of pipeline outer wall and the maintenance of furnace heating tube in section of convection chamber outer surface.
Claims (2)
1. the furnace tube outer wall walking mechanism with guiding and obstacle crossing function includes: left traveling wheel, left directive wheel, left Stump-jump wheel, the right side
Traveling wheel, right directive wheel, right Stump-jump wheel, power wheel shaft and vehicle frame, which is characterized in that the outer rim of left Stump-jump wheel and right Stump-jump wheel is
Tooth form, tooth height are set as h, and the outer rim of left directive wheel and right directive wheel is respectively the left guiding conical surface and the right guiding conical surface, left traveling wheel
It connecting firmly with left Stump-jump wheel and power wheel shaft coaxial line and is rotated around vehicle frame, left directive wheel is rotated around power wheel axis coaxial line to be coupled,
Right traveling wheel and right Stump-jump wheel and power wheel shaft coaxial line are connected firmly and are rotated around vehicle frame, and right directive wheel turns around power wheel axis coaxial line
Dynamic connection, left traveling wheel are walked on left furnace tube outer wall, and right traveling wheel is walked on right furnace tube outer wall, and left traveling wheel and right lateral are walked
The wheelspan of wheel is b, and the center of left furnace tube outer wall and right furnace tube outer wall is away from being a, it is desirable that a=b, left directive wheel and right directive wheel are distinguished
It is arranged in the left side of left furnace tube outer wall and the right side of right furnace tube outer wall, the left side of left the guiding conical surface and left furnace tube outer wall is tangent, right
The right side for being oriented to the conical surface and right furnace tube outer wall is tangent, left Stump-jump wheel and right Stump-jump wheel be arranged in the left side of left furnace tube outer wall with
The maximum tip diameter of the right side of right furnace tube outer wall, left traveling wheel and right traveling wheel is d1, left directive wheel and right directive wheel are most
Big tip diameter is d2, the maximum tip diameter of left Stump-jump wheel and right Stump-jump wheel is d3, it is desirable that d3> d2+2h、d2> d1, left lateral walks
Wheel, left directive wheel, left Stump-jump wheel, right traveling wheel, right directive wheel, right Stump-jump wheel and power wheel shaft constitute outer guiding, outer obstacle detouring
Self-powered walking unit, self-powered walking unit are walked about point symmetry in the axis of power wheel shaft by self-powered walking unit, with self-powered
What the identical second self-powered walking unit of unit and vehicle frame composition one were walked on left furnace tube outer wall and right furnace tube outer wall
Furnace tube outer wall walking mechanism with guiding and obstacle crossing function；
The described furnace tube outer wall walking mechanism with guiding and obstacle crossing function, in walking process: left traveling wheel and right traveling wheel
Hoofing part power, left Stump-jump wheel and the idle running of right Stump-jump wheel are provided, the left side of left the guiding conical surface and left furnace tube outer wall is tangent and right
The right side for being oriented to the conical surface and right furnace tube outer wall is tangent, realizes the furnace tube outer wall walking mechanism with guiding and obstacle crossing function in left furnace
Guiding when walking in pipe outer wall and right furnace tube outer wall, when self-powered walking unit is walked on left furnace tube outer wall and right furnace tube outer wall
When encountering sagging plate and needing to cross sagging plate obstacle, the left Stump-jump wheel and right Stump-jump wheel of self-powered walking unit no longer dally,
But their tooth form outer rim is relied on to cross intermediate tube diploe under the driving of power wheel shaft and the dragging of the second self-powered walking unit
Hinder, during obstacle detouring, left traveling wheel is separated with left furnace tube outer wall and dallied, and right traveling wheel separates and empty with right furnace tube outer wall
Turn, similarly, the second self-powered walking unit then crosses sagging plate obstacle and walks on；
In above-mentioned outer guiding, the self-powered walking unit of outer obstacle detouring, by changing left directive wheel and right directive wheel, Zuo Yue respectively
The arrangement of the left and right of barrier wheel and right Stump-jump wheel, also there are three types of arrangement forms: (1) left directive wheel and right directive wheel are arranged in
The right side in the left side on the right side of left furnace tube outer wall and right furnace tube outer wall, left the guiding conical surface and left furnace tube outer wall is tangent, right guide cone
Face and the left side of right furnace tube outer wall are tangent, form interior guiding, the self-powered walking unit of outer obstacle detouring；(2) left Stump-jump wheel and right obstacle detouring
Wheel is arranged in the right side of left furnace tube outer wall and the left side of right furnace tube outer wall, and the outer guiding of composition, the self-powered walking of interior obstacle detouring are single
Member；(3) left directive wheel and right directive wheel are arranged in the right side of left furnace tube outer wall and the left side of right furnace tube outer wall, left guide cone
Face and the right side of left furnace tube outer wall are tangent, and the left side of right the guiding conical surface and right furnace tube outer wall is tangent, left Stump-jump wheel and right Stump-jump wheel
It is arranged in the right side of left furnace tube outer wall and the left side of right furnace tube outer wall, forms interior guiding, the self-powered walking unit of interior obstacle detouring.
2. the furnace tube outer wall walking mechanism that triple axle has guiding and obstacle crossing function, which is characterized in that increase and claim 1 institute
The identical third self-powered walking unit of the self-powered walking unit stated and the second vehicle frame are provided with the second self-powered on the second vehicle frame
Walking unit and third self-powered walking unit, are provided with self-powered walking unit and the second self-powered walking unit on vehicle frame, vehicle frame and
Second vehicle frame shares the second self-powered walking unit, thus forms three axis walked on left furnace tube outer wall and right furnace tube outer wall
Formula has the furnace tube outer wall walking mechanism of guiding and obstacle crossing function.
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| CN201710953501.5A CN107738702B (en) | 2017-10-13 | 2017-10-13 | Furnace tube outer wall walking mechanism with guiding and obstacle crossing function |
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| CN201710953501.5A CN107738702B (en) | 2017-10-13 | 2017-10-13 | Furnace tube outer wall walking mechanism with guiding and obstacle crossing function |
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| CN107738702A CN107738702A (en) | 2018-02-27 |
| CN107738702B true CN107738702B (en) | 2019-10-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110568075A (en) * | 2019-10-17 | 2019-12-13 | 安徽工程大学 | Pipeline outer wall inspection robot |
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| JPS6478987A (en) * | 1987-09-18 | 1989-03-24 | Mitsubishi Heavy Ind Ltd | Leg drive control method for moving robot with legs |
| CN1164491A (en) * | 1997-04-18 | 1997-11-12 | 清华大学 | Five feet walking carrier with comprehensive moving function |
| KR20030022172A (en) * | 2003-01-09 | 2003-03-15 | 김서림 | Running equipment for stairs, slope way, rough road |
| CN101450686A (en) * | 2008-12-26 | 2009-06-10 | 中国农业大学 | Compound drive walking mechanism |
| CN105946483A (en) * | 2016-05-06 | 2016-09-21 | 重庆大学 | Amphibious multi-legged robot with metamorphic mechanical legs |
| CN106711838A (en) * | 2015-08-12 | 2017-05-24 | 北京国网富达科技发展有限责任公司 | Power transmission line integrated operating robot with straight line obstacle crossing mechanism |
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2017
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6478987A (en) * | 1987-09-18 | 1989-03-24 | Mitsubishi Heavy Ind Ltd | Leg drive control method for moving robot with legs |
| CN1164491A (en) * | 1997-04-18 | 1997-11-12 | 清华大学 | Five feet walking carrier with comprehensive moving function |
| KR20030022172A (en) * | 2003-01-09 | 2003-03-15 | 김서림 | Running equipment for stairs, slope way, rough road |
| CN101450686A (en) * | 2008-12-26 | 2009-06-10 | 中国农业大学 | Compound drive walking mechanism |
| CN106711838A (en) * | 2015-08-12 | 2017-05-24 | 北京国网富达科技发展有限责任公司 | Power transmission line integrated operating robot with straight line obstacle crossing mechanism |
| CN105946483A (en) * | 2016-05-06 | 2016-09-21 | 重庆大学 | Amphibious multi-legged robot with metamorphic mechanical legs |
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| CN107738702A (en) | 2018-02-27 |
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