CN110395273B - Stepping type rail carrier and movement method thereof - Google Patents
Stepping type rail carrier and movement method thereof Download PDFInfo
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- CN110395273B CN110395273B CN201910700590.1A CN201910700590A CN110395273B CN 110395273 B CN110395273 B CN 110395273B CN 201910700590 A CN201910700590 A CN 201910700590A CN 110395273 B CN110395273 B CN 110395273B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B3/00—Elevated railway systems with suspended vehicles
- B61B3/02—Elevated railway systems with suspended vehicles with self-propelled vehicles
Abstract
The invention relates to a stepping type rail carrier, which comprises an operation track and a traveling device arranged on the operation track, wherein the traveling device at least comprises two traveling units with the same structure, and each traveling unit mainly comprises a shell, a driving device and a limiting device. The stepping type rail conveyer can carry corresponding detecting instruments and carry out full-automatic detection along the running track. The labor consumption of manual detection is avoided, and the safety and the effectiveness of the detection process can be ensured. The stepping rail carrier has the advantages of simple structure, convenient use and suitability for popularization and application.
Description
Technical Field
The invention relates to the field of track carrying equipment, in particular to a stepping type track carrier and a moving method thereof.
Background
In some special work occasions, the work environment needs to be periodically detected to judge whether the work environment can meet the conditions required by the work. Because some operation occasions have certain dangerousness, the detection in a manual mode is not beneficial to the safety of personnel.
Disclosure of Invention
The invention aims to improve and innovate the defects and problems in the background technology, and provides a stepping type rail carrier, which comprises a running track and a traveling device arranged on the running track, wherein the traveling device at least comprises two traveling units with the same structure, and the traveling units mainly comprise a shell, a driving device and a limiting device.
The top of the machine shell is provided with a braking device connected with the running track, and the bottom of the machine shell is connected with a carrier.
The driving device comprises an electromagnet, a controller and a power supply which are arranged in the shell.
The limiting device comprises a tension sensor and contacts which are arranged on two sides of the line casing.
A soft rope is bound between the tension sensors of two adjacent walking units, and the magnetic surfaces of the electromagnets between the two adjacent walking units are oppositely arranged.
In one embodiment, the running track is a circular tube, and the braking device is an electromagnetic valve sleeved on the circular tube.
In one embodiment, the running rail is a C-shaped rail, the top of the casing is provided with a pulley mounted in the C-shaped rail, and the braking device is a brake mounted in the running rail.
The moving method of the stepping type rail carrier comprises the following steps:
the walking unit has an initial state and a traveling state when moving, the running track is divided into a plurality of point positions such as A, B, C and D.the same distance from left to right, and the moving steps are as follows:
a. when in the initial state I: the traveling unit I is positioned at the point A, the traveling unit II is positioned at the point B, the contact on the right side of the traveling unit I is contacted with the contact on the left side of the traveling unit II, and signals generated by the contact are transmitted to respective controllers, and the controllers send instructions to the electromagnets of the two traveling units so that the two electromagnets generate the same magnetic pole on opposite surfaces, thereby generating repulsive force;
the controller of the walking unit I sends an instruction to the braking device of the walking unit I after receiving the signal generated by the right contact of the walking unit I, so that the walking unit I is clamped on the track, the controller of the walking unit II sends an instruction to the braking device of the walking unit II after receiving the signal generated by the left contact of the walking unit II, so that the braking device of the walking unit II is loosened, and the walking unit II slides rightwards under the action of the repulsive force of the electromagnet.
b. When in the travel state: the walking unit II continuously moves rightwards along the running track under the action of the repulsion force of the electromagnet until a soft rope connected between the tension sensors of the two walking units is stretched straight, at the moment, the walking unit I is positioned at the point A, and the walking unit II is positioned at the point C;
the soft rope can generate tension to the tension sensors of the walking units when stretched straight, the tension sensors of the walking units transmit generated signals to respective controllers, and the controllers send instructions to the electromagnets of the two walking units to enable the two electromagnets to generate opposite magnetic poles on opposite surfaces, so that attraction is generated;
and after receiving the signal generated by the left tension sensor, the controller of the walking unit II sends an instruction to the braking device of the walking unit II so that the walking unit II is clamped on the track. And after receiving a signal generated by the right tension sensor, the controller of the walking unit I sends an instruction to the braking device of the walking unit I to enable the walking unit I to be loosened from the track, and the walking unit I slides rightwards under the guiding action of the electromagnet.
c. When the traveling unit I is in the initial state II, the traveling unit I continuously moves to the right along the running track under the action of the gravity of the electromagnet until a contact on the right side of the traveling unit I is contacted with a contact on the left side of the traveling unit II, the traveling unit I is located at a point B, and the traveling unit II is located at a point C;
after the contact points of the two walking units are contacted, signals generated by the contact are transmitted to respective controllers in the mode of the initial state I, and the initial state and the walking state are reciprocated in such a way, so that the walking device moves along the running track.
The invention has the beneficial effects that: the stepping type rail conveyer can carry corresponding detecting instruments and carry out full-automatic detection along the running track. The labor consumption of manual detection is avoided, and the safety and the effectiveness of the detection process can be ensured. The stepping rail carrier has the advantages of simple structure, convenient use and suitability for popularization and application.
Drawings
FIG. 1 is a perspective view of embodiment 1 of the present invention;
FIG. 2 is a side view of embodiment 1 of the present invention;
FIG. 3 is a perspective view of embodiment 2 of the present invention;
FIG. 4 is a side view of embodiment 2 of the present invention;
FIG. 5 is a diagram showing the movement of embodiment 1;
FIG. 6 is a diagram showing the movement of embodiment 2;
in the figure: a round tube-1; a traveling unit-2; a housing-21; a limiting device-22; a tension sensor-221; a contact-222; a pulley-3; brake-31; a carrier rack-4; a soft rope-5; cargo-6; a solenoid valve-7; c-shaped rail-8.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "disposed" or "connected" to another element, it can be directly disposed or connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Example 1
As shown in fig. 1-2, the step-by-step rail vehicle comprises a round tube 1 and a running gear disposed below the round tube 1. The walking device at least comprises two walking units 2 with the same structure, and each walking unit 2 completes stepping movement on the circular tube 1 through mutual matching.
The walking unit mainly comprises a machine shell 21, a driving device and a limiting device 22, wherein:
the top of the machine shell 21 is provided with an electromagnetic valve 7 used as a connecting piece and a braking device, the electromagnetic valve 7 is sleeved on the circular tube 1 and can slide along the circular tube 1, the bottom of the machine shell 21 is connected with a carrier 4, and the carrier 4 is used for carrying transported articles or carrying various instruments.
The electromagnetic valve 7 can be replaced by other parts such as an electric ball valve, and bearings can be arranged at the two ends of the electromagnetic valve 7 or the surface roughness of the circular tube 1 can be changed or smoother materials can be adopted as the manufacturing materials of the circular tube 1 in order to reduce the resistance in sliding.
The driving means includes an electromagnet, a controller and a power supply (not shown in the figure) provided in the housing 21.
The position limiting device 2 comprises a tension sensor 221 and a contact 222 which are arranged at two sides of the machine shell 21,
a soft rope 5 is tied between the tension sensors of two adjacent walking units, and the magnetic surfaces of the electromagnets between the two adjacent walking units are oppositely arranged.
And the movement of the walking unit on the circular tube is realized by using repulsive force and attractive force generated by magnetic poles between the electromagnets of each walking unit. The electric power is supplied to each part of the carrier by a built-in rechargeable power supply, and the controller is used for receiving signals sent by the contact and the tension sensor and sending commands to the electromagnet, the brake and the like.
The stepping type rail carrier is mainly used for conveying detection instruments on specific occasions, and can realize directional fixed-point detection along the operation track by carrying the corresponding detection instruments on the carrier. For example, the concentration of carbon monoxide and methane in the underground mine can be detected, the labor consumption of manual detection can be avoided by adopting the stepping type rail conveyer, and the safety and the effectiveness of the detection process can also be ensured.
The residence time of each walking unit at each stepping point position can be controlled according to a preset program in the controller, the distance of single movement is controlled by setting the length of the soft rope, and the movement speed of the walking units is controlled by adopting electromagnets with different specifications.
Because the movement of the walking device on the circular tube is realized through the matching between the walking units, the walking device at least comprises two walking units, and the following explanation is made on the working process of the embodiment equipped with the two walking units:
referring to fig. 5, which is a working process diagram of the embodiment, three vertical small diagrams in the diagram sequentially show three states of the embodiment from top to bottom, which are an initial state I, a traveling state I, and an initial state I. The vertical dotted lines running through the three small drawings and distributed transversely are position marks on the circular tube respectively. In this embodiment, the moving direction of the traveling device is from left to right along the circular tube, the two traveling units included in the traveling device are respectively a traveling unit I located on the left side and a traveling unit II located on the right side, and a flexible rope is connected between the tension sensors of the two traveling units.
When in an initial state I: the walking unit I is positioned at the point A, and the walking unit II is positioned at the point B.
At the moment, the contact on the right side of the walking unit I is in contact with the contact on the left side of the walking unit II, signals generated by the contact are transmitted to respective controllers, and the controllers send instructions to the electromagnets of the two walking units, so that the two electromagnets generate the same magnetic poles on opposite surfaces, and repulsion force is generated.
Meanwhile, after the controller of the walking unit I receives the signal generated by the right contact, the controller sends an instruction to the electromagnetic valve of the walking unit I, so that the electromagnetic valve is clamped on the track. And after receiving the signal generated by the left contact of the controller of the walking unit II, the controller of the walking unit II sends a command to the electromagnetic valve of the walking unit II to release the electromagnetic valve, and the walking unit II slides rightwards under the repulsion action of the electromagnet.
When in the traveling state: the traveling unit II continuously moves along the circular tube rightwards under the action of the repulsion force of the electromagnet until the soft rope connected between the tension sensors of the two traveling units is stretched straightly, the traveling unit I is located at the point A, and the traveling unit II is located at the point C.
The soft rope can generate tension on the tension sensors of the walking units when stretched straight, the tension sensors of the walking units transmit generated signals to respective controllers, and the controllers send instructions to the electromagnets of the walking units to enable the electromagnets to generate opposite magnetic poles on opposite surfaces, so that attraction is generated.
Meanwhile, after receiving the signal generated by the left tension sensor, the controller of the walking unit II sends an instruction to the electromagnetic valve of the walking unit II so that the walking unit II is clamped on the track. After receiving the signal generated by the right tension sensor, the controller of the walking unit I sends an instruction to the electromagnetic valve of the walking unit I, so that the walking unit I is loosened from the track and slides rightwards under the guiding action of the electromagnet.
③ when in the initial state II: the traveling unit I continuously moves along the circular tube rightwards under the action of the force of the electromagnet until the contact on the right side of the traveling unit I is contacted with the contact on the left side of the traveling unit II, the traveling unit I is located at a point B, and the traveling unit II is located at a point C.
After the contacts of the two traveling units are contacted, signals generated by the contact are transmitted to respective controllers in the manner described in the initial state I, and the initial state and the traveling state are reciprocated, so that the traveling device moves along the circular tube.
Example 2
As shown in fig. 3-4, yet another embodiment of the step-by-step rail vehicle comprises a C-shaped rail 8 and a running gear arranged below the C-shaped rail 8. The walking device at least comprises two walking units 2 with the same structure, and each walking unit 2 completes stepping movement on the C-shaped rail 8 through mutual matching.
The walking unit mainly comprises a machine shell 21, a driving device and a limiting device 22, wherein:
the top of the machine shell 21 is provided with a pulley 3 and a brake 31 which are arranged in the C-shaped rail 8, the bottom of the machine shell 21 is connected with a carrier 4, and the carrier 4 is used for carrying transported articles or carrying various instruments.
The driving means includes an electromagnet, a controller and a power supply (not shown in the figure) provided in the housing 21.
The position limiting device 2 comprises a tension sensor 221 and a contact 222 which are arranged at two sides of the machine shell 21,
a soft rope 5 is tied between the tension sensors of two adjacent walking units, and the magnetic surfaces of the electromagnets between the two adjacent walking units are oppositely arranged.
The C-shaped rail is mainly used for realizing the movement of the walking unit on the C-shaped rail by utilizing repulsive force and attractive force generated by magnetic poles between electromagnets of the walking units. The electric power is supplied to each part of the carrier by a built-in rechargeable power supply, and the controller is used for receiving signals sent by the contact and the tension sensor and sending instructions to the electromagnet, the brake and the like.
The stepping type rail carrier is mainly used for conveying detection instruments on specific occasions, and can realize directional fixed-point detection along the C-shaped rail by carrying the corresponding detection instruments on the carrier. For example, the concentration of carbon monoxide and methane in the underground mine can be detected, the labor consumption of manual detection can be avoided by adopting the stepping type rail conveyer, and the safety and the effectiveness of the detection process can also be ensured.
The residence time of each walking unit at each stepping point position can be controlled according to a preset program in the controller, the distance of single movement is controlled by setting the length of the soft rope, and the movement speed of the walking units is controlled by adopting electromagnets with different specifications.
Because the motion of the walking device on the track is realized by the cooperation between the walking units, the walking device at least comprises two walking units, and the following explains the working process of the embodiment equipped with the two walking units:
referring to fig. 6, which is a movement process diagram of the embodiment, three vertical small diagrams in the diagram sequentially show three states of the embodiment from top to bottom, which are an initial state I, a traveling state I, and an initial state I. The vertical dotted lines running through the three small drawings and distributed transversely are position marks on the C-shaped rail respectively. In this embodiment, the moving direction of the walking device is from left to right along the C-shaped rail, the two walking units included in the walking device are respectively a walking unit I located on the left side and a walking unit II located on the right side, and a soft rope is connected between the tension sensors of the two walking units.
When in initial state I: the walking unit I is positioned at the point A, and the walking unit II is positioned at the point B.
At the moment, the contact on the right side of the walking unit I is in contact with the contact on the left side of the walking unit II, signals generated by the contact are transmitted to respective controllers, and the controllers send instructions to the electromagnets of the two walking units, so that the two electromagnets generate the same magnetic poles on opposite surfaces, and repulsion force is generated.
Meanwhile, after the controller of the walking unit I receives the signal generated by the right contact, the controller sends a command to the brake of the walking unit I so that the walking unit I is clamped on the track. And after receiving the signal generated by the left contact of the walking unit II, the controller of the walking unit II sends a command to brake the walking unit II to release the walking unit II, and the walking unit II slides rightwards under the repulsion action of the electromagnet.
When in the traveling state: the walking unit II continuously moves rightwards along the C-shaped rail under the action of repulsion force of the electromagnet until a soft rope connected between the tension sensors of the two walking units is stretched straight, the walking unit I is located at a point A, and the walking unit II is located at a point C.
The soft rope can generate tension on the tension sensors of the walking units when stretched straight, the tension sensors of the walking units transmit generated signals to respective controllers, and the controllers send instructions to the electromagnets of the walking units to enable the electromagnets to generate opposite magnetic poles on opposite surfaces, so that attraction is generated.
Meanwhile, after receiving the signal generated by the left tension sensor, the controller of the walking unit II sends an instruction to brake the walking unit II so that the walking unit II is clamped on the track. And after receiving a signal generated by the right tension sensor, the controller of the walking unit I sends a command to brake the walking unit I so that the walking unit I is loosened from the track, and the walking unit I slides rightwards under the guiding action of the electromagnet.
③ when in the initial state II: the walking unit I continuously moves along the C-shaped rail rightwards under the action of the attraction of the electromagnet until the contact on the right side of the walking unit I is contacted with the contact on the left side of the walking unit II, the walking unit I is located at a point B, and the walking unit II is located at a point C.
After the contacts of the two traveling units are contacted, signals generated by the contact are transmitted to respective controllers in the manner described in the initial state I, and the initial state and the traveling state are reciprocated, so that the traveling device moves along the C-shaped rail.
The embodiments of the present invention are described only for the preferred embodiments of the present invention, and not for the limitation of the concept and scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the design concept of the present invention shall fall into the protection scope of the present invention, and the technical content of the present invention which is claimed is fully set forth in the claims.
Claims (1)
1. A method for moving a stepping rail vehicle, wherein the stepping rail vehicle comprises a running track and a running device arranged on the running track, and is characterized in that:
the walking device at least comprises two walking units with the same structure, and each walking unit mainly comprises a shell, a driving device and a limiting device;
the top of the machine shell is provided with a braking device connected with the running track, and the bottom of the machine shell is connected with a carrier; a detection instrument is carried on the object carrier to realize the directional fixed-point detection along the running track; the running track is a circular tube, and the braking device is an electromagnetic valve sleeved on the circular tube; or the running track is a C-shaped track, the top of the casing is provided with a pulley arranged in the C-shaped track, and the braking device is a brake arranged in the running track;
the driving device comprises an electromagnet, a controller and a power supply which are arranged in the shell;
the limiting device comprises tension sensors and contacts which are arranged on two sides of the line casing;
a soft rope is bound between the tension sensors of two adjacent walking units, and the magnetic surfaces of the electromagnets between the two adjacent walking units are oppositely arranged;
the moving method of the stepping type rail carrier is as follows:
the walking unit has an initial state and a traveling state in work, the running track is divided into a plurality of point positions with equal distances A, B, C and D from left to right, and the moving steps are as follows:
a. when in the initial state I: the traveling unit I is positioned at the point A, the traveling unit II is positioned at the point B, the contact on the right side of the traveling unit I is contacted with the contact on the left side of the traveling unit II, and signals generated by the contact are transmitted to respective controllers, and the controllers send instructions to the electromagnets of the two traveling units so that the two electromagnets generate the same magnetic pole on opposite surfaces, thereby generating repulsive force;
after receiving the signal generated by the right contact of the controller of the traveling unit I, the controller of the traveling unit I sends an instruction to the braking device of the traveling unit I to enable the traveling unit I to be clamped on the track, and after receiving the signal generated by the left contact of the traveling unit II, the controller of the traveling unit II sends an instruction to the braking device of the traveling unit II to enable the braking device of the traveling unit II to be loosened, and the traveling unit II slides rightwards under the action of the repulsion force of the electromagnet;
b. when in the travel state: the walking unit II continuously moves rightwards along the running track under the action of the repulsion force of the electromagnet until a soft rope connected between the tension sensors of the two walking units is stretched straight, at the moment, the walking unit I is positioned at the point A, and the walking unit II is positioned at the point C;
the soft rope can generate tension to the tension sensors of the walking units when stretched straight, the tension sensors of the walking units transmit generated signals to respective controllers, and the controllers send instructions to the electromagnets of the two walking units to enable the two electromagnets to generate opposite magnetic poles on opposite surfaces, so that attraction is generated;
after receiving the signal generated by the left tension sensor, the controller of the walking unit II sends an instruction to the braking device of the walking unit II so that the walking unit II is clamped on the track;
after receiving a signal generated by a right tension sensor of the traveling unit I, a controller of the traveling unit I sends an instruction to a braking device of the traveling unit I to enable the traveling unit I to loosen from a track, and the traveling unit I slides rightwards under the guiding action of an electromagnet;
c. when the traveling unit I is in the initial state II, the traveling unit I continuously moves to the right along the running track under the action of the gravity of the electromagnet until a contact on the right side of the traveling unit I is contacted with a contact on the left side of the traveling unit II, the traveling unit I is located at a point B, and the traveling unit II is located at a point C;
after the contact points of the two walking units are contacted, signals generated by the contact are transmitted to respective controllers in the mode of the initial state I, and the initial state and the walking state are reciprocated in such a way, so that the walking device moves along the running track.
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| CN201910700590.1A CN110395273B (en) | 2019-07-31 | 2019-07-31 | Stepping type rail carrier and movement method thereof |
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| CN201910700590.1A CN110395273B (en) | 2019-07-31 | 2019-07-31 | Stepping type rail carrier and movement method thereof |
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| CN110395273B true CN110395273B (en) | 2021-11-09 |
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| CN207213498U (en) * | 2017-09-11 | 2018-04-10 | 三峡大学 | Stepped pipe pipeline robot |
| CN207956881U (en) * | 2017-12-19 | 2018-10-12 | 广州供电局有限公司 | material delivery system in tunnel |
| CN109681719A (en) * | 2018-12-24 | 2019-04-26 | 中国矿业大学 | A kind of electromagnetic drive type pipe robot |
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2019
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| CN105857428A (en) * | 2016-03-31 | 2016-08-17 | 华北理工大学 | Movement mechanism and movement method of magnetic-drive wall climbing device |
| CN107248710A (en) * | 2017-07-21 | 2017-10-13 | 山东大学 | A kind of step-by-step movement line walking obstacle removing robot and its method |
| CN207213498U (en) * | 2017-09-11 | 2018-04-10 | 三峡大学 | Stepped pipe pipeline robot |
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