CN200960951Y - 360 DEG steering magnetic wheel four drive vehicle - Google Patents
360 DEG steering magnetic wheel four drive vehicle Download PDFInfo
- Publication number
- CN200960951Y CN200960951Y CN 200620021024 CN200620021024U CN200960951Y CN 200960951 Y CN200960951 Y CN 200960951Y CN 200620021024 CN200620021024 CN 200620021024 CN 200620021024 U CN200620021024 U CN 200620021024U CN 200960951 Y CN200960951 Y CN 200960951Y
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- wheel
- magnet
- steering
- steering shaft
- drive
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Abstract
The utility model discloses a 360 degrees steering magnet wheel four-wheel drive car essentially for steering and walking freely within 360 degrees on irony workpiece, characterized in that four driving motors drive two front drive magnet wheels and two back drive magnet wheels fixed on the base respectively, a steering motor drives a steering shaft bearing on the base, a front slave steering shaft, a back slave steering shaft, a synchronizing wheel and a synchronizing tape to steer all magnet wheels in situ in 360 degrees. A master steering link and a slave lever are employed to steer within 360 degrees, a conductive carbon brush and a conductive copper collar supply power for the four driving motors, which can be widely applied to iron and steel weld and detection of defects.
Description
Technical field:
The utility model relate to a kind of can the attached walking of universal magnetic on the irony workpiece, and can be in the above the fixing plurality of devices magnet wheel 4-wheel driven car that carries out operation.
Background technology:
Current, all about on large-scale irony workpiece, adsorbing the device of the operation of creeping, all can not carry out the original place and turn to walking for 360 °, even the device that has can turn to, not only need turn radius very big, and friction force is also very big, this friction force very easily destroys the chain of surface of the work and crawling device, the out of reach operating flexibility reduces operating efficiency.
The utility model content:
The purpose of this utility model solves 360 ° in this device original place exactly and turns to walking and reduce to greatest extent and turn to friction force, realizes a kind of technical scheme that flexible motion proposed.Preceding driven steering shaft, the universal steering shaft in back are by steering bearing and base bonded assembly, the upper end is fixed together with synchronizing wheel, lower end and four drive magnets wheel and universal magnet are taken turns and are linked together, steer motor is by synchronizing wheel, synchronously band, the universal steering shaft of preceding driven steering shaft and back connect together with all universal magnet-wheel and four drive magnets wheels, and realization turns to synchronously; The drive magnet wheel was fixed with angle transmitter and sensor probe before and after two groups of four drive motor in front and back drove with associated mode on base.Formed before driving magnet wheel unit by preamble wheel, synchronous band, driven shaft, steering bearing, copper conducting ring, conduction carbon brush, driving wheel carrier, magnet wheel and drive motor; Formed rear drive magnet wheel unit by back synchronizing wheel, synchronous band, drive motor, conducting ring, conduction carbon brush, magnet wheel and bearing etc.; Formed universal magnet wheels unit by many groups synchronizing wheel, synchronous band, bearing, steering shaft, magnet wheel and support.
Its overall plan of the utility model is that front and back drive magnet wheel is fixed in the bearing bore on the base by steering shaft and steering bearing, many group universal magnets wheels also are fixed in the bearing bore on the base by steering shaft and steering bearing, fix synchronizing wheel and synchronous band above, by the synchronizing wheel interlock on synchronous band and the steer motor, the synchronizing wheel of all other synchronizing wheels and steer motor is rotated synchronously, to reach all magnet wheel steering angle unanimities, detect the synchronizing wheel steering angle by angular transducer, so as by the computer controlled 4-wheel driven car according to the operations of walking of various machining paths.The rotating speed of four drive motor is controlled by computing machine after need adjusting unanimity again.Turn left as this car of need and to turn round, the right side drive motors rotating speed just improves rotating speed according to turn radius; As turn right and turn round, just make left side driving machine rotating speed quicker, cooperate the magnet wheel turning of four drive motor institute direct connections in addition simultaneously by the steering angle of computer controlled steer motor, so that reach 360 ° of purposes that turn to operation of any radius or original place.
The technical scheme that the utility model proposed has ideally solved the technical barrier that other scheme can't overcome veritably.It is simple in structure, easily realizes, turns to flexibly, controls conveniently, need not prior programming, and is casual good.Can carry out commercial production in a large number, be widely used in welding in heavy industry, electric power, chemical industry, open-air welding operation, shipbuilding and the iron and steel domain, spray paint, non-destructive flaw detection, make a video recording, wear various operations such as silk.
As when 4-wheel driven car is turned in 180 ° of scopes, can adopt trace and synchronizing wheel and bring synchronously and realize turning to, as shown in Figure 6.Other scheme is consistent with such scheme.
Description of drawings:
Fig. 1 .360 ° turns to magnet wheel 4 wheel driven car owner scheme drawing
Fig. 2 .360 ° turns to the preceding scheme drawing of magnet wheel 4-wheel driven car
Fig. 3 .360 ° turns to scheme drawing behind the magnet wheel 4-wheel driven car
Fig. 4 .360 ° turns to the magnet wheel 4-wheel driven car scheme drawing of bowing
Fig. 5. computer control principle figure
Fig. 6. in 180 °, turn to the scheme scheme drawing
Wherein:
1, before driving wheel carrier 2, before driving magnet wheel 3, preceding conductive carbon brush support
4, insulcrete 5, base 6, steering bearing
7, preceding driven synchronizing wheel 8, precedingly drivenly be with 9 synchronously, the steer motor support
10, steer motor 11, preceding driven steering shaft 12, steering bearing pressure ring
13, preceding universal synchronizing wheel 14, precedingly universally be with 15 synchronously, the angle transmitter
16, sensor probe 17, synchronous wheels standing screw 18, the universal synchronous wheels in back
19, rear drive synchronizing wheel 20, rear drive be with 21 synchronously, back copper conducting ring
22, back conduction carbon brush 23, rear drive magnet wheel 24, bearing assembly
25, rear-guard magnet-wheel frame 26, back universal bearing assembly 27, back universal magnet wheel
28, the universal magnet-wheel frame 29 in back, the universal steering shaft 30 in back, preceding copper conducting ring
31, preceding conductive carbon brush 32, right synchronizing wheel 33, left synchronizing wheel
34, front right axle 35, right front drive motor frame 36, right front drive motor
37, left drive motor 38, preceding left drive motor frame 39, left front axle
40, rear drive shaft 41, the right drive motor 42 in back, the left drive motor in back
43, follower link 44, driven adapter shaft 45, active steering wheel
46, active steering trace
The specific embodiment:
Before driving magnet wheel (2) is fixed on the before driving wheel carrier (1) by front right axle (34) and two bearing assemblies (24), again right front drive motor (36) is fixed on the inboard of before driving wheel carrier (1) by right front drive motor frame (35), its output shaft and front right axle (34) connect together, and other three drive magnet wheels are installed consistent therewith with drive motor.Two preceding copper conducting rings (30) are fixed on the insulcrete (4), again insulcrete (4) are fixed on below the base (5).Steering bearing (6) is placed on the base (5), loads onto steering bearing pressure ring (12), on the conductive carbon brush support (3), again it is fixed on before driving wheel carrier (1) outside before preceding conductive carbon brush (31) is fixed on, other three consistent with this embodiment.Preceding driven steering shaft (11) is passed steering bearing (6) endoporus, retaining pad in the pad head bearing, before driven synchronizing wheel (7) before two is fixed on synchronous wheels standing screw (17) on the driven steering shaft (11), it is consistent with this mode that the synchronous wheels that other drive magnet wheel and universal magnet are taken turns install and fix mode.Driven steering shaft (11) makes two preceding conductive carbon brushes (31) contact well with two copper conducting rings (30) before adjusting.Steer motor (10) is fixed on steer motor support (9).Right synchronizing wheel (32) and left synchronizing wheel (33) are connected by the output shaft of axle with steer motor (10), then, steer motor support (9) is fixed on the base (5), with synchronous bands such as (8), (14), (20) order of all synchronizing wheels by Fig. 4 connected, make all driven synchronizing wheels consistent with right synchronizing wheel (32) and left synchronizing wheel (33) steering angle.Sensor probe (16) is fixed on the angle transmitter (15), angle transmitter (15) is fixed on the base (5), with the control signal cable with angle transmitter (15) with on computing machine connects.Power of alterating and direct current conducts electricity carbon brush (31), (22) and gives four drive motor (36), (37), (41), (42) respectively working power is provided by copper conducting ring (21) behind the copper conducting ring (30) before the cable, 2 groups, 2 groups and cooresponding 4 groups.Whole 360 ° turn to the magnet-wheel 4-wheel driven car to carry out Comprehensive Control by computing machine.Turn in 180 ° as this 4-wheel driven car and can adopt technical scheme shown in Figure 6.
According to the surface configuration of workpiece, two groups of universal magnet wheels can be installed, be convenient on sphere or round work, carry out operation.
Claims (3)
- Related 360 ° of 1 the utility model turn to magnet wheel 4-wheel driven car, it is characterized in that:Preceding driven steering shaft, the universal steering shaft in back are by steering bearing and base bonded assembly, the upper end is fixed together with synchronizing wheel, lower end and four drive magnets wheel and universal magnet are taken turns and are linked together, steer motor is by synchronizing wheel, synchronously band, the universal steering shaft of preceding driven steering shaft and back connect together with all universal magnet-wheel and four drive magnets wheels, and realization turns to synchronously; The drive magnet wheel was fixed with angle transmitter and sensor probe before and after two groups of four drive motor in front and back drove with associated mode on base.
- 2 360 ° according to claim 1 turn to magnet wheel 4-wheel driven car, it is characterized in that described drive motor also can be with two, symmetry is installed or the diagonal angle installation.
- 3 360 ° according to claim 1 turn to magnet wheel 4-wheel driven car, it is characterized in that described drive motor, its power supply are that cable is received on the copper conducting ring on the fixed insulation plate, realize powering with the conduction carbon brush again to drive motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620021024 CN200960951Y (en) | 2006-06-14 | 2006-06-14 | 360 DEG steering magnetic wheel four drive vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620021024 CN200960951Y (en) | 2006-06-14 | 2006-06-14 | 360 DEG steering magnetic wheel four drive vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200960951Y true CN200960951Y (en) | 2007-10-17 |
Family
ID=38797458
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620021024 Expired - Lifetime CN200960951Y (en) | 2006-06-14 | 2006-06-14 | 360 DEG steering magnetic wheel four drive vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN200960951Y (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103345251A (en) * | 2013-07-12 | 2013-10-09 | 石家庄辰启科技有限公司 | Device guiding construction machine to walk or turn along ground marks |
| CN106853843A (en) * | 2017-01-09 | 2017-06-16 | 江南大学 | A kind of achievable synchronous omni-directional moving platform for turning to |
| CN107124899A (en) * | 2016-07-15 | 2017-09-01 | 深圳市大疆创新科技有限公司 | Movable fixture, follow shot equipment, movable fixture control system and method |
| CN107175647A (en) * | 2016-08-28 | 2017-09-19 | 上海佳革智能科技有限公司 | A kind of video climbing robot |
| CN107538521A (en) * | 2017-09-20 | 2018-01-05 | 深圳市行者机器人技术有限公司 | A kind of robot debugging training omnidirectional platform |
| CN107623280A (en) * | 2017-08-16 | 2018-01-23 | 国家电网公司 | A kind of in-pipe robot for cable inspection |
| CN109625114A (en) * | 2019-01-14 | 2019-04-16 | 哈尔滨盛迪电力设备有限公司 | Automatic rotary magnetic force adjusts Operation Van |
| CN113276078A (en) * | 2021-04-22 | 2021-08-20 | 国网浙江省电力有限公司嘉兴供电公司 | Parking device of robot |
-
2006
- 2006-06-14 CN CN 200620021024 patent/CN200960951Y/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103345251A (en) * | 2013-07-12 | 2013-10-09 | 石家庄辰启科技有限公司 | Device guiding construction machine to walk or turn along ground marks |
| CN107124899A (en) * | 2016-07-15 | 2017-09-01 | 深圳市大疆创新科技有限公司 | Movable fixture, follow shot equipment, movable fixture control system and method |
| CN107124899B (en) * | 2016-07-15 | 2019-07-05 | 深圳市大疆创新科技有限公司 | Movable fixture, follow shot equipment, movable fixture control system and method |
| US10953998B2 (en) | 2016-07-15 | 2021-03-23 | SZ DJI Technology Co., Ltd. | Systems and methods for providing stability support |
| CN107175647A (en) * | 2016-08-28 | 2017-09-19 | 上海佳革智能科技有限公司 | A kind of video climbing robot |
| CN106853843A (en) * | 2017-01-09 | 2017-06-16 | 江南大学 | A kind of achievable synchronous omni-directional moving platform for turning to |
| CN106853843B (en) * | 2017-01-09 | 2024-02-02 | 江南大学 | Omnidirectional mobile platform capable of realizing synchronous steering |
| CN107623280A (en) * | 2017-08-16 | 2018-01-23 | 国家电网公司 | A kind of in-pipe robot for cable inspection |
| CN107538521A (en) * | 2017-09-20 | 2018-01-05 | 深圳市行者机器人技术有限公司 | A kind of robot debugging training omnidirectional platform |
| CN109625114A (en) * | 2019-01-14 | 2019-04-16 | 哈尔滨盛迪电力设备有限公司 | Automatic rotary magnetic force adjusts Operation Van |
| CN109625114B (en) * | 2019-01-14 | 2024-04-16 | 哈尔滨盛迪电力设备有限公司 | Automatic rotary magnetic force adjusting operation vehicle |
| CN113276078A (en) * | 2021-04-22 | 2021-08-20 | 国网浙江省电力有限公司嘉兴供电公司 | Parking device of robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20071017 |
|
| EXPY | Termination of patent right or utility model |