UA65559C2 - Autonomous electromagnetic track-type propeller - Google Patents

Abstract

The invention relates to the basic track-type propellers intended for movement of technological equipment on steel ferromagnetic surfaces both horizontal and vertical or ceiling, and for reliable holding of specified equipment on such surfaces. Autonomous magnetoelectric track-type propeller consists of hingedly connected tracks made of nonmagnetic material with ferromagnetic inserts intended for concentration of magnetic flux on the steel serviced surface and are motionlessly fastened on the frame of the track-type propeller of a traction module of linear magnetoelectric engine and rolling contact bearings. In this case, magnetic flux is formed by permanent magnets of high energy, which are located inside the traction module and which do not have mechanical contact with mobile tracks of the propeller. Because of design of magnetic circle developed in the invention the permanent magnets form electromagnetic field ensuring required force of pressing to the steel surface, and operation of the traction drive.

Description

The invention relates to basic crawler drives intended for moving technological equipment on steel ferromagnetic surfaces, both horizontal and vertical or ceiling, as well as for reliable maintenance of the specified equipment on such surfaces.

There is a known magnetic crawler drive, which contains tracks articulated in a crawler chain and a frame with magnetic elements fixed on it, which are pressed against the inner surface of the crawler belt (11.

An electromagnetic crawler drive is also known, consisting of hingedly connected crawler tracks, which are made in the form of direct current electromagnets (21.

These devices have the following disadvantages: the need to use an additional traction motor for movement; bulkiness and complexity of mechanical structures; the presence of mechanical contact between moving tracks and stationary permanent magnets, which leads to their destruction; detachment from the steel surface in the event of an emergency disconnection of the electrical supply (for (21).

The prototype of an autonomous magnetoelectric crawler motor is the electromagnetic crawler motor IZ)Y, which consists of hingedly connected crawler tracks, which are made in the form of direct current electromagnets and a movable contact bus, which ensures the movement of this device. This device has the ability to move independently, but due to the concentration of the entire traction load on one electromagnetic track, the range of traction force is limited. In addition, (Z|) has the rest of the above-mentioned disadvantages.

The invention is based on the task of creating a crawler mover that will ensure reliable holding of technological equipment on steel horizontal, vertical and ceiling surfaces and its movement along these surfaces in a given direction and at the required speed.

The use of autonomous magnetoelectric crawler drives will allow: to move the necessary technological equipment, such as welding, measuring, diagnostic and other, on steel surfaces in the required direction and at a given speed; securely hold the specified equipment on steel ferromagnetic surfaces, regardless of their orientation in space, both when the power supply is present and when it is turned off; significantly simplify the construction of tracks and other nodes compared to devices of similar purpose.

The task is solved in the proposed invention by placing permanent magnets on the frame of the crawler motor, along the support surface of the crawler, and manufacturing a traction drive in the form of a linear magnetoelectric motor mounted in the middle of the crawler motor based on the specified permanent magnets. At the same time, there is no mechanical contact between the stationary source of magnetic energy and the track. A complete combination of the magnetic circuit contours of the attraction to the ferromagnetic surface with the magnetic circuit circuit of the excitation of the main magnetic flux of the linear traction electric motor is achieved: the same magnetic flux provides both a reliable constant attraction of the crawler motor to the ferromagnetic surface being serviced, and the creation of a traction electromagnetic force, which moves the motors on the specified surface.

The autonomous magneto-electric crawler motor consists of a supporting frame on which a block module of a linear magneto-electric motor is fixed, consisting of a charged ferromagnetic body, a set of permanent magnets and an armature winding, guide, support and support rollers, a device for tensioning the track, a track chain consisting of from hinged non-magnetic tracks with ferromagnetic inserts of variable cross-section, and an electromagnetic track stopper.

Power to the linear magnetoelectric drive motor is provided from the control system through electrical communications that are not the subject of the intended invention.

In the second variant, the self-contained magneto-electric crawler motor consists of several load-bearing, hingedly connected frames, on which the blocks-modules of the linear motor, similar to the first variant, are fixed. This design allows you to move on convex, curved or circular surfaces.

Further improvement of the intended invention consists in the creation of transport systems for moving the above-mentioned technological equipment based on several autonomous magneto-electric crawler drives, which are connected to the transport platform or frame by means of fastening and hooking elements. At the same time, part of the thrusters, with the help of turning mechanisms, can turn relative to the longitudinal axis of the platform at a certain angle, for a smooth change of movement directions. The specified turning and gripping mechanisms do not relate to the essence of the invention.

List of figures.

Fig. 1 Autonomous magnetoelectric caterpillar drive (side view): 1 - supporting frame; 2 - supporting rollers; C - guide rollers; 4 - supporting rollers; 5 - track tensioning mechanism; 6 - electromagnetic stopper; 11 - ferromagnetic insert; 12 - truck; 13 - hinge; 14 - steel surface; 16 - locking finger.

Fig. 2 Autonomous magnetoelectric crawler motor (top view): 11 - ferromagnetic insert; 12 - track.

Fig. 3 Construction of Fig. 1 cross-sectional view AA: 1 - supporting frame; 2 - supporting rollers; 4 - supporting rollers; 5 - track tensioning mechanism; 7 - charged ferromagnetic case; 8 - armature winding; 9 - permanent magnets; 10 - air gap; 11 - ferromagnetic insert; 12 - truck; 14 - steel surface; 15 - locking groove.

Fig. 4 Construction of Fig. 3 cross-sectional view B-B: 1 - supporting frame; 2 - supporting rollers; C - guide rollers; 4 - supporting rollers; 7 - charged ferromagnetic case; 8 - armature winding; 9 - permanent magnets; 10 - air gap; 11 - ferromagnetic insert; 12 - truck; 13 - hinge; 14 - steel surface.

Fig. 3 Construction of a caterpillar chain (top view from the middle): 11 - ferromagnetic insert; 12 - truck; 15 - locking groove.

Fig. 6 Construction of Fig. 5 side view: 11 - ferromagnetic insert; 12 - truck; 13 - hinge.

Fig. 7 Autonomous magnetoelectric crawler motor of a multi-module design for movement on circular surfaces: 1 - supporting frame; 2 - supporting rollers; C - guide rollers; 4 - supporting rollers; 5 - track tensioning mechanism; 14 - steel surface; 17 - hinged connection.

Fig. 8 Transport system based on two autonomous magnetoelectric crawler motors: 18 - crawler module; 19 - transport platform; 20 - hook; 21 - control system module; 22 - functional equipment module; 23 - power module; 24 - electrical communications.

Fig. 9 Transport system based on six autonomous magnetoelectric crawler drives: 18 - crawler module; 19 - transport platform; 20 - hook; 21 - control system module; 22 - functional equipment module; 23 - power module; 24 - electrical communications; 25- turning mechanism.

The autonomous magnetoelectric crawler motor, which is presented in general form in Fig. 1 and in details of individual elements in Fig. 2, 3, 4, 5, 6, consists of a supporting frame 1, on which supports 2, guides З and supporting rollers 4 are fixed, track tensioning mechanism 5, electromagnetic stopper b and charged ferromagnetic case 7, on which the armature winding 8 and permanent magnets 9 are fixed, which create a magnetic flux, which is closed through the air gap 10 and ferromagnetic inserts 11, non-magnetic tracks 12, connected by hinges 13, presses against the steel surface 14 the entire supporting part of the caterpillar chain, in the tracks 12 of which locking grooves 15 are made, into which locking fingers 16 of the electromagnetic stopper 6 are inserted when the power is turned off. Element 6 does not relate to the essence of the intended invention.

Autonomous magneto-electric crawler motor for movement on circular surfaces, presented in general form in Fig. 7, consists of several supporting frames 1, connected by means of hinged connections 17, which allows such a crawler motor to move and reliably hold on circular steel surfaces 14.

The transport system based on two autonomous magneto-electric crawler drives, which is presented in Fig. 8, consists of two crawler modules 18, a transport platform 19, a hook 20, a control system module 21, a functional system module 22, a power supply module 23 and electrical communications 24. At the same time, the modules control systems 22 and power supply 23 can be made in the form of stationary equipment located outside the platform 19.

The transport system based on six autonomous magneto-electric crawler drives, which is presented in Fig. 9, consists of six crawler modules 18, a transport platform 19, a hook 20, a control system module 21, a functional system module 22, a power supply module 23, electrical communications 24 and turning mechanisms 25 caterpillar modules 18. As in the previous version, the modules of the control system 22 and power supply 23 can be made in the form of stationary equipment placed outside the platform 19.

Autonomous magneto-electric caterpillar drive works as follows.

The magnetic flux excited by the permanent magnets 9, concentrating in the pole tips of the ferromagnetic housing 7, overcoming the necessary air gap 10 between the upper part of the ferromagnetic inserts 11 and the ferromagnetic housing 7, closing through the ferromagnetic inserts 11 and the steel surface 14, creates a force that presses the lower part of the ferromagnetic inserts 11, and together with them, tracks 12, located on the support surface of the track chain under the pole tips of the ferromagnetic housing 7.

The indicated electromagnetic force is determined by the formula

Pv ---- go where B is the value of induction on the outer surfaces of ferromagnetic inserts 11; 5 - the total surface area of ferromagnetic inserts 11 through which the magnetic flux is closed; to - magnetic constant. For example, a working prototype of the proposed invention, which weighs 60 kilograms with permanent magnets based on an alloy

Magev (niodymium-ferrum-boron) is pressed against the steel surface with a force of 8438N, which allows such a magnetoelectric drive to hold itself and 780 kg on the ceiling steel surface. payload.

When there is no current in the armature winding 8, the locking finger 16 enters the locking groove 15 and keeps the track in a fixed position relative to the supporting frame 1.

When the current is applied to the armature winding 8, the locking finger 16 comes out of the locking groove 15 and releases the track. When an electric current passes through the armature winding 8, according to the law of Biot-Savard-Laplace, a traction electromagnetic force begins to act, which moves the ferromagnetic inserts 11 together with the non-magnetic tracks 12 of the track chain and the autonomous module begins to move. The speed of movement is regulated by changing the level of the control current on the armature winding 8, the motor is reversed by changing the direction of the control current.

The change in the direction of movement occurs due to the difference in the levels of the control signals or their directions on the right and left tracks, and can also be carried out due to the rotation of the track modules 18, as shown in Fig.9.

References: 1. Author's certificate of the USSR Me282949, cl. B2389/00, 1967. 2. Japanese patent Me45-37214, class 80 (327 1970. 3. Author's certificate of the USSR Mo850479, class Vb2055/08// B63B59/00, 1979.

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Claims (4)

1. An autonomous magnetoelectric crawler motor, consisting of hingedly connected caterpillar tracks, which is distinguished by the fact that the tracks are made of non-magnetic material with ferromagnetic inserts, and in the middle of the crawler motor, a traction drive of the caterpillar is fixed, made in the form of a linear magnetoelectric motor, permanent magnets which creates an electromagnetic field that provides the necessary pressing force to the steel surface, as well as the operation of the traction drive. 2. Autonomous magnetoelectric crawler drive according to item 1, which is characterized by the fact that the linear magnetoelectric drive of the crawler drive is made in the form of hingedly connected blocks - modules of a linear magnetoelectric motor. 3. Autonomous magneto-electric crawler drive according to item 1, which is characterized by the fact that it consists of two autonomous magneto-electric crawler modules that connect to a common transport platform. 4. An autonomous magnetoelectric crawler motor according to point 1, which is characterized by the fact that it consists of several autonomous magnetoelectric crawler modules that are connected to a common transport platform and have the ability to rotate relative to the longitudinal axis of the platform.