CN111891142B - Magnetic traction walking device - Google Patents

Abstract

The invention discloses a magnetic traction walking device, comprising: at least one outer magnet car of group and at least one interior magnet car, the group number of outer magnet car is the same with the quantity of interior magnet car, every group outer magnet car includes: the first outer magnetic vehicles of each group are positioned below the second outer magnetic vehicles, the first outer magnetic vehicles of each group are connected with the second outer magnetic vehicles through connecting pieces, each inner magnetic vehicle is positioned between the first outer magnetic vehicles of each group and the second outer magnetic vehicles, and the first outer magnetic vehicles of each group and the second outer magnetic vehicles of each group are respectively attracted with the corresponding inner magnetic vehicles through magnetic force; the first outer magnet car includes: the first outer magnet car body, four first wheels, four first wheel rotating shafts, four radial arms, four push rods, four connecting shafts, two push rod springs, four positioning pins and a first magnet, so that the first wheels can float. The magnetic traction walking device can walk stably and is suitable for complex track changes.

Description

Magnetic traction walking device

Technical Field

The invention relates to the technical field of inspection robots, in particular to a magnetic traction walking device.

Background

At present, the large-scale inspection robots are mainly used as the inspection robots, the small-scale inspection robots are fewer, and the underground large-scale inspection robots of the mine basically walk on I-steel or channel steel. In the underground operation process, the inspection robot is found to walk unstably on the track due to construction difficulty and poor underground environment, and the inspection trolley cannot walk normally due to frequent blocking.

Disclosure of Invention

The embodiment of the invention provides a magnetic traction running gear, which aims to solve the problem of unstable running of the running gear in the prior art.

The embodiment of the invention discloses the following technical scheme:

A magnetic traction running gear comprising: at least one outer magnet car of group and at least one interior magnet car, the group number of outer magnet car is the same with the quantity of interior magnet car, every group outer magnet car includes: the first outer magnetic vehicles of each group are positioned below the second outer magnetic vehicles, the first outer magnetic vehicles of each group are connected with the second outer magnetic vehicles through connecting pieces, each inner magnetic vehicle is positioned between the first outer magnetic vehicles of each group and the second outer magnetic vehicles, and the first outer magnetic vehicles of each group and the second outer magnetic vehicles of each group are respectively attracted with the corresponding inner magnetic vehicles through magnetic force; wherein, first outer magnet car includes: the magnetic rotating arm comprises a first outer magnetic vehicle body, four first wheels, four first wheel rotating shafts, four radial arms, four push rods, four connecting shafts, two push rod springs, four locating pins and first magnets, wherein one end of each first wheel and one end of each radial arm are sleeved on each first wheel rotating shaft, the two first wheel rotating shafts are symmetrically located at one end of two opposite side walls of the first outer magnetic vehicle body, the other two first wheel rotating shafts are symmetrically located at the other ends of two opposite side walls of the first outer magnetic vehicle body, the other end of each radial arm and one end of each push rod are sleeved on each connecting shaft, the two connecting shafts are symmetrically located at one end of two opposite side walls of the first outer magnetic vehicle body, the other two connecting shafts are located at the other ends of the two opposite side walls of the first outer magnetic vehicle body, the connecting shafts are located at the lower positions of the two opposite side walls of the first outer magnetic vehicle body, the other ends of the first outer magnetic vehicle body are provided with the other ends of the radial arms which pass through the two ends of the corresponding push rods, and the other ends of the radial arms which pass through the two ends of the first outer magnetic vehicle body, and the push rod springs pass through the two ends of the corresponding push rods.

Further: two sides of each radial arm are respectively provided with a limiting pin, and one end of each limiting pin is connected with one side wall of the first outer magnetic vehicle body, which is on the same side as the radial arm.

Further, the second external magnet vehicle includes: the first outer magnetic vehicle body, four first wheels and four first wheel rotating shafts, wherein each first wheel is sleeved on each first wheel rotating shaft, one end of each first wheel rotating shaft is symmetrically connected with one end of two opposite side walls of the first outer magnetic vehicle body, and one end of each second wheel rotating shaft is symmetrically connected with the other end of two opposite side walls of the first outer magnetic vehicle body; the inner magnet vehicle includes: the magnetic wheel comprises a first inner magnetic vehicle body, a second inner magnetic vehicle body and four groups of third wheels, wherein the upper surface of the first inner magnetic vehicle body is connected with the lower surface of the second inner magnetic vehicle body, two ends of the lower surface of the first inner magnetic vehicle body are respectively connected with one group of the third wheels through shafts, and two ends of the upper surface of the second inner magnetic vehicle body are respectively connected with one group of the third wheels through shafts.

Further, the connector includes: the first connecting piece and second connecting piece, the one end of first connecting piece is connected a lateral wall of first outer magnetism automobile body, the other end of first connecting piece is provided with the through-hole, the one end of second connecting piece is connected a lateral wall of second outer magnetism automobile body, the other end of second connecting piece is provided with the bar hole, the bolt passes the through-hole with the bar hole, and through the nut locking the bolt.

Further: the upper surface of the first outer magnetic vehicle body is provided with a first mounting groove, and a first magnet is mounted in the first mounting groove; the lower surface of the second external magnetic vehicle body is provided with a second mounting groove, and a second magnet is mounted in the second mounting groove; the upper surface and the lower surface of the inner magnetic vehicle body are respectively provided with a third magnet; when the magnetic traction running gear runs on the tubular track, the first outer magnetic trolley and the second outer magnetic trolley of each group are respectively and relatively positioned on the outer surface of the lower side wall and the outer surface of the upper side wall of the tubular track, and the inner magnetic trolley is positioned in the tubular track.

Further, the magnetic traction running gear further includes: two first brakes, each of the first brakes comprising: a first bracket, a first braking member and a fourth magnet; the upper end of the first bracket is provided with a first accommodating groove, the lower end of the first bracket is provided with a first guide groove, the upper end of the first guide groove is communicated with the lower end of the first accommodating groove, the fourth magnet is arranged in the first accommodating groove, and the magnetic force of the fourth magnet is smaller than that of the third magnet; a first guide post extends upwards from the upper surface of the first braking piece, the first guide post extends into the first guide groove, and a first mounting plate extends from one side of the lower end of the first bracket, which faces the second external magnetic vehicle; if the number of the groups of the outer magnetic vehicles is one, the first mounting plates of the two first brakes are arranged on the upper surface of the second outer magnetic vehicle, so that the two first brakes are respectively positioned at two ends of the second outer magnetic vehicle; if the number of the groups of the outer magnetic vehicles is at least two, the first mounting plates of the two first brakes are respectively arranged on the upper surfaces of the two second outer magnetic vehicles at the two end parts, so that the two first brakes are respectively positioned at the two ends of the at least two second outer magnetic vehicles; when the third magnet is not arranged below the first brake piece, the fourth magnet adsorbs the first guide column, the upper end of the first guide column is abutted with the lower surface of the fourth magnet, and the first brake is in an unbraked state; when the third magnet is provided below the first braking member, the first braking member moves downward to perform braking.

Further, the first brake further includes: the first spring is sleeved on the outer surface of the first guide post, the upper end of the first spring is abutted to the inner surface of the upper end of the first guide groove, the lower end of the first spring is abutted to the upper surface of the first braking piece, and the first spring is always in a compressed state.

Further, the magnetic traction running gear further includes: a second brake and a braking inner magnet vehicle, the second brake comprising: a second bracket, a second braking member and a fifth magnet; the lower end of the second bracket is provided with a second guide groove, a second guide post extends upwards from the upper surface of the second braking piece, the second guide post extends into the second guide groove, the lower end of the second braking piece is provided with a second containing groove, the fifth magnet is fixed in the second containing groove, one side, facing the second outer magnet car, of the lower end of the second bracket extends to form a second mounting plate, and a sixth magnet is mounted on the inner magnet car; if the number of the second brake and the number of the braking inner magnetic vehicles are one, the braking inner magnetic vehicle is connected with one end of the inner magnetic vehicle, and a second mounting plate of the second brake is mounted on the upper surface of the second outer magnetic vehicle so that the second brake is positioned at one end of the second outer magnetic vehicle; if the number of the inner magnetic vehicles is one, the number of the second brakes and the number of the braking inner magnetic vehicles are two, the two braking inner magnetic vehicles are respectively connected with the two ends of the inner magnetic vehicles, and the second mounting plates of the two second brakes are respectively arranged on the upper surfaces of the second outer magnetic vehicles, so that the two second brakes are respectively positioned at the two ends of the second outer magnetic vehicles; if the number of the inner magnetic vehicles is at least two, the number of the second brakes and the number of the braking inner magnetic vehicles are two, the two braking inner magnetic vehicles are respectively connected with one end of the two inner magnetic vehicles at the two ends, which is separated from each other, and the second mounting plates of the two second brakes are respectively arranged on the upper surfaces of the two second outer magnetic vehicles at the two ends, so that the two second brakes are respectively positioned at the two ends of the at least two second outer magnetic vehicles; when a sixth magnet is arranged below the second brake, the second brake is in an unbraked state, wherein the opposite magnetic poles of the fifth magnet and the sixth magnet are the same; when the sixth magnet is not provided below the second stopper, the second stopper moves downward to perform braking.

Further, the second brake further includes: the second spring, the third guide way of downwardly extending has been seted up to the upper end of second guide post, the second spring sets up in the third guide way, the lower extreme butt of second spring the tank bottom of third guide way, the upper end butt of second spring the tank bottom of second guide way, the second spring is in compression state all the time.

Further: when the number of the first outer magnetic vehicles, the second outer magnetic vehicles and the inner magnetic vehicles is at least two, the adjacent two ends of the first outer magnetic vehicles are connected together through a first universal joint, the adjacent two ends of the second outer magnetic vehicles are connected together through a second universal joint, and the adjacent two ends of the inner magnetic vehicles are connected together through a third universal joint.

The magnetic traction walking device provided by the embodiment of the invention can stably walk, is well suitable for complex changes of the track, and does not generate the phenomenon of locking and vehicle falling.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a perspective view of a first embodiment of a magnetic traction running gear on a tubular track;

FIG. 2 is a second perspective view of a magnetic traction running gear on a tubular track according to an embodiment of the present invention;

FIG. 3 is a side view of a first outer magnet car according to an embodiment of the present invention;

FIG. 4 is a side view of a second outer magnet car according to an embodiment of the present invention;

FIG. 5 is a perspective view of a connector according to an embodiment of the present invention;

FIG. 6 is a side view of a first connector according to an embodiment of the present invention;

FIG. 7 is a side view of a second connector according to an embodiment of the present invention;

FIG. 8 is a perspective view of an inner magnet vehicle according to an embodiment of the present invention;

FIG. 9 is a side view of an inner magnet vehicle according to an embodiment of the invention;

FIG. 10 is a side cross-sectional view of a first brake and magnetic traction running gear in accordance with a preferred embodiment of the present invention;

FIG. 11 is a second side cross-sectional view of the first brake and magnetic traction running gear of a preferred embodiment of the present invention;

FIG. 12 is a perspective view of a first brake according to an embodiment of the present invention;

FIG. 13 is a side cross-sectional view of a second brake and magnetic traction running gear in accordance with another preferred embodiment of the present invention;

FIG. 14 is a second side cross-sectional view of a second brake and magnetic traction running gear in accordance with another preferred embodiment of the present invention;

fig. 15 is a perspective view of a second brake according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The embodiment of the invention discloses a magnetic traction walking device. Specifically, as shown in fig. 1 to 15, the magnetic traction traveling device includes: at least one set of outer magnet cars and at least one inner magnet car 3. The number of groups of outer magnet cars is the same as the number of inner magnet cars 1.

Each group of outer magnet car includes: a first outer magnet car 1 and a second outer magnet car 2. The first outer magnet car 1 of each group is located below the second outer magnet car 2. The first outer magnet car 1 and the second outer magnet car 2 of each group are connected by a connecting piece 4. The first external magnetic vehicle 1 and the second external magnetic vehicle 2 are arranged at intervals, so that a walking tubular track 5 can be arranged at intervals between the first external magnetic vehicle 1 and the second external magnetic vehicle. The first outer magnetic vehicles 1 and the second outer magnetic vehicles 2 of each group are respectively attracted with the corresponding inner magnetic vehicles 3 through magnetic force, so that when the inner magnetic vehicles 3 are moved under traction force, the first outer magnetic vehicles 1 and the second outer magnetic vehicles 2 can be driven to move together, and the magnetic traction running gear is driven to run. When the magnetic traction running gear runs on the tubular track 5, the first outer magnetic trolley 1 and the second outer magnetic trolley 2 of each group are respectively oppositely positioned on the outer surface of the lower side wall and the outer surface of the upper side wall of the tubular track 5, and the inner magnetic trolley 3 is positioned in the tubular track 5. When the magnetic traction walking device is used as a patrol robot, the first external magnetic vehicle 1 and the second external magnetic vehicle 2 can carry patrol equipment. When the magnetic traction running gear is used as a transportation robot, the first external magnetic vehicle 1 and the second external magnetic vehicle 2 can carry equipment to be transported.

Specifically, the first outer magnet vehicle 1 includes: the outer magnetic vehicle comprises a first outer magnetic vehicle body 101, four first wheels 102, four first wheel rotating shafts 103, four radial arms 104, four push rods 105, four connecting shafts 106, two push rod springs 107 and four positioning pins 108. One end of each first wheel 102 and each radial arm 104 is sleeved on each first wheel axle 103. The first wheel 102 is rotatable about a first wheel axis 103. One ends of the two first wheel rotating shafts 103 are symmetrically located at one ends of two opposite side walls of the first outer magnet body 101. One end of the other two first wheel rotating shafts 103 are symmetrically located at the other ends of the two opposite side walls of the first outer magnet body 101. The other end of each radial arm 104 and one end of each push rod 105 are sleeved on each connecting shaft 106, and can be sleeved on the connecting shafts 106 through nuts for locking. Two connecting shafts 106 are symmetrically located at one end of two opposite side walls of the first outer magnetic body 101, and the other two connecting shafts 106 are symmetrically located at the other end of two opposite side walls of the first outer magnetic body 101. The connecting shaft 106 is located lower than the first wheel turning shaft 103. The other ends of the two push rods 105 positioned on the same side of the first outer magnetic vehicle body 101 are respectively sleeved with two ends of a push rod spring 107. The push rod spring 107 is always in a compressed state. Preferably, one end of an L-shaped baffle is connected to the two sides of the first outer magnet body 101 corresponding to the positions of the push rod springs 107, and the push rod springs 107 are located at the bending positions of the L-shaped baffle, so that the L-shaped baffle covers the push rod springs 107. The L-shaped baffle can protect the push rod spring 107 and also avoid collapse of the push rod spring 107. One end of each positioning pin 108 passes through the middle of each radial arm 104 and is connected to a side wall of the first outer magnet body 101 on the same side as the passing radial arm 104. The radial arm 104 is rotatable about a locating pin 108 that passes therethrough. Preferably, radial arm 104 is arcuate.

When the first outer magnetic vehicle 1 moves on the tubular track 5, the first wheel 102 may not be tightly abutted to the tubular track 5 due to gravity or uneven height and up-down fluctuation of the tubular track 5, so that the first wheel 102 is blocked on the tubular track 5 and the outer magnetic vehicle cannot normally walk or the outer magnetic vehicle cannot stably walk. Through the above structural design, the push rod spring 107 is in a compressed state, the elastic force of the push rod spring 107 can push the push rods 105 at two ends of the push rod spring 107, the push rods 105 push the radial arms 104 which are coaxially connected, and the radial arms 104 rotate around the positioning pins 108 to drive the first wheels 102 which are coaxially connected to move upwards and tightly abut against the lower side wall of the tubular rail 5, so that the first wheels 102 are prevented from being blocked on the tubular rail 5, the outer magnetic vehicle can keep normal running, and the outer magnetic vehicle can stably run. The push rod spring 107 also has a certain cushioning and damping effect.

Preferably, two first grooves are disposed on the side wall of each first wheel spindle 103 at intervals. One end of the first wheel 102 and the radial arm 104 is located just between the two first grooves. The first wheel axle 103 is provided with two first collars 109. The inner sides of the two first check rings 109 are respectively embedded into the two first grooves.

The positions of the first wheel 102 and the radial arm 104 are limited through the two first check rings 109, so that the first wheel 102 is prevented from being displaced on the first wheel rotating shaft 103, and the first wheel 102 is further prevented from being blocked on the tubular rail 5.

Preferably, a limiting pin 110 is disposed on each side of each radial arm 104. One end of the limiting pin 110 is connected with a side wall of the first outer magnet car body 1, which is on the same side with the radial arm 104.

By arranging the limiting pins 110, the radial arms 104 are limited at two sides of the radial arms 104, so that the situation that the rotation angle of the radial arms 104 is overlarge to cause a certain danger is avoided.

Preferably, the end face of the other end of the push rod 105 is extended with a limit post. The push rod spring 107 is sleeved on the limit post. The end face of the other end of the push rod 105 is larger in size than the diameter of the push rod spring 107, thereby restricting the position of the push rod spring 107.

The first outer magnet body 1 has a first mounting groove on an upper surface thereof. A first magnet 111 is installed in the first installation groove to provide a magnetic force.

Specifically, the second external magnet truck 2 includes: a second outer magnet vehicle body 201, four second wheels 202, and four second wheel axles 203. Each second wheel 202 is sleeved on each second wheel rotating shaft 203, and can rotate around the second wheel rotating shaft 203. One ends of the two second wheel rotating shafts 203 are symmetrically connected to one ends of two opposite side walls of the second outer magnet vehicle body 201. One end of the other two second wheel rotating shafts 203 is symmetrically connected to the other ends of the two opposite side walls of the second outer magnet vehicle body 201.

Preferably, two second grooves are provided on the side wall of each second wheel spindle 203 at intervals. The second wheel 202 is located just between the two second grooves. The second wheel spindle 203 is sleeved with two second check rings 204. The inner sides of the two second check rings 204 are respectively embedded into the two second grooves.

The positions of the second wheels 202 are limited through the two second check rings 204, so that the second wheels 202 are prevented from being displaced on the second wheel rotating shaft 203, and the second wheels 202 are further prevented from being blocked on the tubular rail 5.

The second outer magnet body 2 has a second mounting groove on the lower surface thereof. A second magnet 205 is installed in the second installation groove to provide a magnetic force.

Specifically, the inner magnet truck 3 includes: a first inner magnet body 301, a second inner magnet body 302, and four sets of third wheels 303. The upper surface of the first inner magnet body 301 is connected to the lower surface of the second inner magnet body 302. The first inner magnet body 301 has a set of third wheels 303 connected to each of the shafts at both ends of the lower surface thereof. The upper surface of the second inner magnet body 302 is pivotally connected at both ends to a set of third wheels 303. The third wheel 303 is rotatable about an axis. Preferably, the lower surfaces of both ends of the first inner magnet body 301 and the upper surfaces of both ends of the second inner magnet body 302 may be provided with connection seats, and each group of third wheels 303 is coupled with the connection seats by a shaft. When the vehicle is traveling, the wheel surface of the third wheel 303 on the lower surface of the first inner magnet body 301 is in contact with the inner surface of the lower side wall of the tubular rail 5, and the wheel surface of the third wheel 303 on the upper surface of the second inner magnet body 302 is in contact with the inner surface of the upper side wall of the tubular rail 5. The third wheel 303 rolls in the tubular rail 5, reducing the resistance, thereby facilitating the movement of the inner magnet car 3.

A third magnet 304 is provided on the lower surface of the first inner magnet body 301 and the upper surface of the second inner magnet body 302, respectively, to provide magnetic force.

Preferably, the inner magnet car 3 further includes: guide wheel 305. Four corners of the first inner magnet body 301 are concave arcs. One guide wheel 305 is connected to each of the four arcuate positions on the lower surface of the second inner magnet body 302. The rotation axis of the guide wheel 305 is perpendicular to the second inner magnet body 302. When the vehicle is walking, the wheel surface of the guide wheel 305 is abutted against the inner surface of the side wall of the tubular rail 5 on the same side, so that the guide wheel 305 can guide the movement of the inner magnetic vehicle 3, and the resistance is further reduced, and the movement of the inner magnetic vehicle 3 is assisted.

Preferably, the inner magnet car 3 further includes: and an elastic member 306. The elastic member 306 is disposed between the upper surface of the first inner magnet body 301 and the lower surface of the second inner magnet body 302. Specifically, the lower end of the elastic member 306 is connected to the upper surface of the first inner magnet body 301, and the upper end of the elastic member 306 is connected to the lower surface of the second inner magnet body 302. The elastic member 306 may be an elastic pad, rubber pad, spring, or the like.

Through setting up elastic component 306, make the upper and lower two parts of interior magnetic trolley 3 have better elasticity volume, make interior magnetic trolley 3 travel in tubular track 5 that can be better, make the maximum hugging closely tubular track 5 of third magnet 304, inhale with outer magnetic trolley magnetism, simultaneously can make the upper and lower two-layer third wheel 303 better of interior magnetic trolley 3 press the internal surface of the upper lateral wall and the lower lateral wall of tubular track 5, under the condition of ascending, downhill slope, turn, interior magnetic trolley 3 can firmly hug closely tubular track 5 and travel, do not take place the coaster, take off the phenomenon of car, adapt to different track sizes, through different track strokes.

Preferably, the connector 4 comprises: a first connector 401 and a second connector 402. One end of the first connecting member 401 is connected to one side wall of the first outer magnet body 101. The other end of the first connector 401 is provided with a through hole 403. One end of the second connector 402 is connected to a side wall of the second outer magnet car body 202. The other end of the second connector 402 is provided with a bar-shaped hole 404. The bolt 405 passes through the through hole 403 and the bar-shaped hole 404, and the bolt 405 is locked by a nut.

Through the structural design of bar hole 404, after first connecting piece 401 and second connecting piece 402 are connected, the hookup location of adjustable first connecting piece 401 and second connecting piece 402 to adjust the distance between first outer magnet car 1 and the second outer magnet car 2, after connecting piece 4 connects first outer magnet car 1 and the second outer magnet car 2 like this, can have certain adjustment volume, can have an adjustment when the second outer magnet car 2 is passing through the uneven seam of tubular track 5, make the second outer magnet car 2 can very smooth walk on tubular track 5 and do not produce the dead phenomenon of card.

Preferably, when the number of the first external magnetic vehicles 1 and the second external magnetic vehicles 2 is at least two, the adjacent two ends of the adjacent two first external magnetic vehicles 1 are connected together through a first universal joint, the adjacent two ends of the adjacent two second external magnetic vehicles 2 are connected together through a second universal joint, and the adjacent two ends of the adjacent two internal magnetic vehicles 3 are connected together through a third universal joint.

Through the universal joint structure, the whole connection flexibility is good, the swing of every dolly is nimble, and the adaptation is strong, can adapt to complicated tracks such as upslope, downhill path, turn, the too big problem of big body type dolly turning radius has also not influenced the removal of automobile body, greatly increased whole dolly trafficability characteristic, make magnetism traction running gear walk steadily.

In a preferred embodiment, as shown in fig. 10 to 11, the magnetic traction traveling device further includes: two first brakes. Each first brake includes: a first bracket 6, a first stopper 7 and a fourth magnet 8. The first bracket 6 is made of magnetic conductive steel, and the first braking member 7 is made of magnetic conductive material. The tubular track 5 is made of non-magnetic and non-magnetic materials. The upper end of the first bracket 6 has a first receiving groove. The lower end of the first bracket 6 is provided with a first guide groove. The upper end of the first guide groove is communicated with the lower end of the first accommodating groove. The fourth magnet 8 is mounted in the first accommodation groove. The magnetic force of the fourth magnet 8 is smaller than the magnetic force of the third magnet 304. A first guide post 9 extends upwardly from the upper surface of the first stopper 7. The first guide post 9 extends into the first guide slot. The first guide post 9 is made of magnetic conductive material. Through designing first guide way, carry out spacingly to first guide post 9, guarantee that first brake piece 7 can only follow the upper and lower direction activity, can not rotate and swing, can not appear the dead phenomenon of card. A first mounting plate 10 extends from a side of the lower end of the first bracket 6 facing the second external magnet car 2.

If the number of the groups of the outer magnet car is one, the first mounting plates 10 of the two first brakes are mounted on the upper surface of the second outer magnet car 2, so that the two first brakes are respectively positioned at two ends of the second outer magnet car 2. It should be appreciated that only one brake configuration is shown in fig. 10 for the sake of clarity in illustrating the configuration of the brake.

If the number of the outer magnetic vehicles is at least two, the first mounting plates 10 of the two first brakes are respectively mounted on the upper surfaces of the two second outer magnetic vehicles 2 at the two ends, so that the two first brakes are respectively positioned at the two ends of the at least two second outer magnetic vehicles 2.

Normally, the inner magnet car 3 corresponds to the outer magnet car of each group one by one, and therefore, the inner magnet car 3 is not opposite to the first brake. When the third magnet 304 is not arranged below the first braking member 7, the first braking member 7 is not attracted by the third magnet 304, the fourth magnet 8 adsorbs the first guide column 9, the upper end of the first guide column 9 is abutted against the lower surface of the fourth magnet 8, and the first guide column 9 is lifted and lifted, so that the bottom of the first braking member 7 is spaced from the outer surface of the upper side wall of the tubular rail 5, namely, is not contacted, and the first braking member is in an unbraked state and does not limit the running of the magnetic traction running gear. In this case, the first stopper 7 is not attracted by the attractive force of the third magnet 304 of the inner magnet car 3, and the attractive force of the fourth magnet 8 to the first stopper 7 is larger than the gravitational force of the first stopper 7, so that the first stopper 7 does not brake.

When the inner magnet carriage 3 is disjointed from the outer magnet carriage, the third magnet 304 of the inner magnet carriage 3 is offset along with the inner magnet carriage 3, the inner magnet carriage 3 passes under the first brake, and the third magnet 304 is arranged under the first brake piece 7. It will be appreciated that at this point the distance between the third magnet 304 and the fourth magnet 8 ensures that the two are not affected by the opposing magnetic forces. The first braking member 7 is attracted by the third magnet 304, the attraction force of the third magnet 304 to the first braking member 7 is larger than the attraction force of the fourth magnet 8 to the first braking member 7, the attraction force balance of the fourth magnet 8 to the first braking member 7 is broken, and the first braking member 7 moves downwards to brake. The first braking piece 7 presses the tubular rail 5 by self weight and generates friction, thereby achieving the purpose of braking. Since the first brakes are attached to both end portions of the second outer magnet car 2, the third magnet 304 passes under the first brake at one end, and the first brake at one end can be braked, regardless of the direction from which the inner magnet car 3 is disjointed.

Preferably, the first brake further comprises: a first spring 11. The first spring 11 is sleeved on the outer surface of the first guide post 9. The upper end of the first spring 11 abuts against the inner surface of the upper end of the first guide groove. The lower end of the first spring 11 abuts against the upper surface of the first stopper 7, and the first spring 11 is always in a compressed state.

By installing the first spring 11, braking can be further assisted. Specifically, when the first braking member 7 is not attracted by the third magnet 304, the attraction force of the fourth magnet 8 is greater than the sum of the gravity of the first braking member 7 and the elastic force of the first spring 11, so that the first braking member 7 does not perform braking. When the first stopper 7 is attracted by the third magnet 304, the first stopper 7 moves downward to perform braking. The sum of the dead weight of the first braking piece 7 and the elastic force of the first spring 11 is larger than the pressing force required by friction braking of the magnetic traction running gear. Due to the arrangement of the first spring 11, the first braking piece 7 presses the tubular rail 5 by the dead weight and the thrust of the first spring 11, and friction is generated, so that the purpose of braking is achieved.

Preferably, the first brake 7 consists of a first brake plate 701 and two first brake pads 702. Two first brake pads 702 are provided on both sides of the first brake plate 701, respectively, so that the first brake 7 has an inverted U-shape. The U-shape is dimensioned to match the tubular rail 5 such that when the first brake is braked, the tubular rail 5 is embedded in the inverted U-shaped configuration of the first brake 7, i.e. the first brake plate 701 presses against the upper side wall of the tubular rail 5, and the two first brake shoes 702 abut tightly against the two side walls of the tubular rail 5, respectively.

Preferably, the lower surface of the first brake plate 701 is provided with a first rubber friction plate 12, and when the first brake brakes, the first rubber friction plate 12 is pressed against the upper side wall of the tubular rail 5, and the friction force can be further increased by the material of the first rubber friction plate 12 compared with the material of the first brake plate 701 itself.

In addition, the tubular rail 5 is generally formed by sequentially connecting a plurality of sections of rails. Two adjacent sections of track are typically connected by welding a tab to each side of the track that is secured by screws (and therefore the tab protrudes from the side wall of the track). Under normal walking conditions, the first brake pad 702 is located above the tubular rail 5 and does not contact the connecting piece. When emergency braking occurs, the first brake block 702 can collide with the connecting sheet or scratch due to being put down, so that emergency braking can be realized, and sliding is avoided.

The use process of the first brake is as follows: the first stopper is mounted on the second outer magnet car 2 located at the outer surface of the upper side wall of the tubular rail 5 and at both ends. In the normal walking process, each inner magnetic vehicle 3 is opposite to each group of outer magnetic vehicles. The fourth magnet 8 adsorbs the first guide post 9, so that the first braking piece 7 is separated from the tubular track 5 by a distance, and the inner magnetic trolley 3 and the outer magnetic trolley can normally walk. When the inner magnetic trolley 3 and the outer magnetic trolley are disjointed, the third magnet 304 of the inner magnetic trolley 3 is deviated along with the inner magnetic trolley 3, and when the inner magnetic trolley 3 passes under the first brake, the third magnet 304 of the inner magnetic trolley 3 adsorbs the first brake piece 7, the attractive force of the third magnet 304 damages the attractive force balance of the fourth magnet 8 to the first brake piece 7, so that the first brake piece 7 falls down, and the first brake piece 7 is pressed against the tubular rail 5 by self weight (and the elastic force of the first spring 11) to generate friction, thereby achieving the purpose of braking.

By arranging the first brake, an additional power source is not needed, magnetic force and spring elastic force are utilized to act, the traveling magnetic traction traveling device does not need additional load braking energy, the magnetic traction traveling device can be braked on site in time when the traction state is abnormal, the brake is safer and more effective, the generation and leakage of energy such as light and heat are avoided to the greatest extent, the brake is more suitable for being used in extreme environments such as inflammable and explosive, dust and smoke, and a safer braking solution is provided for automatic traction equipment of coal mines.

In another preferred embodiment, as shown in fig. 13 to 15, the magnetic traction traveling device further includes: a second brake and a brake inner magnet car 13. The second brake includes: a second bracket 14, a second stopper 15 and a fifth magnet 16. The second support 14 is made of non-magnetic or non-magnetic material, and the second braking member 15 is also made of non-magnetic or non-magnetic material. The tubular track 5 is made of non-magnetic and non-magnetic materials. The lower end of the second bracket 14 is provided with a second guide groove. A second guide post 17 extends upwardly from the upper surface of the second detent 15. The second guide post 17 extends into the second guide slot. The second stopper 15 has a second receiving groove at a lower end thereof. The fifth magnet 16 is fixed in the second accommodation groove. Typically, the second receiving groove is sealed. Through designing the second guide way, carry out spacingly to second guide post 17, guarantee that second brake 15 can only follow the upper and lower direction activity, can not rotate and swing, can not appear the dead phenomenon of card. A second mounting plate 18 extends from a side of the lower end of the second bracket 14 facing the second external magnet car 2. The brake inner magnet truck 13 is mounted with a sixth magnet 131.

If the number of the inner magnet car 3, the second brake and the braking inner magnet car 13 is one (the number of the outer magnet car is also one), the braking inner magnet car 13 is connected with one end of the inner magnet car 3, and the second mounting plate 18 of the second brake is mounted on the upper surface of the second outer magnet car 2, so that the second brake is located at one end of the second outer magnet car 2.

If the number of the inner magnetic vehicles 3 is one (the number of the outer magnetic vehicles is also one), and the number of the second brakes and the number of the braking inner magnetic vehicles 13 are two, the two braking inner magnetic vehicles 13 are respectively connected with two ends of the inner magnetic vehicles 3, and the second mounting plates 18 of the two second brakes are respectively mounted on the upper surfaces of the second outer magnetic vehicles 2, so that the two second brakes are respectively positioned at two ends of the second outer magnetic vehicles 2.

If the number of the inner magnetic vehicles 3 is at least two (the number of the outer magnetic vehicles is also at least two), the number of the second brakes and the number of the braking inner magnetic vehicles 13 are two, the two braking inner magnetic vehicles 13 are respectively connected with one end of the two inner magnetic vehicles 3 at the two ends, which is separated from each other, and the second mounting plates 18 of the two second brakes are respectively mounted on the upper surfaces of the two second outer magnetic vehicles 2 at the two ends, so that the two second brakes are respectively positioned at the two ends of the at least two second outer magnetic vehicles 2.

Normally, each in-brake magnet car 13 is located below each second brake. The opposite magnetic poles of the fifth magnet 16 and the sixth magnet 131 are the same, and the opposite magnetic poles have repulsive force, and as other components are non-magnetic and non-magnetic conductive materials, the fifth magnet 16 and the sixth magnet 131 can form a complete magnetic circuit, so that the repulsive force is stable. Therefore, when the sixth magnet 131 is provided under the second stopper, the repulsive force between the fifth magnet 16 and the sixth magnet 131 is greater than the sum of the weight of the second stopper 15 and the weight of the fifth magnet 16, thereby lifting the second stopper 15 up, and at this time, the bottom of the second stopper 15 is spaced from, i.e., not in contact with, the outer surface of the upper side wall of the tubular rail 5, and therefore, the second stopper does not restrict the travel of the magnetic traction traveling apparatus, and is in an unbraked state.

When the inner magnet car 3 is disjointed from the outer magnet car, the position of the brake inner magnet car 13 is deviated and is not positioned below the second brake, and the sixth magnet 131 is not arranged below the second brake, so that the repulsive force to the fifth magnet 16 is insufficient, the second brake 15 moves downwards, and the second brake 15 is pressed against the tubular rail 5 by self weight and generates friction to brake. It should be understood that the dead weight of the second brake 15 and the fifth magnet 16 should be greater than the pressing force required for friction braking of the magnetic traction running gear. In particular, when the number of sets of the outer magnet car is at least two, the second brakes are mounted on both end portions of the second outer magnet car 2, and thus, the brakes on the respective end portions can be braked regardless of the direction from which the inner magnet car 3 is disjointed. In addition, in general, the third magnet 304 of the inner magnet carriage 3 and the sixth magnet 131 of the brake inner magnet carriage 13 have opposite magnetic poles. In this way, when the inner magnet car 3 and the outer magnet car are dislocated, the second brake is braked further by the attraction of the magnetic poles even when the inner magnet car 3 moves below the second brake.

Preferably, the second brake further comprises: a second spring 19. The upper end of the second guide post 17 is provided with a third guide groove extending downward. The second spring 19 is arranged in the third guide groove. The lower end of the second spring 19 abuts the bottom of the third guide groove. The upper end of the second spring 19 abuts the bottom of the second guide groove. The second spring 19 is always in a compressed state.

By installing the second spring 19, braking can be further assisted. Specifically, when the inner magnet car 13 is located below the second brake, the fifth magnet 16 is located below the second brake, the repulsive force between the fifth magnet 16 and the sixth magnet 131 is greater than the sum of the gravity of the second brake member 15, the gravity of the fifth magnet 16 and the elastic force of the second spring 19, so that the second brake member 15 does not brake, and the second brake is in an unbraked state. When the inner magnet car 3 is disjointed from the outer magnet car, the position of the brake inner magnet car 13 is deviated and is not positioned below the second brake, and the sixth magnet 131 is not arranged below the second brake, so that the repulsive force to the fifth magnet 16 is insufficient, the second brake 15 moves downwards, and the second brake 15 presses the tubular rail 5 by self weight and the elasticity of the second spring 19 to generate friction, so that the second brake brakes. It should be understood that the sum of the dead weights of the second brake 15 and the fifth magnet 16 and the elastic force of the second spring 19 is greater than the pressing force required for friction braking of the magnetic traction running gear.

Preferably, the second brake 15 is composed of a second brake plate 151 and two second brake pads 152. Two second brake pads 152 are respectively provided at both sides of the second brake plate 151 such that the second brake 15 has an inverted U-shape. The U-shape is dimensioned to match the tubular rail 5 such that when the second brake is braked, the tubular rail 5 is embedded in the inverted U-shaped configuration of the second brake 15, i.e. the second brake plate 151 presses against the upper side wall of the tubular rail 5, and the two second brake shoes 152 abut tightly against the two side walls of the tubular rail 5, respectively.

Preferably, the second rubber friction plate 20 is disposed on the lower surface of the second braking plate 151, and when the second brake brakes, the second rubber friction plate 20 is pressed against the upper side wall of the tubular rail 5, and compared with the second braking plate 151 itself, the material of the second rubber friction plate 20 can further increase the friction force.

In addition, the tubular rail 5 is generally formed by sequentially connecting a plurality of sections of rails. Two adjacent sections of track are typically connected by welding a tab to each side of the track that is secured by screws (and therefore the tab protrudes from the side wall of the track). In normal walking conditions, the second stop 152 is located above the tubular rail 5 and does not contact the tab. When emergency braking occurs, the second brake block 152 can collide with the connecting sheet or scratch due to being put down, so that emergency braking can be realized, and sliding is avoided.

The second brake is used as follows: the second brake is mounted on the second outer magnet car 2 at the end and on the outer surface of the upper side wall of the tubular rail 5. In the normal walking process, each inner magnetic vehicle 3 is opposite to each group of outer magnetic vehicles. Each of the in-braking magnet cars 13 faces each of the second brakes. The sixth magnet 131 of the inner magnetic vehicle 13 is braked and the fifth magnet 16 of the second brake has repulsive force, so that the second brake piece 15 is lifted and lifted, the second brake piece 15 is separated from the tubular track 5 by a distance, and the inner magnetic vehicle 3 and the outer magnetic vehicle can normally walk. When the inner magnetic vehicle 3 and the outer magnetic vehicle are disjointed, the braking inner magnetic vehicle 13 is deviated along with the inner magnetic vehicle 3, the braking inner magnetic vehicle 13 is not positioned below the second brake any more, the second brake is not subjected to the action of repulsive force, the second brake piece 15 falls down, the second brake piece 15 is pressed against the tubular track 5 by self weight (and the elasticity of the second spring 19), friction is generated, and the purpose of braking is achieved. Further, since the third magnet 304 of the inner magnet car 3 and the sixth magnet 131 of the brake inner magnet car 13 have opposite magnetic poles, when the inner magnet car 3 and the outer magnet car are misaligned, the second brake is braked further by the attraction of the magnetic poles when the inner magnet car 3 moves below the second brake.

By arranging the second brake, an additional power source is not needed, the magnetic traction running device does not need to additionally load braking energy by utilizing the repulsive force and the spring force action of the magnets, the magnetic traction running device can be braked on site in time when the traction state is abnormal, the brake is safer and more effective, the generation and leakage of energy such as light and heat can be avoided to the greatest extent, the brake is more suitable for being used in extreme environments such as inflammable and explosive, dust and smoke, and a safer braking solution is provided for automatic traction equipment of coal mines.

The magnetic traction running gear can be used for traction through a power mechanism. In particular, the power mechanism may be a motor and a traction rope. The two motors are located at the two ends of the tubular rail 5, respectively. The output end of each motor is respectively connected with one end of each traction rope. The hauling cable is positioned in the tubular track 5. The traction ropes 5 may be steel wire ropes. The other ends of the two traction ropes are respectively connected with the inner magnetic trolley 3 (or the braking inner magnetic trolley 13) positioned at the two ends of the magnetic traction running device. And the motor is started to drive the traction rope to move so as to drive the inner magnetic trolley 3 to move, and the inner magnetic trolley 3 drives the outer magnetic trolley to move through magnetic force, so that the magnetic traction travelling device is realized.

In summary, the magnetic traction walking device provided by the embodiment of the invention can stably walk, is well suitable for complex changes of the track, and does not generate the phenomenon of locking and vehicle falling.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims (8)

1. A magnetic traction running gear, comprising: at least one outer magnet car of group and at least one interior magnet car, the group number of outer magnet car is the same with the quantity of interior magnet car, every group outer magnet car includes: the first outer magnetic vehicles of each group are positioned below the second outer magnetic vehicles, the first outer magnetic vehicles of each group are connected with the second outer magnetic vehicles through connecting pieces, each inner magnetic vehicle is positioned between the first outer magnetic vehicles of each group and the second outer magnetic vehicles, and the first outer magnetic vehicles of each group and the second outer magnetic vehicles of each group are respectively attracted with the corresponding inner magnetic vehicles through magnetic force;

Wherein, first outer magnet car includes: the device comprises a first outer magnetic vehicle body, four first wheels, four first wheel rotating shafts, four radial arms, four push rods, four connecting shafts, two push rod springs, four positioning pins and a first magnet, wherein one end of each first wheel and one end of each radial arm are sleeved on each first wheel rotating shaft, the two first wheel rotating shafts are symmetrically positioned at one end of two opposite side walls of the first outer magnetic vehicle body, the other two first wheel rotating shafts are symmetrically positioned at the other ends of two opposite side walls of the first outer magnetic vehicle body, the other end of each radial arm and one end of each push rod are sleeved on each connecting shaft, the two connecting shafts are symmetrically positioned at one end of two opposite side walls of the first outer magnetic vehicle body, the other two connecting shafts are symmetrically positioned at the other ends of the two opposite side walls of the first outer magnetic vehicle body, the other two connecting shafts are positioned lower than the positions of the first wheels, the other two rotating shafts are positioned at the same side of the first outer magnetic vehicle body, the other ends of the two radial arms are respectively provided with the other end of each push rod spring, and the other end of each push rod spring passes through the two ends of the same side of the first outer magnetic vehicle body, and the push rod springs pass through the two ends of the axial arms and can pass through the two ends of the axial arms;

two sides of each radial arm are respectively provided with a limiting pin, and one end of each limiting pin is connected with one side wall of the first outer magnetic vehicle body, which is on the same side as the radial arm;

The second external magnetic vehicle includes: the first outer magnetic vehicle body, four first wheels and four first wheel rotating shafts, wherein each first wheel is sleeved on each first wheel rotating shaft, one end of each first wheel rotating shaft is symmetrically connected with one end of two opposite side walls of the first outer magnetic vehicle body, and one end of each second wheel rotating shaft is symmetrically connected with the other end of two opposite side walls of the first outer magnetic vehicle body;

the inner magnet vehicle includes: the magnetic wheel comprises a first inner magnetic vehicle body, a second inner magnetic vehicle body and four groups of third wheels, wherein the upper surface of the first inner magnetic vehicle body is connected with the lower surface of the second inner magnetic vehicle body, two ends of the lower surface of the first inner magnetic vehicle body are respectively connected with one group of the third wheels through shafts, and two ends of the upper surface of the second inner magnetic vehicle body are respectively connected with one group of the third wheels through shafts.

2. The magnetic traction drive of claim 1 wherein the connector comprises: the first connecting piece and second connecting piece, the one end of first connecting piece is connected a lateral wall of first outer magnetism automobile body, the other end of first connecting piece is provided with the through-hole, the one end of second connecting piece is connected a lateral wall of second outer magnetism automobile body, the other end of second connecting piece is provided with the bar hole, the bolt passes the through-hole with the bar hole, and through the nut locking the bolt.

3. The magnetic traction walker apparatus as claimed in claim 1 wherein: the upper surface of the first outer magnetic vehicle body is provided with a first mounting groove, and a first magnet is mounted in the first mounting groove; the lower surface of the second external magnetic vehicle body is provided with a second mounting groove, and a second magnet is mounted in the second mounting groove; the upper surface and the lower surface of the inner magnetic vehicle body are respectively provided with a third magnet;

when the magnetic traction running gear runs on the tubular track, the first outer magnetic trolley and the second outer magnetic trolley of each group are respectively and relatively positioned on the outer surface of the lower side wall and the outer surface of the upper side wall of the tubular track, and the inner magnetic trolley is positioned in the tubular track.

4. The magnetic traction drive of claim 3, further comprising: two first brakes, each of the first brakes comprising: a first bracket, a first braking member and a fourth magnet; the upper end of the first bracket is provided with a first accommodating groove, the lower end of the first bracket is provided with a first guide groove, the upper end of the first guide groove is communicated with the lower end of the first accommodating groove, the fourth magnet is arranged in the first accommodating groove, and the magnetic force of the fourth magnet is smaller than that of the third magnet; a first guide post extends upwards from the upper surface of the first braking piece, the first guide post extends into the first guide groove, and a first mounting plate extends from one side of the lower end of the first bracket, which faces the second external magnetic vehicle;

If the number of the groups of the outer magnetic vehicles is one, the first mounting plates of the two first brakes are arranged on the upper surface of the second outer magnetic vehicle, so that the two first brakes are respectively positioned at two ends of the second outer magnetic vehicle;

If the number of the groups of the outer magnetic vehicles is at least two, the first mounting plates of the two first brakes are respectively arranged on the upper surfaces of the two second outer magnetic vehicles at the two end parts, so that the two first brakes are respectively positioned at the two ends of the at least two second outer magnetic vehicles;

When the third magnet is not arranged below the first brake piece, the fourth magnet adsorbs the first guide column, the upper end of the first guide column is abutted with the lower surface of the fourth magnet, and the first brake is in an unbraked state;

When the third magnet is provided below the first braking member, the first braking member moves downward to perform braking.

5. The magnetic traction running gear of claim 4 wherein the first brake further comprises: the first spring is sleeved on the outer surface of the first guide post, the upper end of the first spring is abutted to the inner surface of the upper end of the first guide groove, the lower end of the first spring is abutted to the upper surface of the first braking piece, and the first spring is always in a compressed state.

6. The magnetic traction drive of claim 3, further comprising: a second brake and a braking inner magnet vehicle, the second brake comprising: a second bracket, a second braking member and a fifth magnet; the lower end of the second bracket is provided with a second guide groove, a second guide post extends upwards from the upper surface of the second braking piece, the second guide post extends into the second guide groove, the lower end of the second braking piece is provided with a second containing groove, the fifth magnet is fixed in the second containing groove, one side, facing the second outer magnet car, of the lower end of the second bracket extends to form a second mounting plate, and a sixth magnet is mounted on the inner magnet car;

If the number of the second brake and the number of the braking inner magnetic vehicles are one, the braking inner magnetic vehicle is connected with one end of the inner magnetic vehicle, and a second mounting plate of the second brake is mounted on the upper surface of the second outer magnetic vehicle so that the second brake is positioned at one end of the second outer magnetic vehicle;

If the number of the inner magnetic vehicles is one, the number of the second brakes and the number of the braking inner magnetic vehicles are two, the two braking inner magnetic vehicles are respectively connected with the two ends of the inner magnetic vehicles, and the second mounting plates of the two second brakes are respectively arranged on the upper surfaces of the second outer magnetic vehicles, so that the two second brakes are respectively positioned at the two ends of the second outer magnetic vehicles;

if the number of the inner magnetic vehicles is at least two, the number of the second brakes and the number of the braking inner magnetic vehicles are two, the two braking inner magnetic vehicles are respectively connected with one end of the two inner magnetic vehicles at the two ends, which is separated from each other, and the second mounting plates of the two second brakes are respectively arranged on the upper surfaces of the two second outer magnetic vehicles at the two ends, so that the two second brakes are respectively positioned at the two ends of the at least two second outer magnetic vehicles;

When a sixth magnet is arranged below the second brake, the second brake is in an unbraked state, wherein the opposite magnetic poles of the fifth magnet and the sixth magnet are the same;

When the sixth magnet is not provided below the second stopper, the second stopper moves downward to perform braking.

7. The magnetic traction running gear of claim 6 wherein the second brake further comprises: the second spring, the third guide way of downwardly extending has been seted up to the upper end of second guide post, the second spring sets up in the third guide way, the lower extreme butt of second spring the tank bottom of third guide way, the upper end butt of second spring the tank bottom of second guide way, the second spring is in compression state all the time.

8. The magnetic traction walker apparatus as claimed in claim 1 wherein: when the number of the first outer magnetic vehicles, the second outer magnetic vehicles and the inner magnetic vehicles is at least two, the adjacent two ends of the first outer magnetic vehicles are connected together through a first universal joint, the adjacent two ends of the second outer magnetic vehicles are connected together through a second universal joint, and the adjacent two ends of the inner magnetic vehicles are connected together through a third universal joint.