JP2807981B2 - Transition device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device which is mounted on an appropriate surface to be driven, whereby the device itself travels.

[0002]

2. Description of the Related Art Conventionally, a traveling vehicle having a self-propelled structure includes a rotating wheel, an endless track belt having an endless track structure, and the like. It comes into contact and moves back and forth.

[0003]

However, in a conventional traveling vehicle having a self-propelled structure, for example, if there is a step or the like on the surface to be driven, if the step is larger than the wheels, it cannot be overcome. Even if it is an endless track zone, if the endless track zone does not engage with the upper end of the step, it cannot be similarly overcome.

Accordingly, the present invention has been made in view of the above-described various circumstances, and is driven in a state where the user is moved by being placed on a surface to be driven. It is an object of the present invention to provide a transfer device that travels on a surface to be traveled, and in particular can easily overcome a step.

[0005]

In order to achieve the above-mentioned object, in the transfer device according to the present invention, there are provided a plurality of operating shafts 2 arranged along the forward and backward directions, and the shafts of the operating shafts 2. The eccentric directions are sequentially different along the direction, and a plurality of eccentric plates 3 fixed to the respective operating shafts 2 at the same eccentric angle along the advance / retreat direction are arranged along the advance / retreat direction and at least front and rear. A plurality of reciprocating operation pieces 4 which are successively mounted and connected in a superimposed state between the eccentric disks 3 to be driven, and whose lower contact edge with the running surface F is set to be substantially horizontal, and at least one of the operation shafts An operating mechanism 1 having a driving source 5 for driving the moving member 2 is provided below the transition body 21 with the lower contact edge of the reciprocating operation piece 4 as the lower position. It is characterized in that it is placed on top.

[0006] The leading end or the trailing end of the advancing / retreating operation piece 4 is bent upward so as to be seen upward when viewed from the side.
Are formed integrally, and a non-slip means 2 is provided on the lower contact edge.
3 can be formed.

In the transfer device according to the present invention having the above-described configuration, the drive of the drive source 5 in the operating mechanism 1 rotates any one of the operating shafts 2, and moves in the axial direction of the operating shaft 2. Each of the plurality of eccentric plates 3 which are sequentially eccentric and fixed are eccentrically rotated. This eccentric rotation causes the plurality of advance / retreat operating pieces 4 integrally and connected to these eccentric disks 3 to move up and down and advance / retreat via these eccentric disks 3. Then, the lower contact edge of the advancing / retreating operation piece 4 sequentially protrudes alternately in the axial direction of the operation shaft 2, and advances and retreats at the protruding position. At this time, the plurality of operating shafts 2 are mounted and connected to each other via the eccentric plate 3, and the entire reciprocating operation pieces 4 on the same row in the reciprocating direction are changed from the starting end position to the end position in the linked whole. Operate synchronously and integrally.

In the transfer device 20 having the operating mechanism 1 provided below the transfer body 21, the drive of the drive source 5 mounted on the running surface F with the lower contact edge of the advance / retreat operating piece 4 as the lower position is performed. Then, the contact edge of the reciprocating operation piece 4 is lowered in a reverse manner, and the reciprocating member 4 advances and retreats in the reciprocating direction on the running surface F while the entire lower contact edge is maintained in a substantially balanced state.

As a result, the advancing / retreating operation piece 4 which descends alternately and sequentially moves the moving body 21 in any of the advancing / retreating directions together with the frictional action on the running surface F surface. At this time, if there is a step S on the surface F to be traveled, the overriding portions 22 are sequentially and alternately engaged with the step S, and advance over the non-slip 23.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes an operating mechanism in a transfer device 20 of the present invention, and FIG. , Its outline and principle are shown.

That is, the operating mechanism 1 is provided on the running surface F
The plurality of operating shafts 2 arranged along the forward and backward directions to be shifted above, and the eccentric directions are sequentially different along the axial direction of the operating shaft 2, and the same eccentric angle is set along the forward and backward directions. And a plurality of eccentric plates 3 fixedly attached to the respective operating shafts 2 and the eccentric plates 3 arranged along the advancing / retreating direction and superposed between at least the front and rear pairs of eccentric plates 3 so as to be superimposed and connected sequentially, and the running surface F A plurality of reciprocating operation pieces 4 whose lower contact edges are set substantially horizontally, and a drive source 5 for driving at least one of the operation shafts 2.

The operating shaft 2 has its both ends suitably supported by a transition body 21 described later by bearings or the like (not shown), and is arranged at predetermined intervals so as to be substantially orthogonal to the traveling direction of travel. Is done.

The eccentric disk 3 is fixed to the operating shaft 2 at different intervals along the axial direction of the operating shaft 2 at appropriate intervals, and is fixed to the operating shaft 2 in the forward and backward directions as shown in FIGS. In the working shafts 2 arranged sequentially, the eccentric plates 3 at the same position in the axial direction have exactly the same eccentric angle. In the illustrated example, the eccentric direction is shifted while being eccentrically rotated in the axial direction. In the illustrated example, the eccentrically rotated positions are sequentially arranged at intervals of, for example, 60 degrees. One set is formed by the boards 3, and these are arranged in a plurality of sets.

The reciprocating operation piece 4 itself is formed in a band-like shape having a predetermined thickness.
When they are integrated with each other, the interval between the operating shafts 2 adjacent to each other in the axial direction is set to about 10 mm. Abut. Although only a few reciprocating members 4 are shown in the drawing for clarity in the drawing, they are actually stably supported on the running surface F when the transfer device 20 is used. The reciprocating members 4 are arranged in a considerably large number so as to have a sufficient width.

In any case, the eccentrically operating reciprocating operation pieces 4 operate in the same manner in each of the plurality of arranged sets, so that a plurality of the same type of reciprocating operation pieces 4 for each arrangement set are driven. It will be supported by the surface F.

The combination of the operating shaft 2, the eccentric disk 3 and the reciprocating operating piece 4 is provided between the eccentric disks 3 fixed to the paired operating shafts 2 at least in the forward and backward directions. In this case, the eccentric disk 3 is disposed at the same position in the axial direction of the operating shaft 2 and has the same eccentric angle. The levels are set at almost the same height. Further, the reciprocating operation piece 4 is continuous so that the operating shaft 2 and the eccentric disc 3 are used as relay points in the reciprocating direction. Supported in the form,
In the forward and backward directions, the forward and backward operation pieces 4 set at the same height level are continuous. The reciprocating member 4
Is not limited to the case where the eccentric disk 3 is mounted on the operating shaft 2 via the respective eccentric disks 3 at both ends. If necessary, an appropriate number of the eccentric disks 3 and the operating shaft 2 can also be supported (not shown).

Here, a specific description will be given of a state in which the height position differs in the axial direction of the operating shaft 2 depending on the eccentric state of the eccentric disk 3. For example, as shown in FIGS. The uppermost reciprocating operation piece 4A is formed by the eccentric disk 3A set in the upward eccentric direction, and is slightly lower by the eccentric disk 3B set to the eccentric position rotated counterclockwise by 60 degrees adjacent thereto. Retractable operating piece 4 in position
B, and furthermore, the reciprocating operation piece 4C at a lower position is further lowered by an eccentric plate 3C set at an eccentric position rotated by 60 degrees in the same direction, and further rotated by 60 degrees in the same direction. Eccentric board 3D set at an eccentric position
To make the reciprocating operation piece 4D at the lowest position, and then, in the same manner, to make the reciprocating operation piece 4E at a slightly higher position by the eccentric disk 3E, and to make the reciprocating operation piece 4F further raised by the eccentric disk 3F, The reciprocating operation piece 4A at the highest position is defined by the eccentric 3A. As described above, while changing the eccentric direction at a predetermined angle in the same direction while sequentially adjacent to each other, the upper edge height position, that is, the lower edge height position of the reciprocating operation piece 4 is changed, and a plurality of rows are arranged on the same operation shaft 21. It is what is arranged. Therefore, as shown in FIG.
When the operating shaft 2 is rotated, a plurality of reciprocating operating pieces 4A, 4B... Which are sequentially eccentric in the axial direction of the operating shaft 2 are moved up and down, and are advanced and retracted so that they are sequentially alternately projected. Further, at the protruding position, the robot sequentially advances in one of the forward and backward directions. Therefore, these are repeated to project one after another, and advance and retreat operating pieces 4A, 4A.
B, the operating shaft 2 is appropriately held so as not to move, the operating shaft 2 is held on an appropriate moving body 21 in a movable state, and the transition device 20 is set with the lower contact edge at the lower position. Means that the lower contact edge moves forward and backward on the running surface F.

The deviation of the eccentric angle of the eccentric 3 is 60
An appropriate angle is selected without being limited to the degree, only the number of the reciprocating operation pieces 4 forming one set, the support between the reciprocating operation pieces 4 when supported on the running surface F. The distance is appropriately selected depending on the interval, the speed at the time of moving forward and backward, and other circumstances. Also, the deviation of the eccentric angle of the eccentric disc 3 does not mean that the adjacent ones in the axial direction of the operating shaft 2 must be regularly eccentric, but the ones in the same row in the reciprocating direction are eccentric in the same state. In addition, regularity is not required for the deviation.

On the other hand, the drive source 5 synchronously operates each of the reciprocating operation pieces 4 which are mounted and connected between the operation shafts 2 via the eccentric disk 3, and at least one of the operation shafts 2 is provided. It suffices to rotate the. That is, if any one of the operating shafts 2 is driven, one end of the reciprocating operation piece 4 linked to the eccentric disk 3 is moved up and down through the eccentric disk 3 and the eccentric disk 3 is moved forward and backward. The eccentric plate 3 at the other end of the advance / retreat operating piece 4 itself also eccentrically rotates,
As a result, the advancing / retreating operation piece 4 adjacent to the driving advancing / retreating operation piece 4 is driven, and simultaneously moves up and down, and moves forward and backward.

The drive source 5 itself is, for example, a motor, an engine or the like, and is transmitted to the operating shaft 2 via an appropriate speed reduction mechanism 6 capable of adjusting the speed, a belt, a chain, a gear, or other transmission means. There is as.

Next, the operation of the driving source 5 will be described.
When any one of the operating shafts 2 is rotated by the driving of the plurality of eccentric disks 3, the plurality of eccentric disks 3 are integrally and connected to the eccentric disks 3 via a plurality of eccentric disks 3 which are sequentially eccentrically fixed in the axial direction of the operating shaft 2. The reciprocating operation piece 4 is sequentially moved up and down and reciprocates in the axial direction of the operation shaft 2 (see FIGS. 2 and 3). Then, the lower contact edge of the reciprocating operation piece 4 sequentially protrudes alternately, and reciprocates at the protruding position.

At this time, the reciprocating operation pieces 4 which are mounted and connected via the eccentric plate 3 between the plurality of operating shafts 2 arranged in the reciprocating direction are connected in the same row in the reciprocating direction. From the start position to the end position in the whole, they operate synchronously and integrally.

As shown in FIG. 1, at the start or end position of the continuous reciprocating operation piece 4 which is continuously connected, one is formed at a projecting joint 7 having a substantially mountain shape.
The other part constitutes a contact joining means 9 formed in a concave joint 8 having a concave shape corresponding to the shape of the projecting joint 7.

The projecting joint 7 in the contact joining means 9
The operating mechanism 1 itself can be continuously arranged adjacently by the engagement between the actuator and the concave joint 8, and when any one of the operating mechanisms 1 is driven, the other operating mechanism 1 arranged adjacent thereto can be driven. It can be operated in a synchronized manner (see FIG. 3). Therefore, the adjacent operating mechanism 1
They can be operated at the same time without any special interlocking drive means between them, and can be arranged infinitely continuously.

FIG. 4 shows an example in which the transfer device 20 is configured by utilizing this operation principle. That is, the operating shaft 2 is rotatably supported before and after the lower part of the transition body 21 formed in the body shape in the forward and backward directions,
The transition body 21 itself is configured to be movable so that the contact edge of the reciprocating operation piece 4 is set at the lower position and abuts on the running surface F. Further, if necessary, the start end or the end of the reciprocating operation piece 4 is integrally formed with the climbing portion 22 so as to be bent upward when viewed from the side, and the contact edge has, for example, a wavy sliding member. The stopping means 23 is formed.

Here, when the drive source 5 is driven in a state where the lower contact edge of the advance / retreat operating piece 4 is in contact with the upper surface of the running surface F, the lower contact edge of the advance / retreat operation piece 4 is lowered alternately. The lower contact edge is moved back and forth in the direction of retreat while maintaining the substantially equilibrium state of the entire lower contact edge. Therefore, the transition body 21 itself is advanced and retracted in the advance and retreat direction, and the reciprocating operation piece 4 sequentially and alternately descends in a reciprocating manner.
Operates to scrape the running surface F together with its frictional action, and moves the transition body 21 in any of the moving directions.

At this time, if there is a step S on the surface F to be traveled, when the climbing portion 22 is engaged with the upper end of the step S, a large number of the reciprocating operation pieces 4 are sequentially switched at the upper position. Engages and, together with its slip-stopping means 23, rides on the step S and moves over it.

Therefore, the transition body 21 moves forward and backward in the forward and backward directions. Also, even if there is a step S, the transition body 21 can be overcome and run forward and backward without being affected by the undulation of the running surface F. It is.

[0029]

The present invention is configured as described above.
Therefore, the movable body 221 can be moved on the running surface F.
When the actuating mechanism 1 itself, which is a supporting device, is mounted, the actuating mechanism 1 itself travels, and can realize transition on the traveling surface F, and can be used for various purposes as various transition devices 20. Enable.

That is, in the operating mechanism 1 of the transfer device 20 of the present invention, a plurality of operating shafts 2 are arranged and supported along the forward / backward direction to be conveyed or transferred, and the eccentric direction of the operating shafts 2 is sequentially changed in the axial direction. Differently, in the reciprocating direction, the same eccentric angle is set, and a plurality of reciprocating operation pieces 4 are sequentially connected to the mounting shaft 2 in a superimposed state via the eccentric disk 3 fixed to each of the operating shafts 2 in sequence. This is because the operating shaft 2 is driven by the drive source 5.
When oneself is driven on the driven surface F, the driven surface F
To allow oneself to move with respect to

Further, in the transfer device 20, the operating mechanism 1 is mounted on the transfer body 21 which is constructed so as to be movable, and is driven. The vehicle quickly moves and travels on the abutted surface F to be contacted. At this time, in particular, even if there is a step S existing on the running surface F, it easily overcomes the step S and moves forward.
It is not affected by the undulation of the running surface F.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention, and is a perspective view of a main part showing a principle of an operation mechanism thereof.

FIG. 2 is a front view for explaining the eccentric positional relationship of each advance / retreat operation piece in the operation mechanism.

FIG. 3 is a side view of an essential part for explaining vertical movement, movement by forward / backward movement, and contact / joining means of each forward / backward operation piece.

FIG. 4 is a schematic side view of a transfer device.

[Explanation of symbols]

F: Traveled surface S: Step 1 ... Actuating mechanism 2 ... Actuating shaft 3 ... Eccentric disk 4 ... Reciprocating operating piece 5 ... Driving source 6 ... Deceleration mechanism 7 ... Projection joint 8 ... Recessed joint 9 ... Contact joining Means 20 ... Transition device 21 ... Transition body 22 ... Covering part 23 ... Slip prevention means

Claims (2)

(57) [Claims] 1. A plurality of operating shafts arranged along the reciprocating direction, and eccentric directions are sequentially different along the axial direction of the operating shaft, and are operated at the same eccentric angle along the reciprocating direction. A plurality of eccentric plates fixed to the shafts, respectively, are sequentially arranged and connected in a superposed state between at least front and rear pairs of eccentric plates arranged in the retreating direction, and the lower contact edge with the running surface is A plurality of reciprocating operating pieces set substantially horizontally,
An operating mechanism having a drive source for driving at least any one of the operating shafts is provided at a lower portion of the transition body, with a lower contact edge of the advance / retreat operating piece being a lower position, and a lower contact edge of the advance / retreat operating piece is located on the running surface. A transfer device characterized in that the transfer device is mounted on a transfer device. 2. The reciprocating member has a starting portion or a terminating portion integrally formed with a climbing portion so as to be bent upward when viewed from the side, and a non-slip means formed on a lower contact edge. 1. The transfer device according to 1.