JP3364586B2 - Traveling 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 traveling device for a traveling body for traveling on a vertical wall surface, a curved surface or the like, or for floor traveling in a factory. The present invention relates to a traveling device that enables movement in all directions, such as a change in direction.

[0002]

2. Description of the Related Art Conventionally, since a wheel provided on a traveling body is generally composed of an annular portion made of rubber or steel on the outer side, the traveling body may have a front and rear or inner / outer ring difference. It was possible to make turns such as turning, but it was impossible to make turns on the spot or change directions on the spot. Also, since a large turning radius was required, the operability of the running body was not good.

[0003]

SUMMARY OF THE INVENTION The problems to be solved by the present invention are to solve these problems of the prior art and to allow the running body to run not only in the front, rear, left and right but also in all directions.
It is an object of the present invention to provide a traveling device which is capable of changing direction in all directions on the spot and further capable of rotating on the spot and which has excellent motion characteristics.

[0004]

Means for Solving the Problems The constitution of the present invention which has solved the above problems is as follows: 1) Three or more elliptical free rollers are formed in a plane orthogonal to the drive axis, in an annular shape, and A plurality of rows are attached to the drive shaft in close proximity to each other, and a free roller of each row has a roller edge of a free roller of one row and a free roller of the other row. Of the rollers are alternately arranged so as to face the center surface of the rollers, and when the drive shaft is rotated, a group of free rollers arranged in an annular shape rolls around the drive shaft and the shaft of the drive shaft is rotated. the direction flip - b - La - is a wheel configured to be movable by rotating, arranged four or more radially running body, deer
Also has a drive shaft as a radial direction, a drive unit that drives the drive shaft so that the rotation speed and the rotation direction can be changed, and a control unit that independently controls the rotation speed and the rotation direction of each drive unit is provided. A traveling device characterized by being movable in all directions 2) A plurality of wheels are radially arranged on the same circumference of the traveling body.
Wherein the 1) traveling device 3 according) said wheel is disposed two or more identical radial direction 1)
Or 2) the traveling device according to any one of 4) , four wheels are radially arranged on the same circumference of the traveling body, and
The drive shafts of the two wheels are arranged so that they are orthogonal to each other.
The movements of the front, back, left and right are symmetrical.
1) The traveling device as described above. 5) Three or more elliptical free rollers on the drive shaft
A state in which a plurality of rows are adjacent to each other in an annular shape on the plane orthogonal to
Mounted on the drive shaft, and the free rollers in each row are
The row edge of one row is the roller edge of the other row.
-Alternatively arranged so as to face the center surface of the roller of the roller
The drive shaft is rotated and the drive shaft is rotated.
-The roller group rolls around the drive shaft and the axis of the drive shaft
The free-roller is designed to rotate and move in the direction.
Rotate by disposing four or more wheels radially formed on the running body
A drive unit that drives the drive shaft so that the number and rotation direction can be changed.
Provided to control the rotation speed and rotation direction of each drive independently.
The control unit is provided, four wheels are radially arranged on the same circumference of the traveling body, and the drive axes of the wheels are arranged to be orthogonal to each other so that the traveling body moves symmetrically in the front, rear, left, and right directions. The traveling device is characterized in that the traveling body is movable in all directions. 6) Four adjacent wheels of two wheels are divided into two sets as one set, and one set of wheels serves as the traveling body. fixedly arranged and the other pair of wheels is attached to both ends of the common support member for supporting the said attached freely running body and the rocking via a support shaft in the middle portion of the support member 4) Or 5) The traveling device according to any one of the above.

[0005]

In the wheel of the present invention, a plurality of free rollers arranged in an annular shape can roll around the drive shaft to move in the direction perpendicular to the drive shaft, and also in an annular shape in proximity to a plurality of rows. Multiple free
Since the rollers are arranged, the side surface of one of the free rollers must be grounded, and the grounded free roller must be grounded.
The roller rotates and can also move in the direction of the drive shaft. Further, the wheels are radially arranged so that the rotation speed and the rotation direction of the drive shaft can be changed. As a result, when the traveling body goes straight, the wheels are divided symmetrically in the traveling direction of the traveling body,
By rotating the wheels on both sides in the direction in which the force is generated in the traveling direction, the speed component in the traveling direction is added, the speed components in the traveling direction and the vertical direction are offset, and the traveling body travels straight in the traveling direction. Can be made. When the traveling direction of the traveling body is the drive shaft direction, the drive shaft in the same direction as the traveling direction stops, and the free roller provided on the drive shaft in the same direction as the traveling direction rotates, By making the other wheels the same as when moving the traveling body straight, as in the case of moving straight ahead, the speed in the traveling direction is added, the speed in the traveling direction and the speed in the direction perpendicular to the traveling direction cancel each other out, and in the same direction as the traveling direction. The free roller provided on the drive shaft can rotate to move the traveling body in the drive shaft direction. When the running body is turned around a point distant from the running body, the rotation direction of each wheel is the same as in the case of going straight, and the wheels closer to the center of turning make the rotation weaker and the wheels farther away make the rotation stronger. Can turn around any point.
As a result, the traveling body can be moved in all directions such as front-rear, left-right, direction change or turning on the spot. Furthermore, since the side of either free roller of each wheel is always grounded,
The running body can be smoothly run. In the case where the drive shaft is in the radial direction, all wheels are rotated in the same direction to enable rotation on the spot around the center of the radiation. If the wheels are provided on the same circumference, the control of the drive of each wheel can be simplified and the straightness can be improved. When the wheels are arranged over a plurality of layers, the traveling of the traveling body can be stabilized. In the case where the wheels are provided so as to be radially and orthogonal to each other on the same circle, the movement of the traveling body is symmetrical in the front, rear, left and right, so that the straightness is improved and the control of driving the wheels is also facilitated. Furthermore, since it can be moved in all directions with four wheels, it is economically efficient. In the case where the wheels are divided into two sets and attached to the traveling body, one set of wheels swingably attached is grounded corresponding to the unevenness of the traveling surface,
The four wheels of the vehicle are grounded with a uniform force, which prevents the vehicle from slipping on the running surface.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION To smooth the movement of a traveling body,
It is desirable to arrange four or more wheels. In order to improve the straightness / stability / controllability of the traveling body, it is desirable that the wheels are arranged on the same circumference and in the radial directions orthogonal to each other, and the drive shaft is also in the radial direction. Since the turning direction of the wheel may be rotation, reverse rotation, or stop depending on the moving direction of the traveling body,
The motor that drives the drive shaft is preferably a motor that can switch between forward and reverse directions and that has a variable speed.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. In the present embodiment, a wheel having a configuration in which two rows of free rollers are arranged in close proximity to each other in an annular shape on a surface orthogonal to the drive shaft is driven radially and on the same circumference of the abrasive cleaning agent ejector. Arranged so that the axes are orthogonal to each other, each wheel is equipped with a motor that can change the number of rotations and the direction, and the abrasive cleaning / injection tool can be moved in all directions, allowing blasting work while adsorbing to the outer wall of the hull. This is an example. Other examples are
This is an example in which two adjacent wheels are connected to a member and are movably connected to a polishing agent spraying tool so that the forces applied to the four wheels on an uneven running surface are made uniform. FIG. 1 is an overall schematic view of an embodiment,
2 is a plan view of the polishing / cleaning material spraying tool of the embodiment, FIG. 3 is a bottom view of the polishing / cleaning material spraying tool of the embodiment, FIG. 4 is a sectional view taken along line AA of FIG. 2, and FIG. FIG. 6 is an explanatory view showing a polishing work with a material, FIG. 6 is a detailed front view of a wheel of the embodiment, FIG. 7 is a detailed side view of the wheel of the embodiment, FIG. 8 is a sectional view taken along line AA of FIG. 7, and FIG. Explanatory drawing which shows the running of the abrasive cleaning material spraying device of an example, FIG. 10 is a diagram which shows the moving direction of the abrasive cleaning material spraying device of an Example, FIG. 11 is explanatory drawing which shows the example of arrangement | positioning of a wheel, FIG. 12 is another example. FIG. 13 is a plan view of the abrasive cleaning agent injection tool of FIG.

Embodiments (see FIGS. 1 to 11) In FIG. 1, 1 is a polishing / cleaning material spraying tool which is a running body, 2 is a motor capable of switching between forward and reverse directions and a variable speed, 2'is a drive shaft of the motor 2, 3 is a cylindrical thin box with an open bottom, 4 is an annular sealing material provided on the inside of the top of the box 3, 5 is a wheel radially arranged on the periphery of the box 3, and 5'is the outside of the wheel 5. An elliptical free roller forming an annular portion of the wheel, 5a is a front left wheel, 5b is a rear left wheel, 5c is a rear right wheel, 5d is a front right wheel, 5
e is a mounting hole provided in the center of the wheel 5, 6 is a control unit for controlling the motor 2, 7 is a polishing / cleaning material 9 and a transport pipe for sending high-pressure air to the polishing / cleaning material spraying tool 1, 8 is the sprayed polishing / cleaning material. 9 and a recovery pipe for collecting air and the separated powdery and granular deposit 12; 9 is a polishing and cleaning material for polishing the outer wall 11 of the vessel; 10 is a powder and granular material supply device; 11 is the outer wall of the vessel which is the surface to be polished; It is an attached matter such as rust and shellfish attached to the outer wall 11 of the ship.

In this embodiment, as shown in FIGS. 1 to 4, a thin box body 3 having an open bottom is provided with a transport port and a recovery port, and the same box body 3 is provided.
Wheels 5 are arranged at four locations on the periphery of the wheel so that the drive shafts 2 ′ are orthogonal to each other, and a motor 2 is provided for each wheel 5. It is connected to the powder and granular material supply device 10. As shown in FIGS. 6 to 8, three free rollers 5'are circularly arranged in two rows on the plane orthogonal to the mounting hole 5e, and the free rollers 5'in each row are alternately arranged. Placed close to each other, either free roller-5 '
The side surface of the vehicle must be in contact with the outer wall 11 of the ship, which is the surface to be polished, and the drive shaft 2'is inserted into the mounting hole 5e and the key is fitted into the key groove to connect the drive shaft 2'and the wheel 5 to drive The wheels 5 are made to rotate in conjunction with the rotation of the shaft 2 '. As a result, the wheel 5 is driven by the motor 2 and a plurality of annularly arranged free rollers 5'roll around the drive shaft to move vertically to the drive shaft 2'and contact the ground. -Roller 5'rotates to move in the same direction as drive shaft 2 '. Then, by appropriately controlling the motor 2 by the control unit 6, each wheel 5 can maintain an independent rotation direction and rotation speed, and the abrasive cleaning material spraying tool 1 can move in all directions. .

FIG. 9 shows the case where the abrasive cleaning material ejector 1 is moved straight.
As shown in (a), the wheels 5 are symmetrically divided in the traveling direction (the front left and rear left wheels 5a and 5b and the rear right and front right wheels 5c.
5d), the wheels 5 on both sides are rotated in the same direction on the same side, and by adding a partial speed in the traveling direction, the abrasive cleaning material spraying tool 1 can be made to travel straight in the traveling direction. When the vehicle travels straight in this manner, since all four wheels 5 are driven, there is no slippage with respect to the vertical outer wall 11 of the ship, and a desirable traveling state is achieved. When the traveling direction of the abrasive cleaning tool injection tool 1 is the axial direction of the drive shaft 2 ′, the drive shaft 2 ′ in the same direction as the traveling direction is stopped, and the other wheels 5 are moved in the same manner as when traveling straight. Is added, and the free roller 5'provided on the stopped drive shaft 2'can rotate and advance in the drive shaft direction. When rotating the abrasive cleaning material spray tool 1 in place, see FIG.
By rotating all the wheels 5 in the same direction as shown in (b), it is possible to rotate around the center of radiation. When turning the polishing / cleaning material spraying tool 1 around an arbitrary point apart from the polishing / cleaning material spraying tool 1, the rotation direction of each wheel 5 is the same as in the case of going straight, and the wheel closer to the center of the rotation is weaker, By rotating the wheel farther away, the abrasive cleaning material spraying tool 1 can swivel around an arbitrary point. Strength and weakness in FIG. 10 indicate the number of revolutions of the motor 2, and by changing the number of revolutions and the direction of rotation, movement in all directions is possible.

In the present embodiment, the abrasive cleaning material 9 supplied from the powder and granular material supply device 10 to the transportation pipe 7 is transported to the abrasive cleaning material spraying tool 1 and is transferred from the polishing and cleaning material sprayer 1 to the outer wall 11 of the ship at high speed. Clash,
The outer wall 11 of the ship is polished. The deposits 12 such as rust and shellfish peeled off from the outer wall 11 of the ship are collected together with the sprayed abrasive cleaning material 9 through the collection pipe 8 to the powder and granular material supply device 10. At this time, as shown in FIGS. 4 and 5, high-pressure air flows from the transport pipe 7 into the space surrounded by the seal material 4 and is sucked into the recovery pipe 8. Adsorbed state. Here, since the side surface of one of the free rollers 5'of each wheel 5 is always in contact with the outer wall 11 of the ship, the abrasive cleaning / injection tool 1 is attracted to the outer wall 11 of the ship, and the sealing material 4
Moves in all directions with force more than friction. Further, it is possible to dispose two or more wheels 5 in the same radial pattern or to dispose the drive shaft 2'perpendicular to the radial direction, as shown in FIG.
As shown in FIG. 11B, in the case where the drive shaft 2 ′ is in the direction perpendicular to the radial direction, rotation on the spot is not possible, so that the drive shaft 2 ′ in the radial direction has better operability.

Other Examples (Refer to FIGS. 12 and 13) In the drawings, 13 is a support member that supports two wheels 5 adjacent to each other, and 14 is a polishing / cleaning material spraying tool 1 that allows the middle of the support member 13 to swing freely. It is a connecting part that is axially supported. Another example is the wheel 5
When the wheels are radially arranged on the same circumference as in the embodiment, two wheels 5 adjacent to each other are set as two as shown in FIG.
In one set, one set is fixedly arranged on the polishing / cleaning material spraying tool 1, and the other one set mounts two wheels 5 on both ends of the supporting material 13, and the supporting material 13 is mounted on the polishing / cleaning material spraying tool 1. Connection part 1 provided on the box body 3 of
By being swingably attached to 4, the four wheels 5 are easily grounded when traveling on the uneven outer wall 11 of the ship, and the forces applied to the four wheels are made uniform. Thereby, the outer wall 1 of the ship
It is possible to perform the polishing work without slipping the abrasive cleaning agent spraying tool 1 while traveling 1, and because the four wheels are grounded with a uniform force, the traveling property of the abrasive cleaning agent spraying tool 1 is excellent. Become. The following is the same as the example.

[0013]

As described above, according to the present invention, the wheels radially arranged on the running body and having the free rollers arranged thereon can be moved forward, backward, leftward and rightward independently of each other at an appropriate rotational speed and rotational direction. By driving, it becomes possible to move in all directions, such as front-rear, left-right, and on-the-fly direction changes, improving driving performance. If the drive shaft is set in the radial direction, the running body can be easily rotated on the spot. Further, when the wheels are arranged on the same circumference of the traveling body, the drive control of the wheels is simplified, and the straightness of the traveling body is improved. Further, in the case where four wheels are provided on the same circumference of the traveling body so that the drive shafts are orthogonal to each other, the traveling body makes symmetrical movements in the front, rear, left and right, so that control is facilitated and straightness is improved, and It has four wheels and can move in all directions, so it is economical. Also, divide the wheels into two sets,
By mounting one set of wheels so that they can swing, the four wheels contact the ground with a uniform force, so slippage does not easily occur on the running surface, and the running performance is excellent.

[Brief description of drawings]

FIG. 1 is an overall schematic view of an example.

FIG. 2 is a plan view of a polishing agent spraying tool according to an embodiment.

FIG. 3 is a bottom view of the abrasive cleaning agent ejector of the embodiment.

4 is a cross-sectional view taken along the line AA of FIG.

FIG. 5 is an explanatory diagram showing a polishing operation using a polishing and cleaning material of an example.

FIG. 6 is a front detail view of a wheel of the embodiment.

FIG. 7 is a detailed side view of the wheel of the embodiment.

8 is a cross-sectional view taken along the line AA of FIG.

FIG. 9 is an explanatory diagram showing the running of the abrasive cleaning agent spraying tool of the embodiment.

FIG. 10 is a table showing the moving direction of the abrasive cleaning material spraying tool of the embodiment.

FIG. 11 is an explanatory view showing an arrangement example of wheels.

FIG. 12 is a plan view of another example of the abrasive cleaning agent injector.

13 is a cross-sectional view taken along the line AA of FIG.

[Explanation of symbols]

1 Abrasive material sprayer 2 motor 2'drive shaft 3 boxes 4 Seal material 5 wheels 5'free roller 5a left front wheel 5b left rear wheel 5c Rear right wheel 5d front right wheel 5e Mounting hole 6 control unit 7 Transport pipe 8 collection tubes 9 Abrasive material 10 Powder supply device 11 Ship outer wall 12 Adhesion 13 Support material 14 Connection

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B62D 57/024 B24C 3/06 B60K 1/02 B60K 17/356

Claims (6)

(57) [Claims] 1. Three or more elliptical free rollers,
It is attached to the drive shaft in a circular shape and in a state of being in proximity to a plurality of rows on a plane orthogonal to the drive axis, and the free rollers of each row are rollers of one free roller. A group of free rollers, the edges of which are alternately arranged so as to face the roller center plane of the free rollers of the other row, and which are arranged annularly when the drive shaft is rotated. There rolls around the drive shaft and is axially flip of the drive shaft - b - La - the wheel is configured to be moved by rotating, arranged four or more radially running body, yet With the drive shaft in the radial direction, a drive unit is provided that drives the drive shaft so that the rotation speed and rotation direction can be varied, and a control unit that independently controls the rotation speed and rotation direction of each drive unit is installed, and A traveling device characterized by being movable in any direction. 2. Wheels are radially compounded on the same circumference of the running body.
The traveling device according to claim 1, wherein several traveling devices are provided. 3. Two or more wheels are arranged in the same radial direction.
The traveling device according to claim 1 or 2 . 4. Radiating four wheels on the same circumference of the running body
Shape, and so that the drive axes of the wheels are orthogonal to each other
So that the front, rear, left and right movements of the running body are symmetrical
The traveling device according to claim 1 . 5. Three or more elliptical free rollers,
Circularly and in multiple rows close to the surface orthogonal to the drive axis
Mounted on the drive shaft in the closed condition, and the free rollers of each row
-Is the roller edge of the free rollers in one row,
So as to face the center surface of the row-roller roller
They are arranged alternately, and when the drive shaft is rotated, they are arranged in an annular shape.
The free roller group rolls around the drive shaft and
A free roller can rotate and move in the axial direction of the moving shaft.
4 or more wheels configured as above are radially arranged on the running body.
Drive the drive shaft so that the rotation speed and rotation direction can be changed.
A drive unit is provided, and the rotation speed and rotation direction of each drive unit are independent.
A control unit for controlling the vehicle is provided, and four wheels are arranged radially on the same circumference of the traveling body so that the drive axes of the wheels are orthogonal to each other, and the movement of the traveling body with respect to front, rear, left and right is symmetrical. The feature is that the moving body can move in all directions.
Traveling equipment to be collected. 6. The two adjacent wheels of the four wheels are divided into two sets as one set, one set of wheels is fixedly disposed on the traveling body, and the other set of wheels has a common support. 6. The traveling device according to claim 4 , wherein the traveling device is attached to both ends of the support member and is swingably attached to the traveling body via a support shaft at an intermediate portion of the support member.