JP3532104B2 - Cable device for traveling equipment - 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 used for coating a double hull in shipbuilding, for example, when a coating robot travels back and forth over a long distance (for example, near 20 m). The present invention relates to a cable device.

[0002]

2. Description of the Related Art Conventionally, when painting the inside (inner surface) of a double hull, for example, a plurality of people bring a worker or a tool such as a spray gun or a hose into the inside through a work opening provided in a horizontal partition. The method of working at the same time was adopted. However, according to this method, the working environment is extremely bad and it is difficult to continue working for a long time. Therefore, a plurality of workers form a group and work alternately on a group-by-group basis, which results in a large amount of lost time.

Therefore, as a means for solving the above-mentioned problems, there has been considered a method in which a traveling device equipped with a coating robot is run to perform coating. As this type of traveling device, for example, the configuration shown in FIG. 10 is provided.

That is, a pair of upper and lower walls 51 and 52,
A double hull 50 is configured by a horizontal partition wall body 53 that is provided between both wall bodies 51 and 52 and forms four sidewalls, and a large number of vertical aggregates 54 that are provided on the upper surface side of the lower wall body 52. . The traveling device 57 that performs painting work on the inside of the double hull 50 includes a traveling robot 58 and a work robot 59.
Is provided. The traveling carriage 58
Is configured to be able to travel across the external fixing member 60 and the longitudinal aggregate 54, and the traveling carriage 58 and the fixing member 6
A cable device 61 including a cable 62 and a cable bear 63 is provided between the cable device 61 and the cable 0.

When performing an internal coating operation using the traveling device 57, the horizontal partition wall 5 of the double hull 50 is used.
While traveling the traveling carriage 58 from above the fixing member 60 onto the longitudinal aggregate 54 through the opening 55 formed in 3, and controlling the position of the work robot 59 by the traveling stop position of the traveling carriage 58 and the like. The desired painting work was performed by the work robot 59. At that time, the traveling device 5
The power supply to the 7 side, the control signal, etc. were given through the cable apparatus 61.

[0006]

However, according to the above-mentioned conventional structure, since the cable bear 63 in the cable device 61 is bent at one position outside the fixing member 60, the traveling device 57 is fixed to the fixing member. When returning to the initial position on the cable 60, the cable device 61 in the storage posture is fixed by the fixing member 60.
Therefore, a large (long) waste area S is generated behind the fixing member 60.

Therefore, the first aspect of the present invention is to provide a cable device for a traveling device which can be compactly stored when the traveling device returns to the initial position.

A third aspect of the present invention is to provide a cable device for a traveling device, which enables a smooth transition between a storage posture and a use posture.

[0009]

In order to achieve the above-mentioned object, a cable device for a traveling device according to a first aspect of the present invention includes a cable provided between the traveling device and a fixed portion, A cable device for a traveling device comprising guide means for this cable, wherein the guide means is provided with a linear frame portion at least at one location of an intermediate portion thereof, and the rest is formed as a cable bear, It is configured to be housed in a meandering shape in the fixed portion with the frame portion as the traveling direction , and the base end of the guide means is
It is connected to the fixed part and extends in the backward direction of the traveling device.
Cable bearer that can be bent upward and forward
And its free end is connected to the traveling device
A free end that extends in the same direction and can be bent downward and forward
Side cable track and a few
At least one linear frame and the free end side cable
A) Is the connection between the adjacent ends of the frame part performed?
With an intermediate cable carrier that can be bent in the direction of meandering
The rear end of the frame is formed at the final end of the frame.
This is characterized in that the tip of the rubea is connected .

Therefore, according to the first aspect of the present invention, the guide means can be compactly housed in the fixed portion by arranging most of the guide means in a meandering shape below the traveling device in the initial position. The guide means housed in the fixed portion in a meandering shape can be automatically pulled out by the forward drive force of the traveling device, and the guide means pulled out can be automatically moved in the fixed portion by the backward drive force of the traveling device. It can be automatically stored in a meandering shape. In addition, the proximal end case with the same bending direction
Cable bear and cable carrier on the free end side, and these cables.
An intermediate cable bear whose bending direction is different from that of a bull bear,
Composed of a rigid frame part that does not cause burrs
By using the guide means, the traveling drive of the traveling device
Depending on the force, the guide means can be automatically pulled out or the guide means
Automatic meandering storage is possible.

A cable device for a traveling device according to a second aspect of the present invention is provided between the traveling device and a fixed portion.
A traveling device consisting of a cable and a guide means for this cable.
A cable device for installation, wherein the guide means is
A linear frame part is provided in at least one part of the space
And the rest is formed as a cable bear,
A meandering shape in the fixed part with the frame part as the traveling direction
It is configured to be stored in both sides of the frame part.
The guided object is installed in the
If the guide body is tilted with the forward direction side
It is characterized by being.

Therefore, according to the invention of claim 2, the guide
The means are located below the traveling device in the initial position, most of which
Can be placed in a meandering shape and stored compactly in the fixed part
It And the guide means housed in the fixed part in a meandering shape
Is automatically pulled by the forward drive force of the traveling device.
Guide means that can be pulled out and pulled out after the traveling device.
Automatically meandering in the fixed part by the driving force
Can be stored. In addition, the guide of the guided object has an inclined guide.
By doing it with the body,
You can always smoothly transition between.

[0013] The cable apparatus for traveling device according to claim 3 of the present invention, in the configuration of claim 1, wherein the above, the guide body is provided on both side portions of the frame portion,
The guide body for guiding the guided body is provided so as to be inclined with the forward direction side as the upper side.

[0014] Therefore, according to the invention of claim 3, the moth
By guiding the id body with an inclined guide body,
It is possible to always smoothly perform the transition between the storage posture and the use posture of the linear frame portion positioned between the rubea . Further, in the cable device for a traveling device according to claim 4 of the present invention, in the configuration according to claim 1 or 3 described above, the guide body for guiding the intermediate cable bear is provided so as to be inclined with the forward direction side as an upper level. It is a feature that is.

Therefore, according to the invention of claim 4, the transition between the storage posture and the use posture of the intermediate cable bear is performed.
You can always do it smoothly.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to FIGS. 1 to 8 in a state in which a traveling device is adopted for coating work of a double hull (closed box type structure) in shipbuilding.

In FIGS. 1 and 7, a double hull 1 includes a pair of upper and lower wall bodies 2 and 3, a horizontal partition wall body 4 provided between the wall bodies 2 and 3 to form four side walls, and a lower wall body 3. A number of lower longitudinal aggregates (an example of rails) 5 provided on the upper surface side of the,
The upper wall body 2 is composed of a number of upper longitudinal aggregates 6 and the like provided on the lower surface side. Here, the lower longitudinal aggregate 5
Is composed of a flange portion 5A which is positioned horizontally on the upper side, and a web portion 5B which extends in the vertical direction. The lower longitudinal aggregate 5 and the upper longitudinal aggregate 6 are arranged so as to face each other vertically. In addition, below, the length direction of the lower longitudinal aggregate 5 is called the front-back direction.

1, FIG. 3, FIG. 5, and FIG. 6, a traveling device 10 for performing painting work, for example, includes a self-propelled carriage 11 supported and guided by two (plural) lower vertical aggregates 5. A swing body 21 provided on the self-propelled carriage 11 so as to be rotatable around a vertical axis 20; a slide body 25 supported and guided by the swing body 21 to move in and out in a lateral direction; The work robot 27 is provided on the body 25.

The self-propelled carriage 11 comprises a main body portion 12 and a moving portion 16 which is movable in the front-rear direction (the traveling direction of the carriage) with respect to the main body portion 12. Is provided.

That is, the main body 12 is formed in the shape of a flat frame that is long in the front-rear direction, and at a plurality of front and rear portions (four front and rear portions) on both sides of the main body portion 12, a free wheel body (which is mounted on the flange portion 5A) is provided. Wheels) 13 are provided. Further, guide rollers 14 opposed to the outer surface of the flange portion 5A are attached to both ends of the main body 12 in the front-rear direction in a freely rotatable manner. Further, traveling means 15 by magnet crawlers are provided on both sides of the intermediate portion in the front-rear direction of the main body portion 12.

The moving section 16 is a moving body 17 in the form of a flat frame.
And a rectangular plate-shaped swivel support 19 integrated with the upper part of the moving body 17. The moving body 17
Is provided with a movement drive device 18 and the like, which is supported and guided on the side of the main body portion 12 and is capable of forward and reverse drive.

The revolving unit 21 has a rectangular plate shape, and an annular bracket provided on the lower surface of the revolving unit 21 is the revolving support unit 19.
Is located in a through hole formed in the central portion of the shaft, and is configured to be rotatable about the longitudinal axis 20 via a bearing device 22 for rotation. Further, in order to rotate the revolving structure 21 around the vertical axis 20, a revolving drive device 23 that can be driven in the forward and reverse directions is provided.

A pair of frame bodies 2 are provided on the revolving body 21.
4 are arranged in the lateral direction, are supported and guided by the frame body 24 side, and the slide body 25 is configured to be able to move in and out in the lateral direction. In order to move the slide body 25 laterally, a forward / backward drive device (not shown) that can be driven forward and backward is provided.

A flat frame-shaped work platform 28 supported by the slide body 25 and movable in the sliding direction is provided, and the work robot 27 is mounted on the work platform 28.
Is installed. In order to move the work platform 28 in the sliding direction, a slide drive device (not shown) that can be driven in the forward and reverse directions is provided. The work robot 27 is configured to perform the painting work while automatically controlling the 6-axis manipulator, for example.

An opening 7 for carrying the traveling device 10 into the double hull 1 is provided at a predetermined position of the horizontal partition wall 4.
Are formed. At that time, the lower edge of the opening 7 is
It is formed at a position slightly lower than the flange portion 5A in the pair of lower longitudinal aggregates 5. Further, the opening 7 is formed in such a shape that the traveling device 10 in which the frame body 24 is swung along the main body 12 and the work robot 27 is controlled in the most compact posture can carry in and travel with a minimum clearance. There is.

As shown in FIG. 7, when a plurality of closed chambers formed by the double hull 1 are continuously formed in the longitudinal direction of the lower longitudinal aggregate 5, each transverse direction in the longitudinal direction is obtained. An opening 7 is formed at a predetermined location of the partition body 4. Thereby, by utilizing the pair of lower longitudinal aggregates 5,
The traveling device 10 can be carried in between a plurality of chambers while passing through the opening 7.

1 to 4, a cable device 40 for the traveling device is provided between the traveling device 10 and the fixed portion 30 and includes a cable 41 and a guide means 42 for the cable 41. That is, the fixing portion 30 includes a pair of left and right upper plate members 31, side plate members 32 that are hung from the central lower surface of these upper plate members 31, and a bottom plate member 33 that is located between the lower ends of these side plate members 32. The frame is formed in a U-shaped cross section. Then, vertical plate members 34 are provided in the interior near both ends in the front-rear direction, and recesses 35 are formed on the upper surface side of these vertical plate members 34.

The fixing portion 30 includes a pair of lower longitudinal aggregates 5.
Both upper plate members 31 are continuous with the flange portion 5A in the above, and are fixed outside via a support member 36 and the like. At that time, the front end side of the fixing portion 30 may be fixed to the lower longitudinal aggregate 5 and the horizontal partition wall body 4 by welding or the like. Accordingly, the traveling device 10 is configured to be able to travel across the fixed portion 30 and the lower longitudinal aggregate 5.

The guide means 42 is provided with a linear frame part at least at one part of its intermediate part, and the remaining part is formed as a cable bear, and the frame part meanders in the fixed part 30 with the running direction A. It is configured to be stored in a shape.

That is, the guide means 42 has its base end 43.
a is connected to the bottom plate 33 side of the fixed portion 30 and the traveling device 1
0, which extends in the backward direction B of 0 and can bend upward and in the forward direction C, and its free end 44a.
Is connected to the main body portion 12 of the self-propelled carriage 11 of the traveling device 10, extends in the backward direction B of the traveling device 10, and is bendable downward and in the forward direction C.
4, one (at least one) linear frame portion 45 located between the cable bears 43 and 44, and the free end side cable bear 44 and the adjacent end portion 4 of the frame portion 45.
4b, 45a, and an intermediate cable bear 46 that is bendable in the meandering direction. Then, the tip end portion 43b of the base end side cable bear 43 is connected to the final end portion 45b of the frame portion 45.

Guide means 4 constructed by connecting in this way
The outer width 42 </ b> W of the No. 2 is formed slightly narrower than the inner width 31 </ b> W between the inner side surfaces of the upper plate members 31 facing each other, and is thus housed in a meandering shape (details will be described later). ) Fixed part 30
It can be pulled out from inside.

The frame portion 45 is formed of, for example, aluminum into a flat frame shape, and idle rollers (an example of a guided body) 47 are provided on both sides of the front and rear ends thereof. A roller guide body 37 that guides the idler rollers 47 is provided at the front end portion of the fixed portion 30 in the forward direction C.
The side is the upper side and is inclined.

That is, the idler roller 47, which is positioned outside the outer width 42W of the guide means 42, is positioned below the upper plate body 31 and further has the plate-like roller guide body 3.
7 is also located below the upper plate 31. A notch 38 is formed in the upper plate 31 so as to allow the idler roller 47 to pass therethrough while facing the upper end of the roller guide body 37.

A cable guide body 39 for guiding the intermediate cable bear 46 is provided at the front end portion of the fixing portion 30 and in front of the roller guide body 37.
The side is the upper side and is inclined. Here, the cable guide body 39 has a plate shape and is formed so as to fit within the inner width 31W.

The operation of the above-described embodiment will be described below. Before the traveling device 10 is carried in through the opening portion 7, the traveling device 10 has the frame body 24 rotated along the main body portion 12 and the work robot 27 as shown in FIGS. 1 and 3. Has the most compact attitude control. In this state, the traveling device 10 positions the idle wheels 13 and the traveling means 15 on the upper plate 31 and is stopped by the fixed portion 30.

At this time, the guide means 42 of the cable device 40
Are housed in the fixed portion 30 in a meandering shape. That is, the base end side cable bear 43 has its base end 43a connected to the front end side of the bottom plate 33 and extends in the backward direction B of the traveling device 10 and is bent upward and forward, and the frame portion 45 is The final end portion 45b is connected to the tip end portion 43b of the bent end so that the proximal end side cable bear 43
And the idler roller 47 on the side of the end portion 45a thereof is in contact with the rear portion (lower portion) of the roller guide body 37.

Further, the free end side cable bear 44, in which the end portion 45a is connected to the end portion 45a of the frame portion 45 via the intermediate cable bear 46, is positioned above the frame portion 45 and the traveling device 10 is retracted. After extending in the direction B, it bends upward and in the forward direction C, and is connected to the rear end of the main body 12 of the self-propelled carriage 11.

As a result, the guide means 42 is housed in the fixed portion 30 in a meandering compact shape with the frame portion 45 thereof in the traveling direction A. That is, most of the guide means 42 is positioned below the traveling device 10 in the initial position in a meandering shape. Therefore, the cable device 40 in the stored posture hardly extends behind the fixed portion 30, and a useless area is rarely formed behind the fixed portion 30.

From such an initial position, the traveling means 15 is driven to cause the self-propelled carriage 11 to travel (enter). That is, the self-propelled carriage 11 can travel from the upper plate 31 to the lower longitudinal aggregate 5 by driving the traveling means 15 in synchronization with each other. At this time, the traveling of the self-propelled carriage 11 is a state in which the idle wheel 13 group rolls on the flange portion 5A and the guide roller 14 group is guided to the outer side surface of the flange portion 5A to prevent lateral shake. Done in.

The guide means 42 housed in the fixed portion 30 in a meandering shape is automatically pulled out (extended) by the forward drive force of the self-propelled carriage 11, that is, the traveling device 10. become.

That is, as shown in FIG. 1, the guide means 42 housed in the fixed portion 30 in a meandering shape is first shown by A in FIG. 8 by the forward drive force of the traveling device 10. Then, the free end side cable bear 44 is gradually pulled out. When the free end side cable bear 44 is fully pulled out, the traveling driving force described above is applied to the frame portion 45.
The frame portion 45 is pulled out.

When the frame portion 45 is pulled out, as shown in FIG. 8B, first, the idler roller 47 on the front end side.
Is guided by the inclined surface of the roller guide body 37, and the end portion 45a of the roller guide body 37 is gradually raised and moved in the forward direction C side. At this time, the intermediate cable bear 46 is guided by the cable guide body 39 and lifted up, and the bending is gradually eliminated to form a straight line.

Next, as shown in FIG. 8C, the idler roller 47 on the front end side is positioned on the upper plate 31 through the recess 35, and thereafter, the idler roller 47 is placed on the upper plate 31. The frame portion 45 is pulled out while being rolled from above to the flange portion 5A. It should be noted that as the frame portion 45 is pulled out, the proximal end side cable bear 43 gradually moves the reverse position (bending position) toward the front portion while the distal end portion 43b is moved.
Moved from the side.

When the frame portion 45 is pulled out to the end, the idle roller 47 on the rear end side is guided by the inclined surface of the roller guide body 37, so that the final end portion 45 of the roller guide body 37 is guided.
b is gradually lifted and moved to the forward direction C side. As a result, as shown in FIG. 8D, the idler roller 47 on the rear end side is positioned on the upper plate 31 through the recess 35, and thereafter the proximal end side cable bearer 43 is pulled out. Therefore, as shown in FIG. 7, substantially the entire length (or the required length) of the guide means 42 is pulled out.

As described above, the guide means 42 housed in the fixed portion 30 in a meandering shape is automatically pulled out by the forward drive force of the traveling device 10. Then, the guide means 42 that has been pulled out is automatically housed in the fixed portion 30 in a meandering manner by the reverse drive operation of the traveling device 10 due to the backward drive force.

That is, as the traveling device 10 moves backward,
First, the base end side cable bear 43 is moved rearward while gradually moving the reversal position to the rear side and is housed in the fixed portion 30, and then the free end roller 47 on the rear end side is recessed by the recess 35.
After passing through, the frame portion 45 is moved to the rear side in the fixed portion 30 by being guided by the inclined surface of the roller guide body 37 and positioned in the fixed portion 30.

As the frame portion 45 moves on the front end side, the idler roller 47 on the front end side passes through the recess 35 and is guided by the inclined surface of the roller guide body 37 to be positioned in the fixed portion 30. To be done. At that time, the intermediate cable bear 46
Is guided by the cable guide body 39 and descends,
Can be gradually bent. Thereafter, the traveling drive force of the traveling device 10 in the backward direction causes the free end side cable bear 44 to be gradually positioned in the fixed portion 30, and at that time, the reverse position is gradually moved to the rear side.

As described above, the guide means 42, which has been linearly pulled out by the backward driving force of the traveling device 10, is automatically housed in the fixed portion 30 in a meandering shape. Become.

In this way, the base end side cable bear 43 and the free end side cable bear 44 having the same bending direction are used.
By using the guide means 42 composed of a composite of an intermediate cable bear 46 having a bending direction different from those of the cable bears 43 and 44 and a rigid frame portion 45 which does not bend, the traveling device 10 is moved forward. The guide means 42 housed in the fixed portion 30 in a meandering manner can be automatically pulled out to a use posture by the traveling drive force of the traveling guide force of the traveling device 10 and the guide that is pulled out by the traveling drive force of the traveling device 10 in the backward direction. The means 42 may be automatically housed in the fixed part 30 in a meandering shape to be in the storage position.

At this time, by the structure in which the idler roller 47 on the frame portion 45 side is guided by the roller guide body 37, the transition between the storage posture and the use posture of the frame portion 45 can be always performed smoothly, and , Intermediate cable carrier 4
By the configuration in which 6 is guided by the cable guide body 39, the transition between the storage posture and the use posture of the intermediate cable bear 46 can always be performed smoothly.

The forward traveling of the self-propelled carriage 11 described above is stopped at a desired position, and after the self-propelled carriage 11 is stopped, first, the swing drive device 23 is driven in the forward or reverse direction to rotate the swing body 21. To turn. As a result, the revolving structure 21 is
While supported by the swivel support 19 via the swivel bearing device 22, it can swivel around the longitudinal axis 20 to the right or to the left, for example to the left as shown by the solid lines in FIGS.
That is, when seen in a plan view, the frame body 24 can be swung out to the left side in a rectangular shape with respect to the main body portion 12.

In this state, the work robot 27 automatically performs the painting work. At this time, the work range (work place) of the work robot 27 is sequentially changed and adjusted. That is, the slide body 25 can be slid laterally with respect to the frame body 24 by the operation of the advance / retreat drive device, and thus the position of the work robot 27 is adjusted in the lateral direction (the length direction of the frame body 24). You can In addition, the work platform 28 can be slid laterally with respect to the slide body 25 by the operation of the slide drive device, and thus the position of the work robot 27 is laterally adjusted (the length direction of the slide body 25). You can As a result, the working robot 27 can be positioned at the outermost position as shown by the solid lines in FIGS. 5 and 6, for example.

Further, by the operation of the movement drive device 18,
The moving portion 16 can be moved in the front-back direction with respect to the main body portion 12,
Thus, the position of the work robot 27 can be moved and adjusted in the front-rear direction (the length direction of the lower longitudinal aggregate 5) as shown by the imaginary line in FIG. 6, for example.

As described above, the moving part 16 is moved back and forth, the slide body 25 is slid laterally, and the work stand 2 is used.
8 can be laterally slid, and by appropriately combining them, the working range of the working robot 27 on the working stand 28 can be sequentially changed and adjusted,
A wide area in the left area can be efficiently painted. Then, in a state in which each operation unit is returned to the home position, that is, in a state in which it is returned to the posture at the time of loading and traveling as described above, the revolving structure 21 is swiveled around the vertical axis 20, for example, to the left side contrary to the above. . Thereby, the coating work in the right area of the traveling device 10 can be performed in the same manner as described above.

After that, in a state where each operation unit is returned to the home position, the internal working device 10 is moved backward (moved out).
While performing or moving forward (carrying-in ) to the next chamber, coating is performed on the existing location (central region) of the internal working device 10. At that time, operations other than turning, that is, movements of the respective parts in the front-rear direction are appropriately incorporated. For such work, the self-propelled carriage 11 of the internal working device 10
It will continue after you leave the room.

As described above, the entire inner surface of the double hull 1, that is, both wall bodies 2 and 3, each horizontal partition wall body 4, and the upper and lower vertical aggregates 5,
It is possible to automatically perform the painting work by the work robot 27 on each surface of the six groups in a state where there is no leakage of paint.

Next, another embodiment of the present invention will be described with reference to FIG. That is, it is a form using two (two) frame portions 45, and between the both frame portions 45, a relay cable bear 48 performing the same bending action as the free end side cable bear 44, and a separate intermediate cable. The bear 46 is interposed.

By using two (a plurality of) frame portions 45 as in this other embodiment, the traveling device 10
Mileage can be further increased. In the above-mentioned embodiment, the type in which the traveling device 10 travels in the double hull 1 in a shipbuilding is shown, but this is adopted when manufacturing a closed box type structure using steel such as bridges and steel frames. Alternatively, not only the closed box type structure such as the double hull 1 but also various open type structures may be adopted.

In the above-described embodiment, the traveling device 10 is run by using the lower longitudinal aggregate 5 of the double hull 1, but this is a form in which the rail is installed separately and the traveling device 10 is run. It may be.

In the above-described embodiment, the painting work is performed by the work robot 59, but this can perform various works such as inspection, processing, welding, etc. depending on the type of the work robot 59.

In the above-described embodiment, the idler roller 47 serves as the guided body and the roller guide body 3 serves as the guide body.
Although 7 is shown, a rod-shaped protrusion may be used as the guided body.

[0062]

According to the first aspect of the present invention described above, the guide means can be housed compactly in the fixed portion by arranging most of the guide means in a meandering shape below the traveling device in the initial position. The cable device in the stored posture hardly extends behind the fixed portion, and a useless area is rarely formed behind the fixed portion. Then, the guide means housed in the fixed portion in a meandering shape can be automatically drawn out by the traveling drive force of the traveling device in the forward direction, and the guide means pulled out can be automatically extracted by the traveling drive force in the backward direction of the traveling device. It can be automatically housed in the fixed part in a meandering shape, and a drive device for the guide means can be dispensed with. Only
And the cable carrier on the base end side with the same bending direction.
The cable bears on the free end side are
An intermediate cable bear with a different bending direction and a rigid body that does not bend
Use a guide that consists of a composite with a somatic frame.
The guide driving force of the traveling device.
The automatic drawer of the steps and the automatic meandering of the guide means
You can always store it smoothly and reliably.
In addition, it can be realized with a simple structure.

According to claim 2 of the present invention described above,
The guide means is located below the traveling device in the initial position.
The parts are positioned in a meandering shape and compactly stored in the fixed part.
Therefore, the cable device in the stowed position can be
There is almost no rearward extension, and there is no waste behind this fixed part.
Such a region hardly occurs. And in the fixed part
The guide means that is housed in a meandering shape is used to move the traveling device forward.
It can be pulled out automatically by the row driving force, and
The guide means that is exposed is used to drive the traveling device in the reverse direction.
Can be automatically stored in the fixed part in a meandering shape.
It is possible to eliminate the need for a drive device for the guide means. Only
The guide body on the frame side
The guide configuration allows the frame to be stored and used
Ensure a smooth transition between postures
You can

According to the third aspect of the present invention described above, the guide body on the frame portion side is positioned between the cable bears by the guide body which is inclined .
It is possible to always smoothly and reliably perform the transition between the storage posture and the use posture of the linear frame portion.

Further, according to the fourth aspect of the present invention described above, by the configuration in which the intermediate cable bear is guided by the guide body, the intermediate cable bear can be smoothly and reliably transitioned between the storage posture and the use posture. be able to.

[Brief description of drawings]

FIG. 1 is a partially cutaway side view of a cable device for a traveling device, showing an example of an embodiment of the present invention.

FIG. 2 is a partially cutaway plan view of a cable device for the traveling apparatus.

FIG. 3 is a partially cutaway front view of a cable device for the traveling apparatus.

FIG. 4 is a side view of a main part of the cable device for the traveling apparatus.

FIG. 5 is a vertical cross-sectional side view of a traveling device portion in the cable device for the traveling device.

FIG. 6 is a plan view of a traveling device portion of the cable device for the traveling device.

FIG. 7 is a side view of the cable device for the traveling device during work.

FIG. 8 is a side view for explaining the operation of the cable device for the traveling apparatus.

FIG. 9 shows another embodiment of the present invention and is a schematic side view of a cable device for a traveling device.

FIG. 10 is a schematic side view of a main part of a cable device for a traveling device, showing a conventional example.

[Explanation of symbols]

1 double hull (closed box type structure) 5 Lower longitudinal aggregate (rail) 10 traveling devices 11 self-propelled carts 12 Main body 15 means of travel 16 Moving part 21 revolving structure 24 frame body 25 slides 27 Working robot 28 Work stand 30 Fixed part 31 Upper plate 37 Roller guide body 39 Cable guide body 40 cable device 41 cable 42 Guide means 43 Base end side cable carrier 43a base end 43b Tip 44 Free end side cable carrier 44a free end 44b end 45 frame 45a end 45b Last end part 46 Intermediate cable carrier 47 Idler roller (guided body) 48 relay cable bear A traveling direction B backward direction C forward direction

Front page continuation (72) Inventor Takeo Miyazaki 1-789 Minamikohoku, Suminoe-ku, Osaka City, Osaka Prefecture Hitachi Shipbuilding Co., Ltd. Issue: Hitachi Zosen Co., Ltd. (56) Reference JP-A-7-171452 (JP, A) JP-A-11-32424 (JP, A) JP-A-2000-4529 (JP, A) Actual Kaihei 6-50859 ( JP, U) Actual development Sho 63-115454 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) H02G 11/00

Claims (4)

(57) [Claims] 1. A cable device for a traveling device, comprising: a cable provided between the traveling device and a fixed portion; and a guide means for the cable, wherein the guide means is provided in at least one location of an intermediate portion thereof. A linear frame portion is provided, the remaining portion is formed as a cable bear, and is configured to be housed in the fixed portion in a meandering shape with the frame portion as a traveling direction , and the guide means has a base end.
It is connected to the fixed part and extends in the backward direction of the traveling device.
Cable bearer that can be bent upward and forward
And its free end is connected to the traveling device
A free end that extends in the same direction and can be bent downward and forward
Side cable track and a few
At least one linear frame and the free end side cable
A) Is the connection between the adjacent ends of the frame part performed?
With an intermediate cable carrier that can be bent in the direction of meandering
The rear end of the frame is formed at the final end of the frame.
A cable device for a traveling device, wherein the tip portion of the rubea is connected . 2. A casing provided between the traveling device and the fixed portion.
Cable and guide device for this cable
A cable device for a vehicle, wherein the guide means is an intermediate
At least one part of the part should have a linear frame
And the rest is formed as a cable bear,
In the meandering shape in the fixed part with the frame part as the running direction
It is configured to be stored, and on both sides of the frame part
Is provided with a guided body and guides this guided body.
The guide body is provided so as to be inclined with the forward direction side as the upper side.
And cable arrangement for run line device you wherein a has. 3. Guided bodies are provided on both sides of the frame portion, and guide bodies for guiding the guided bodies are provided so as to be inclined with the forward direction side as an upper level. claim 1 Symbol mounting cable arrangement for driving devices. 4. The cable device for a traveling device according to claim 1 , wherein the guide body for guiding the intermediate cable bear is provided so as to be inclined with the forward direction side as an upper layer.