JP3732622B2

JP3732622B2 - Three-dimensional self-propelled cart and rail used for it

Info

Publication number: JP3732622B2
Application number: JP19054697A
Authority: JP
Inventors: 寛岩渕; 実武田; 勝松本; 悦司佐藤
Original assignee: Mitsubishi Heavy Industries Ltd
Current assignee: Mitsubishi Heavy Industries Ltd
Priority date: 1997-06-30
Filing date: 1997-06-30
Publication date: 2006-01-05
Anticipated expiration: 2017-06-30
Also published as: JPH1119797A

Description

【０００１】
【産業上の利用分野】
本発明は造船などのように特殊な曲面上の溶接、あるいは溶断に際し、任意の曲面方向にレ−ルを設置し、かつそのレ−ル上を自走する自動溶接等としての台車およびそれに用いるレ−ルに関するものである。
【０００２】
【従来の技術】
従来からの自動溶接機は、予め設定された直線状、あるいは一次元，ゆるやかな二次元曲線状のレ−ル上を走行する台車上に、オシレ−タ−が装着され、母材の接合面に沿って走行しながら下向き溶接を行うものである。
【０００３】
【発明が解決しようとする課題】
しかし上記構成の台車およびレ−ルでは、平面上の溶接を行う場合には何ら問題とはならないが、造船などによる溶接作業においては、船体の断面形状に応じて一次元，二次元更に三次元的な曲面が含まれた上に溶接方向も下向きは元より縦向き、横向き更には上向き等複雑な溶接作業が非常に多く、その殆どが手作業による溶接が行われているのが現状である。
即ち、その溶接の都度曲面に応じた固有のレ−ルを製作し設定するのは不経済であり、又高低のあるカ−ブを走行する際には、台車の車輪に無理な負荷が掛かり脱輪するなどの問題がある。
【０００４】
なお上記はレ−ル台車が走行可能な下向き、縦，横向き溶接の場合であり、台車が走行不可能な上向き溶接の場合は手作業で行われる。
そこで本発明では上記問題点を解消するために、レ−ルを任意の曲面に応じて自在に屈曲できると共に、三次元的な曲面に布設されたレ−ルに沿って走行できる台車を提供することを目的とするものである。
【０００５】
【課題を解決するための手段】
本発明の上記目的は次の如き構成の台車およびレールによって達成できる。即ちその要旨はレールの両側より挟持すると共に、圧着手段を有し上下に密着及び分離可能なローラーと、該ローラーの少なくとも１つのローラーに設けた駆動手段と、該駆動手段を有するローラー以外のローラーにはレール挟持方向に圧着調整自在とする圧着手段を設け、更にその進行方向の荷重側に固定式のスタンションおよびその反対側に曲面に対して追従するアブソーバー式のスタンションを配設すると共に、上記それぞれのスタンションには偏心状に回動するローラーを備えたことを特徴とする三次元自走車並びに硬質ゴム管内に、該硬質ゴム管内径と略同径のコイルスプリングを、該硬質ゴム管の両端開口部に装着される凹型連結用ジョイント部および凸型連結用ジョイント部によって引張した状態で内包せしめ、更に上記硬質ゴム管の所要位置に該硬質ゴム管を一定高さに架設するレール支持基台を設け、該レール支持基台は、上記硬質ゴム管のラジアル方向への回動を自在とする支持バンドと該支持バンドを左右回動自在に支持し、かつその底部に永久磁石が組み込まれた基台とから構成される三次元自走台車に用いるレールである。
更に上記凹型連結用ジョイント部および凸型連結用ジョイント部と硬質ゴム管の開口端内壁とを互いに係留し合うことによりレールの曲げによる上記凹型連結用ジョイント部および凸型連結用ジョイント部と硬質ゴム管の開口端とに生ずる隙間を解消する機構を設けるものである。
なお本発明の三次元自走台車は、レールの長手方向に沿って走行する方向を前方（後進も可能である。）とする。
【０００６】
【発明の実施の形態】
以下本発明に係る三次元自走台車およびそれに用いるレ−ルの実施の形態を、その実施例を示す図面を参酌し乍ら詳述する。
実施例１
図１〜図３にそれぞれ示すように本発明の自走台車は、台車基板１の下部に図１に示す断面円形状のレ−ル２を両側より挟持するような状態で、駆動用ロ−ラ−３，従駆動用ロ−ラ−３’および従動用ロ−ラ−４，４’が設けられるものであり、更に上記台車基板１の左右両側端には、台車基板１を安定させながら走行を補助するために下部にロ−ラ−２３を設けたスタンション５，５’が装着された構成とするものである。
【０００７】
なお駆動用ロ−ラ−３若しくは従駆動用ロ−ラ−３’または従動用ロ−ラ−４若しくは４’は、本実施例では駆動するロ−ラ−を２個（３および３’）としているが、該個数は台車基板１に搭載される機器重量により適宜設定するようにする。即ち、各種状況に応じて駆動用ロ−ラ−は最小１個から複数個まで設定することも可能である。
【０００８】
ここで、駆動用ロ−ラ−とは駆動モ−タ−により直接駆動されるロ−ラ−をいい、従駆動用ロ−ラ−とは駆動用ロ−ラ−の１種で、駆動モ−タ−の駆動力を介して伝達されるロ−ラ−をいう。また、従動用ロ−ラ−とは駆動源を有さない遊転ロ−ラ−をいう。
【０００９】
そこで図２に示すように、駆動用ロ−ラ−３，及び従駆動用ロ−ラ−３’’は、駆動軸６，６’に上下分割状とした分割ロ−ラ−７，７が装着されるものであり、上記駆動用ロ−ラ−３、従駆動用ロ−ラ−３’の分割ロ−ラ−７，７は、レ−ル２を上下方向から挟むもので分割ロ−ラ−７、７同志の密着をよくするため、駆動軸６、６’に嵌められ分割ロ−ラ−７、７を密着方向に押し出す圧縮バネ８，８の付勢力によって互いに圧着を維持する機構とするものである。
【００１０】
更に上記駆動軸６の基端には、駆動歯車９が装着され、駆動モ−タ−１０の駆動軸１１の装着される駆動歯車９’と駆動歯車９を歯合させることによって駆動軸６を回転させると共に、伝動歯車１２，１２，１２によって従駆動用ロ−ラ−３’の駆動軸６’をも同時に回転させ、駆動用ロ−ラ−３と従駆動用ロ−ラ−３’を同時に駆動回転させる構成とするものである。
【００１１】
次に図４〜図７に示すように、個々の従動用ロ−ラ−４，４’は、まず支持カバ−１３，１３に回転自在な状態で枢支され、更に同支持カバ−１３，１３は揺動カバ−１４との間に空間部ｄを設けることによって左右回動自在な状態とするものである。
【００１２】
更に上記揺動カバ−１４は台車基板１の側壁１６に、その中央より押し出しハンドル１７の先端のネジ軸１７’にピン１７’’によって遊嵌状に支持されるものであり、同押し出しハンドル１７の左右回転によって上記揺動カバ−１４を駆動用ロ−ラ−３、従駆動用ロ−ラ−３’方向へ移動可能とすることでレ−ルへの着脱が行える構成とするものである。
【００１３】
図８および図９は、台車基板１の左右両端に垂直に装着した（本実施例では左側前後と右側中央にそれぞれ装着する。）スタンション５、５’の内部機構を示すものであり、まず上記それぞれのスタンション５、５’は台車基板１に対して自在に着脱できる機構とする。
【００１４】
そして図８に示すようにアブソバ−式スタンション５は、固定筒１８内に可動脚体１９が内包され、同可動軸１９はスプリング２０による緩衝機構（ショックオブソ−バ−）を設けることによって上下動自在な機構とし、更に上記可動軸１９の下端にベアリングなどによって回転自在とされる水平軸２１を設け、同水平軸２１の先端下部に空間部ａ内に横架したピン２２に、ロ−ラ−２３を台車進行方向に対して左右滑動自在な状態で外嵌する。
【００１５】
又図９に示すように他方は固定式スタンション５’で、固定脚体１９の下端にベアリングなどによって回転自在とされる水平軸２１を設け、同水平軸２１の先端下部に空間部ａ内に横架したピン２２に、ロ−ラ−２３を進行方向に対して左右滑動自在な状態で外嵌する。
【００１６】
従って上記固定式のスタンション５’は台車の進行方向に対して常に負荷が掛かる側に設け、他をオブソ−バ−式のスタンション５、５を設けるものである。なお本実施例ではスタンションを３本としているが、該本数は走行する曲面の曲率や台車に搭載する機器重量等、状況に応じて適宜設定する必要がある。
【００１７】
実施例２
図１０および図１１に示すのは本発明のレ−ルの全体説明図であり、レ−ル２は任意の長尺なフレキシブルな硬質ゴム管２４とその両側端にそれぞれ装着される凹型連結用ジョイント部２５と凸型連結用ジョイント部２６によって、他のレ−ルと連続して連結できる構成とするものである。
【００１８】
又上記硬質ゴム管２４の外壁には、任意の一定間隔毎に複数の支持バンド２７が装着されるものであり、上記支持バンド２７は硬質ゴム管２４の外壁を支持バンド２７の厚さ分だけ刻設し、外嵌することによって硬質ゴム管２４の表面が凹凸状とならないようにする。
【００１９】
更に上記各々支持バンド２７の基端には、永久磁石が組み込まれた基台２８が連結され、レ−ル２を鋼板上に磁着する構成とするものである。
次に図１２に示すようにレ−ル２は、硬質ゴム管２４の内部には、硬質ゴム管２４の内径と略同径としたコイルスプリング２９が上記硬質ゴム管２４の全長に渡って内包され、更にその両端に連結部材３０、３０がそれぞれ螺合され、上記コイルスプリング２９を引張した状態で上記硬質ゴム管２４の両側開口端に嵌合された凹型連結用ジョイント部２５と凸型ジョイント部２６と上記それぞれの連結部材３０、３０とをボルトなどの締結部材３１、３１によって内部のコイルスプリング２９を連結するものである。
【００２０】
又、上記凹型連結用ジョイント部２５および凸型連結用ジョイント部２６周壁には突条部３２が突設され、同突条部３２を硬質ゴム管２４の内周壁に刻設される溝部３３に嵌合することによってレ−ル２を曲げた状態で設置する場合でも上記凹型連結用ジョイント部２５および凸型連結用ジョイント部２６と硬質ゴム管２４の開口端とに隙間が生じない機構とするものである。
【００２１】
更に図１３および図１４にそれぞれ示すように、凹型連結用ジョイント部２５と凸型連結用ジョイント部２６は互いに嵌合して容易に連結できる機構とし、締結部材３１によって連結部材３０を連結できる機構とする。又凹型連結用ジョイント部２５、凸型連結用ジョイント部２６の直径を硬質ゴム管２４の直径と同径とすることによって自走台車の走行に支障を来さない構成とするものである。
【００２２】
次に図１５および図１６にそれぞれ示すようにレ−ル支持基台３４は、底部に永久磁石４０が組み込まれた基台２８上にベアリングなどによって回転自在な機構とされる支持軸３５が立設され、同支持軸３５に支持バンド２７がボルト・ナット３６によって装着された構成とするものである。又３７は基台２８の鋼板への着脱を行うハンドルを示す。
【００２３】
そこで硬質ゴム管２４に支持バンド２７を装着する場合には、同硬質ゴム管２４の外周壁に刻設されたバンド用溝部３８内に摩擦係数の小さい２枚のベアリングシ−ト３９を支持バンド２７と硬質ゴム管２４との間で介装した状態で装着することにより硬質ゴム管２４のラジアル方向への回動を可能とするものである。
【００２４】
以上の構成より成る本発明では図１７に示すように、例えば造船作業における三次元的曲面Ａの溶接作業では、レ−ル２をその曲面に応じて折り曲げ、永久磁石４０が組み込まれた基台２８をその曲面Ａに磁着し、曲面Ａ上に一定高さにて架設する。
【００２５】
このレ−ル２の架設の際には、支持バンド２７とレ−ル２との回動および支持バンド２７と基台２８との回動によってレ−ル２と支持バンド２８の固定が束縛されず基台２８と曲面Ａとの磁着が確実に行えることとなる。
【００２６】
そして図１８に示すように、従動用ロ−ラ−４，４’を押し出しハンドル１７によって駆動用ロ−ラ−３、従駆動用ロ−ラ−３’方向に移動させ、レ−ル２を駆動用ロ−ラ−３，３’との間で挟持し、駆動用ロ−ラ−３，従駆動用ロ−ラ−３’を駆動回転させることによって、レ−ル２上を溶接台車が自走する機構とするものである。
【００２７】
そこで図１７に示すような上記駆動用ロ−ラ−３，従駆動用ロ−ラ−３’および従動用ロ−ラ−４，４’がカ−ブしたレ−ル２上を通過する場合には、駆動用ロ−ラ−３，及び従駆動用ロ−ラ−３’の分割ロ−ラ−７、７がカ−ブ時の負荷に応じて分割ロ−ラ−７、７の密着を制する圧縮バネ８、８の付勢力を自動的に調整して、駆動用ロ−ラ−３及び従駆動用ロ−ラ−３’がレ−ル２から外れることなくレ−ル２表面に密着すると共に、上記従動用ロ−ラ−４，４’はレ−ル２のカ−ブに応じて左右に微動し、レ−ル２表面に密着し、安定した走行を可能とするものである。
【００２８】
更に三次元曲面Ａに対してアブソ−バ−式のスタンション５，５および固定式のスタンション５’により、その偏心状に設けられる各ロ−ラ−２３が三次元曲面Ａに対して常に追従した走行が可能となる。
又レ−ル２は、硬質ゴム管２４内に内包されるコイルスプリング２９の円周方向への付勢力によって外部からの圧力に抗することが可能となると共にレ−ル２の復元力が維持できる機能を持つことになる。
【００２９】
【発明の効果】
以上述べて来た如く本発明によれば、造船などにおける三次元的曲面の鋼板の溶接、あるいはガス切断において、その曲面に沿ってレ−ルを曲げながら設置、そのレ−ルにオシレ−タ−、あるいはガス切断機を設けた自走台車を装着し、溶接、又は溶断しながら走行させることによって作業の自動化が可能となるものである。
更に本発明のレ−ルは、ゴム管とゴム管内のコイルスプリングによるレ−ルとその取付構造によりその曲面に応じて任意に曲げながら設置することが可能であり、非常に作業効率が向上するものである。
又磁着式レ−ルの着脱も各レ−ル支持基台に設けたハンドルにより容易に行えるものである。
【図面の簡単な説明】
【図１】本発明の正面説明図である。（図２におけるＡ−Ａ矢視）
【図２】本発明の側面説明図である。
【図３】本発明の背面説明図である。（図２におけるＢ−Ｂ矢視）
【図４】本発明の従動用ロ−ラ−の全体説明図である。
【図５】本発明の従動用ロ−ラ−の断面説明図である。
【図６】本発明の従動用ロ−ラ−の正面説明図である。
【図７】本発明の押し出しハンドルの取り付け状態を示す説明図である。（図６におけるＣ−Ｃ断面図）
【図８】本発明のアブソ−バ−式スタンションの説明図である。
【図９】本発明の固定式スタンションの説明図である。
【図１０】本発明のレ−ルの平面全体説明図である。
【図１１】本発明のレ−ルの側面全体説明図である。
【図１２】本発明のレ−ルの内部構造を示す説明図である。
【図１３】本発明の凹型連結用ジョイント部の斜視図である。
【図１４】本発明の凸型連結用ジョイント部の斜視図である。
【図１５】本発明のレ−ル支持基台の説明図である。
【図１６】本発明のレ−ル支持基台によるレ−ルへの取り付け状態を示す部分拡大断面説明図である。
【図１７】本発明のレ−ルの取り付け状態を示す説明図である。
【図１８】本発明の自走台車のレ−ルへの取り付け状態を示す説明図である。
【図１９】本発明のレ−ルのカ−ブにおける駆動用ロ−ラ−の作用状態を示す説明図である。
【符号の説明】
１台車基板
２レ−ル
３駆動用ロ−ラ−
３’ 従駆動用ロ−ラ−
４、４’従動用ロ−ラ−
５アブソバ−式スタンション
５’ 固定式スタンション
６、６’駆動軸
７分割ロ−ラ−
２４硬質ゴム管
２５凹型連結用ジョイント部
２６凸型連結用ジョイント部
２７支持バンド
２８基台
２９コイルスプリング
３０連結部材
３２突条部
３３溝部
３４レ−ル支持基台[0001]
[Industrial application fields]
The present invention is used for a cart as an automatic welding or the like which is installed on a rail in an arbitrary curved surface direction and self-runs on the rail when welding on a special curved surface such as shipbuilding or fusing. It is about the rail.
[0002]
[Prior art]
Conventional automatic welding machines are equipped with an oscillator on a carriage that runs on a preset linear or one-dimensional, gentle two-dimensional curved rail, and the joint surface of the base material. The welding is carried out downward along the line.
[0003]
[Problems to be solved by the invention]
However, with the cart and the rail having the above configuration, there is no problem when performing welding on a plane, but in welding work such as shipbuilding, one-dimensional, two-dimensional, and three-dimensional depending on the cross-sectional shape of the hull. In addition, there are a lot of complicated welding operations such as the vertical direction, the horizontal direction, and the upward direction as well as the downward direction of the welding direction, and most of them are manually welded. .
In other words, it is uneconomical to produce and set a unique rail according to the curved surface for each welding, and an excessive load is applied to the wheels of the carriage when traveling on a curve with high and low. There are problems such as derailment.
[0004]
The above is the case of the downward, vertical and horizontal welding in which the rail carriage can travel, and the manual welding is performed in the case of upward welding in which the carriage cannot travel.
Accordingly, in order to solve the above problems, the present invention provides a carriage that can freely bend a rail according to an arbitrary curved surface and can travel along a rail laid on a three-dimensional curved surface. It is for the purpose.
[0005]
[Means for Solving the Problems]
The above object of the present invention can be achieved by a carriage and rail having the following structure. That is, the gist is sandwiched from both sides of the rail, and has a pressure-bonding means that can be closely contacted and separated, a driving means provided on at least one of the rollers, and a roller other than the roller having the driving means. Is provided with a crimping means for adjusting the crimping in the rail clamping direction, and further provided with a fixed stanchion on the load side in the traveling direction and an absorber stanchion that follows the curved surface on the opposite side. Each stanchion is provided with a roller that rotates eccentrically, and a coil spring having the same diameter as the inner diameter of the hard rubber tube is provided in the three-dimensional self-propelled vehicle and the hard rubber tube. Enclosed in a state of being pulled by a concave connection joint part and a convex connection joint part that are attached to both ends of the opening. A rail support base for laying the hard rubber pipe at a predetermined height is provided at a required position of the rubber pipe, and the rail support base includes a support band for freely rotating the hard rubber pipe in a radial direction, It is a rail used for a three-dimensional self-propelled carriage that is configured by a base that supports a support band so as to be pivotable in the left-right direction and has a permanent magnet built into the bottom thereof.
Further, the concave coupling joint and the convex coupling joint and the convex coupling joint by the bending of the rail by anchoring the concave coupling joint and the convex coupling joint with the open end inner wall of the hard rubber tube, and the hard rubber. A mechanism for eliminating a gap generated at the open end of the tube is provided.
In the three-dimensional self-propelled carriage of the present invention, the direction of traveling along the longitudinal direction of the rail is defined as forward (reverse travel is also possible).
[0006]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of a three-dimensional self-propelled carriage and a rail used for the same according to the present invention will be described in detail with reference to the drawings showing the examples.
Example 1
As shown in FIGS. 1 to 3, the self-propelled carriage of the present invention has a driving roller in a state in which a rail 2 having a circular cross section shown in FIG. -3, driven roller 3 'and driven rollers -4, 4' are provided, and at the left and right ends of the trolley substrate 1, the trolley substrate 1 is stabilized. In order to assist the traveling, stances 5 and 5 'provided with a roller 23 at the bottom are mounted.
[0007]
In this embodiment, the driving roller-3 or the subordinate driving roller-3 ′ or the subordinate driving roller-4 or 4 ′ has two driving rollers (3 and 3 ′). However, the number is appropriately set according to the weight of equipment mounted on the carriage substrate 1. That is, it is possible to set a minimum of one to a plurality of driving rollers according to various situations.
[0008]
Here, the driving roller is a roller that is directly driven by a driving motor, and the subordinate driving roller is a kind of driving roller, and is a driving motor. -A roller that is transmitted via the driving force of the rotor. The driven roller is an idle roller that does not have a drive source.
[0009]
Therefore, as shown in FIG. 2, the driving roller-3 and the subordinate driving roller-3 ″ are divided into upper and lower divided rollers 7 and 7 on the driving shafts 6 and 6 ′. The divided rollers 7 and 7 of the driving roller-3 and the driven roller-3 ′ are configured to sandwich the rail 2 from above and below and are divided rollers. In order to improve the close contact between the rollers 7 and 7, a mechanism for maintaining the pressure contact with each other by the urging force of the compression springs 8 and 8 which are fitted to the drive shafts 6 and 6 'and push the divided rollers 7 and 7 in the contact direction It is what.
[0010]
Further, a drive gear 9 is attached to the base end of the drive shaft 6, and the drive gear 9 is engaged with the drive gear 9 ′ to which the drive shaft 11 of the drive motor 10 is attached. At the same time, the drive gear 6 of the driven roller 3 ′ is simultaneously rotated by the transmission gears 12, 12, and 12, so that the driven roller 3 and the driven roller 3 ′ are rotated. It is set as the structure which carries out drive rotation simultaneously.
[0011]
Next, as shown in FIGS. 4 to 7, the individual driven rollers 4 and 4 ′ are first pivotally supported by the support covers 13 and 13, and further supported by the support covers 13 and 13. A space 13 is provided between the rocking cover 14 and the space 13 so as to be rotatable left and right.
[0012]
Further, the swing cover 14 is supported on the side wall 16 of the carriage substrate 1 from the center by a pin 17 '' on the screw shaft 17 'at the tip of the push handle 17 so as to be loosely fitted. The swinging cover 14 can be moved in the direction of the driving roller-3 and the subordinate driving roller-3 ′ by rotating left and right, so that it can be attached to and detached from the rail. .
[0013]
FIGS. 8 and 9 show the internal mechanism of the stanchions 5 and 5 ′ that are vertically attached to the left and right ends of the carriage substrate 1 (in this embodiment, the left and right sides and the right side center, respectively). Each stanchion 5, 5 ′ is a mechanism that can be freely attached to and detached from the carriage substrate 1.
[0014]
As shown in FIG. 8, the absorber stanchion 5 includes a movable leg 19 included in a fixed cylinder 18, and the movable shaft 19 is vertically moved by providing a shock absorbing mechanism (shock absorber) by a spring 20. The movable shaft 19 is further provided with a horizontal shaft 21 that can be rotated by a bearing or the like at the lower end of the movable shaft 19. The rail 23 is externally fitted in a slidable state with respect to the traveling direction of the carriage.
[0015]
As shown in FIG. 9, the other is a fixed stanchion 5 ′, and a horizontal shaft 21 that can be rotated by a bearing or the like is provided at the lower end of the fixed leg body 19. The roller 23 is externally fitted to the horizontally mounted pin 22 in a state in which it can slide left and right with respect to the traveling direction.
[0016]
Accordingly, the fixed stanchion 5 'is provided on the side where the load is always applied with respect to the traveling direction of the carriage, and the other obverse stanchions 5 and 5 are provided. In the present embodiment, there are three stanchions, but it is necessary to appropriately set the number according to the situation such as the curvature of the curved surface that travels and the weight of equipment mounted on the carriage.
[0017]
Example 2
FIG. 10 and FIG. 11 are explanatory views of the entire rail of the present invention. The rail 2 is an arbitrary long flexible hard rubber tube 24 and a concave coupling for mounting on both ends thereof. The joint portion 25 and the convex connection joint portion 26 can be connected to other rails continuously.
[0018]
A plurality of support bands 27 are attached to the outer wall of the hard rubber tube 24 at arbitrary regular intervals, and the support band 27 has the outer wall of the hard rubber tube 24 corresponding to the thickness of the support band 27. The surface of the hard rubber tube 24 is prevented from being uneven by engraving and external fitting.
[0019]
Further, a base 28 incorporating a permanent magnet is connected to the base end of each of the support bands 27 so that the rail 2 is magnetically attached onto the steel plate.
Next, as shown in FIG. 12, in the rail 2, a coil spring 29 having the same diameter as the inner diameter of the hard rubber tube 24 is included in the hard rubber tube 24 over the entire length of the hard rubber tube 24. Further, the connecting members 30 and 30 are screwed to both ends thereof, and the concave connecting joint portion 25 and the convex joint are fitted to the opening ends on both sides of the hard rubber tube 24 in a state where the coil spring 29 is pulled. An internal coil spring 29 is connected to the portion 26 and the respective connecting members 30, 30 by fastening members 31, 31 such as bolts.
[0020]
Further, a protrusion 32 is provided on the peripheral wall of the concave connecting joint 25 and the convex connecting joint 26, and the protrusion 32 is formed in a groove 33 formed on the inner peripheral wall of the hard rubber tube 24. Even when the rail 2 is installed in a bent state by fitting, a mechanism is provided in which no gap is generated between the concave connecting joint portion 25 and the convex connecting joint portion 26 and the open end of the hard rubber tube 24. Is.
[0021]
Further, as shown in FIG. 13 and FIG. 14, the concave connecting joint portion 25 and the convex connecting joint portion 26 are configured so that they can be easily connected to each other, and the connecting member 30 can be connected by the fastening member 31. And Further, the diameters of the concave connecting joint portion 25 and the convex connecting joint portion 26 are the same as the diameter of the hard rubber tube 24, so that the traveling of the self-propelled carriage is not hindered.
[0022]
Next, as shown in FIGS. 15 and 16, the rail support base 34 has a support shaft 35 which is a mechanism that can be rotated by a bearing or the like on a base 28 in which a permanent magnet 40 is incorporated at the bottom. The support band 27 is mounted on the support shaft 35 with bolts and nuts 36. Reference numeral 37 denotes a handle for attaching / detaching the base 28 to / from the steel plate.
[0023]
Therefore, when the support band 27 is attached to the hard rubber tube 24, two bearing sheets 39 having a small friction coefficient are placed in the band groove 38 formed on the outer peripheral wall of the hard rubber tube 24. The hard rubber tube 24 can be rotated in the radial direction by being mounted between the hard rubber tube 27 and the hard rubber tube 24.
[0024]
In the present invention configured as described above, as shown in FIG. 17, for example, in the welding operation of a three-dimensional curved surface A in shipbuilding, the rail 2 is bent according to the curved surface, and the base in which the permanent magnet 40 is incorporated. 28 is magnetically attached to the curved surface A and installed on the curved surface A at a constant height.
[0025]
When the rail 2 is installed, the fixing of the rail 2 and the support band 28 is restricted by the rotation of the support band 27 and the rail 2 and the rotation of the support band 27 and the base 28. Therefore, the magnetic attachment between the base 28 and the curved surface A can be reliably performed.
[0026]
Then, as shown in FIG. 18, the driven rollers 4 and 4 ′ are moved by the push handle 17 in the direction of the driving roller 3 and the driven roller 3 ′, and the rail 2 is moved. The welding cart is placed on the rail 2 by sandwiching it between the driving rollers 3 and 3 ′ and driving and rotating the driving roller 3 and the slave driving roller 3 ′. It is a self-propelled mechanism.
[0027]
Therefore, when the driving roller-3, the driven roller-3 'and the driven rollers-4, 4' as shown in FIG. The divided rollers 7 and 7 of the driving roller 3 and the subordinate driving roller 3 ′ are in close contact with the divided rollers 7 and 7 according to the load during the curve. By automatically adjusting the urging force of the compression springs 8 and 8 that control the driving force, the surface of the rail 2 without the driving roller 3 and the subordinate driving roller 3 ′ being detached from the rail 2. The driven rollers-4, 4 'move slightly to the left and right according to the curve of the rail 2 and are in close contact with the surface of the rail 2 to enable stable running. It is.
[0028]
Further, the roller-type stanchions 5 and 5 and the fixed stanchion 5 ′ always follow the three-dimensional curved surface A with respect to the three-dimensional curved surface A. Driving is possible.
Further, the rail 2 can resist the pressure from the outside by the biasing force of the coil spring 29 included in the hard rubber tube 24 in the circumferential direction, and the restoring force of the rail 2 is maintained. It will have a function that can.
[0029]
【The invention's effect】
As described above, according to the present invention, in welding of a three-dimensional curved steel plate or gas cutting in shipbuilding or the like, it is installed while bending the rail along the curved surface, and the oscillator is attached to the rail. -Or, by attaching a self-propelled carriage provided with a gas cutter and running while welding or fusing, the work can be automated.
Furthermore, the rail of the present invention can be installed while being arbitrarily bent according to the curved surface by the rail by the rubber tube and the coil spring in the rubber tube and its mounting structure, and the working efficiency is greatly improved. Is.
The magnetic attachment type rail can be easily attached and detached by a handle provided on each rail support base.
[Brief description of the drawings]
FIG. 1 is an explanatory front view of the present invention. (A-A arrow view in FIG. 2)
FIG. 2 is a side view of the present invention.
FIG. 3 is a rear view of the present invention. (B-B arrow view in FIG. 2)
FIG. 4 is an overall explanatory view of a driven roller of the present invention.
FIG. 5 is a cross-sectional explanatory view of a driven roller of the present invention.
FIG. 6 is a front view of a driven roller according to the present invention.
FIG. 7 is an explanatory view showing an attached state of the push handle of the present invention. (C-C cross-sectional view in FIG. 6)
FIG. 8 is an explanatory diagram of an absorber stanchion according to the present invention.
FIG. 9 is an explanatory diagram of a fixed stanchion according to the present invention.
FIG. 10 is an explanatory diagram of the entire plane of the rail of the present invention.
FIG. 11 is an overall side view of the rail of the present invention.
FIG. 12 is an explanatory diagram showing the internal structure of the rail of the present invention.
FIG. 13 is a perspective view of a concave connecting joint portion of the present invention.
FIG. 14 is a perspective view of a convex connecting joint portion of the present invention.
FIG. 15 is an explanatory diagram of a rail support base according to the present invention.
FIG. 16 is a partially enlarged cross-sectional explanatory view showing a state of attachment to the rail by the rail support base of the present invention.
FIG. 17 is an explanatory view showing a mounting state of the rail of the present invention.
FIG. 18 is an explanatory view showing a state where the self-propelled carriage of the present invention is attached to the rail.
FIG. 19 is an explanatory view showing an operating state of a driving roller in a rail curve of the present invention.
[Explanation of symbols]
1 Carriage board 2 Rail 3 Driving roller
3 'Roller for slave drive
4, 4 'driven roller
5 Absorber stanchion 5 'Fixed stanchion 6, 6' Drive shaft 7 Split roller
24 Hard rubber tube 25 Concave joint part 26 Convex joint part 27 Support band 28 Base 29 Coil spring 30 Connecting member 32 Projection part 33 Groove part 34 Rail support base

Claims

The roller is sandwiched from both sides of the rail, and has a pressure-bonding means that can be closely contacted and separated, a driving means provided on at least one of the rollers, and a roller other than the roller having the driving means. Crimping means that can adjust the crimping in the direction is provided, and a fixed stanchion is arranged on the load side in the traveling direction, and an absorber stanchion that follows the curved surface is arranged on the opposite side. Is a three-dimensional self-propelled vehicle characterized by having a roller that rotates eccentrically.

A coil spring having the same diameter as the inner diameter of the hard rubber tube is encased in the hard rubber tube in a state of being pulled by the concave connecting joint portion and the convex connecting joint portion that are attached to the openings at both ends of the hard rubber tube. Furthermore, a rail support base for laying the hard rubber tube at a certain height is provided at a required position of the hard rubber tube, and the rail support base can freely rotate the hard rubber tube in the radial direction. A rail used for a three-dimensional self-propelled carriage that includes a support band and a base that supports the support band so as to be pivotable in the left-right direction and has a permanent magnet built into the bottom.

The concave connection joint, the convex connection joint and the hard rubber tube by bending the rail by mooring the concave connection joint and the convex connection joint and the inner wall of the open end of the hard rubber tube. The rail used for the three-dimensional self-propelled carriage according to claim 2, wherein a mechanism for eliminating a gap generated at the opening end of the three-dimensional self-propelled carriage is used.