JP6379171B2 - Universal electric roller - Google Patents

Description

The present invention is, for example, a so-called electric roller for mounting and loading these devices for moving these devices when installing, moving, transporting, etc. when installing various industrial devices in a factory or the like. In this regard, the present invention relates to a universal electric roller equipped with a clutch mechanism that can easily change direction, free movement, etc., by temporarily stopping drive transmission by the motor and freely rotating the wheel manually. .

  Conventionally, when moving and carrying heavy items such as various industrial equipment that are heavy in weight, they are mounted on these using an appropriate number of electric rollers driven by a motor, and the electric rollers are moved forward and backward, changing direction, etc. Moving or the like is performed by controlling operation. As the electric roller, the present inventor has proposed, for example, an electric roller for transporting a heavy object according to Patent Document 1 and an electric roller for conveying a heavy object according to Patent Document 2. These electric rollers have a relatively small and lightweight motor arranged in a flat and rectangular roller body, and the driving force is driven and decelerated and transmitted via a speed reducing mechanism to rotate the wheels and move forward and backward. Is trying to change direction. And when transmitting the driving force of the motor arranged in the roller body to the wheel, a clutch mechanism for interrupting or transmitting the driving force is provided between the motor side and the wheel side.

JP 2003-14060 A JP 2010-143434 A

  In these conventional electric rollers, for example, the left and right wheels are driven and rotated by a single motor. Therefore, in the power transmission system, the clutch mechanism transmits the driving force by, for example, engagement or separation by a sliding sister. Or shut off. However, recently, in order to increase the driving force by increasing the size and weight of the transported object, when providing multiple motors to drive each wheel independently, the clutch by engagement and separation by having a slide type sister It was difficult to cope with this by the mechanism.

  In addition, for example, even if the drive transmission is temporarily interrupted to move it in a free state or change the direction of travel, the transmission by the independent motor that drives each wheel is temporarily interrupted. Therefore, since the clutch mechanisms corresponding to each of them are provided independently, simultaneous disengagement not only complicates the mechanism or operation, but is also troublesome.

Therefore, the present invention was created in view of the above-described conventional circumstances. For example, in an electric roller having a plurality of motors that independently drive left and right wheels, drive transmission by each motor to each wheel is transmitted. It can be stopped at the same time, for example, by free rotation of the wheel by temporary transmission stop, it can be easily moved by manpower even while the motor is driving or stopped, and further it can change direction, and it has a clutch mechanism that makes handling easy It is to provide a universal electric roller.

In order to solve the above-described problems, in the present invention, the reference numerals in the embodiments for carrying out the invention to be described later will be added and described. By the driving force of the motors M1 and M2 disposed on the body frame 1, the wheels The wheel 3 itself is driven to rotate through a wave gear mechanism 10 built in the motor 3, and the wave gear mechanism 10 is fixed to a driven input shaft 11 driven and rotated by the driving force of the motors M1 and M2. 12. A flexspline 13 that surrounds the web generator 12 and rotates via the web generator 12 , and a circular spline 14 that is decelerated and rotated by the rotation of the flexspline 13 and is fixed to the inside of the outer peripheral wall of the wheel 3. Motor for rotating the wheel 3 in the universal electric roller M1, the clutch mechanism 30 for temporarily stopping the drive transmission M2 provided, this clutch mechanism 30 includes a clutch shaft 31 which is moved back and forth in the body frame 1 is operated from the outside of the body frame 1, the clutch shaft 31 A center rod 35 that is moved up and down by the forward and backward movement of the clutch shaft 31, and a clutch plate 41 that moves up and down so that the center rod 35 moves down against the upward elastic force by the vertical movement of the center rod 35. , Connected to the flex spline 13 in the wave gear mechanism 10 provided on the wheel 3, engaged with the clutch plate 41 when in the upper position, and separated from the clutch plate 41 when in the lower position. And a cam disk 46.
The driven input shaft 11 of the wave gear mechanism 10 inside the left and right wheels 3 is arranged symmetrically at the substantially central portion of the body frame 1 and is connected to the output shaft 2 of the front and rear motors M1 and M2 by the bevel gear transmission means 4. The center rod 35 and the clutch plate 41 of the clutch mechanism 30 can be configured to be freely engageable with and disengageable from the cam disks 46 of the left and right wheels 3 at substantially the central portion of the body frame 1.
The clutch plate 41 can be configured such that engaging protrusions 41A provided on both left and right side edges of the clutch plate 41 are engaged with notched locking recesses 46A provided on the cam disks 46 of the left and right wheels 3, respectively.
The center rod 35 is slidably inserted into a center plate 37 provided on the upper portion of the vehicle body frame 1 at a substantially central position of the vehicle body frame 1, and the link structure is bent at a lower portion of the center plate 37. The connecting portion 36 can be connected to the front end of the clutch shaft 31.
The clutch plate 41 moves up and down by being guided between the guide blocks 43 that are fixed to stand on opposite sides on the bottom plate 42 disposed on the bottom of the center portion of the vehicle body frame 1, and the clutch plate 41 itself. The cup-shaped connecting cup 44 having a downward opening connected to the bottom plate 42 can be configured to be always elastically biased upward by the elastic force of the return spring 45 inserted between the bottom plate 42 and the cup.

In the universal electric roller according to the present invention configured as described above, the clutch mechanism 30 is a wave motion incorporated in the wheel 3 by the vertical movement of the clutch plate 41 via the center rod 35 by the advance and retreat of the clutch shaft 31. The cam disk 46 fixed to the flex spline 13 of the gear mechanism 10 is engaged or released, and the cam disk 46 and the flex spline 13 are not temporarily rotated at the time of engagement, but the wheel 3 is rotated by the wave gear mechanism 10 itself. At the time of release, the wheel 3 itself can be freely rotated by, for example, human power.
The center rod of the clutch mechanism 30 is a drive transmission portion by the bevel gear transmission means 4 between the output shaft 2 of the motors M1 and M2 disposed substantially at the center of the body frame 1 and the driven input shaft 11 of the left and right wheels 3. 35. When the clutch plate 41 is controlled to move up and down, the left and right wheels 3 that transmit the driving force are simultaneously controlled.
The center rod 35 is coupled with the transmission of the operation of the clutch shaft 31 that advances and retreats as the center rod 35 is inserted into the center plate 37, and is converted into a vertical movement by the bending connecting portion 36. By moving up and down between the cam disks 46 of the left and right wheels 3, the engagement protrusion 41 </ b> A of the clutch plate 41 is engaged with or separated from the engagement recess 46 </ b> A of the cam disk 46.
The elastic force of the return spring 45 inserted into the coupling cup 44 of the clutch plate 41 causes the center rod 35 to move upward as the clutch shaft 31 is pulled outward of the vehicle body frame 1, and the cam disk 46 The engagement protrusion 41A with respect to the locking recess 46A that moves in a circumferential manner with the rotation of the rotation is positioned and reliably engaged.

Since the present invention is configured as described above, in the universal electric roller provided with the front and rear motors M1 and M2 so as to increase the driving force so as to drive the left and right wheels 3 independently, the wheels 3 respectively The motor M1 and M2 can temporarily stop the drive transmission for rotating the wheels 3 respectively, and the stop operation can be performed simultaneously for the drive transmission systems independent of the front and rear motors M1 and M2, respectively. It can be carried out. Thus, for example, the wheel 3 itself can be freely rotated without being influenced by the driving force by temporarily interrupting the driving transmission force, and can be easily moved by human power while the motors M1 and M2 are driven or stopped. Furthermore, the direction can be changed and handling can be facilitated.

  That is, in the present invention, the clutch mechanism 30 provided in the electric roller itself including the wheel 3 in which the wave gear mechanism 10 is incorporated is operated from the outside of the body frame 1, and the clutch shaft 31 is advanced and retracted. A center rod 35 connected to the advancing / retracting clutch shaft 31 and moved up and down, a clutch plate 41 moved up and down against the elastic force of the center rod 35 moving up and down, and the wheels 3 This is because it comprises a cam disk 46 that is connected to the flexspline 13 of the wave gear mechanism 10 that is provided, and that can freely engage and disengage with the clutch plate 41 that moves up and down. As a result, it is possible to temporarily stop the drive transmission force to the wheel 3 by the clutch mechanism 30 and to perform free rotation of the wheel 3 by forcibly rotating the wheel 3 from the wheel 3 side accompanying this temporary stop. .

  Further, the bevel gear transmission means 4 for driving transmission between the driven input shaft 11 of the wave gear mechanism 10 incorporated in the left and right wheels 3 and the output shaft 2 of the motors M1 and M2 at the front and rear portions is a body frame 1. The center rod 35 that moves up and down by the forward and backward operation of the clutch shaft 31 and the clutch plate 41 that follows the up and down movement of the center rod 35 independently move and rotate left and right. The wheels 3 can be stopped simultaneously with respect to the cam disks 46.

  Since the center rod 35 is connected to the clutch shaft 31 that is moved back and forth through the link connecting portion 36 of the link structure, the center rod 35 is coupled to the center plate 37 that is slidably inserted into the upper portion. The clutch shaft 31 is smoothly moved up and down following the forward / backward operation of the clutch shaft 31. In addition, since the clutch plate 41 is guided between the guide blocks 43 fixed on the bottom plate 42 and moved up and down, the clutch plate 41 is reliably moved up and down without shaking by the center rod 35 up and down, The meshing is smoothly performed or the meshing is released.

  In addition, the code | symbol attached | subjected in each means of the means for solving said subject and the effect of invention was attached | subjected in order to make easy reference with the part which shows each structure part described in drawing. The present invention is not limited to these descriptions, structures, shapes, and the like indicated by reference numerals and the like in the drawings.

It is a plane sectional view showing one form for carrying out the present invention. It is a side sectional view similarly. It is a back sectional view similarly. It is a sectional side view of the wheel in which the wave gear mechanism similarly operated with a clutch mechanism is incorporated. It is a front sectional view of the clutch mechanism partially omitted. It is a principal part front sectional view of a clutch mechanism similarly. It is a principal part side sectional view of a clutch mechanism similarly.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment for carrying out the present invention will be described with reference to the drawings. Reference numeral 1 shown in the drawing constitutes a universal electric roller according to the present invention, and is a vehicle body that has a substantially cross shape when viewed from the top. It is a frame. A front motor M1 with the output shaft 2 facing rearward is disposed at the front portion of the body frame 1, and the output shaft 2 is supported at, for example, the right portion of the body frame 1 at a substantially central position in the front-rear direction. The right wheel 3 is rotated by the bevel gear transmission means 4 and the wheel 3 is decelerated to rotate and the wave gear mechanism (Strain wave gearing / Harmonic drive: registered trademark) 10, which will be described later, is used. The shaft 11 is driven. Similarly, a rear motor M2 with the output shaft 2 facing forward is disposed at the rear of the body frame 1, and the output shaft 2 is supported by the left portion of the body frame 1, for example, the left wheel 3 is umbrellad. A driven input shaft 11 (to be described later) in a wave gear mechanism 10 that is internally configured to rotate the wheel 3 at a reduced speed is driven by the gear transmission means 4.

  And as shown in the figure, the output shaft 2 of the front and rear motors M1, M2 arranged and fixed so as to face each other in the front and rear of the body frame 1, and the driven wheel 3 symmetrically arranged and supported on the left and right sides. The input shafts 11 are both central portions of the vehicle body frame 1 and are arranged so as to face each other, and bevel gear transmission means 4 is configured by meshing bevel gears fixed to the respective shaft ends. Yes.

  Reference numeral 5 in the figure is a turntable that is rotatably provided on the upper surface of a substantially central portion of the vehicle body frame 1, and similarly, reference numeral 6 is a free caster disposed on the front, rear, left and right portions of the vehicle body frame 1. Further, as shown in FIG. 1, the body frame 1 is provided with a bevel gear transmission means 4 and a main body portion of a clutch mechanism 30 to be described later at a central portion between the front and rear ribs arranged in a face-to-face manner. ing. The left and right free casters 6 are fixed by front ribs arranged in a face-to-face manner on the left and right sides in front of the front rib. Similarly, the rear casters 6 are fixed to the left and right rear portions of the rear ribs by rear ribs arranged opposite to each other.

  In the present specification, as shown in the drawing, the right wheel 3 by the front motor M1 and the left wheel 3 by the rear motor M2 are the bevel gear transmission means 4 and the wave gear inside the wheel 3, which are similarly configured. Since it is configured to be driven at a reduced speed by the mechanism 10 or the like, each configuration will be described by the same reference numerals of the constituent members on either one side unless it is necessary to distinguish the right side or the left side.

  A wave gear mechanism 10 built in the wheel 3 includes a driven input shaft 11 driven and rotated by the output shaft 2 of the motors M1 and M2 meshed by the bevel gear transmission means 4, and the driven input shaft 11 A substantially elliptical web generator 12 that is rotated by being fixed, and a cup-like flexible web that includes the web generator 12 and covers the web generator 12, and external teeth are formed on the outer periphery. A flexspline 13 and internal teeth that mesh with the external teeth of the flexspline 13 and have a predetermined number of teeth compared to the number of external teeth are formed. 3 and a circular spline 14 connected and fixed to the outer peripheral wall.

  The circular spline 14 is supported by one end, which is the outer side of the body frame 1, on the inner surfaces of the left and right side walls of the body frame 1, and the other end, which is inside the body frame 1, is supported by a drive shaft 25 which will be described later. A tire-shaped tire cover 21 is fixed, and a cover side 22 provided on the tire cover 21 is supported on the left and right side walls of the vehicle body frame 1 and supports the driven input shaft 11 therein. (See FIG. 4). In addition, a roller 23 forming an outer peripheral wall of the wheel 3 is fixed to the tire cover 21. A cylindrical drive shaft 25 surrounding the driven input shaft 11 is fixed to the flexspline 13 so as to be rotated on the outer periphery of the driven input shaft 11, and the vehicle body frame 1 on the drive shaft 25 is fixed. The tire cover 21 is rotatably supported by the inner end portion of the tire.

A cam disk 46 is fixed to the drive shaft 25 at the central portion of the vehicle body frame 1 so that a clutch plate 41 of a clutch mechanism 30 to be described later can be freely engaged and disengaged. Along with the 25 rotation of itself is temporarily stopped, are then to be locked stop the rotation of the flexspline 13 itself.

Thus, in the wave gear mechanism 10, the driven rotation of the driven input shaft 11 rotates the flexspline 13 inside the circular spline 14 via the web generator 12. The rotation of the flex spline 13 rotates the circular spline 14 in a direction opposite to the rotation direction of the driven input shaft 11 and the flex spline 13, and the reverse rotation of the circular spline 14 simultaneously causes the internal and external teeth meshing with each other. It is in a state of being decelerated corresponding to the difference in the number of teeth, and is rotated in a state in which the torque accompanying the deceleration is increased. And the reverse rotation by the predetermined torque of the circular spline 14 makes the wheel 3 itself provided with the tire cover 21 and the roller 23 rotate by predetermined output.

The wheel 3 that travels in this manner rotates and travels by being transmitted by the bevel gear transmission means 4 and the wave gear mechanism 10 from the output shaft 2 of the front and rear motors M1 and M2, The stop and fixing of the flexspline 13 in the wave gear mechanism 10 is temporarily released by the clutch mechanism 30 to thereby free the driving force, and the wheel 3 is freely rotated by, for example, human power. Note that the clutch mechanism 30 in this illustrated example has the ends of the driven input shafts 11 on the left and right wheels 3 mutually connected so that the drive transmission to the wheels 3 is transmitted by the bevel gear transmission means 4 at the central portion of the body frame 1. It is configured by being opposed to each other and utilizing the operating characteristics of the wave gear mechanism 10 incorporated in the wheel 3.

  That is, the clutch mechanism 30 is connected from a clutch shaft 31 that is operated from the outside of the vehicle body frame 1 and is advanced and retracted toward the center portion of the vehicle body frame 1, and is connected to the clutch shaft 31 by a bending connection portion 36. A center rod 35 that is moved up and down by the advancement and retraction of the shaft 31, a clutch plate 41 that moves up and down so as to be lowered against the upward elastic force by the vertical movement of the center rod 35, and the wheel 3. The cam gear 46 is connected to the flex spline 13 in the wave gear mechanism 10 and is engaged with the clutch plate 41 when in the upper position, and is separated from the clutch plate 41 when in the lower position.

  The clutch shaft 31 is slidably inserted into the vehicle body frame 1 so as to extend from the right rear outside of the vehicle body frame 1 to the central portion of the vehicle body frame 1 by a shaft slide support portion 33 provided on the vehicle body frame 1. It is supported by. For example, a clutch knob 32 is fixed to the outside portion of the clutch shaft 31, and the clutch shaft 31 is advanced or retracted by being pulled outward or pushed inward by the clutch knob 32.

  The center rod 35 is slidably inserted into a center plate 37 provided on the upper portion of the vehicle body frame 1 at a substantially central position of the vehicle body frame 1, and is swingable at a lower portion of the center plate 37. Similarly, it is connected to the front end of the clutch shaft 31 so as to be freely swingable by a bent connecting portion 36 having a linked link structure. As shown in FIGS. 5 and 6, the bent connecting portion 36 is, for example, a bifurcated first link that is swingably connected to the front end of the clutch shaft 31 and advances and retreats as the clutch shaft 31 advances and retreats. A bifurcated second link having a rear end connected to the first link and a front end connected to the center rod 35 so as to be swingable, and having a square shape when viewed from the side where the center rod 35 is moved up and down by the advancement and retreat of the first link. Consists of.

  The clutch plate 41 is formed with a protruding engagement protrusion 41A on the side edge in the left-right direction of the vehicle body frame 1, and the engagement protrusion 41A is a locking recess 46A of the cam disk 46 on the wheel 3 side. Further, the clutch plate 41 itself following the vertical movement of the center rod 35 engages and disengages freely (see FIG. 7). The clutch plate 41 itself moves up and down by being guided between the guide blocks 43 that are fixed to stand on opposite sides on the bottom plate 42 disposed at the bottom of the central portion of the vehicle body frame 1. In addition, the clutch plate 41 is always upward due to the elastic force of a return spring 45 made of, for example, a coil spring, which is inserted between the bottom plate 42 and a cup-shaped connection cup 44 having a downward opening connected to the clutch plate 41 itself. , Is being energized. By doing so, the clutch plate 41 is separated from the cam disk 46 when the center rod 35 is lowered by the advance of the clutch shaft 31, and conversely, when the clutch shaft 31 is retracted, the elastic spring biasing action of the return spring 45 is achieved. At the same time, following the rise of the center rod 35, it moves upward and engages with the cam disk 46.

The cam disk 46 is fixed to an end of the drive shaft 25 on the center side of the body frame 1 fixedly connected to the cup-shaped flexspline 13 in the wave gear mechanism 10 incorporated in the wheel 3. The disk 46 itself has a disk shape, and a plurality of, for example, four locking recesses 46A are formed in a cutout shape on the periphery (see FIG. 7). Then, when the engaging protrusion 41A when the clutch plate 41 moving up and down as described above is engaged with the engaging recess 46A of the cam disk 46 rotating as the flexspline 13 rotates, is engaged. , and causes locked stop cam disc 46, the drive shaft 25, the rotation of such flexspline 13.

Next, an example of the operation in the embodiment configured as described above will be described. The driving of the front and rear motors M1 and M2 is caused by the bevel gear transmission means 4 following the wave gear mechanism 10 in the wheel 3 to be driven and rotated. In the driven rotation in the wave gear mechanism 10, the driving force is appropriately decelerated to cause the wheel 3 to rotate in a predetermined direction. That is, in the wave gear mechanism 10, the driven input shaft 11 driven and rotated by the bevel gear transmission means 4 rotates the web generator 12 to reverse the circular spline 14 with the torque of a predetermined reduction ratio via the flexspline 13. The circular spline 14 rotates the wheel 3 itself including the tire cover 21, the roller 23, and the like. At this time, in the clutch mechanism 30, when the clutch shaft 31 is not operated and is in the retracted position from the center side of the vehicle body frame 1 , the clutch plate 41 is also coupled with the elastic biasing action of the return spring 45. The engaging protrusion 41 </ b> A is engaged with the engaging recess 46 </ b> A of the cam disk 46. Since the cam disk 46 is fixed, the drive shaft 25 and the flex spline 13 do not rotate, and the rotation of the driven input shaft 11 causes the circular spline 14 and the wheel 3 to rotate through the flex spline 13.

  The front and rear motors M1 and M2 are controlled in their rotational directions. For example, a remote control device (FIG. (Not shown).

Here, the operation of the clutch mechanism 30, i.e., when pushing the clutch shaft 31 of the clutch mechanism 30 to the inside of the body frame 1, will be moving the center rod 35 under side, with elastic return spring 45 against the energizing action, to release the engagement projection 41A is moved down sideward clutch plate 41 from the engagement recess 46A of the cam disc 46. Then, stop the fixed drive shaft 25 is temporarily released, the driven rotation of the driven input shaft 11 Accordingly will become Rukoto rotated web generator 12 only at the flexspline within 13, rotating the circular spline 14 The driving force is not transmitted, and the wheels 3 are not rotated.

  In this state, the direct rotation operation with respect to the wheel 3 itself overcomes the operating resistance of the wave gear mechanism 10, and the wheel 3 itself is free from the driving forces of the front and rear motors M1 and M2 and rotates in a free state. Will be. Therefore, for example, it can be freely controlled by pushing or pulling the body frame 1 itself by human power, and the direction can be freely changed even when the motors M1 and M2 are driven. Since the motors M1 and M2 are free from loads, the wheels 3 can be freely driven and rotated by human power as well.

M1 ... front motor M2 ... rear motor 1 ... body frame 2 ... output shaft 3 ... wheel 4 ... bevel gear transmission means 5 ... turntable 6 ... universal caster 10 ... wave gear mechanism 11 ... driven input shaft 12 ... web generator 13 ... Flex spline 14 ... circular spline 21 ... tyre cover 22 ... cover side 23 ... roller 25 ... drive shaft 30 ... clutch mechanism 31 ... clutch shaft 32 ... clutch knob 33 ... shaft slide support 35 ... center rod 36 ... bending link 37 ... Upper plate 41 ... Clutch plate 41A ... Engaging projection 42 ... Bottom plate 43 ... Guide block 44 ... Connection cup 45 ... Return spring 46 ... Cam disk 46A ... Locking recess

Claims (5)

The driving force of the motor arranged on the body frame causes the wheel itself to be driven to rotate through a wave gear mechanism built in the wheel, and the wave gear mechanism is driven by a driven input shaft that is rotated by the driving force of the motor. Electric motor comprising a fixed web generator, a flexspline that surrounds the web generator and rotates via the web generator , and a circular spline that is decelerated and rotated by the rotation of the flexspline and is fixed to the inside of the outer peripheral wall of the wheel The roller is provided with a clutch mechanism for temporarily stopping the drive transmission of the motor that rotates the wheel. The clutch mechanism is operated from the outside of the body frame and is moved forward and backward by the body frame, and the clutch shaft. Connected to the A center rod that is moved up and down by the forward and backward movement of the shaft, a clutch plate that moves up and down so as to be lowered against the upward elastic force by the vertical movement of the center rod, and the wave gear mechanism provided on the wheel A universal electric roller comprising: a cam disk that is connected to the flexspline and is engaged with a clutch plate when in the upper position and separated from the clutch plate when in the lower position.   The driven input shafts of the wave gear mechanisms inside the left and right wheels are symmetrically arranged at the substantially central part of the vehicle body frame, and are driven and rotated by the bevel gear transmission means with the output shafts of the front and rear motors. 2. The universal electric roller according to claim 1, wherein the center rod and the clutch plate are freely engageable with and disengageable from the cam disks of the left and right wheels at a substantially central portion of the body frame.   The universal electric roller according to claim 1 or 2, wherein the clutch plate is configured so that engagement protrusions provided on both left and right side edges of the clutch plate are engaged with notch-shaped locking recesses provided on the cam disks of the left and right wheels, respectively.   The center rod is slidably inserted into a center plate provided at the upper part of the vehicle body frame at a substantially central position of the vehicle body frame, and a clutch shaft is connected to the lower part of the center plate by a bent connecting portion of the link structure. The universal electric roller according to claim 1, wherein the universal electric roller is connected to the front end of the universal electric roller.   The clutch plate moves up and down by being guided between guide blocks fixed on the bottom plate in a counter-like manner on the bottom plate arranged at the bottom of the center part of the vehicle body frame, and is connected to the clutch plate itself. 5. The universal electric roller according to claim 1, wherein the universal electric roller is constantly elastically biased upward by a resilient force of a return spring inserted between the cup-shaped connecting cup and the bottom plate. .

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