JP6472138B2 - Self-propelled mobile device - Google Patents

Description

  The present invention relates to a self-propelled moving device that moves along an elongated path member such as a wire, a rope, or a rod-shaped member.

  Examples of the self-propelled moving device include a lifting device disclosed in Patent Document 1. Self-propelled moving devices include, for example, an elevator (lifting device), a ropeway, a cable car, a gondola lift that moves a housing that accommodates people and objects along the vertical direction or along a direction inclined with respect to the vertical direction. It is used for etc.

  In general, as a moving device such as an elevator, a traction type device that moves a housing by driving a route member such as a rope or a wire that supports the housing without providing a moving drive device on the housing is also provided. Widely used. The traction-type moving device is driven by a path member, for example, in a case where the moving distance is long (for example, a case where the moving member is used as a space elevator or an orbital elevator moving along a path member extending from the earth to a geostationary orbit). Is difficult to adopt. On the other hand, the self-propelled moving device that travels the chassis along the path member drives the path member because the chassis travels along the path member by the moving drive device provided on the chassis. There is no need. Therefore, even a case with a long lifting distance, which is not good for the traction type moving device described above, is relatively easy to adopt.

JP 2011-219267 A

  When the self-propelled mobile device is moved along a route member including a route portion extending in a substantially vertical direction, the self-propelled mobile device is moved against the weight of the self-propelled mobile device in the route portion. It is necessary to brake. Therefore, for example, when the self-propelled mobile device is raised, sufficient driving torque is required to raise the self-propelled mobile device against the total weight of the self-propelled mobile device. In particular, at the time of starting the self-propelled mobile device to increase the speed upward from the stopped state, the inertia of the self-propelled mobile device is large, and thus usually the largest driving torque is required. At this time, in addition to this large inertia, the total weight of the self-propelled mobile device is added, so the driving torque required at the time of starting is very large. In order to obtain such a large driving torque, a driving device having a large weight and size is required. Therefore, in order to reduce the weight and size of the self-propelled moving device, the necessary driving torque is reduced. It is effective to do.

  Also, for example, when braking a descending self-propelled mobile device, sufficient braking force is required to decelerate the self-propelled mobile device against the inertia and total weight of the self-propelled mobile device. . In general, in order to obtain a large braking force, a braking device having a large weight and size is required. Therefore, in order to reduce the weight and size of a self-propelled moving device, the necessary braking force must be reduced. Is also effective.

  The present invention has been made in view of the above background, and its object is to reduce driving torque and braking force required when moving along a path member including a path portion extending in a substantially vertical direction. It is to provide a self-propelled mobile device that can do this.

In order to achieve the object, the invention according to claim 1 is directed along the path member by the rotational driving force of the driving rotating body contacting the peripheral surface of the elongate path member including the linear path portion extending in the substantially vertical direction. in self-propelled mobile apparatus which moves, when the drive rotor to a peripheral surface of at least the path portion abuts, by projecting the rotational axis of 該駆 dynamic rotator with respect to a virtual plane including a longitudinal direction of said path portion The axial direction of the projection rotation axis at that time is inclined with respect to the longitudinal direction of the path portion .
In the conventional self-propelled moving device, the rotation axis of the drive rotating body usually extends in a direction perpendicular to the longitudinal direction of the path member. In this case, when the linear path portion extending in the substantially vertical direction is moved, the circumferential direction of the drive rotator (direction in which the drive rotator is rotated) and the gravity direction are in contact with the drive rotator and the path member. Therefore, the total weight of the self-propelled mobile device acts on the drive rotating body in the circumferential direction as it is. Therefore, for example, when the self-propelled mobile device is raised, a large driving torque capable of raising the self-propelled mobile device against the total weight of the self-propelled mobile device is required. For example, when braking a descending self-propelled mobile device, a large braking force capable of decelerating the self-propelled mobile device against the inertia and total weight of the self-propelled mobile device is required. .
On the other hand, in the present invention, at least when the drive rotator comes into contact with the circumferential surface of the path portion, the projection rotation is performed when the rotation axis of the drive rotator is projected onto the virtual plane including the longitudinal direction of the path portion. Since the axial direction of the shaft is inclined with respect to the longitudinal direction of the path member, when the self-propelled moving device is moved, it moves in the longitudinal direction of the path member while rotating around the path member. In this case, when the linear path portion extending in the substantially vertical direction is moved, the circumferential direction of the drive rotator does not coincide with the direction of gravity at the contact portion between the drive rotator and the path member. Only a part of the weight of the self-propelled mobile device acts on the direction. Therefore, for example, when the self-propelled mobile device is raised, the load torque corresponding to the weight of the self-propelled mobile device is reduced, so that the necessary drive torque can be reduced. Further, for example, when braking a self-propelled mobile device that is descending, the force to accelerate the rotation of the drive rotor is reduced by the weight of the self-propelled mobile device, so that the necessary braking force can be reduced. it can.

According to a second aspect of the present invention, in the self-propelled moving device according to the first aspect of the present invention, the rotation of the driving rotator is changed so that the angle between the axial direction of the projection rotation axis and the longitudinal direction of the path portion changes. The rotating shaft posture changing means for changing the posture of the shaft and the rotating shaft posture control means for controlling the rotating shaft posture changing means.
According to this, the angle between the axial direction of the projection rotation axis and the longitudinal direction of the path portion is changed, and the circumferential direction of the drive rotator (the drive rotator is changed at the contact point between the drive rotator and the path member). The angle between the direction of rotation) and the direction of gravity can be changed. Therefore, it is possible to appropriately change the load torque corresponding to the weight of the self-propelled mobile device and the force for accelerating the rotation of the drive rotor due to the self-propelled mobile device weight. According to this, for example, the magnitude of the entire rising load torque (load torque caused by its own weight, inertia, movement resistance (air resistance, etc.)), or the entire force that hinders the braking of the drive rotating body during descent ( It is possible to perform control such that the magnitude of the force generated by its own weight, inertia, etc. is kept within a certain range. Specifically, for example, when starting to raise the self-propelled mobile device from a stopped state or when rapidly decelerating the self-propelled mobile device being lowered, a situation where a large inertia works on the self-propelled mobile device so, by changing the orientation of the rotation axis of the drive rotor such that the angle between the longitudinal direction closer to 0 ° the axial direction and the path portion of the projection rotary shaft, attempts to load torque and acceleration of own weight The power to do can be reduced.
Further, by changing the angle between the longitudinal axis direction and the path portion of the projection rotation axis, the moving speed of the self-propelled mobile device moves in the longitudinal direction of said path portion (hereinafter, simply "moving speed" Changes). Therefore, for example, it becomes possible to control the moving speed of the self-propelled moving device without changing the rotating speed of the driving rotating body or using a braking device.

Further, the invention of claim 3 is the self-propelled moving device according to claim 2, wherein the rotary shaft attitude control means moves upward in the longitudinal direction of the path portion . In the predetermined acceleration period in which the moving speed is increased, the rotation axis posture changing means is controlled so that the angle changes in a direction approaching 90 °.
The closer angle is 90 ° with the longitudinal axis direction and the path portion of the projection rotary shaft, while the load torque of the own weight during the rise is increased, the moving speed of the self-propelled mobile apparatus (increase speed) Get faster. According to the present invention, the moving speed (rising speed) of the self-propelled moving device can be increased without increasing the rotating speed of the driving rotating body. In addition, this invention does not exclude using together the control which raises the rotational speed of a drive rotary body, and increases the moving speed (rising speed) of a self-propelled moving apparatus.

According to a fourth aspect of the present invention, in the self-propelled mobile device according to the third aspect, the predetermined speed-up period is a time when the self-propelled mobile device starts moving upward from a stopped state. It is a starting period.
In the starting period when the self-propelled moving device starts moving upward from the stopped state, the magnitude of the entire load torque acting on the drive rotor is usually the largest. Therefore, in this start-up period, the angle between the longitudinal axis direction and the path portion of the projection axis of rotation from a state close to 0 ° By carrying out control to change the direction toward the 90 °, the driving rotator It is possible to increase the speed while reducing the required maximum driving torque. As a result, it becomes possible to use a driving device having a smaller weight and size, and thus the weight and size of the self-propelled moving device can be reduced.

The invention according to claim 5 is the self-propelled moving device according to any one of claims 2 to 4, wherein the rotary shaft attitude control means moves downward in the longitudinal direction of the path portion. The rotary shaft attitude changing means is controlled so that the angle changes in a direction away from 90 ° during a predetermined deceleration period for decelerating the moving speed of the self-propelled moving device. .
Increasing distance from the angle 90 ° with the longitudinal axis direction and the path portion of the projection rotary shaft (closer to 0 °), while the force to accelerate the self-propelled mobile apparatus is decreased by its own weight, The moving speed of the self-propelled moving device becomes slow. According to the present invention, the self-propelled moving device that moves downward can be decelerated without lowering the rotational speed of the driving rotating body, without using a braking device, or with a smaller braking force. Can do. In addition, this invention does not exclude using together the control which reduces the rotational speed of a drive rotary body, or uses a braking device.

The invention according to claim 6 is the self-propelled moving device according to any one of claims 2 to 5, wherein the rotary shaft attitude control means moves in the longitudinal direction of the path portion. When the moving speed of the moving device is zero, the rotation axis posture is set so that the angle is the same as the angle closest to 0 ° or the angle closer to 0 ° among the possible angles during movement. The change means is controlled.
As the angle between the longitudinal axis direction and the path portion of the projection rotation axis is away from 0 ° (as approaching the 90 °), tries to move the self-propelled mobile apparatus downward by its own weight Strength increases. Since this force acts even when the moving speed of the self-propelled mobile device is zero, the force necessary to maintain the moving speed of the self-propelled mobile device at zero as the angle is away from 0 °. Strength increases. According to the present invention, when the moving speed of the self-propelled mobile device is zero, the angle is the same as the angle closest to 0 ° or the angle closer to 0 ° among the possible angles during movement, The force required to maintain the moving speed of the self-propelled moving device at zero can be kept small. In particular, if the drive rotator is stopped and the angle is set to 0 °, the moving speed of the self-propelled mobile device is maintained at zero with very little energy (ideally without consuming energy). it can. Further, if the angle is set to 0 °, the moving speed of the self-propelled moving device can be maintained at zero without stopping the rotation of the driving rotating body, and the rotation driving control of the driving rotating body can be simplified. There is also.

The invention according to claim 7 is the self-propelled moving device according to any one of claims 1 to 6, further comprising another rotating body that sandwiches the path member with the driving rotating body. The relationship between the projection rotation axis when the rotation axis of the other rotator is projected onto the virtual plane and the projection rotation axis when the rotation axis of the drive rotator is projected onto the virtual plane is and is characterized in that both projected rotational axis relative to the longitudinal direction of said path portion is relationship of oppositely inclined at the same angle.
In the configuration in which the path member is sandwiched between the driving rotator and the non-rotating body, the non-rotating body slides along the circumferential surface of the path member when the driving rotator is driven to rotate. It is easy to deteriorate by. According to the present invention, when the drive rotator is driven to rotate, the drive rotator that sandwiches the path member and the other rotator rotate together and rotate on the circumferential surface of the path member. Can be suppressed.

  According to the present invention, it is possible to provide a self-propelled moving device that can reduce the driving torque and braking force required when moving along a path member including a path portion extending in a substantially vertical direction. Is played.

It is the front view which showed typically the drive device of the raising / lowering apparatus which concerns on embodiment. It is the side view which showed the raising / lowering apparatus typically. It is the front view which showed the internal structure of the raising / lowering apparatus typically. It is the front view which showed typically the internal structure of the raising / lowering apparatus when the axial direction of the projection rotating shaft of a drive roller is in an inclined state with respect to the wire rope longitudinal direction. It is a block diagram in connection with the movement control of the drive device. It is a flowchart which shows the movement control example 1 in the starting period which starts a raise from the stop state of the drive device. It is a flowchart which shows the movement control example 2 in the stop period which stops the drive device in the descent.

Hereinafter, an embodiment in which the self-propelled moving device according to the present invention is applied to a driving device for a lifting device that moves on a wire rope that is a path member will be described.
FIG. 1 is a front view schematically showing a drive device 1 for a lifting device according to the present embodiment.
FIG. 2 is a side view schematically showing the drive device.
FIG. 3 is a front view schematically showing the internal structure of the drive device.

  The drive device 1 uses a wire rope 100 having a substantially circular cross section as a route member disposed along a predetermined lifting path, and can move up and down by moving along the wire rope 100. It is a thing. In the present embodiment, the wire rope 100 is an example arranged along the vertical direction, but there are portions arranged in an oblique direction or a horizontal direction in the route. May be.

  This drive device 1 assumes a case where the lifting distance is long, and therefore the wire rope 100 is stretched with a strong tension. Examples of such cases include cases where cleaning and inspection of high-rise buildings and towers are performed using a lifting device, stratospheric elevators that lift and lower the lifting path that extends from the ground to the stratosphere, and lifting paths that extend from above the earth to a geostationary orbit. There are various cases such as a space elevator that raises or lowers a vehicle or a case that uses a lifting device as an orbital elevator. Various components such as a cleaning member, an imaging device, and a housing (gauge) are mounted on the lifting device main body according to the use of the lifting device on which the moving device 1 is mounted. Is omitted.

  In the driving device 1, two driving units 10A and 10B each having two driving rollers 11A and 11B as driving rotating bodies that sandwich the wire rope 100 are disposed between the front frame 2A and the rear frame 2B. ing. The two drive units 10A and 10B are arranged so as to be located on opposite sides of the wire rope 100, and the configuration and operation thereof are substantially the same.

  The configuration and operation of the two drive units 10A and 10B will be described by taking the drive unit 10B as an example. The drive unit 10B includes two drive unit frames 12-1B and 12- connected to each other by a connection frame 12-3B. Each end of the roller shaft of the driving roller 11B is supported by 2B. A driven gear 13B is attached to a roller shaft end portion of the driving roller 11B supported by the first driving unit frame 12-1B. A power transmission belt 15B is stretched between the driven gear 13B and the drive gear 14B attached to the motor shaft of the roller drive motor 16B as a drive source. The roller drive motor 16B is mounted on the first drive unit frame 12-1B.

  When the roller driving motor 16B is rotationally driven, the driving gear 14B is rotationally driven, and the rotational driving force is transmitted to the driven gear 13B via the power transmission belt 15B, so that the driven gear 13B rotates and the driven gear is rotated. The drive roller 11B rotates in conjunction with the rotation of 13B. Since the two roller driving motors 16A and 16B in the two driving units 10A and 10B are synchronized with each other, the two driving rollers 11A and 11B that sandwich the wire rope 100 rotate synchronously. As a result, the two drive rollers 11 </ b> A and 11 </ b> B roll on the circumferential surface of the wire rope 100 and the drive device 1 can be moved along the wire rope 100.

  In the present embodiment, in addition to the two drive rollers 11A and 11B, the wire rope 100 is sandwiched by a pair of driven rollers 17A, 17B, and 17C supported by the front frame 2A and the back frame 2B. The clamping direction of the first and second driven roller pair 17A, 17B and the clamping direction of the third driven roller pair 17C are perpendicular to each other, and the driving rollers 11A, 11B, etc. are detached from the wire rope 100. It is the structure which suppresses doing.

  The two drive units 10A and 10B are supported by the front frame 2A and the back frame 2B via pressurizing and rotating units 20A and 20B attached to the connection frames 12-3A and 12-3B. The configurations and operations of the two pressurizing and rotating portions 20A and 20B are substantially the same.

  The configuration and operation of the two pressurizing and rotating parts 20A and 20B will be described by taking the pressurizing and rotating part 20B as an example. The pressurizing and rotating part 20B rotates within the U-shaped motor housing 22B. A roller attitude changing motor 21B is installed as an axis attitude changing means. The motor shaft of the roller attitude changing motor 21B is installed so as to extend to the outside of the motor housing 22B, and the end of the motor shaft is attached to the connecting frame 12-3B.

  Also, between the motor housing 22B and the connection frame 12-3B, a bearing portion 25B is provided that rotatably supports the connection frame 12-3B around the motor shaft of the roller attitude changing motor 21B with respect to the motor housing 22B. Has been. On the other hand, one end of a compression spring 24B is attached to the motor housing 22B opposite to the side where the bearing portion 25B is disposed. The compression spring 24B biases the motor housing 22B toward the wire rope 100 toward the slide plate 23B supported by the front frame 2A and the back frame 2B. Therefore, the urging force of the compression spring 24B urges the frames 12-1B, 12-2B, 12-3B of the driving unit 10B in a direction approaching the wire rope 100 via the motor housing 22B and the bearing unit 25B. The urging force by the compression spring 24B can be appropriately adjusted by changing the support position of the slide plate 23B with respect to the front frame 2A and the back frame 2B with the adjusting screw 26B.

  With such a configuration, the two pressurizing and rotating portions 20A and 20B urge the drive rollers 11A and 11B in a direction approaching the wire rope 100 by the urging forces of the compression springs 24A and 24B. As a result, a frictional force that allows the wire rope 100 to be sandwiched between the two drive rollers 11A and 11B and to move without rolling on the peripheral surface of the wire rope 100 when the two drive rollers 11A and 11B are rotationally driven. Is obtained.

  Further, when the roller attitude changing motor 21B of the pressure rotating unit 20B is driven to rotate, the connecting frame 12-3B fixed to the motor shaft end rotates around the motor shaft. As a result, the axial direction of the projected rotation axis when the rotation axis of the drive roller 11B is projected onto a vertical plane (a plane parallel to the paper surface of FIG. 2) as a virtual plane including the longitudinal direction of the wire rope 100 is the wire rope. The posture of the driving roller 11B can be changed so as to be inclined with respect to the longitudinal direction of 100.

FIG. 4 is a front view schematically showing the internal structure of the drive device 1 when the axial direction of the projection rotation axis of the drive rollers 11 </ b> A and 11 </ b> B is inclined with respect to the longitudinal direction of the wire rope 100.
The postures of the drive rollers 11A and 11B shown in FIG. 3 are postures in which the axial direction of the projection rotation axis of the drive rollers 11A and 11B is orthogonal to the longitudinal direction of the wire rope 100 (hereinafter referred to as “orthogonal posture”). Yes. From this orthogonal orientation, when the roller orientation changing motors 21A and 21B of the pressurizing and rotating portions 20A and 20B are rotationally driven, the driving portions 10A and 10B rotate around the motor shafts of the roller orientation changing motors 21A and 21B, respectively. To do. As a result, as shown in FIG. 4, the postures of the drive rollers 11A and 11B are inclined such that the angle formed by the axial direction of the projection rotation axis of the drive rollers 11A and 11B and the longitudinal direction of the wire rope 100 is about 45 °. (Hereinafter referred to as “inclined posture”).

  In the present embodiment, the roller attitude changing motors 21A and 21B of the two pressurizing and rotating portions 20A and 20B are synchronized with each other. Specifically, each roller attitude changing motor is set so that the relationship between the projection rotation axis of one drive roller 11A and the projection rotation axis of the other drive roller 11B is axisymmetric with respect to the wire rope 100. 21A and 21B are synchronized with each other. When the postures of the driving rollers 11A and 11B are inclined as shown in FIG. 4, when the driving rollers 11A and 11B roll and move on the peripheral surface of the wire rope 100 by rotating the roller driving motors 16A and 16B, The driving device 1 moves in the longitudinal direction of the wire rope 100 while rotating around the wire rope 100.

When the postures of the drive rollers 11A and 11B are inclined as shown in FIG. 4, there are the following advantages over the case of the orthogonal posture as shown in FIG.
First, when the drive device 1 is raised along the wire rope 100, the load torque acting on the roller drive motors 16A and 16B can be reduced. That is, in the case of the orthogonal posture as shown in FIG. 3, the circumferential direction (drive roller rotation direction) of the drive rollers 11 </ b> A and 11 </ b> B coincides with the direction of gravity at the contact point between the drive rollers 11 </ b> A and 11 </ b> B and the wire rope 100. . Therefore, the own weight of the driving device 1 acts on the circumferential direction of the driving rollers 11A and 11B as it is, and a large load torque is generated when the driving device 1 is raised. On the other hand, in the inclined posture as shown in FIG. 4, the circumferential direction of the drive rollers 11A and 11B (drive roller rotation direction) and the direction of gravity are in contact with the drive rollers 11A and 11B and the wire rope 100. It does not match. Therefore, only a part of the weight of the driving device 1 acts in the circumferential direction of the driving rollers 11A and 11B. For example, if the angle formed by the axial direction of the projection rotation axis of the drive rollers 11A and 11B and the longitudinal direction of the wire rope 100 is 45 °, the action of the drive roller 1 on the circumferential direction of the drive rollers 11A and 11B is as follows. About 0.7 times its own weight. Therefore, it is possible to reduce the load torque acting on the roller driving motors 16A and 16B when the driving device 1 is raised.

  Moreover, the braking force required when the drive device 1 is lowered along the wire rope 100 can be reduced. That is, in the case of the orthogonal posture as shown in FIG. 3, the weight of the driving device 1 acts as it is in the circumferential direction of the driving rollers 11 </ b> A and 11 </ b> B. In addition to the inertia, a braking force that resists the total weight of the drive device 1 is required. On the other hand, in the inclined posture as shown in FIG. 4, only a part of the weight of the driving device 1 acts in the circumferential direction of the driving rollers 11A and 11B. Necessary braking force can be reduced.

  In the present embodiment, the rotation angle of the roller attitude changing motors 21A and 21B can be controlled by the control unit 200 serving as a rotation axis attitude control unit. That is, by controlling the rotation angle of the roller attitude changing motors 21A and 21B, the angle formed by the axial direction of the projection rotation axis of the drive rollers 11A and 11B and the longitudinal direction of the wire rope 100 (hereinafter referred to as “axial angle”). Can change the posture of the drive rollers 11A and 11B. When the shaft angles of the drive rollers 11A and 11B change, the moving speed (the ascending speed and the descending speed) at which the driving device 1 moves in the longitudinal direction of the wire rope 100 changes. Therefore, by controlling the rotation angle of the roller attitude changing motors 21A and 21B, for example, the rising speed of the driving device 1 can be controlled without changing the rotation speed of the roller driving motors 16A and 16B. Further, for example, the lowering speed of the driving device 1 can be controlled without changing the rotation speed of the roller driving motors 16A and 16B, without using a braking device, or with a smaller braking force.

  Further, when the driving rollers 11 </ b> A and 11 </ b> B are inclined, when the driving device 1 is raised or lowered, the driving device 1 is raised or lowered along the wire rope 100 while rotating around the wire rope 100. become. Thus, there is also a merit that the attitude of the driving device 1 with respect to the wire rope 100 is stabilized by the gyro effect by rotating (spinning) the driving device 1 around the wire rope 100.

[Movement control example 1]
Next, an example of movement control of the driving device 1 (hereinafter referred to as “movement control example 1”) will be described.
FIG. 5 is a block diagram relating to movement control of the driving device 1.
FIG. 6 is a flowchart showing an example of movement control in the start period in which the drive device 1 starts to rise from the stopped state.
In this embodiment, when the driving device 1 is stopped, the postures of the driving rollers 11A and 11B are such that the axial direction of the projection rotation axis of the driving rollers 11A and 11B is parallel to the longitudinal direction of the wire rope 100 (hereinafter referred to as “parallel”). "Position"). Note that the postures of the driving rollers 11A and 11B when the driving device 1 is stopped are not limited to the parallel posture in which the shaft angles of the roller driving motors 16A and 16B are 0 °, but may be inclined postures. However, if the self-weight of the drive device 1 is prevented from acting as much as possible as a force for rotating the drive rollers 11A and 11B, the force for keeping the drive device 1 stationary against the force during the stop is reduced. Therefore, from the viewpoint of energy saving, it is preferable that the shaft angle of the roller driving motors 16A and 16B at the time of stop is as close to 0 ° as possible.

  In such a stopped state, when the control unit 200 receives the ascending command (S1), first, the controller 200 outputs a rotation speed command to the roller driving motors 16A and 16B, thereby rotating the roller driving motors 16A and 16B. Start (S2). As a result, the parallel driving rollers 11A and 11B are rotationally driven, and the driving device 1 moves around the wire rope 100 while the moving speed in the longitudinal direction of the wire rope 100 remains zero (that is, without rising or lowering). It starts to rotate (spin). At the time of starting, since the inertia acting on the driving device 1 is large, a large load torque corresponding to the inertia acts on the roller driving motors 16A and 16B, but the postures of the driving rollers 11A and 11B are parallel. Therefore, the weight of the driving device 1 does not act as a load torque. Therefore, the load torque at the time of starting is reduced as compared with the case of the orthogonal posture shown in FIG. 3, and a smooth starting can be performed with a smaller driving torque.

  Although the load torque is reduced, since the inertia of the driving device 1 is large, the roller driving motors 16A and 16B are gradually moved so that the driving rollers 11A and 11B do not slip with respect to the peripheral surface of the wire rope 100. It is preferable to control the rotational drive speeds of the roller drive motors 16A and 16B in accordance with the acceleration profile to be accelerated. Therefore, the control unit 200 detects motor rotation information (motor rotation speed and the like) of the roller driving motors 16A and 16B by encoder sensors 18A and 18B attached to the respective motor shafts, and based on the detected motor rotation information. Thus, feedback control is performed so that the roller driving motors 16A and 16B gradually accelerate according to a predetermined acceleration profile.

  When the rotational speeds of the roller driving motors 16A and 16B reach the target speed (S3), the control unit 200 maintains the rotational speeds of the roller driving motors 16A and 16B at the target speed. Then, the control unit 200 outputs a rotation angle command to the roller attitude changing motors 21A and 21B, and changes the roller attitude so that the shaft angles of the roller driving motors 16A and 16B change toward 90 °. Driving of the motors 21A and 21B is started (S4). As a result, the postures of the driving rollers 11A and 11B during the rotational driving change from the parallel posture to the inclined posture. As a result, the driving device 1 starts to move upward along the wire rope 100 while rotating (spinning) around the wire rope 100.

  The control unit 200 controls the rotation angles of the roller attitude changing motors 21A and 21B according to a rotation profile that makes the shaft angles of the roller driving motors 16A and 16B gradually approach 90 °. Specifically, the control unit 200 detects the shaft angle information of the roller driving motors 16A and 16B by the encoder sensors 27A and 27B, respectively, and changes the roller attitude according to the predetermined rotation profile based on the detected shaft angle information. Feedback control is performed so that the rotation angles of the motors 21A and 21B gradually change.

  Since the rotational speeds of the roller driving motors 16A and 16B are maintained at the target speed, the moving speed (rising speed) of the driving device 1 increases as the shaft angle of the roller driving motors 16A and 16B approaches 90 °. On the other hand, the rotational speed of rotating (spinning) around the wire rope 100 decreases. Therefore, by controlling the rotation angles of the roller attitude changing motors 21A and 21B as described above, the moving speed (rising speed) of the driving device 1 can be gradually increased. When the shaft angles of the roller driving motors 16A and 16B reach a predetermined angle (S5), the moving speed (rising speed) of the driving device 1 is the rotational speed (target) of the roller driving motors 16A and 16B. Speed) and a speed determined by the roller driving motors 16A and 16B (regular angles), the speed becomes constant, and a constant speed period starts.

  As the shaft angle of the roller driving motors 16A and 16B approaches 90 °, the load torque due to the weight of the driving device 1 increases, but the driving device 1 has already rotated around the wire rope 100 at high speed (spinning). Therefore, the load torque due to the weight of the drive device 1 is reduced by the inertia of the drive device 1. Therefore, the moving speed (rising speed) of the drive device 1 can be increased with a small load torque.

  In this embodiment, since the specified angle is set to 90 °, when the start period shifts to the constant speed period, the attitude of the drive rollers 11A and 11B takes an orthogonal attitude as shown in FIG. Does not rotate (rotate) around the wire rope 100 but rises straight along the wire rope 100. Note that the prescribed angle may be set to an angle smaller than 90 °, and the drive device 1 may be raised while rotating (spinning) around the wire rope 100 even during the constant speed period.

[Movement control example 2]
Next, another example of movement control of the driving device 1 (hereinafter referred to as “movement control example 2”) will be described.
FIG. 7 is a flowchart illustrating an example of movement control in a stop period in which the driving device 1 that is descending is stopped.
In the present embodiment, in the driving device 1 that is descending, the postures of the driving rollers 11A and 11B are orthogonal to each other as shown in FIG. When the control unit 200 receives a stop command when the driving device 1 is descending (S11), first, the controller 200 outputs a rotation speed command to the roller driving motors 16A and 16B, and the roller driving motors 16A and 16B. The rotation is stopped (S12). When the drive device 1 is lowered, when the roller drive motors 16A and 16B are stopped by the weight of the drive device 1 while the rotation of the roller drive motors 16A and 16B is stopped, the rotation stop processing of the roller drive motors 16A and 16B ( S12) is not necessary.

  Upon receiving the stop command, the control unit 200 outputs a rotation angle command to the roller attitude changing motors 21A and 21B so that the shaft angles of the roller driving motors 16A and 16B change in a direction approaching 0 °. Then, driving of the roller attitude changing motors 21A and 21B is started (S13). As a result, the postures of the driving rollers 11A and 11B during the rotational driving change from the orthogonal posture to the inclined posture. When the postures of the driving rollers 11 </ b> A and 11 </ b> B that are rotationally driven are inclined, the driving device 1 starts to rotate (rotate) around the wire rope 100. Along with this, the moving speed (lowering speed) of the driving device 1 decreases.

  Based on the detection results of the encoder sensors 27A and 27B, the control unit 200 controls the rotation angles of the roller attitude changing motors 21A and 21B according to the rotation profile that gradually brings the shaft angles of the roller driving motors 16A and 16B closer to 0 °. To do. At this time, since the rotation of the roller driving motors 16A and 16B is stopped, the load of the roller driving motors 16A and 16B becomes the rotational load of the driving rollers 11A and 11B and acts as a braking force. However, the inertia acting on the driving device 1 that is descending is large, and a force that accelerates the driving rollers 11A and 11B by the own weight of the driving device 1 also works. Therefore, as the shaft angle of the roller driving motors 16A and 16B approaches 0 °, the moving speed (downward speed) of the driving device 1 decreases, while the rotational speed of rotating (spinning) around the wire rope 100 increases for a while. Will do.

  However, as the shaft angle of the roller driving motors 16A and 16B approaches 0 °, the force corresponding to the weight of the driving device 1 (the force for accelerating the driving rollers 11A and 11B) decreases. The rotation speed of rotating around (rotating) will eventually change from increasing to decreasing. When the shaft angles of the roller driving motors 16A and 16B reach a predetermined specified angle (S14), the shaft angles of the roller driving motors 16A and 16B are maintained at the specified angles. Thereby, the rotational load of the driving rollers 11A and 11B by the stopped roller driving motors 16A and 16B becomes a braking force, and eventually the moving speed (lowering speed) of the driving device 1 becomes zero and the driving is performed. The rotational speed at which the device 1 rotates (spins) around the wire rope 100 is also zero, and the driving device 1 is stopped and stopped.

  According to this embodiment, the drive roller 11A, 11B is driven by its own weight because the shaft angle of the drive rollers 11A and 11B approaches 0 ° during the period from when the moving speed (downward speed) of the drive apparatus 1 is decreased and stopped. The force for accelerating the rollers 11A and 11B is reduced. Therefore, the drive device 1 can be stopped with less braking force than when the rotations of the roller drive motors 16A and 16B are decelerated while the shaft angles of the drive rollers 11A and 11B remain 90 °. As a result of requiring less braking force in this way, it is possible to make the drive device 1 stand still only by the braking force due to the load of the stopped roller driving motors 16A and 16B.

  In the present embodiment, since the specified angle is set to 0 °, the driving device 1 moves in the longitudinal direction of the wire rope 100 when the shaft angles of the roller driving motors 16A and 16B reach the specified angle. The moving speed (lowering speed) at is zero. Therefore, if the position of the driving device 1 is only stopped at a predetermined point in the longitudinal direction on the wire rope 100, it is not always necessary to stop the rotation of the roller driving motors 16A and 16B, and the roller driving motors 16A and 16B. The rotation may be continued. In particular, when the drive device 1 is started again after the stop, if the rotation of the roller drive motors 16A and 16B is continued during the stop, the start-up time of the roller drive motors 16A and 16B is omitted at the restart. Can be restarted quickly.

  In the above description, the movement control example 1 in the starting period in which the drive device 1 starts to rise from the stopped state and the movement control example 2 in the stop period in which the driving device 1 that is descending are stopped have been described. The movement control of the drive device 1 by changing the shaft angles of 16A and 16B is not limited to this.

  For example, by changing the shaft angle of the roller driving motors 16A and 16B, the moving speed (ascending speed and descending speed) of the driving device 1 can be changed. It is possible to control the moving speed of the driving device 1 by controlling the shaft angles of the roller driving motors 16A and 16B without changing the rotational speed or without using a braking device.

  In addition, the shaft angle of the roller driving motors 16 </ b> A and 16 </ b> B can be controlled to control the speed at which the driving device 1 rotates (rotates) around the wire rope 100. Therefore, for example, when the posture and behavior of the driving device 1 become unstable due to some factor, the shaft angle of the roller driving motors 16A and 16B is brought close to 0 ° and rotates around the wire rope 100 (rotates). By increasing the rotational speed (spinning speed) of the drive device 1, it is also possible to control such that the gyro effect is enhanced and the posture of the drive device 1 is stabilized.

  In addition, the lifting / lowering device mounted with the driving device 1 according to the present embodiment is moved along the outer wall surface of an elevator, a high-rise building or the like that accommodates and conveys people or objects, and performs cleaning or confirms a damaged part. When used for a maintenance device, a mobile imaging device that captures sports competitions, and the like, even if the drive device 1 rotates around the wire rope 100, the lifting device body is configured not to rotate around the wire rope 100. Is preferred.

  In the present embodiment, the shaft angles of the roller drive motors 16A and 16B are variable. However, the shaft angles of the roller drive motors 16A and 16B are not changed, and the postures of the drive rollers 11A and 11B are inclined. The structure fixed by the attitude | position may be sufficient.

DESCRIPTION OF SYMBOLS 1 Drive device 2A Front frame 2B Rear frame 10A, 10B Drive part 11A, 11B Drive roller 12-1A, 12-2A, 12-1B, 12-2B Drive part frame 12-3A, 12-3B Connection frame 13A, 13B Drive gears 14A, 14B Drive gears 15A, 15B Power transmission belts 16A, 16B Roller drive motors 17A, 17B, 17C Driven roller pairs 18A, 18B Encoder sensors 20A, 20B Pressure rotation units 21A, 21B Roller attitude change motors 22A , 22B Motor housing 23A, 23B Slide plate 24A, 24B Compression spring 25A, 25B Bearing part 26A, 26B Adjustment screw 27A, 27B Encoder sensor 100 Wire rope 200 Control part

Claims (7)

In the self-propelled moving device that moves along the path member by the rotational driving force of the drive rotating body that contacts the peripheral surface of the elongated path member including the linear path portion extending in the substantially vertical direction,
When the drive rotor to a peripheral surface of at least the path portion abuts, the axial direction of the projection rotation shaft when projected to the axis of rotation of 該駆 dynamic rotator with respect to a virtual plane including a longitudinal direction of said path portion A self-propelled moving device characterized in that it is inclined with respect to the longitudinal direction of the path portion . In the self-propelled movement device according to claim 1,
Rotation axis attitude changing means for changing the attitude of the rotation axis of the drive rotator so that the angle between the axial direction of the projection rotation axis and the longitudinal direction of the path portion changes;
A self-propelled moving device comprising: a rotation axis attitude control means for controlling the rotation axis attitude change means. In the self-propelled movement device according to claim 2,
The rotation axis posture control means is a direction in which the angle approaches 90 ° during a predetermined acceleration period in which the moving speed of the self-propelled moving device that moves upward in the longitudinal direction of the path portion is increased. The self-propelled moving device is characterized in that the rotating shaft posture changing means is controlled so as to change to In the self-propelled movement device according to claim 3,
The predetermined speed increasing period is a starting period when the self-propelled moving device starts moving upward from a stopped state. In the self-propelled movement device according to any one of claims 2 to 4,
The rotation axis posture control means changes the angle away from 90 ° during a predetermined deceleration period for decelerating the moving speed of the self-propelled moving device that moves downward in the longitudinal direction of the path portion. The self-propelled moving device is characterized by controlling the rotating shaft posture changing means. In the self-propelled movement device according to any one of claims 2 to 5,
The rotation axis posture control means is configured such that when the moving speed of the self-propelled moving device moving in the longitudinal direction of the path portion is zero, the angle is closest to 0 ° among possible angles during movement. The self-propelled moving device characterized by controlling the rotation axis posture changing means so as to be the same angle as the angle or an angle closer to 0 °. In the self-propelled movement device according to any one of claims 1 to 6,
Another rotating body that sandwiches the path member with the driving rotating body;
The relationship between the projection rotation axis when the rotation axis of the other rotator is projected onto the virtual plane and the projection rotation axis when the rotation axis of the drive rotator is projected onto the virtual plane is: self-propelled mobile apparatus both projected rotating shaft characterized in that it is a relationship that is inclined in the opposite direction at the same angle to the longitudinal direction of said path portion.

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