JP6885759B2 - Traveling trolley - Google Patents

Description

The present invention relates to a traveling bogie capable of changing the traveling direction by controlling the attractive force of the electromagnet on the steel plate.

A small traveling bogie equipped with a welding torch or a cutting torch and operating the mounted torch while running to weld or cut a steel plate is provided. Such a traveling carriage has a plurality of wheels in the front-rear direction in the traveling direction, and is generally configured to move forward or backward by driving the wheels with a drive motor.

A hose and a power cord for supplying gas are connected to the torch mounted on the traveling bogie, and when performing the desired processing, it will be towed on the steel plate as the traveling bogie travels, and a large traction force will be generated. You will need it. Further, when the target processing is completed and the traveling carriage is transported to the next processing portion, it is necessary to separate the work carriage from the steel plate, and in this case, no traction force is required.

For this reason, the applicant has proposed a traveling carriage that exerts a large traction force during work and reduces the traction force during transportation (see, for example, Patent Document 1). In this technology, a magnet is rotatably attached to a shaft provided on a traveling carriage, and a worker operates a lever to rotate the magnet so that it is substantially horizontal and close to the work material, resulting in a large attractive force. Is configured to increase the traction force by acting on the magnet, or to reduce the traction force by inclining the magnet to reduce the attractive force.

In a traveling cart that pulls a hose or power cord, if a large resistance is generated due to friction between these hoses or power coat and the steel plate, the traveling direction will change centering on the side where the resistance is generated. Problems arise. For this reason, the guide plate is erected along the target processing line and traveled while the pair of rollers are pressed against the guide plate to determine the traveling direction, or a guide rail is provided along the target processing line. It is common to mount a traveling carriage on a guide rail to specify the traveling direction.

Japanese Unexamined Patent Publication No. 2009-028753

In general, a traveling vehicle that pulls a hose or a power cord connected to a mounted torch, such as the traveling vehicle described in Patent Document 1, cannot control the traveling direction. For this reason, it is preferable to configure the traveling carriage so that it can be manually operated, but if the steering wheels are provided, the structure may become complicated.

An object of the present invention is to provide a traveling carriage capable of controlling a traveling direction with a simple structure.

In order to solve the above problems, the traveling carriage according to the present invention is a traveling carriage that travels by applying an attractive force of a magnet to a steel plate, and is provided with wheels in the front and rear and a drive motor for driving the wheels. Detects the bogie body, a plurality of electromagnets provided on both sides of the bogie body in the traveling direction, and a reference line previously formed on a steel plate arranged on the front side or the rear side along the traveling direction of the bogie body. Along with this, a detection member that generates a signal when separated from the reference line and a signal that is separated from the reference line detected by the detection member are provided on the opposite side to the separated side. It has a control device for controlling the magnetic force of the electromagnet .

In the traveling carriage according to the present invention, the traveling direction can be controlled by manually manipulating the carriage without providing the steering wheels. That is, the attractive force of the selected electromagnet on the steel plate can be controlled by selecting the electromagnets provided on both sides of the bogie body by the control member and controlling the magnetic force. Therefore, the attractive force of the electromagnet becomes a resistance to the traveling of the traveling carriage, and the traveling direction changes in the direction centered on the selected electromagnet side. Therefore, the traveling direction of the traveling carriage can be controlled.

In addition, since the detection member is placed on the front side or the rear side of the bogie body in the traveling direction, when the reference line formed on the steel plate in advance by this detection member is detected, the traveling bogie is separated from the reference line. Can be detected and a signal can be generated. Then, by controlling the magnetic force of the electromagnet on the side opposite to the side separated from the reference line of the traveling carriage in correspondence with the signal at this time, the traveling direction is corrected and the traveling is performed along the reference line. Can be made to.

It is a top view explaining the structure of the traveling carriage. It is a side view explaining the structure of the traveling carriage. It is a front view explaining the structure of the traveling carriage. It is a block diagram of a control system.

The traveling carriage according to the present invention is configured so that the traveling direction can be changed by selectively controlling the magnetic force of the electromagnets provided on both sides with respect to the traveling direction of the carriage body. In particular, a welding device or cutting device that welds or cuts a steel plate by mounting a torch such as a welding torch or cutting torch on the bogie body and operating the mounted torch in the process of running along the target processing line. It can be preferably used as a traveling trolley.

By controlling the magnetic force of the electromagnet, it is possible to adjust the attractive force on the steel sheet. Then, the attractive force of the electromagnet on the steel plate becomes a resistance to the running of the traveling carriage and acts as a braking force. Therefore, when any of the electromagnets provided on both sides of the bogie body is selected to generate a magnetic force, the braking force acts on the selected electromagnet side, and the braking force does not act on the opposite side. As a result, the traveling carriage changes the traveling direction in the direction in which the braking force is applied.

The traveling carriage according to this embodiment will be described with reference to the drawings. The traveling carriage A shown in the figure is configured as a welding device on which a welding torch B is mounted to weld a steel plate. However, the torch to be mounted is not limited to the welding torch, and it is natural that the torch may be a cutting torch typified by a gas cutting torch or a plasma cutting torch.

The traveling carriage A has a carriage main body 1 having a plurality of wheels 2, and a drive motor 3 for driving the wheels 2 is arranged inside the carriage main body 1. Further, a permanent magnet (not shown) is arranged inside the bogie body 1, and the lever 4 rotatably supported by the bogie body 1 is operated to separate or approach the steel plate. ing.

Two electromagnets 5a and 5b are arranged on both sides of the bogie main body 1 with respect to the traveling direction of the traveling bogie A (direction of arrow A). These electromagnets 5a and 5b may be arranged on both sides with respect to the traveling direction of the carriage body 1, and do not limit the arrangement portion in the carriage body 1. That is, the electromagnets 5a and 5b may be attached to the outer surface of the carriage body 1 or may be inside the carriage body 1.

However, when the torch is equipped with a welding torch or a cutting torch on the bogie main body 1, there is a possibility that the heat generated by these torches will adversely affect the torch. Further, when the bogie main body 1 is arranged inside, it is necessary to increase the volume of the bogie main body 1, and there is a possibility that the whole body becomes large.

Therefore, in this embodiment, two electromagnets 5a and 5b are attached to both sides of one end surface (rear end surface 1a) of the bogie body 1 along the traveling direction. In particular, in this embodiment, two brackets 6 configured to accommodate the electromagnets are attached to the end surface 1a of the carriage body 1, and the electromagnets 5a and 5b are accommodated in each of these brackets 6.

A sensor 7 serving as a detection member is arranged on the front end surface 1b side along the traveling direction of the carriage body 1. The sensor 7 detects a reference line formed on the steel plate in advance, and when the traveling carriage A travels in a direction away from the reference line, it generates a signal corresponding to the distance.

The reference line formed on the steel sheet in advance does not necessarily have to be a line marked on the steel sheet with paint or the like, and may be recognized as a line formed in response to the desired processing. .. For example, when the target processing is cutting a steel plate, the reference line needs to be a ruled line formed in parallel with the target cutting line by paint or the like. Further, when the target processing is welding, it may be a welding line such as a butt portion or a fillet portion formed by combining steel plates to be welded.

When the reference line is a ruled line, it is possible to use a laser displacement meter that generates a signal by measuring the relative displacement while irradiating the reference line with a laser beam as the sensor 7. When such a sensor 7 is adopted, it is preferable to install it inside the end surface 1b side of the carriage body 1.

Further, when the reference line is a line consisting of a target welded portion, a sensor 7 that detects a gap or groove formed between steel plates to be welded and generates a relative signal is used. Is possible. When such a sensor 7 is adopted, it is preferable to provide a bracket (not shown) having a bar extending to the vicinity of the welded portion on the end surface 1b side of the carriage body 1 and attach the sensor 7 to this bar.

As described above, the sensor 7 arranged on the end surface 1b side of the carriage body 1 is selected to be the most suitable for the reference line formed corresponding to the target processing. In this embodiment, a laser displacement meter is used as the sensor 7.

A torch holder 8 is provided on the upper surface 1c of the bogie body 1, and by supporting and operating the welding torch B on the torch holder 8, the tip nozzle can be aligned with the target welding line. Further, a power cord connected to the welding power supply and a hose (not shown) connected to the gas supply source are connected to the welding torch B, and these power cords and hoses are placed on a steel plate. There is.

An operation panel 10 is arranged on the upper surface of the carriage body 1c, and a control system is configured on the operation panel 10. The operation panel 10 is provided with a 3-contact snap switch 10a for switching between manual operation of the electromagnets 5a and 5b and automatic operation by the sensor 7, and an adjustment dial 10b for adjusting the strength of magnetic force during manual operation. ing. Further, the operation panel 10 is provided with a switch 10c for setting the traveling direction of the carriage main body 1 and a switch 10d for starting and stopping traveling.

As shown in FIG. 2, the control system of the traveling carriage A has a CPU 15, and signals from the snap switch 10a, the adjustment dial 10b, the sensor 7, the switches 10c and 10d are input to the CPU 15 and correspond to the respective signals. The drive signal is output to the motor 3, the electromagnets 5a and 5b.

The snap switch 10a provided on the operation panel 10 is configured so that automatic operation by the sensor 7 can be selected with the lever upright, and when tilted to either one, the electromagnet 5a or the electromagnet 5b can be selected and manually operated. Has been done.

Therefore, for example, the electromagnet 5a or the electromagnet 5b can be selected by the snap switch 10a, and the magnetic force of the selected electromagnet 5a or the electromagnet 5b can be adjusted to a desired strength by manually operating the adjustment dial 10b. .. Then, the steel plate can be attracted and braked by the magnetic force of the electromagnet 5a or the electromagnet 5b, and the carriage body 1 is displaced in the traveling direction centering on the electromagnet 5a or the electromagnet 5b side. That is, it is possible to manually steer the traveling carriage A in the direction of the electromagnet 5a or the electromagnet 5b selected from the straight-ahead direction.

Further, when the automatic operation by the sensor 7 is selected by the snap switch 10a, the sensor 7 starts detecting the reference line previously formed on the steel plate. When the sensor 7 deviates from the reference line as the trolley body 1 travels, a signal corresponding to the direction deviated from the reference line of the trolley body 1 and the amount of deviation is generated from the sensor 7, and the CPU 15 Is transmitted to.

In the CPU 15, a selection signal is output to the electromagnet 5a or the electromagnet 5b on the opposite side of the deviation direction corresponding to the deviation direction input from the sensor 7, and a drive signal is generated so that a magnetic force corresponding to the deviation amount is generated. It is output. Therefore, when the bogie body 1 deviates from the reference line and travels, the deviation generated at this time can be corrected and autopilot can be performed.

The traveling carriage according to the present invention is not limited to welding or cutting, and is advantageous to be used when traveling on a steel plate to perform a desired work.

A Traveling trolley B Welding torch 1 trolley body 1a, 1b End face 1c Top surface 2 Wheels 3 Drive motor 4 Lever 5a, 5b Electromagnet 6 Bracket 7 Sensor 10 Operation panel 10a Snap switch 10b Adjustment dial 10c, 10d switch 15 CPU

Claims (1)

It is a traveling carriage that runs by applying the attractive force of a magnet to a steel plate.
A bogie body equipped with wheels on the front and rear and a drive motor for driving the wheels,
A plurality of electromagnets provided on both sides with respect to the traveling direction of the dolly body,
A detection member arranged on the front side or the rear side along the traveling direction of the bogie body to detect a reference line formed on the steel plate in advance and generating a signal when separated from the reference line.
A control device that controls the magnetic force of an electromagnet provided on the side opposite to the separated side in response to a signal that the detection member detects the distance from the reference line.
A traveling trolley characterized by having.

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