JPH0139394B2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field] The present invention relates to a self-propelled cart that moves along a wall surface, and in particular is capable of passing through a corner formed by two wall surfaces that are at 90 degrees to each other. The present invention relates to a self-propelled truck suitable for use as a truck on which a welding torch is mounted and which automatically performs welding.

[Prior art]

Conventionally, there have been many devices that automatically perform welding by mounting a welding torch such as a carbon dioxide welding machine on a trolley and running the trolley along a wall made of the material to be welded. Are known.

However, in fields such as shipbuilding, a plurality of vertical plates to be fillet welded to a horizontal plate may intersect with each other at right angles to form a corner. For example, in the example of FIG. 9 (this figure is a plan view), the vertical plates 2, 3, 4, and 5, which intersect at right angles to each other to form four corners A, B, C, and D, are connected to the horizontal plate 1. It is necessary to perform fillet welding.

However, in the past, in such a case, the truck could not pass through the corners A, B, C, and D, so the weld line 6 between the horizontal plate 1 and the vertical plate 2, the horizontal plate 1 and Weld line 7 between vertical plate 3, weld line 8 between horizontal plate 1 and vertical plate 4, and horizontal plate 1
It is not possible to continuously weld the welding line 9 between
Each time the welding line 6, 7, 8, and 9 is welded, it is necessary to manually change the direction of the truck and perform welding work on each welding line 6, 7, 8, and 9, resulting in poor work efficiency.

[Purpose of the invention]

The present invention has been made in order to eliminate the above-mentioned drawbacks of the conventional art, and it is an object of the present invention to provide a self-propelled cart that can even pass through corners formed by walls that are perpendicular to each other.

[Summary of the invention]

The self-propelled trolley according to the present invention includes a vehicle body, a ground roller rotatably supported by the vehicle body and rolling on a running surface extending laterally, and a ground roller that is perpendicular to or close to the running surface perpendicular to the running surface. The magnetic roller is rotatably supported around an axis extending in the direction and provided with a magnetic force, and the magnetic roller is attached to the vehicle body rearwardly from the front magnetic roller and is rotatable around an axis extending in a direction perpendicular to or close to the running surface. a rear magnetic roller that is supported by a magnetic force, a drive device that drives the front magnetic roller and the rear magnetic roller in the same rotational direction, and an intermediate portion of the vehicle body that is perpendicular to the running surface or It is rotatably supported around an axis extending in a direction close to that,
In a state in which the front magnetic roller and the rear magnetic roller are in contact with a first wall surface made of a ferromagnetic material extending perpendicularly to the running surface, the running surface and the first wall surface are connected in front of the front magnetic roller. When the front magnetic roller approaches a predetermined distance to a second wall made of a ferromagnetic material extending in a direction perpendicular to the wall, both ends simultaneously contact the first wall and the second wall, respectively. and a rear roller separating means for separating the rear magnetic roller from the first wall surface after the front magnetic roller contacts the second wall surface.

〔Example〕

Hereinafter, the present invention will be explained based on embodiments shown in the drawings.

1 to 12 show one embodiment of the present invention. The vehicle body 10 is provided with legs 11, 12, 13, and the legs 11, 12 support spherical ground rollers 14, 15 rotatably in all directions. A ground roller 16 is rotatably supported around an axis extending in the width direction of the vehicle body 10. And the rollers 14,1
5 and 16 are adapted to roll on the running surface (in the example of the drawing, the horizontal plate 1) of this self-propelled cart.

Further, the vehicle body 10 rotatably supports the magnetic roller shaft 17 and the rear magnetic roller shaft 18 that extend perpendicularly to the running surface.
9. The rear magnetic roller 2 is attached to the rear magnetic roller shaft 18.
0 is fixed respectively.

As shown in detail in FIG. 7, the front magnetic roller 19 includes a disk-shaped permanent magnet 19a, and an upper disk 19b and a lower disk made of iron alloy provided above and below the permanent magnet 19a, respectively. Disk 19
c, a ring 19d made of aluminum alloy fitted around the outer periphery of the permanent magnet 19a, the permanent magnet 19a, the upper disc 19b, and the lower disc 19c.
A gunmetal bushing 19e is fitted into the center of the gunmetal bushing 19e. In this embodiment, since the upper end side of the permanent magnet 19a constitutes the S pole and the lower end side constitutes the N pole, the upper disk 19b appears to be the S pole and the lower side circle of the magnetic roller 19 as a whole. The plate 19c constitutes the north pole. However, in the present invention, the upper disk 19b may constitute the N pole and the lower disk 19c may constitute the S pole.

Similarly, the rear magnetic roller 20
As shown in FIG. 1, a disk-shaped permanent magnet 20a
An upper disc 20b and a lower disc 20c made of iron alloy are provided above and below the permanent magnet 20a, respectively, and a ring 20d made of an aluminum alloy is fitted around the outer periphery of the permanent magnet 20a. A gunmetal bushing 20e fitted into the center of the permanent magnet 20a, the upper disc 20b, and the lower disc 20c
It is composed of.

Also, the upper disc 20 of this rear magnetic roller 20
b (S pole) and the lower disk 20c (N pole) have five locations on the outer periphery at equal intervals (i.e.
Grooves 21 are provided (at intervals of 72°). and,
The grooves 21 of the upper disk 20b and the grooves 21 of the lower disk 20c are shifted in position by an angle that is half the angular interval between them (that is, 36 degrees). As a result, the outer periphery of the rear magnetic roller 20 is divided into ten equal grooves 21.

As clearly shown in FIGS. 3, 4, and 5, a gear 22 is provided at the upper end of the front magnetic roller shaft 17, and a gear 22 is provided at the upper end of the rear magnetic roller shaft 18.
3 are attached to each other. On the other hand, the vehicle body 1
A motor 24 is attached to the upper part of the motor 0, and the rotating shaft of the motor 24 is linked to a gear 26a via a reduction gear 25. The gear 26a meshes with the gear 22 via a gear 26b rotatably supported by the vehicle body 10, and at the same time meshes with the gear 23 via a gear 26c rotatably supported by the vehicle body 10. ing.

Further, a direction changing lever main body 28 is rotatably supported on the vehicle body 10 around a lever shaft 29 provided at an intermediate portion thereof. As shown in detail in FIG. 8, the direction changing lever body 28
One end side has two branch parts 2 extending parallel to each other.
It is branched into 8a and 28b, and the tips of these branch parts 28a and 28b are equipped with levers and
A roller 30 is rotatably supported. On the other hand,
The other end of the direction changing lever main body 28 is not branched, and a lever roller 31 is rotatably supported at the other end. Here, in this embodiment, the direction change lever body 28 and the lever rollers 30, 31 are used to control the direction change lever 4.
0 is configured.

Further, a welding torch 32 of a carbon dioxide gas welding machine is supported on the vehicle body 10 via a torch support (not shown), as shown in FIGS. 1 and 4. Here, the torch 3 relative to the vehicle body 10
The position and angle of 2 can be adjusted by the torch support.

Next, the operation of this embodiment will be explained using FIGS. 9 and 10 (in FIGS. 9 and 10, the self-propelled cart of this embodiment is shown in a simplified manner).

Now, if welding lines 6, 7, 8, and 9 shown in FIG. 9 are to be welded, first, the ground roller 14,
The vehicle body 10 is placed on the horizontal plate 1 via 15 and 16, and the outer peripheries of the front magnetic roller 19 and the rear magnetic roller 20 are attracted to the vertical plate 2. Also, at this time, the welding torch 32 is tilted at an appropriate angle, and the tip of the torch 32 is opposed to the welding line 6 via a gap of an appropriate size.

In such a state, the motor 24
When driven, the reduction gear 25, gears 26a, 26
b, 26c, 22, 23, front magnetic roller shaft 17
The front magnetic roller 19 and the rear magnetic roller 20 are driven and rotated counterclockwise in FIGS. 9 and 10 via the rear magnetic roller shaft 18.

Then, since the outer peripheries of the front magnetic roller 19 and the rear magnetic roller 20 are magnetically attracted to the vertical plate 2, both magnetic rollers 19 and 20 roll in the direction of arrow E in FIG. 9 while contacting the vertical plate 2. I'll go.

As a result, the car body 10, and even the welding torch 3
2 moves in the direction of arrow E along the welding line 6, so if an arc is generated, the welding line 6 can be automatically welded.

Here, if the direction change lever 40
If this were not provided, the front magnetic roller 19 would eventually come into contact with the upright plate 3 as shown in FIG. 13, and the roller 19 would be attracted to both the upright plates 2 and 3. In such a state, the front magnetic roller 19 is unable to move away from the vertical plate 2 and move toward the vertical plate 3, and becomes stagnant at that position (corner A), resulting in damage to the vehicle body. 10 also stopped at that position.

However, since this self-propelled trolley is provided with the direction changing lever 40, the front magnetic roller 19 is moved to the 10th position through the process shown in FIG. 10a.
When approaching the standing board 3 to a predetermined distance as shown in Figure b,
The lever roller 31 comes into contact with the upright plate 3, and the lever roller 30 comes into contact with the upright plate 2.

Then, a reaction force R ₁ in a direction perpendicular to the upright board 3 acts on the lever roller 31 from the upright board 3 side, causing a _clockwise rotation around the contact point O1 between the upright board 2 and the lever roller 30. Since the moment M ₁ acts on the vehicle body 10 via the lever shaft 29, the front magnetic roller 19 is separated from the vertical plate 2 (in this process, the contact point O ₁ moves along the vertical plate 2). (move to side 3). Therefore, the front magnetic roller 19 is attracted only to the vertical plate 3, and henceforth, the front magnetic roller 19 rolls along the vertical plate 3 as shown in FIG. 10c.

On the other hand, since the rear magnetic roller 20 continues to roll along the vertical plate 2, the rear magnetic roller 20 eventually becomes attracted to the vertical plates 2 and 3 at the same time as shown in FIG. 10d. .

Here, if there is a groove 2 in the rear magnetic roller 20,
1 is not provided, the rear magnetic roller 20 would stay at that position (corner A) due to the same circumstances as explained with reference to FIG. 13 for the front magnetic roller 19, and as a result, Vehicle body 1
0 also stops at that position.

However, in this self-propelled trolley, the following operation is performed, so that the rear magnetic roller 2
0 can also pass through corner A.

That is, until any one of the grooves 21 is opposed to the vertical plate 2, the rear magnetic roller 20 slips and rotates idly with respect to the vertical plates 2 and 3. Then, as shown in FIG. 10e, when one of the grooves 21 is opposed to the standing plate 2, only either the S pole or the N pole of the rear magnetic roller 20 is in contact with the standing plate 2. Therefore, the attraction force of the rear magnetic roller 20 to the upright plate 2 is weakened. On the other hand, since the groove 21 is not opposed to the vertical plate 3 at this time, both the S and N poles of the rear magnetic roller 20 are in contact with the vertical plate 2, so that the vertical plate 3 The attraction force of the rear magnetic roller 20 to the rear magnetic roller 20 is strong. Therefore, the rear magnetic roller 20 separates from the vertical plate 2 and starts rolling along the vertical plate 3, as shown in FIG. 10f.
Therefore, the vehicle body 10 passes through the corner A, and from then on,
It moves along the standing plate 3 and further along the welding line 7.

In this embodiment, when the front magnetic roller 19 separates from the standing plate 2 as shown in FIG. Once the arc is turned off, and then the rear magnetic roller 20 is separated from the standing plate 2, another micro switch (not shown) is operated to cause the arc to fly again.

Then, by repeating the same operation, the vehicle body 10 also passes through the corners B and C. The arc is then extinguished while it also passes through corners B and C.

As a result of the above, welding lines 6 to 9 can be automatically welded except for corners A, B, C, and D.

In addition, in this embodiment, the vehicle body 1 is
0 rotates around the corners A, B, C, D, the ground roller 1
6 slips against the horizontal plate 1 and changes direction. However, if this ground roller 16 is made into a spherical roller that can rotate in all directions like the other ground rollers 14 and 15, or is made into something like a caster, the ground roller 16 will not slip against the horizontal plate 1. Or the amount of slip can be reduced.

Furthermore, in the embodiment described above, a groove is provided on the outer periphery of the rear magnetic roller 20 to provide a weak magnetic force area on the outer periphery of the rear magnetic roller 20.
For example, even if a part with weak magnetic force or a part showing no magnetic force at all is provided on the outer circumference of the rear magnetic roller 20 by fitting a non-magnetic material into the corresponding part, the same effect as in the above embodiment can be obtained. You can get

However, generally, the horizontal board 1 and the vertical boards 2, 3, 4,
5 is not necessarily exactly 90 degrees due to the deflection of these plates, etc., and there is an angular error, so it is normal. If the groove 21 is not provided on the outer periphery of the rear magnetic roller 20, when turning around the corners A, B, and C,
It is not possible to deal with the angular error between the plates, and there is a possibility that the cart will not run smoothly.

However, in this embodiment, the rear magnetic roller 20
As shown in FIGS. 11 and 12, the grooves 21 are provided at different positions on the upper disk 20b and the lower disk 20c, respectively.
When any of the grooves 21 is opposed to the standing plates 2, 3, 4, 5, the upper disk 20b or the lower disk 2
There is a slight gap 3 between 0c and standing boards 2, 3, 4, and 5.
3 occurs, so when going around corners A, B, and C, the angular error between the horizontal plate 1 and the vertical plates 2, 3, 4, and 5 is absorbed by the above-mentioned gap 33, and the trolley runs smoothly. It can be done.

FIG. 14 shows another embodiment of the invention. In this embodiment, the rear magnetic roller 20, like the front magnetic roller 19, is not provided with a groove 21 on its outer periphery. Further, the vehicle body 10 is provided with a second direction changing lever 42 in addition to a first direction changing lever 40 which is the same as the direction changing lever 40 in the case of the above embodiment. The lever main body 34 of the second direction changing lever 42 is rotatably supported by the vehicle body 10 around a lever shaft 35 provided at an intermediate portion thereof. And the lever body 3
4, a lever roller 36 is rotatably supported at one end, and a lever roller 37 is rotatably supported at the other end. The other configurations are the same as those in the previous embodiment.

In this embodiment, first, the front magnetic roller 19
When the front magnetic roller 19 approaches the vertical plate 3 to a predetermined distance, the front magnetic roller 19 moves away from the vertical plate 2 as shown in FIG. It starts rolling around.

Then, when the rear magnetic roller 20 approaches the standing plate 3 to a predetermined distance, the lever roller 36 comes into contact with the standing plate 3 as shown in FIG. 2 will be in contact with it. Then, a reaction force R ₂ in a direction perpendicular to the vertical plate 3 acts on the lever roller 36 from the vertical plate 3 side, so that the reaction force R 2 in the clockwise direction around the contact point O ₂ between the vertical plate 2 and the lever roller 37 Since the moment _M2 acts on the vehicle body 10 via the lever shaft 35, the rear magnetic roller 20 is separated from the upright plate 2 (in this process, the contact point _O2 moves along the upright plate 2). 3
move to the side). As a result, the rear magnetic roller 2
Since the roller 0 is attracted only to the vertical plate 3, the rear magnetic roller 20 thereafter rolls along the vertical plate 3 as shown in FIG. 14d.

In this embodiment, after turning the corner A, a micro switch for regenerating the arc can be operated by the direction changing lever 34.

In each of the above embodiments, the permanent magnets 19a, 2
Although the magnetic force is applied to the front magnetic roller 19 and the rear magnetic roller 20 by 0a, in the present invention, the magnetic force may be applied to the front magnetic roller and the rear magnetic roller by an electromagnet.

Furthermore, although each of the above embodiments is an example in which the present invention is applied to a self-propelled trolley on which a welding torch is mounted, it goes without saying that the present invention can also be applied to a self-propelled trolley used for other types of applications. .

Further, in each of the above embodiments, the lever rollers 30, 31, 36, 37 are provided at both ends of the direction changing lever bodies 40, 42, respectively, and each end of the direction changing lever bodies 28, 34 is provided with these lever rollers.
Although the structure is such that it comes into contact with the wall surface (standing boards 2, 3, 4, 5) via rollers 30, 31, 36, 37, the lever rollers 30, 31, 36, 37 are not provided, and the direction changing lever is used. A structure may be adopted in which each end of the main bodies 28, 34 directly abuts against a wall surface.

〔Effect of the invention〕

As described above, the self-propelled cart according to the present invention has the excellent effect of being able to pass through corners formed by walls that are perpendicular to each other.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an embodiment of a self-propelled trolley according to the present invention, FIG. 2 is a plan view showing the embodiment, FIG. 3 is a front view showing the embodiment, and FIG. 4 is a front view of the embodiment. 5 is a sectional view taken along the line V-V in FIG. 3, FIG. 6 is a sectional view taken along the - line in FIG. 3, and FIG. 7 is a sectional view showing the front magnetic roller in the embodiment. , FIG. 8 is a perspective view showing the direction change lever in the embodiment, FIGS. 9 and 10 are explanatory diagrams of the operation of the embodiment, and FIG. 11 is a diagram showing the relationship between the rear magnetic roller and the standing plate in the embodiment. 12 is an enlarged sectional view showing the contact state between the rear magnetic roller and the standing plate; FIG. 13 is the cart in the case where the direction change lever is not provided in the above embodiment. FIG. 14 is a simplified plan view showing another embodiment of the self-propelled trolley according to the present invention. 2, 3, 4, 5...standing board, 10...car body, 17
...Front magnetic roller shaft, 18... Rear magnetic roller shaft, 19... Front magnetic roller, 19a... Permanent magnet, 20... Rear magnetic roller, 20a... Permanent magnet, 21... Groove, 22, 23...gear, 24...
Motor, 25... Reduction device, 26a, 26b, 2
6c...Gear, 28...Direction conversion lever body, 2
9... Lever shaft, 30, 31... Lever roller, 34... Second direction conversion lever body, 35...
...Lever shaft, 36, 37...Lever roller, 4
0... Direction changing lever, 42... Second direction changing lever.

Claims (1)

[Scope of Claims] 1. A vehicle body, a ground roller rotatably supported by the vehicle body and rolling on a running surface extending laterally, and a ground roller mounted on the vehicle body in a direction perpendicular to or close to the running surface. a front magnetic roller to which a magnetic force is applied, which is supported so as to be rotatable about an axis extending in the vehicle body; a rear magnetic roller to which a supported magnetic force is applied; a driving device that drives the front magnetic roller and the rear magnetic roller in the same rotational direction; is supported rotatably around an axis extending in a near direction, and in a state in which the front magnetic roller and the rear magnetic roller are in contact with a first wall surface made of a ferromagnetic material extending in a direction perpendicular to the running surface. , when the front magnetic roller approaches a predetermined distance to a second wall surface made of a ferromagnetic material extending perpendicularly to the running surface and the first wall surface in front of the front magnetic roller, both ends thereof are a direction changing lever that contacts the first wall surface and the second wall surface at the same time;
A self-propelled trolley comprising: side roller separating means for separating the rear magnetic roller from the first wall surface after the front magnetic roller comes into contact with the second wall surface. 2. Claim 1, wherein the rear roller separating means is a part of the outer periphery of the rear magnetic roller that has a weak magnetic force or a part that does not exhibit magnetic force.
Self-propelled trolley as described in section. 3. The rear roller separating means has an intermediate portion rotatably supported by the vehicle body, and in a state where the front magnetic roller is in contact with the second wall surface and the rear magnetic roller is in contact with the first wall surface, When the rear magnetic roller approaches the second wall surface to a predetermined distance, the second direction changing lever has both ends simultaneously brought into contact with the first wall surface and the second wall surface, respectively. Self-propelled trolley as described in item 1.