JPH0249175Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] This invention is useful for spraying fireproof coatings on the steel frames inside buildings, spraying paints on the surfaces of buildings, or for the outer panels of ships. The present invention relates to a work robot cart used for unmanned spraying of abrasive material onto objects to be polished, such as objects to be polished.

[Conventional technology]

BACKGROUND ART The work of spraying materials such as fireproof coating materials, coating materials, and abrasive materials onto work objects is often carried out under a vicious cycle in which dust and the like are scattered. Therefore, conventionally, it has been considered to use robots in order to make such work unmanned and possible to perform it by remote control.

Conventional robots have a running trolley so that they can run on their own, the robot body is mounted on the running trolley, a spray gun is supported at the end of the arm of the robot body, and the spraying material is delivered to the spray gun via a transport pipe. By supplying the material, the material is sprayed from the spray gun onto the object to be worked on, and when the work at a predetermined position is completed, it can be moved to the next work position by running a traveling cart.

The traveling trolley of the robot has drive wheels so that it can run by itself, and is also equipped with outriggers, and during work, the outriggers are extended to support the trolley, so that the robot, which moves violently, can be stably supported.

As for outriggers equipped on conventional robot carts, outrigger beams are attached to four locations on the front, rear, left, and right sides of the cart frame so that they can expand and contract in the left and right directions, similar to outriggers on general construction machinery, etc. There are two types of outriggers: one in which a jacking device is supported at each end of the outrigger, and another in which the outrigger beam is fixed by sticking out from the trolley frame without a telescoping mechanism.For the former outrigger, when not in use, Each outrigger beam is retracted with the jacking device at the end of the beam shortened, and when the latter outrigger is not in use, the jacking device at the end of the beam is shortened so that it does not interfere with the running of the bogie. I try not to.

[Problem that the invention attempts to solve]

However, the outriggers installed on conventional robot carts protrude from the side of the cart frame, and even if they are telescopic, the jacking device at the tip at least protrudes to the side of the cart. It has become a state.

Therefore, when a robot is moving inside a building and the passageway is narrow due to the presence of obstacles and the outriggers are in the way, the outriggers fixed to the trolley frame are removed.

Therefore, the present invention aims to make it possible to store the outriggers to the inside of the cart so that the outriggers can be easily passed through even narrow passages that are only the width of the cart.

[Means for solving problems]

The present invention consists of overlapping two outrigger beams with jacking devices at both ends attached to the center of the bottom of the bogie frame to which the drive wheels are attached, and attaching the center portions of the beams to be rotatable with vertical pins. The outrigger beam is configured to be rotated by a drive device.

[Effect]

While the robot is working, the outrigger beams are rotated so that each tip extends outward from the truck frame and is supported at wide intervals. When the outrigger is not in use, the outrigger beam is rotated and retracted like closing scissors.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

FIGS. 1 and 2 show an embodiment of the bogie of the present invention, in which drive wheel frames are mounted on both left and right sides of the bottom of the bogie frame 1, on which the robot main body 13 can be placed so as to be able to move up and down. 2 to rotatably support the drive wheel 3, and the shaft of the drive wheel 3 is connected to the drive motor 4 to drive the left and right drive wheels independently. Casters 6 are placed in the center and on the bottom of both ends.
The center portions of two outrigger beams 5, each equipped with a hydraulic jack 7 and a hydraulic jack 7, are stacked and integrally attached to each other so as to be rotatable with a vertical pin 8. That is, the center portions of the two outrigger beams 5 are overlapped in a scissor-like manner, and the overlapping portion is rotatably attached to the truck frame 1 with one vertical pin 8, and one end side of each of the two outrigger beams is , a drive device 9 for rotating each outrigger beam 5 to deploy and store it.
will be established. Various types of drive device 9 can be considered, but in this embodiment both outrigger beams 5
Attach one end of each of the threaded rods 10 and 11 to the threaded rods 10 and 11, and screw the other ends of the threaded rods 10 and 11 into the turnbuckle 12 by providing screws in opposite directions, and by rotating the turnbuckle 12, both outrigger beams 5 to open and close.

Reference numeral 14 denotes a lifting platform for the robot body 13, which can be moved up and down by rotating a lifting screw jack 16 screwed into a fixing nut 15 on the truck frame 1. Reference numeral 17 denotes a guide rod for lifting and lowering, which serves as a guide when the lifting platform 14 moves up and down. Reference numeral 18 denotes a fixing rack for positioning and fixing the lifting platform 14, and the lifting platform 14 is positioned and fixed by easily engaging the claws of a stopper 19 installed on the trolley frame 1. . 20 is a gear box for synchronizing the left and right lifting screw jacks 16.

When the robot enters the working position, the outrigger beams 5 are extended outward from the truck frame 1 as shown by solid lines in FIG. 1, and the hydraulic jacks 7 provided at the tips of each outrigger beam 5 are extended and supported. . This allows it to withstand falls and shaking even during work. When the outriggers are not used, such as when they are not working or when they are moving, the scissors are closed and retracted by rotating each end of both outrigger beams 5 in a direction in which they approach each other. 1st
When the outrigger beam 5 is retracted as shown by the broken line in the figure, the hydraulic jack 7 at the tip can be positioned inside the width dimension of the truck frame 1.

When rotating the outrigger beam 5, the outrigger beam 5 is supported via the caster 6 by shortening the hydraulic jack 7 at the tip, so that the outrigger beam 5 can be rotated smoothly. can. Furthermore, since the caster 6 functions as an auxiliary wheel when the truck itself runs, the auxiliary wheels provided separately on the truck frame 1 can be omitted.

Note that when the two outrigger beams 5 are extended during work, the outrigger beams 5 may be fixed to the truck frame 1 with a fixing pin at point a in FIG. 1, and the drive device is not shown. Of course, it is also possible to use a cylinder other than that which can be used automatically, and the driving wheel frame 2 can be turned by 90 degrees.

[Effect of idea]

As described above, according to the robot trolley of the present invention, the center portions of two outrigger beams having a jacking device at both ends are superimposed and rotatably attached to the trolley frame having drive wheels, and the outrigger beams are rotated. Since the structure allows movement to be performed by a single drive device, each outrigger beam can be opened and closed in a scissor-like manner, and can be deployed and stored. This allows the size of the outrigger beam to be reduced when it is stored, and the outrigger beam can be moved even when the trolley is traveling through a narrow passage. There is no need to remove the
Further, since only one driving device is required, excellent effects such as the overall simplification can be achieved.

[Brief explanation of the drawing]

Figure 1 is a plan view of the robot truck of the present invention.
The upper half is a view taken along arrow a-a in Fig. 2, the lower half is a view taken along arrow bb of Fig. 2, and Fig. 2 is taken from - in Fig. 1.
It is a partial sectional view taken from the direction. 1 is a truck frame, 3 is a drive wheel, 5 is an outrigger beam, 7 is a hydraulic jack, 8 is a vertical pin, 12
13 indicates a turnbuckle, and 13 indicates a robot body.

Claims (1)

[Scope of utility model registration request] A drive wheel is attached to a dolly frame on which the robot body can be placed above, and two outrigger beams, each having at least a jacking device at each end, are attached at the center so that they can rotate freely using vertical pins. , and a drive device for opening and closing, deploying and retracting the two outrigger beams.