JPH03218203A - Motor working apparatus - Google Patents

Abstract

PURPOSE:To stabilize feeding and rewinding of a feeder cord at all times by constituting a motor working apparatus of a feeder cord connected to a mobile truck, a cord reel mechanism, means for detecting tension of the feeder cord, and the like. CONSTITUTION:The motor working apparatus comprises a mobile truck 1, a feeder cord 8 and a cord reel mechanism 9 incorporating a tension detecting means, where the feeder cord 8 is fed out or rewound in order to apply a predetermined tension onto the feeder cord 8. When the feeder cord 8 is pulled as the mobile truck 1 moves and the tension of the feeder cord 8 exceeds a predetermined level, a clutch means slips according to a detection result of the tension detecting means thus rotating the cord reel and feeding out the feeder cord 8 by a required length. When the feeder cord 8 loosens due to movement of the mobile truck 1, the motor is driven according to a detection result of the tension detecting means thus rotating the cord reel and rewinding the feeder cord 8 by a required length.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industry" 2. Field of Application The present invention relates to an electric working device that moves to carry out tasks such as transporting parts and cleaning.

(Explanation) Conventional technology Japanese Patent Application Laid-Open No. 62-268305 discloses a mobile work vehicle that operates by being powered by a power cord from a room wall, etc., and that moves to perform tasks such as transporting parts and cleaning. has been done. In such a conventional example, a mobile work vehicle is equipped with a cord reel mechanism for winding and storing a power cord connected to an outlet on a wall of a room.

(c) Problems to be Solved by the Invention Usually, in such a cord reel mechanism, the cord reel is rotationally driven by a motor to wind up and let out the power cord. However, if control is performed only by turning on and off the motor, the tension in the power cord will change significantly between when the motor is on and when the motor is off, making it impossible to perform smooth and stable winding.

Another option is to keep the motor constantly rotating and apply a constant torque to the cord reel using a hysteresis clutch to keep the tension on the power cord constant; however, in such a configuration, the motor is constantly rotating. Because of this, there were problems in terms of noise generation and deterioration of durability.

The present invention provides an electric working device that can always wind up and unwind a power cord in a stable manner, without causing noise generation or deterioration of durability.

(2) Means for Solving the Problems The electric working device of the present invention includes a moving vehicle equipped with a working mechanism and a moving mechanism, a power cord connected to the moving vehicle from a power supply portion such as a wall of the workplace, and the The cord reel mechanism includes a cord reel mechanism that unwinds and winds up the power cord to apply a predetermined tension to the power cord, and the cord reel mechanism includes a cord reel that winds the power cord and detects the tension of the power cord. a tension detection means for detecting tension; a motor that is rotationally driven according to the detection result of the tension detection means;
A brake means for fixing the output transmission shaft 3 when the moke is not driven is interposed between the output transmission shaft of the motor and the cord reel, and when a predetermined tension or more is applied to the power cord. It is characterized by a clutch means that slips in the direction of the clutch.

(e) Effect When the power cord is pulled as the mobile vehicle moves and the tension exceeds a predetermined value, the motor becomes non-driven based on the detection result of the tension detection means, and the brake means fixes the output transmission shaft of the motor. At this time, the clutch means slips, so the cord reel rotates and lets out the power cord to the required length.

Conversely, when the power cord becomes slack as the vehicle moves, the motor is driven based on the detection result of the tension detection means, the cord reel is rotated, and the power cord is wound up to the required length.

(F) Embodiment FIGS. 1 to 7 show an embodiment of the electric working device of the present invention, which will be described below.

FIG. 1 shows the entire electric working device.

Reference numeral 1 denotes a mobile vehicle, and its upper part is equipped with an articulated robot, ie, a working mechanism 4, which is composed of a plurality of arms 2 and hands 3, and its lower part is equipped with tires 5.6 and a motor (not shown) that rotates it. (1) A moving mechanism 7 is provided which includes a steering means (not shown) for steering the vehicle.

8 is a power cord connected to the mobile vehicle 1; 9 is a power supply portion fixedly provided on the floor 10 of the workplace, and supplies power to the mobile vehicle 1 via the power cord 8;
This is a cord reel mechanism that unwinds and winds up the power cord 8 to apply a predetermined tension to the cord.

2 to 4 show the main parts of the main body of the mobile vehicle 1. As shown in FIG.

Reference numeral 11 denotes an annular rail 13 that is attached to the main body of the mobile prison 1 so as to surround it and has a groove 12 on the outside.
15 is a cord storage groove formed on the bottom surface 14 of the groove portion 12;
17 is a rotary ring rotatably supported within the groove 12 by a plurality of support rollers 16, and l7 is rotatably attached to the rotary cylinder 15, and as it rotates, the bottom surface 1 of the groove 12 is rotated.
4, hold the power cord 8 and insert it into the cord storage groove 13.
This is a presser roller that is housed inside. Further, reference numeral 18 denotes a cord guide port provided at one location of the rotating ring 15, which has guide rollers 19 on the left and right sides, and guides the power cord 8 from the cord reel mechanism 9 into the groove 12. Reference numeral 20 denotes an inlet that communicates with the cord storage groove 13 of the groove portion 12 and the inside of the vehicle 1 body, and guides the power cord 8 into the vehicle 1. By the power cord 8 led into the moving vehicle 1 from the inlet 20,
Electric power is supplied to the electric devices of the moving vehicle 1, that is, the working mechanism 4 and the moving mechanism 7.

FIG. 5 shows the appearance of the cord reel mechanism 9.

21 is a fixed base fixed to the floor 10; 22 is a pivot shaft formed on the fixed base 21; 23 is a reel housing swingably provided around the pivot shaft 22;
4 is a cord reel rotatably provided in the reel housing 23; 25 is a cord outlet having a plurality of guide rollers 26 and formed on the end face of the reel housing 23;

The power cord 8 wound around the cord wool 24 is guided to the outside through the cord outlet 25 and connected to the mobile vehicle 1.

FIG. 6 shows the internal structure of the cord reel mechanism 9.

27 is a shaft that rotatably supports the cord reel 24 on one end thereof via a bearing 28; 29 is a cover fixed to the other end of the shaft 27 with a nut 3o;
1 is a gear fixed to the shaft 27 adjacent to the cord reel 24; 32 and 33 are the cord reel 24 and the gear 3, respectively;
A clutch plate 34 is provided between the cover 29 and the gear 3l, and is a spring that presses the gear 31 toward the cord reel 24 and causes the clutch plates 32 and 33 to slide against each other. 35 is a motor that rotates the cord reel 24 via a gear 36 that meshes with the gear 31;
37 is a brake device having a brake plate 38 attached to the output shaft of the motor 35.

Further, FIG. 7 shows a tension detection means incorporated inside the cord reel mechanism 9. As shown in FIG.

39. 39 are two guide rollers arranged between the cord outlet 25 and the cord reel 24, 40 is rotatably supported by a support shaft 41, and is applied with a constant spring force in the direction of arrow A by a spring 42. energized by the guide roller 39
, 39, a lever 44 that pushes down the power cord 8 with a pin 43 provided at one end thereof is a detection switch that is opened and closed by the movement of the other end of the lever 40 and detects the tension of the power cord 8.

The operation of this embodiment will be explained below.

The cord reel mechanism 9 is installed on a floor surface 10 at approximately the center of the working range. For example, when the mobile vehicle 1 is used as a cooking robot that takes out food ingredients from a refrigerator, transports them into the heating chamber of a microwave oven, and then transports the cooked food to the counter after heating in the microwave oven is completed. It is installed approximately in the center of the work area where the refrigerator, microwave oven, counter, etc. are located.

7 Then, the mobile vehicle 1 moves around the work area and performs the work.

During this work, when the vehicle 1 moves away from the cord reel mechanism 9, the power cord 8 is pulled by the vehicle 1. At this time, the lever 40 of the tension detection means moves in the opposite direction of arrow A to open the detection switch 44, turning off the motor 35, and the brake device 37 fixes the output shaft of the motor 35, so that the gear 36
, 31 do not rotate. However, since the gear 3] is pressed toward the cord reel 24 by the spring 34, and the clutch plates 32 and 33 slide against each other, the cord noll 24 supported via the bearing 28 will not be able to connect the power cord 8 to the moving vehicle 1. It rotates as it is pulled by the power cord 8.
The tension of the power cord 8 is maintained at a predetermined value by letting it out to the required length.

Conversely, when the mobile vehicle 1 moves in a direction approaching the cord reel mechanism 9, the power cord 8 becomes slack as the mobile vehicle 1 moves. At this time, the lever 40 of the tension detection means moves in the direction of arrow A to close the detection switch 44, turning on the motor 35 and rotating its output shaft. Since the gear 31 is pressed toward the cord reel 24 by the spring 34, this rotational force is transmitted to the cord reel 24 via the gears 36, 31 and the clutch plates 33, 32, and the cord reel 24 connects the power cord 8. Rotate to wind up the required length.

When the motor is rotating 35 times, the tension in the power cord 8 is low, so the clutch plates 33, 32 will not slip. When the power cord 8 is wound up and its tension reaches a predetermined value, the lever 40 of the tension detection means moves in the opposite direction of arrow A to open the detection switch 44 and turn off the motor 35.

Due to this operation, the tension in the power cord 8 changes from the value when the power cord 8 becomes slack and the detection switch 44 is closed to the value when the clutch plates 32 and 33 begin to slide against each other with the detection switch 44 open and the motor 35 off. Between the values of
Automatically maintained.

At this time, in the cord reel mechanism 9, the reel housing 23 is pulled by the tension generated in the power cord 8 and automatically rotates around the pivot shaft 22.
A cord outlet 25 is automatically directed toward the moving vehicle 1 in accordance with the movement of the moving vehicle 1. The rotation of the reel housing 23 about the pivot axis 22 is configured such that the tension in the power cord 8 occurs at a lower value than when the detection switch 44 is opened and the motor 35 is turned off.

On the other hand, in the moving vehicle 1, the positional relationship with the cord reel mechanism 9 changes as the vehicle 1 moves. In this configuration, when the mobile vehicle 1 moves and the direction in which the cord reel mechanism 9 is viewed from the mobile vehicle 1 changes, the tension of the power cord 8 rotates the rotary ring 15 in the groove 12 and the cord guide port 18 rotates. Turn toward the reel mechanism 9. Furthermore, during this rotation, the pressing roller 17 presses the power cord 8 into the cord housing groove 13 to place it in the housing position. Therefore, even if the moving vehicle 1 moves and its positional relationship with the cord reel mechanism 9 changes, and the direction from which the moving vehicle 1 looks toward the cord reel mechanism 9 changes, the power cord 8 will not become entangled with the main body of the moving vehicle 11. This will not interfere with their movement or work. In this embodiment, the cord storage groove 13 can store the power cord 8 with a length corresponding to one rotation of the rotating ring 15, so that it can accommodate the movement of the mobile vehicle 1 until the rotating ring 15 makes one rotation. However, if the mobile vehicle 1 moves rapidly and it is desired to accommodate the movement of the mobile vehicle 1 by several rotations of the rotary ring 15, the cord storage groove 13 may be made wider.

In this embodiment, the cord reel mechanism 9 is provided on the floor surface 10, which is the power supply portion side, but the cord reel mechanism 9 may be provided on the moving vehicle 1 side.

(G) Effects of the Invention According to the present invention, when the power cord is pulled as the mobile vehicle moves and the tension exceeds a predetermined value, the motor is deactivated based on the detection result of the tension detection means, and the braking means is activated to stop the motor. Fix the output transmission shaft. At this time, the clutch means slips, so the cord reel rotates and lets out the power cord to the required length.Conversely, when the power cord becomes slack as the vehicle moves, the tension detection means detects that the motor is The power cord is driven, the cord reel rotates, and the power cord is wound up to the required length.

In this way, the tension of the power cord is controlled not only by turning the motor on and off, but also by the clutch means.
The tension is stabilized at a constant value, allowing smooth and stable winding. Furthermore, since the motor is rotated only when necessary, there is no possibility of significant noise generation or deterioration of durability.

Therefore, it is possible to provide an electric working device in which the power cord can be wound up and let out in a stable manner at all times, and does not generate noise or deteriorate durability.

[Brief explanation of drawings]

1 to 7 show an embodiment of the electric working device of the present invention, FIG. 1 is a perspective view showing the entire electric working device, and FIG. 2 is a perspective view showing the entire electric working device.
The figure is a sectional view of the main part of the main body of the mobile vehicle, Figures 3 and 4 are sectional views of the annular rail at different positions, Figure 5 is a perspective view showing the cord reel mechanism, and Figure 6 is the cord reel mechanism. FIG. 7 is a cross-sectional view showing the internal structure of the cord reel mechanism, and FIG. 7 is a cross-sectional view showing the tension detection means incorporated inside the cord reel mechanism. ■... Mobile vehicle, 4... Working mechanism, 7... Moving mechanism, 8... Power cord, 9... Cord reel mechanism, 1
0... Floor surface, 24... Cord reel, 32.33.
...Clutch plate, 35...Motor, 37...Brake device, 40...Lever 44...Detection switch.

Claims (1)

[Claims] (1) A mobile vehicle equipped with a working mechanism and a moving mechanism, a power cord connected to the mobile vehicle from a power supply part such as a wall of the workplace, and a power cord that is fed out to apply a predetermined tension to the power cord. and a cord reel mechanism for winding the power cord, and the cord reel mechanism includes a cord reel for winding the power cord, a tension detection means for detecting the tension of the power cord, and a cord reel mechanism for winding the power cord, and a cord reel mechanism for winding the power cord. a motor that is rotationally driven by a motor; a brake means that fixes the output transmission shaft of the motor when the motor is not driven; and a brake means that is interposed between the output transmission shaft of the motor and the cord reel, and that An electric working device comprising a clutch means that slips when a tension of .