JPH03218204A - Motor working apparatus - Google Patents

Abstract

PURPOSE:To prevent a feeder cord from entangling in a work truck body by constituting the main part of a mobile truck, an annular rain having circumferential groove, a rotary ring having a cord guide port and a cord containing groove made in one face of the grooved part, and the like. CONSTITUTION:Main part of a motor working apparatus comprises a mobile truck 1, an annular rail 11 having a groove at the outside, a rotary ring 15 supported rotatably in the groove by means of a plurality of supporting rollers, a feeder cord 8, and the like. When the mobile truck 1 moves in a work yard, the feeder cord 8 is fed out or rewound through a cord reel mechanism 9 secured to the wall face, for example, in the work yard and thereby the feeder cord 8 is kept in a state subjected to a predetermined tension. When the mobile truck 1 moves to change the positional relation with respect to the cord reel mechanism 9, the rotary ring 15 rotates and the feeder cord 8 is contained in the cord containing groove.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to an electric working vehicle that moves and performs tasks such as transporting parts and cleaning.

(Explanation) Conventional technology Japanese Unexamined Patent Publication No. 62-268305 discloses a mobile work vehicle that operates by being supplied with power from a room wall etc. via a power cord and 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 In such mobile work vehicles, in order to expand the range of work, it is necessary to increase the length of the power cord, and accordingly, the length of the power cord has to be increased. The cord reel mechanism becomes large in size for storage.

In the conventional example, since the cord reel mechanism is mounted on the mobile work vehicle, an increase in the size of the cord reel mechanism results in an increase in the size and weight of the mobile work vehicle, which is not desirable in terms of cost. Furthermore, in such conventional examples, as the mobile work vehicle moves, the power cord may become entangled with the mobile work vehicle body, which may impede movement or work.

The present invention expands the work range without increasing the size or weight of the mobile work vehicle, and also prevents the power cord from getting tangled with the mobile work vehicle body as the mobile work vehicle moves, hindering movement and work. The present invention provides an electric working device that does not cause any damage.

(2) Means for Solving the Problems The electric working device of the present invention includes a mobile vehicle equipped with a working mechanism and a moving mechanism, a power cord connected to the mobile vehicle, and a fixed part such as a wall of a workplace. a cord reel mechanism that is fixedly provided, supplies power to the mobile vehicle via the power cord, and unwinds and winds up the power cord to apply a predetermined tension to the power cord;
The mobile vehicle includes an annular rail that is provided around the circumference and has a groove on the outside, a cord storage groove formed on one surface of the groove, and a cord guide port that is rotatably supported within the groove. a rotating ring which is rotatably attached to the rotating ring and rolls in the groove as the rotating ring rotates, holding the power cord led from the cord guide port and storing it in the cord storage groove; It is characterized by having a presser roller that causes the

(E) Operation When the mobile vehicle moves within the workplace, the power cord is fed out or wound up by a cord reel mechanism fixed to a fixed part such as the wall of the workplace. A predetermined tension is maintained.

In addition, even if the moving vehicle moves and its positional relationship with the cord reel mechanism changes, the rotating ring rotates and the cord guide port faces the cord reel mechanism, and the holding roller rolls in the groove, allowing the power cord to is stored in the cord storage groove.

(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, that is, 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 that rotates them (Fig. (not shown), and a moving mechanism 7 comprising a steering means (not shown) for steering the vehicle.

8 is a power cord connected to the moving vehicle 1; 9 is a power cord fixed to a fixed part, that is, a floor surface 10 of the workplace;
This is a cord reel mechanism that supplies power to the moving vehicle 1 via the cord reel mechanism, and also feeds out and winds up the power cord 8 in order to apply a predetermined tension to the power cord 8.

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 vehicle 1 so as to surround it and has a groove portion 12 on the outside.
15 is a cord storage groove formed on the bottom surface 14 of the groove l2.
17 is a rotary ring rotatably supported within the groove 12 by a plurality of support rollers 16; 17 is rotatably attached to the rotary ring 15;
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 rotary cylinder 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.

2l is a fixed base fixed to the floor 10; 22 is a pivot shaft formed on the fixed base 21; 23 is a knoll housing provided swingably 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 reel 24 is guided to the outside through the cord lead-out eye 25 and connected to the mobile vehicle I.

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

27 is a shaft that rotatably supports the cord reel 24 at one end via a bearing 28; 29 is a cover 3 fixed to the other end of the shaft 27 with a nut 30;
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;
Clutch plates 32 and 34 are provided between the cover 29 and the gear 31, and are springs that press the gear 3 toward the cord reel 24 and cause the clutch plates 32 and 33 to slide against each other. , 35 is a motor that rotates the cord reel 24 via the gear 36 meshed 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 tension detection means built into the cord reel mechanism 9. As shown in FIG.

39. 39 are two guide rollers disposed between the code lead-out 025 and the code reel 24, 40 is rotatably supported by a support shaft 41, and is attached by a spring 42 with a constant spring force in the direction of arrow A. The guide roller 39
, 39 is a lever that pushes down the power cord 8 with a pin 43 provided at one end thereof, and 44 is a detection switch that is opened and closed by the movement of the lever 4o on the other end side 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. The refrigerator, microwave oven, counter, etc. will be located approximately in the center of the work area.

The mobile vehicle 1 then 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 31 is pressed toward the cord reel 24 by the spring 34 and the clutch plates 32 and 33 slide against each other, the cord knoll 24 supported via the bearing 28 is able to connect the power cord 8 to the mobile vehicle 1. It rotates as it is pulled, and 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 8. 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 do 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, opens the detection switch 44, and turns off the moke 35.

Due to this operation, the tension in the power cord 8 changes from the value when the power cord 8 is 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 from which the mobile vehicle 1 looks toward the cord reel mechanism 9 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. During this rotation, the pressing roller 17 presses the power cord 8 into the cord housing groove 13 and places 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 1. , and will not interfere with their movement or work. In this embodiment, the cord storage groove l3 can store the power cord 8 whose length corresponds 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 up to several rotations of the rotary ring 15, the cord storage groove 13 may be made wider.

(G) Effects of the Invention According to the present invention, the cord reel mechanism that feeds power to a mobile vehicle and unwinds and winds up the power cord to apply a predetermined tension to the power cord is installed not in the mobile vehicle but in the workplace. Since it is fixed to a fixed part such as a wall, even if the power cord becomes longer and the cord reel mechanism becomes larger as the work area becomes wider, the vehicle will not become larger or heavier. Therefore, it is possible to provide an electric working device that has a wide working range, is small in size, and is lightweight.

Furthermore, even if the mobile vehicle moves and its positional relationship with the cord reel mechanism changes, the rotary ring rotates and the cord guide port faces the cord reel mechanism, and the holding roller rolls in the groove, allowing the power cord to Since the power cord is stored in the cord storage groove, it is possible to provide an electric working device in which the power cord does not become entangled with the vehicle body as the vehicle moves, thereby preventing the power cord from interfering with movement or work.

[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. DESCRIPTION OF SYMBOLS 1... Moving vehicle, 4... Working mechanism, 7... Moving mechanism, 8... Power cord, 9... Cord reel mechanism, 1
0... Floor surface, 11... Annular rail, l2... Groove, 13... Cord storage groove, 15... Rotating ring, 1
7... Pressing roller, 18... Cord guide port.

Claims (1)

[Claims] (1) A mobile vehicle equipped with a working mechanism and a moving mechanism; a power cord connected to the mobile vehicle; The moving vehicle is provided with a cord reel mechanism that feeds and winds up the power cord to apply a predetermined tension to the power cord. a cord storage groove formed on one surface of the groove; a rotary ring rotatably supported within the groove and having a cord guide port; An electric working device comprising: a pressing roller that rolls in a groove as a ring rotates to press the power cord led from the cord guide port and store it in the cord storage groove.