JPH0411556A - Traveling mechanism on curved line part - Google Patents

Abstract

PURPOSE:To permit three-dimensional traveling by forming the shape in the width direction of the tooth faces in the mutual contact of a traveling mechanism in which the tooth shapes of a rack and pinion travel in contact, into a projection form, projecting arcuate form, projecting triangular form or projecting trapezoidal form at the center part, and making the width of the tooth shape of the contact part different. CONSTITUTION:The tooth faces of a curve traveling rack 2 and a pinion 3 are worked to the arcuate forms 2A and 3A, and the width of the contact part between the rack and pinion is reduced. Through the tooth face working, the width is varied from H to H' as the width of the contact surface 4 of the pinion, and also on the inside where the interval between the tooth shapes of the rack 2 becomes narrow in the rack curved line part, the mutual interference between the rack 2 and pinion 3 is eliminated. Accordingly, the traveling on a curved line part is permitted, and also three-dimensional traveling is permitted.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a traveling mechanism using a rack and pinion system,
In particular, the present invention relates to a traveling mechanism in which the bending radius of a curved portion is reduced.

[Conventional technology]

Conventionally, for example, in inspection equipment in the containment vessel of a nuclear reactor, thermal and nuclear power generation VoQ, 34. As shown in Nα3 "Remote automatic inspection device for the containment vessel of a boiling water reactor", it was a device using a trolley chain. This device is
A trolley chain is attached to a track installed inside the containment vessel, and an inspection vehicle is attached to the trolley chain and driven.

[Problem to be solved by the invention]

The above-mentioned conventional technology does not give consideration to the three-dimensional running performance of the inspection device in the inspection room.

That is, since the above-mentioned conventional traveling device uses a trolley chain, it cannot be used on a three-dimensional track having a raised surface, a curved portion, etc. Furthermore, the inspection track needs to be a closed loop, and furthermore, a large trolley chain moving mechanism needs to be permanently installed inside the containment vessel, which also imposes restrictions on placement. Furthermore, since the beating mechanism uses an electric motor, there is a problem with the radiation resistance of the electric motor, which requires maintenance within the containment vessel.

It has been desired to develop a self-propelled inspection device using a rack and pinion as a device to solve the above problems.

As a traveling mechanism using the rack and pinion system.

There is an example as shown in FIG. 6. Although the method shown in FIG. 6 ensures pitching performance, there is a problem in that the rack and pinion interfere with each other at bends, making it impossible to run.

As described above, the inspection range of the conventional device is limited to a two-dimensional route around a specified piece of equipment, and in order to expand the inspection range, it is necessary to relocate the device to a different track.

An object of the present invention is to enable inspection equipment to travel in three dimensions, thereby reducing work such as expanding the inspection range within the inspection room and relocating the equipment. The goal is to provide a mechanism that makes it possible.

[Means to solve the problem]

The above objective is achieved by the following means.

(a) In a traveling mechanism in which the tooth profiles of a rack and a pinion are in contact with each other, the tooth profiles of at least one or both of the rack or the pinion are shaped in the width direction of the tooth surfaces in contact with each other. A curved section traveling mechanism characterized by having a convex shape at the center.

(b) In a traveling mechanism in which the tooth profiles of a rack and a pinion are in contact with each other and run, the tooth profiles of at least one or both of the rack or the pinion are arranged in the width direction of the tooth surfaces in contact with each other. A curved section traveling mechanism characterized in that the shape is formed into an arcuate shape with a convex central portion.

(c) In a traveling mechanism in which the tooth profiles of a rack and a pinion are in contact with each other and run, the tooth profiles of at least one or both of the rack or the pinion are arranged in the width direction of the tooth surfaces in contact with each other. A curved section traveling mechanism characterized by having a triangular shape with a convex central portion.

(d) In a traveling mechanism in which the tooth profiles of a rack and a pinion are in contact with each other and run, the tooth profiles of at least one or both of the rack or the pinion are arranged in the width direction of the tooth surfaces in contact with each other. A curved section traveling mechanism characterized by having a trapezoidal shape with a convex central portion.

(e) In a traveling mechanism in which the rack and pinion run while their respective tooth profiles are in contact with each other, the rack and the pinion are characterized in that the widths of the tooth profiles at their respective contact portions are different from each other. Curved section traveling mechanism.

[Effect]

According to the above configuration, by reducing the width of the contact portion of the tooth profile of the rack and pinion, it is possible to make greater use of the effect of the butterfly crash, and a rack and pinion system capable of running on curves becomes possible.

In other words, in the case of the rack and pinion system, when trying to travel around a curved section, the pitch appears to be different between the inside and outside of the rack bending section. This makes it impossible to travel on curved sections. However, although it is possible to bend the gear by the amount of backlash, the radius of curvature in that case is large, and it is impossible to realize such a travel route, for example, inside a containment vessel of a nuclear reactor.

In the present invention, in order to reduce the radius of curvature of the bent part due to this backlash, the tooth surfaces of the rack and pinion are chamfered to reduce the width of the contact part between the rack and pinion, so that the radius of curvature of the bent part is further reduced. Even if it is small, it can be run.

In this case, the relationship between the radius of curvature of the bent part and the width of the contact part is approximately proportional, and if the width of the contact part is 172, then
The radius of curvature that allows the vehicle to travel on curves is 1/2.

By reducing the width of the contact part, it is necessary to consider the strength of the toothed part. Assuming that the stress σ1 in the tooth profile, the load acting on the tooth profile is P, and the tooth width is b, the following equation holds.

σb = K v P / b Here, Kv is a constant determined by selection of the tooth profile of the rack and pinion.

From the above equation, if the face width is made smaller, the stress in the tooth profile will increase. For this reason, if the design stress exceeds the allowable stress, the material of the rack and pinion used in the past should be changed to, for example, structural carbon steel (crb = 20 to 30 kg/m
m2) to nickel chromium steel Cab = 40~60kg/
mm2) and there is no technical problem.

〔Example〕

Hereinafter, some embodiments of the present invention will be described with reference to the drawings.

FIG. 1(A) shows an embodiment in which the tooth surfaces of the rack 2 and pinion 3 for running on a curve are processed into circular arc shapes 2A and 3A, and the width of the contact portion between the rack and the pinion is reduced.

FIG. 1(B) shows the main parts of this embodiment. Taking the rack 2 as an example, the tooth surface is formed in an arc shape 2A, and the shoulder 2B surrounded by a dotted line in the figure. That part has been removed.

This makes it possible for the straight running rack 1 and the curved running rack 2 shown in FIG. 2 to run on continuous curved sections.

FIG. 3 shows the running state of the curved portion when the tooth profiles of the rack and pinion are machined.

By machining the tooth profile, the tooth width is changed from H to H', which is the width of the contact surface 4 of the pinion. Since the mutual interference between the motor and the pinion 3 is eliminated, it is possible to travel around curved sections.

FIG. 4 and FIG. 5 each show other embodiments,
Figure 4 shows the teeth of the rack 2 and pinion 3 in a triangular shape.
FIG. 5 shows an example of processing into a trapezoidal shape.

These other embodiments also have the same effects as the embodiment shown in FIG.

In these embodiments, the tooth profiles of both the rack and pinion are machined, but either one of them may be machined. By processing both the rack and pinion, ease of bending at the curved portion can be realized, and the curved portion can be made with a smaller curvature.

If only the pinion is processed, it is easy to process the product. Further, only the rack may be processed, and in that case, only the curved portion may be processed and connected to the straight portion, or it is also possible to process the entire wire portion and then bend it.

FIG. 6 shows an application example of the conventional rack and pinion system.

A rack 1 is attached to a traveling rail 5.

A pinion 3 is attached to the immediate action device 6, and the driving force of the immediate action device 6 acts on the rack 1 from the pinion 3, and as a reaction, the drive device N6 and the control device 7 are self-propelled. and move. In this case, since the rack 1 and pinion 3 are spur gears, it is impossible to travel around curved sections. According to the embodiment of the present invention, by machining the spur tooth profile, the width of the contact portion can be reduced and it is possible to travel on a curved portion within the range of backlash.

〔Effect of the invention〕

According to the present invention, it is possible to travel around curved sections using a rack and pinion system, and it is possible to put into practical use an inspection device that has a three-dimensional travel route.

[Brief explanation of the drawing]

FIG. 1 is a sectional view showing one embodiment of the present invention, FIG. 2 is a top view of the rack of this embodiment, FIG. 3 is an explanatory diagram explaining the effects of this embodiment, and FIGS. 4 and 5. 6 are sectional views showing other embodiments of the present invention, and FIG. 6 is a perspective view of a conventional example. 1... Rack for straight lines, 2... Rack for curved lines, 3...
・Pinion, 4...Pinion contact surface.

Claims (1)

[Claims] 1. In a traveling mechanism in which tooth profiles of a rack and a pinion are in contact with each other, the tooth profiles of at least one or both of the rack or the pinion have tooth surfaces in contact with each other. A curved section traveling mechanism characterized in that the shape in the width direction of the curved section is formed into a convex shape at the center. 2. In a traveling mechanism in which tooth profiles of a rack and a pinion are in contact with each other and run, the tooth profile of at least one or both of the rack or the pinion has a shape in the width direction of the tooth surfaces in contact with each other. A curved section traveling mechanism characterized in that the curved section traveling mechanism is formed into a convex arc shape at the center. 3. In a traveling mechanism in which tooth profiles of a rack and a pinion are in contact with each other, the tooth profile of at least one or both of the rack or the pinion has a shape in the width direction of the tooth surfaces in contact with each other. A curved section traveling mechanism characterized by having a triangular shape with a convex central portion. 4. In a traveling mechanism in which tooth profiles of a rack and a pinion are in contact with each other and run, at least one or both tooth profiles of the rack or the pinion have shapes in the width direction of the tooth surfaces in contact with each other. A curved section traveling mechanism characterized by having a trapezoidal shape with a convex central portion. 5. A traveling mechanism in which the rack and the pinion run while their respective tooth profiles are in contact with each other, wherein the rack and the pinion have different tooth profile widths at their respective contact portions. Part traveling mechanism.