JPH0637188B2 - Moving machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is used, for example, for various maintenance and inspection work in various plants or factories.
Alternatively, a mobile machine having wheels for moving and tracks (caterpillars) (hereinafter referred to as crawler tracks) for traveling on rough terrain, ascending / descending stairs, and straddling obstacles such as piping. It is about.

[Conventional technology]

2 and 3 are shown, for example, in Japanese Patent Application No. 61-9934.
2 shows a mobile machine of the prior art described in No. 2, and as shown in FIG. 2, four of the same structure are formed at the four front, rear, left and right outer corners of the bottom of the mobile machine main body (1).
The pair of moving devices (M) includes a steering shaft (10), a crawler belt (7) wound around the crawler belt driving wheel (8) and a crawler belt driven wheel (9), and a wheel (6), respectively. The moving machine (M) of each of these groups is
It is adapted to be driven by four sets of driving devices (d) installed at predetermined positions in (1).

FIG. 3 is a schematic configuration diagram showing a set of the moving device (M) and a driving device (d) for driving the moving device. First, as described above with reference to FIG. 2, (1) Is a main body of the moving machine, (5) is a track supporting leg, and the track (7) is wound around the track drive wheel (8) and the track driven wheel (9) mounted at intervals (R). This track drive wheel (8) and track driven wheel (9)
The distance from each axis of the track to the end of the track (7) is
(r). (6) is a wheel mounted coaxially with the crawler belt drive wheel (8), and these moving devices (M) are drive devices (d) described below.
Driven by.

That is, the output shaft of the single motor (2) housed inside the mobile machine body (1) has three reduction gears (3a), (3b) for steering, crawler belt support legs, and wheels. ), (3c), respectively, these speed reducers (3a), (3b), (3c) through the clutch (11a), (11b), (11c) worm (12a),
(12b), (12c), these worms (12a), (12
Worm wheels (13a), (1) that are always meshed with (b), (12c)
By rotating (3b) and (13c), the worm wheel
(13a) rotates the steering shaft (10), and the worm wheel (13b) uses the crawler belt support leg bevel gear (15) to move the crawler belt support leg (5) about the axis of the crawler belt drive wheel (8). Rotate,
Further, the worm wheel (13c) is adapted to rotate the wheel (6) and the crawler belt drive wheel (8) via the bevel gear for wheel (14).

In addition, the angular velocity Ω of the track support leg (5) with respect to the motor (2)
And the angular velocity ω of the crawler belt drive wheel (8) is | ω | / | Ω
│ = (R + r) / r so that the rotation is reversed, and the relationship between the angular velocity Ω and the angular velocity θ of the steering shaft (10) is |
The speed reducer (3
a), (3b), (3c) and worms (12a), (12b), (12c),
And the speed ratio of the worm wheels (13a), (13b), (13c) is set, and the speed ratio of the bevel gear for wheels (14) and the bevel gear for track support legs (15) are both set to 1. ing.

In the conventional mobile machine configured as described above, the wheels
When traveling with the (6) or crawler (7) grounded, only the clutch (11c) should be engaged, and the clutch (11a) and the clutch (11c) should be connected.
When b) is separated from the motor, the rotation of the motor (2) is reduced by the reducer (3c) →
Clutch (11c) → Worm (12c) → Worm wheel (13
c) → Bevel gears for wheels (14) are transmitted in this order to drive wheels (6) and crawler belt drive wheels (8) to drive mobile machine body (1).

Next, when steering the wheels (6), the clutch (11a),
When (11b) is connected, the rotation of the motor (2) is the path of two systems,
That is, the reducer (3a) → clutch (11b) → worm wheel (13a) path and the reducer (3b) → clutch (11a) → worm (12a) → worm (12b) → worm wheel (13b) path. And these paths respectively drive the steering shaft (10) and the bevel gear (15).

In this case, since the speed ratio of the above-mentioned two paths is equal to the rotation direction, the track-supporting bevel gear is
Unlike the case of fixing only (15) and driving only the steering shaft (10), the steering shaft (10) and the track supporting bevel gear (1
Since there is no relative motion between the wheel (6) and the track support leg (5), the wheel (6) is steered to an arbitrary angle while maintaining the rotational position around the axis of the track drive wheel (8). It becomes possible to do.

Also, as shown in FIG. 3, when the track support legs (5) are rotated about the axis of the track drive wheel (8) to lift the mobile machine body (1), the clutch (11b) and the clutch (11c) is connected to drive the above-mentioned two-system mechanism by the motor (2). At this time, the angular velocity Ω of the crawler belt support leg (5) and the angular velocity ω of the crawler belt drive wheel (8) are The relationship is | ω | / | Ω | = (R + r) / r based on the above-described speed ratio, and reverse rotation occurs.

On the other hand, as shown in FIG. 2, when the crawler belt support leg (5) is rotatable, the condition that the crawler belt (7) moves without slipping at the ground contact point A as shown in FIG. = Rω, and (R + r) Ω = rω at the vertical position as well, so that the track (7) does not lag behind the track support leg (5) (R
It suffices if + r) Ω ≦ rω, and under these conditions, the movable machine body (1) can be lifted by freely rotating the track supporting legs (5) with respect to the ground.

[Problems to be solved by the invention]

In the above-described conventional mobile machine, three reducers and three worms and worm wheels are used for each of the four sets of driving devices for driving the four sets of moving devices equipped therein. Therefore, the number of components is large, and therefore, the entire driving device becomes significantly large. Therefore,
The main body of the moving machine accommodating four sets of this large drive unit is necessarily large in size, and not only the weight is extremely heavy, but also the torque transmission efficiency is poor.

The present invention has been made to remedy the above drawbacks, and reduces the number of components of the four sets of drive devices that respectively drive the four sets of moving devices equipped in the moving machine, thereby reducing the size and weight of the moving machine. And a mobile machine that achieves improvement in torque transmission efficiency of each drive device.

[Means for solving problems]

The mobile machine according to the present invention reduces the number of the three reduction gears provided for each of the four sets of drive devices for respectively driving the four sets of mobile devices installed therein to one, Three sets of worms and worm wheels were changed to two sets of spur gears.

[Operation] In the present invention, by reducing the number of components of the four sets of drive devices for respectively driving the four sets of moving devices equipped in the mobile machine, the mobile machine can be made smaller and lighter, and It is possible to improve the torque transmission efficiency of the drive device.

Example of Invention

FIG. 1 is a schematic block diagram showing a set of a drive unit (D) and a moving unit (M) driven by this drive unit according to one embodiment of the present invention. (Figure)
The same reference numerals as in FIG.

In FIG. 1, (4a) and (4b) are the first and second clutches (16
a) (16b) to single motor (2) via single reducer (3)
Pair of first spur gears that simultaneously transmit the rotation of the two, (4c)
(4d) is a pair of second spur gear devices for transmitting the rotation of the second clutch (16b) to the hollow shaft (19) and the third clutch (16c) when the second clutch (16b) is connected. 3 clutch (16c)
Is connected, the rotation is transmitted to the hollow steering shaft (10) to steer the wheels (6) at an arbitrary angle. (18) transmits the rotation of the first clutch (16a), when the first clutch (16a) is connected, to the axle (21) to which the wheel (6) and the crawler belt drive wheel (8) are fixed via the bevel gear (14). It is the output shaft. (15) is a bevel gear provided at the hanging end of the hollow shaft (19), and this bevel gear (15) is the track support leg (5) and the axle (21) of the track drive wheel (8). It is provided to rotate about the center and change the angle to a predetermined angle. (1
7) is a brake device for the steering shaft (10) provided between the steering shaft (10) and the moving machine body (1).

Since the mobile machine of the present invention is configured as described above, when traveling with the wheels (6) or the crawler belt (7) grounded, only the first clutch (16a) is connected to When the second and third clutches (16b) and (16c) are disengaged, the rotation of the motor (2) is transmitted through the single speed reducer (3) and the first clutch (16a) to the output shaft (18). ), And drives the wheel (6) and the crawler belt drive wheel (8) through the bevel gear (14) and the axle (21) to drive the mobile machine body (1).

Next, when the track support legs (5) are rotated around the axle (21) of the track drive wheels (8) and the angle of the track support legs (5) is changed according to the terrain, When only the second clutch (16b) is connected and the first and third clutches (16a) and (16c) are disengaged, the rotation of the motor (2) is controlled by the single speed reducer (3) and the second speed reducer.
It is transmitted to the hollow shaft (19) via the clutch (16b) of, and the track supporting leg (5) is centered on the axle (21) of the track drive wheel (8) via the bevel gear (15). It is rotated in a predetermined direction and its angle is changed to a predetermined angle.

Furthermore, when lowering the free end side of the crawler belt support legs (5) to an angle greater than or equal to the horizontal direction to raise the entire moving machine body (1), the crawler belt support legs (5) are rotated at a predetermined angle. In addition to the movement, it is necessary to prevent the track (7) in contact with the ground from slipping, so that not only the second clutch (16b) but also the first clutch (16a) are connected at the same time. The crawler belt (7) is moved with the rotation of the support leg (5) at a predetermined angle. The optimum speed ratio between the rotation of the crawler belt support leg (5) at a predetermined angle and the movement of the crawler belt (7) varies depending on the shape of the crawler belt support leg (5) and its rotation angle. As shown in the figure, define the angular velocity Ω of the track support legs (5), the angular velocity ω of the track drive wheels (8), the distance R between the track drive wheels (8) and the track driven wheels (9), and the radius r. For example, | ω | / | Ω | = (R + r) / r ……………… [1], and in the mobile machine of the present invention, the first spur gear device (4a) (4b) , And the speed ratio of the second spur gears (4c) and (4d), and the bevel gears (14) and (15), the values are set to values close to those in the formula [1].

Next, when steering the crawler belt (7) and the wheels (6) in the directional direction, the second and third clutches (16b) and (16c)) are respectively connected and the first clutch (16a) is disconnected. , Motor (2)
Rotation of a single speed reducer (3) → first spur gear (4a) →
(4b) → second clutch (16b) → second spur gear (4c) →
It is transmitted to (4d) and further transmitted to the axle (21) via the three clutches (16c) → the steering shaft (10), and the axle (21) rotates about the steering shaft (10) so that the wheels ( 6)
That is, the steering direction is performed.

Further, the brake device (17) locks the rotation of the crawler belt support leg (5) when the disengaged third clutch (16c) is engaged, and the engaged third clutch ( 1
When 6c) is disconnected, the steering shaft (10) is locked.

Although the single motor (2) and the speed reducer (3) are arranged outside the ceiling portion of the moving machine body (1) in the above-described embodiment, they may be arranged inside the ceiling. Further, in the above-mentioned one embodiment, the brake device (17) is provided between the steering shaft (10) and the moving machine body (1), but the brake device (17) is not always necessary. do not do. Further, in the above-mentioned embodiment, it goes without saying that the same effect can be obtained even if the wheel shaft (6) is coaxial with the crawler belt drive wheel (8) and the axle shaft (6) is omitted.

〔The invention's effect〕

As described above, according to the present invention, four sets for driving the four sets of moving devices equipped in the mobile machine are provided.
Since we reduced the number of reducers in each set of drive units to a single reducer, and changed the three sets of worms and worm wheels, which have many components, to two sets of spur gear units, which have few components. The present invention has an excellent effect that the mobile machine can be reduced in size and weight and the torque transmission efficiency of each drive device can be improved.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a moving device of a mobile machine according to an embodiment of the present invention and a set of drive devices for driving the moving device, and FIG. 2 is a schematic view showing an entire conventional mobile machine of this type. A side view and FIG. 3 are schematic configuration diagrams showing a set of a moving device and a driving device for driving the moving device. In the figure, (D) is a drive device, (M) is a moving device, (1) is a moving machine, (2) is a motor, (3) is a speed reducer, and (4a) and (4b) are first spur gear devices. , (4c) and (4d) are second spur gears, (5) is track support legs, (6) is wheels, (7) is tracks, (8) is track drive wheels, and (9) is
Is a driven wheel, (10) is a steering shaft, (14) and (15) are bevel gears, (16a), (16b) and (16c) are first to third clutches, (18) is an output shaft, and (19) is Is a hollow shaft, and (21) is an axle. The same reference numerals in the drawings indicate the same or corresponding parts.

Claims (1)

[Claims] 1. A mobile machine main body, a crawler belt drive wheel rotatably provided on the mobile machine main body, and a chain drive wound between the crawler belt drive wheel and the crawler belt driven wheel and driven by the crawler belt drive wheel. A crawler belt, one end of which is rotatably provided around the axle of the crawler belt drive wheel and the other end of which supports the crawler belt driven wheel rotatably, and the direction of the drive shaft of the crawler belt drive wheel is changed. In a mobile machine having a steering shaft, the track supporting leg, the track driving wheel, and the steering shaft are selected by a combination of a single motor, a single speed reducer, and a plurality of sets of spur gears, and a plurality of clutches. A mobile machine characterized by being configured so that it can be driven and switched selectively, and is adapted to run by a crawler belt, change an angle of a crawler belt support leg, raise a moving machine main body, and steer a crawler belt in a direction.