JPS601083A - Magnet type truck - Google Patents

Abstract

PURPOSE:To freely elevate the undulating surface of an iron plate by using a polyhedral wheel as the running wheel and comprising the polyhedral wheel with permanent magnets. CONSTITUTION:When this magnet type truck is run, motors 18 and 19 that are separately installed right and left are driven simultaneously. Since wheels 4, 5, 6, and 7 before and behind a car body use all permanent magnets, the wheels roll while they are adsorbed in the surface of the iron plate 8 on a running road. For the relationship of adsorption force between the magnetic pole of a polyhedral magnet 12 and the iron plate 8, since a magnetic flux 16 issued from the magnetic pole N13 of the wheel that is adjacent to the iron plate 8 passes through the inner part of the iron plate 8 and forms a magnetic circuit applied to a magnetic pole S14, force is actuated between the iron plate 8 and the wheels 4, 5, 6, and 7 and adsorption force 17 is generated. Since the wheels use regular polyheddrons, a flat surface 9 is adjacent to the iron plate 8. As a result, as compared with the linear contact for a true circle, exceedingly high adsorption force can be obtained.

Description

[Detailed Description of the Invention] The present invention relates to a magnetic trolley equipped with equipment and jigs for welding, non-destructive testing, painting, etc., and capable of traveling on a running surface with undulations and climbing and descending. , for example, the assembly process in shipbuilding, vertical facing, fillet, and butt 4 I! It is used as a work trolley for welding.

As a conventional magnetic bogie, as shown in Fig. 1, the car body a
Attach wheels S, C to the front and rear of the
A permanent magnet d is attached to the bottom of the truck between the two.

Therefore, conventional magnetic carts can be raised and lowered even on vertical walls as long as the surface of the steel plate e is smooth, but as shown in the figure, the running surface of the iron plate has undulations such as a sudden change of ±60 degrees. It cannot be run on e. That is, on the iron plate e rising almost perpendicularly from the concave inflection surface f as shown in the figure, when the front wheel passes through the concave inflection surface f and approaches the vertical wall, the magnet d and the iron plate 0 There is a risk that the distance between the iron plate and the surface will widen, causing a sudden lack of suction, and the trolley will come off the iron plate e and fall.

In addition, when trying to change the direction of the truck to the left or right, for example, when trying to change the direction of the truck along the weld line Q as shown in Fig. 2, conventionally, the direction of the wheels is mechanically changed in advance. However, since the diameter of the wheel is changed and it is directed to one side, it is not possible to make delicate adjustments when the weld line 9 changes as shown in the figure.

In this way, conventional carts have a structure where the running surface changes from a flat surface to an undulating part to a vertical wall, and the attraction surface of the magnet does not follow the iron plate surface. Therefore, in the past, automatic welding could not be performed while moving up and down the iron plate surface with undulations.

The present invention enables the attracting surface of the magnet to follow the running surface even if the running surface has undulating parts and stands up almost vertically. It was created with the aim of making it possible to save labor at the same time, using polyhedral wheels as running wheels, and using the polyhedral wheels as permanent magnets, it can freely move up and down (travel) on iron plate surfaces with undulations. This is how it was done.

Embodiments of the present invention will be described below with reference to the drawings.

3 to 6 show the magnetic truck of the present invention,
A drive system frame 3 is attached to the lower surface of a flat plate 1 of the vehicle body via a spring 2 (=J), and the drive system frame 3 is attached to the J side and the rear [this is the left and right front polyhedral wheels 4, 5, etc. The rear polyhedral suction type wheels 6.1 are each rotatably installed on the left and right sides. Allows 5 and 7 to rotate at the same time.

The above-mentioned polyhedral adsorption type wheels 4, 5, 6.7 are used to support the cart even on the 8 inclined iron plates and move it up and down. The polyhedral wheel itself is used as the permanent magnet 'ci12, which has a shape in which a part of the perfect circle centered on the center point 11 is left at the end 10 of each flat surface 9 formed in the polyhedral wheel. The magnet 12 is connected to the magnetic pole N13 and the magnetic pole S as shown in FIG. 4(B).
Aluminum spacer 15 of about 5 mm with 14 facing each other
The structure is such that the iron plate 8 is placed in the shape of a square / υ, and when the iron plate 8 touches
The magnetic flux 16 emitted from the pole N13 passes through the iron plate 8 and reaches the magnetic pole 814.
The magnetic flux flows to create a magnetic circuit, and an attractive force 17 is generated between the iron plates 8.

The reason why the polyhedral adsorption type wheels 4, 5, and 6.7, which use permanent 1a TJJx as wheels, are made to have a polyhedral shape is that when the flat surface 9 touches the iron plate 8, when the wheel is a perfect circle, This is because the surface contact is made as opposed to the line contact in , so the adsorption force is much greater than in the case of line contact, and the value of the sliding friction resistance also increases. Also, the reason why some of the ends 10 of each face 9 of the polyhedron are left completely circular is because the ends 10 of each face of the polyhedron are worn out when the wheels roll while adsorbing on the iron plate 8. This is to reduce the

The driving diagram for driving the left and right polyhedral adsorption type wheels separately and independently is as shown in FIGS. 5 and 6. At the same time, wheel drive shafts 20 and 21 are installed in parallel, and a 4-ton bevel gear 22 and 23 are attached to the output shafts of the left and right motors 19 and the middle wheels Ni! iIl axis 2
Gears 24 and 25 fixed in the middle of 0.21 are meshed with the hill, and the left motor 1B is driven to drive the left wheel +1.
'1l120 rotates, and the right wheel drive @21 is rotated by the drive of the right motor 19, while the front, rear, left and right polyhedral adsorption wheels 4 are attached to the drive system frame 3.
, 5, 6.7 are supported separately.
Take the front, rear, left and right gears 28 and the rear left and right gears 29, respectively.
Each worm it (eel @
30.31, a worm wheel 32 that meshes with the left and right gears 28 is mounted on the front left and right A-mwheel shafts 30, and a worm wheel 32 that meshes with the left and right gears 29 is mounted on the rear left and right A-mwheel shafts 31. The A-m wheels 33 are taken respectively (=I), and the worms 34, 35, 36.37 attached to each end of the left and right wheel drive shafts 20.21 are meshed with the front, rear, left and right worm wheels 32.33, respectively. , when the left and right motors 18, 19 are driven, in the left drive system, gears 22, 24, wheel drive 1jll120
, A-arms 34, 36, and on the other hand, in the right drive system, teeth flB3, 25, wheel drive shaft 21,
The power is transmitted to the A-arm 35, 37, and passes through worm wheels 32, 33 and gears 28, 29 on the left and right sides, respectively, to the front and rear polyhedral adsorption wheels 4, 6 on the left side and the front and rear polyhedral adsorption wheels on the right side. 5.7 is an independently driven sea urchin.

With the above configuration, the motors 18 and 1, which are installed separately on the left and right sides, are used to prevent the magnetic truck of the present invention from traveling.
9 are driven at the same time. As a result, the left and right separate '4V =
In the dynamic system, the left front and rear polyhedral suction wheels 4 and 6 are rotated simultaneously, and the right front and rear polyhedral suction wheels 4 and 6 are simultaneously rotated.
The wheels 5 and 7 are also rotated at the same time, allowing the vehicle to run on its own along the running surface. At this time, vehicles 4, 5. G.

7 are all permanent magnets, so the iron plate 8 on the running path
Rolls while adhering to the surface. Polyhedral adsorption type wheels 4, 5,
The relationship between the adhesion force between the magnetic pole of the polyhedral magnet 512 forming the lea and the iron plate 8 is shown in FIG. 4(B). In order to create a magnetic circuit that passes through the iron plate 8 and flows to the magnetic pole S14, the iron plate 8 and the wheels 4, 5. A force moves between G and 7, and an adsorption force 11 is generated. In order to increase this attraction force 11, it is sufficient to increase the contact area between the iron plate 8 and the wheel. In this respect, the magnet type cart of the present invention has the adsorption type wheels as regular polyhedrons, and the flat surface 9 is in contact with the iron plate 8. In addition, since the surface contact with the iron plate 8 is large and the contact area is large, the frictional resistance (10) is also large, and when the cart is moving up and down a vertical surface. However, it has the effect of making it harder to slip off.

Therefore, even when the cart runs on the 8 iron plate surfaces having the concave inflection portion 38 and the convex inflection surface 39 as shown in FIG. As long as they are in contact, a large adsorption force is generated and there will be no shortage of adsorption force. Therefore, the vehicle can be safely raised and lowered (traveled) on any running surface having any undulations.

When attempting to move the cart to the left or right during the above-mentioned lifting/lowering (traveling), motors 18 independently arranged on the left and right sides are used.
Or by controlling 19. That is, from a configuration in which the left and right wheels are driven separately by independent drive systems, when turning to the left, the left and right motors 18. .

By slowing down or stopping the rotation of the left heptad 18 while driving the wheel 19, it is possible to avoid turning the cart to the left, and also to avoid turning the cart to the right! J: When I try to sleep, I slow down or stop the rotation of the right motor 19 while rotating the left and right motors 18 and 19.J:
You will be able to turn to the right.

Also, when trying to move the trolley backwards, press the left and right
This is possible by reversing ll and 19, respectively.

In the magnetic truck J3 of the present invention, all wheels are made of regular polyhedrons, and the attraction force of the magnet is large, but since there is only one polyhedron, the wheels move up and down during rotation. However, this value is 7! + +n m l'J
Even if it is a C regular icosahedron, there is only 0.3 nunr, and there is no problem in practical use.

As described above, with the stone type stone cart of the present invention, the polyhedral wheels attached to the front, rear, left and right sides of the car body are permanent magnets,
Since the left and right front wheels and the right rear wheels are independently driven, the left and right drive systems are separated, and the following excellent effects can be achieved.

(1) The trolley can be raised and lowered continuously even when the running surface has a curved surface that changes suddenly, and the trolley does not fall off the steel plate even on a vertical surface, so it can be used for automatic welding trolleys. It is very advantageous.

(ii) υ, since the surface in contact with the plate is in line contact and surface contact, the adsorption force during surface contact is large, and the value of J sliding friction resistance is accordingly small.

00 Since the wheels are magnetic, the structure of the trolley is simple, making it a small and light boat.

00 Since the motors are arranged on the left and right sides, it is possible to easily move the trolley in the left and right directions by changing the rotation speed of the left and right motors as appropriate. Even if one wheel rises above the running surface during a bend, it will not interfere with running because the other axle is being driven.

(V) A worm and a worm wheel are included in the mechanism that transmits the power from the motor, so that even if the power is cut off, the motor will not reverse and can be used safely.

[Brief explanation of the drawing]

Fig. 1 is a side view showing the state in which a conventional magnetic cart moves up and down the running surface on the right side of an undulating section, Fig. 2 is a diagram showing the state in which the conventional magnetic cart moves when changing direction, and Fig. 3 Figure J shows the state in which the magnetic truck of the present invention is raised and lowered on a running surface that moves to the right of an undulating section. Side view, FIG. 4(A) is a side view of wheels mounted on the magnetic truck of the present invention J3, FIG. 4(B) is a front view of FIG. 4(A),
FIG. 5 shows the drive system of the magnetic truck of the present invention, and is an explanatory side view, and FIG. 6 is a plan view of FIG. 5. 3... Drive system frame, 4, 5, 6.7... Polyhedral adsorption type wheel, 8... Steel plate, 12... Permanent magnet, 18
．． 19...For driving-[-Even, 20.21...Wheel drive shaft. Figure 3 Figure 4 Figure 5 Figure 6

Claims (1)

[Claims] 1) The regular polyhedral wheels arranged on the front, rear, left, and right sides of the vehicle body are used as permanent magnets to form polyhedral adsorption type wheels, and drive motors are installed separately on the left and right sides of the vehicle body, and the left motor and both front and rear axles on the left side are connected to each other. are connected via a power transmission mechanism, and the right side and both front and rear axles on the right side are powered).
A magnetic type trolley characterized by being connected to -C through a wire.