JPS61193066A - Wall-to-wall running truck - Google Patents

Abstract

PURPOSE:To reduce the weight of a wall-to-wall running truck for wall surface inspection between opposite walls by providing a rotation transmission mechanism which averages the rotating operation of the steering mechanism of a couple of driving or driven wheels and operates the other couple of wheels. CONSTITUTION:Driving wheels 4 and 5 are provided to the driving-side frame 1, a driven-side frame 2 is provided while crossing the driving-side frame at right angles, and the driven wheels 20 and 21 are provided thereto. Further, the driving wheels 4 and 5 are provided with a motor for steering and driven through a steering mechanism to turn. Then, the angles of steering drive of the driving wheels 4 and 5 is averaged to drive the driven wheels 20 through a drive transmission mechanism. Then, the drive wheels 20 and 21 are controlled to the same direction at any time according to states (1)-(5) of steering of the driving wheels 4 and 5. Thus, the steering of the driving or driven wheels is controlled and the other sides which are not controlled are driven, so only two motors are required and the weight of the truck is reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a wall-to-wall traveling trolley that travels between mutually opposing wall surfaces in order to inspect the walls.

<Prior Art> Conventionally, a narrow space traveling trolley shown in FIGS. 7 and 8 has been developed as a device for moving between opposing walls for inspection and the like. This conventional trolley consists of a driving side frame 1 and a driven side frame 2, the two frames intersect at right angles, and a pressing mechanism 3 is provided at the intersection point to press each frame outward. . A pair of drive wheels, a front wheel 4 and a rear wheel 5, are attached to the drive side frame and are driven simultaneously by a drive motor 6. That is, the rotational force of the drive motor 6 is transmitted from the sprocket 7 to the sprocket 9 via the chain 8, and this rotational force is transmitted to the bevel gear iob.

11b and is transmitted to the rear wheel 5 via spur gears 12b and 13b. Furthermore, this rotational force is transmitted to the sprocket 14a via the sprocket 14b chain 15, and the bevel gear 10a.

The front wheels 4 and rear wheels 5 are rotated at the same speed via spur gears 12a and 13a.

The front and rear wheels 4.5 are each provided with an independent steering mechanism having a separate steering motor. The steering mechanism for the front wheels 4 is such that the driving force of the front wheel steering motor 16a is transmitted to the worm wheel 18a via the worm 17a, which rotates the front wheel bearing fork 19a. The driving force of the rear wheel steering motor 16b rotates the rear wheel bearing fork 19b via a worm 17b and a worm wheel 18b.

Frame 2 has two left wheels with a steering function but no drive function 20. A pair of vertical wheels consisting of a right wheel 21 is attached. The steering mechanisms for the vertical wheels are individually provided, and the steering mechanism for the left wheel 20 is controlled by the driving force of the left wheel steering motor 22a (A23a').
The steering mechanism for the right wheel 21 is such that the right wheel steering motor 22b is transmitted to the worm wheel 24a through the worm 23b and the worm wheel 24b to rotate the left wheel bearing fork 25a. The bearing fork 25b for the right wheel is rotated.

On the other hand, the pressing mechanism 3 that presses both frames 1.2 against the wall side is fixed to the outer @ 26 fixed to the driving side frame l and the driven side frame 2, and is slidable in the axial direction with respect to the outer cylinder 26. It has an inner cylinder 27 fitted in a non-rotatable manner, and an outer cylinder 2.
The cylinder is biased in the direction of being pushed out by a coil spring 28 housed within the cylinder.

In addition, in order to obtain a constant pressing force even when the distance within the wall surface changes, the pole screw 29 is operated by a pressing motor 31.
The vertical movement element (spring seat) 30 pressing one end of the spring 28 is moved by eight rotations. In addition, in the figure, 32 and 33 are drive transmission gears.

As shown in FIGS. 9 to 11, by independently changing the orientation of each of the four wheels 4, 5, 20.21, this conventional trolley can move forward and backward, move left and right, diagonally move, move in one arc, Then, as shown in Fig. 1θ and α) @ 0) in Fig. 11, the front and back, left and right,
Each diagonal movement requires four wheels.4. 5. 20 and 21 are all driven in the same direction. In addition, as shown in (4) and (5) in the figure, when moving in an arc or turning on the spot, the left and right wheels 20, 2
1 is set so that it moves forward and backward; 1 front and rear wheels; 4.
5 is set and driven in an entrance type along a movement locus.

Note that the front and rear wheels 4 and 5 of the on-spot turning are facing the same direction, but their rotation directions are opposite. and.

These steering patterns can be changed either while the trolley is running or stopped, allowing the trolley to freely select a moving trajectory and posture.

<Problems to be Solved by the Invention> However, in the above-described conventional trolley, four steering motors 16a are required because the four wheels are independently steered to change the direction of movement.

16b, 22a, and 22b, it is necessary to detect and adjust the steering angle of each wheel. If this adjustment is incorrect, it will not only cause the track to shift, but also damage the wheels and bearing fork when the steering angle is large. Also, since it has four steering motors, the total weight of one truck is large.
There were problems such as a reduction in the allowable weight of equipment when traveling vertically.

The present invention has been made for the purpose of solving various problems of the conventional art.

<Structure of the Invention> In order to solve the various problems as described above, the present invention includes a drive wheel that rolls into contact with a part of the wall surface arranged opposite to each other as described above, and a drive wheel that rolls into contact with the other side of the wall surface, and a pair of driven wheels arranged symmetrically on the machine with orthogonal directions at the center of a line connecting the two; a steering mechanism that adjusts the direction of each driven wheel or the driven wheels; and a rotational operation of the steering mechanism. A wall-to-wall traveling bogie was constructed with a drive transmission mechanism that operated the wheels on the side that was not equipped with a steering mechanism by taking an average of the following.

<Function> Therefore, as shown in Fig. 11, this wall-to-wall traveling trolley
α) ~ (In each steering state of the group, for example,
The direction of the left and right driven wheels is always the same direction, and the steering angle of the front and rear driven wheels is always the average. Either drive, by averaging the angle and transmitting it as the steering angle of the other wheel.
The steering of the driven wheels on either side is controlled precisely by the steering of the wheels on the other side.

<Example> Next, an example of implementation of the present invention will be described with reference to FIGS. 1 to 6. Incidentally, the same parts as those in the conventional example described above are given the same reference numerals, and the explanation thereof will be omitted.

This truck has a driving side frame l and a driven side frame 2.
are connected via a pressing mechanism 3 in an orthogonal arrangement.A pair of drive wheels consisting of front and rear wheels 4.5 degrees are provided on the drive side frame l so that they can be turned by a steering mechanism. Similarly, each steering motor 1
6a, 16b] Warm 17a.

17b and worm foils isa and 18b. The driven side frame 2 has left and right wheels 20.
, 21 is rotatably provided. Left and right wheels 2G.

21, as shown in FIG. 3 and FIG.
．． 52 is fixed, the steering drive sprocket 53 is supported on the driven frame 2, and the endless chain 54 is hooked around each of the sprockets 51, 52, 53, and rotates in the same direction as the drive sprocket 530 rotates. It is designed to rotate by the same angle. This steering drive sprocket 53 is provided with a drive transmission mechanism 55 that transmits the steering drive of the front and rear wheels 4.5 of the drive side frame 1 in an average manner.

The drive transmission mechanism 55 includes a worm 5 fixed to the tip of a worm shaft 562 of a worm 18a for front wheel steering.
Worm shaft 56bJ of the worm 18b for rear wheel steering.
(Fixed worm 57b and worm foil 58b1 that engages with it; both worm foils 58a, 5
8 Average the rotation of b and drive sprocket 5 for left and right wheels.
and a differential gear mechanism 59 that transmits 31ζ.

As shown in FIGS. 5 and 6, this differential gear mechanism 59 has two shafts 6 and 58a, 58b.
0a and 60b are made into cylinders and are supported in the same position inside and outside, one shaft 60a is integrally provided with an upwardly facing first large bevel gear 61a, and the other shaft 60b is integrally provided with a downwardly facing second bevel gear 61b. Both bevel gears 61 a,
A plurality of intermediate bevel gears 62 (three in this case) are meshed between the gears 6 and 6 lb. This intermediate bevel gear 62
is axis 6Qa.

The rotary element 63 coaxially arranged with the rotary element 60b is supported by a radially projecting support shaft 641ζ. Further, a spline is formed on the inner surface of the rotating element 63, and a spline shaft 65 fixed to the drive sprocket 53 for left and right wheel steering described above is fitted into the spline so as to be slidable in the axial direction, and the rotation of the rotating element 630 is caused by the spline. It is transmitted to the drive sprocket 53 via the shaft 56, so that steering drive for the left and right wheels 20.degree. 21 is provided. In this way, the steering wheel steering ring of each wheel of the bogie is as follows:
6a, 16b rotation position, worm 17a,
17b worm foil 18a.

A pivot is made via 18b. On the other hand, the rotation of the worm 17a for front wheel steering remains unchanged by the worm 57a.
worm wheel 58a and the first large bevel gear 61a.
can be conveyed to.

Similarly, the rotation of the worm 17b for the rear wheel steering puffer is transmitted from the worm 57b to the worm wheel 58b and the second large bevel gear 61b, and the intermediate bevel gear 62 is engaged between the bevel gears 61a and 61b, and the differential 7L Since the rotating element 63 supporting the intermediate non-bevel gear 62 is rotated at the average speed of the two large bevel gears 61a and 61b, this is caused by the spline shaft 65. Driving sprocket 53 for left and right wheel steering of driven frame 2
and the sprocket via the chain 54) 51.
52 are simultaneously turned in the same direction and by an angle that is the average of the steering angles of the driving wheels 4.5.

For example, as shown in FIG.
), both the angles formed by the front and rear wheels 4°5 are 06,
Therefore, the driven left and right wheels 20, 21 are connected to each other via the drive transmission mechanism 55.
Also, the 0° angle, which is the average of Oo and 00, is parallel to the front and rear wheels 4 and 5.

In the case of left-right movement in FIG. 11(2), when the front and rear driving wheels 4.5 are rotated by 90 degrees, the left and right driven wheels 20 and 21 are turned by 90 degrees, which is the average of 90'+90 degrees.

In the case of diagonal movement in FIG. , 21 are also turned 4r.

In the case of the circular movement shown in FIG. 11 (4), the front wheel 4 of the driving wheels turns +♂ and the rear wheel 5 turns -♂, and accordingly, the left and right driven wheels 20, 21 turn +♂ and -I. It is assumed that the direction is o6, which is the average.

In the case of on-the-spot turning shown in Figure 11G)l.

The front wheel 4 of the driving wheels is turned by -90', the rear wheel is turned by +90°, and accordingly, the driven left and right wheels 20 and 21 are oriented at 0° (front-rear direction), which is the average of +90° and -90°. be done.

<Effects of the Invention> The wall-to-wall traveling trolley of the present invention is configured as described above, and averages the rotational motion of the steering mechanism of the pair of wheels on either the driving or driven wheels to operate the pair of wheels on the other side. It is equipped with a rotation transmission mechanism, and the steering on one side of the drive and driven wheels is controlled by the steering on the other side, which allows the four wheels to be steered using four motors. On the other hand, two motors can reduce the weight of the truck and increase the load of the inspection equipment, etc. It has various effects such as simplifying the steering control system, eliminating steering malfunctions and variations in stopping position, and ensuring that all four wheels always move in sync even when there is a disturbance. There is.

[Brief explanation of the drawing]

Figures 1 to 6 show examples of the trolley of the present invention.
Figure 1 is an overall side view, Figure 2 is a sectional view taken along the line ■--■ in Figure 1, Figure 3 is a plan view of the steering mechanism of the driven wheels, and Figure 4 is a cross-sectional view taken along the line ■-■ in Figure 3. ■ Line sectional view, Figure 5 is an enlarged sectional view of the drive transmission r3A component, Figure 6 is Vl in Figure 5.
-', 4-line cross-sectional view, Figure 7 is a vertical cross-sectional view showing a conventional trolley, Figure 8 is a front view of the same, Figure 9 is a wheel arrangement t6
'・Bottom schematic perspective view, Figure 1 O-Indications are separate wall-to-wall movement A7. ′
A perspective view showing the direction of the Tsuwa at the time of -i, Figures 11 (1) to (
5) J is a plan view showing only the direction of the wheels. In the drawing, l is the driving side frame, and 2 is the driven side frame. 3 is a pressing mechanism, 4 is a front wheel (drive wheel), 5 is a rear wheel (drive wheel), and 6 is a drive motor. 16a is the front wheel steering motor. 16b is a rear wheel steering motor. 17a and 17b are worms, 18a and 18b are worm wheels, 20 is a left wheel (driven wheel), 21 is a right wheel (driven wheel), 51.52 is a sprocket, 53 is a steering drive sprocket, and 54 is an endless chain. 55 is a drive transmission mechanism. 56a and 56b are worm shafts. 57a and 57b are worms, and 58a and 58b are worm foils. 59 is a differential differential mechanism. 51a and 61b are large bevel gears. 63 is a rotating element. 65 is a spline shaft. Fig. 4 Fig. 3 Fig. 1 Fig. 2 Fig. 5 Fig. 6 ad Fig. 7 525J Fig. 1O t5 μp 11 Fig. 9

Claims (1)

[Claims] A drive wheel that is in rolling contact with one side of a wall surface that is arranged opposite to each other, and a pair of driven wheels that are in rolling contact with the other side of the wall surface and are arranged symmetrically with respect to each other on a line that is perpendicular to the center position of a line that connects the driving wheels. A driving wheel, a steering mechanism that adjusts the direction of the driving wheel or the driven wheel, and a drive transmission mechanism that averages the rotational movement of the steering mechanism and operates the wheel on the side where the steering mechanism is not provided. A wall-to-wall traveling trolley.