JPS6238858Y2 - - Google Patents

Description

[Detailed description of the invention] The present invention consists of a traveling bogie for a remote-controlled manipulator, that is, a car body, consisting of a rear car body having a crawler and a front car body having front wheels. The present invention relates to traveling carts connected to each other so as to be swingable.

For example, in a traveling trolley for a remote-controlled manipulator, in order to overcome steps and uneven floors, the vehicle body is divided into front and rear parts, the rear body is driven by crawlers, and the front body is driven by the front wheels. is adopted. In other words, in the past, Figures 1 and 2
As shown in the figure, the vehicle body 1 is composed of a rear vehicle body 1A having a crawler 2 and a front vehicle body 1B having front wheels 3. Connected for free movement. In this configuration, when the traveling trolley goes down a stage, for example, it is necessary to lower the vehicle body 1B. To this end, in the past, electric cylinders 5 and 6 were disposed on both sides of the vehicle body, and the base ends of these electric cylinders 5 and 6 were connected to the rear vehicle body 1A so as to be able to swing up and down, and the tips were connected to the rear vehicle body 1A. It is connected to the vehicle body 1B so as to be able to swing up and down relative to the vehicle body 1B. In this case, it is normal to synchronize the motors of both electric cylinders 5 and 6 so that the movement of the two cylinders does not become extreme, which requires two drive motors and a synchronization circuit. This makes the structure quite complex and expensive.

The purpose of this invention is to smoothly and reliably lift the front vehicle body up and down when going over stairs or uneven surfaces without having to perform electrical synchronization using a single motor. The point is to provide trolleys.

In order to achieve the above object, the traveling bogie of the present invention has rod cylinders each consisting of a cylinder body and a threaded shaft that is screwed into the cylinder body side and is expandable and retractable by rotation, and that the rod cylinders are arranged on both sides of the vehicle body. The base end of the cylinder body is connected to one of the rear vehicle body and the front vehicle body so that it can swing vertically, and a drive motor is attached to the other, and the drive shaft from this drive motor protrudes to both the left and right sides. and interlocking the protrusion of the drive shaft and the tip of the screw shaft via a bevel gear,
These bevel gears are supported by a gear housing that is rotatable around the drive shaft axis.

According to the configuration of the present invention, the following effects can be expected. That is, the forward and reverse rotations of the drive shaft caused by the driving of the drive motor are transmitted to the screw shaft through bevel gears, causing the screw shaft to rotate forward and backward, thereby extending and contracting the screw shaft with respect to the cylinder body. The length of the rod cylinder can be changed and the front vehicle body can be lifted up and down. Therefore, the front vehicle body can be lifted vertically by one motor smoothly and reliably without electrical synchronization, and the structure can be simplified and provided at low cost. Further, since the gear housing is rotatable around the drive shaft axis without being connected to the vehicle body, relative displacement with respect to the rear vehicle body due to vertical inclination of the front vehicle body can be absorbed by the rotation.

An embodiment of the present invention will be described below with reference to FIGS. 3 and 4. That is, the vehicle body 10 is composed of a rear vehicle body 10A having a crawler (not shown) and a front vehicle body 10B having front wheels (not shown), and both vehicle bodies 10A, 10B are connected to a horizontal axis (not shown).
are connected to each other so that they can relatively swing up and down.
On both sides of the vehicle body 10, cylinder bodies 11A,
11B, nuts 12A, 12B attached to the tips of the cylinder bodies 11A, 11B, and screw shafts (ball screw shafts) that are screwed into these nuts 12A, 12B and are expandable and retractable with respect to the cylinder bodies 11A, 11B by rotation. Rod cylinders 14A and 14B consisting of rod cylinders 13A and 13B are arranged. The base ends of the cylinder bodies 11A, 11B of these rod cylinders 14A, 14B are connected to both sides of the rear vehicle body 10A via horizontal pins 15A, 15B so as to be able to swing vertically. On the other hand, a drive motor 16 is attached to the front vehicle body 10B, and a drive shaft 17 from the drive motor 16 protrudes to both the left and right sides. The drive motor 16 has a brake 18, and the drive shaft 17 is supported by the front vehicle body 10B by bearing housings 19A and 19B. The protruding end of the drive shaft 17 and the tips of the screw shafts 13A, 13B are interlocked via bevel gears 20A, 20B, 21A, 21B, and these bevel gears 20A, 2
0B, 21A, and 21B are supported by gear housings 22A and 22B that are rotatable around the drive shaft axis 17a. Note that between the rod cylinders 14A, 14B and the gear housings 22A, 22B, the rod cylinders 1
A potentiometer 23 is provided to measure the amount of expansion/contraction displacement of 4A, 14B, and a limit switch 24 for regulating the amount of inclination is provided on the rear vehicle body 10A.

The action will be explained below. When lifting the front vehicle body 10B vertically with respect to the rear vehicle body 10A, the drive motor 16 is driven to rotate the drive shaft 17 forward and backward. Then, the forward and reverse rotation of the drive shaft 17 is controlled by the bevel gear 20.
A, 20B, 21A, 21B via screw shaft 13
A, 13B, these screw shafts 13A, 1
Rotate 3B forward and reverse. At this time, the screw shaft 13A,
13B is screwed into the nuts 12A, 12B, so the screw shafts 13A, 13B are expanded and contracted with respect to the cylinder bodies 11A, 11B, and the length of the rod cylinders 14A, 14B can be changed. The vehicle body 10B can be lifted up and down. At this time, the bevel gears 20A, 20B, 21A,
Since the gear housings 22A and 22B incorporating the gear housings 21B are configured to be rotatable about the drive shaft axis 17a without being connected to the vehicle body 10, the front vehicle body 10B
This rotation can absorb the relative displacement with respect to the rear vehicle body 10A when the rear vehicle body 10A is tilted vertically.

The above-mentioned vertical tilt displacement can be detected by measuring the amount of expansion/contraction displacement of the rod cylinders 14A, 14B with the potentiometer 23, and by feeding back the detection, the front body 10B can be stopped at any position. . Also, the rod cylinder 14
By detecting A and 14B with the limit switch 24, it is possible to prevent the front vehicle body 10B from tilting beyond a certain angle with inexpensive and reliable control.

As a modification, cylinder bodies 11A, 11B
may be attached to the front vehicle body 10B so as to be vertically swingable, and the drive motor 16 and the like may be attached to the rear vehicle body 10A.

[Brief explanation of the drawing]

Fig. 1 and Fig. 2 show a conventional example, Fig. 1 is a side view, Fig. 2 is a plan view, Fig. 3 and Fig. 4 show an embodiment of the present invention, and Fig. 3 is a main part. FIG. 4 is a cross-sectional plan view of the same. 10...Car body, 10A...Rear car body, 10B...
...Front body, 11A, 11B...Cylinder body,
12A, 12B...Natsuto, 13A, 13B...
Screw shaft, 14A, 14B... Rod cylinder, 1
5A, 15B...Horizontal pin, 16...Drive motor, 17...Drive shaft, 17a...Drive shaft center, 1
8... Brake, 19A, 19B... Bearing casing, 2
0A, 20B, 21A, 21B...Bevel gear, 22
A, 22B... Gear case, 23... Potentiometer, 24... Limit switch.

Claims (1)

[Scope of utility model registration request] In a traveling bogie in which the vehicle body is composed of a rear vehicle body having a crawler and a front vehicle body having front wheels, and the two vehicle bodies are connected so as to be able to swing vertically relative to each other, a cylinder body and a screw thread are attached to the cylinder body side. Rod cylinders consisting of threaded shafts that are joined together and extendable by rotation are arranged on both sides of the vehicle body, and the base ends of the cylinder bodies of these rod cylinders are swingable up and down to one of the rear vehicle body and the front vehicle body. and a driving motor is attached to the other side, and a driving shaft from this driving motor is made to protrude to both left and right sides, and the protruding part of this driving shaft and the tip of the screw shaft are interlocked via a bevel gear. , a traveling trolley characterized in that these bevel gears are supported by a gear casing that is rotatable around a drive shaft axis.