WO2001032495A1 - Chariot mobile - Google Patents

Chariot mobile Download PDF

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Publication number
WO2001032495A1
WO2001032495A1 PCT/JP2000/007684 JP0007684W WO0132495A1 WO 2001032495 A1 WO2001032495 A1 WO 2001032495A1 JP 0007684 W JP0007684 W JP 0007684W WO 0132495 A1 WO0132495 A1 WO 0132495A1
Authority
WO
WIPO (PCT)
Prior art keywords
moving
mobile trolley
trolley
driving
drive
Prior art date
Application number
PCT/JP2000/007684
Other languages
English (en)
Japanese (ja)
Inventor
Fukashi Urakami
Original Assignee
Uragami Fukashi
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP35064899A external-priority patent/JP2001130437A/ja
Priority claimed from JP35493199A external-priority patent/JP2001130459A/ja
Priority claimed from JP2000011695A external-priority patent/JP2001199374A/ja
Application filed by Uragami Fukashi filed Critical Uragami Fukashi
Publication of WO2001032495A1 publication Critical patent/WO2001032495A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources

Definitions

  • the present invention relates to a movable trolley that can be easily shifted in width in a direction intersecting with a moving direction, that is, can move laterally.
  • mobile trolleys such as bulldozers and tanks are equipped with driving and moving means on both the left and right sides in the direction of movement that can select either forward or reverse, so that they can turn on the spot can do.
  • mobile trolleys such as bulldozers and tanks have the following drawbacks that need to be resolved.
  • the above-mentioned movable trolley can easily move forward, backward, and turn at that location.
  • the movable trolley when the trolley is moved in a direction intersecting the moving direction, the movable trolley must It requires a place with an area more than twice as large as the size, and the moving procedure to move the width is very troublesome, such as turning, moving forward, turning backward, and moving backward.
  • An object of the present invention is to move on a running surface by providing a plurality of moving means such as driving wheels or endless rails, and each moving means is configured as a driving moving means which is driven by being connected to a driving source.
  • An object of the present invention is to provide a movable trolley capable of easily moving in a direction intersecting the direction in which the trolley moves, that is, capable of being moved laterally.
  • each moving means is connected to the drive source and driven.
  • the movable trolley is configured to be able to turn around a arbitrarily selected one of a plurality of contact portions between the driving means and the traveling surface.
  • a mobile trolley is provided.
  • FIG. 1 is a plan view showing a first specific example of a mobile trolley constituted according to the present invention.
  • FIG. 2 is a right side view of the mobile trolley in FIG.
  • FIG. 3 is a plan view for explaining an example of a turning operation of the mobile trolley and the position of the center of gravity of the mobile trolley in the mobile trolley shown in FIGS. 1 and 2.
  • FIG. 4 shows the hydraulic cylinder 80 when the running surface 1 is the floor surface and the center of gravity of the mobile trolley is in the area G2 in the mobile trolley shown in FIGS. 1 and 2.
  • FIG. 2 is a right side view illustrating a state in which the piston rod 83 of FIG. 1 is extended and the drive wheels 22 a are separated from the running surface 1.
  • FIG. 5 shows a hydraulic cylinder 80 when the running surface 1 is the floor surface and the center of gravity of the mobile trolley is in the area G2 in the mobile trolley shown in FIGS. 1 and 2.
  • FIG. 4 is a right side view illustrating a state in which the piston rod 83 of FIG. 1 has contracted and the drive wheels 22 c have been separated from the running surface 1.
  • FIG. 6 shows the traveling vehicle 1 shown in FIGS. 1 and 2 in which the running surface 1 is the floor surface and the center of gravity of the traveling vehicle is in the G2 region indicated by the oblique parallel lines in FIG.
  • FIG. 7 is an explanatory view showing an example of a moving procedure of the mobile trolley in the right and left directions at the time, and FIG. 7 is a plan view showing a second specific example of the mobile trolley configured according to the present invention.
  • FIG. 8 is a right side view of the mobile trolley in FIG.
  • FIG. 9 is a plan view showing a third specific example of the movable trolley constituted according to the present invention.
  • FIG. 10 is a right side view of the movable cart shown in FIG.
  • FIG. 11 is a view for explaining an example of a turning operation of the movable trolley in the movable trolley shown in FIGS. 9 and 10;
  • FIG. 12 is an explanatory diagram illustrating an example of a moving procedure of the lateral movement of the moving vehicle in the moving vehicle illustrated in FIGS. 9 and 10.
  • the illustrated mobile trolley has a frame that is divided into two parts, left and right, in the forward direction (indicated by arrow F) in the direction of movement.
  • the left frame 18 has a shape that is elongated in the direction of movement and is made of steel.
  • the frame main part 18 1 is fixed to the end of the frame main part 18 1 and the driven shaft of the drive wheel 22 c.
  • Bearings 18 2 an electric motor 24 L with a reduction gear fixed to the other end of the frame main part 18 1 and having a drive shaft of drive wheels 2 2 d, and a box-shaped It is composed of a central connecting frame part 18 3, a frame main part 18 1 is welded to the left side of the central connecting frame part 18 3, and a right frame 16 and a hinge pin 19 are provided on the right side. Hinge boss portions 184 for hinge connection are welded. A bracket 185 for fixing a support bracket 84 of the intermediate trunnion type hydraulic cylinder 80 is welded to the upper surface of the central connecting frame portion 183.
  • the right frame 16 has a shape elongated in the direction of movement and is made of steel.
  • the frame main part 16 1 is fixed to the end of the frame main part 16 1 and holds the driven shaft of the drive wheel 22 a.
  • an electric motor 24 R with a reduction gear fixed to the other end of the frame main part 16 1 and the other end of the frame main part 16 1 and having a drive shaft of drive wheels 22 b.
  • a hinge boss portion 163 for hinged connection with a left frame 18 and a hinge pin 19 is welded to the side surface of the frame main portion 161.
  • a hinge pin 84 is attached to the side of the frame main part 16 1 to connect the clevis 83 attached to the tip of the biston rod 82 of the intermediate trunnion type hydraulic cylinder 80 to the hinge.
  • the illustrated drive wheels 22a, 22b, 22c and 22d are solid tires having a wear-resistant material such as polyurethane rubber fixed to the outer periphery.
  • a sprocket is fixed to each of the rotating shafts of and 2d, and a roller chain 26L is suspended between the two sprockets.
  • a sprocket is also fixed to each rotating shaft of the drive wheels 22a and 22b, and a roller chain 26 is suspended between the two sprockets.
  • FIG. 1 and 2 each have two driving wheels 22 c, 22 d, each of which is a driving moving means, and one driving and moving means group, and It has a total of two sets of driving / moving means, which is another driving / moving means group having two driving wheels 22a and 22b as moving means.
  • the cylinder part 81 of the hydraulic cylinder 80 is attached to the support bracket 84 with a hinge pin 85, and the operation of the hydraulic cylinder 80 causes the left side of the cylinder part 81 to rotate with the hinge pin 19 as an axis.
  • the relative angle between the frame 18 and the right frame 16 can be arbitrarily changed.
  • FIG. 4 shows a state in which the piston rod 83 of the hydraulic cylinder 80 is extended and the drive wheels 22a are separated from the running surface 1, and FIG.
  • FIG. 5 is a diagram showing the hydraulic cylinder
  • FIG. 8 shows a state in which the drive rod 2 2 c is retracted from the running surface 1 due to the contraction of the 80-stone rod 83 ( however, FIGS. 4 and 5 show that the running surface 1 is a floor surface.
  • FIGS. 4 and 5 show that the running surface 1 is a floor surface.
  • FIG. 1 is a view for explaining an example of the turning operation of the movable trolley according to the present invention, in which the piston rod 83 of the fluid pressure cylinder 80 is extended and the drive wheel 22a is separated from the running surface 1.
  • FIG. 3 is a view for explaining an example of the turning operation of the movable trolley according to the present invention, in which the piston rod 83 of the fluid pressure cylinder 80 is extended and the drive wheel 22a is separated from the running surface 1.
  • the left-hand drive / moving means group moves in the direction of arrow A while the electric motor with a reduction gear 24 R is stopped in FIG.
  • the center of the movable trolley makes a right turn in the direction of arrow C around the contact portion pb between the drive wheel 22 b and the running surface 1 as a turning center.
  • P indicates the center of the turning motion of the mobile trolley
  • arrow B indicates the turning direction of the drive wheel separated from the running surface 1.
  • Fig. 6 shows the procedure for moving the mobile trolley laterally when the running surface 1 is the floor and the center of gravity of the mobile trolley is in the G2 area shown by the oblique parallel lines in Fig. 3.
  • FIG. 6 shows the procedure for moving the mobile trolley laterally when the running surface 1 is the floor and the center of gravity of the mobile trolley is in the G2 area shown by the oblique parallel lines in Fig. 3.
  • each drawing shows the posture immediately before the mobile trolley starts the width shifting operation at each time.
  • the arrow A indicates the direction in which the rotationally driven drive wheel is driven
  • the arrow C indicates the direction in which the central part of the movable truck moves
  • the arrow B indicates the direction in which the drive wheel separated from the running surface 1 moves.
  • P indicates the turning center of the turning motion of the mobile trolley.
  • the running surface 1 is a wall surface
  • the moving vehicle has a function of adsorbing on the running surface 1 with the arrow F pointing upward and the arrow R pointing downward and moving along the running surface 1.
  • the attraction force acting on the mobile trolley gives a force pressing the central part of the mobile trolley in the direction of the running surface 1, while the weight of the mobile trolley corresponds to the arrow R with respect to the central part of the mobile trolley.
  • the forward (upper) drive wheels 22a and 22c are more likely to separate from the running surface 1 than the rear (lower) drive wheels 22b and 22d. It is in a state.
  • the running surface 1 can be regarded as a wall surface.
  • drive wheel 2 2c and drive wheel 2 2d are rotationally driven to move in the direction of arrow A, and at the same time, drive wheel 22a and drive wheel 22b move in the direction of arrow A
  • the mobile trolley turns left in the direction of arrow C with P at the center of the mobile trolley as the center of turning, and stops at the position shown in Fig. (3).
  • Fig. 3 (3) when the driving wheels 22a and 22b are rotationally driven to move in the direction of arrow A, the movable bogie moves between the non-rotating driving wheels 22d and the running surface 1. Turn right with the contact point P as the center of turning, and stop at the position shown in Fig. (4).
  • Fig. 4 shows the position of the mobile trolley where the horizontal movement of the mobile trolley, that is, the width shifting operation is completed.
  • the electric motors 24 LL and 24 L, 24 RR and 24 R with a reduction gear of the movable trolley are operated to drive the driving wheels 22 c and 22 d and the driving wheels 22 a and 22.
  • the mobile trolley travels straight along running surface 1 (forward as indicated by arrow F or reverse as indicated by arrow R), and wheels 22c and 22d and wheels 22a and
  • the mobile trolley turns (turns left or right) around its central axis and is directed in the desired direction.
  • the center of the movable bogie makes a right turn in the direction of arrow C with the contact point pb between the drive wheels 22 b and the running surface 1 as the turning center.
  • P indicates the center of the turning motion of the mobile trolley
  • arrow B indicates the turning direction of the drive wheel separated from the running surface 1. That is, as will be easily understood, as described above, In the mobile trolley provided with a step, the same width shifting operation as the mobile trolley shown in FIGS. 1 and 2 can be performed.
  • any of the contact portions between the driving means and the running surface can be arbitrarily selected on the left or right side in the moving direction of the mobile trolley. It is important that the plurality of contact portions on the selected side be configured so that the frictional resistance of the other contact portions except one arbitrarily selected contact portion is reduced.
  • vibration means such as a well-known pneumatic piston vibrator is provided near the driving wheel 22a. ). The frictional resistance between the drive wheel 22a and the running surface 1 can be arbitrarily reduced by the action of the vibration means.
  • the one arbitrarily selected contact portion is arranged closer to the center of gravity of the movable trolley and the other contact portion is arranged at a position distant from the center of gravity, the one arbitrarily selected one can be selected.
  • the contact pressure between the contact portion and the running surface is further increased.
  • two sets of drive moving means that is, a group of drive transfer means composed of two sets of drive wheels are used.
  • One set is provided on each of the left and right sides with respect to the moving direction of the moving trolley.
  • ach driving and moving means group has one set or three or more sets of drive wheels instead of two sets of drive wheels.
  • an endless truck known per se that is, an endless rail may be used as the driving / moving means group.
  • two sets of driving wheels are arranged on the same straight line parallel to the moving direction of the moving trolley, but the driving / moving means group includes a plurality of driving / moving means. In the case where the moving carriages are constructed, they need not necessarily be arranged on the same straight line parallel to the moving direction of the moving trolley, and are arranged with their positions shifted from the axis in the moving direction. May be done.
  • the moving trolley shown in FIG. 9 includes a frame 19, an electric motor 24 R with a reduction gear having a driving shaft of driving wheels 22 b, and a driving wheel 22 d.
  • An electric motor with a reduction gear 24 L with a drive shaft and an electric motor with a reduction gear 24 E with a drive shaft for the drive wheels 22 e are composed of a box-shaped frame 19.
  • An electric motor 24 E with a reduction gear is fixed to the front side surface of the central frame 19.
  • the left frame portion 192 and the frame portion 191 are formed using a shape steel. Note that, with respect to the moving direction of the mobile trolley, the front of the moving direction is indicated by an arrow F, and the rear of the moving direction is indicated by an arrow R.
  • the illustrated drive wheels 22b, 22d and 22e are solid tires to which a wear-resistant material such as polyurethane rubber is fixed on the outer periphery.
  • a wear-resistant material such as polyurethane rubber is fixed on the outer periphery.
  • the moving trolleys shown in FIGS. 9 and 10 each have three drive wheels as drive moving means.
  • FIG. 12 is a diagram for explaining an example of a turning operation other than the above-described turning operation in the movable trolley shown in FIGS. 9 and 10.
  • the center of the moving trolley Turns right in the direction of arrow C around the contact point pb between the drive wheel 2 2 b and the running surface 1.
  • P indicates the center of the swiveling motion of the mobile trolley
  • chain lines td and te indicate the trajectories of the drive wheels 22 d and 22 e, respectively.
  • FIG. 12 illustrates an example of a moving procedure of the lateral movement of the movable cart.
  • the coordinate axes X 0 and Y 0 are added as indices for understanding the lateral movement of the movable trolley, that is, the situation of the width shift.
  • each drawing shows the posture immediately before the mobile trolley starts the width shifting operation at each time.
  • Arrow A indicates the direction in which the rotationally driven drive wheel is driven
  • arrow C indicates the direction in which the central part of the mobile trolley moves
  • arrow B indicates the direction in which the drive wheel separated from the running surface 1 moves.
  • P indicates the turning center of the turning motion of the mobile trolley.
  • the running surface 1 is a wall surface, and the movable bogie is attracted to the running surface 1 with the arrow F pointing upward and the arrow R pointing downward, and along the running surface 1.
  • the conditions for the lateral movement of the mobile trolley that is, the width shift, may be considered to be almost the same regardless of whether the running surface is a floor surface or a wall surface. . Therefore, in FIG. 12, the running surface 1 can be regarded as a wall surface.
  • the running surface 1 is a wall surface, and the movable bogie has a function of adsorbing on the running surface 1 with the arrow F pointing upward and the arrow R pointing downward, and moving along the running surface 1. If so, the two sets of drive wheels should be located below the mobile trolley. The reason is that the attraction force acting on the mobile trolley gives a force that pushes the central part of the mobile trolley toward the running surface 1, while the weight of the mobile trolley applies to the central part of the mobile trolley. A force is applied to push down in the direction of arrow R, so that the front (upper) drive wheels are more likely to separate from the running surface 1 than the rear (lower) drive wheels. The stability of the operation of the mobile trolley increases when the drive wheels of the type are arranged on the lower side.
  • FIG. 3 (3) when the drive wheels 22e and the drive wheels 22b are rotated to move in the directions of arrows Ae and Ab, respectively, the movable trolley is driven by the drive wheels 22d that are not rotationally driven. Turn clockwise around the point of contact P with running surface 1 and stop at the position shown in (4).
  • Figure (4) shows the horizontal movement of the mobile trolley. That is, it shows the position of the movable trolley where the width shifting operation is completed.
  • the mobile trolley as described above is a mobile trolley that performs various operations on a running surface such as a floor. It can be conveniently used as a movable cart that can be easily laterally moved in the direction intersecting the direction in which it moves. Also, the present invention is applied to a mobile trolley having a function of being capable of being vacuum-adsorbed on a running surface such as a wall surface and moving along the running surface, as disclosed in Patent No. 13323843. can do.
  • a mobile trolley that performs old paint film peeling work and painting work on the surface of large structures such as hulls, various tanks and building, and underwater cleaning work at the bottom of the ship It can be conveniently used as a movable trolley that can be easily laterally moved in the direction, that is, it can be shifted to the width.
  • the application example of the present invention is not limited to such an embodiment, but is applied to a mobile trolley traveling on various floor surfaces and a mobile trolley adsorbing on a wall surface and traveling along the wall surface. be able to.
  • the mobile trolley of the present invention has an advantage that the width of the trolley can be easily set in the direction intersecting with the traveling direction, that is, the trolley can be moved laterally. This has the advantage of requiring a minimum amount of time to perform.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

L'invention porte sur un chariot mobile pouvant se translater latéralement sur une surface d'évolution perpendiculairement à sa direction de marche à l'aide de plusieurs moyens de déplacement, roues ou chenilles, motorisés, et pouvant pivoter autour de points de contact choisis arbitrairement situés entre les moyens de déplacement et la surface d'évolution.
PCT/JP2000/007684 1999-11-04 2000-11-02 Chariot mobile WO2001032495A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP11/350648 1999-11-04
JP35064899A JP2001130437A (ja) 1999-11-04 1999-11-04 移動台車
JP11/354931 1999-11-09
JP35493199A JP2001130459A (ja) 1999-11-09 1999-11-09 移動台車
JP2000011695A JP2001199374A (ja) 2000-01-20 2000-01-20 移動台車
JP2000-11695 2000-01-20

Publications (1)

Publication Number Publication Date
WO2001032495A1 true WO2001032495A1 (fr) 2001-05-10

Family

ID=27341351

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2000/007684 WO2001032495A1 (fr) 1999-11-04 2000-11-02 Chariot mobile

Country Status (1)

Country Link
WO (1) WO2001032495A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004106809A (ja) * 2002-09-20 2004-04-08 Fukashi Uragami 負圧などの吸着手段により表面に吸着する移動台車

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS3618454B1 (fr) * 1959-10-20 1961-10-05
JPS6038267A (ja) * 1983-07-20 1985-02-27 ジヤン　マリ　バプテイス　ジヤレ 車両およびこの車両を回転させる方法
JPS6237285A (ja) * 1985-08-13 1987-02-18 Mitsubishi Heavy Ind Ltd 車輪走行装置の走行制御方法
JPH0321567A (ja) * 1989-06-20 1991-01-30 Kubota Corp 作業車の旋回制御装置
JPH04110257A (ja) * 1990-08-30 1992-04-10 Kubota Corp 芝刈り用の作業車の旋回装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS3618454B1 (fr) * 1959-10-20 1961-10-05
JPS6038267A (ja) * 1983-07-20 1985-02-27 ジヤン　マリ　バプテイス　ジヤレ 車両およびこの車両を回転させる方法
JPS6237285A (ja) * 1985-08-13 1987-02-18 Mitsubishi Heavy Ind Ltd 車輪走行装置の走行制御方法
JPH0321567A (ja) * 1989-06-20 1991-01-30 Kubota Corp 作業車の旋回制御装置
JPH04110257A (ja) * 1990-08-30 1992-04-10 Kubota Corp 芝刈り用の作業車の旋回装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004106809A (ja) * 2002-09-20 2004-04-08 Fukashi Uragami 負圧などの吸着手段により表面に吸着する移動台車
JP4644861B2 (ja) * 2002-09-20 2011-03-09 ウラカミ合同会社 負圧などの吸着手段により表面に吸着する移動台車
US7938216B2 (en) 2002-09-20 2011-05-10 Fukashi Urakami Moving carrier that sticks to surface by use of sticking means such as negative pressure

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