JPH0430970A - Mobile truck - Google Patents

Abstract

PURPOSE:To enable a traverse motion directly, to facilitate a remote control and to perform a correct alignment without performing switchback operation in the case of a device being traversed, by providing each wheels of a mobile truck freely rotatably on the face to be processed within the range of 90 deg. with the vertical shaft as the center. CONSTITUTION:Each wheels 28A, 28B, 28C and 28D are fixed movable in an arrow mark C direction. Then, each wheels 23A, 28B, 28C and 28D are positively rotated and a grinding and cleaning work is performed with a projector being projected on the face to be treated by an impeller, while gradually ascending a grinding and cleaning device along the face to be treated. The rotations of the wheels 28A, 28B, 28C, 28D are stopped and also the grinding and cleaning work is stopped once at the place where this device reaches the ascent end, after each clamp pins being contracted, the wheels 28A and 28D are fixed so as not to be rotated and also the wheel 28B is positively rotated and wheel 28C is reversed. Consequently both wheels 28B and 28C are turned 90 deg. in the counter clockwise direction.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) In order to treat floors, walls, ceilings, etc., the present invention is equipped with a cleaning machine, a paint machine, etc., and remotely controls the surfaces to be treated. Concerning a self-propelled trolley.

(Prior art) The direction changing mechanism in the above-mentioned self-propelled trolley includes (I);
A pair of left and right wheels are attached to the self-propelled cart, divided into front and rear wheels, and the front and rear wheels are connected to two motors capable of forward and reverse driving via a winding transmission, and both motors are driven in the same direction or in opposite directions. (2) A drive wheel, a driven wheel, and a guide wheel located between the two are provided on both sides of the underframe. The underframe is moved in any direction by suspending an endless track belt and giving different rotations to the left and right endless track belts using a variable speed drive device connected to the drive wheels (for example, Japanese Patent Laid-Open No. 53 -96591) etc. are known.

(Problem to be Solved by the Invention) By the way, when these self-propelled carts are moved laterally at 90 degrees with respect to the straight direction (for example, when a wall surface is ground vertically with a grinder mounted on the self-propelled cart) After cleaning, if you want to clean the adjacent areas on the left and right), it is impossible to move the trolley directly across, and you have to switch back repeatedly. However, performing such movement work by remote control within a limited cleaning space is extremely cumbersome, and accurate positioning is difficult.

Further, in the conventional direction changing mechanism described above, large friction occurs between the surface to be treated and the wheels or the endless track belt, leading to premature wear of the wheels or the endless track belt and damaging the surface to be treated.

The present invention has been made in view of the above circumstances, and even when changing direction by remote control within a limited processing space, it can be easily done, and the friction between the surface to be processed and the wheels can be easily changed. The aim is to provide a mechanically simple self-propelled trolley with less friction.

(Means for Solving the Problems) In order to achieve the above object, the present invention has a plurality of wheels attached to the underframe of a self-propelled cart so that they can be driven independently, and the wheels are perpendicular to the surface to be processed. The gist of this invention is that it can be rotated around a fixed axis and fixed at a predetermined angle.

a motor base that is rotatable and one side of which is formed in the shape of an arc with a predetermined radius from the axis; and an electric motor that is attached to the lower surface of the motor base via an electric motor that can freely rotate in forward and reverse directions;
A wheel that rotates perpendicularly to the surface to be processed, a stopper that is fixed to the underframe and restricts the rotation range of the motor base between two positions in the front-back direction and the left-right direction of the underframe, and the above-mentioned stand. a telescoping clamp pin disposed outside the arcuate peripheral edge of the motor base in the frame; A pair of movable stoppers are attached to which the clamp pin can be regulated at an intermediate position between the longitudinal direction and the lateral direction of the underframe when the underframe is in a position to move the underframe horizontally. The part is characterized in that a clamp hole into which the clamp pin can be inserted is formed when the wheel is at an intermediate position between the longitudinal direction and the lateral direction of the underframe.

(Structure) Hereinafter, the structure of the present invention will be explained in detail based on examples.

FIG. 1 is a front view showing one embodiment of the present invention, and FIG. 2 is a front view showing one embodiment of the present invention.
Fig. 3 is a plan view of Fig. 2, Fig. 4 is a view taken from Fig. 2 along B-B, and Figs. 5 to 9 are the rotation of the wheels in Fig. It is a drawing explaining a movement operation.

Figure 1 shows a self-propelled cleaning device for cleaning vertical walls.
The polishing device is suspended by a chain (2) via a hanging device (1) in case of an accidental fall. The main body (3) of the cleaning device includes a projection passageway (5) directed diagonally upward from below with respect to the surface to be treated (4), and a projection opening (6) at the tip of the projection passageway (5). The sealing material (7
), a projection material recovery hood (8) provided in the direction of reflection of the projection material projected onto the surface to be treated (4), and a hopper (9) for storing the recovered projection material, and the projection path (
5), the projection material from the hopper (9) is transferred to the surface to be treated (4).
) is provided with an impeller (11) rotatable at high speed by an electric motor (12). Above hopper (9)
Inside is a hopper (
A separating plate (14) is provided for collecting dust in the dust collector 9) and sending the dust to a dust collector (not shown) via a duct (13). The above-mentioned vacuum cleaner body (3) is a self-propelled trolley (15)
The machine is mounted on the machine and runs smoothly on the surface to be treated (4). Note that (16) means that the polishing device is used for the surface to be treated (4
) is a magnet for adsorption.

Figures 2 and 3 show the main parts of the self-propelled cart (15), and the four corners of the rectangular underframe (17) are provided with through holes (18) in the direction perpendicular to the surface to be treated (4). is drilled. (19
) is a rectangular flat motor base with an upright shaft (21) on its upper surface, and one side of the motor base (19) is formed in an arc shape with a predetermined radius from the axis. The shaft (21) is loosely inserted into the through hole (18) of the underframe (17),
The table is rotatable via a bearing (22), and is supported by a spacer (23) inserted into its base and a bolt (25) screwed into its upper end via a presser member (24). It is locked to the frame (17). That is, the motor base (19) is attached to the four corners of the underframe (17) and is rotatable about the shaft (21).

On the lower surface of the motor base (19), an electric motor (26) that can be rotated in forward and reverse directions with a speed reducer is mounted on its rotating shaft (27).
) are attached to the motor base (19) facing opposite sides of the arcuate peripheral edge, and wheels (28) are attached to the rotating shaft (27). Please note that the above electric motor (
26) are each driven and controlled independently, and their rotational speeds are controlled by methods such as servo control and frequency conversion control.

Two stoppers (2
9) (31) is fixed, and the motor base (1) is fixed.
9) and the wheel (28), the stopper (29) (31)
Within the range regulated by, that is, the front and back direction of the underframe (17) (position shown by the chain line in Figure 3) and the left and right direction (position shown by the solid line in Figure 3)
It is designed to rotate between.

The motor base (
A clamp (32) is located outside the arcuate periphery of 19).
are arranged facing outward, and the tip of the clamp (32) is provided with a clamp pin (33) that can be expanded and contracted by air pressure or electromagnetic force (see Fig. 4).

On the other hand, the arcuate peripheral portion of the motor base (19) has
When the motor base (19) and the wheel (28) are in the solid line position in FIG. 3, that is, in the position where the wheel (28) moves the underframe (17) forward or backward, the clamp pin (3
3) into a clamp hole (34) into which the motor base (19) and wheels (28) can be loosely fitted, and the motor base (19) and wheels (28) are in the position indicated by the chain line in FIG. A clamp hole (35) into which the clamp pin (33) can be loosely fitted is provided.

The motor base (19) and wheels (28) are designed to be fixed at the above positions by extending the clamp pins (33) and inserting them into the clamp holes (34) and (35). ing.

(Function) Next, the case where a wall surface is polished by the self-propelled cleaning device configured as described above will be explained with reference to FIGS. 5 to 9.

First, each wheel (28A) (28B) (28C) (28D
) is fixed so as to be movable in the direction of arrow C as shown in FIG. Second, each axle (28A) (28B) (28C) (
28D) in the normal direction to gradually raise the polishing device along the surface to be treated (4), the impeller (11) projects the blasting material onto the surface to be treated (4) and performs the polishing work. conduct.

When the device reaches the rising end, t' wheels (28A) (28B
) (28C) (28D) and the polishing work is temporarily stopped, and as a third step, each clamp pin (3
3) is retracted, the wheels (28A) and (28D) are fixed so that they do not rotate, and the wheel (28B) is rotated forward and the wheel (28C) is rotated reversely. This allows both axles (
28B) (28C) rotates 90° counterclockwise (
(See Figure 6). Fourthly, when both axles (28B) and (28C) are fixed so that they do not rotate, and when the wheel (28A) is rotated forward and the wheel (28D) is rotated in reverse, both axles (28A
) (28D) rotates 90° clockwise (see Figure 7).

Fifth, both the axles (28A) (28D) are fixed so that they do not rotate, and each clamp pin (33) is extended, so that each wheel (28A) (28B) (28C) (28D)
Fix it so that it does not rotate. Sixth, wheels (28A)
When the wheels (28B) and (28C) are rotated in the normal direction and the wheels (28B) and (28C) are rotated in the reverse direction, the device moves to the right in FIG. Conversely, when the wheels (28A) and (28D) are reversed and the wheels (28B) and (28C) are rotated forward, the device moves to the left.

After moving the device for a predetermined distance in this way, the seventh
As part of the process, each clamp pin (33) is retracted, the wheels (28A) and (28D) are fixed so that they do not rotate, and the wheel (28B) is rotated in the reverse direction and the wheel (28C) is rotated in the normal direction. This causes both axles (28B) (28C) to rotate 90 degrees clockwise (see Figure 8). Eighth,
When both axles (28B) and (28C) are fixed so as not to rotate, and the wheel (28A) is rotated in reverse and the wheel (28D) is rotated in the forward direction, both axles (28A) and (28D) rotate counterclockwise by 90 degrees. Rotate (see Figure 9). Ninth, both axles (28A) (28D) are fixed so as not to rotate, and each clamp pin (33) is extended to
A) Fix (28B), (28C), and (28D) so that they do not rotate. Tenthly, each axle (28A) (2
8B) (28C) (28D) is reversed and the cleaning device is gradually lowered along the surface to be treated (4) before the cleaning operation is resumed. In the same manner as in the above step, the device is moved a predetermined distance to the right or left. 12th, above 7-
The apparatus is made ready to rise in the same manner as in the ninth step.

By repeating the above steps as one cycle and repeating the same cycle thereafter, the vertical wall surface can be continuously cleaned by remote control.

In addition, in the above embodiment, the motor base (19) and the wheels (2
8) rotates 90' between two positions. The configuration in this case will be explained with reference to FIG. 10. The square underframe (
A pair of movable stoppers (36) (37) are disposed facing outward with the clamp (32) sandwiched between the four corners of the movable stoppers (36) (37). is provided with stopper pins (38) (39) that can be expanded and contracted by air pressure or electromagnetic force, and by extending the stopper pins (38) (39), rotation of the motor base (19) is prevented. It is made so that it can be done. On the other hand, the motor base (19) and the wheels (28) are attached to the arcuate peripheral edge of the motor base (19).
When they are at the solid line position in Figure 0, that is, these are the underframe (17
), a clamp hole (41) into which a clamp pin (33) or a clamp pin (33) can be loosely inserted is bored.

With this configuration, for example, when rotating the motor base (19) and wheels (28), which are fixed at the solid line position in FIG. 3, by 45° clockwise, one of the stopper pins (38) While extending the clamp pin (
33) and then rotate the wheels (28) in the normal direction. As a result, the motor base (19) and wheels (28) are rotated 45 degrees clockwise and come into contact with the stopper pin (38).

At this point, the rotation of the wheel (28) is stopped, and the clamp pin (33) is extended to lock it into the clamp hole (41).
), the motor base (19) and wheels (28
) is fixed at the solid line position in FIG. On the other hand, when rotating the motor base (19) and wheels (28) counterclockwise by 45 degrees, which are fixed at the chain line position in Fig. 3, the other stopper pin (39) is extended and the clamp pin ( 33) and then reverse the wheels (28).

As a result, the wheel (28) rotates counterclockwise by 45 degrees and comes into contact with the stopper pin (39). At this point, the rotation of the wheel (28) is stopped, and the clamp pin (28) is stopped.
33) and inserting it into the clamp hole (4), the motor base (19) and wheels (28) are fixed at the solid line position in FIG. 10.

In this way, four wheels (28A) (28B) (28
C) After rotating all (28D) by 45 degrees and fixing them in the position shown in Fig. 11, when wheels (28A) and (28C) are rotated forward and wheels (28B) and (28D) are rotated reversely, the device rotates to the right on the spot with the center of the underframe (17) as the center of rotation. Conversely, when the wheels (28A) and (28C) are reversed and the wheels (28B) and (28D) are rotated forward, the device turns left on the spot. After turning by a predetermined rotation angle, the wheels (28A) (28B) (28
C) If (28D) is rotatably fixed in the position shown in FIG. 5 or FIG. 7, the device can be run in any direction such as diagonally up and down to the right or diagonally up and down to the left.

(Effects of the Invention) As is clear from the above description, the present invention allows each wheel of the self-propelled cart to freely rotate within a range of 90' around an axis perpendicular to the surface to be treated, so that the apparatus can be constructed. When moving, it can be traversed directly without having to perform a switchback operation. Therefore, remote control can be easily performed and accurate positioning can be performed.

will not occur. As a result, there is less wear on the wheels,
There are also fewer scratches on the surface being treated.

Moreover, since the wheels are rotated by the drive motors of the wheels, a complicated rotation mechanism is not required.

Further, by making the frame of the self-propelled cart square and fixing each wheel in a direction along a circumferential orbit having an equal radius from the center of the frame, the cart can be turned on the spot. As a result, the course of the trolley can be changed arbitrarily without causing large friction between the surface to be treated and the wheels.

In the above embodiments, the present invention was applied to a wall surface cleaning device, but the present invention is not limited to this, and can be applied to a floor surface,
It can be used as a self-propelled trolley for a ceiling surface polisher, and also as a self-propelled trolley for a paint machine, inspection/diagnosis equipment, surveillance camera, etc.

[Brief explanation of drawings]

Fig. 1 is a partially cutaway front view showing one embodiment of the present invention;
The figure is a view taken along arrow A-A in Figure 1, Figure 3 is a plan view of Figure 2,
FIG. 4 is a view taken along the line B-B in FIG. 2, FIGS. 5 to 9 are schematic plan views for explaining the rotating operation of the wheels in FIG. FIG. 11 is a plan view of a main part showing another embodiment, and is a schematic plan view for explaining the on-spot turning operation of the self-propelled cart having the configuration shown in FIG. 1O. (4)・Surface to be treated (15) : Self-propelled trolley (17) : Underframe (19) : Motor base b (mounted) ° Axis, electric motor: Wheel (31) : Stopper: Clamp pin (35) (41 ): Clamp hole (37):
Movable stopper illustration, Homare-ku-ba-zu, Sakai-zu, Year 7, Bad bud illustration, 8-ku-ku, Broom-1 illustration

Claims (1)

[Claims] 1. It is attached to the lower surface of the four corners of the underframe (17) and is rotatable about an axis (21) perpendicular to the surface to be treated (4), with one side extending from the axis. a motor base (19) formed in an arc shape with a predetermined radius;
A wheel (28) is attached to the lower surface of the frame via an electric motor (26) that can freely rotate in forward and reverse directions and rotates perpendicularly to the surface to be treated (4), A stopper (29) that restricts the rotation range of the base (19) between two positions in the front-rear direction and left-right direction of the underframe (17).
(31), and a retractable clamp pin (33) disposed outside the arcuate peripheral edge of the motor base (19) in the underframe (17). The clamp pin (33) can be fitted into the arcuate peripheral edge when the wheel (28) is in a position where the underframe (17) moves straight and when the underframe (17) moves sideways. A self-propelled trolley characterized by having clamp holes (34) and (35) formed therein. 2. The underframe (17) has a square shape, and the underframe (17)
The rotation of the motor base (19) is controlled by the underframe (17).
) A pair of movable stoppers (36) and (37) are attached to the arc-shaped peripheral edge of the motor base (19), and the wheels (28) Claim 1 characterized in that a clamp hole (41) into which the clamp pin (33) can be inserted is formed when the base frame (17) is at an intermediate position between the longitudinal direction and the horizontal direction. Self-propelled trolley as described.