JPH0748681Y2 - Wheels for floor running of work machines with attitude control device - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention moves along a spinning machine stand such as a spinning machine and a roving machine to sequentially perform operations such as doffing, roving change, and yarn splicing. An attitude control device for detecting an inclination of a work machine due to unevenness of a floor surface and, when the inclination is a predetermined value or more, moving the floor traveling wheel up and down to control the inclination so as not to interfere with work. The present invention relates to a floor traveling wheel of a work machine equipped with an attitude control device.

[Prior Art] When a working machine works along a spinning machine stand, it is necessary to maintain a constant positional relationship between the working machine and the spinning machine. However, since the floor surface of the factory is uneven, when the work machine directly travels on the floor surface to perform the work, the positional relationship between the spinning machine and the work machine changes depending on the work position, which causes a hindrance to the work. . In order to eliminate this inconvenience, a working machine equipped with a posture control device has been proposed. As shown in FIG. 7 of Japanese Patent Laid-Open No. 60717/1987, it is fitted with a guide rail 42 provided on a spinning machine base 41 along its longitudinal direction (direction orthogonal to the paper surface of FIG. 7). A guide roller 44 is provided on the side of the working machine 43 on the side of the spinning machine base, and a pair of levers 45, 46 provided on the bottom surface of the vehicle body of the working machine 43 support the axle 47 and a traveling wheel at the tip of the axle 47.
48 is rotatably mounted, a hydraulic cylinder 49 is rotatably mounted on the side opposite to the mounting side of the guide roller 44 so as to be rotatable in the direction orthogonal to the traveling direction of the working machine 43, and the bar 50 fixed to the piston rod 49a is mounted on the side. An attitude control device is disclosed that is pivotally attached to a mounting ring 51 fixed to an axle 47 and that controls the attitude of a working machine 43 by operating a hydraulic cylinder 49. In this device, when the floor surface changes from the reference height GL (for example, the floor surface becomes GL2 lower than the reference height GL as shown in FIG. 8) and the working machine 43 tilts, the working machine 43 When posture control is performed while the robot is stopped (the floor surface is unchanged), the levers 45,46
By the action of the link mechanism constituted by the piston rod 49a, the attitude of the axle 47 can be controlled without changing the inclination of the axle 47 from the state shown in FIG. 8, that is, without the slip of the traveling wheels 48 occurring.

Further, in Japanese Utility Model Laid-Open No. 1-157183, as shown in FIGS. 9 and 10,
A pair of support members 52 that move up and down with respect to the bottom surface of the work machine 43 by a drive source are provided with a support arm 54 that can be swiveled around a swivel axis 53 that is perpendicular to the bottom surface of the work machine 43. An attitude control device for supporting a traveling wheel 48 at a position deviated from the turning axis of the vehicle 54 and correcting the inclination of the working machine by the vertical movement of the support member 52 is disclosed. In this device, since the traveling wheels 48 can rotate around the turning axis 53 with a radius R,
When the traveling wheels 48 move in response to the height difference of the floor surface during traveling, the support arm 54 swings and the traveling wheels 48 move without slipping.

[Problems to be Solved by the Invention] However, the attitude control device disclosed in Japanese Patent Laid-Open No. 60-71725 has a problem that the structure is complicated, the number of parts is large, and the manufacturing cost is high. Further, since a complicated link mechanism is adopted, when the positional relationship between the guide rail 42 and the traveling wheels 48 is changed, it is necessary to change the length of each member constituting the link mechanism correspondingly, There is also the problem that complicated calculations are required each time. Further, since there is a difference in height on the floor surface, it is inevitable that the traveling wheels 48 will slip for a distance of 1 minute in FIG. 8 while drawing an arc-shaped trajectory centered on the contact point between the guide rail 42 and the guide roller 44. If a slip occurs during traveling, the frictional resistance between the traveling wheels 48 and the floor surface is large, so that it acts as a large braking force, and the work equipment is correspondingly increased.
A large driving force is required to drive 43. Also, when the working machine 43 tilts by overcoming the friction resistance, the guide rail
Since a large force acts on the guide rail 42 as its reaction, there is also a problem that it is necessary to increase the strength of the guide rail 42 and its supporting member.

On the other hand, in the device disclosed in Japanese Utility Model Laid-Open No. 1-157183, when the posture control is performed in the stopped state, the position of the turning shaft 53 is set to the 10th and 11th positions.
As shown in the figure, when moving from C1 to C2, the center of contact of the traveling wheels 48 with the floor surface slips from P1 to P2. At this time, a large force acts on the guide rail 42 as a reaction force against the friction between the traveling wheels 48 and the floor surface to incline the working machine 43, and the above-mentioned problem occurs.

The attitude control of the working machine 43 is performed based on the signal from the tilt angle sensor mounted on the working machine 43, and the detection accuracy of the tilt angle sensor should be performed while the working machine is stopped. If a precise attitude control is required to replace a Shino-bobbin that is higher than the floor like a replacement machine, it is necessary to perform the attitude control while the robot is stopped, and it is necessary to eliminate the above problems. There is.

Further, when the working machine 43 travels to the left in FIG. 9, the traveling wheels 48 move without slipping due to the swinging of the support arm 54 as the height of the floor changes. However, when the work machine travels rightward in FIG. 9, when the contact position of the traveling wheel 48 with the floor surface is located on the right side of the turning shaft 53 and the work machine travels,
Since the support arm 54 turns and the guide roller position is regulated by the guide rail on the spinning machine side, a biting phenomenon occurs between the traveling wheel 48 and the floor surface. In order to avoid this, when the work implement 43 travels to the right in FIG. 9,
Rotate the support arm 54 from the state shown in FIG.
It is necessary to move the contact position of the floor 8 with the floor surface to the left of the pivot shaft 53 in FIG. The traveling wheels 48 share the load of the work machine 43 with the guide rollers 44, and rotating the support arm 54 together with the traveling wheels 48 in the state of receiving the load causes the wheels on the floor surface in the state of receiving the load. Is slippery and difficult.

The present invention has been made in view of the above problems,
An object of the present invention is to provide a floor traveling wheel for a working machine with an attitude control device, which has a simple structure and does not slip on the floor traveling wheel when the inclination of the working machine changes.

[Means for Solving the Problems] In order to achieve the above-mentioned object, in the present invention, a guide roller that engages with a guide rail extending along a longitudinal direction of a spinning machine stand and rolls, Equipped with a floor running wheel that can be moved up and down by a device to move along the spinning machine stand to perform work sequentially, and raises and lowers the floor running wheel by detecting the inclination of the working machine due to unevenness of the floor surface. In a work machine with a posture control device equipped with a posture control device for moving the tilt to a state that does not hinder the work, in the work machine equipped with a posture control device, the floor traveling wheel is attached to a support arm that constitutes the lifting device. With respect to a support shaft supported so as to extend in the horizontal direction in a state orthogonal to the traveling direction, the support shaft is supported so as to be relatively movable in the axial direction, and the floor running wheel is arranged at a reference position of the support shaft. Supporting means and floor running It was provided between the wheel for traveling.

[Operation] When the height of the floor changes while the work implement is traveling, or when the posture control device is actuated to change the posture of the tilted work implement to the horizontal state, the work implement guides the guide rail and the guide rail. It tilts around the engagement position with the roller. The floor running wheels are supported so that they can move relative to the support shaft in the axial direction, and since the friction resistance between the floor running wheels and the floor surface is large, the floor running wheels can move laterally. The support shaft moves laterally together with the support arm without moving. Therefore,
The wheels for floor running do not slip when the posture of the work machine changes.

[First Embodiment] A first embodiment of the present invention will be described below with reference to FIGS. As shown in FIG. 2, a guide rail 2 is horizontally provided on the side surface of the spinning frame 1 along the longitudinal direction of the frame (direction orthogonal to the paper surface of FIG. 2). The working machine 3 has a guide roller 4 which can be fitted with the guide rail 2 on the side surface of the spinning machine base 1, and a floor traveling wheel 5 at a position corresponding to the center of the guide rollers 4 on the lower side of the opposite side. Each is arranged. Further, guide pins 2a are provided on the outer side of the guide rail 2 at predetermined intervals, and the working machine 3 is provided with a scroll cam 3a that engages with the guide pins 2a.
Like the known working machine, the working machine 3 is mounted on a carrier (not shown) that moves on a rail (not shown) laid outside the spinning machine stand 1 in a state orthogonal to the machine machine longitudinal direction. The scroll cam is transported to a position corresponding to the spinning machine base 1 requiring work, and then driven by a drive motor (not shown).
When the guide roller 4 is fitted to the guide rail 2, the guide roller 4 is intermittently moved along the spinning machine stand 1 by a predetermined distance by rotating the 3a, and the doffing device mounted on the working machine 3 or The replacement device is operated to perform a predetermined work.

A support bracket 6 is provided on the outside of the lower portion of the working machine 3,
A support arm 8 having a pair of arm portions 8a and 8b is rotatably supported on a shaft 7 fixed to the support bracket 6. A bracket 9 is fixed to the front end of the working machine 3, a hydraulic cylinder 10 is rotatably supported at the base end of the bracket 9, and the piston rod 10a and one end of the support arm 8 are provided with a pin 11. Are rotatably connected by. The support arm 8 and the hydraulic cylinder 10 constitute a wheel lifting device 12, and the wheel lifting device 12 is driven and controlled by a command from a control device (not shown) based on a signal from a tilt angle sensor (not shown). It is supposed to be done.

As shown in FIG. 1, both arms 8a, 8b are inserted through a stud 13 that is fitted from the outside of the other arm 8b to a cylindrical part protruding from the side surface of one arm 8a of the support arm 8. Are fixed so that they can rotate together. Between the tips of the arms 8a and 8b of the support arm 8, there are a bearing 15a housed in a bearing housing 14 fixed to the tip of one arm 8a and a bearing 15b fitted to the tip of the other arm 8b. The support shaft 16 is rotatably supported via the. Support shaft 16 has metal 17 and key 18
The floor traveling wheel 5 is supported via the shaft 16 so as to be relatively movable in the axial direction of the support shaft 16 and rotatable integrally with the support shaft 16. The outer peripheral portion of the floor traveling wheel 5 is made of urethane rubber.

A spring support plate 19 is rotatably supported on both sides of the support shaft 16 with the floor running wheel 5 interposed therebetween, and serves as a biasing means between the spring support plate 19 and the floor running wheel 5. The compression springs 20a, 20b are interposed. A bellows 21 is attached between the spring support plate 19 and the side surface of the floor traveling wheel 5 so as to cover the outsides of the compression springs 20a and 20b. This bellows 21 is for preventing the cotton wool from adhering to the compression springs 20a, 20b and the support shaft 16. The other arm 8b is attached to the support shaft 16.
A fly cotton invasion preventing collar 23 is fitted on the outer side of the bearing 15b fitted on. Both compression springs 20a, 20
b has the same spring constant, and the cotton wool intrusion prevention collar 23, by the tightening force of the bolt 22 screwed into the support shaft 16,
The biasing forces of the compression springs 20a and 20b are set to a predetermined magnitude via the bearing 15b and the spring support plate 19. A grease supply hole 24 is formed in the support shaft 16, a through hole 22a is formed in the center of the bolt 22, and a grease nipple 25 is provided in the head.

Next, the operation of the device configured as described above will be described. Since the working machine 3 moves along the spinning machine stand 1 with the pair of guide rollers 4 fitted to the guide rails 2, the horizontal direction in the front-rear direction is always maintained, and the plane is orthogonal to the longitudinal direction of the spinning machine stand 1. The inward inclination changes depending on the position of the floor running wheel 5 that follows the height of the floor. When the floor running wheel 5 is in contact with the floor surface of the reference height GL and the working machine 3 is horizontal, the compression springs 20a and 20b are held in the set state, and the floor running wheel 5 is shown in FIG. ), It is located at the center of the support shaft 16. When the floor surface becomes higher than the reference height GL during traveling, the entire working machine 3 is rotated clockwise around the contact portion between the guide roller 4 and the guide rail 2 in FIG.
Is in a state shown in FIG. 2 in which the upper part is inclined so as to approach the spinning frame 1.

When the work implement 3 tilts, the support arm 8 also tilts integrally, and if the floor running wheels 5 cannot move relative to the support shaft 16, the floor running wheels 5 resist the frictional resistance with the floor. Then slip and move the required amount. In this invention, the wheels 5 for running on the floor are used.
Is supported so as to be movable relative to the support shaft 16 in the axial direction thereof. Normally, since the floor contact portion of the traveling wheel is made of urethane, the friction resistance between the floor traveling wheel 5 and the floor surface is a compression spring.
Since the friction force between the support shaft 16 and the metal 17 is smaller than the urging force of the support shaft 20a and the floor traveling wheel 5 does not move, the support shaft 16 slides to the left and one compression spring 20a moves. The compressed state is shown in FIG. 1 (b). The above operation is performed regardless of the traveling direction of the working machine 3.

Next, the case where the posture control is performed from the state of FIG. 2 while the working machine 3 is stopped will be described. The hydraulic cylinder 10 operates in the retracting direction, the support arm 8 is rotated about the shaft 7 in the counterclockwise direction in FIG. 4, and the floor traveling wheel 5 is moved upward. With the upward movement of the wheels 5 for running on the floor, the entire working machine 3 is rotated counterclockwise in FIG. 2 about the contact portion between the guide roller 4 and the guide rail 2. As a result, the support arm 8 is also rotated in the same direction, and the support shaft 16 is accordingly made of metal.
17 is slid to the right in FIG. 1 (b), the floor running wheel 5 is arranged at a substantially intermediate position of the support shaft 16, and the working machine 3 is held in a posture in which the bottom surface thereof is horizontal. It Then, in that state, a predetermined work is performed at the position.

When the floor surface becomes lower than the reference height GL, the inclination of the work implement 3 is opposite to the above, and the support shaft 16 and the support arm 8 are also moved in the opposite direction.

As described above, when the floor traveling wheels 5 (entire working machine) move up and down in accordance with changes in height of the floor surface without performing posture control, and when the posture control is performed, the tilted working machine 3 is placed horizontally. In order to ensure that the floor running wheels 5 are moved up and down, the floor running wheels 5 move in a direction orthogonal to the traveling direction of the work machine 3 (direction orthogonal to the longitudinal direction of the spinning machine stand 1). The work machine 3 as a whole is rotated around the contact portion between the guide roller 4 and the guide rail 2 as the support shaft 16 slides in the axial direction without sliding. Therefore, the braking force due to the slip of the floor traveling wheels 5 is surely reduced on the working implement 3 during traveling. Further, since there is no slip between the floor running wheels 5 and the floor surface, a large frictional force generated between the floor running wheels 5 and the floor surface when the working machine 3 is rotated as in the conventional case is used as a reaction and is guided. No large force acts on the rail 2.

When all the work on the spinning machine base 1 is completed and the working machine 3 is mounted on the carrier, the floor running wheels 5 are moved up to a position floating above the floor surface, and the floor running wheels 5 move. By the action of the compression springs 20a, 20b, it is arranged at the central position of the support shaft 16.

[Second Embodiment] Next, a second embodiment will be described with reference to FIG. This embodiment is largely different from the above-mentioned embodiment in that counter springs 26a, 26b are used instead of the compression springs 20a, 20b. The flat springs 26a and 26b are interposed between both side surfaces of the floor traveling wheel 5 and the spring support plate 19. Also in this embodiment, the same operational effects as those of the above embodiment are exhibited.
Unlike the compression springs 20a and 20b, the flat springs 26a and 26b do not affect the spring force even if the surface of the spindle springs 26a and 26b adheres to the surface of the spindle 16, and the flat springs 26a and 26b do not adhere to the surface of the spindle 16. Since it is prevented, the bellows 21 are not required, and the structure is simpler than that of the above-described embodiment.

The present invention is not limited to the above embodiment,
For example, as shown in FIG. 6, a ball bush 27 may be provided on the floor traveling wheel 5 side in place of the metal 17 to support the floor traveling wheel 5 on the support shaft 16. In this case, as compared with the case where the metal 17 is used, the friction resistance when the support shaft 16 slides is reduced, and the support shaft 16 can move more smoothly. Further, the number of wheels 5 for traveling on the floor is not limited to one, and a plurality of wheels may be provided, or another mechanism may be adopted as a wheel lifting device.

[Effects of the Invention] As described in detail above, according to the present invention, when the working machine as a whole tilts due to height changes of the floor while the working machine is running, or when the working machine is running or stopped, the tilting of the working machine is prevented. When the attitude control for correction is performed, unlike the conventional device, the wheels for traveling on the floor surface do not slip on the floor surface.Therefore, a braking force that hinders the progress of the traveling working machine may be applied. As a result, the working machine can travel with a small driving force, and a large force does not act on the guide rail during posture control, so there is no need to increase the strength of the guide rail and its supporting member. Moreover, the structure is simple, manufacturing is easy, and the installation space is small.

[Brief description of drawings]

1 to 4 show the first embodiment, and FIGS. 1 (a) and 1 (b) are sectional views showing a supporting state of wheels for running on the floor, and FIG. 2 is a spinning machine stand and work. Fig. 3 is a schematic side view showing the relationship between machines, Fig. 3 is a plan view of a wheel lifting device, Fig. 4 is a side view of the same, Fig. 5 is a sectional view of a second embodiment, and Fig. 6 is a sectional view of a modified example. FIG. 7 is a side view of a conventional device, FIG. 8 is an operation explanatory diagram thereof, FIG. 9 is a front view of another conventional device, and FIGS.
The figure is an illustration of its operation. Spinning machine stand 1, guide rail 2, guide roller 4, floor running wheel 5, shaft 7, support arm 8, hydraulic cylinder
10, wheel lifting device 12, support shaft 16, compression springs 20a, 20b as biasing means, and countersunk springs 26a, 26b.

Claims (1)

[Scope of utility model registration request] 1. A spinning machine provided with guide rollers that roll by engaging guide rails extending along the longitudinal direction of a spinning machine stand, and floor running wheels that can be moved up and down by an elevating device. A posture that moves along the platform to perform work sequentially, and detects the inclination of the work machine due to the unevenness of the floor surface and moves the floor traveling wheels up and down to control the inclination so as not to hinder the work. In a work machine with an attitude control device equipped with a control device, the floor traveling wheels are supported so as to extend horizontally in a state orthogonal to the traveling direction of the work machine with respect to a support arm that constitutes the lifting device. An urging means is provided between the support arm and the floor traveling wheel so as to support the spindle so as to be relatively movable in the axial direction thereof and to dispose the floor traveling wheel at the reference position of the spindle. Wheels for floor running of work machines with a posture control device