JPS5943331B2 - traveling device - Google Patents

Description

[Detailed description of the invention] The present invention relates to a traveling device such as a truck.

BACKGROUND ART Traditionally, the structure of a bogie running device has often adopted a method in which power is transmitted from a motor to a reduction gear to the running wheels.

In this structure, to stop the truck, the motor is gradually decelerated and the brakes are applied.

At this time, the accuracy with which the bogie stops is determined by the relationship between the kinetic energy of the traveling body and the rotating body and the control force.

However, when the cart is loaded with cargo and travels, the stopping position varies depending on the size of the loaded load, and the stopping accuracy becomes low.

Even in such cases, if the running speed of the bogie is slowed down, the change in kinetic energy will be smaller than the change in load, improving the accuracy of stopping the bogie, but in the conventional method, the running speed just before stopping is the rated speed. The deceleration could only be reduced to a fraction of the original speed, and sufficient stopping accuracy could not be expected.

Therefore, the present invention provides a traveling device that can improve stopping accuracy by extremely slowing down the traveling speed before the stopping position.One embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1, numeral 1 indicates a high-speed motor having a high-speed motor brake 2, 3 a low-speed motor having a low-speed motor brake 4, and 5 a differential gear mechanism built into a case 6.

This differential gear mechanism 5 includes a rotating frame 7 rotatably supported by a case 6, an annular gear 8 fixed to the rotating frame I,
a lever 9 that is relatively rotatably supported within the rotating frame T; a planetary gear 11 that is rotatably supported by the lever 9 via a horizontal shaft 10 and meshes with the internal teeth of the annular gear 8;
A second intrahuman axis 12 rotatable on the rotation axis of the rotation frame I
and meshes with the planetary gear 11.

A first internal shaft 14 consisting of a drive gear 13 and protruding outward on the rotation axis of the lever is connected to the drive shaft 15 from the high speed motor 1 via a coupling 16. , the second human power shaft 12 is connected to the drive shaft 17 from the low speed motor 3 via a coupling 18.

19 is an intermediate shaft supported by the case 6, and the annular gear 8
A large gear 20 and a small gear 21 that mesh with the external teeth of are fixed.

Reference numeral 22 denotes a passive shaft supported by the case 6, to which a passive gear 23 that meshes with the small gear 21 is fixed, and a running wheel 24
is connected to the wheel shaft 25 of the vehicle via a coupling 26.

When the traveling speed is to be increased, the high speed motor brake 2 is released to rotate the high speed motor 1, and the low speed motor 3 is braked by the low speed motor brake 4 in a stopped state.

As a result, the power of the high-speed motor 1 rotates the lever 9 via the coupling 16.

This rotation of the lever 9 causes the planetary gear 11 to revolve, but since the drive gear 13 is stopped at this time, the annular gear 8 is rotated.

The rotation of the annular gear 8 is transmitted to the wheel shaft 25 via each gear 20, 21, 23, and rotates the traveling wheel 24, thereby causing the truck to travel at high speed.

At this time, the rotational speed of the high-speed motor 1 is nA. If the number of rotations of the traveling wheel 24 is nB1, and the number of teeth of each gear is Z1 to Z7 as shown in FIG. 2, then the following equation is obtained.

On the other hand, when switching the running speed to a low speed, the low speed motor brake 4 is released to rotate the low speed motor 3, while the high speed motor 1 is stopped and the high speed motor brake 2 is used for braking.

As a result, the power of the low-speed motor 3 rotates the drive gear 13 via the coupling 18.

At this time, since the planetary gear 11 only rotates on its own axis by positional rotation, the rotation of the drive gear 13 is transmitted to the annular gear 8 via the planetary gear 11.

The rotation of this annular gear 8 is similar to that at high speed, and the rotation of the ring gear 8 is similar to that at high speeds.
1 and 23 to the wheel shaft 25, and the traveling wheel 24
Rotates to make the trolley run at low speed.

At this time, the rotation speed of the low-speed motor 1 is set to nC, and the running wheel 2 is set to nC.
If the 4A rotation speed is nB2, then the following equation is obtained.

Here, since the running speed ■=π・D−n (D two wheel diameter, n: wheel rotation speed), high speed: Vl−π・D−nB
1. Low speed: V22π・D−nB2.

If the speed ratio between high speed and low speed is X, then this (
If nC is made smaller than nA in equation 1), the traveling speed V can be made slower.

In order to reduce nC, there is a method of using a geared motor (a motor with a built-in speed reducer) as the low speed motor 3, or a method of incorporating an independent speed reducer between the low speed motor 3 and the coupling 18 to reduce the speed. Therefore, the speed ratio X can be easily and reliably increased.

As shown in FIG. 3, one traveling device 21 according to the present invention may be provided for a pair of traveling wheels 24 provided on a truck 28, or one traveling device 21 may be provided for each traveling wheel 1 as shown in FIG.
They may be arranged separately for 4.

As described above, according to the present invention described in the embodiments, it is possible to efficiently travel at the rated speed (high speed) until just before the specified stopping position, and then decelerate to a low speed with the speed ratio being equal to that of the crane. It is possible to easily stop a general trolley, or even a dog paddle traveling body that changes the load at a specified position, and it can be provided at a lower cost than other ultra-low speed and speed control methods.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a schematic layout diagram, FIG. 2 is an explanatory diagram, and FIGS. 3 and 4 are schematic plan views showing the state of use. 1...Motor for high speed, 2...Brake for high speed motor, 3...Motor for low speed, 4...
... Brake for low speed motor, 5 ... Differential gear mechanism, 8 ... Annular gear, 11 ... Planetary gear, 12 ... Second human power Axis, 14...
1st human power axis, 24... Traveling wheel, 25...
...Wheel axle.

Claims (1)

[Claims] 1. An annular gear fixed to a rotatably supported rotating frame, a lever that is relatively rotatably supported within the rotating frame and has a first human power axis at the rotation axis, and a lever that is rotatable via a horizontal axis. from a second human power shaft to which a planetary gear is rotatably supported and meshes with the internal teeth of the annular gear; and a drive gear is fixed, which is rotatably provided on the rotation axis of the rotation frame and meshes with the planetary gear. A differential gear mechanism is operatively connected to the traveling wheel via a large gear meshing with the external teeth of the annular gear and a passive gear meshing with a small gear rotating coaxially with the large gear, and the first manpower shaft is The second human power shaft is connected to a high-speed motor having a high-speed motor brake, and the second human power shaft is connected to a low-speed motor having a low-speed motor brake, and the rotation speed of the low-speed motor is set to be lower than the rotation speed of the high-speed motor. A traveling device characterized by: