TW202146309A - Belt driving mechanism can suppress the meandering of the belt even if there is a positional deviation between the pair of pulleys - Google Patents

Abstract

A belt driving mechanism of the present invention includes a pair of pulleys, in which at least one of the pulleys is a toothed pulley and the pulleys are arranged to be spaced apart from each other; a belt hung on the pair of the pulleys and having a toothed portion to be meshed with the toothed pulley, in which the belt can be circularly moved by the rotation of the pair of the pulleys; and a meandering suppression mechanism that can suppress the meandering of the belt. The meandering suppression mechanism includes a pair of rollers which are arranged oppositely with the belt interposed therebetween in the belt width direction of the belt, in which the axial direction of the each roller is parallel to the belt thickness direction of the belt; and a pair of guiding members freely rotatably supporting a pair of rollers, and arranged oppositely with the pair of the rollers and the belt interposed therebetween in the belt thickness direction.

Description

皮帶傳動機構Belt drive mechanism

本發明係關於一種皮帶傳動機構。The present invention relates to a belt transmission mechanism.

於專利文獻1中，作為皮帶傳動機構，而揭示在將搬送物可上下升降之升降搬運裝置中所使用者。具體而言，於該升降搬運裝置中之皮帶傳動機構中，使用配置於上方及下方之齒形皮帶輪、及與齒形皮帶輪嚙合之齒形皮帶，藉由使齒形皮帶輪中之驅動皮帶輪旋轉/逆轉，而使載置於固定在齒形皮帶之載物台之搬送物上下升降。In Patent Document 1, as a belt drive mechanism, it is disclosed that it is used in a lifting and conveying device that can move up and down a conveyed object. Specifically, in the belt transmission mechanism in the lifting and conveying device, toothed pulleys arranged above and below and toothed belts meshing with the toothed pulleys are used, and the driving pulleys in the toothed pulleys are rotated// Inversely, the conveyed object placed on the stage fixed on the toothed belt is moved up and down.

又，於專利文獻2中，作為皮帶傳動機構，揭示有於進行搭載有藥劑等之勺鬥之入庫/出庫之自動倉庫中所使用者。於該自動倉庫用之皮帶傳動機構中，藉由使將載置有勺鬥之可動台予以連接之皮帶沿著上下方向驅動，而使可動臺上下移動。  [先前技術文獻]  [專利文獻]Moreover, in patent document 2, as a belt drive mechanism, it is disclosed that it is used in the automatic warehouse which carries out the loading/unloading of the scoop loaded with a medicine etc.. In the belt drive mechanism for the automatic warehouse, the movable table is moved up and down by driving the belt connecting the movable table on which the bucket is placed in the up-down direction. [Prior Art Literature] [Patent Literature]

[專利文獻1]日本特開2017-215038號公報  [專利文獻2]日本特開1994-316308號公報[Patent Document 1] Japanese Patent Laid-Open No. 2017-215038 [Patent Document 2] Japanese Patent Laid-Open No. 1994-316308

[發明所欲解決之課題][The problem to be solved by the invention]

且說，於此種皮帶傳動機構中，當在產生對準(皮帶輪彼此之位置偏移)之狀態下使皮帶移行時，皮帶之直行性會被擾亂而朝皮帶寬度方向蛇行(偏斜)。特別是，若於搬送物為重物、或高速移送時等負載較高之條件下移送較長之距離，則會顯著地產生蛇行。進而會因皮帶扭轉而欲攀上皮帶輪之凸緣部，從而對皮帶施加過度之張力，而有皮帶自皮帶輪脫離之虞。Furthermore, in such a belt drive mechanism, when the belt is moved in a state where alignment (positional deviation of the pulleys) occurs, the straightness of the belt is disturbed and the belt zigzags (skews) in the width direction of the belt. In particular, when the conveyed object is heavy or under high load conditions such as high-speed conveying, the zigzag will remarkably occur when conveying a long distance. Further, the belt is twisted and tries to climb on the flange portion of the pulley, so that excessive tension is applied to the belt, and there is a possibility that the belt will be detached from the pulley.

因此，為了抑制皮帶之蛇行而需要將對準精度良好地進行調整，但有時難以進行該調整。例如，於如專利文獻2中所揭示之自動倉庫用之皮帶傳動機構中，有搬送物之搬送距離為2 m以上之長跨距之規格。若舉出一例，則有如下之情形，即：於與建築物成為一體之樓宇式自動倉庫中所使用之皮帶傳動機構之情形下，有時搬送物之垂直方向之搬送距離為20 m以上。於如此之搬送物之搬送距離較長之長跨距規格之皮帶傳動機構中，由於一對皮帶輪之軸距較長(較長之情形下為25 m左右)，因此難以進行對準之調整。因此，期望提供一種即便在一對皮帶輪間存在可容許之程度之位置偏移(未對準)之情形下，仍可抑制皮帶之蛇行之皮帶傳動機構。Therefore, in order to suppress the meandering of the belt, it is necessary to adjust the alignment accuracy well, but this adjustment is sometimes difficult. For example, in the belt drive mechanism for automatic warehouses as disclosed in Patent Document 2, there is a specification of a long span with a conveyance distance of conveyed objects being 2 m or more. As an example, in the case of a belt drive mechanism used in a building-type automatic warehouse integrated with a building, the conveying distance in the vertical direction of the conveyed object may be 20 m or more. In such a long-span belt drive mechanism with a long conveying distance, the wheelbase of a pair of pulleys is long (about 25 m in the longer case), so it is difficult to adjust the alignment. Therefore, it is desired to provide a belt drive mechanism capable of suppressing the meandering of the belt even when there is a positional deviation (misalignment) between a pair of pulleys to an tolerable degree.

因此，本發明之目的在於提供一種皮帶傳動機構，其即便在一對皮帶輪間存在位置偏移之情形下，仍可抑制皮帶之蛇行，且可抑制皮帶自皮帶輪之脫離。  [解決課題之技術手段]Therefore, an object of the present invention is to provide a belt transmission mechanism which can suppress the meandering of the belt and prevent the belt from being detached from the pulley even when there is a positional shift between a pair of pulleys. [Technical means to solve the problem]

為了解決上述之課題，本發明之皮帶傳動機構之特徵在於具備：一對皮帶輪，其至少1者係齒形皮帶輪，且相互隔開地配置；皮帶，其架掛於前述一對皮帶輪，且具有可與前述齒形皮帶輪嚙合之齒部，藉由前述一對皮帶輪之旋轉而周繞移動；及蛇行抑制機構，其可抑制前述皮帶之蛇行；且前述蛇行抑制機構具有：一對輥，其等在前述皮帶之皮帶寬度方向上隔著前述皮帶而對向配置，且各自之軸向與前述皮帶之皮帶厚度方向平行；及一對導引件，其等旋轉自如地支持前述一對輥，且在前述皮帶厚度方向上隔著前述一對輥及前述皮帶而對向配置。In order to solve the above-mentioned problems, the belt transmission mechanism of the present invention is characterized by comprising: a pair of pulleys, at least one of which is a toothed pulley and arranged to be spaced apart from each other; a tooth portion that can be engaged with the toothed pulley, and moves around by the rotation of the pair of pulleys; and a meandering restraining mechanism, which can restrain the meandering of the belt; and the meandering restraining mechanism has: a pair of rollers, etc. The belts are disposed opposite to each other in the belt width direction of the belts, with the respective axial directions parallel to the belt thickness direction of the belts; and a pair of guides rotatably supporting the pair of rollers, and The pair of rollers and the belt are arranged to face each other in the thickness direction of the belt.

根據上述之構成，藉由蛇行抑制機構之一對輥來抑制皮帶在皮帶寬度方向上之移動。進而，藉由一對導引件來抑制皮帶在皮帶厚度方向上之移動。藉此，即便在一對皮帶輪間存在位置偏移之情形下，仍可抑制皮帶之蛇行，且可抑制皮帶自皮帶輪之脫離。According to the above-mentioned configuration, the movement of the belt in the belt width direction is restrained by one pair of rollers of the meandering restraining mechanism. Furthermore, the movement of the belt in the belt thickness direction is suppressed by the pair of guides. Thereby, even when there is a positional deviation between the pair of pulleys, the meandering of the belt can be suppressed, and the detachment of the belt from the pulleys can be suppressed.

又，於本發明之皮帶傳動機構中，前述一對皮帶輪之軸距可為2 m以上。若一對皮帶輪之軸距較長，則難以精度良好地調整該等皮帶輪間之位置偏移，而易於產生皮帶之蛇行或皮帶自皮帶輪之脫離。然而，根據本發明，即便在未精度良好地調整皮帶輪間之位置偏移之情形下，仍可藉由蛇行抑制機構抑制皮帶之蛇行，且抑制皮帶自皮帶輪之脫離。Furthermore, in the belt transmission mechanism of the present invention, the wheelbase of the pair of pulleys may be more than 2 m. If the wheelbase of a pair of pulleys is long, it is difficult to precisely adjust the positional offset between the pulleys, and it is easy to cause meandering of the belt or detachment of the belt from the pulleys. However, according to the present invention, even if the positional deviation between the pulleys is not adjusted accurately, the meandering of the belt can be restrained by the meandering restraining mechanism, and the belt can be restrained from being detached from the pulleys.

又，於本發明之皮帶傳動機構中，可於前述皮帶上固定供載置搬送物之載物台。當在載物台載置有搬送物之情形下，負載變高，而皮帶之蛇行顯著地產生。然而，根據本發明，可藉由蛇行抑制機構抑制皮帶之蛇行，且抑制皮帶自皮帶輪之脫離。Moreover, in the belt drive mechanism of this invention, the stage on which the conveyance object is mounted can be fixed to the said belt. When the object to be conveyed is placed on the stage, the load becomes high, and the meandering of the belt occurs remarkably. However, according to the present invention, the meandering of the belt can be suppressed by the meandering restraining mechanism, and the detachment of the belt from the pulley can be suppressed.

又，於本發明之皮帶傳動機構中，前述蛇行抑制機構可配置於前述載物台之移動範圍之外側、且不與前述一對皮帶輪接觸之位置。根據上述之構成，由於蛇行抑制機構配置於皮帶輪之附近，因此可更有效地抑制皮帶朝皮帶寬度方向及皮帶厚度方向之移動。又，可抑制蛇行抑制機構與載物台接觸。Furthermore, in the belt transmission mechanism of the present invention, the meandering restraining mechanism may be disposed at a position outside the moving range of the stage and not in contact with the pair of pulleys. According to the above-mentioned configuration, since the meandering suppression mechanism is arranged in the vicinity of the pulley, the movement of the belt in the belt width direction and the belt thickness direction can be suppressed more effectively. In addition, the meandering suppression mechanism can be suppressed from contacting the stage.

又，於本發明之皮帶傳動機構中，可行的是，前述載物台固定於前述皮帶上在前述一對皮帶輪之間相互對向之皮帶部分中之一側之皮帶部分，且前述蛇行抑制機構之前述一對輥乃隔著前述一側之皮帶部分而對向配置。安裝有載物台之側之皮帶部分，因施加於搬送物之慣性力之影響而容易劇烈擺動。因此，藉由使蛇行抑制機構之一對輥隔著安裝有載物台之側之皮帶部分對向配置，而可有效地抑制安裝有載物台之側之皮帶部分之蛇行。Further, in the belt transmission mechanism of the present invention, it is possible that the stage is fixed to the belt portion on one side of the belt portion facing each other between the pair of pulleys, and the meandering restraining mechanism The pair of rollers are arranged to face each other across the belt portion on the one side. The belt portion on the side where the stage is attached is liable to swing violently due to the inertial force applied to the conveyed object. Therefore, by arranging the pair of rollers of the meandering suppression mechanism to face each other across the belt portion on the side where the stage is attached, the meandering of the belt portion on the side where the stage is attached can be effectively suppressed.

又，於本發明之皮帶傳動機構中，前述一對輥之外周面彼此之前述皮帶寬度方向上之最小輥間隔可大於前述皮帶之皮帶寬度、且小於前述齒形皮帶輪之齒寬。根據上述之構成，可減少皮帶之移行中之一對輥與皮帶之接觸，且更有效地抑制皮帶在皮帶寬度方向上之移動。In addition, in the belt transmission mechanism of the present invention, the minimum roller interval in the belt width direction between the outer peripheral surfaces of the pair of rollers may be larger than the belt width of the belt and smaller than the tooth width of the toothed pulley. According to the above-mentioned configuration, the contact between one pair of rollers and the belt during the running of the belt can be reduced, and the movement of the belt in the belt width direction can be suppressed more effectively.

又，於本發明之皮帶傳動機構中，可行的是，前述一對導引件各自具有向前述皮帶突出之凸部，前述凸部自前述皮帶厚度方向觀察時位於與前述皮帶重合之範圍內，前述一對導引件之前述凸部彼此之前述皮帶厚度方向之最小間隔大於前述皮帶之皮帶厚度、且小於前述一對輥之前述皮帶厚度方向之長度。根據上述之構成，可較少皮帶之移行中之一對導引件與皮帶之接觸，且更有效地抑制皮帶在皮帶厚度方向上之移動。Furthermore, in the belt transmission mechanism of the present invention, it is possible that each of the pair of guide members has a convex portion protruding toward the belt, and the convex portion is located in a range overlapping with the belt when viewed from the thickness direction of the belt, The minimum distance between the protrusions of the pair of guides in the belt thickness direction is greater than the belt thickness of the belt and smaller than the belt thickness direction length of the pair of rollers. According to the above-mentioned configuration, the contact between one pair of guides and the belt in the running of the belt can be reduced, and the movement of the belt in the belt thickness direction can be suppressed more effectively.

又，於本發明之皮帶傳動機構中，可行的是，前述一對皮帶輪於上下方向相互隔開地配置，前述皮帶藉由前述一對皮帶輪之正轉及逆轉而升降周繞移動。於一對皮帶輪在上下方向上相互隔開地配置之情形下，自剛體支持之觀點而言，難以精度良好地調整皮帶輪間之位置偏移，而容易產生皮帶之蛇行或皮帶自皮帶輪之脫離。然而，根據本發明，即便在皮帶輪間之位置偏移未被精度良好地調整之情形下，仍可藉由蛇行抑制機構抑制皮帶之蛇行，且抑制皮帶自齒形皮帶輪之脫離。  [發明之效果]Furthermore, in the belt transmission mechanism of the present invention, the pair of pulleys may be arranged to be spaced apart from each other in the up-down direction, and the belt may be moved up and down around by the forward and reverse rotation of the pair of pulleys. When a pair of pulleys are arranged to be spaced apart from each other in the up-down direction, it is difficult to precisely adjust the positional offset between the pulleys from the viewpoint of rigid body support, and the meandering of the belt or the detachment of the belt from the pulley is likely to occur. However, according to the present invention, even if the positional deviation between the pulleys is not adjusted accurately, the meandering of the belt can be suppressed by the meandering restraining mechanism, and the detachment of the belt from the toothed pulley can be restrained. [Effect of invention]

根據本發明，即便在一對皮帶輪間存在位置偏移之情形下，仍可抑制皮帶之蛇行，且可抑制皮帶自皮帶輪之脫離。According to the present invention, even when there is a positional shift between a pair of pulleys, the meandering of the belt can be suppressed, and the detachment of the belt from the pulleys can be suppressed.

以下，以將本實施形態之皮帶傳動機構1使用於皮帶升降裝置100之情形為例進行說明。Hereinafter, the case where the belt transmission mechanism 1 of the present embodiment is used in the belt elevating device 100 will be described as an example.

如圖1所示般，皮帶升降裝置100係將搬送物M在上下方向上搬送之裝置。皮帶升降裝置100之搬送物M之搬送距離為2 m以上。As shown in FIG. 1, the belt elevating device 100 is an apparatus which conveys the conveyed object M in the up-down direction. The conveyance distance of the conveyed object M of the belt lifter 100 is 2 m or more.

皮帶升降裝置100具備皮帶傳動機構1、及載物台10。The belt lifter 100 includes a belt transmission mechanism 1 and a stage 10 .

皮帶傳動機構1具備4個皮帶輪2a～2d、2條皮帶3a、3b、及2個蛇行抑制機構4a、4b。再者，以下將圖1之紙面近前側定義為皮帶升降裝置100之「前方」、將紙面另一側定義為皮帶升降裝置100之「後方」。又，將圖1所示之上下方向及左右方向定義為皮帶升降裝置100之「上下方向」及「左右方向」。以下，適當使用前後、左右、上下之各方向詞來進行說明。又，在不對皮帶輪2a～2d進行區別之情形下，總稱為「皮帶輪2」。在不對皮帶3a、3b進行區別之情形下總稱為「皮帶3」。在不對蛇行抑制機構4a、4b進行區別之情形下總稱為「蛇行抑制機構4」。The belt transmission mechanism 1 includes four pulleys 2a to 2d, two belts 3a, 3b, and two meandering suppression mechanisms 4a, 4b. In addition, hereinafter, the front side of the paper surface of FIG. 1 is defined as the “front side” of the belt lifter 100 , and the other side of the paper surface is defined as the “rear side” of the belt lifter 100 . In addition, the up-down direction and the left-right direction shown in FIG. 1 are defined as the "up-down direction" and the "left-right direction" of the belt raising/lowering apparatus 100. Hereinafter, the directional words of front and rear, left and right, and up and down will be appropriately used for description. In addition, when the pulleys 2a to 2d are not distinguished, they are collectively referred to as "pulley 2". When the belts 3a and 3b are not distinguished, they are collectively referred to as "belt 3". In the case where the meandering suppressing mechanisms 4a and 4b are not distinguished, they are collectively referred to as "the meandering suppressing mechanism 4".

4個皮帶輪2係設為彼此相同之構成之齒形皮帶輪，以其軸向與前後方向平行之方式配置。皮帶輪2a、2b成為一對，皮帶輪2a配置於較皮帶輪2b更靠上方。皮帶輪2c、2d成為一對，皮帶輪2c配置於較皮帶輪2d更靠上方。如此般，皮帶傳動機構1具備在上下方向上隔開之2對皮帶輪2。又，皮帶輪2a及皮帶輪2c在左右方向上相互隔開地排列設置，其上下方向之位置彼此相同。皮帶輪2b及皮帶輪2d在左右方向上相互隔開地排列設置，其上下方向之位置彼此相同。The four pulleys 2 are toothed pulleys having the same structure as each other, and are arranged so that the axial direction thereof is parallel to the front-rear direction. The pulleys 2a and 2b form a pair, and the pulley 2a is arranged above the pulley 2b. The pulleys 2c and 2d form a pair, and the pulley 2c is arranged above the pulley 2d. As described above, the belt transmission mechanism 1 includes two pairs of pulleys 2 spaced apart in the up-down direction. In addition, the pulley 2a and the pulley 2c are arranged in a line spaced apart from each other in the left-right direction, and their positions in the vertical direction are the same as each other. The pulley 2b and the pulley 2d are arranged to be spaced apart from each other in the left-right direction, and their positions in the vertical direction are the same as each other.

又，皮帶輪2a及皮帶輪2b之軸距D、及皮帶輪2c及皮帶輪2d之軸距D均為相同之距離。又，軸距D設為2 m～25 m之範圍內，較佳的是設為5 m～25 m之範圍內。Moreover, the wheel base D of the pulley 2a and the pulley 2b, and the wheel base D of the pulley 2c and the pulley 2d are all the same distance. In addition, the wheelbase D is set within a range of 2 m to 25 m, preferably within a range of 5 m to 25 m.

如圖2所示般，4個皮帶輪2各自具有：圓板狀之皮帶輪本體部20，其具有特定之厚度；及一對凸緣部21。皮帶輪本體部20捲繞有皮帶3。於皮帶輪本體部20之外周面，形成有沿著前後方向(皮帶輪本體部20之軸向)延伸之複數個齒部20a。複數個齒部20a沿著皮帶輪本體部20之外周面之周向形成複數個。As shown in FIG. 2 , each of the four pulleys 2 includes a disk-shaped pulley body portion 20 having a predetermined thickness, and a pair of flange portions 21 . The belt 3 is wound around the pulley body 20 . On the outer peripheral surface of the pulley body portion 20, a plurality of tooth portions 20a extending in the front-rear direction (the axial direction of the pulley body portion 20) are formed. The plurality of tooth portions 20 a are formed along the circumferential direction of the outer peripheral surface of the pulley body portion 20 .

一對凸緣部21各自連接於皮帶輪本體部20之軸向兩端，形成圓板狀之形狀。凸緣部21與皮帶輪本體部20設置於同軸上。凸緣部21之外徑大於皮帶輪本體部20之外徑。藉此，於皮帶3捲繞於皮帶輪本體部20之狀態下，可抑制皮帶3自皮帶輪本體部20脫離。The pair of flange portions 21 are respectively connected to both ends of the pulley body portion 20 in the axial direction, and form a disc shape. The flange portion 21 and the pulley body portion 20 are provided coaxially. The outer diameter of the flange portion 21 is larger than the outer diameter of the pulley body portion 20 . Thereby, when the belt 3 is wound around the pulley body portion 20 , the belt 3 can be prevented from being detached from the pulley body portion 20 .

2條皮帶3係設為彼此相同之構成之環狀之齒形皮帶(傳動皮帶)。皮帶3具備：複數條芯線；及皮帶本體，其包含埋設有複數條芯線之背面部、及複數個齒部。皮帶3之複數個齒部在皮帶長度方向上相互隔開地配置。又，複數個齒部遍及皮帶之全周形成。皮帶3之複數個齒部可與皮帶輪2之齒部20a嚙合。The two belts 3 are endless toothed belts (transmission belts) having the same structure as each other. The belt 3 includes: a plurality of core wires; and a belt body including a back surface part in which the plurality of core wires are embedded, and a plurality of tooth parts. The plurality of tooth portions of the belt 3 are arranged to be spaced apart from each other in the belt longitudinal direction. Moreover, a plurality of tooth portions are formed over the entire circumference of the belt. The plurality of teeth of the belt 3 can be engaged with the teeth 20a of the pulley 2 .

本實施形態之皮帶3滿足以下之要件。  ・皮帶寬度=10～200 mm  ・皮帶總厚度=2～18 mm  ・背面部之厚度=0.8～6 mm  ・各齒部之高度=1.2～8 mm  ・齒部之節距=5～30 mm  ・各芯線之直徑=0.4～2.6 mm  ・各芯線之強力=0.15～8 kN  ・芯線之節距=1.0～3.7 mm  ・芯線之間隔=0.4～1.4 mm(各間隔之合計值為皮帶寬度之13～36%)  ・每1 mm皮帶寬度之皮帶強力=0.10 kN以上、2.60 kN以下。The belt 3 of this embodiment satisfies the following requirements.・Belt width=10～200 mm ・Total thickness of belt=2～18 mm ・Thickness of back side=0.8～6 mm ・Height of each tooth portion=1.2～8 mm ・Pitch of tooth portion=5～30 mm ・Diameter of each core wire=0.4～2.6 mm ・Strength of each core wire=0.15～8 kN ・Core wire pitch=1.0～3.7 mm 36%) ・Belt strength per 1 mm belt width = 0.10 kN or more and 2.60 kN or less.

又，本實施形態之皮帶3更佳者係滿足以下之要件。  ・皮帶寬度=10～200 mm  ・皮帶總厚度=2～14 mm  ・背面部之厚度=2～4 mm  ・各齒部之高度=2.5～6.1 mm  ・齒部之節距=8～20 mm  ・各芯線之直徑=0.9～2.5 mm  ・各芯線之強力=1.0～7.5 kN  ・芯線之節距=2.0～3.2 mm  ・芯線之間隔=0.7～1.1 mm(各間隔之合計值為皮帶寬度之13～36%)  ・每1 mm皮帶寬度之皮帶強力=0.50 kN以上、2.30 kN以下。Moreover, it is more preferable that the belt 3 of this embodiment satisfies the following requirements.・Belt width=10～200 mm ・Total thickness of belt=2～14 mm ・Thickness of back side=2～4 mm ・Height of each tooth portion=2.5～6.1 mm ・Pitch of tooth portion=8～20 mm ・Diameter of each core wire=0.9～2.5 mm ・Strength of each core wire=1.0～7.5 kN ・Core wire pitch=2.0～3.2 mm 36%) ・Belt strength per 1 mm belt width = 0.50 kN or more and 2.30 kN or less.

如前文所述般，4個皮帶輪2之軸向與前後方向平行，因此各皮帶3之皮帶寬度方向與前後方向平行，各皮帶3之皮帶厚度方向與左右方向平行。又，各皮帶3之皮帶長度方向於上下方向上對應。As described above, the axial directions of the four pulleys 2 are parallel to the front-rear direction, so the belt width direction of each belt 3 is parallel to the front-rear direction, and the belt thickness direction of each belt 3 is parallel to the left-right direction. Moreover, the belt length direction of each belt 3 corresponds to the up-down direction.

再者，皮帶3(齒形皮帶)之構成本身為周知者(例如，參照日本特開2018-185044號公報)，因此此處省略更多之詳細之說明。In addition, since the structure of the belt 3 (toothed belt) itself is well known (for example, refer to Japanese Patent Application Laid-Open No. 2018-185044), more detailed descriptions are omitted here.

如圖1所示般，皮帶3a架掛於一對皮帶輪2a、2b，皮帶3b架掛於一對皮帶輪2c、2d。如上述般一對皮帶輪2a、2b及一對皮帶輪2c、2d之軸距D均為2 m以上，因此架掛於該等皮帶輪2之皮帶3之長度與皮帶寬度W(參照圖2)相比變得非常長。亦即，本實施形態之皮帶3係寬度窄且跨距長之皮帶。As shown in FIG. 1 , the belt 3a is hung on the pair of pulleys 2a, 2b, and the belt 3b is hanged on the pair of pulleys 2c, 2d. As described above, the wheelbase D of the pair of pulleys 2a and 2b and the pair of pulleys 2c and 2d is both 2 m or more. Therefore, the length of the belt 3 hanging on the pulleys 2 is compared with the belt width W (see FIG. 2 ). becomes very long. That is, the belt 3 of the present embodiment is a belt with a narrow width and a long span.

又，於皮帶3a之在一對皮帶輪2a、2b之間相互對向之皮帶部分30a、30b中之左側之皮帶部分30b，安裝有供固定載物台10之固定具35。同樣地，於皮帶3b之在一對皮帶輪2c、2d之間相互對向之皮帶部分31a、31b中之右側之皮帶部分31a，安裝有供固定載物台10之固定具36。In addition, a fixing tool 35 for fixing the stage 10 is attached to the belt portion 30b on the left side of the belt portions 30a, 30b of the belt 3a that face each other between the pair of pulleys 2a, 2b. Similarly, the belt portion 31a on the right side of the belt portions 31a, 31b facing each other between the pair of pulleys 2c, 2d of the belt 3b is provided with a fixture 36 for fixing the stage 10.

皮帶輪2b由未圖示之電動馬達(驅動源)正轉驅動及逆轉驅動。當皮帶輪2b旋轉驅動時，其餘之3個皮帶輪2a、2c、2d經由2條皮帶3及載物台10被同期驅動。如此般，於本實施形態中，皮帶輪2b係驅動皮帶輪，其餘之3個皮帶輪2a、2c、2d係從動皮帶輪。The pulley 2b is driven in forward rotation and reverse rotation by an electric motor (drive source) not shown. When the pulley 2b is rotationally driven, the remaining three pulleys 2a, 2c, and 2d are driven synchronously via the two belts 3 and the stage 10. As described above, in the present embodiment, the pulley 2b is a driving pulley, and the remaining three pulleys 2a, 2c, and 2d are driven pulleys.

載物台10係平板狀之台，其右端部經由固定具35固定於皮帶3a，且其左端部經由固定具36固定於皮帶3b。於載物台10之上表面，載置有搬送對象之搬送物M。The stage 10 is a flat table, the right end of which is fixed to the belt 3 a via the fixture 35 , and the left end is fixed to the belt 3 b via the fixture 36 . On the upper surface of the stage 10, the conveyed object M which is a conveyance object is mounted.

於以上之構成中，當在載物台10上載置有搬送物M之狀態下，將皮帶輪2b正轉驅動或逆轉驅動時，2條皮帶3於上下方向升降周繞移動，於是搬送物M上下升降。如此般，於本實施形態之皮帶升降裝置100中，可將搬送物M以兩側支持之狀態進行升降搬送。In the above configuration, when the pulley 2b is driven forward or reversely in a state where the object M is placed on the stage 10, the two belts 3 move up and down in the vertical direction, and the object M moves up and down. lift. In this way, in the belt elevating device 100 of the present embodiment, the conveyed object M can be moved up and down while being supported on both sides.

且說，於皮帶傳動機構1中，當在產生對準(一對皮帶輪2彼此之位置偏移)之狀態下使皮帶3移行時，皮帶3之直行性會被擾亂而朝皮帶寬度方向蛇行。特別是，若於搬送物M為重物、或高速移行時等負載較高之條件下移送較長之距離，則會顯著地產生蛇行。又，於軸距D設為5 m～25 m之範圍內等軸距D較長之情形下，皮帶3之蛇行容易變大。進而會因皮帶3扭轉而欲攀上皮帶輪2之凸緣部21，從而對皮帶3施加過度之張力，而有皮帶3自皮帶輪2脫離之虞。Furthermore, in the belt drive mechanism 1, when the belt 3 is moved in a state where alignment (positional displacement of the pair of pulleys 2 with each other) occurs, the straightness of the belt 3 is disturbed and the belt 3 meanders in the belt width direction. In particular, when the conveyed object M is a heavy object, or when the conveyed object M is transported for a long distance under high load conditions, such as when moving at a high speed, the meandering will occur remarkably. In addition, when the wheelbase D is set to be long within the range of 5 m to 25 m, the meandering of the belt 3 tends to increase. Further, the belt 3 is twisted and tries to climb on the flange portion 21 of the pulley 2 , so that excessive tension is applied to the belt 3 , and there is a possibility that the belt 3 will be separated from the pulley 2 .

因此，為了抑制皮帶2蛇行，必須精度良好地調整對準。然而，於本實施形態之皮帶傳動機構1中，由於如上述般一對皮帶輪2之軸距D較長(較長之情形下為25 m左右)，因此難以進行對準之調整。此外，由於一對皮帶輪2在上下方向相互隔開地配置，因此自剛體支持之觀點而言，對準之調整非常困難。Therefore, in order to suppress meandering of the belt 2, it is necessary to precisely adjust the alignment. However, in the belt transmission mechanism 1 of the present embodiment, since the wheelbase D of the pair of pulleys 2 is long (about 25 m in the case of long) as described above, it is difficult to adjust the alignment. In addition, since the pair of pulleys 2 are arranged to be spaced apart from each other in the vertical direction, it is very difficult to adjust the alignment from the viewpoint of rigid body support.

因此，本實施形態之皮帶傳動機構1具備用於抑制皮帶3蛇行之2個蛇行抑制機構4。以下，對於蛇行抑制機構4詳細地進行說明。Therefore, the belt transmission mechanism 1 of the present embodiment includes two meandering suppressing mechanisms 4 for suppressing the meandering of the belt 3 . Hereinafter, the meandering suppression mechanism 4 will be described in detail.

蛇行抑制機構4a係用於抑制皮帶3a蛇行之機構，配置於使皮帶3升降周繞移動時載物台10可移動之移動範圍R之外側、且不與皮帶輪2接觸(不干擾)之皮帶輪2b之附近之位置。更詳細而言，蛇行抑制機構4a配置於移動範圍R下端與皮帶輪2b上端之間之範圍N中、較該範圍N之中央C更靠皮帶輪2b側。The meandering restraining mechanism 4a is a mechanism for restraining the meandering of the belt 3a, and is disposed on the pulley 2b outside the movable range R of the stage 10 when the belt 3 is moved up and down and around, and is not in contact with (does not interfere with) the pulley 2 the nearby location. More specifically, the meandering suppressing mechanism 4a is arranged in the range N between the lower end of the movement range R and the upper end of the pulley 2b, and is located on the side of the pulley 2b rather than the center C of the range N.

蛇行抑制機構4b係用於抑制皮帶3b蛇行之機構，配置於移動範圍R之外側、且不與皮帶輪2接觸之皮帶輪2d附近之位置。更詳細而言，蛇行抑制機構4b配置於移動範圍R之下端與皮帶輪2d之上端之間之範圍N中、較該範圍N之中央C更靠皮帶輪2d側。The meandering restraining mechanism 4b is a mechanism for restraining the meandering of the belt 3b, and is disposed at a position near the pulley 2d outside the moving range R and not in contact with the pulley 2. As shown in FIG. More specifically, the meandering suppression mechanism 4b is arranged in the range N between the lower end of the movement range R and the upper end of the pulley 2d, and is located on the side of the pulley 2d rather than the center C of the range N.

如圖1～圖6所示般，蛇行抑制機構4各自具備一對輥40、及一對導引件45。蛇行抑制機構4藉由利用周知之機構栓結於地板之支持構件50固定。再者，支持構件50亦可栓結於皮帶升降裝置100之本體等。As shown in FIGS. 1 to 6 , each meandering suppression mechanism 4 includes a pair of rollers 40 and a pair of guides 45 . The meandering restraining mechanism 4 is fixed by a supporting member 50 which is bolted to the floor by a well-known mechanism. Furthermore, the supporting member 50 can also be fastened to the body of the belt lifting device 100 or the like.

如圖2所示般，一對輥40配置為在皮帶3之皮帶寬度方向(前後方向)上隔著皮帶3對向，且各自之軸向與皮帶3之皮帶厚度方向(左右方向)平行。如圖1所示般，蛇行抑制機構4a之一對輥40隔著皮帶3a之皮帶部分30b對向。蛇行抑制機構4b之一對輥40隔著皮帶3b之皮帶部分31a對向。如此般蛇行抑制機構4各者之一對輥40係以隔著皮帶3之固定載物台10之皮帶部分30b、31a之方式構成。As shown in FIG. 2 , the pair of rollers 40 are arranged so as to face each other across the belt 3 in the belt width direction (front-rear direction) of the belt 3 , and their respective axial directions are parallel to the belt thickness direction (left-right direction) of the belt 3 . As shown in FIG. 1, one pair of rollers 40 of the meandering suppressing mechanism 4a face each other across the belt portion 30b of the belt 3a. A pair of rollers 40 of the meandering suppressing mechanism 4b face each other across the belt portion 31a of the belt 3b. In this way, each of the pair of rollers 40 of the meandering suppression mechanism 4 is constituted so that the belt portions 30b and 31a of the stage 10 are fixed across the belt 3 .

如圖4～圖6所示般，一對輥40各自呈圓筒形狀。再者，輥40可進行中空或減重加工。輥40之材質為樹脂，例如，較佳地使用低摩擦係數之氟樹脂或聚縮醛等。作為變化例，輥40之材質亦可為鋼、不鏽鋼、鋁等。As shown in FIGS. 4 to 6 , each of the pair of rollers 40 has a cylindrical shape. Furthermore, the roll 40 may be hollow or weight-reduced. The material of the roller 40 is resin, for example, fluorine resin or polyacetal with low friction coefficient is preferably used. As a modified example, the material of the roller 40 may also be steel, stainless steel, aluminum, or the like.

如圖2及圖4所示般，一對輥40以其外周面彼此之最小間隔即輥間隔I大於皮帶3之皮帶寬度W、且小於皮帶輪2之齒部20a之齒寬X(皮帶輪本體部20之皮帶寬度方向之幅)之方式配置。較佳的是，以輥間隔I小於齒寬X、且較皮帶寬度W大於2 mm以上(於皮帶輪2之靜止時，一對輥40各者與皮帶3之間之各間隔大於1 mm以上)之方式配置。As shown in FIGS. 2 and 4 , the minimum distance between the outer peripheral surfaces of the pair of rollers 40, that is, the roller distance I is larger than the belt width W of the belt 3, and smaller than the tooth width X of the tooth portion 20a of the pulley 2 (the main body portion of the pulley). 20 width of the belt width) configuration. Preferably, the roller interval I is smaller than the tooth width X and greater than the belt width W by more than 2 mm (when the pulley 2 is stationary, the distance between each of the pair of rollers 40 and the belt 3 is greater than 1 mm or more) way to configure.

又，如圖4所示般，輥40之軸向(皮帶厚度方向)之厚度Z設為至少大於皮帶3之皮帶厚度G。又，關於輥40之輥直徑，考量蛇行抑制機構4之整體尺寸、及如不妨礙載物台10之搬送之小型化等來設定。Moreover, as shown in FIG. 4, the thickness Z of the axial direction (belt thickness direction) of the roller 40 is set to be larger than the belt thickness G of the belt 3 at least. In addition, the roller diameter of the roller 40 is set in consideration of the overall size of the meandering suppressing mechanism 4, and the miniaturization as long as the conveyance of the stage 10 is not hindered.

於本實施形態之輥40中，滿足以下之要件。  ・輥之直徑=30～60 mm  ・輥之軸向之厚度=5～20 mmIn the roll 40 of this embodiment, the following requirements are satisfied.・Diameter of the roller=30～60 mm ・The thickness of the axial direction of the roller=5～20 mm

如圖1～圖6所示般，一對導引件45於皮帶厚度方向(左右方向)上隔著一對輥40及皮帶3對向配置。一對導引件45經由軸承49旋轉自如地支持一對輥40。As shown in FIGS. 1 to 6 , the pair of guides 45 are arranged to face each other across the pair of rollers 40 and the belt 3 in the belt thickness direction (left-right direction). The pair of guides 45 rotatably support the pair of rollers 40 via bearings 49 .

導引件45之材質為樹脂，例如，較佳地使用低摩擦係數之氟樹脂、聚縮醛等。作為變化例，導引件45之材質亦可為鋼、不鏽鋼、鋁等。The material of the guide member 45 is resin, for example, fluorine resin with low friction coefficient, polyacetal, etc. are preferably used. As a modified example, the material of the guide member 45 can also be steel, stainless steel, aluminum, or the like.

又，一對導引件45各自為大致凸狀之板材。詳細而言，一對導引件45各自具有平板狀之平板部45a、及自平板部45a向皮帶3突出之板狀之凸部45b。凸部45b在自皮帶厚度方向觀察時位於與皮帶3重合之範圍內。In addition, each of the pair of guides 45 is a substantially convex plate. Specifically, each of the pair of guides 45 has a flat plate-shaped portion 45a and a plate-shaped convex portion 45b protruding from the flat plate portion 45a toward the belt 3 . The convex part 45b is located in the range which overlaps with the belt 3 when it sees from the belt thickness direction.

平板部45a之上下方向之長度與凸部45b之上下方向之長度相等。另一方面，平板部45a之皮帶寬度方向之長度較凸部45b之皮帶寬度方向之長度更長。詳細而言，平板部45a之皮帶寬度方向之長度較一對輥40之軸距長。凸部45b之皮帶寬度方向之長度較一對輥40之輥間隔I短。又，平板部45a經由軸承49旋轉自如地支持一對輥40。The length in the vertical direction of the flat plate portion 45a is equal to the length in the vertical direction of the convex portion 45b. On the other hand, the length in the belt width direction of the flat plate portion 45a is longer than the length in the belt width direction of the convex portion 45b. Specifically, the length in the belt width direction of the flat plate portion 45 a is longer than the wheel base of the pair of rollers 40 . The length in the belt width direction of the convex portion 45 b is shorter than the roller interval I of the pair of rollers 40 . In addition, the flat plate portion 45 a rotatably supports the pair of rollers 40 via bearings 49 .

凸部45b之與皮帶3對向之對向面與上表面之稜線部、及該對向面與下表面之稜線部各自被進行圓角處理(倒角)而彎曲。藉此，可減輕在上下方向上周繞移動之皮帶3與凸部45b接觸時之摩擦。The facing surface of the convex portion 45b facing the belt 3 and the ridgeline portion of the upper surface and the ridgeline portion of the facing surface and the lower surface are each rounded (chamfered) and curved. Thereby, the friction when the belt 3 moving around in the up-down direction and the convex portion 45b contacts can be reduced.

如圖4所示般，一對導引件45配置為凸部45b彼此之皮帶厚度方向之最小間隔H大於皮帶3之皮帶厚度G，且小於輥40之厚度Z。更佳的是，一對導引件45配置為最小間隔H較皮帶厚度G大於2 mm以上(於皮帶輪2之靜止時，一對導引件45各者與皮帶3之間之各間隔大於1 mm以上)，且小於輥40之厚度Z。關於導引件45之尺寸，考量蛇行抑制機構4之整體尺寸、及如不妨礙載物台10之搬送之小型化等來設定。As shown in FIG. 4 , the pair of guides 45 are arranged so that the minimum distance H in the belt thickness direction between the convex portions 45b is larger than the belt thickness G of the belt 3 and smaller than the thickness Z of the roller 40 . More preferably, the pair of guides 45 is configured such that the minimum interval H is greater than the thickness G of the belt by more than 2 mm (when the pulley 2 is at rest, the interval between each of the pair of guides 45 and the belt 3 is greater than 1 mm. mm or more), and less than the thickness Z of the roller 40. The size of the guide 45 is set in consideration of the overall size of the meandering suppression mechanism 4 and the miniaturization if it does not interfere with the conveyance of the stage 10 .

再者，蛇行抑制機構4可使用工具等拆卸一對導引件45。因此，即便在皮帶3架掛於皮帶輪2之狀態下，藉由後續安裝而可將蛇行抑制機構4容易地設置於皮帶3。In addition, the meandering suppression mechanism 4 can be detached from the pair of guides 45 using a tool or the like. Therefore, even in a state where the belt 3 is hung on the pulley 2, the meandering suppression mechanism 4 can be easily installed on the belt 3 by subsequent mounting.

軸承49只要輥40可旋轉即可，可應用滾動軸承、滑動軸承、磁軸承、流體軸承等周知之軸承。The bearing 49 may be any known bearing such as a rolling bearing, a sliding bearing, a magnetic bearing, and a fluid bearing, as long as the roller 40 is rotatable.

可藉由以上所說明之蛇行抑制機構4抑制皮帶3之蛇行。以下，詳細地進行說明。The meandering of the belt 3 can be suppressed by the meandering restraining mechanism 4 described above. Hereinafter, it demonstrates in detail.

於皮帶3之移行中，於皮帶3朝皮帶寬度方向移動(擺動)之情形下，皮帶3藉由與一對輥40中之移動方向下游側之輥40接觸，而被規制朝皮帶寬度方向之進一步之移動。作為其結果，可抑制皮帶3朝皮帶寬度方向大幅度蛇行。又，於皮帶3與輥40接觸時，輥40因該接觸而旋轉。因此，可減輕皮帶3與輥40之間之摩擦。During the running of the belt 3, when the belt 3 moves (swings) in the belt width direction, the belt 3 is regulated toward the belt width direction by contacting the roller 40 on the downstream side in the moving direction among the pair of rollers 40. move further. As a result, the belt 3 can be restrained from meandering largely in the belt width direction. In addition, when the belt 3 comes into contact with the roller 40, the roller 40 rotates due to the contact. Therefore, the friction between the belt 3 and the roller 40 can be reduced.

另一方面，於皮帶3之移行中，於皮帶3朝皮帶厚度方向移動之情形下，皮帶3藉由與一對導引件45中之移動方向下游側之導引件45接觸，而被規制朝皮帶厚度方向之進一步之移動。作為其結果，可抑制皮帶3朝皮帶厚度方向大幅度移動。On the other hand, when the belt 3 moves in the belt thickness direction during the running of the belt 3, the belt 3 is regulated by contacting the guide 45 on the downstream side in the moving direction among the pair of guides 45. Further movement in the direction of belt thickness. As a result, the large movement of the belt 3 in the belt thickness direction can be suppressed.

如以上般，根據本實施形態，即便在一對皮帶輪2間存在位置偏移之情形下，仍可藉由蛇行抑制機構4抑制皮帶3之蛇行，且抑制皮帶3自皮帶輪2之脫離。特別是，即便在軸距D設為5 m～25 m之範圍內等軸距D較長而皮帶3之蛇行易於變大之條件下，仍可藉由蛇行抑制機構4有效地抑制皮帶3之蛇行。As described above, according to the present embodiment, even when there is a positional shift between the pair of pulleys 2 , the meandering of the belt 3 can be suppressed by the meandering restraining mechanism 4 , and the belt 3 can be prevented from being detached from the pulleys 2 . In particular, even if the wheelbase D is long within the range of 5 m to 25 m and the meandering of the belt 3 is likely to increase, the meandering restraining mechanism 4 can effectively restrain the belt 3 from wandering. Snake.

又，於本實施形態中，蛇行抑制機構4a配置於載物台10可移動之移動範圍R之外側、且不與皮帶輪2接觸之皮帶輪2b之附近之位置，蛇行抑制機構4b配置於移動範圍R之外側、且不與皮帶輪2接觸之皮帶輪2d之附近之位置。因此，可抑制蛇行抑制機構4與載物台10接觸。進而，蛇行抑制機構4可不仰賴於皮帶3之狀態(品質)，有效地抑制皮帶3之蛇行。以下，詳細地進行說明。In the present embodiment, the meandering suppression mechanism 4a is arranged outside the movable range R of the stage 10 and near the pulley 2b which is not in contact with the pulley 2, and the meandering suppression mechanism 4b is arranged in the movement range R The position in the vicinity of the pulley 2d on the outside and not in contact with the pulley 2. Therefore, it is possible to suppress the meandering suppressing mechanism 4 from coming into contact with the stage 10 . Furthermore, the meandering suppressing mechanism 4 can effectively suppress meandering of the belt 3 independently of the state (quality) of the belt 3 . Hereinafter, it demonstrates in detail.

1條皮帶3之遍及全周之形狀不是一定，而有根據部位而存在偏差之情形。例如，皮帶3之皮帶寬度方向之兩端在製造上成為藉由切刀切斷成特定寬度之切斷端部，例如即便是直線性地切斷，亦因皮帶本身之材料特性而於皮帶寬度方向上微妙地收縮。其結果為，皮帶3有其直線性紊亂而成為微妙地彎曲之形狀之情形。特別是，如本實施形態般周長愈大之皮帶3，則其直線性之紊亂愈容易顯著地產生。若如此之皮帶3之形狀上之直線性之紊亂大，則蛇行之程度亦變大。The shape of one belt 3 over the entire circumference is not constant, and may vary depending on the location. For example, both ends in the belt width direction of the belt 3 are cut ends to be cut to a specific width by a cutter in manufacturing. Subtle contraction in direction. As a result, the linearity of the belt 3 is disturbed, and the belt 3 may have a delicately curved shape. In particular, as in the present embodiment, the larger the circumference of the belt 3, the more likely the disturbance of the linearity is remarkably generated. If the linearity of the shape of the belt 3 is disordered as described above, the degree of meandering will also increase.

此處，蛇行抑制機構4抑制皮帶3之蛇行之原理，係利用如下之作用者，即：蛇行抑制機構4與皮帶輪2此2點成為移行之皮帶3之支持點(2點支持)，而強制性地抑制(鎖定)皮帶3朝皮帶寬度方向及皮帶厚度方向之擺動。此時，2個支持點之距離愈近，則抑制皮帶3之擺動之效果愈大。於本實施形態中，由於蛇行抑制機構4配置於皮帶輪2之附近，因此2個支持點之距離變近。因此，即便皮帶3之狀態為形狀上之直線性之紊亂較大之狀態，仍可藉由蛇行抑制機構4有效地抑制皮帶3之蛇行。Here, the principle of suppressing the meandering of the belt 3 by the meandering restraining mechanism 4 is based on the following action: the meandering restraining mechanism 4 and the pulley 2 become the supporting points (supporting at two points) of the belt 3 while it is running, and the two points of the meandering restraining mechanism 4 and the pulley 2 are The swinging of the belt 3 in the belt width direction and the belt thickness direction is suppressed (locked) effectively. At this time, the closer the distance between the two support points is, the greater the effect of suppressing the swing of the belt 3 is. In the present embodiment, since the meandering restraining mechanism 4 is arranged in the vicinity of the pulley 2, the distance between the two supporting points is shortened. Therefore, the meandering of the belt 3 can be effectively suppressed by the meandering restraining mechanism 4 even if the state of the belt 3 is a state in which the linearity of the shape is disordered greatly.

又，安裝有載物台10之側之皮帶部分30b、31a因施加於搬送物M之慣性力之影響而容易劇烈擺動。然而，於本實施形態中，各蛇行抑制機構4a、4b之一對輥40乃各自隔著皮帶3之固定載物台10之皮帶部分30b、31a而對向配置。因此，可有效地抑制安裝有載物台10之皮帶部分30b、31a之蛇行，且可進一步提高抑制皮帶3自皮帶輪2脫離之效果。In addition, the belt portions 30b and 31a on the side where the stage 10 is attached are liable to swing violently due to the influence of the inertial force applied to the conveyed object M. However, in the present embodiment, the pair of rollers 40 of each meandering suppression mechanism 4a, 4b are arranged to face each other across the belt portions 30b, 31a of the fixed stage 10 of the belt 3, respectively. Therefore, the meandering of the belt portions 30b and 31a to which the stage 10 is attached can be effectively suppressed, and the effect of suppressing the belt 3 from coming off the pulley 2 can be further enhanced.

又，於本實施形態中，一對輥40之輥間隔I大於皮帶寬度W，且小於齒寬X。因此，可減輕皮帶3之移行中之一對輥40與皮帶3之接觸，且更有效地抑制皮帶3朝皮帶寬度方向蛇行時之皮帶3朝皮帶寬度方向之進一步之移動。In addition, in this embodiment, the roller interval I of the pair of rollers 40 is larger than the belt width W and smaller than the tooth width X. Therefore, the contact between the pair of rollers 40 and the belt 3 during the running of the belt 3 can be reduced, and further movement of the belt 3 in the belt width direction when the belt 3 meanders in the belt width direction can be suppressed more effectively.

又，於本實施形態中，一對導引件45之凸部45b彼此之皮帶厚度方向之最小間隔H大於皮帶厚度G，且小於輥40之厚度Z。因此，可於皮帶3移行中減輕一對導引件45與皮帶3之接觸，且更有效地抑制皮帶3朝皮帶厚度方向移動時、皮帶3朝皮帶厚度方向進一步移動。Moreover, in this embodiment, the minimum distance H of the belt thickness direction between the convex parts 45b of a pair of guides 45 is larger than the belt thickness G, and smaller than the thickness Z of the roller 40. Therefore, the contact between the pair of guides 45 and the belt 3 can be reduced during the movement of the belt 3, and further movement of the belt 3 in the belt thickness direction when the belt 3 is moved in the belt thickness direction can be suppressed more effectively.

另，作為用於抑制皮帶之蛇行之方法亦已知有以下方法。亦即，已知遍及一對皮帶輪間之大致全範圍，設置用於規制皮帶之姿勢之導軌之方法。然而，於該方法中，於一對皮帶輪間之特別是中央附件，於皮帶大幅度擺振之情形下，有載物台與導軌接觸之虞。此外，如本實施形態般當應用於長跨距之皮帶傳動機構時，因導軌變長且大，故成本變高。In addition, the following method is also known as a method for suppressing the meandering of a belt. That is, there is known a method of providing a guide rail for regulating the posture of the belt over substantially the entire range between a pair of pulleys. However, in this method, between the pair of pulleys, especially the central attachment, when the belt oscillates greatly, there is a risk that the stage and the guide rail come into contact. In addition, when applied to a long-span belt transmission mechanism as in the present embodiment, the guide rail becomes long and large, so that the cost increases.

又，亦已知有在皮帶傳動機構設置具有抑制蛇行之功能的張力皮帶輪之方法(例如，日本特開2005-249092號公報)，但於該方法中，因設置張力皮帶輪，從而皮帶傳動機構複雜且成本變高。另外，可應用該方法之皮帶傳動機構係跨距較短之皮帶傳動機構，於如本實施形態般長跨距之皮帶傳動機構中，僅憑藉張力皮帶輪無法充分地抑制皮帶之蛇行。In addition, there is also known a method of providing a tension pulley having a function of suppressing meandering in a belt drive mechanism (for example, Japanese Patent Application Laid-Open No. 2005-249092), but in this method, the belt drive mechanism is complicated due to the provision of the tension pulley and higher costs. In addition, the belt transmission mechanism to which this method can be applied is a belt transmission mechanism with a short span, and in a belt transmission mechanism with a long span as in the present embodiment, the meandering of the belt cannot be sufficiently suppressed only by the tension pulley.

於本實施形態之蛇行抑制機構4中，與該等之方法不同，可藉由不複雜且成本不會變高之簡單機構，且無關於皮帶3之跨距，而抑制皮帶3之蛇行。In the meandering restraining mechanism 4 of the present embodiment, unlike these methods, the meandering of the belt 3 can be restrained by a simple mechanism that is not complicated and does not increase the cost regardless of the span of the belt 3 .

以上，對於本發明之較佳之實施形態進行了說明，但本發明並不限於上述之實施形態，只要為本說明書中所記載之內容，可進行各種變更。例如，於上述之實施形態中，於4個皮帶輪2中之2個皮帶輪2b、2d各者之附近配置蛇行抑制機構，但並不限定於此。例如，亦可在4個皮帶輪各者之附近配置蛇行抑制機構。該情形下，可進一步提高皮帶之蛇行抑制之可靠性。又，亦可不將載物台固定於皮帶。架掛皮帶之一對皮帶輪之軸距可為未達2 m，亦可長於25 m。The preferred embodiments of the present invention have been described above, but the present invention is not limited to the above-described embodiments, and various modifications can be made as long as the contents are described in this specification. For example, in the above-described embodiment, the meandering suppression mechanism is arranged in the vicinity of each of the two pulleys 2b and 2d of the four pulleys 2, but the present invention is not limited to this. For example, the meandering suppression mechanism may be arranged near each of the four pulleys. In this case, the reliability of the meandering suppression of the belt can be further improved. Moreover, it is not necessary to fix the stage to the belt. The wheelbase of one pair of pulleys of the hanging belt may be less than 2 m or longer than 25 m.

又，於上述之實施形態中，4個皮帶輪全部為齒形皮帶輪，但並不限定於此。一對皮帶輪中之一個皮帶輪(從動皮帶輪)亦可為平皮帶輪。又，於上述之實施形態中，皮帶3係遍及全周形成有齒部之齒形皮帶，但並不限定於此，只要為至少具有可與作為驅動皮帶輪之齒形皮帶輪嚙合之齒部的皮帶即可。亦即，捲繞於從動皮帶輪之部分、或不通過皮帶輪之皮帶部分無需嚙合傳動，因此亦可為部分地組合平皮帶、V形皮帶等摩擦傳動皮帶之皮帶。In addition, in the above-mentioned embodiment, although all four pulleys are toothed pulleys, it is not limited to this. One of the pair of pulleys (the driven pulley) can also be a flat pulley. Further, in the above-described embodiment, the belt 3 is a toothed belt having teeth formed over the entire circumference, but it is not limited to this, as long as it is a belt having at least a tooth that can be meshed with a toothed pulley serving as a drive pulley That's it. That is, the part wound around the driven pulley or the part of the belt that does not pass through the pulley does not need to be meshed for transmission, so it can also be a belt that is partially combined with friction transmission belts such as a flat belt and a V-belt.

於上述之實施形態中，一對輥40經由軸承49旋轉自如地受一對導引件45支持，但並不限定於此。例如，若輥之心​軸立於一對導引件中之一個導引件，另一導引件具有用於插通或嵌合該心軸之插通孔或凹部，則一對導引件即便無軸承亦可旋轉自如地支持一對輥。In the above-described embodiment, the pair of rollers 40 are rotatably supported by the pair of guides 45 via the bearings 49, but the present invention is not limited to this. For example, if the mandrel of the roller stands on one guide of a pair of guides, and the other guide has an insertion hole or a recess for inserting or fitting the mandrel, the pair of guides The piece supports a pair of rollers rotatably even without bearings.

於上述之實施形態中，一對導引件45為大致凸狀之板材，但並不限定於此，只要為不損傷移行中之皮帶、且可規制皮帶在厚度方向上之移動之程度之強度與形狀即可。例如，一對導引件之與皮帶接觸之部分可為輥(旋轉之圓筒體)。根據該構成，可進一步減輕皮帶與導引件之間之摩擦。In the above-described embodiment, the pair of guides 45 are substantially convex plates, but the present invention is not limited to this, as long as it is strong enough to regulate the movement of the belt in the thickness direction without damaging the running belt. with shape. For example, the portion of the pair of guides that is in contact with the belt may be a roller (rotating cylinder). According to this configuration, the friction between the belt and the guide can be further reduced.

又，於上述之實施形態中，皮帶升降裝置100係將搬送物M以兩側支持之狀態升降搬送之裝置，但並不限定於此。例如，如圖7所示之皮帶升降裝置200般，亦可為將搬送物M在懸臂之狀態下升降搬送之裝置。更詳細而言，該皮帶升降裝置200所具備之皮帶傳動機構201具備：一對皮帶輪2、架掛於該一對皮帶輪2之1條皮帶3、及抑制皮帶3之蛇行之1個蛇行抑制機構4。於皮帶3之皮帶部分30a經由固定具35固定有載物台10。載物台10僅其右端部經由固定部35固定於皮帶3。於以上之構成中，於將搬送物M載置於載物台10之狀態下，當將皮帶輪2b正轉驅動或逆轉驅動時，1條皮帶3在上下方向上升降周繞移動，作為其結果而搬送物M上下升降。再者，亦可構成為將載物台10之左端部側藉由導軌等予以支持。In addition, in the above-mentioned embodiment, although the belt raising/lowering apparatus 100 is an apparatus which raises and lowers and conveys the conveyed object M in the state supported by both sides, it is not limited to this. For example, like the belt elevating device 200 shown in FIG. 7 , it may be a device that elevates and conveys the conveyed object M in a cantilever state. More specifically, the belt transmission mechanism 201 included in the belt elevating device 200 includes a pair of pulleys 2 , a belt 3 hanging from the pair of pulleys 2 , and a meandering restraining mechanism for restraining the meandering of the belt 3 . 4. The stage 10 is fixed to the belt portion 30a of the belt 3 via a fixture 35 . Only the right end portion of the stage 10 is fixed to the belt 3 via the fixing portion 35 . In the above configuration, in the state where the object M is placed on the stage 10, when the pulley 2b is driven forward or reversely, one belt 3 is moved up and down in the vertical direction, and as a result, On the other hand, the conveyed object M goes up and down. Furthermore, the left end side of the stage 10 may be configured to be supported by a guide rail or the like.

又，於上述之實施形態中，以將皮帶傳動機構1使用於皮帶升降裝置100之情形為例進行了說明，但並不限定於此，亦可將皮帶傳動機構使用於其他裝置。例如，亦可將皮帶傳動機構使用於將搬送物在水平方向上進行搬送之搬送裝置。該情形下，皮帶傳動機構之一對皮帶輪於水平方向上隔開地配置，架掛於該等一對皮帶輪之皮帶藉由皮帶輪之旋轉而於水平方向上周繞移動。再者，於水平方向之搬送距離為較長之搬送裝置之情形下，皮帶中之一對皮帶輪間之某皮帶部分容易因自身重量而於鉛直方向上撓曲。因此，於該情形下，皮帶傳動機構除了蛇行抑制機構以外，可更具備用於抑制撓曲之導軌。In addition, in the above-mentioned embodiment, the case where the belt transmission mechanism 1 is used for the belt raising/lowering apparatus 100 was demonstrated as an example, However, It is not limited to this, The belt transmission mechanism may be used for other apparatuses. For example, a belt drive mechanism can also be used for a conveying device that conveys a conveyed object in a horizontal direction. In this case, a pair of pulleys of the belt transmission mechanism are arranged to be spaced apart in the horizontal direction, and the belt hanging on the pair of pulleys is moved around in the horizontal direction by the rotation of the pulleys. Furthermore, in the case of a conveying device with a long conveying distance in the horizontal direction, a certain belt portion between a pair of pulleys in the belt is liable to flex in the vertical direction due to its own weight. Therefore, in this case, in addition to the meandering restraining mechanism, the belt transmission mechanism may be further provided with a guide rail for restraining deflection.

又，於上述之實施形態中，皮帶傳動機構構成為一對皮帶輪朝正轉及逆轉之雙方向旋轉，但亦可構成為僅朝一方向旋轉。此處，若於皮帶產生蛇行(擺動)而侵入(捲掛)於皮帶輪，則因其影響而有皮帶與皮帶輪之凸緣部碰撞、或攀上之虞。因此，於該構成之情形下，較佳的是蛇行抑制機構之一對輥以隔著皮帶之朝皮帶輪侵入之側之皮帶部分之方式配置。Moreover, in the above-mentioned embodiment, although the belt transmission mechanism was comprised so that a pair of pulleys may rotate in both directions of forward rotation and reverse rotation, it may be comprised so that it may rotate only in one direction. Here, if meandering (swing) occurs in the belt and enters (winds up) the pulley, there is a risk that the belt collides with the flange portion of the pulley or climbs up due to its influence. Therefore, in the case of this configuration, it is preferable that the pair of rollers of the meandering suppression mechanism is arranged so as to sandwich the belt portion of the belt on the side where the pulley penetrates.

對本發明詳細地且參照特定之實施態樣進行了說明，但本領域技術人員顯而易知，在不脫離本發明之精神與範圍之下可施加各種變更或修正。  本申請案係基於2020年4月28日申請之日本專利申請案2020-079092及2021年4月7日申請之日本專利申請案2021-65393而作成者，將其內容作為參照而納入本申請案中。The present invention has been described in detail with reference to specific embodiments, but it is apparent to those skilled in the art that various changes or corrections can be added without departing from the spirit and scope of the present invention. This application is based on Japanese Patent Application No. 2020-079092 filed on April 28, 2020 and Japanese Patent Application No. 2021-65393 filed on April 7, 2021, the contents of which are incorporated herein by reference. middle.

1,201:皮帶傳動機構2,2a,2b,2c,2d:皮帶輪3,3a,3b:皮帶4,4a,4b:蛇行抑制機構10:載物台20:皮帶輪本體部20a:齒部21:凸緣部30a,30b,31a,31b:皮帶部分35,36:固定具40:輥45:導引件45a:平板部45b:凸部49:軸承50:支持構件100,200:皮帶升降裝置C:中央D:軸距G:皮帶厚度H:最小間隔I:輥間隔M:搬送物N:範圍R:移動範圍W:皮帶寬度X:齒寬Z:輥之厚度1, 201: Belt drive mechanism 2, 2a, 2b, 2c, 2d: Pulley 3, 3a, 3b: Belt 4, 4a, 4b: Meandering suppression mechanism 10: Stage 20: Pulley body 20a: Teeth 21: Flange Parts 30a, 30b, 31a, 31b: Belt parts 35, 36: Fixture 40: Roller 45: Guide 45a: Flat plate part 45b: Protrusion 49: Bearing 50: Support member 100, 200: Belt lifter C: Center D: Wheelbase G: Belt Thickness H: Minimum Interval I: Roller Interval M: Conveyor N: Range R: Movement Range W: Belt Width X: Tooth Width Z: Roller Thickness

圖1係皮帶升降裝置之概略前視圖。  圖2係皮帶升降裝置之部分側視圖。  圖3係皮帶升降裝置之部分前視圖。  圖4係蛇行抑制機構之俯視圖。  圖5係蛇行抑制機構之側視圖。  圖6係蛇行抑制機構之前視圖。  圖7係變化例之皮帶升降裝置之概略前視圖。Figure 1 is a schematic front view of the belt lifter. Figure 2 is a partial side view of the belt lifter. Figure 3 is a partial front view of the belt lifter. Figure 4 is a top view of the meandering restraining mechanism. Figure 5 is a side view of the meandering restraining mechanism. Figure 6 is a front view of the meandering suppression mechanism. Fig. 7 is a schematic front view of a belt lifter of a modification.

1:皮帶傳動機構 1: Belt drive mechanism

2,2a,2b,2c,2d:皮帶輪 2, 2a, 2b, 2c, 2d: pulleys

3,3a,3b:皮帶 3,3a,3b: Belts

4,4a,4b:蛇行抑制機構 4, 4a, 4b: Snaking suppression mechanism

10:載物台 10: Stage

30a,30b,31a,31b:皮帶部分 30a, 30b, 31a, 31b: Belt part

35,36:固定具 35, 36: Fixtures

40:輥 40: Roller

45:導引件 45: Guide

49:軸承 49: Bearings

50:支持構件 50: Support Components

100:皮帶升降裝置 100: Belt lifter

C:中央 C: Central

D:軸距 D: wheelbase

G:皮帶厚度 G: Belt thickness

M:搬送物 M: conveyed

N:範圍 N: range

R:移動範圍 R: moving range

Claims (8)

一種皮帶傳動機構，其特徵在於具備：  一對皮帶輪，其至少1者係齒形皮帶輪，且相互隔開地配置；  皮帶，其架掛於前述一對皮帶輪，且具有可與前述齒形皮帶輪嚙合之齒部，藉由前述一對皮帶輪之旋轉而周繞移動；及  蛇行抑制機構，其可抑制前述皮帶蛇行；且  前述蛇行抑制機構具有：  一對輥，其等在前述皮帶之皮帶寬度方向上隔著前述皮帶而對向配置，且各自之軸向與前述皮帶之皮帶厚度方向平行；及 一對導引件，其等旋轉自如地支持前述一對輥，且在前述皮帶厚度方向上隔著前述一對輥及前述皮帶而對向配置。A belt transmission mechanism is characterized by comprising: a pair of pulleys, at least one of which is a toothed pulley, and arranged to be spaced apart from each other; a belt, which is hanged on the pair of pulleys, and has a belt that can be meshed with the toothed pulleys The tooth portion is moved around by the rotation of the pair of pulleys; and the meandering restraining mechanism, which can restrain the belt meandering; and the meandering restraining mechanism has: a pair of rollers, which are equal to the belt width direction of the belt They are arranged opposite to each other across the belts, and their respective axial directions are parallel to the belt thickness direction of the belts; and A pair of guides which support the pair of rollers rotatably, and are arranged to face each other across the pair of rollers and the belt in the belt thickness direction. 如請求項1之皮帶傳動機構，其中前述一對皮帶輪之軸距為2 m以上。The belt transmission mechanism of claim 1, wherein the wheelbase of the aforementioned pair of pulleys is 2 m or more. 如請求項1之皮帶傳動機構，其中於前述皮帶上固定供載置搬送物之載物台。The belt transmission mechanism according to claim 1, wherein a stage for placing the objects to be conveyed is fixed on the belt. 如請求項3之皮帶傳動機構，其中前述蛇行抑制機構配置於前述載物台之移動範圍之外側、且不與前述一對皮帶輪接觸之位置。The belt transmission mechanism according to claim 3, wherein the meandering restraining mechanism is disposed at a position outside the moving range of the stage and not in contact with the pair of pulleys. 如請求項3或4之皮帶傳動機構，其中前述載物台固定於前述皮帶上在前述一對皮帶輪之間相互對向之皮帶部分中之一側之皮帶部分，且  前述蛇行抑制機構之前述一對輥乃隔著前述一側之皮帶部分而對向配置。The belt transmission mechanism according to claim 3 or 4, wherein said stage is fixed to said belt portion on one side of said belt portion between said pair of pulleys facing each other, and said one of said meandering restraining mechanism The pair of rollers are arranged to face each other across the belt portion on the aforementioned side. 如請求項1之皮帶傳動機構，其中前述一對輥之外周面彼此之前述皮帶寬度方向上之最小輥間隔大於前述皮帶之皮帶寬度、且小於前述齒形皮帶輪之齒寬。The belt transmission mechanism of claim 1, wherein the minimum roller spacing in the belt width direction between the outer peripheral surfaces of the pair of rollers is larger than the belt width of the belt and smaller than the tooth width of the toothed pulley. 如請求項1之皮帶傳動機構，其中前述一對導引件各自具有向前述皮帶突出之凸部，前述凸部自前述皮帶厚度方向觀察時位於與前述皮帶重合之範圍內，  前述一對導引件之前述凸部彼此之前述皮帶厚度方向之最小間隔大於前述皮帶之皮帶厚度、且小於前述輥之前述皮帶厚度方向之長度。The belt transmission mechanism of claim 1, wherein each of the pair of guide members has a convex portion protruding toward the belt, and the convex portion is located within a range overlapping with the belt when viewed in the thickness direction of the belt, and the pair of guides The minimum distance in the thickness direction of the belt between the protrusions of the pieces is larger than the thickness of the belt and smaller than the length of the roller in the thickness direction of the belt. 如請求項1之皮帶傳動機構，其中前述一對皮帶輪於上下方向相互隔開地配置，且  前述皮帶藉由前述一對皮帶輪之正轉及逆轉而升降周繞移動。The belt transmission mechanism of claim 1, wherein the pair of pulleys are arranged to be spaced apart from each other in the up-down direction, and the belt is moved up and down around by the forward rotation and reverse rotation of the pair of pulleys.

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