TW202241779A - Rotation mechanism and ceiling carrier - Google Patents

Rotation mechanism and ceiling carrier Download PDF

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Publication number
TW202241779A
TW202241779A TW111111014A TW111111014A TW202241779A TW 202241779 A TW202241779 A TW 202241779A TW 111111014 A TW111111014 A TW 111111014A TW 111111014 A TW111111014 A TW 111111014A TW 202241779 A TW202241779 A TW 202241779A
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Taiwan
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rotation
mentioned
axis
stopped
transmission member
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TW111111014A
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Chinese (zh)
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虎澤政佳
伊藤靖久
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日商村田機械股份有限公司
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Publication of TW202241779A publication Critical patent/TW202241779A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Transmission Devices (AREA)
  • Storage Of Web-Like Or Filamentary Materials (AREA)

Abstract

To rotate a first portion and a second portion by 0 DEG to 360 DEG or more relative to each other while reducing the burden on a worker by facilitating the work of replacing a wrapping transmission member. A rotation mechanism comprising a first portion and a second portion that rotates relative to the first portion. The first portion comprises a cylindrical member that serves as a rotation center, and a wrapping transmission member wrapped around an outer circumferential surface of the cylindrical member and fixed at both ends to the outer circumferential surface. The second portion comprises a rotary drive part engaged with an inner circumferential surface of the wrapping transmission member between the outer circumferential surface of the cylindrical member and the wrapping transmission member. The wrapping transmission member is wrapped beyond the outer circumference of the cylindrical member while being displaced in the axial direction of rotation.

Description

旋轉機構及高架搬送車Rotary Mechanism and Elevated Carriage

本發明係關於一種旋轉機構及高架搬送車。The invention relates to a rotating mechanism and an elevated transport vehicle.

已知有一種旋轉機構，其為了使第1部分與第2部分相對旋轉，而利用皮帶(belt)等纏繞傳動構件(例如，參照專利文獻1)。於專利文獻1所記載之旋轉機構中，環形(endless)皮帶(所謂之封閉式皮帶(closed belt))捲繞於第1部分及第2部分中任一者所具備之圓筒構件的外周面。又，第1部分及第2部分中任意另一者所具備之旋轉驅動部被配置於圓筒構件之外周面與皮帶之間。旋轉驅動部藉由嚙合於皮帶之內周面並旋轉，而將皮帶之內周面拉近且繞著圓筒構件之外側而旋轉。其結果，第1部分與第2部分可相對旋轉。 [先前技術文獻] [專利文獻] There is known a rotation mechanism in which a transmission member is wound around a transmission member with a belt or the like in order to relatively rotate a first part and a second part (for example, refer to Patent Document 1). In the rotation mechanism described in Patent Document 1, an endless belt (so-called closed belt) is wound around the outer peripheral surface of a cylindrical member provided in either the first part or the second part. . Moreover, the rotation drive part which either one of the 1st part and the 2nd part is equipped with is arrange|positioned between the outer peripheral surface of a cylindrical member, and a belt. The rotation driving portion pulls the inner peripheral surface of the belt closer and rotates around the outer side of the cylindrical member by engaging with and rotating the inner peripheral surface of the belt. As a result, the first part and the second part can be relatively rotated. [Prior Art Literature] [Patent Document]

[專利文獻1]日本專利第3629043號公報[Patent Document 1] Japanese Patent No. 3629043

(發明所欲解決之問題)(Problem to be solved by the invention)

於上述旋轉機構中，因皮帶為環狀，因此於進行皮帶更換作業時需要將第1部分與第2部分分離，不僅作業麻煩且耗時，作業人員之負擔亦變大。又，其亦可考慮如下之構成，即，不將皮帶設為環形，而是將具有端部之皮帶(所謂之開口皮帶)捲繞於圓筒構件之外周面，且將兩端以對接之狀態固定於圓筒構件。然而，在使用具有端部之皮帶的構成中，因將皮帶之兩端固定於圓筒構件，因此旋轉驅動部無法將該固定部分拉近，第1部分與第2部分之相對旋轉角度範圍則產生限制。即，在使用具有端部之皮帶的構成中，僅可實現0°至未滿360°之第1部分與第2部分的相對旋轉。In the above-mentioned rotating mechanism, since the belt is endless, it is necessary to separate the first part from the second part when performing the belt replacement operation, which is not only cumbersome and time-consuming, but also increases the burden on the operator. Also, it is also possible to consider a configuration in which instead of making the belt endless, a belt having ends (so-called split belts) is wound around the outer peripheral surface of the cylindrical member, and the two ends are butted together. The state is fixed to the cylinder member. However, in the configuration using a belt with ends, since both ends of the belt are fixed to the cylindrical member, the rotary drive unit cannot pull the fixed parts closer, and the relative rotation angle range between the first part and the second part is Generate restrictions. That is, in the configuration using a belt having an end, only the relative rotation between the first part and the second part can be realized from 0° to less than 360°.

本發明之目的在於提供一種旋轉機構及具備該旋轉機構之高架搬送車，該旋轉機構可容易地進行纏繞傳導構件之更換作業以減輕作業人員之負擔，並且可使第1部分與第2部分相對旋轉0°至360°以上。 (解決問題之技術手段) The object of the present invention is to provide a rotating mechanism and an overhead transport vehicle equipped with the rotating mechanism. The rotating mechanism can easily perform the replacement operation of the winding conductive member to reduce the burden on the operator, and can make the first part and the second part face each other. Rotate from 0° to over 360°. (technical means to solve the problem)

本發明之態樣的旋轉機構，具備有：第1部分、及相對於第1部分相對旋轉之第2部分；且第1部分具有：圓筒構件，其成為旋轉中心；及纏繞傳動構件，其捲繞於圓筒構件之外周面，兩端分別固定於外周面；第2部分具有旋轉驅動部，該旋轉驅動部於圓筒構件之外周面與纏繞傳動構件之間，嚙合於纏繞傳動構件之內周面；且纏繞傳動構件係超出圓筒構件之外周的一周且在旋轉之軸線方向上錯開而被捲繞。The rotating mechanism according to the aspect of the present invention has: a first part and a second part which rotates relative to the first part; and the first part has: a cylindrical member which becomes the rotation center; and a winding transmission member which Wound on the outer peripheral surface of the cylindrical member, and the two ends are respectively fixed on the outer peripheral surface; the second part has a rotating drive part, which is between the outer peripheral surface of the cylindrical member and the winding transmission member, and is engaged with the winding transmission member. The inner peripheral surface; and the winding transmission member is wound beyond the outer circumference of the cylindrical member and staggered in the direction of the axis of rotation.

本發明之態樣的高架搬送車，具備有：移行部本體，其沿高架軌道移行；及移載裝置，其移載物品；且在移行部本體與移載裝置之間設有上述態樣之旋轉機構，第1部分係移行部本體之一部分，第2部分係移載裝置之一部分。 (對照先前技術之功效) The elevated transport vehicle according to the aspect of the present invention is equipped with: the main body of the moving part, which moves along the elevated track; and the transfer device, which transfers the articles; The rotation mechanism, the first part is a part of the body of the moving part, and the second part is a part of the transfer device. (compared to the effect of previous technology)

根據上述態樣之旋轉機構，由於其為纏繞傳動構件具有端部之構成，因此藉由解除纏繞傳導構件之兩端的固定，則可容易地更換皮帶。其結果，則可減輕進行皮帶更換作業之作業人員的負擔。又，因纏繞傳導構件超出圓筒構件之外周的一周且在旋轉之軸線方向上錯開而被捲繞，因此可使第1部分與第2部分相對旋轉360°以上。即，即使當在使用具有端部之皮帶(非環形之皮帶)時，亦可使第1部分與第2部分於更大之旋轉角度範圍內相對旋轉。According to the rotation mechanism of the above aspect, since the winding transmission member has ends, the belt can be easily replaced by releasing the fixation of both ends of the winding transmission member. As a result, the burden on workers who perform belt replacement can be reduced. Also, since the winding conduction member is wound beyond the outer circumference of the cylindrical member and deviated in the direction of the axis of rotation, the first part and the second part can be rotated relative to each other by more than 360°. That is, even when using a belt having an end (non-endless belt), the first part and the second part can be relatively rotated within a larger rotation angle range.

又，上述態樣之旋轉機構亦可為如下構成，即，其具備有：止動部，其被設於第1部分及第2部分中之任意一者；以及被擋止部，其被設於第1部分及第2部分中之任意另一者，被擋止於止動部；且止動部及被擋止部被配置成第1部分與第2部分其相對旋轉角度範圍至少為0°至360°。根據該構成，則可切實地限制第1部分與第2部分超出所需之旋轉角度範圍而旋轉。進而，藉由觀察止動部及被擋止構件，則可容易地區分第1部分與第2部分之旋轉狀態。又，上述態樣之旋轉機構亦可為如下構成，即，止動部具有：臂部，其可以與軸線平行延伸之擺動軸作為中心而擺動；及抵接部，其設於臂部之前端，與被擋止部抵接而將被擋止部擋止；且當第1部分與第2部分向既定方向相對旋轉時、及向與既定方向相反之方向旋轉時，被擋止部在抵接於抵接部而使臂部擺動後被擋止。 根據該構成，因臂部可擺動，因此可使第1部分與第2部分相對旋轉360°以上。進而，藉由觀察臂部之擺動狀態，則可更容易地區分第1部分與第2部分之旋轉狀態。 Moreover, the rotation mechanism of the above-mentioned aspect may also be comprised as follows, that is, it is provided with: a stopper part, it is provided in either one of the 1st part and the 2nd part; Any other of the first part and the second part is blocked by the stop part; and the stop part and the blocked part are arranged so that the relative rotation angle range of the first part and the second part is at least 0 ° to 360°. According to this structure, it is possible to reliably restrict the rotation of the first part and the second part beyond the required rotation angle range. Furthermore, by observing the stopper portion and the stopped member, the rotation states of the first part and the second part can be easily distinguished. In addition, the rotation mechanism of the above aspect may also be configured as follows, that is, the stopper has: an arm that can swing around a swing shaft extending parallel to the axis; and an abutting portion that is provided at the front end of the arm. , abutting against the blocked portion and blocking the blocked portion; The arm is blocked after being connected to the abutting portion to make the arm swing. According to this structure, since the arm part can swing, it is possible to relatively rotate the first part and the second part by 360° or more. Furthermore, by observing the swing state of the arm portion, the rotation state of the first part and the second part can be more easily distinguished.

又，上述態樣之旋轉機構亦可為如下之構成，即，臂部彈性地保持於沿著相對於軸線之放射方向延伸之位置。根據該構成，因臂部彈性地保持為沿放射方向延伸之狀態，因此可使被擋止部切實地抵接於抵接部。又，上述態樣之旋轉機構亦可為如下構成，即，被擋止部於與抵接部接觸之部分設置有傾斜面。根據該構成，藉由使抵接部與傾斜面接觸，則可容易使臂部擺動。又，上述態樣之旋轉機構亦可為如下構成，即，旋轉驅動部具有驅動面，該驅動面係對應於纏繞傳動構件之軸線方向上之錯位，而為在與軸線平行之方向上較纏繞傳動構件之寬度為長的驅動面。根據該構成，其可抑制纏繞傳導構件脫離旋轉驅動部。Moreover, the rotation mechanism of the said aspect may be comprised so that the arm part may elastically hold the position extended along the radial direction with respect to an axis|shaft. According to this configuration, since the arm portion is elastically held in a state extending in the radial direction, the stopped portion can be reliably brought into contact with the contact portion. In addition, the rotation mechanism of the above-mentioned aspect may also be configured such that the portion to be stopped is provided with an inclined surface at a portion that is in contact with the abutting portion. According to this structure, the arm part can be easily swung by bringing the contact part into contact with the inclined surface. In addition, the rotation mechanism of the above aspect can also be configured as follows, that is, the rotation driving part has a driving surface, and the driving surface corresponds to the misalignment in the axial direction of the winding transmission member, and is more winding in the direction parallel to the axis. The width of the transmission member is the long drive surface. According to this configuration, it is possible to suppress the detachment of the winding conduction member from the rotation driving portion.

根據上述態樣之高架搬送車，因具有上述態樣之旋轉機構，因此可使皮帶更換作業變得容易，並且使移載裝置相對於移行部本體作旋轉360°以上。又，上述態樣之高架搬送車亦可為如下構成，即，旋轉機構使移載裝置相對於高架搬送車之移行部本體繞鉛直方向之軸旋轉。根據該構成，其可使移載裝置在繞鉛直方向之軸以較大之旋轉角度範圍旋轉。According to the overhead transport vehicle of the above-mentioned aspect, since it has the rotation mechanism of the above-mentioned aspect, the belt replacement operation can be facilitated, and the transfer device can be rotated more than 360° relative to the main body of the traveling section. In addition, the overhead transport vehicle of the above-mentioned aspect may be configured such that the rotation mechanism rotates the transfer device around a vertical axis with respect to the main body of the traveling portion of the overhead transport vehicle. According to this configuration, it is possible to rotate the transfer device around the axis in the vertical direction over a large range of rotation angles.

以下參照圖式，對本發明之實施形態進行說明。但是，本發明並不限定於以下所說明之構成。又，於圖式中，為了說明實施形態，有時會將一部分放大或為強調記載等而適當變更比例尺之表現，而其形狀、尺寸等有與實際之製品有所不同的情形。在圖1至圖12中，將圖中之一方向設為Z方向，而將繞著與Z方向平行之軸的方向設為θZ方向。於紙面中，將順時針方向設為+θZ方向，而將逆時針方向設為-θZ方向。又，於圖12中，使用XYZ正交座標系來說明圖中之方向。於該XYZ正交座標系中，將與水平面平行之平面設為XY平面。與XY平面垂直之方向設為Z方向。在X方向、Y方向及Z方向之各者，設為圖中之箭頭所指的方向為+方向，而與箭頭所指之方向相反的方向為-方向而作說明。Embodiments of the present invention will be described below with reference to the drawings. However, the present invention is not limited to the constitution described below. In addition, in the drawings, in order to explain the embodiment, a part may be enlarged or the scale may be appropriately changed for emphasis, etc., and the shape, size, etc. may be different from the actual product. In FIGS. 1 to 12 , one direction in the drawings is referred to as a Z direction, and a direction around an axis parallel to the Z direction is referred to as a θZ direction. In the paper, the clockwise direction is referred to as +θZ direction, and the counterclockwise direction is referred to as −θZ direction. In addition, in FIG. 12, directions in the figure are described using the XYZ orthogonal coordinate system. In this XYZ rectangular coordinate system, let a plane parallel to the horizontal plane be an XY plane. The direction perpendicular to the XY plane is defined as the Z direction. Each of the X direction, the Y direction, and the Z direction will be described assuming that the direction indicated by the arrow in the figure is the + direction, and the direction opposite to the direction indicated by the arrow is the - direction.

＜旋轉機構＞ 圖1係表示本實施形態之旋轉機構100一例的立體圖。圖2係從旋轉之軸線AX1的方向觀察旋轉機構100所得之圖。如圖1及圖2所示，旋轉機構100具備第1部分10及第2部分20。第1部分10與第2部分20以可繞軸線AX1相對旋轉之形態相連接。例如，設置成第1部分10固定，而第2部分20可以垂吊於第1部分10之狀態旋轉。於此情形時，第2部分20相對於第1部分10以垂吊之狀態繞軸線AX1旋轉。又，亦可設為第2部分20固定，第1部分10相對於第2部分20繞軸線AX1旋轉之形態。 ＜Swivel mechanism＞ FIG. 1 is a perspective view showing an example of a rotation mechanism 100 according to this embodiment. FIG. 2 is a view of the rotating mechanism 100 viewed from the direction of the axis of rotation AX1. As shown in FIGS. 1 and 2 , the rotation mechanism 100 includes a first part 10 and a second part 20 . The first part 10 and the second part 20 are connected so as to be relatively rotatable around the axis AX1. For example, the first part 10 is fixed, and the second part 20 can be rotated while hanging from the first part 10 . In this case, the second part 20 rotates around the axis AX1 in a suspended state relative to the first part 10 . Also, the second part 20 may be fixed, and the first part 10 may be rotated around the axis AX1 with respect to the second part 20 .

第1部分10具備圓筒構件11及纏繞傳動構件12。圓筒構件11係以軸線AX1為中心沿Z方向延伸之圓筒狀。圓筒構件11於外周面11c具有凹部11a、11b。凹部11a與凹部11b在外周面11c之圓周方向錯開而設置。又，凹部11a在圓筒構件11之外周面11c配置於+Z側。凹部11b在圓筒構件11之外周面11c配置於-Z側。外周面11c之Z方向的尺寸被設定為纏繞傳動構件12之寬度之2倍以上。The first part 10 includes a cylindrical member 11 and a winding transmission member 12 . The cylindrical member 11 has a cylindrical shape extending in the Z direction around the axis AX1. The cylindrical member 11 has recessed part 11a, 11b in the outer peripheral surface 11c. The recessed part 11a and the recessed part 11b are deviated and provided in the circumferential direction of the outer peripheral surface 11c. Moreover, the recessed part 11a is arrange|positioned on the +Z side in the outer peripheral surface 11c of the cylindrical member 11. As shown in FIG. The concave portion 11b is arranged on the −Z side on the outer peripheral surface 11c of the cylindrical member 11 . The dimension in the Z direction of the outer peripheral surface 11 c is set to be at least twice the width of the winding transmission member 12 .

纏繞傳動構件12係為帶狀(belt狀)，纏繞於圓筒構件11之外周面11c。纏繞傳動構件12之長度方向的兩端、即作為一端部之第1端部12a、及作為另一端部之第2端部12b分別固定於圓筒構件11的外周面11c。第1端部12a藉由固定件13a可裝卸地固定於形成在外周面11c之凹部11a。第2端部12b藉由固定件13b可裝卸地固定於形成在外周面11c之凹部11b。第1端部12a及第2端部12b可分別藉由卸下固定件13a、13b而相對於凹部11a、11b(相對於圓筒構件11)卸除。The winding transmission member 12 is belt-shaped, and is wound around the outer peripheral surface 11c of the cylindrical member 11 . Both ends in the longitudinal direction of the winding transmission member 12 , that is, a first end 12 a as one end and a second end 12 b as the other end are respectively fixed to the outer peripheral surface 11 c of the cylindrical member 11 . The 1st end part 12a is detachably fixed to the recessed part 11a formed in the outer peripheral surface 11c by the fixing tool 13a. The 2nd end part 12b is detachably fixed to the recessed part 11b formed in the outer peripheral surface 11c by the fixing tool 13b. The 1st end part 12a and the 2nd end part 12b can be removed with respect to the recessed part 11a, 11b (relative to the cylindrical member 11) by detaching the fixture 13a, 13b, respectively.

如上所述，纏繞傳動構件12作為長度方向一端部之第1端部12a、及作為長度方向另一端部之第2端部12b被固定於在軸線AX1之軸線方向(Z方向)上錯開之位置。因此，纏繞傳動構件12超出圓筒構件11之外周的一周且在軸線AX1方向上錯開而被捲繞。換言之，纏繞傳動構件12以在圓筒構件11之徑向上不重疊的方式捲繞於外周面11c。換言之，纏繞傳動構件12以軸線AX1之軸線方向為中心呈螺旋狀捲繞於圓筒構件11之外周面11c。As described above, the first end 12a of the winding transmission member 12, which is one end in the longitudinal direction, and the second end 12b, which is the other end in the longitudinal direction, are fixed at positions shifted in the axial direction (Z direction) of the axis AX1. . Therefore, the winding transmission member 12 is wound up with a shift in the direction of the axis AX1 beyond the outer circumference of the cylindrical member 11 . In other words, the winding transmission member 12 is wound around the outer peripheral surface 11 c so as not to overlap in the radial direction of the cylindrical member 11 . In other words, the winding transmission member 12 is helically wound around the outer peripheral surface 11c of the cylindrical member 11 around the axial direction of the axis AX1.

纏繞傳動構件12之第1端部12a及第2端部12b分別被固定於凹部11a、11b，因此固定件13a、13b不會從圓筒構件11之外周面11c向外側突出。藉由該構成，其可防止下述旋轉驅動部23及皮帶輪24干涉固定件13a、13b。又，纏繞傳動構件12之內表面可為無凹凸之面，亦可形成為可與下述旋轉驅動部23嚙合之波形。又，纏繞傳動構件12可具有彈性，亦可不具有彈性。The first end 12a and the second end 12b of the winding transmission member 12 are respectively fixed to the recesses 11a, 11b, so the fixing pieces 13a, 13b do not protrude outward from the outer peripheral surface 11c of the cylindrical member 11 . With this configuration, it is possible to prevent the rotation drive unit 23 and the pulley 24 described below from interfering with the stators 13a, 13b. In addition, the inner surface of the winding transmission member 12 may be a surface without unevenness, or may be formed into a wave shape that can be engaged with the rotation driving part 23 described below. Also, the winding transmission member 12 may or may not have elasticity.

第2部分20具備基底構件21、馬達22、旋轉驅動部23及2個皮帶輪24、25。基底構件21相對於圓筒構件11被配置於-Z側。基底構件21例如為板狀，具有+Z側之第1面21a及-Z側之第2面21b。但是，基底構件21可為任意形態，只要能保持馬達22、旋轉驅動部23及皮帶輪24，則可應用塊狀、框狀等任意之形態。The second part 20 includes a base member 21 , a motor 22 , a rotation drive unit 23 , and two pulleys 24 and 25 . The base member 21 is arranged on the −Z side with respect to the cylindrical member 11 . The base member 21 is, for example, plate-shaped, and has a first surface 21a on the +Z side and a second surface 21b on the -Z side. However, the base member 21 may be in any form, and any form such as a block shape or a frame shape may be applied as long as the motor 22, the rotation drive portion 23, and the pulley 24 can be held.

馬達22被配置於基底構件21之第2面21b側。關於馬達22，可應用例如電動馬達等，使輸出軸22a旋轉。馬達22可使輸出軸22a向+θZ方向及-θZ方向這兩個方向旋轉。藉由馬達22之輸出軸22a的旋轉量及旋轉方向，其係由未圖示之控制部等所控制。輸出軸22a從第2面21b側貫通基底構件21而向第1面21a側突出之狀態被配置。The motor 22 is arranged on the second surface 21 b side of the base member 21 . As for the motor 22, for example, an electric motor or the like can be used to rotate the output shaft 22a. The motor 22 can rotate the output shaft 22a in two directions, the +θZ direction and the −θZ direction. The amount of rotation and the direction of rotation of the output shaft 22a of the motor 22 are controlled by a not-shown control unit or the like. The output shaft 22a is arranged in a state of protruding from the second surface 21b side through the base member 21 to the first surface 21a side.

旋轉驅動部23被配置於基底構件21之第1面21a側。旋轉驅動部23被安裝於輸出軸22a，與輸出軸22a一體地旋轉。旋轉驅動部23例如為圓柱狀或圓筒狀。旋轉驅動部23之外周面23a係將纏繞傳動構件12之內周面12c拉近之驅動面。在旋轉驅動部23之外周面23a，遍及一周地形成有滾花23b。當滾花23b於纏繞傳動構件12之內周面12c形成為波形之情形時，則成為與該波形嚙合之狀態。旋轉驅動部23於從軸線AX1之方向觀察時，與圓筒構件11之外周面11c相隔而被配置。因此，如圖1及圖2所示，纏繞傳動構件12係以一部分從圓筒構件11之外周面11c沿徑向被拉出而捲繞於旋轉驅動部23之外周面23a的狀態配置。外周面23a之Z方向的尺寸被設定為纏繞傳動構件12之寬度的2倍以上。再者，有關外周面23a之Z方向的尺寸之細節，將於下文敍述。The rotation drive unit 23 is arranged on the first surface 21 a side of the base member 21 . The rotation drive part 23 is attached to the output shaft 22a, and rotates integrally with the output shaft 22a. The rotation drive part 23 is, for example, columnar or cylindrical. The outer peripheral surface 23a of the rotation driving part 23 is a driving surface that pulls the inner peripheral surface 12c of the winding transmission member 12 closer. Knurling 23b is formed on the outer peripheral surface 23a of the rotation drive part 23 over the entire circumference. When the knurling 23b is formed in a wave form on the inner peripheral surface 12c of the winding transmission member 12, it is in a state of meshing with the wave form. The rotation drive part 23 is arrange|positioned apart from the outer peripheral surface 11c of the cylindrical member 11, when seeing from the direction of the axis line AX1. Therefore, as shown in FIGS. 1 and 2 , the winding transmission member 12 is arranged in a state in which a part is drawn radially from the outer peripheral surface 11c of the cylindrical member 11 and wound around the outer peripheral surface 23a of the rotation drive portion 23 . The dimension in the Z direction of the outer peripheral surface 23 a is set to be at least twice the width of the winding transmission member 12 . Furthermore, details about the dimension of the Z direction of the outer peripheral surface 23a will be described below.

2個皮帶輪24、25分別可旋轉地被設置於基底構件21。皮帶輪24壓住纏繞傳動構件12中從第1端部12a向-θZ方向延伸之部分。皮帶輪25壓住纏繞傳動構件12中從第2端部12b向+θZ方向延伸之部分。旋轉驅動部23與皮帶輪24、25之相對位置被固定。藉由2個皮帶輪24、25，可將纏繞傳動構件12捲繞於旋轉驅動部23之外周面23a較廣的範圍。皮帶輪24、25 Z方向的尺寸被設定為與旋轉驅動部23之外周面23a相同或大致相同。再者，是否設置皮帶輪24、25可任意決定。即，第2部分20亦可不具備皮帶輪24、25。The two pulleys 24 and 25 are respectively rotatably provided on the base member 21 . The pulley 24 presses a portion of the winding transmission member 12 extending in the -θZ direction from the first end portion 12a. The pulley 25 presses a portion of the winding transmission member 12 extending in the +θZ direction from the second end portion 12b. The relative positions of the rotary drive unit 23 and the pulleys 24 and 25 are fixed. With the two pulleys 24 and 25, the winding transmission member 12 can be wound on the outer peripheral surface 23a of the rotation driving part 23 in a wide range. The dimensions of the pulleys 24 and 25 in the Z direction are set to be the same or substantially the same as the outer peripheral surface 23a of the rotation drive portion 23 . Furthermore, whether to provide pulleys 24, 25 can be arbitrarily determined. That is, the second part 20 does not need to include the pulleys 24 and 25 .

藉由旋轉驅動部23繞旋轉軸AX2旋轉，而纏繞傳動構件12被利用旋轉驅動部23拉近，旋轉驅動部23與纏繞傳動構件12作相對移動。於本實施形態中，因第1部分10固定，因此旋轉驅動部23相對於纏繞傳動構件12繞軸線AX1移動。藉由該旋轉驅動部23之移動，基底構件21相對於圓筒構件11繞軸線AX1旋轉。例如，當旋轉驅動部23以旋轉軸AX2為中心向-θZ方向旋轉之情形時，旋轉驅動部23繞著圓筒構件11朝+θZ方向旋轉。又，當旋轉驅動部23以旋轉軸AX2為中心向+θZ方向旋轉之情形時，旋轉驅動部23繞著圓筒構件11朝-θZ方向旋轉。旋轉驅動部23可從圖2所示之位置向+θZ方向旋轉360°以上。As the rotation driving part 23 rotates around the rotation axis AX2, the winding transmission member 12 is pulled closer by the rotation driving part 23, and the rotation driving part 23 and the winding transmission member 12 move relatively. In the present embodiment, since the first part 10 is fixed, the rotation driving part 23 moves around the axis AX1 relative to the winding transmission member 12 . The base member 21 is rotated around the axis AX1 relative to the cylindrical member 11 by the movement of the rotation drive part 23 . For example, when the rotation drive unit 23 rotates in the −θZ direction around the rotation axis AX2 , the rotation drive unit 23 rotates in the +θZ direction around the cylindrical member 11 . Moreover, when the rotation drive part 23 rotates in +(theta)Z direction centering on the rotation axis AX2, the rotation drive part 23 rotates in the -(theta)Z direction around the cylindrical member 11. As shown in FIG. The rotation driving part 23 can rotate 360 degrees or more in +θZ direction from the position shown in FIG.

圖3及圖4係從與旋轉之軸線AX1正交之方向觀察旋轉機構100所得之圖。圖3表示旋轉驅動部23被配置於纏繞傳動構件12之第2端部12b側之一例。圖4表示旋轉驅動部23配置於纏繞傳動構件12之第1端部12a側之一例。再者，於圖3及圖4中，已省略旋轉驅動部23之外周面23a的滾花23b。3 and 4 are views of the rotating mechanism 100 viewed from a direction perpendicular to the axis AX1 of rotation. FIG. 3 shows an example in which the rotation drive unit 23 is disposed on the second end 12 b side of the winding transmission member 12 . FIG. 4 shows an example in which the rotation drive unit 23 is disposed on the first end portion 12 a side of the winding transmission member 12 . Furthermore, in FIGS. 3 and 4 , the knurling 23b on the outer peripheral surface 23a of the rotation driving portion 23 has been omitted.

如圖3及圖4所示，旋轉驅動部23之外周面23a係對應於纏繞傳動構件12之軸線AX1方向上的錯開，而設為於與軸線AX1平行之方向(Z方向)上較纏繞傳動構件12之寬度為長。具體而言，旋轉驅動部23之Z方向的尺寸H2較纏繞傳動構件12之Z方向的寬度H1為長2倍。藉由該構成，於旋轉驅動部23從纏繞傳動構件12之第1端部12a附近移動至第2端部12b附近之期間內，則可抑制纏繞傳動構件12脫離旋轉驅動部23。As shown in Figures 3 and 4, the outer peripheral surface 23a of the rotary drive part 23 corresponds to the stagger in the direction of the axis AX1 of the winding transmission member 12, and is set in a direction (Z direction) parallel to the axis AX1 to be more winding and driving. The width of member 12 is long. Specifically, the dimension H2 of the rotation driving part 23 in the Z direction is twice as long as the width H1 of the winding transmission member 12 in the Z direction. With this configuration, the winding transmission member 12 is prevented from being separated from the rotation driving unit 23 while the rotation driving unit 23 is moving from the vicinity of the first end 12a of the winding transmission member 12 to the vicinity of the second end 12b.

纏繞傳動構件12以在徑向上不重疊之方式超出一周地捲繞於圓筒構件11之外周，自第1端部12a及第2端部12b起既定長度之部分彼此沿Z方向排列之狀態被配置。即，纏繞傳動構件12為呈螺旋狀捲繞於圓筒構件11之狀態。因此，纏繞傳動構件12於旋轉驅動部23之外周面23a上Z方向位置根據旋轉驅動部23之旋轉位置(第1部分10與第2部分20之相對位置)而移動。如圖3所示，藉由使旋轉驅動部23之Z方向的尺寸H2較纏繞傳動構件12之寬度H1為長2倍，則可防止於旋轉驅動部23繞圓筒構件11之周圍一周之期間內，纏繞傳動構件12脫離旋轉驅動部23之外周面23a。The winding transmission member 12 is wound around the outer circumference of the cylindrical member 11 in a manner that does not overlap in the radial direction, and a state in which portions of predetermined lengths from the first end 12a and the second end 12b are aligned in the Z direction is defined. configuration. That is, the winding transmission member 12 is in a state of being helically wound around the cylindrical member 11 . Therefore, the Z-direction position of the winding transmission member 12 on the outer peripheral surface 23a of the rotation driving part 23 moves according to the rotation position of the rotation driving part 23 (the relative position of the first part 10 and the second part 20). As shown in Figure 3, by making the dimension H2 of the Z-direction of the rotary drive part 23 twice as long as the width H1 of the winding transmission member 12, it is possible to prevent the rotation drive part 23 from winding around the circumference of the cylindrical member 11. Inside, the winding transmission member 12 is separated from the outer peripheral surface 23 a of the rotation driving part 23 .

例如圖3所示，當旋轉驅動部23被配置於纏繞傳動構件12之第1端部12a側(第1端部12a附近)之情形時，在旋轉驅動部23之外周面23a，成為纏繞傳動構件12捲繞於其-Z側之部分的狀態。又，如圖4所示，當旋轉驅動部23被配置於纏繞傳動構件12之第2端部12b側(第2端部12b附近)之情形時，在旋轉驅動部23之外周面23a，則成為纏繞傳動構件12捲繞於其+Z側之部分的狀態。For example, as shown in FIG. 3 , when the rotation driving part 23 is disposed on the first end 12a side of the winding transmission member 12 (near the first end 12a), the rotation driving part 23 outer peripheral surface 23a becomes a winding transmission. A state in which the member 12 is wound around its -Z side portion. Also, as shown in FIG. 4, when the rotation driving part 23 is arranged on the second end 12b side of the winding transmission member 12 (near the second end 12b), on the outer peripheral surface 23a of the rotation driving part 23, It is in a state where the winding transmission member 12 is wound around the portion on the +Z side thereof.

如此，根據本實施形態之旋轉機構100，由於為纏繞傳動構件12具有第1端部12a及第2端部12b之構成，因此藉由解除第1端部12a及第2端部12b之固定，則可容易更換纏繞傳動構件12。其結果，則可減輕進行纏繞傳動構件12之更換作業的作業人員之負擔。又，因為纏繞傳動構件12超出圓筒構件11之外周一周且在旋轉之軸線AX1之方向上錯開而捲繞，因此其可使第1部分10與第2部分20相對旋轉360°以上。即，即便當使用具有第1端部12a及第2端部12b之皮帶(非環形之皮帶)時，亦可使第1部分10與第2部分20在更大之旋轉角度範圍內相對旋轉。Thus, according to the rotation mechanism 100 of this embodiment, since the winding transmission member 12 has the structure which has the 1st end part 12a and the 2nd end part 12b, by releasing the fixation of the 1st end part 12a and the 2nd end part 12b, Then the winding transmission member 12 can be easily replaced. As a result, it is possible to reduce the burden on workers who perform the replacement work of the winding transmission member 12 . In addition, since the winding transmission member 12 extends beyond the outer circumference of the cylindrical member 11 and is staggered in the direction of the axis of rotation AX1, it can make the first part 10 and the second part 20 rotate more than 360° relative to each other. That is, even when using a belt (non-endless belt) having the first end portion 12a and the second end portion 12b, the first part 10 and the second part 20 can be relatively rotated within a larger rotation angle range.

圖5係表示應用止動部30及被擋止部40之旋轉機構100A的一例之立體圖。如圖5所示，旋轉機構100A除了上述旋轉機構100之構成以外，亦具備止動部30及被擋止部40。再者，於圖5中，已省略了馬達22、旋轉驅動部23及皮帶輪24、25之記載。又，對與上述實施形態相同之構件被標註以相同之符號，並省略或簡化其說明。如圖5所示，於旋轉機構100A中，於第1部分10被設置止動部30，於第2部分20被設置被擋止部40，但其並不受限於該形態。例如，亦可為止動部30被設置於第2部分20，被擋止部40被設置於第1部分10之形態。FIG. 5 is a perspective view showing an example of a rotation mechanism 100A to which the stopper portion 30 and the stopped portion 40 are applied. As shown in FIG. 5 , the rotation mechanism 100A includes a stopper portion 30 and a stopped portion 40 in addition to the configuration of the rotation mechanism 100 described above. In addition, in FIG. 5, description of the motor 22, the rotation drive part 23, and the pulleys 24 and 25 has been omitted. In addition, the same code|symbol is attached|subjected to the same member as the said embodiment, and the description is abbreviate|omitted or simplified. As shown in FIG. 5 , in the rotation mechanism 100A, the first part 10 is provided with the stopper part 30 and the second part 20 is provided with the part to be stopped 40 , but it is not limited to this form. For example, the stopper part 30 may be provided in the second part 20 and the stopped part 40 may be provided in the first part 10 .

旋轉機構100A藉由具備止動部30及被擋止部40，可將第1部分10與第2部分20之間的相對旋轉限制在既定之旋轉角度範圍(旋轉範圍)內。於本實施形態之旋轉機構100A中，將第1部分10與第2部分20之相對旋轉角度範圍設定為0°至360°以上。即，容許第1部分10與第2部分20在至少0°至360°之旋轉角度範圍(至少旋轉1周之旋轉角度範圍)內相對旋轉。The rotation mechanism 100A can restrict the relative rotation between the first part 10 and the second part 20 within a predetermined rotation angle range (rotation range) by including the stopper part 30 and the stopped part 40 . In the rotation mechanism 100A of this embodiment, the range of the relative rotation angle between the first part 10 and the second part 20 is set to 0° to 360° or more. That is, relative rotation of the first part 10 and the second part 20 is allowed within a rotation angle range of at least 0° to 360° (rotation angle range of at least one rotation).

圖6係表示從軸線AX1之方向觀察止動部30之情形的一例之圖。如圖6所示，止動部30具有臂部31、抵接部32及保持塊33。臂部31係以與軸線AX1平行延伸之擺動軸AX3為中心可擺動地被設置於保持塊33。保持塊33被固定於圓筒構件11之上表面側(+Z面側)。臂部31具有基部31a及前端部31b。基部31a可擺動地安裝於保持塊33。臂部31被設置為從保持塊33之上表面側朝圓筒構件11之外側延伸。FIG. 6 is a diagram showing an example of a state in which the stopper 30 is viewed from the direction of the axis AX1. As shown in FIG. 6 , the stopper 30 has an arm 31 , an abutment 32 and a holding block 33 . The arm portion 31 is provided on the holding block 33 so as to be swingable around a swing axis AX3 extending parallel to the axis AX1. The holding block 33 is fixed to the upper surface side (+Z surface side) of the cylindrical member 11 . The arm part 31 has a base part 31a and a front end part 31b. The base portion 31 a is swingably attached to the holding block 33 . The arm portion 31 is provided to extend from the upper surface side of the holding block 33 toward the outer side of the cylindrical member 11 .

保持塊33具有彈性構件35，該彈性構件35將臂部31彈性地保持在沿著相對於軸線AX1之放射方向D1延伸的方向。彈性構件35可使用例如盤簧、板彈簧等。如圖6所示，臂部31可對抗彈性構件35之彈性力而從沿著放射方向D1之狀態以擺動軸AX3為中心繞軸擺動。又，當臂部31以擺動軸AX3為中心擺動之情形時，則在彈性構件35之回覆力的作用下，恢復成沿著放射方向D1延伸之狀態。The holding block 33 has an elastic member 35 elastically holding the arm portion 31 in a direction extending in the radial direction D1 with respect to the axis AX1. The elastic member 35 can use, for example, a coil spring, a leaf spring, or the like. As shown in FIG. 6 , the arm portion 31 can swing around the swing axis AX3 from the state along the radial direction D1 against the elastic force of the elastic member 35 . Also, when the arm portion 31 swings around the swing axis AX3, it returns to the state extending along the radial direction D1 under the restoring force of the elastic member 35 .

抵接部32被設置於臂部31之前端部31b。抵接部32抵接於被擋止部40而將被擋止部40擋止。抵接部32例如為可旋轉地支持於臂部31之輥。抵接部32可以與擺動軸AX3平行之旋轉軸AX4為中心旋轉。藉由抵接部32為輥，則可使與被擋止部40之接觸變得順暢。但是，抵接部32亦可使用例如圓柱狀之棒狀體來代替輥。臂部31、抵接部32及保持塊33係較旋轉驅動部23及皮帶輪24、25向+Z側離開而配置。其結果，當第1部分10與第2部分20相對旋轉時，則可避免旋轉驅動部23及皮帶輪24、25干涉臂部31、抵接部32及保持塊33。The contact portion 32 is provided at the front end portion 31 b of the arm portion 31 . The abutting portion 32 abuts against the blocked portion 40 to be blocked by the blocked portion 40 . The contact portion 32 is, for example, a roller rotatably supported by the arm portion 31 . The contact part 32 is rotatable around the rotation axis AX4 parallel to the swing axis AX3. Since the contact part 32 is a roller, the contact with the stopped part 40 can be made smooth. However, instead of a roller, a columnar rod-shaped body may be used for the contact part 32, for example. The arm portion 31 , the contact portion 32 , and the holding block 33 are arranged away from the rotation drive portion 23 and the pulleys 24 and 25 to the +Z side. As a result, when the first part 10 and the second part 20 rotate relative to each other, it is possible to prevent the rotational drive part 23 and the pulleys 24 and 25 from interfering with the arm part 31 , the contact part 32 and the holding block 33 .

如圖5所示，被擋止部40固定於基底構件21之第1面21a。被擋止部40與基底構件21一體地繞圓筒構件11旋轉。被擋止部40具有基部41及前端部42。基部41被固定於從第1面21a起沿+Z方向延伸之支柱41a之上端。藉由支柱41a，基部41及前端部42被保持在止動部30之抵接部32的高度。前端部42係以從基部41起朝軸線AX1延伸之方式設置。即，基部41及前端部42沿著自軸線AX1起之放射方向D1被配置。As shown in FIG. 5 , the stopped portion 40 is fixed to the first surface 21 a of the base member 21 . The stopped portion 40 rotates around the cylindrical member 11 integrally with the base member 21 . The stopped portion 40 has a base portion 41 and a front end portion 42 . The base portion 41 is fixed to the upper end of a pillar 41a extending in the +Z direction from the first surface 21a. The base portion 41 and the front end portion 42 are held at the height of the contact portion 32 of the stopper portion 30 by the support 41 a. The front end portion 42 is provided so as to extend from the base portion 41 toward the axis AX1. That is, the base portion 41 and the front end portion 42 are arranged along the radial direction D1 from the axis AX1.

前端部42係與止動部30之抵接部32接觸之部分。前端部42於與抵接部32接觸之部分設置有傾斜面42a。傾斜面42a被設置於前端部42中以軸線AX1為軸旋轉之方向的兩側。藉由該傾斜面42a，從軸線AX1之方向觀察時，前端部42呈前端變細之方式形成。傾斜面42a係為了使與抵接部32之接觸變得順利所設置。再者，是否設置傾斜面42a可任意決定，亦可為不設置傾斜面42a之形態。The front end portion 42 is a portion in contact with the contact portion 32 of the stopper portion 30 . The front end portion 42 is provided with an inclined surface 42 a at a portion in contact with the abutting portion 32 . The inclined surfaces 42a are provided on both sides of the front end portion 42 in the direction of rotation about the axis AX1. With this inclined surface 42a, when viewed from the direction of the axis AX1, the front end portion 42 is formed so that the front end becomes tapered. The inclined surface 42a is provided in order to make the contact with the contact part 32 smooth. Furthermore, whether to provide the inclined surface 42a can be arbitrarily determined, and a form in which the inclined surface 42a is not provided is also possible.

圖7及圖8係表示從軸線AX1之方向觀察旋轉機構100A之情形的一例，且表示止動部30及被擋止部40之動作一例的圖。圖7係表示止動部30將被擋止部40擋止之狀態一例的圖。圖8係表示止動部30將被擋止部40擋止之狀態另一例的圖。如圖7及圖8所示，於第2部分20相對於第1部分10向+θZ方向相對旋轉時、及向-θZ方向相對旋轉時，被擋止部40抵接於抵接部32而使臂部31擺動後被擋止。7 and 8 are diagrams showing an example of the rotation mechanism 100A viewed from the direction of the axis AX1, and showing an example of the movement of the stopper 30 and the stopped portion 40. As shown in FIG. FIG. 7 is a diagram showing an example of a state where the stopper 30 is stopped by the stopper 40 . FIG. 8 is a diagram showing another example of a state where the stopper 30 is about to be stopped by the stopper 40 . As shown in FIGS. 7 and 8 , when the second portion 20 is relatively rotated in the +θZ direction and in the −θZ direction relative to the first portion 10, the stopped portion 40 abuts against the abutting portion 32 and After the arm part 31 is swung, it is stopped.

如圖7所示，當第2部分20相對於第1部分10向+θZ方向(圖中為順時針方向)相對旋轉之情形時，被擋止部40伴隨第2部分20之旋轉而向+θZ方向移動。當被擋止部40從+θZ側到達止動部30時，首先，前端部42之傾斜面42a與止動部30之抵接部32相接觸。在傾斜面42a抵接於抵接部32之狀態下，當第2部分20進一步向+θZ方向旋轉時，傾斜面42a則將抵接部32向+θZ方向推壓，而使臂部31向+θZ方向擺動。此時，抵接部32一面被傾斜面42a推壓一面繞旋轉軸AX4旋轉。臂部31於向+θZ方向擺動後，在擺動停止之位置擋止被擋止部40。其結果，第2部分20成為向+θZ方向之旋轉被限制之狀態。As shown in FIG. 7 , when the second part 20 rotates relative to the first part 10 in the +θZ direction (clockwise in the figure), the blocked part 40 moves to the +θZ direction as the second part 20 rotates. Move in the θZ direction. When the stopped portion 40 reaches the stopper portion 30 from the +θZ side, first, the inclined surface 42 a of the front end portion 42 comes into contact with the abutting portion 32 of the stopper portion 30 . In the state where the inclined surface 42a is in contact with the abutting portion 32, when the second part 20 is further rotated in the +θZ direction, the inclined surface 42a will push the abutting portion 32 in the +θZ direction, so that the arm portion 31 moves in the direction of +θZ. Swing in +θZ direction. At this time, the contact portion 32 rotates around the rotation axis AX4 while being pressed by the inclined surface 42 a. After the arm portion 31 swings in the +θZ direction, it stops the portion to be stopped 40 at a position where the swing stops. As a result, the rotation of the second portion 20 in the +θZ direction is restricted.

再者，當從圖7所示之狀態，第2部分20相對於第1部分10向-θZ方向(圖中為逆時針方向)相對旋轉時，離開被擋止部40之傾斜面42a的臂部31因彈性構件35之彈性力而向-θZ方向擺動，因此恢復至沿放射方向D1延伸之原本的狀態。Moreover, when from the state shown in FIG. 7 , when the second part 20 is relatively rotated in the -θZ direction (counterclockwise in the figure) relative to the first part 10, the arm away from the inclined surface 42a of the blocked part 40 will Since the portion 31 swings in the -θZ direction by the elastic force of the elastic member 35, it returns to its original state extending in the radial direction D1.

又，如圖8所示，當第2部分20相對於第1部分10向-θZ方向(圖中為逆時針方向)相對旋轉之情形時，被擋止部40伴隨著第2部分20之旋轉而向-θZ方向移動。當被擋止部40從-θZ側到達止動部30時，首先，前端部42之傾斜面42a與止動部30之抵接部32接觸。當傾斜面42a抵接於抵接部32之狀態下，第2部分20進一步向-θZ方向旋轉時，傾斜面42a將抵接部32向-θZ方向推壓，而使臂部31向-θZ方向擺動。此時，抵接部32被傾斜面42a推壓著繞旋轉軸AX4旋轉。臂部31於向-θZ方向擺動後，在擺動停止之位置擋止被擋止部40。其結果，第2部分20成為向-θZ方向之旋轉被限制之狀態。Also, as shown in FIG. 8, when the second part 20 is relatively rotated in the -θZ direction (counterclockwise in the figure) relative to the first part 10, the stopped part 40 is accompanied by the rotation of the second part 20. and move in the -θZ direction. When the stopped portion 40 reaches the stopper portion 30 from the −θZ side, first, the inclined surface 42 a of the front end portion 42 comes into contact with the contact portion 32 of the stopper portion 30 . When the inclined surface 42a is in contact with the contact portion 32 and the second part 20 is further rotated in the -θZ direction, the inclined surface 42a pushes the contact portion 32 in the -θZ direction, and the arm portion 31 moves in the -θZ direction. direction swing. At this time, the contact portion 32 is pushed by the inclined surface 42a to rotate around the rotation axis AX4. After the arm portion 31 swings in the −θZ direction, it stops the portion to be stopped 40 at a position where the swing stops. As a result, the rotation of the second portion 20 in the -θZ direction is restricted.

再者，當從圖8所示之狀態，第2部分20相對於第1部分10向+θZ方向(圖中為順時針方向)相對旋轉時，離開被擋止部40之傾斜面42a之臂部31因彈性構件35之彈性力而向+θZ方向擺動，因此恢復至沿放射方向D1延伸之原本的狀態。Moreover, when from the state shown in FIG. 8 , when the second part 20 is relatively rotated in the +θZ direction (clockwise in the figure) relative to the first part 10, the arm away from the inclined surface 42a of the blocked part 40 Since the portion 31 swings in the +θZ direction due to the elastic force of the elastic member 35, it returns to the original state extending in the radial direction D1.

如此，根據本實施形態之旋轉機構100A，其可確保第1部分10與第2部分20之相對旋轉角度範圍為360°以上，並且藉由在過度旋轉時被擋止部40被擋止在止動部30，如此而切實地限制第1部分10與第2部分20之相對旋轉。又，藉由觀察止動部30及被擋止部40，則可容易地區分第1部分10與第2部分20之旋轉狀態。即，藉由觀察臂部31向+θZ側擺動，還是向-θZ側擺動，則可容易地掌握第1部分10與第2部分20之相對旋轉位置。In this way, according to the rotation mechanism 100A of the present embodiment, it can ensure that the relative rotation angle range between the first part 10 and the second part 20 is 360° or more, and the stopper 40 is stopped at the time of excessive rotation. The moving part 30 reliably restricts the relative rotation between the first part 10 and the second part 20 in this way. Moreover, by observing the stopper portion 30 and the stopped portion 40 , the rotation states of the first part 10 and the second part 20 can be easily distinguished. That is, the relative rotational positions of the first part 10 and the second part 20 can be easily grasped by observing whether the arm part 31 swings to the +θZ side or to the -θZ side.

圖9係表示應用止動部50及被擋止部60之旋轉機構100B的另一例之立體圖。如圖9所示，旋轉機構100B除了上述旋轉機構100之構成以外，亦具備止動部50及被擋止部60。再者，於圖9中，已省略了馬達22、旋轉驅動部23及皮帶輪24、25之記載。又，對與上述實施形態相同之構件被標註以相同之符號，並省略或簡化其說明。如圖9所示，於旋轉機構100B中，於第1部分10被設置止動部50，於第2部分20被設置被擋止部60，但其並不限定於該形態。例如，亦可為止動部50被設置於第2部分20，被擋止部60被設置於第1部分10之形態。FIG. 9 is a perspective view showing another example of the rotation mechanism 100B to which the stopper portion 50 and the stopped portion 60 are applied. As shown in FIG. 9 , the rotation mechanism 100B includes a stopper portion 50 and a stopped portion 60 in addition to the configuration of the rotation mechanism 100 described above. In addition, in FIG. 9, description of the motor 22, the rotation drive part 23, and the pulleys 24 and 25 has been omitted. In addition, the same code|symbol is attached|subjected to the same member as the said embodiment, and the description is abbreviate|omitted or simplified. As shown in FIG. 9, in the rotation mechanism 100B, the stopper part 50 is provided in the 1st part 10, and the stopped part 60 is provided in the 2nd part 20, However, It is not limited to this form. For example, the stopper part 50 may be provided in the second part 20 and the stopped part 60 may be provided in the first part 10 .

旋轉機構100B藉由具備止動部50及被擋止部60，可將第1部分10與第2部分20之間的相對旋轉限制在既定之旋轉角度範圍內。於本實施形態之旋轉機構100B中，將第1部分10與第2部分20之相對旋轉角度範圍設為0°至360°以上。即，容許第1部分10與第2部分20在至少0°至360°之範圍(至少旋轉1周之範圍)內相對旋轉。The rotation mechanism 100B can restrict the relative rotation between the first part 10 and the second part 20 within a predetermined rotation angle range by including the stopper part 50 and the stopped part 60 . In the rotation mechanism 100B of this embodiment, the range of the relative rotation angle between the first part 10 and the second part 20 is 0° to 360° or more. That is, relative rotation between the first part 10 and the second part 20 is allowed within a range of at least 0° to 360° (a range of at least one rotation).

如圖9所示，止動部50具有從軸線AX1之方向觀察時為S字狀之板狀體51、及保持塊52。板狀體51被固定於保持塊52。保持塊52被固定於圓筒構件11之上表面側(+Z面側)。板狀體51以從保持塊33朝圓筒構件11之外側突出之狀態被設置。板狀體51於S字狀之凹陷部分分別具有第1凹部53及第2凹部54。As shown in FIG. 9 , the stopper 50 has an S-shaped plate-shaped body 51 and a holding block 52 when viewed from the direction of the axis AX1 . The plate-like body 51 is fixed to a holding block 52 . The holding block 52 is fixed to the upper surface side (+Z surface side) of the cylindrical member 11 . The plate-like body 51 is provided in a state protruding from the holding block 33 toward the outside of the cylindrical member 11 . The plate-shaped body 51 has a first concave portion 53 and a second concave portion 54 in the S-shaped concave portion, respectively.

第1凹部53形成為朝+θZ方向變細之方式呈凹陷之狀態。第1凹部53朝-θZ方向以敞開之狀態形成。第1凹部53於從軸線AX1之方向觀察時被形成為圓弧狀。第1凹部53之半徑例如被設定為大於下述被擋止部60之輥63的半徑，而該輥63可嵌入之形狀。板狀體51具有朝第1凹部53引導被擋止部60之輥63的導向面53a。導向面53a被設置於軸線AX1之放射方向D2之兩側。導向面53a係被形成可平滑地連接第1凹部53之曲面。The first concave portion 53 is formed in a concave state so as to become thinner in the +θZ direction. The first concave portion 53 is formed in an open state toward the -θZ direction. The first concave portion 53 is formed in an arc shape when viewed from the direction of the axis AX1. The radius of the first concave portion 53 is, for example, set to be larger than the radius of the roller 63 of the stopped portion 60 described later, and the shape in which the roller 63 can fit. The plate-shaped body 51 has a guide surface 53 a that guides the roller 63 of the stopped portion 60 toward the first recess 53 . The guide surface 53a is provided on both sides of the radial direction D2 of the axis AX1. The guide surface 53a is formed as a curved surface that can smoothly connect the first concave portion 53 .

第2凹部54被形成為朝-θZ方向變細之方式呈凹陷之狀態。第2凹部54朝+θZ方向以敞開之狀態被形成。第2凹部54於從軸線AX1之方向觀察時形成為圓弧狀。第2凹部54之半徑例如被設定為大於被擋止部60之輥63的半徑，而該輥63可嵌入之形狀。再者，第1凹部53之半徑與第2凹部54之半徑可相同，亦可不同。板狀體51具有朝第2凹部54引導被擋止部60之輥63的導向面54a。導向面54a設置於軸線AX1之放射方向D2之兩側。導向面54a被形成為可平滑地連接第2凹部54之曲面。The second concave portion 54 is formed in a concave state so as to become thinner in the -θZ direction. The second concave portion 54 is formed in an open state toward the +θZ direction. The second concave portion 54 is formed in an arc shape when viewed from the direction of the axis AX1. The radius of the second concave portion 54 is set to be larger than the radius of the roller 63 of the stopped portion 60, for example, so that the roller 63 can fit into the shape. Furthermore, the radius of the first concave portion 53 and the radius of the second concave portion 54 may be the same or different. The plate-shaped body 51 has a guide surface 54 a that guides the roller 63 of the stopped portion 60 toward the second concave portion 54 . The guide surface 54a is disposed on both sides of the radial direction D2 of the axis AX1. The guide surface 54a is formed as a curved surface that can smoothly connect the second concave portion 54 .

第1凹部53與第2凹部54於繞軸線AX1之圓周方向上被相隔地配置。其結果，在由第1凹部53將被擋止部60擋止之第2部分20之旋轉位置、與由第2凹部54將被擋止部60擋止之第2部分20之旋轉位置處，則第2部分20相對於第1部分10為旋轉1周以上之狀態。亦即，將第1部分10與第2部分20之相對旋轉角度範圍被設定為0°至360°以上。The 1st recessed part 53 and the 2nd recessed part 54 are arrange|positioned at intervals in the circumferential direction around the axis AX1. As a result, at the rotation position of the second part 20 stopped by the stopper 60 by the first recess 53 and the rotation position of the second part 20 stopped by the stopper 60 by the second recess 54, Then, the second part 20 is in a state of rotating more than one revolution with respect to the first part 10 . That is, the range of the relative rotation angle between the first part 10 and the second part 20 is set to be 0° to 360° or more.

被擋止部60被設置於基底構件21。被擋止部60具有導引部61、滑塊62及輥63。導引部61例如為貫通基底構件21之貫通孔。導引部61為沿著以軸線AX1為中心之放射方向D2所形成。導引部61之放射方向D2之長度被設定為至少可使輥63在上述第1凹部53與第2凹部54之間沿放射方向D2移動之長度。The stopped portion 60 is provided to the base member 21 . The stopped portion 60 has a guide portion 61 , a slider 62 and a roller 63 . The guide portion 61 is, for example, a through hole penetrating through the base member 21 . The guide part 61 is formed along the radial direction D2 centering on the axis AX1. The length of the radial direction D2 of the guide part 61 is set to the length at least which can move the roller 63 in the radial direction D2 between the said 1st recessed part 53 and the 2nd recessed part 54.

滑塊62被配置於導引部61之內部。滑塊62可沿著導引部61，且沿著軸線AX1之放射方向D2滑動。滑塊62係於沿著軸線AX1之方向(+Z方向)上延伸之柱狀體。輥63可旋轉地支持於滑塊62之前端部分。輥63可以與軸線AX1平行之旋轉軸AX5為中心沿θZ方向旋轉。輥63被配置於當第1部分10與第2部分20相對旋轉時會與止動部50之導向面53a、54a接觸般之高度。輥63可與滑塊62一體地沿放射方向D2移動。滑塊62及輥63與第2部分20一體地相對於第1部分10繞軸線AX1相對旋轉。The slider 62 is arranged inside the guide part 61 . The slider 62 can slide along the guide portion 61 and along the radial direction D2 of the axis AX1. The slider 62 is a columnar body extending in the direction along the axis AX1 (+Z direction). The roller 63 is rotatably supported by the front end portion of the slider 62 . The roller 63 is rotatable in the θZ direction around a rotation axis AX5 parallel to the axis AX1. The roller 63 is arranged at such a height that it contacts the guide surfaces 53a, 54a of the stopper 50 when the first part 10 and the second part 20 are rotated relative to each other. The roller 63 is movable in the radial direction D2 integrally with the slider 62 . The slider 62 and the roller 63 are integrated with the second part 20 and relatively rotate around the axis AX1 with respect to the first part 10 .

圖10及圖11係表示從軸線AX1之方向觀察旋轉機構100B之情形的一例，且表示止動部50及被擋止部60之動作一例的圖。圖10係表示被擋止部60被止動部50擋止狀態之一例的圖。圖11係表示被擋止部60被止動部50擋止狀態之另一例的圖。如圖10及圖11所示，當第2部分20相對於第1部分10向+θZ方向相對旋轉時、及向-θZ方向相對旋轉時，被擋止部60由止動部50所擋止。10 and 11 are diagrams showing an example of the rotation mechanism 100B viewed from the direction of the axis AX1, and showing an example of the movement of the stopper portion 50 and the stopped portion 60. As shown in FIG. FIG. 10 is a diagram showing an example of a state where the stopped portion 60 is stopped by the stopper portion 50 . FIG. 11 is a diagram showing another example of a state where the stopped portion 60 is stopped by the stopper portion 50 . As shown in FIGS. 10 and 11 , when the second part 20 rotates relative to the first part 10 in the +θZ direction and in the -θZ direction, the stopped part 60 is stopped by the stopper part 50 .

如圖10所示，當第2部分20相對於第1部分10向+θZ方向(圖中為順時針方向)相對旋轉時，被擋止部60伴隨著第2部分20之旋轉而向+θZ方向旋轉。當被擋止部60到達止動部50時，被擋止部60之輥63抵接於導向面53a。在該狀態下，當第2部分20向+θZ方向旋轉時，輥63被導向面53a引導，藉此輥63(滑塊62)沿著放射方向D2朝軸線AX1移動。輥63一面繞旋轉軸AX5旋轉，一面沿著導向面53a移動。當第2部分20進一步向+θZ方向旋轉時，輥63進入第1凹部53而被擋止。其結果，第2部分20成為相對於第1部分10向+θZ方向之旋轉被限制的狀態。As shown in FIG. 10 , when the second part 20 rotates relative to the first part 10 in the +θZ direction (clockwise in the figure), the blocked part 60 moves to +θZ along with the rotation of the second part 20 . direction rotation. When the stopped part 60 reaches the stop part 50, the roller 63 of the stopped part 60 abuts against the guide surface 53a. In this state, when the second portion 20 rotates in the +θZ direction, the roller 63 is guided by the guide surface 53 a, whereby the roller 63 (slider 62 ) moves toward the axis AX1 along the radial direction D2. The roller 63 moves along the guide surface 53 a while rotating around the rotation axis AX5 . When the second portion 20 further rotates in the +θZ direction, the roller 63 enters the first recess 53 and is stopped. As a result, the rotation of the second part 20 in the +θZ direction with respect to the first part 10 is restricted.

又，如圖11所示，當第2部分20相對於第1部分10向-θZ方向(圖中為逆時針方向)相對旋轉時，被擋止部60伴隨著第2部分20之旋轉而向-θZ方向旋轉。當被擋止部60到達止動部50時，被擋止部60之輥63抵接於導向面54a。在該狀態下，當第2部分20向-θZ方向旋轉時，輥63被導向面54a引導，藉此輥63(滑塊62)沿著放射方向D2向遠離軸線AX1之方向移動。輥63一面繞旋轉軸AX5旋轉，一面沿著導向面53a移動。當第2部分20進一步向-θZ方向旋轉時，輥63進入第2凹部54而被擋止。其結果，第2部分20成為相對於第1部分10向-θZ方向之旋轉被限制的狀態。Also, as shown in FIG. 11 , when the second part 20 is relatively rotated in the -θZ direction (counterclockwise in the figure) relative to the first part 10, the stopped part 60 is moved along with the rotation of the second part 20. -Rotation in the θZ direction. When the stopped part 60 reaches the stop part 50, the roller 63 of the stopped part 60 abuts against the guide surface 54a. In this state, when the second portion 20 rotates in the -θZ direction, the roller 63 is guided by the guide surface 54a, whereby the roller 63 (slider 62) moves away from the axis AX1 along the radial direction D2. The roller 63 moves along the guide surface 53 a while rotating around the rotation axis AX5 . When the second portion 20 further rotates in the −θZ direction, the roller 63 enters the second recess 54 and is stopped. As a result, the rotation of the second part 20 in the -θZ direction with respect to the first part 10 is restricted.

如此，根據本實施形態之旋轉機構100B，其與上述旋轉機構100A同樣，可確保第1部分10與第2部分20之相對旋轉角度範圍為360°以上，並且藉由當過度旋轉之情形時被擋止部60擋止於止動部50，而可切實地限制第1部分10與第2部分20之相對旋轉。又，藉由觀察止動部50及被擋止部60，則可容易地區分第1部分10與第2部分20之旋轉狀態。即，藉由觀察輥63是處於第1凹部53，抑或是處於第2凹部54，則可容易地掌握第1部分10與第2部分20之相對旋轉位置。Thus, according to the rotation mechanism 100B of the present embodiment, similar to the above-mentioned rotation mechanism 100A, the range of the relative rotation angle between the first part 10 and the second part 20 can be ensured to be 360° or more, and by being over-rotated The stopper 60 is stopped by the stopper 50 to reliably limit the relative rotation between the first part 10 and the second part 20 . Moreover, by observing the stopper portion 50 and the stopped portion 60, the rotation states of the first part 10 and the second part 20 can be easily distinguished. That is, by observing whether the roller 63 is in the first concave portion 53 or in the second concave portion 54 , the relative rotational positions of the first part 10 and the second part 20 can be easily grasped.

再者，於上述旋轉機構100B中，其雖未對滑塊62賦予驅動力或彈性力，但本發明並不限定於該形態。例如，其亦可為藉由盤簧等彈性構件將滑塊62彈性地保持於導引部61之中央附近(放射方向D2上之中央附近)的形態。在此情形下，當輥63被導向面53a、54a引導時，滑塊62對抗彈性構件之彈性力而使導引部61沿放射方向D2移動。In addition, in the said rotation mechanism 100B, although it does not apply a drive force or an elastic force to the slider 62, this invention is not limited to this form. For example, the slider 62 may be elastically held near the center of the guide portion 61 (near the center in the radial direction D2 ) by an elastic member such as a coil spring. In this case, when the roller 63 is guided by the guide surfaces 53a, 54a, the slider 62 moves the guide portion 61 in the radial direction D2 against the elastic force of the elastic member.

＜高架搬送車＞ 圖12係表示本實施形態之高架搬送車200一例的圖。高架搬送車200例如於處理裝置與保管架之間等搬送物品M。如圖12所示，高架搬送車200具備移行部本體110、移載裝置120及旋轉機構130。移行部本體110沿高架軌道R移行。移載裝置120連結於移行部本體110，移載物品M。旋轉機構130使移載裝置120相對於移行部本體110旋轉。 ＜Elevated transport vehicle＞ FIG. 12 is a diagram showing an example of an overhead transport vehicle 200 according to this embodiment. The overhead transport vehicle 200 transports the article M, for example, between the processing device and the storage rack. As shown in FIG. 12 , the overhead transport vehicle 200 includes a traveling section main body 110 , a transfer device 120 , and a rotation mechanism 130 . The traveling part body 110 travels along the elevated rail R. The transfer device 120 is connected to the traveling part body 110 and transfers the article M. As shown in FIG. The rotation mechanism 130 rotates the transfer device 120 relative to the moving part body 110 .

移行部本體110具有移行車輪111、連結部112及單元部113。移行車輪111被配置成可在高架軌道R上滾動。連結部112連結移行車輪111與單元部113。於單元部113，例如被配置有用以驅動移行車輪111未圖示之驅動裝置、及用以控制高架搬送車200未圖示之控制裝置等。單元部113被設成垂吊於較高架軌道R靠下方之狀態。The traveling part body 110 has traveling wheels 111 , a connecting part 112 and a unit part 113 . The traveling wheels 111 are configured to be able to roll on the elevated rail R. As shown in FIG. The connection part 112 connects the traveling wheel 111 and the unit part 113 . In the unit portion 113, for example, a driving device (not shown) for driving the traveling wheels 111, a control device (not shown) for controlling the overhead transport vehicle 200, and the like are disposed. The unit part 113 is provided in the state suspended from the elevated rail R below.

移載裝置120被設成從單元部113之下方經由旋轉機構130而垂吊之狀態。移載裝置120具有：物品保持部121，其保持物品M；升降驅動部122，其使物品保持部121沿鉛直方向(Z方向)升降；旋轉機構123，其將升降驅動部122繞鉛直方向之旋轉軸AX7旋轉驅動；以及橫向伸出機構124，其使升降驅動部122及旋轉機構123沿水平方向滑動移動。旋轉機構123可使用上述旋轉機構100、100A、100B中之任一者。在此情形下，第1部分10係橫向伸出機構124之一部分，第2部分20係升降驅動部122之一部分。上述旋轉機構100、100A、100B之軸線AX1與旋轉機構123之旋轉軸AX7一致。再者，亦可任意決定移載裝置120是否具備旋轉機構123。例如，移載裝置120亦可為不具有旋轉機構123之形態。The transfer device 120 is provided in a suspended state via the rotation mechanism 130 from below the unit portion 113 . The transfer device 120 has: an article holding part 121, which holds the article M; an elevating driving part 122, which makes the article holding part 121 move up and down in the vertical direction (Z direction); The rotation axis AX7 is driven to rotate; and the lateral extension mechanism 124 makes the lifting drive part 122 and the rotation mechanism 123 slide and move in the horizontal direction. As the rotation mechanism 123, any one of the above-mentioned rotation mechanisms 100, 100A, and 100B can be used. In this case, the first part 10 is a part of the lateral extension mechanism 124 , and the second part 20 is a part of the lifting drive part 122 . The axis AX1 of the above-mentioned rotating mechanism 100 , 100A, 100B coincides with the rotating axis AX7 of the rotating mechanism 123 . Furthermore, whether or not the transfer device 120 is equipped with the rotation mechanism 123 can also be arbitrarily determined. For example, the transfer device 120 may not have the rotation mechanism 123 .

旋轉機構130使移載裝置120相對於移行部本體110沿鉛直方向之旋轉軸AX6的軸向(θZ方向)旋轉。旋轉機構130可使用上述旋轉機構100、100A、100B中之任一者。於此情形下，第1部分10係移行部本體110之一部分。例如，第1部分10係構成單元部113之殼體113a的一部分。又，第2部分20係移載裝置120的一部分。例如，第2部分20係對橫向伸出機構124予以支持之頂板部125的一部分。上述旋轉機構100、100A、100B之軸線AX1與旋轉機構130之旋轉軸AX6一致。The rotation mechanism 130 rotates the transfer device 120 in the axial direction (theta Z direction) along the rotation axis AX6 in the vertical direction relative to the main body 110 of the moving part. As the rotation mechanism 130, any one of the rotation mechanisms 100, 100A, and 100B described above can be used. In this case, the first part 10 is a part of the traveling part body 110 . For example, the first part 10 is a part of the casing 113 a constituting the unit part 113 . Moreover, the second part 20 is a part of the transfer device 120 . For example, the second portion 20 is a part of the top plate portion 125 that supports the lateral extension mechanism 124 . The axis AX1 of the above-mentioned rotating mechanism 100 , 100A, 100B coincides with the rotating axis AX6 of the rotating mechanism 130 .

高架搬送車200當在處理裝置或保管架之間移載物品M時，其於使橫向伸出機構124滑動之狀態、或不使橫向伸出機構124滑動之狀態下驅動升降驅動部122，而使物品保持部121升降，藉此而進行物品M之交接。此時，藉驅動旋轉機構130而使橫向伸出機構124沿旋轉軸AX6之軸向(θZ方向)旋轉，藉此則可改變橫向伸出機構124之滑動方向。又，藉驅動旋轉機構123而使升降驅動部122沿旋轉軸AX7之軸向(θZ方向)旋轉，藉此則可使物品保持部121所保持之物品M沿旋轉軸AX7之軸向旋轉。When the overhead transport vehicle 200 transfers the article M between the processing device or the storage rack, it drives the elevating drive part 122 in a state where the lateral extension mechanism 124 is slid or in a state where the lateral extension mechanism 124 is not slid, and The article M is handed over by raising and lowering the article holding unit 121 . At this time, the lateral extension mechanism 124 is rotated along the axial direction (theta Z direction) of the rotation axis AX6 by driving the rotation mechanism 130 , thereby changing the sliding direction of the lateral extension mechanism 124 . Further, by driving the rotation mechanism 123 to rotate the lifting drive unit 122 in the axial direction of the rotation axis AX7 (theta Z direction), the article M held by the article holding unit 121 can be rotated in the axial direction of the rotation axis AX7.

如此，根據本實施形態之高架搬送車200，因具有上述旋轉機構100(100A、100B)作為旋轉機構130、123，因此可容易地進行纏繞傳動構件12之更換作業。即，高架搬送車200由於為垂吊於高架軌道R之狀態，因此存在有維護等須在高處作業之情形。因其使旋轉機構100中之纏繞傳動構件12之更換變得容易，因此可減輕作業人員之負擔。又，其可使移載裝置120相對於移行部本體110旋轉0°至360°以上(至少360°)，而可使移載裝置120相對於移行部本體110沿θZ方向在較大之旋轉角度範圍內旋轉。Thus, according to the overhead transport vehicle 200 of this embodiment, since it has the said rotation mechanism 100 (100A, 100B) as rotation mechanism 130, 123, the replacement|exchange operation of the winding transmission member 12 can be performed easily. That is, since the elevated transport vehicle 200 is suspended from the elevated rail R, there are cases where maintenance and the like must be performed at a high place. Since the replacement of the winding transmission member 12 in the rotation mechanism 100 is facilitated, the burden on the operator can be reduced. In addition, it can make the transfer device 120 rotate relative to the moving part body 110 from 0° to more than 360° (at least 360°), so that the transferring device 120 can rotate at a larger angle of rotation relative to the moving part body 110 along the θZ direction. Rotate within the range.

以上，已對實施形態進行說明，但本發明之技術範圍並不被限定於上述實施形態等所說明之內容。再者，上述實施形態所說明之1個以上的要件亦可被省略。又，上述實施形態所說明之要件可被適當地組合。又，在法令容許之範圍內，日本專利申請之特願2021-060553及上述實施形態等中所引用之所有文獻之揭示被援引作為本文記載之一部分。又，於上述實施形態中，雖已例舉纏繞傳動構件12為帶狀之形態進行說明，但本發明並不限定於該形態。例如，纏繞傳動構件12亦可為鏈條。在此情形下，旋轉驅動部23亦可使用與鏈條嚙合之鏈輪等。又，纏繞傳動構件12亦可使用線(wire)等繩狀構件。The embodiments have been described above, but the technical scope of the present invention is not limited to the contents described in the above embodiments and the like. Furthermore, one or more requirements described in the above embodiments may be omitted. In addition, the requirements described in the above embodiments can be appropriately combined. In addition, the disclosures of all documents cited in Japanese Patent Application No. 2021-060553 and the above-mentioned embodiments are incorporated herein as part of the description within the scope permitted by laws and regulations. In addition, in the above-mentioned embodiment, although the form in which the winding transmission member 12 is belt-shaped was illustrated and demonstrated, this invention is not limited to this form. For example, the winding transmission member 12 can also be a chain. In this case, the rotation drive part 23 can also use the sprocket etc. which mesh with the chain. In addition, string-like members such as wires may be used as the winding transmission member 12 .

又，在上述實施形態中，雖已例舉將旋轉機構100等應用於高架搬送車200之旋轉機構123、130之形態進行說明，但本發明並不受限於該形態。例如，上述旋轉機構100等亦可為用作於載台(stage)裝置中使平台(table)旋轉之旋轉機構之形態。Moreover, in the above-mentioned embodiment, although the form which applied the rotating mechanism 100 etc. to the rotating mechanisms 123 and 130 of the overhead transport vehicle 200 was illustrated and demonstrated, this invention is not limited to this form. For example, the rotation mechanism 100 and the like described above may be used as a rotation mechanism for rotating a table in a stage device.

D1,D2:放射方向 H1:寬度 H2:尺寸 M:物品 R:高架軌道 AX1:軸線 AX2,AX4,AX5,AX6,AX7:旋轉軸 AX3:擺動軸 10:第1部分 11:圓筒構件 11a,11b:凹部 11c,23a:外周面 12:纏繞傳動構件 12a:第1端部 12b:第2端部 12c:內周面 13a,13b:固定件 20:第2部分 21:基底構件 21a:第1面 21b:第2面 22:馬達 22a:輸出軸 23:旋轉驅動部 23b:滾花 24,25:皮帶輪 30,50:止動部 31:臂部 31a,41:基部 31b,42:前端部 32:抵接部 33:保持塊 35:彈性構件 40,60:被擋止部 41a:支柱 42a:傾斜面 51:板狀體 52:保持塊 53:第1凹部 53a,54a:導向面 54:第2凹部 61:導引部 62:滑塊 63:輥 100,100A,100B:旋轉機構 110:移行部本體 111:移行車輪 112:連結部 113:單元部 113a:殼體 120:移載裝置 121:物品保持部 122:升降驅動部 123,130:旋轉機構 124:橫向伸出機構 125:頂板部 200:高架搬送車 D1, D2: radiation direction H1: width H2: size M: item R: elevated track AX1: axis AX2, AX4, AX5, AX6, AX7: axis of rotation AX3: Oscillating axis 10: Part 1 11: Cylindrical member 11a, 11b: Recesses 11c, 23a: outer peripheral surface 12: Winding transmission components 12a: 1st end 12b: 2nd end 12c: inner peripheral surface 13a, 13b: Fixing parts 20: Part 2 21: Base member 21a:Side 1 21b:Side 2 22: motor 22a: output shaft 23:Rotary drive unit 23b: knurl 24,25: Pulley 30,50: stopper 31: arm 31a, 41: base 31b, 42: front end 32: contact part 33: Hold block 35: Elastic member 40,60: blocked part 41a: pillar 42a: Inclined surface 51: plate-shaped body 52: Hold block 53: 1st concave part 53a, 54a: guide surface 54: The second recess 61: Guide Department 62: Slider 63: roll 100, 100A, 100B: rotating mechanism 110: Transition part body 111: Migration wheel 112: Connecting part 113: unit department 113a: shell 120: transfer device 121: Item holding department 122: Lifting drive unit 123,130: rotating mechanism 124: Horizontal extension mechanism 125: top plate 200: elevated transport vehicle

圖1係表示本實施形態之旋轉機構的一例之立體圖。 圖2係從旋轉之軸線的方向觀察旋轉機構所得之圖。 圖3係表示旋轉驅動部配置於纏繞傳導構件之第2端部側的情形之一例的圖。 圖4係表示旋轉驅動部配置於纏繞傳導構件之第1端部側的情形之一例的圖。 圖5係表示具備止動部及被擋止部之旋轉機構的一例之立體圖。 圖6係表示從軸線之方向觀察止動部之情形的一例之圖。 圖7係表示止動部將被擋止部擋止之狀態的一例之圖。 圖8係表示止動部將被擋止部擋止之狀態的另一例之圖。 圖9係表示具備止動部及被擋止部之旋轉機構的另一例之立體圖。 圖10係表示止動部將被擋止部擋止之狀態的一例之圖。 圖11係表示止動部將被擋止部擋止之狀態的另一例之圖。 圖12係表示本實施形態之高架搬送車的一例之圖。 Fig. 1 is a perspective view showing an example of the rotation mechanism of this embodiment. Fig. 2 is a view obtained by observing the rotating mechanism from the direction of the axis of rotation. Fig. 3 is a diagram showing an example of a case where a rotation drive unit is disposed on the second end side of the winding conduction member. Fig. 4 is a diagram showing an example of a case where a rotation drive unit is disposed on the first end side of the winding conduction member. FIG. 5 is a perspective view showing an example of a rotation mechanism including a stopper and a stopped portion. FIG. 6 is a diagram showing an example of a stopper portion viewed from the direction of the axis. Fig. 7 is a diagram showing an example of a state where the stopper is about to be stopped by the stopper. Fig. 8 is a diagram showing another example of a state where the stopper is about to be stopped by the stopper. Fig. 9 is a perspective view showing another example of the rotation mechanism provided with a stopper and a stopper. Fig. 10 is a diagram showing an example of a state where the stopper is about to be stopped by the stopper. Fig. 11 is a diagram showing another example of a state where the stopper is about to be stopped by the stopper. Fig. 12 is a diagram showing an example of the overhead transport vehicle of this embodiment.

AX1:軸線 AX1: axis

AX2:旋轉軸 AX2: axis of rotation

10:第1部分 10: Part 1

11:圓筒構件 11: Cylindrical member

11a,11b:凹部 11a, 11b: Recesses

11c,23a:外周面 11c, 23a: outer peripheral surface

12:纏繞傳動構件 12: Winding transmission components

12a:第1端部 12a: 1st end

12b:第2端部 12b: 2nd end

13a,13b:固定件 13a, 13b: Fixing parts

20:第2部分 20: Part 2

21:基底構件 21: Base member

21a:第1面 21a:Side 1

21b:第2面 21b:Side 2

22:馬達 22: motor

22a:輸出軸 22a: output shaft

23:旋轉驅動部 23:Rotary drive unit

23b:滾花 23b: knurl

24,25:皮帶輪 24,25: Pulley

100:旋轉機構 100: rotating mechanism

Claims (8)

一種旋轉機構，其具備有：第1部分、及相對於上述第1部分相對旋轉之第2部分；且 上述第1部分具有：圓筒構件，其成為旋轉中心；及纏繞傳動構件，其捲繞於上述圓筒構件之外周面，兩端分別固定於上述外周面； 上述第2部分具有旋轉驅動部，該旋轉驅動部於上述圓筒構件之上述外周面與上述纏繞傳動構件之間，嚙合於上述纏繞傳動構件之內周面； 上述纏繞傳動構件係超出上述圓筒構件之外周的一周且在旋轉之軸線方向上錯開而被捲繞。 A rotation mechanism comprising: a first part, and a second part that rotates relative to the first part; and The above-mentioned first part has: a cylindrical member, which becomes the center of rotation; and a winding transmission member, which is wound around the outer peripheral surface of the cylindrical member, and its two ends are respectively fixed to the outer peripheral surface; The above-mentioned second part has a rotation driving part, and the rotation driving part is engaged with the inner peripheral surface of the above-mentioned winding transmission member between the above-mentioned outer peripheral surface of the above-mentioned cylindrical member and the above-mentioned winding transmission member; The above-mentioned winding transmission member is wound beyond the outer circumference of the above-mentioned cylindrical member and shifted in the direction of the axis of rotation. 如請求項1之旋轉機構，其具有：止動部，其設於上述第1部分及上述第2部分中之任意一者；以及 被擋止部，其設於上述第1部分及上述第2部分中之任意另一者，被擋止於上述止動部；且 上述止動部及上述被擋止部被配置成上述第1部分與上述第2部分之相對旋轉角度範圍至少為0°至360°。 The rotation mechanism according to claim 1, which has: a stopper provided in any one of the above-mentioned first part and the above-mentioned second part; and The stopped part, which is provided in any other of the first part and the second part, is stopped by the stop part; and The above-mentioned stopping part and the above-mentioned blocked part are arranged such that the relative rotation angle range between the above-mentioned first part and the above-mentioned second part is at least 0° to 360°. 如請求項2之旋轉機構，其中，上述止動部具有：臂部，其可以與上述軸線平行地延伸之擺動軸為中心而擺動；及抵接部，其設於上述臂部之前端，與上述被擋止部抵接而將上述被擋止部擋止；且 於上述第1部分與上述第2部分向在既定方向相對旋轉時、及在向與上述既定方向相反之方向旋轉時，上述被擋止部在抵接於上述抵接部而使上述臂部擺動後被擋止。 The rotation mechanism according to claim 2, wherein the stopper part has: an arm part that can swing around a swing shaft extending parallel to the above-mentioned axis; The stopped portion abuts to stop the stopped portion; and When the first part and the second part rotate relative to a predetermined direction or in a direction opposite to the predetermined direction, the stopped part abuts against the contact part to swing the arm part. was blocked afterwards. 如請求項3之旋轉機構，其中，上述臂部彈性地保持於沿著相對於上述軸線之放射方向延伸的位置。The rotation mechanism according to claim 3, wherein the arm portion is elastically held at a position extending in a radial direction relative to the axis. 如請求項3或4之旋轉機構，其中，上述被擋止部於與上述抵接部接觸之部分設有傾斜面。The rotation mechanism according to claim 3 or 4, wherein the portion to be stopped is provided with an inclined surface at a portion in contact with the abutting portion. 如請求項1至5中任一項之旋轉機構，其中，上述旋轉驅動部具有驅動面，該驅動面係對應於上述纏繞傳動構件在上述軸線方向上之錯開，而在與上述軸線平行之方向上較上述纏繞傳動構件之寬度為長。The rotation mechanism according to any one of claims 1 to 5, wherein the rotation driving part has a driving surface corresponding to the offset of the winding transmission member in the direction of the axis, and in a direction parallel to the axis It is longer than the width of the above-mentioned winding transmission member. 一種高架搬送車，其係具備有沿高架軌道移行之移行部本體、及移載物品之移載裝置者；其中， 在上述移行部本體與上述移載裝置之間，設有請求項1至6中任一項之旋轉機構； 上述第1部分係上述移行部本體之一部分； 上述第2部分係上述移載裝置之一部分。 An elevated transport vehicle, which is equipped with a moving part body that moves along an elevated track, and a transfer device for transferring articles; wherein, Between the main body of the above-mentioned moving part and the above-mentioned transfer device, there is a rotation mechanism according to any one of claims 1 to 6; The above-mentioned first part is a part of the above-mentioned transition part body; The above-mentioned second part is a part of the above-mentioned transfer device. 如請求項7之高架搬送車，其中，上述旋轉機構使上述移載裝置相對於上述移行部本體繞鉛直方向之軸旋轉。The elevated transport vehicle according to claim 7, wherein the rotation mechanism rotates the transfer device around an axis in the vertical direction relative to the main body of the traveling section.
TW111111014A 2021-03-31 2022-03-24 Rotation mechanism and ceiling carrier TW202241779A (en)

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US5105672A (en) * 1990-05-17 1992-04-21 Carson Donald G Rotary drive apparatus having one member with smooth outer peripheral surface
EP0620758B1 (en) * 1992-07-24 1995-10-04 Bioengineering AG Apparatus for driving a wobbling body
JP4702693B2 (en) 2004-02-12 2011-06-15 ムラテックオートメーション株式会社 Transport cart and transport device
US8322074B2 (en) 2005-08-29 2012-12-04 Mitsui Kinzoku Act Corporation Power unit for power slide apparatus
SG11202104305YA (en) 2018-10-29 2021-05-28 Murata Machinery Ltd Ceiling conveyance vehicle and ceiling conveyance vehicle system
US11691299B2 (en) 2019-02-01 2023-07-04 Intuitive Surgical Operations, Inc. Constraint mechanisms, systems, and methods

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