WO2022209486A1 - Rotation mechanism and ceiling carrier - Google Patents

Rotation mechanism and ceiling carrier Download PDF

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Publication number
WO2022209486A1
WO2022209486A1 PCT/JP2022/007930 JP2022007930W WO2022209486A1 WO 2022209486 A1 WO2022209486 A1 WO 2022209486A1 JP 2022007930 W JP2022007930 W JP 2022007930W WO 2022209486 A1 WO2022209486 A1 WO 2022209486A1
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WO
WIPO (PCT)
Prior art keywords
transmission member
rotation
locked
rotation mechanism
axis
Prior art date
Application number
PCT/JP2022/007930
Other languages
French (fr)
Japanese (ja)
Inventor
政佳 虎澤
靖久 伊藤
Original Assignee
村田機械株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 村田機械株式会社 filed Critical 村田機械株式会社
Priority to JP2023510677A priority Critical patent/JP7487842B2/en
Publication of WO2022209486A1 publication Critical patent/WO2022209486A1/en

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Classifications

    • 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

Definitions

  • the present invention relates to a rotating mechanism and an overhead transport vehicle.
  • a rotation mechanism using a transmission member such as a belt is known to relatively rotate the first portion and the second portion (see, for example, Patent Document 1).
  • an annular (endless) belt (so-called closed belt) is wound around the outer peripheral surface of a cylindrical member provided in either one of the first portion and the second portion.
  • the rotary drive portion provided in the other of the first portion and the second portion is arranged between the outer peripheral surface of the cylindrical member and the belt.
  • the rotary drive unit is meshed with the inner peripheral surface of the belt, and by rotating, draws the inner peripheral surface of the belt and circulates around the outside of the cylindrical member. As a result, the first portion and the second portion rotate relative to each other.
  • a belt having ends may be wound around the outer peripheral surface of a cylindrical member instead of being annular, and fixed to the cylindrical member while the ends are butted against each other.
  • the fixed portion cannot be drawn by the rotary drive section, and the first portion and the second portion are relatively unbalanced.
  • the rotation angle range is limited. In other words, the configuration using a belt with edges can only achieve a relative rotation between the first portion and the second portion from 0° to less than 360°.
  • the present invention makes it possible to easily perform the replacement work of the wound transmission member, thereby reducing the burden on the operator, while allowing the first portion and the second portion to rotate relative to each other from 0° to 360° or more. It is an object of the present invention to provide a possible rotation mechanism and an overhead transport vehicle equipped with this rotation mechanism.
  • a rotation mechanism is a rotation mechanism including a first portion and a second portion that rotates relative to the first portion, wherein the first portion is a cylindrical member serving as a center of rotation. and a winding transmission member wound around the outer peripheral surface of the cylindrical member and having both ends fixed to the outer peripheral surface, and the second part is disposed between the outer peripheral surface of the cylindrical member and the winding transmission member.
  • a rotary drive portion that meshes with the inner peripheral surface of the wound transmission member, and the wound transmission member is wound around the outer periphery of the cylindrical member while being shifted in the axial direction of rotation.
  • An overhead guided vehicle is an overhead guided vehicle that includes a traveling section main body that travels on an overhead track and a transfer device that transfers an article, wherein the traveling section main body and the transfer device have a space between the traveling section main body and the transfer device.
  • the rotation mechanism of the above-described aspect is provided, the first portion is a portion of the travel portion main body, and the second portion is a portion of the transfer device.
  • the belt can be easily replaced by releasing the fixed ends of the wound transmission member.
  • the burden on the operator who performs the belt replacement work can be reduced.
  • the wound transmission member is wound over the outer circumference of the cylindrical member and shifted in the direction of the rotation axis, the first portion and the second portion can be rotated relative to each other by 360° or more. That is, even when a belt having ends (a belt that is not annular) is used, the first portion and the second portion can be relatively rotated within a wider rotation angle range.
  • a stopper provided on one of the first portion and the second portion, and a latched stopper provided on the other of the first portion and the second portion and latched by the stopper are provided.
  • the stopper and the engaged portion are arranged such that the relative rotation angle range between the first portion and the second portion is at least 0° to 360°.
  • the stopper is provided at the arm portion capable of swinging about the swing shaft extending parallel to the axis, and at the tip end of the arm portion. and a contact portion that locks the portion, and the locked portion is engaged both when the first portion and the second portion rotate relative to each other in a predetermined direction and when they rotate in a direction opposite to the predetermined direction.
  • the arm portion may be locked after contacting the contact portion and swinging the arm portion. According to this configuration, since the arm can swing, the first portion and the second portion can be relatively rotated by 360° or more. Furthermore, by observing the swinging state of the arm, the rotating state of the first portion and the second portion can be more easily distinguished.
  • the arm may be elastically held at a position extending along the radial direction with respect to the axis. According to this configuration, since the arms are elastically held in a radially extending state, it is possible to reliably bring the engaged portion into contact with the contact portion.
  • the locked portion may have a tapered surface at a portion that contacts the contact portion. According to this configuration, the contact portion contacts the tapered surface, so that the arm portion can be easily swung.
  • the rotary driving portion is provided with a driving surface longer than the width of the winding transmission member in the direction parallel to the axis, corresponding to the deviation of the winding transmission member in the axial direction.
  • the rotation mechanism may rotate the transfer device about the vertical axis with respect to the traveling section main body of the overhead transport vehicle. According to this configuration, the transfer device can be rotated around the vertical axis in a wide rotation angle range.
  • FIG. 10 is a diagram showing an example of a case where the rotation drive section is arranged on the second end side of the winding transmission member;
  • FIG. 10 is a diagram showing an example of a case where the rotation drive section is arranged on the first end side of the winding transmission member;
  • It is a perspective view which shows an example of a rotation mechanism provided with a stopper and a to-be-latched part. It is a figure which shows an example at the time of seeing a stopper from the direction of an axis.
  • FIG. 10 is a diagram showing another example of a state in which the locked portion is locked by the stopper;
  • FIG. 11 is a perspective view showing another example of a rotating mechanism including stoppers and locked portions; It is a figure which shows an example of the state to which the to-be-latched part was latched by the stopper.
  • FIG. 10 is a diagram showing another example of a state in which the locked portion is locked by the stopper; It is a figure which shows an example of the ceiling conveyance vehicle which concerns on this embodiment.
  • a plane parallel to the horizontal plane is defined as an XY plane.
  • a direction perpendicular to the XY plane is referred to as a Z direction.
  • the direction indicated by the arrow in the drawing is the + direction
  • the direction opposite to the direction indicated by the arrow is the ⁇ direction.
  • FIG. 1 is a perspective view showing an example of a rotating mechanism 100 according to this embodiment.
  • FIG. 2 is a diagram of the rotation mechanism 100 viewed from the direction of the rotation axis AX1.
  • the rotation mechanism 100 includes a first portion 10 and a second portion 20.
  • the first portion 10 and the second portion 20 are connected so as to be relatively rotatable about the axis AX1.
  • the first portion 10 is fixed, and the second portion 20 is rotatably provided while suspended from the first portion 10 .
  • the second portion 20 rotates around the axis AX1 while suspended from the first portion 10 .
  • the second portion 20 may be fixed, and the first portion 10 may rotate with respect to the second portion 20 around the axis AX1.
  • the first portion 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 recesses 11a and 11b on the outer peripheral surface 11c.
  • the recessed portion 11a and the recessed portion 11b are provided so as to be displaced in the circumferential direction of the outer peripheral surface 11c.
  • the concave portion 11 a is arranged on the +Z side of the outer peripheral surface 11 c of the cylindrical member 11 .
  • the concave portion 11b is arranged on the ⁇ Z side of the outer peripheral surface 11c of the cylindrical member 11 .
  • the dimension of the outer peripheral surface 11 c in the Z direction is set to be at least twice the width of the wound transmission member 12 .
  • the winding transmission member 12 is belt-shaped (belt-shaped) and is wound around the outer peripheral surface 11 c of the cylindrical member 11 .
  • the wound transmission member 12 is fixed to the outer peripheral surface 11c of the cylindrical member 11 at both ends in the longitudinal direction, that is, a first end portion 12a as one end portion and a second end portion 12b as the other end portion. be.
  • the first end portion 12a is detachably fixed to a concave portion 11a formed in the outer peripheral surface 11c by a fixture 13a.
  • the second end portion 12b is detachably fixed to a concave portion 11b formed in the outer peripheral surface 11c by a fixture 13b.
  • the first end portion 12a and the second end portion 12b can be removed from the recesses 11a and 11b (relative to the cylindrical member 11) by removing fixtures 13a and 13b, respectively.
  • the first end 12a which is one end in the longitudinal direction
  • the second end 12b which is the other end in the longitudinal direction
  • the winding transmission member 12 is wound over one round of the outer circumference of the cylindrical member 11 and shifted in the direction of the axis AX1.
  • the winding transmission member 12 is wound around the outer peripheral surface 11c so as not to overlap the cylindrical member 11 in the radial direction.
  • the wound transmission member 12 is spirally wound around the outer peripheral surface 11c of the cylindrical member 11 about the axial direction of the axis AX1.
  • the first end 12a and the second end 12b of the winding transmission member 12 are fixed to the recesses 11a and 11b, respectively, so that the fixtures 13a and 13b do not protrude outward from the outer peripheral surface 11c of the cylindrical member 11.
  • This configuration can prevent the rotary drive unit 23 and the pulley 24, which will be described later, from interfering with the fixtures 13a and 13b.
  • the inner surface of the winding transmission member 12 may be a surface without irregularities, or may be formed with a waveform that can mesh with the rotation driving portion 23 described later.
  • the winding transmission member 12 may have elasticity, or may be a kute that does not have elasticity.
  • the second portion 20 includes a base member 21, a motor 22, a rotary drive section 23, and two pulleys 24,25.
  • the base member 21 is arranged on the ⁇ Z side with respect to the cylindrical member 11 .
  • the base member 21 is plate-shaped, for example, and has a first surface 21a on the +Z side and a second surface 21b on the ⁇ Z side.
  • the form of the base member 21 is arbitrary, and as long as it can hold the motor 22, the rotary drive unit 23, and the pulley 24, any form such as a block shape or a frame shape can be applied.
  • the motor 22 is arranged on the second surface 21b side of the base member 21 .
  • the motor 22 is, for example, an electric motor, and rotates an output shaft 22a.
  • the motor 22 can rotate the output shaft 22a in both the + ⁇ Z direction and the ⁇ Z direction.
  • the amount and direction of rotation of the output shaft 22a by the motor 22 are controlled by a controller (not shown) 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.
  • the rotation driving part 23 is arranged on the first surface 21a side of the base member 21 .
  • the rotation drive unit 23 is mounted on the output shaft 22a and rotates integrally with the output shaft 22a.
  • the rotary drive unit 23 is, for example, columnar or cylindrical.
  • An outer peripheral surface 23a of the rotation driving portion 23 is a driving surface that draws the inner peripheral surface 12c of the transmission member 12 to be wound.
  • a knurl 23b is formed on the outer peripheral surface 23a of the rotation driving portion 23 over the entire circumference. When the inner peripheral surface 12c of the winding transmission member 12 is formed in a wavy shape, the knurl 23b engages with this wavy shape.
  • the rotation driving portion 23 is arranged apart from the outer peripheral surface 11c of the cylindrical member 11 when viewed from the direction of the axis AX1. Therefore, as shown in FIGS. 1 and 2 , the transmission member 12 is partially drawn radially from the outer peripheral surface 11 c of the cylindrical member 11 and wound around the outer peripheral surface 23 a of the rotary drive portion 23 . is placed in The dimension of the outer peripheral surface 23 a in the Z direction is set to be at least twice the width of the wound transmission member 12 . Details of the Z-direction dimension of the outer peripheral surface 23a will be described later.
  • the two pulleys 24 and 25 are rotatably provided on the base member 21 respectively.
  • the pulley 24 presses a portion of the transmission member 12 extending in the - ⁇ Z direction from the first end 12a.
  • the pulley 25 presses a portion of the transmission member 12 that extends in the + ⁇ Z direction from the second end 12b.
  • the relative positions of the rotary drive portion 23 and the pulleys 24 and 25 are fixed.
  • the transmission member 12 can be wound around the outer peripheral surface 23a of the rotary drive portion 23 over a wide range.
  • the dimensions of the pulleys 24 and 25 in the Z direction are set to be the same as or substantially the same as the outer peripheral surface 23 a of the rotary drive portion 23 . It is optional whether or not the pulleys 24 and 25 are provided. That is, the pulleys 24 and 25 do not have to be provided on the second portion 20 .
  • the rotation driving portion 23 By rotating the rotation driving portion 23 around the rotation axis AX2, the winding transmission member 12 is pulled by the rotation driving portion 23, and the rotation driving portion 23 and the winding transmission member 12 move relatively.
  • the rotary drive portion 23 moves around the axis AX1 with respect to the transmission member 12 to be wound. Due to this movement of the rotation driving portion 23, the base member 21 rotates about the axis AX1 with respect to the cylindrical member 11. As shown in FIG.
  • the rotary drive unit 23 rotates in the - ⁇ Z direction around the rotation axis AX2, the rotary drive unit 23 rotates around the cylindrical member 11 in the + ⁇ Z direction.
  • the rotary drive unit 23 rotates in the + ⁇ Z direction around the rotation axis AX2
  • the rotary drive unit 23 rotates around the cylindrical member 11 in the ⁇ Z direction.
  • the rotary drive unit 23 can rotate 360° or more in the + ⁇ Z direction from the position shown in FIG.
  • FIG. 3 and 4 are diagrams of the rotation mechanism 100 viewed from a direction perpendicular to the rotation axis AX1.
  • FIG. 3 shows an example of the case where the rotation drive portion 23 is arranged on the second end portion 12b side of the winding transmission member 12 .
  • FIG. 4 shows an example in which the rotary drive portion 23 is arranged on the side of the first end portion 12a of the transmission member 12 to be wound. 3 and 4, the knurls 23b of the outer peripheral surface 23a of the rotary drive portion 23 are omitted.
  • the outer peripheral surface 23a of the rotation driving portion 23 is adapted to the winding transmission in the direction (Z direction) parallel to the axis AX1 corresponding to the deviation of the winding transmission member 12 in the direction of the axis AX1. It is provided so as to be longer than the width of the member 12 . Specifically, the dimension H2 in the Z direction of the rotation driving portion 23 is longer than twice the width H1 of the transmission member 12 in the Z direction. With this configuration, while the rotation driving portion 23 moves from the vicinity of the first end portion 12a of the winding transmission member 12 to the vicinity of the second end portion 12b, the winding transmission member 12 is disengaged from the rotation driving portion 23. can be suppressed.
  • the wound transmission member 12 is wound around the outer circumference of the cylindrical member 11 for more than one turn without overlapping in the radial direction, and the parts of a predetermined length from the first end 12a and the second end 12b are arranged in the Z direction. are arranged side by side. That is, the winding transmission member 12 is spirally wound around the cylindrical member 11 . Therefore, the Z-direction position of the wound transmission member 12 on the outer peripheral surface 23a of the rotary drive portion 23 moves according to the rotational position of the rotary drive portion 23 (relative position between the first portion 10 and the second portion 20). . As shown in FIG.
  • the rotation driving portion 23 makes a full turn around the cylindrical member 11. It is possible to prevent the winding transmission member 12 from coming off the outer peripheral surface 23 a of the rotary drive portion 23 during this period.
  • the rotation driving portion 23 when the rotation driving portion 23 is arranged on the first end portion 12a side (near the first end portion 12a) of the winding transmission member 12, the outer peripheral surface of the rotation driving portion 23 At 23a, the winding transmission member 12 is wound around the -Z side portion.
  • the rotary drive portion 23 when the rotary drive portion 23 is arranged on the second end portion 12b side (near the second end portion 12b) of the winding transmission member 12, the outer peripheral surface of the rotary drive portion 23 At 23a, the transmission member 12 is wound around the +Z side portion.
  • the transmission member 12 has the first end 12a and the second end 12b.
  • the wound transmission member 12 can be easily replaced.
  • the burden on the operator who replaces the transmission member 12 can be reduced.
  • the wound transmission member 12 is wound over one circumference of the outer circumference of the cylindrical member 11 and shifted in the direction of the rotation axis AX1
  • the first portion 10 and the second portion 20 are rotated by 360° or more relative to each other. can be rotated. That is, even when using a belt having the first end portion 12a and the second end portion 12b (a non-circular belt), the first portion 10 and the second portion 20 can be relatively rotated in a larger rotation angle range. can be made
  • FIG. 5 is a perspective view showing an example of a rotating mechanism 100A to which the stopper 30 and the engaged portion 40 are applied.
  • the rotating mechanism 100A includes a stopper 30 and an engaged portion 40 in addition to the configuration of the rotating mechanism 100 described above. 5, the description of the motor 22, the rotation drive unit 23, and the pulleys 24 and 25 is omitted. Also, the same reference numerals are assigned to the same members as those of the above-described embodiment, and the description thereof is omitted or simplified.
  • the rotation mechanism 100A is provided with the stopper 30 on the first portion 10 and the engaged portion 40 on the second portion 20, but is not limited to this form.
  • the stopper 30 may be provided on the second portion 20 and the locked portion 40 may be provided on the first portion 10 .
  • the rotation mechanism 100A is provided with the stopper 30 and the locked portion 40, thereby restricting the relative rotation between the first portion 10 and the second portion 20 within a predetermined rotation angle range (rotation range). can be done.
  • the relative rotation angle range between the first portion 10 and the second portion 20 is set to 0° to 360° or more. That is, the first portion 10 and the second portion 20 are allowed to rotate relative to each other within a rotation angle range of at least 0° to 360° (at least one rotation angle range).
  • FIG. 6 is a diagram showing an example when the stopper 30 is viewed from the direction of the axis AX1.
  • the stopper 30 has an arm portion 31 , a contact portion 32 and a holding block 33 .
  • the arm portion 31 is provided on the holding block 33 so as to be able to swing 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 portion 31 has a base portion 31a and a tip portion 31b.
  • the base 31a is attached to the holding block 33 so as to be able to swing.
  • Arm portion 31 is provided so as to extend from the upper surface side of holding block 33 toward the outside of cylindrical member 11 .
  • the holding block 33 includes an elastic member 35 that elastically holds the arm portion 31 in a direction extending along the radial direction D1 with respect to the axis AX1.
  • a coil spring, a plate spring, or the like is used as the elastic member 35, for example.
  • the arm portion 31 can swing around the swing axis AX3 from a state along the radial direction D1 against the elastic force of the elastic member 35. . Further, when the arm portion 31 swings about the swing axis AX3, the elastic member 35 exerts a restoring force to return the arm portion 31 to extend along the radial direction D1.
  • the contact portion 32 is provided at the tip portion 31 b of the arm portion 31 .
  • the abutting portion 32 abuts on the locked portion 40 to lock the locked portion 40 .
  • the contact portion 32 is, for example, a roller that is rotatably supported on the arm portion 31 .
  • the contact portion 32 is rotatable around a rotation axis AX4 parallel to the swing axis AX3. Since the contact portion 32 is a roller, the contact with the locked portion 40 can be made smooth.
  • the contact portion 32 may be, for example, a columnar rod-like body instead of the roller.
  • the arm portion 31 , the contact portion 32 , and the holding block 33 are arranged away from the rotation driving portion 23 and the pulleys 24 and 25 on the +Z side. As a result, when the first portion 10 and the second portion 20 rotate relative to each other, the rotation driving portion 23 and the pulleys 24 and 25 interfere with the arm portion 31, the contact portion 32, and the holding block 33. can be avoided.
  • the locked portion 40 is fixed to the first surface 21a of the base member 21, as shown in FIG.
  • the locked portion 40 rotates around the cylindrical member 11 integrally with the base member 21 .
  • the locked portion 40 has a base portion 41 and a tip portion 42 .
  • the base 41 is fixed to the upper end of a support 41a extending in the +Z direction from the first surface 21a.
  • the support 41 a holds the base portion 41 and the tip portion 42 at the height of the contact portion 32 of the stopper 30 .
  • the tip 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 tip portion 42 are arranged along the radial direction D1 from the axis AX1.
  • the tip portion 42 is a portion that contacts the contact portion 32 of the stopper 30 .
  • the distal end portion 42 is provided with a tapered surface 42 a at a portion that contacts the contact portion 32 .
  • the tapered surfaces 42a are provided on both sides of the distal end portion 42 in the direction around the axis AX1.
  • the tapered surface 42a forms the distal end portion 42 to be tapered when viewed from the direction of the axis AX1.
  • the tapered surface 42 a is provided to facilitate contact with the contact portion 32 . It is optional whether or not the tapered surface 42a is provided, and the tapered surface 42a may not be provided.
  • FIG. 7 and 8 show an example when the rotation mechanism 100A is viewed from the direction of the axis AX1, and show an example of the operations of the stopper 30 and the locked portion 40.
  • FIG. FIG. 7 is a diagram showing an example of a state in which the locked portion 40 is locked by the stopper 30.
  • FIG. 8 is a diagram showing another example of the state where the locked portion 40 is locked by the stopper 30.
  • FIG. 7 and 8 when the second portion 20 rotates relative to the first portion 10 in the + ⁇ Z direction and when the second portion 20 rotates relative to the ⁇ Z direction, the locked portion 40 is locked after contacting the contact portion 32 and rocking the arm portion 31 .
  • the locked portion 40 moves toward the second portion 20 . It moves in the + ⁇ Z direction as it rotates.
  • the tapered surface 42 a of the tip portion 42 first contacts the contact portion 32 of the stopper 30 .
  • the contact portion 32 is pushed in the + ⁇ Z direction by the tapered surface 42a, causing the arm portion 31 to swing in the + ⁇ Z direction.
  • the contact portion 32 rotates around the rotation axis AX4 while being pushed by the tapered surface 42a.
  • the arm portion 31 locks the locked portion 40 at the position where the swing stops.
  • the second portion 20 is restricted from rotating in the + ⁇ Z direction.
  • the locked portion 40 As the second portion 20 rotates, it moves in the - ⁇ Z direction.
  • the tapered surface 42 a of the tip portion 42 first contacts the contact portion 32 of the stopper 30 .
  • the second portion 20 further rotates in the - ⁇ Z direction while the tapered surface 42a is in contact with the contact portion 32, the contact portion 32 is pushed in the - ⁇ Z direction by the tapered surface 42a, and the arm portion 31 is moved in the - ⁇ Z direction. to oscillate.
  • the contact portion 32 rotates around the rotation axis AX4 while being pushed by the tapered surface 42a.
  • the arm 31 locks the locked portion 40 at the position where the swing stops.
  • the second portion 20 is restricted from rotating in the - ⁇ Z direction.
  • the relative rotation angle range of 360° or more between the first portion 10 and the second portion 20 is ensured, and when the rotation is more than necessary, the locked portion can be locked.
  • the portion 40 By locking the portion 40 to the stopper 30, the relative rotation between the first portion 10 and the second portion 20 can be reliably restricted.
  • the rotational states of the first portion 10 and the second portion 20 can be easily distinguished. That is, the relative rotational positions of the first portion 10 and the second portion 20 can be easily grasped by seeing whether the arm portion 31 is swinging toward the + ⁇ Z side or the ⁇ Z side. .
  • FIG. 9 is a perspective view showing another example of the rotating mechanism 100B to which the stopper 50 and the locked portion 60 are applied.
  • the rotation mechanism 100B includes a stopper 50 and a locked portion 60 in addition to the configuration of the rotation mechanism 100 described above. Note that the motor 22, the rotation drive unit 23, and the pulleys 24 and 25 are omitted in FIG. Also, the same reference numerals are assigned to the same members as those of the above-described embodiment, and the description thereof is omitted or simplified.
  • the rotation mechanism 100B is provided with the stopper 50 on the first portion 10 and the engaged portion 60 on the second portion 20, but is not limited to this form. For example, the stopper 50 may be provided on the second portion 20 and the locked portion 60 may be provided on the first portion 10 .
  • the rotation mechanism 100B can restrict the relative rotation between the first portion 10 and the second portion 20 within a predetermined rotation angle range.
  • the relative rotation angle range between the first portion 10 and the second portion 20 is set to 0° to 360° or more. That is, the first portion 10 and the second portion 20 are allowed to rotate relative to each other within a range of at least 0° to 360° (a range of at least one rotation).
  • the stopper 50 has an S-shaped plate-like body 51 and a holding block 52 when viewed from the direction of the axis AX1.
  • the plate-like body 51 is fixed to the 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 of protruding from the holding block 33 toward the outside of the cylindrical member 11 .
  • the plate-like body 51 has a first concave portion 53 and a second concave portion 54 in each of the S-shaped concave portions.
  • the first recessed portion 53 is formed in a recessed state so as to taper in the + ⁇ Z direction.
  • the first concave portion 53 is formed to open in the - ⁇ Z direction.
  • the first recessed 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 set larger than, for example, the radius of the roller 63 of the locked portion 60, which will be described later, and has a shape that allows the roller 63 to fit therein.
  • the plate-like body 51 has a guide surface 53 a that guides the roller 63 of the locked portion 60 toward the first recess 53 .
  • the guide surfaces 53a are provided on both sides of the axis AX1 in the radial direction D2.
  • the guide surface 53a is formed with a curved surface so as to be smoothly connected to the first concave portion 53. As shown in FIG.
  • the second recessed portion 54 is formed in a recessed state so as to taper in the - ⁇ Z direction.
  • the second recessed portion 54 is formed in a state of being open in the + ⁇ Z direction.
  • the second recessed portion 54 is formed in an arc shape when viewed from the direction of the axis AX1.
  • the radius of the second recessed portion 54 is set, for example, to be larger than the radius of the roller 63 of the locked portion 60, and a shape that allows the roller 63 to fit therein is applied.
  • the radius of the first recess 53 and the radius of the second recess 54 may be the same or different.
  • the plate-like body 51 has a guide surface 54 a that guides the roller 63 of the locked portion 60 toward the second recess 54 .
  • the guide surfaces 54a are provided on both sides of the axis AX1 in the radial direction D2.
  • the guide surface 54a is formed with a curved surface so as to be smoothly connected to the second concave portion 54. As
  • the first recess 53 and the second recess 54 are spaced apart in the circumferential direction around the axis AX1.
  • the rotational position of the second portion 20 where the locked portion 60 is locked by the first recess 53 and the rotational position of the second portion 20 where the locked portion 60 is locked by the second recess 54 are changed.
  • the second portion 20 has rotated one or more times with respect to the first portion 10 . That is, the relative rotation angle range between the first portion 10 and the second portion 20 is set to be from 0° to 360° or more.
  • the locked portion 60 is provided on the base member 21 .
  • the engaged portion 60 has a guide portion 61 , a slider 62 and rollers 63 .
  • the guide portion 61 is, for example, a through hole penetrating through the base member 21 .
  • the guide portion 61 is formed along the radial direction D2 about the axis AX1.
  • the length of the guide portion 61 in the radial direction D2 is set to a length that allows at least the roller 63 to move in the radial direction D2 between the first concave portion 53 and the second concave portion 54 described above.
  • the slider 62 is arranged inside the guide portion 61 .
  • the slider 62 is slidable along the guide portion 61 along the radial direction D2 of the axis AX1.
  • the slider 62 is a columnar body extending in the direction (+Z direction) along the axis AX1.
  • the roller 63 is rotatably supported by the tip portion of the slider 62 .
  • the roller 63 is rotatable in the ⁇ Z direction around a rotation axis AX5 parallel to the axis AX1.
  • the roller 63 is arranged at a height such that it contacts the guide surfaces 53a and 54a of the stopper 50 when the first portion 10 and the second portion 20 rotate relative to each other.
  • the roller 63 can move in the radial direction D2 integrally with the slider 62 .
  • the slider 62 and the roller 63 are integral with the second portion 20 and rotate relative to the first portion 10 around the axis AX1.
  • FIG. 10 and 11 show an example of the rotation mechanism 100B viewed from the direction of the axis AX1, and show an example of the operations of the stopper 50 and the locked portion 60.
  • FIG. FIG. 10 is a diagram showing an example of a state in which the locked portion 60 is locked by the stopper 50.
  • FIG. 11A and 11B are diagrams showing another example of a state in which the locked portion 60 is locked by the stopper 50.
  • FIG. 10 and 11 when the second portion 20 rotates relative to the first portion 10 in the + ⁇ Z direction and when it rotates in the ⁇ Z direction, the locked portion 60 is , is locked by a stopper 50 .
  • the rotation mechanism 100B As described above, according to the rotation mechanism 100B according to the present embodiment, as with the rotation mechanism 100A described above, while ensuring the relative rotation angle range of 360° or more between the first portion 10 and the second portion 20, Since the locked portion 60 is locked by the stopper 50 when the first portion 10 and the second portion 20 are rotated more than necessary, the relative rotation between the first portion 10 and the second portion 20 can be reliably restricted. Also, by looking at the stopper 50 and the engaged portion 60, the rotational states of the first portion 10 and the second portion 20 can be easily distinguished. That is, by seeing whether the roller 63 is in the first recess 53 or in the second recess 54, the relative rotational position between the first portion 10 and the second portion 20 can be easily grasped. .
  • the above-described rotating mechanism 100B does not apply a driving force or elastic force to the slider 62, it is not limited to this form.
  • an elastic member such as a coil spring may be used to elastically hold the slider 62 near the center of the guide portion 61 (near the center in the radial direction D2). In this case, when the rollers 63 are guided by the guide surfaces 53a and 54a, the slider 62 moves along the guide portion 61 in the radial direction D2 against the elastic force of the elastic member.
  • FIG. 12 is a diagram showing an example of the ceiling transport vehicle 200 according to this embodiment.
  • the ceiling transport vehicle 200 transports the article M between, for example, the processing device and the bookshelf.
  • the ceiling guided vehicle 200 includes a traveling section main body 110 , a transfer device 120 and a rotation mechanism 130 .
  • the traveling portion main body 110 travels on the ceiling track R.
  • the transfer device 120 is connected to the traveling section main body 110 and transfers the articles M thereon.
  • the rotation mechanism 130 rotates the transfer device 120 with respect to the traveling section main body 110 .
  • the traveling portion main body 110 has traveling wheels 111 , a connecting portion 112 and a unit portion 113 .
  • the traveling wheels 111 are arranged so as to be able to roll on the ceiling track R.
  • the connecting portion 112 connects the traveling wheel 111 and the unit portion 113 .
  • a driving device for driving the traveling wheels 111
  • a control device for controlling the ceiling guided vehicle 200 are arranged in the unit section 113.
  • the unit part 113 is provided in a state of being suspended below the ceiling track R.
  • the transfer device 120 is provided in a state of being suspended from below the unit section 113 via the rotation mechanism 130 .
  • the transfer device 120 includes an article holding unit 121 that holds an article M, an elevation driving unit 122 that vertically (Z-direction) raises and lowers the article holding unit 121, and rotates the elevation driving unit 122 about a rotation axis AX7 in the vertical direction. It has a rotation mechanism 123 that rotates, and a lateral extension mechanism 124 that horizontally slides the elevation drive unit 122 and the rotation mechanism 123 .
  • the rotating mechanism 123 one of the rotating mechanisms 100, 100A, and 100B described above is used.
  • the first part 10 is part of the lateral ejection mechanism 124 and the second part 20 is part of the lift drive 122 .
  • the axis AX1 of the rotation mechanisms 100, 100A, and 100B described above coincides with the rotation axis AX7 of the rotation mechanism 123.
  • the transfer device 120 includes the rotation mechanism 123 .
  • the transfer device 120 may be configured without the rotation mechanism 123 .
  • the rotation mechanism 130 rotates the transfer device 120 with respect to the traveling unit main body 110 around the rotation axis AX6 in the vertical direction (the ⁇ Z direction).
  • the rotating mechanism 130 one of the rotating mechanisms 100, 100A, and 100B described above is used.
  • the first portion 10 is part of the running portion main body 110 .
  • the first portion 10 is a portion of the housing 113a that constitutes the unit portion 113 .
  • the second portion 20 is a part of the transfer device 120 .
  • the second portion 20 is a portion of the top plate portion 125 that supports the lateral ejection mechanism 124 .
  • Axis AX1 of rotation mechanisms 100, 100A, and 100B described above coincides with rotation axis AX6 of rotation mechanism .
  • the ceiling transport vehicle 200 drives the elevation drive unit 122 while the lateral delivery mechanism 124 is slid or in a state where the lateral delivery mechanism 124 is not slid when transferring the article M between the processing device or the storage shelf. Then, the article M is delivered by moving the article holding portion 121 up and down. At this time, by driving the rotation mechanism 130 to rotate the lateral ejection mechanism 124 around the rotation axis AX6 (in the ⁇ Z direction), the sliding direction of the lateral ejection mechanism 124 can be changed. Further, by driving the rotation mechanism 123 to rotate the elevation drive unit 122 around the rotation axis AX7 (in the ⁇ Z direction), the article M held by the article holding unit 121 is rotated around the rotation axis AX7. can be rotated.
  • the rotation mechanisms 100 (100A, 100B) described above are provided as the rotation mechanisms 130, 123, the replacement work of the winding transmission member 12 can be easily performed. can be done.
  • the ceiling transport vehicle 200 is suspended from the ceiling track R, maintenance and the like may involve high-place work. Since replacement of the winding transmission member 12 in the rotation mechanism 100 is facilitated, the burden on the operator can be reduced.
  • the transfer device 120 can be rotated from 0° to 360° or more (at least 360°) with respect to the traveling section main body 110, and the transfer device 120 can be rotated with respect to the traveling section main body 110 in a large rotation angle range in the ⁇ Z direction. can be rotated with
  • the technical scope of the present invention is not limited to the contents described in the above-described embodiments and the like. Note that one or more of the requirements described in the above embodiments may be omitted. Also, the requirements described in the above embodiments can be combined as appropriate. In addition, as long as it is permitted by law, the disclosure of Japanese Patent Application No. 2021-060553 and all the documents cited in the above-described embodiments and the like are incorporated into the description of the text.
  • the form in which the transmission member 12 is belt-shaped is described as an example, but the present invention is not limited to this form.
  • the winding transmission member 12 may be a chain. In this case, a sprocket or the like that meshes with the chain may be used as the rotation driving portion 23 .
  • a string-like member such as a wire may be used as the winding transmission member 12 .
  • the configuration in which the rotation mechanism 100 and the like are applied to the rotation mechanisms 123 and 130 of the overhead transport vehicle 200 has been described as an example, but the configuration is not limited to this configuration.
  • the rotating mechanism 100 or the like described above may be used as a rotating mechanism for rotating a table in a stage device.

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Abstract

[Problem] To rotate a first portion and a second portion by 0° to 360° or more relative to each other while reducing the burden on a worker by facilitating the work of replacing a wrapping transmission member. [Solution] 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

回転機構及び天井搬送車Rotating mechanism and ceiling carrier
　本発明は、回転機構及び天井搬送車に関する。 The present invention relates to a rotating mechanism and an overhead transport vehicle.
　第１部分と第２部分とを相対的に回転させるために、ベルト等の巻き掛け伝動部材を利用した回転機構が知られている（例えば、特許文献１参照）。特許文献１に記載の回転機構において、環状（無端状）のベルト（いわゆるクローズドベルト）は、第１部分及び第２部分のいずれか一方に備える円筒部材の外周面に巻き付けられている。また、第１部分及び第２部分のいずれか他方に備える回転駆動部は、円筒部材の外周面とベルトとの間に配置されている。回転駆動部は、ベルトの内周面に噛み合っており、回転することで、ベルトの内周面を手繰り寄せて円筒部材の外側を周回する。その結果、第１部分と第２部分とが相対的に回転する。 A rotation mechanism using a transmission member such as a belt is known to relatively rotate the first portion and the second portion (see, for example, Patent Document 1). In the rotation mechanism described in Patent Document 1, an annular (endless) belt (so-called closed belt) is wound around the outer peripheral surface of a cylindrical member provided in either one of the first portion and the second portion. Further, the rotary drive portion provided in the other of the first portion and the second portion is arranged between the outer peripheral surface of the cylindrical member and the belt. The rotary drive unit is meshed with the inner peripheral surface of the belt, and by rotating, draws the inner peripheral surface of the belt and circulates around the outside of the cylindrical member. As a result, the first portion and the second portion rotate relative to each other.
特許第３６２９０４３号公報Japanese Patent No. 3629043
　上記した回転機構では、ベルトが環状であるため、ベルト交換作業の際に第１部分と第２部分とを分離する必要があり、作業が面倒で時間がかかるだけでなく、作業者の負担も大きくなる。また、ベルトを環状とせずに、端部を有するベルト（いわゆるオーブンエンドベルト）を円筒部材の外周面に巻き付け、両端を突き合わせた状態で円筒部材に固定する構成も考えられる。しかし、端部を有するベルトを用いる構成では、ベルトの両端が円筒部材に固定されるため、この固定部分を回転駆動部が手繰り寄せることができず、第１部分と第２部分との相対的な回転角度範囲に制限が生じてしまう。すなわち、端部を有するベルトを用いる構成では、第１部分と第２部分との相対的な回転を０°から３６０°未満でしか実現できない。 In the rotating mechanism described above, since the belt is annular, it is necessary to separate the first portion and the second portion when replacing the belt. growing. Alternatively, a belt having ends (so-called oven-end belt) may be wound around the outer peripheral surface of a cylindrical member instead of being annular, and fixed to the cylindrical member while the ends are butted against each other. However, in the configuration using a belt having ends, since both ends of the belt are fixed to the cylindrical member, the fixed portion cannot be drawn by the rotary drive section, and the first portion and the second portion are relatively unbalanced. However, the rotation angle range is limited. In other words, the configuration using a belt with edges can only achieve a relative rotation between the first portion and the second portion from 0° to less than 360°.
　本発明は、巻きかけ伝導部材の交換作業を容易に行うことを可能として作業者の負担を軽減しつつ、第１部分と第２部分とを０°から３６０°以上相対的に回転させることが可能な回転機構及びこの回転機構を備える天井搬送車を提供することを目的とする。 The present invention makes it possible to easily perform the replacement work of the wound transmission member, thereby reducing the burden on the operator, while allowing the first portion and the second portion to rotate relative to each other from 0° to 360° or more. It is an object of the present invention to provide a possible rotation mechanism and an overhead transport vehicle equipped with this rotation mechanism.
　本発明の態様に係る回転機構は、第１部分と、第１部分に対して相対的に回転する第２部分と、を備える回転機構であって、第１部分は、回転中心となる円筒部材と、円筒部材の外周面に巻き付けられ、両端のそれぞれが外周面に固定されている巻き掛け伝動部材と、を備え、第２部分は、円筒部材の外周面と巻き掛け伝動部材との間で、巻き掛け伝動部材の内周面に噛み合う回転駆動部を備え、巻き掛け伝動部材は、円筒部材の外周の一周を越えて、かつ回転の軸線方向にずらして巻き付けられている。 A rotation mechanism according to an aspect of the present invention is a rotation mechanism including a first portion and a second portion that rotates relative to the first portion, wherein the first portion is a cylindrical member serving as a center of rotation. and a winding transmission member wound around the outer peripheral surface of the cylindrical member and having both ends fixed to the outer peripheral surface, and the second part is disposed between the outer peripheral surface of the cylindrical member and the winding transmission member. , a rotary drive portion that meshes with the inner peripheral surface of the wound transmission member, and the wound transmission member is wound around the outer periphery of the cylindrical member while being shifted in the axial direction of rotation.
　本発明の態様に係る天井搬送車は、天井軌道を走行する走行部本体と、物品を移載する移載装置とを備える天井搬送車であって、走行部本体と移載装置との間に、上記した態様の回転機構が設けられ、第１部分は、走行部本体の一部であり、第２部分は、移載装置の一部である。 An overhead guided vehicle according to an aspect of the present invention is an overhead guided vehicle that includes a traveling section main body that travels on an overhead track and a transfer device that transfers an article, wherein the traveling section main body and the transfer device have a space between the traveling section main body and the transfer device. , the rotation mechanism of the above-described aspect is provided, the first portion is a portion of the travel portion main body, and the second portion is a portion of the transfer device.
　上記態様の回転機構によれば、巻き掛け伝動部材が端部を有する構成であるため、巻きかけ伝導部材の両端の固定を解除することで、ベルトを容易に交換することができる。その結果、ベルト交換作業を行う作業者の負担を軽減できる。また、巻き掛け伝導部材が円筒部材の外周の一周を越えて、かつ回転の軸線方向にずらして巻き付けられるため、第１部分と第２部分とを３６０°以上相対的に回転させることができる。すなわち、端部を有するベルト（環状でないベルト）を用いる場合であっても、第１部分と第２部分とをより大きな回転角度範囲で相対的に回転させることができる。 According to the rotation mechanism of the above aspect, since the wound transmission member has ends, the belt can be easily replaced by releasing the fixed ends of the wound transmission member. As a result, the burden on the operator who performs the belt replacement work can be reduced. In addition, since the wound transmission member is wound over the outer circumference of the cylindrical member and shifted in the direction of the rotation axis, the first portion and the second portion can be rotated relative to each other by 360° or more. That is, even when a belt having ends (a belt that is not annular) is used, the first portion and the second portion can be relatively rotated within a wider rotation angle range.
　また、上記態様の回転機構において、第１部分及び第２部分のいずれか一方に設けられるストッパと、第１部分及び第２部分のいずれか他方に設けられ、ストッパに係止される被係止部と、を備え、ストッパ及び被係止部が、第１部分と第２部分との相対的な回転角度範囲が少なくとも０°から３６０°となるように配置される構成であってもよい。この構成によれば、第１部分と第２部分とが所望の回転角度範囲を超えて回転するのを確実に規制できる。さらに、ストッパ及び被係止部材を見ることで、第１部分と第２部分との回転状態を容易に区別することができる。また、上記態様の回転機構において、ストッパが、軸線と平行に延びる揺動軸を中心として揺動可能な腕部と、腕部の先端に設けられ、被係止部と当接して被係止部を係止する当接部とを備え、第１部分と第２部分とが所定方向に相対的に回転した際、及び所定方向と反対方向に回転した際の双方において、被係止部が、当接部に当接して腕部を揺動させた後に係止される構成であってもよい。この構成によれば、腕部が揺動可能であるため、第１部分と第２部分とを相対的に３６０°以上回転させることができる。さらに、腕部の揺動状態を見ることで、第１部分と第２部分との回転状態をより一層容易に区別することができる。 Further, in the rotation mechanism of the aspect described above, a stopper provided on one of the first portion and the second portion, and a latched stopper provided on the other of the first portion and the second portion and latched by the stopper are provided. , wherein the stopper and the engaged portion are arranged such that the relative rotation angle range between the first portion and the second portion is at least 0° to 360°. With this configuration, it is possible to reliably prevent the first portion and the second portion from rotating beyond the desired rotation angle range. Furthermore, by looking at the stopper and the engaged member, the rotational states of the first portion and the second portion can be easily distinguished. Further, in the rotation mechanism of the above aspect, the stopper is provided at the arm portion capable of swinging about the swing shaft extending parallel to the axis, and at the tip end of the arm portion. and a contact portion that locks the portion, and the locked portion is engaged both when the first portion and the second portion rotate relative to each other in a predetermined direction and when they rotate in a direction opposite to the predetermined direction. Alternatively, the arm portion may be locked after contacting the contact portion and swinging the arm portion. According to this configuration, since the arm can swing, the first portion and the second portion can be relatively rotated by 360° or more. Furthermore, by observing the swinging state of the arm, the rotating state of the first portion and the second portion can be more easily distinguished.
　また、上記態様の回転機構において、腕部が、軸線に対する放射方向に沿って延びる位置に弾性的に保持される構成であってもよい。この構成によれば、腕部が放射方向に延びた状態で弾性的に保持されているので、被係止部を確実に当接部に当接させることができる。また、上記態様の回転機構において、被係止部が、当接部に接触する部分にテーパ面が設けられる構成であってもよい。この構成によれば、テーパ面に当接部が当たることで、腕部を容易に揺動させることができる。また、上記態様の回転機構において、回転駆動部が、巻き掛け伝動部材の軸線方向におけるずれに対応して、軸線と平行な方向において巻き掛け伝動部材の幅よりも長い駆動面を備える構成であってもよい。この構成によれば、巻き掛け伝導部材が回転駆動部から外れることを抑制できる。 Further, in the rotation mechanism of the above aspect, the arm may be elastically held at a position extending along the radial direction with respect to the axis. According to this configuration, since the arms are elastically held in a radially extending state, it is possible to reliably bring the engaged portion into contact with the contact portion. Further, in the rotation mechanism of the above aspect, the locked portion may have a tapered surface at a portion that contacts the contact portion. According to this configuration, the contact portion contacts the tapered surface, so that the arm portion can be easily swung. Further, in the rotation mechanism of the aspect described above, the rotary driving portion is provided with a driving surface longer than the width of the winding transmission member in the direction parallel to the axis, corresponding to the deviation of the winding transmission member in the axial direction. may According to this configuration, it is possible to prevent the winding transmission member from coming off the rotary drive section.
　上記態様の天井搬送車によれば、上記態様の回転機構を備えるため、ベルト交換作業を容易にしつつ、走行部本体に対して移載装置を３６０°以上回転させることができる。また、上記態様の天井搬送車において、回転機構が、移載装置を天井搬送車の走行部本体に対して鉛直方向の軸まわりに回転させる構成であってもよい。この構成によれば、移載装置を鉛直方向の軸まわりに大きな回転角度範囲で回転させることができる。 According to the overhead transport vehicle of the above aspect, since it is provided with the rotation mechanism of the above aspect, it is possible to rotate the transfer device by 360° or more with respect to the traveling section main body while facilitating the belt replacement work. Further, in the overhead transport vehicle of the aspect described above, the rotation mechanism may rotate the transfer device about the vertical axis with respect to the traveling section main body of the overhead transport vehicle. According to this configuration, the transfer device can be rotated around the vertical axis in a wide rotation angle range.
本実施形態に係る回転機構の一例を示す斜視図である。It is a perspective view which shows an example of the rotation mechanism which concerns on this embodiment. 回転機構を回転の軸線の方向から見た図である。It is the figure which looked at the rotation mechanism from the direction of the axis of rotation. 回転駆動部が巻き掛け伝導部材の第２端部側に配置される場合の一例を示す図である。FIG. 10 is a diagram showing an example of a case where the rotation drive section is arranged on the second end side of the winding transmission member; 回転駆動部が巻き掛け伝導部材の第１端部側に配置される場合の一例を示す図である。FIG. 10 is a diagram showing an example of a case where the rotation drive section is arranged on the first end side of the winding transmission member; ストッパ及び被係止部を備える回転機構の一例を示す斜視図である。It is a perspective view which shows an example of a rotation mechanism provided with a stopper and a to-be-latched part. ストッパを軸線の方向から見た場合の一例を示す図である。It is a figure which shows an example at the time of seeing a stopper from the direction of an axis. ストッパに被係止部が係止された状態の一例を示す図である。It is a figure which shows an example of the state to which the to-be-latched part was latched by the stopper. ストッパに被係止部が係止された状態の他の一例を示す図である。FIG. 10 is a diagram showing another example of a state in which the locked portion is locked by the stopper; ストッパ及び被係止部を備える回転機構の他の例を示す斜視図である。FIG. 11 is a perspective view showing another example of a rotating mechanism including stoppers and locked portions; ストッパに被係止部が係止された状態の一例を示す図である。It is a figure which shows an example of the state to which the to-be-latched part was latched by the stopper. ストッパに被係止部が係止された状態の他の例を示す図である。FIG. 10 is a diagram showing another example of a state in which the locked portion is locked by the stopper; 本実施形態に係る天井搬送車の一例を示す図である。It is a figure which shows an example of the ceiling conveyance vehicle which concerns on this embodiment.
　以下、本発明の実施形態について図面を参照しながら説明する。ただし、本発明は以下に説明する構成に限定されない。また、図面においては実施形態を説明するため、一部分を大きく又は強調して記載するなど適宜縮尺を変更して表現しており、実際の製品とは形状、寸法等が異なっている場合がある。図１から図１２では、図中の一方向をＺ方向とし、Ｚ方向と平行な軸まわりの方向をθＺ方向としている。紙面において時計回り方向を＋θＺ方向とし、反時計回り方向を－θＺ方向としている。また、図１２においては、ＸＹＺ直交座標系を用いて図中の方向を説明する。このＸＹＺ直交座標系において、水平面に平行な平面をＸＹ平面とする。ＸＹ平面に垂直な方向はＺ方向と表記する。Ｘ方向、Ｙ方向及びＺ方向のそれぞれは、図中の矢印の指す方向が＋方向であり、矢印の指す方向とは反対の方向が－方向であるとして説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the configuration described below. In addition, in order to explain the embodiments, the drawings are expressed by changing the scale as appropriate, such as by enlarging or emphasizing a part, and the actual product may differ in shape, size, and the like. 1 to 12, one direction in the drawings is the Z direction, and the direction around the axis parallel to the Z direction is the θZ direction. In the paper, the clockwise direction is the +θZ direction, and the counterclockwise direction is the -θZ direction. Also, in FIG. 12, directions in the drawing will be explained using an XYZ orthogonal coordinate system. In this XYZ orthogonal coordinate system, a plane parallel to the horizontal plane is defined as an XY plane. A direction perpendicular to the XY plane is referred to as a Z direction. Regarding each of the X direction, Y direction, and Z direction, the direction indicated by the arrow in the drawing is the + direction, and the direction opposite to the direction indicated by the arrow is the − direction.
　＜回転機構＞
　図１は、本実施形態に係る回転機構１００の一例を示す斜視図である。図２は、回転機構１００を回転の軸線ＡＸ１の方向から見た図である。図１及び図２に示すように、回転機構１００は、第１部分１０と、第２部分２０とを備える。第１部分１０と第２部分２０とは、軸線ＡＸ１まわりに相対的に回転可能な形態で接続されている。例えば、第１部分１０が固定され、第２部分２０が第１部分１０に吊り下げられた状態で回転可能に設けられる。この場合、第２部分２０は、第１部分１０に対して吊り下げられた状態で軸線ＡＸ１まわりに回転する。また、第２部分２０が固定され、第１部分１０が第２部分２０に対して軸線ＡＸ１まわりに回転する形態であってもよい。 <Rotating Mechanism>
FIG. 1 is a perspective view showing an example of a rotating mechanism 100 according to this embodiment. FIG. 2 is a diagram of the rotation mechanism 100 viewed from the direction of the rotation axis AX1. As shown in FIGS. 1 and 2, the rotation mechanism 100 includes a first portion 10 and a second portion 20. As shown in FIG. The first portion 10 and the second portion 20 are connected so as to be relatively rotatable about the axis AX1. For example, the first portion 10 is fixed, and the second portion 20 is rotatably provided while suspended from the first portion 10 . In this case, the second portion 20 rotates around the axis AX1 while suspended from the first portion 10 . Alternatively, the second portion 20 may be fixed, and the first portion 10 may rotate with respect to the second portion 20 around the axis AX1.
　第１部分１０は、円筒部材１１と、巻き掛け伝動部材１２とを備える。円筒部材１１は、軸線ＡＸ１を中心としてＺ方向に延びる円筒状である。円筒部材１１は、外周面１１ｃに凹部１１ａ、１１ｂを有する。凹部１１ａと凹部１１ｂとは、外周面１１ｃの周方向にずれて設けられている。また、凹部１１ａは、円筒部材１１の外周面１１ｃにおいて＋Ｚ側に配置される。凹部１１ｂは、円筒部材１１の外周面１１ｃにおいて－Ｚ側に配置される。外周面１１ｃのＺ方向の寸法は、巻き掛け伝動部材１２の幅の２倍以上に設定されている。 The first portion 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 recesses 11a and 11b on the outer peripheral surface 11c. The recessed portion 11a and the recessed portion 11b are provided so as to be displaced in the circumferential direction of the outer peripheral surface 11c. Further, the concave portion 11 a is arranged on the +Z side of the outer peripheral surface 11 c of the cylindrical member 11 . The concave portion 11b is arranged on the −Z side of the outer peripheral surface 11c of the cylindrical member 11 . The dimension of the outer peripheral surface 11 c in the Z direction is set to be at least twice the width of the wound transmission member 12 .
　巻き掛け伝動部材１２は、帯状（ベルト状）であり、円筒部材１１の外周面１１ｃに巻き掛けられる。巻き掛け伝動部材１２は、長手方向の両端、つまり一方の端部である第１端部１２ａ、及び他方の端部である第２端部１２ｂのそれぞれが円筒部材１１の外周面１１ｃに固定される。第１端部１２ａは、固定具１３ａにより外周面１１ｃに形成された凹部１１ａに着脱可能に固定される。第２端部１２ｂは、固定具１３ｂにより外周面１１ｃに形成された凹部１１ｂに着脱可能に固定される。第１端部１２ａ及び第２端部１２ｂは、それぞれ固定具１３ａ、１３ｂを外すことにより、凹部１１ａ、１１ｂに対して（円筒部材１１に対して）取り外し可能である。 The winding transmission member 12 is belt-shaped (belt-shaped) and is wound around the outer peripheral surface 11 c of the cylindrical member 11 . The wound transmission member 12 is fixed to the outer peripheral surface 11c of the cylindrical member 11 at both ends in the longitudinal direction, that is, a first end portion 12a as one end portion and a second end portion 12b as the other end portion. be. The first end portion 12a is detachably fixed to a concave portion 11a formed in the outer peripheral surface 11c by a fixture 13a. The second end portion 12b is detachably fixed to a concave portion 11b formed in the outer peripheral surface 11c by a fixture 13b. The first end portion 12a and the second end portion 12b can be removed from the recesses 11a and 11b (relative to the cylindrical member 11) by removing fixtures 13a and 13b, respectively.
　巻き掛け伝動部材１２は、上記のように、長手方向の一方の端部である第１端部１２ａと、長手方向の他方の端部である第２端部１２ｂとが、軸線ＡＸ１の軸線方向（Ｚ方向）にずれた位置に固定される。従って、巻き掛け伝動部材１２は、円筒部材１１の外周の一周を超えて、かつ軸線ＡＸ１方向にずらして巻き付けられている。換言すると、巻き掛け伝動部材１２は、円筒部材１１の径方向に重ならないように外周面１１ｃに巻き付けられている。さらに換言すると、巻き掛け伝動部材１２は、円筒部材１１の外周面１１ｃに、軸線ＡＸ１の軸線方向を中心として螺旋状に巻き付けられている。 As described above, in the wound transmission member 12, the first end 12a, which is one end in the longitudinal direction, and the second end 12b, which is the other end in the longitudinal direction, extend in the axial direction of the axis AX1. It is fixed at a position shifted in the (Z direction). Therefore, the winding transmission member 12 is wound over one round of the outer circumference of the cylindrical member 11 and shifted in the direction of the axis AX1. In other words, the winding transmission member 12 is wound around the outer peripheral surface 11c so as not to overlap the cylindrical member 11 in the radial direction. Further in other words, the wound transmission member 12 is spirally wound around the outer peripheral surface 11c of the cylindrical member 11 about the axial direction of the axis AX1.
　巻き掛け伝動部材１２の第１端部１２ａ及び第２端部１２ｂは、それぞれ凹部１１ａ、１１ｂに固定されているので、固定具１３ａ、１３ｂが円筒部材１１の外周面１１ｃから外側に突出しない。この構成により、後述する回転駆動部２３及びプーリ２４が固定具１３ａ、１３ｂと干渉するのを防止できる。また、巻き掛け伝動部材１２の内面は、凹凸がない面であってもよいし、後述する回転駆動部２３と噛み合うことが可能な波形が形成されてもよい。また、巻き掛け伝動部材１２は、弾性を有してもよいし、弾性を有しない久手もよい。 The first end 12a and the second end 12b of the winding transmission member 12 are fixed to the recesses 11a and 11b, respectively, so that the fixtures 13a and 13b do not protrude outward from the outer peripheral surface 11c of the cylindrical member 11. This configuration can prevent the rotary drive unit 23 and the pulley 24, which will be described later, from interfering with the fixtures 13a and 13b. In addition, the inner surface of the winding transmission member 12 may be a surface without irregularities, or may be formed with a waveform that can mesh with the rotation driving portion 23 described later. Moreover, the winding transmission member 12 may have elasticity, or may be a kute that does not have elasticity.
　第２部分２０は、ベース部材２１と、モータ２２と、回転駆動部２３と、２つのプーリ２４、２５とを備える。ベース部材２１は、円筒部材１１に対して－Ｚ側に配置される。ベース部材２１は、例えば板状であり、＋Ｚ側の第１面２１ａ及び－Ｚ側の第２面２１ｂを有する。ただし、ベース部材２１の形態は任意であり、モータ２２、回転駆動部２３、及びプーリ２４を保持可能であれば、ブロック状、フレーム状など、任意の形態を適用することができる。 The second portion 20 includes a base member 21, a motor 22, a rotary drive section 23, and two pulleys 24,25. The base member 21 is arranged on the −Z side with respect to the cylindrical member 11 . The base member 21 is plate-shaped, for example, and has a first surface 21a on the +Z side and a second surface 21b on the −Z side. However, the form of the base member 21 is arbitrary, and as long as it can hold the motor 22, the rotary drive unit 23, and the pulley 24, any form such as a block shape or a frame shape can be applied.
　モータ２２は、ベース部材２１の第２面２１ｂ側に配置される。モータ２２は、例えば電動モータ等が適用され、出力軸２２ａを回転させる。モータ２２は、出力軸２２ａを＋θＺ方向及び－θＺ方向の双方向に回転させることが可能である。モータ２２による出力軸２２ａの回転量及び回転方向は、図示しない制御部等によって制御される。出力軸２２ａは、第２面２１ｂ側からベース部材２１を貫通して第１面２１ａ側に突出した状態で配置される。 The motor 22 is arranged on the second surface 21b side of the base member 21 . The motor 22 is, for example, an electric motor, and rotates an output shaft 22a. The motor 22 can rotate the output shaft 22a in both the +θZ direction and the −θZ direction. The amount and direction of rotation of the output shaft 22a by the motor 22 are controlled by a controller (not shown) 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.
　回転駆動部２３は、ベース部材２１の第１面２１ａ側に配置される。回転駆動部２３は、出力軸２２ａに装着され、出力軸２２ａと一体で回転する。回転駆動部２３は、例えば円柱状又は円筒状である。回転駆動部２３の外周面２３ａは、巻き掛け伝動部材１２の内周面１２ｃを手繰り寄せる駆動面である。回転駆動部２３の外周面２３ａには、一周にわたってローレット２３ｂが形成される。ローレット２３ｂは、巻き掛け伝動部材１２の内周面１２ｃが波形に形成されている場合、この波形に噛み合った状態となる。回転駆動部２３は、軸線ＡＸ１の方向から見て、円筒部材１１の外周面１１ｃから離間して配置される。したがって、図１及び図２に示すように、巻き掛け伝動部材１２は、一部が円筒部材１１の外周面１１ｃから径方向に引き出されて、回転駆動部２３の外周面２３ａに巻き付けられた状態で配置される。外周面２３ａのＺ方向の寸法は、巻き掛け伝動部材１２の幅の２倍以上に設定されている。なお、外周面２３ａのＺ方向の寸法の詳細については後述する。 The rotation driving part 23 is arranged on the first surface 21a side of the base member 21 . The rotation drive unit 23 is mounted on the output shaft 22a and rotates integrally with the output shaft 22a. The rotary drive unit 23 is, for example, columnar or cylindrical. An outer peripheral surface 23a of the rotation driving portion 23 is a driving surface that draws the inner peripheral surface 12c of the transmission member 12 to be wound. A knurl 23b is formed on the outer peripheral surface 23a of the rotation driving portion 23 over the entire circumference. When the inner peripheral surface 12c of the winding transmission member 12 is formed in a wavy shape, the knurl 23b engages with this wavy shape. The rotation driving portion 23 is arranged apart from the outer peripheral surface 11c of the cylindrical member 11 when viewed from the direction of the axis AX1. Therefore, as shown in FIGS. 1 and 2 , the transmission member 12 is partially drawn radially from the outer peripheral surface 11 c of the cylindrical member 11 and wound around the outer peripheral surface 23 a of the rotary drive portion 23 . is placed in The dimension of the outer peripheral surface 23 a in the Z direction is set to be at least twice the width of the wound transmission member 12 . Details of the Z-direction dimension of the outer peripheral surface 23a will be described later.
　２つのプーリ２４、２５は、それぞれベース部材２１において回転可能に設けられている。プーリ２４は、巻き掛け伝動部材１２のうち第１端部１２ａから－θＺ方向に延びる部分を押さえる。プーリ２５は、巻き掛け伝動部材１２のうち第２端部１２ｂから＋θＺ方向に延びる部分を押さえる。回転駆動部２３とプーリ２４、２５との相対位置は固定されている。２つのプーリ２４、２５によって、回転駆動部２３の外周面２３ａに広い範囲で巻き掛け伝動部材１２を巻き付けることができる。プーリ２４、２５のＺ方向の寸法は、回転駆動部２３の外周面２３ａと同一又はほぼ同一に設定されている。なお、プーリ２４、２５を設けるか否かは任意である。すなわち、プーリ２４、２５は、第２部分２０に備えていなくてもよい。 The two pulleys 24 and 25 are rotatably provided on the base member 21 respectively. The pulley 24 presses a portion of the transmission member 12 extending in the -θZ direction from the first end 12a. The pulley 25 presses a portion of the transmission member 12 that extends in the +θZ direction from the second end 12b. The relative positions of the rotary drive portion 23 and the pulleys 24 and 25 are fixed. By means of the two pulleys 24 and 25, the transmission member 12 can be wound around the outer peripheral surface 23a of the rotary drive portion 23 over a wide range. The dimensions of the pulleys 24 and 25 in the Z direction are set to be the same as or substantially the same as the outer peripheral surface 23 a of the rotary drive portion 23 . It is optional whether or not the pulleys 24 and 25 are provided. That is, the pulleys 24 and 25 do not have to be provided on the second portion 20 .
　回転駆動部２３が回転軸ＡＸ２まわりに回転することにより、巻き掛け伝動部材１２が回転駆動部２３によって手繰り寄せられ、回転駆動部２３と巻き掛け伝動部材１２とが相対的に移動する。本実施形態では、第１部分１０が固定されているため、回転駆動部２３が巻き掛け伝動部材１２に対して軸線ＡＸ１まわりに移動する。この回転駆動部２３の移動により、ベース部材２１は、円筒部材１１に対して軸線ＡＸ１まわりに回転する。例えば、回転駆動部２３が、回転軸ＡＸ２を中心として－θＺ方向に回転する場合、回転駆動部２３は、円筒部材１１の周りを＋θＺ方向に向けて回転する。また、回転駆動部２３が、回転軸ＡＸ２を中心として＋θＺ方向に回転する場合、回転駆動部２３は、円筒部材１１の周りを－θＺ方向に向けて回転する。回転駆動部２３は、図２に示す位置から、＋θＺ方向に３６０°以上回転することができる。 By rotating the rotation driving portion 23 around the rotation axis AX2, the winding transmission member 12 is pulled by the rotation driving portion 23, and the rotation driving portion 23 and the winding transmission member 12 move relatively. In this embodiment, since the first portion 10 is fixed, the rotary drive portion 23 moves around the axis AX1 with respect to the transmission member 12 to be wound. Due to this movement of the rotation driving portion 23, the base member 21 rotates about the axis AX1 with respect to the cylindrical member 11. As shown in FIG. For example, when the rotary drive unit 23 rotates in the -θZ direction around the rotation axis AX2, the rotary drive unit 23 rotates around the cylindrical member 11 in the +θZ direction. Further, when the rotary drive unit 23 rotates in the +θZ direction around the rotation axis AX2, the rotary drive unit 23 rotates around the cylindrical member 11 in the −θZ direction. The rotary drive unit 23 can rotate 360° or more in the +θZ direction from the position shown in FIG.
　図３及び図４は、回転機構１００を回転の軸線ＡＸ１と直交する方向から見た図である。図３は、回転駆動部２３が巻き掛け伝動部材１２の第２端部１２ｂ側に配置される場合の一例を示している。図４は、回転駆動部２３が巻き掛け伝動部材１２の第１端部１２ａ側に配置される場合の一例を示している。なお、図３及び図４では、回転駆動部２３の外周面２３ａのローレット２３ｂを省略している。 3 and 4 are diagrams of the rotation mechanism 100 viewed from a direction perpendicular to the rotation axis AX1. FIG. 3 shows an example of the case where the rotation drive portion 23 is arranged on the second end portion 12b side of the winding transmission member 12 . FIG. 4 shows an example in which the rotary drive portion 23 is arranged on the side of the first end portion 12a of the transmission member 12 to be wound. 3 and 4, the knurls 23b of the outer peripheral surface 23a of the rotary drive portion 23 are omitted.
　図３及び図４に示すように、回転駆動部２３の外周面２３ａは、巻き掛け伝動部材１２の軸線ＡＸ１方向におけるずれに対応して、軸線ＡＸ１と平行な方向（Ｚ方向）において巻き掛け伝動部材１２の幅よりも長くなるように設けられている。具体的には、回転駆動部２３のＺ方向の寸法Ｈ２は、巻き掛け伝動部材１２のＺ方向の幅Ｈ１の２倍よりも長い。この構成により、回転駆動部２３が巻き掛け伝動部材１２の第１端部１２ａの近傍から第２端部１２ｂの近傍に亘って移動する間、巻き掛け伝動部材１２が回転駆動部２３から外れることを抑制できる。 As shown in FIGS. 3 and 4, the outer peripheral surface 23a of the rotation driving portion 23 is adapted to the winding transmission in the direction (Z direction) parallel to the axis AX1 corresponding to the deviation of the winding transmission member 12 in the direction of the axis AX1. It is provided so as to be longer than the width of the member 12 . Specifically, the dimension H2 in the Z direction of the rotation driving portion 23 is longer than twice the width H1 of the transmission member 12 in the Z direction. With this configuration, while the rotation driving portion 23 moves from the vicinity of the first end portion 12a of the winding transmission member 12 to the vicinity of the second end portion 12b, the winding transmission member 12 is disengaged from the rotation driving portion 23. can be suppressed.
　巻き掛け伝動部材１２は、径方向に重なることなく円筒部材１１の外周に一周を超えて巻かれており、第１端部１２ａ及び第２端部１２ｂから所定の長さの部分同士がＺ方向に並んだ状態で配置される。すなわち、巻き掛け伝動部材１２は、円筒部材１１に螺旋状に巻き付いた状態となっている。従って、回転駆動部２３の外周面２３ａにおける巻き掛け伝動部材１２のＺ方向の位置は、回転駆動部２３の回転位置（第１部分１０と第２部分２０との相対位置）に応じて移動する。図３に示すように、回転駆動部２３のＺ方向の寸法Ｈ２を、巻き掛け伝動部材１２の幅Ｈ１の２倍よりも長くすることにより、円筒部材１１の周りを回転駆動部２３が一周する間に、巻き掛け伝動部材１２が回転駆動部２３の外周面２３ａから外れることを防止できる。 The wound transmission member 12 is wound around the outer circumference of the cylindrical member 11 for more than one turn without overlapping in the radial direction, and the parts of a predetermined length from the first end 12a and the second end 12b are arranged in the Z direction. are arranged side by side. That is, the winding transmission member 12 is spirally wound around the cylindrical member 11 . Therefore, the Z-direction position of the wound transmission member 12 on the outer peripheral surface 23a of the rotary drive portion 23 moves according to the rotational position of the rotary drive portion 23 (relative position between the first portion 10 and the second portion 20). . As shown in FIG. 3, by setting the dimension H2 of the rotation driving portion 23 in the Z direction to be longer than twice the width H1 of the transmission member 12, the rotation driving portion 23 makes a full turn around the cylindrical member 11. It is possible to prevent the winding transmission member 12 from coming off the outer peripheral surface 23 a of the rotary drive portion 23 during this period.
　例えば、図３に示すように、回転駆動部２３が巻き掛け伝動部材１２の第１端部１２ａ側（第１端部１２ａの近傍）に配置される場合には、回転駆動部２３の外周面２３ａにおいて、－Ｚ側の部分に巻き掛け伝動部材１２が巻き付けられた状態となっている。また、図４に示すように、回転駆動部２３が巻き掛け伝動部材１２の第２端部１２ｂ側（第２端部１２ｂの近傍）に配置される場合には、回転駆動部２３の外周面２３ａにおいて、＋Ｚ側の部分に巻き掛け伝動部材１２が巻き付けられた状態となっている。 For example, as shown in FIG. 3, when the rotation driving portion 23 is arranged on the first end portion 12a side (near the first end portion 12a) of the winding transmission member 12, the outer peripheral surface of the rotation driving portion 23 At 23a, the winding transmission member 12 is wound around the -Z side portion. Further, as shown in FIG. 4, when the rotary drive portion 23 is arranged on the second end portion 12b side (near the second end portion 12b) of the winding transmission member 12, the outer peripheral surface of the rotary drive portion 23 At 23a, the transmission member 12 is wound around the +Z side portion.
　このように、本実施形態に係る回転機構１００によれば、巻き掛け伝動部材１２が第１端部１２ａ及び第２端部１２ｂを有する構成であるため、第１端部１２ａ及び第２端部１２ｂの固定を解除することで、巻き掛け伝動部材１２を容易に交換することができる。その結果、巻き掛け伝動部材１２の交換作業を行う作業者の負担を軽減できる。また、巻き掛け伝動部材１２が円筒部材１１の外周の一周を越えて、かつ回転の軸線ＡＸ１の方向にずらして巻き付けられるため、第１部分１０と第２部分２０とを３６０°以上相対的に回転させることができる。すなわち、第１端部１２ａ及び第２端部１２ｂを有するベルト（環状でないベルト）を用いる場合であっても、第１部分１０と第２部分２０とをより大きな回転角度範囲で相対的に回転させることができる。 As described above, according to the rotation mechanism 100 according to the present embodiment, the transmission member 12 has the first end 12a and the second end 12b. By releasing the fixation of 12b, the wound transmission member 12 can be easily replaced. As a result, the burden on the operator who replaces the transmission member 12 can be reduced. In addition, since the wound transmission member 12 is wound over one circumference of the outer circumference of the cylindrical member 11 and shifted in the direction of the rotation axis AX1, the first portion 10 and the second portion 20 are rotated by 360° or more relative to each other. can be rotated. That is, even when using a belt having the first end portion 12a and the second end portion 12b (a non-circular belt), the first portion 10 and the second portion 20 can be relatively rotated in a larger rotation angle range. can be made
　図５は、ストッパ３０及び被係止部４０を適用した回転機構１００Ａの一例を示す斜視図である。図５に示すように、回転機構１００Ａは、上記した回転機構１００の構成に加えて、ストッパ３０及び被係止部４０を備える。なお、図５では、モータ２２、回転駆動部２３、及びプーリ２４、２５の記載を省略している。また、上記した実施形態と同一の部材については同一の符号を付して、説明を省略又は簡略化している。図５に示すように、回転機構１００Ａは、第１部分１０にストッパ３０が設けられ、第２部分２０に被係止部４０が設けられるが、この形態に限定されない。例えば、ストッパ３０が第２部分２０に設けられ、被係止部４０が第１部分１０に設けられる形態であってもよい。 FIG. 5 is a perspective view showing an example of a rotating mechanism 100A to which the stopper 30 and the engaged portion 40 are applied. As shown in FIG. 5, the rotating mechanism 100A includes a stopper 30 and an engaged portion 40 in addition to the configuration of the rotating mechanism 100 described above. 5, the description of the motor 22, the rotation drive unit 23, and the pulleys 24 and 25 is omitted. Also, the same reference numerals are assigned to the same members as those of the above-described embodiment, and the description thereof is omitted or simplified. As shown in FIG. 5, the rotation mechanism 100A is provided with the stopper 30 on the first portion 10 and the engaged portion 40 on the second portion 20, but is not limited to this form. For example, the stopper 30 may be provided on the second portion 20 and the locked portion 40 may be provided on the first portion 10 .
　回転機構１００Ａは、ストッパ３０及び被係止部４０を備えることにより、第１部分１０と第２部分２０との間の相対的な回転を所定の回転角度範囲（回転範囲）内に規制することができる。本実施形態の回転機構１００Ａでは、第１部分１０と第２部分２０との相対的な回転角度範囲を０°から３６０°以上となるように設定されている。すなわち、第１部分１０と第２部分２０とは、少なくとも０°から３６０°の回転角度範囲（少なくとも１回転する回転角度範囲）で相対的に回転することが許容されている。 The rotation mechanism 100A is provided with the stopper 30 and the locked portion 40, thereby restricting the relative rotation between the first portion 10 and the second portion 20 within a predetermined rotation angle range (rotation range). can be done. In the rotation mechanism 100A of this embodiment, the relative rotation angle range between the first portion 10 and the second portion 20 is set to 0° to 360° or more. That is, the first portion 10 and the second portion 20 are allowed to rotate relative to each other within a rotation angle range of at least 0° to 360° (at least one rotation angle range).
　図６は、ストッパ３０を軸線ＡＸ１の方向から見た場合の一例を示す図である。図６に示すように、ストッパ３０は、腕部３１と、当接部３２、保持ブロック３３とを有する。腕部３１は、軸線ＡＸ１と平行に延びる揺動軸ＡＸ３を中心として揺動可能に保持ブロック３３に設けられる。保持ブロック３３は、円筒部材１１の上面側（＋Ｚ面側）に固定されている。腕部３１は、基部３１ａ及び先端部３１ｂを有する。基部３１ａは、保持ブロック３３に揺動可能に取り付けられる。腕部３１は、保持ブロック３３の上面側から円筒部材１１の外側に向けて延びるように設けられる。 FIG. 6 is a diagram showing an example when the stopper 30 is viewed from the direction of the axis AX1. As shown in FIG. 6 , the stopper 30 has an arm portion 31 , a contact portion 32 and a holding block 33 . The arm portion 31 is provided on the holding block 33 so as to be able to swing 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 portion 31 has a base portion 31a and a tip portion 31b. The base 31a is attached to the holding block 33 so as to be able to swing. Arm portion 31 is provided so as to extend from the upper surface side of holding block 33 toward the outside of cylindrical member 11 .
　保持ブロック３３は、腕部３１を、軸線ＡＸ１に対する放射方向Ｄ１に沿って延びる方向に弾性的に保持する弾性部材３５を備える。弾性部材３５は、例えば、コイルスプリング、板バネなどが用いられる。腕部３１は、図６に示すように、弾性部材３５の弾性力に抗して、放射方向Ｄ１に沿った状態から、揺動軸ＡＸ３を中心とする軸まわりに揺動可能となっている。また、腕部３１は、揺動軸ＡＸ３を中心として揺動した場合、弾性部材３５による復元力が作用して、放射方向Ｄ１に沿って延びた状態に戻る。 The holding block 33 includes an elastic member 35 that elastically holds the arm portion 31 in a direction extending along the radial direction D1 with respect to the axis AX1. A coil spring, a plate spring, or the like is used as the elastic member 35, for example. As shown in FIG. 6, the arm portion 31 can swing around the swing axis AX3 from a state along the radial direction D1 against the elastic force of the elastic member 35. . Further, when the arm portion 31 swings about the swing axis AX3, the elastic member 35 exerts a restoring force to return the arm portion 31 to extend along the radial direction D1.
　当接部３２は、腕部３１の先端部３１ｂに設けられる。当接部３２は、被係止部４０と当接して被係止部４０を係止する。当接部３２は、例えば腕部３１に対して回転可能に支持されるローラである。当接部３２は、揺動軸ＡＸ３に平行な回転軸ＡＸ４を中心として回転可能である。当接部３２がローラであることにより、被係止部４０との接触を円滑にすることができる。ただし、当接部３２は、ローラに代えて、例えば円柱状の棒状体が用いられてもよい。腕部３１、当接部３２、及び保持ブロック３３は、回転駆動部２３及びプーリ２４、２５よりも＋Ｚ側に離れて配置されている。その結果、第１部分１０と第２部分２０とが相対的に回転した場合に、回転駆動部２３及びプーリ２４、２５が、腕部３１、当接部３２、及び保持ブロック３３に干渉することを回避できる。 The contact portion 32 is provided at the tip portion 31 b of the arm portion 31 . The abutting portion 32 abuts on the locked portion 40 to lock the locked portion 40 . The contact portion 32 is, for example, a roller that is rotatably supported on the arm portion 31 . The contact portion 32 is rotatable around a rotation axis AX4 parallel to the swing axis AX3. Since the contact portion 32 is a roller, the contact with the locked portion 40 can be made smooth. However, the contact portion 32 may be, for example, a columnar rod-like body instead of the roller. The arm portion 31 , the contact portion 32 , and the holding block 33 are arranged away from the rotation driving portion 23 and the pulleys 24 and 25 on the +Z side. As a result, when the first portion 10 and the second portion 20 rotate relative to each other, the rotation driving portion 23 and the pulleys 24 and 25 interfere with the arm portion 31, the contact portion 32, and the holding block 33. can be avoided.
　被係止部４０は、図５に示すように、ベース部材２１の第１面２１ａに固定される。被係止部４０は、ベース部材２１と一体となって円筒部材１１の周りを回転する。被係止部４０は、基部４１及び先端部４２を有する。基部４１は、第１面２１ａから＋Ｚ方向に延びる支柱４１ａの上端に固定される。支柱４１ａによって、基部４１及び先端部４２をストッパ３０の当接部３２の高さに保持している。先端部４２は、基部４１から軸線ＡＸ１に向けて延びるように設けられている。すなわち、基部４１及び先端部４２は、軸線ＡＸ１からの放射方向Ｄ１に沿って配置されている。 The locked portion 40 is fixed to the first surface 21a of the base member 21, as shown in FIG. The locked portion 40 rotates around the cylindrical member 11 integrally with the base member 21 . The locked portion 40 has a base portion 41 and a tip portion 42 . The base 41 is fixed to the upper end of a support 41a extending in the +Z direction from the first surface 21a. The support 41 a holds the base portion 41 and the tip portion 42 at the height of the contact portion 32 of the stopper 30 . The tip 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 tip portion 42 are arranged along the radial direction D1 from the axis AX1.
　先端部４２は、ストッパ３０の当接部３２に接触する部分である。先端部４２は、当接部３２に接触する部分にテーパ面４２ａが設けられる。テーパ面４２ａは、先端部４２のうち、軸線ＡＸ１の軸周り方向の両側に設けられる。このテーパ面４２ａにより、軸線ＡＸ１の方向から見て先端部４２が先細りとなるように形成される。テーパ面４２ａは、当接部３２との接触を円滑にするために設けられている。なお、テーパ面４２ａを設けるか否かは任意であり、テーパ面４２ａが設けられない形態であってもよい。 The tip portion 42 is a portion that contacts the contact portion 32 of the stopper 30 . The distal end portion 42 is provided with a tapered surface 42 a at a portion that contacts the contact portion 32 . The tapered surfaces 42a are provided on both sides of the distal end portion 42 in the direction around the axis AX1. The tapered surface 42a forms the distal end portion 42 to be tapered when viewed from the direction of the axis AX1. The tapered surface 42 a is provided to facilitate contact with the contact portion 32 . It is optional whether or not the tapered surface 42a is provided, and the tapered surface 42a may not be provided.
　図７及び図８は、回転機構１００Ａを軸線ＡＸ１の方向から見た場合の一例を示し、ストッパ３０及び被係止部４０の動作の一例を示す図である。図７は、ストッパ３０に被係止部４０が係止された状態の一例を示す図である。図８は、ストッパ３０に被係止部４０が係止された状態の他の一例を示す図である。図７及び図８に示すように、第１部分１０に対して第２部分２０が＋θＺ方向に相対的に回転した際及び－θＺ方向に相対的に回転した際の双方において、被係止部４０は、当接部３２に当接して腕部３１を揺動させた後に係止される。 7 and 8 show an example when the rotation mechanism 100A is viewed from the direction of the axis AX1, and show an example of the operations of the stopper 30 and the locked portion 40. FIG. FIG. 7 is a diagram showing an example of a state in which the locked portion 40 is locked by the stopper 30. As shown in FIG. FIG. 8 is a diagram showing another example of the state where the locked portion 40 is locked by the stopper 30. As shown in FIG. As shown in FIGS. 7 and 8, when the second portion 20 rotates relative to the first portion 10 in the +θZ direction and when the second portion 20 rotates relative to the −θZ direction, the locked portion 40 is locked after contacting the contact portion 32 and rocking the arm portion 31 .
　図７に示すように、第１部分１０に対して第２部分２０が＋θＺ方向（図中、時計回りの方向）に相対的に回転する場合、被係止部４０は、第２部分２０の回転に伴って＋θＺ方向に移動する。被係止部４０が＋θＺ側からストッパ３０に達すると、まず先端部４２のテーパ面４２ａがストッパ３０の当接部３２に接触する。テーパ面４２ａが当接部３２に当接した状態でさらに第２部分２０が＋θＺ方向に回転すると、テーパ面４２ａによって当接部３２が＋θＺ方向に押され、腕部３１を＋θＺ方向に揺動させる。このとき、当接部３２は、テーパ面４２ａに押されながら回転軸ＡＸ４まわりに回転する。腕部３１は、＋θＺ方向に揺動した後、揺動が止まる位置で被係止部４０を係止する。その結果、第２部分２０は、＋θＺ方向への回転が規制された状態となる。 As shown in FIG. 7 , when the second portion 20 rotates relative to the first portion 10 in the +θZ direction (clockwise direction in the drawing), the locked portion 40 moves toward the second portion 20 . It moves in the +θZ direction as it rotates. When the locked portion 40 reaches the stopper 30 from the +θZ side, the tapered surface 42 a of the tip portion 42 first contacts the contact portion 32 of the stopper 30 . When the second portion 20 further rotates in the +θZ direction while the tapered surface 42a is in contact with the contact portion 32, the contact portion 32 is pushed in the +θZ direction by the tapered surface 42a, causing the arm portion 31 to swing in the +θZ direction. Let At this time, the contact portion 32 rotates around the rotation axis AX4 while being pushed by the tapered surface 42a. After the arm portion 31 swings in the +θZ direction, the arm portion 31 locks the locked portion 40 at the position where the swing stops. As a result, the second portion 20 is restricted from rotating in the +θZ direction.
　なお、図７に示す状態から、第１部分１０に対して第２部分２０が－θＺ方向（図中、反時計回りの方向）に相対的に回転すると、被係止部４０のテーパ面４２ａから離れた腕部３１は、弾性部材３５の弾性力によって－θＺ方向に揺動し、放射方向Ｄ１に沿って延びた元の状態に戻る。 7, when the second portion 20 rotates relative to the first portion 10 in the -.theta.Z direction (counterclockwise direction in the drawing), the tapered surface 42a of the locked portion 40 The arm 31 separated from the edge swings in the -θZ direction due to the elastic force of the elastic member 35 and returns to its original state extending along the radial direction D1.
　また、図８に示すように、第１部分１０に対して第２部分２０が－θＺ方向（図中、反時計回りの方向）に相対的に回転する場合、被係止部４０は、第２部分２０の回転に伴って－θＺ方向に移動する。被係止部４０が－θＺ側からストッパ３０に達すると、まず先端部４２のテーパ面４２ａがストッパ３０の当接部３２に接触する。テーパ面４２ａが当接部３２に当接した状態でさらに第２部分２０が－θＺ方向に回転すると、テーパ面４２ａによって当接部３２が－θＺ方向に押され、腕部３１を－θＺ方向に揺動させる。このとき、当接部３２は、テーパ面４２ａに押されながら回転軸ＡＸ４まわりに回転する。腕部３１は、－θＺ方向に揺動した後、揺動が止まる位置で被係止部４０を係止する。その結果、第２部分２０は、－θＺ方向への回転が規制された状態となる。 Further, as shown in FIG. 8, when the second portion 20 rotates relative to the first portion 10 in the -θZ direction (counterclockwise direction in the drawing), the locked portion 40 As the second portion 20 rotates, it moves in the -θZ direction. When the locked portion 40 reaches the stopper 30 from the -θZ side, the tapered surface 42 a of the tip portion 42 first contacts the contact portion 32 of the stopper 30 . When the second portion 20 further rotates in the -θZ direction while the tapered surface 42a is in contact with the contact portion 32, the contact portion 32 is pushed in the -θZ direction by the tapered surface 42a, and the arm portion 31 is moved in the -θZ direction. to oscillate. At this time, the contact portion 32 rotates around the rotation axis AX4 while being pushed by the tapered surface 42a. After swinging in the -θZ direction, the arm 31 locks the locked portion 40 at the position where the swing stops. As a result, the second portion 20 is restricted from rotating in the -θZ direction.
　なお、図８に示す状態から、第１部分１０に対して第２部分２０が＋θＺ方向（図中、時計回りの方向）に相対的に回転すると、被係止部４０のテーパ面４２ａから離れた腕部３１は、弾性部材３５の弾性力によって＋θＺ方向に揺動し、放射方向Ｄ１に沿って延びた元の状態に戻る。 8, when the second portion 20 rotates relative to the first portion 10 in the +.theta.Z direction (clockwise direction in the drawing), it separates from the tapered surface 42a of the engaged portion 40. The arm 31 swings in the +.theta.Z direction due to the elastic force of the elastic member 35, and returns to its original state extending along the radial direction D1.
　このように、本実施形態の回転機構１００Ａによれば、第１部分１０と第２部分２０との相対的な回転角度範囲を３６０°以上確保しつつ、必要以上に回転した場合に被係止部４０がストッパ３０に係止されることで、第１部分１０と第２部分２０との相対的な回転を確実に規制することができる。また、ストッパ３０及び被係止部４０を見ることで、第１部分１０と第２部分２０との回転状態を容易に区別することができる。つまり、腕部３１が＋θＺ側又は－θＺ側のいずれかに揺動しているかを見ることで、第１部分１０と第２部分２０との相対的な回転位置を容易に把握することができる。 As described above, according to the rotation mechanism 100A of the present embodiment, the relative rotation angle range of 360° or more between the first portion 10 and the second portion 20 is ensured, and when the rotation is more than necessary, the locked portion can be locked. By locking the portion 40 to the stopper 30, the relative rotation between the first portion 10 and the second portion 20 can be reliably restricted. Also, by looking at the stopper 30 and the locked portion 40, the rotational states of the first portion 10 and the second portion 20 can be easily distinguished. That is, the relative rotational positions of the first portion 10 and the second portion 20 can be easily grasped by seeing whether the arm portion 31 is swinging toward the +θZ side or the −θZ side. .
　図９は、ストッパ５０及び被係止部６０を適用した回転機構１００Ｂの他の一例を示す斜視図である。図９に示すように、回転機構１００Ｂは、上記した回転機構１００の構成に加えて、ストッパ５０及び被係止部６０を備える。なお、図９では、モータ２２、回転駆動部２３、及びプーリ２４、２５の記載を省略している。また、上記した実施形態と同一の部材については同一の符号を付して、説明を省略又は簡略化している。図９に示すように、回転機構１００Ｂは、第１部分１０にストッパ５０が設けられ、第２部分２０に被係止部６０が設けられるが、この形態に限定されない。例えば、ストッパ５０が第２部分２０に設けられ、被係止部６０が第１部分１０に設けられる形態であってもよい。 FIG. 9 is a perspective view showing another example of the rotating mechanism 100B to which the stopper 50 and the locked portion 60 are applied. As shown in FIG. 9, the rotation mechanism 100B includes a stopper 50 and a locked portion 60 in addition to the configuration of the rotation mechanism 100 described above. Note that the motor 22, the rotation drive unit 23, and the pulleys 24 and 25 are omitted in FIG. Also, the same reference numerals are assigned to the same members as those of the above-described embodiment, and the description thereof is omitted or simplified. As shown in FIG. 9, the rotation mechanism 100B is provided with the stopper 50 on the first portion 10 and the engaged portion 60 on the second portion 20, but is not limited to this form. For example, the stopper 50 may be provided on the second portion 20 and the locked portion 60 may be provided on the first portion 10 .
　回転機構１００Ｂは、ストッパ５０及び被係止部６０を備えることにより、第１部分１０と第２部分２０との間の相対的な回転を所定の回転角度範囲内に規制することができる。本実施形態の回転機構１００Ｂでは、第１部分１０と第２部分２０との相対的な回転角度範囲を０°から３６０°以上となるように設定されている。すなわち、第１部分１０と第２部分２０とは、少なくとも０°から３６０°の範囲（少なくとも１回転する範囲）で相対的に回転することが許容されている。 By including the stopper 50 and the locked portion 60, the rotation mechanism 100B can restrict the relative rotation between the first portion 10 and the second portion 20 within a predetermined rotation angle range. In the rotation mechanism 100B of this embodiment, the relative rotation angle range between the first portion 10 and the second portion 20 is set to 0° to 360° or more. That is, the first portion 10 and the second portion 20 are allowed to rotate relative to each other within a range of at least 0° to 360° (a range of at least one rotation).
　図９に示すように、ストッパ５０は、軸線ＡＸ１の方向から見てＳ字状の板状体５１と、保持ブロック５２とを有する。板状体５１は、保持ブロック５２に固定される。保持ブロック５２は、円筒部材１１の上面側（＋Ｚ面側）に固定されている。板状体５１は、保持ブロック３３から円筒部材１１の外側に向けて突出した状態で設けられる。板状体５１は、Ｓ字状の凹んだ部分にそれぞれ第１凹部５３と、第２凹部５４とを備える。 As shown in FIG. 9, the stopper 50 has an S-shaped plate-like body 51 and a holding block 52 when viewed from the direction of the axis AX1. The plate-like body 51 is fixed to the 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 of protruding from the holding block 33 toward the outside of the cylindrical member 11 . The plate-like body 51 has a first concave portion 53 and a second concave portion 54 in each of the S-shaped concave portions.
　第１凹部５３は、＋θＺ方向に向けて細くなるように凹んだ状態で形成される。第１凹部５３は、－θＺ方向に向けて開いた状態で形成される。第１凹部５３は、軸線ＡＸ１の方向から見て円弧状に形成される。第１凹部５３の半径は、例えば、後述する被係止部６０のローラ６３の半径よりも大きく設定され、このローラ６３が嵌り込むことが可能な形状が適用されている。板状体５１は、第１凹部５３に向けて被係止部６０のローラ６３を案内するガイド面５３ａを有する。ガイド面５３ａは、軸線ＡＸ１の放射方向Ｄ２における両側に設けられる。ガイド面５３ａは、第１凹部５３に滑らかにつながるように曲面で形成されている。 The first recessed portion 53 is formed in a recessed state so as to taper in the +θZ direction. The first concave portion 53 is formed to open in the -θZ direction. The first recessed 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 set larger than, for example, the radius of the roller 63 of the locked portion 60, which will be described later, and has a shape that allows the roller 63 to fit therein. The plate-like body 51 has a guide surface 53 a that guides the roller 63 of the locked portion 60 toward the first recess 53 . The guide surfaces 53a are provided on both sides of the axis AX1 in the radial direction D2. The guide surface 53a is formed with a curved surface so as to be smoothly connected to the first concave portion 53. As shown in FIG.
　第２凹部５４は、－θＺ方向に向けて細くなるように凹んだ状態で形成される。第２凹部５４は、＋θＺ方向に向けて開いた状態で形成される。第２凹部５４は、軸線ＡＸ１の方向から見て円弧状に形成される。第２凹部５４の半径は、例えば、被係止部６０のローラ６３の半径よりも大きく設定され、このローラ６３が嵌り込むことが可能な形状が適用されている。なお、第１凹部５３の半径と、第２凹部５４の半径とは同一であってもよいし、異なってもよい。板状体５１は、第２凹部５４に向けて被係止部６０のローラ６３を案内するガイド面５４ａを有する。ガイド面５４ａは、軸線ＡＸ１の放射方向Ｄ２における両側に設けられる。ガイド面５４ａは、第２凹部５４に滑らかにつながるように曲面で形成されている。 The second recessed portion 54 is formed in a recessed state so as to taper in the -θZ direction. The second recessed portion 54 is formed in a state of being open in the +θZ direction. The second recessed portion 54 is formed in an arc shape when viewed from the direction of the axis AX1. The radius of the second recessed portion 54 is set, for example, to be larger than the radius of the roller 63 of the locked portion 60, and a shape that allows the roller 63 to fit therein is applied. The radius of the first recess 53 and the radius of the second recess 54 may be the same or different. The plate-like body 51 has a guide surface 54 a that guides the roller 63 of the locked portion 60 toward the second recess 54 . The guide surfaces 54a are provided on both sides of the axis AX1 in the radial direction D2. The guide surface 54a is formed with a curved surface so as to be smoothly connected to the second concave portion 54. As shown in FIG.
　第１凹部５３と第２凹部５４とは、軸線ＡＸ１まわりの周方向において離間して配置されている。その結果、第１凹部５３により被係止部６０が係止された第２部分２０の回転位置と、第２凹部５４により被係止部６０が係止された第２部分２０の回転位置とでは、第２部分２０が第１部分１０に対して１回転以上いた状態となっている。すなわち、第１部分１０と第２部分２０との相対的な回転角度範囲を０°から３６０°以上となるように設定している。 The first recess 53 and the second recess 54 are spaced apart in the circumferential direction around the axis AX1. As a result, the rotational position of the second portion 20 where the locked portion 60 is locked by the first recess 53 and the rotational position of the second portion 20 where the locked portion 60 is locked by the second recess 54 are changed. , the second portion 20 has rotated one or more times with respect to the first portion 10 . That is, the relative rotation angle range between the first portion 10 and the second portion 20 is set to be from 0° to 360° or more.
　被係止部６０は、ベース部材２１に設けられる。被係止部６０は、ガイド部６１と、スライダ６２と、ローラ６３とを有する。ガイド部６１は、例えばベース部材２１を貫通する貫通孔である。ガイド部６１は、軸線ＡＸ１を中心とする放射方向Ｄ２に沿って形成されている。ガイド部６１の放射方向Ｄ２の長さは、少なくともローラ６３が上記した第１凹部５３と第２凹部５４との間を放射方向Ｄ２に移動させることが可能な長さに設定される。 The locked portion 60 is provided on the base member 21 . The engaged portion 60 has a guide portion 61 , a slider 62 and rollers 63 . The guide portion 61 is, for example, a through hole penetrating through the base member 21 . The guide portion 61 is formed along the radial direction D2 about the axis AX1. The length of the guide portion 61 in the radial direction D2 is set to a length that allows at least the roller 63 to move in the radial direction D2 between the first concave portion 53 and the second concave portion 54 described above.
　スライダ６２は、ガイド部６１の内部に配置される。スライダ６２は、ガイド部６１に沿って軸線ＡＸ１の放射方向Ｄ２に沿ってスライド可能である。スライダ６２は、軸線ＡＸ１に沿った方向（＋Ｚ方向）に延びた柱状体である。ローラ６３は、スライダ６２の先端部分に回転可能に支持される。ローラ６３は、軸線ＡＸ１に平行な回転軸ＡＸ５を中心としてθＺ方向に回転可能である。ローラ６３は、第１部分１０と第２部分２０とが相対的に回転する場合に、ストッパ５０のガイド面５３ａ、５４ａに接触するような高さに配置される。ローラ６３は、スライダ６２と一体で放射方向Ｄ２に移動可能である。スライダ６２及びローラ６３は、第２部分２０と一体で、第１部分１０に対して軸線ＡＸ１の周りに相対的に回転する。 The slider 62 is arranged inside the guide portion 61 . The slider 62 is slidable along the guide portion 61 along the radial direction D2 of the axis AX1. The slider 62 is a columnar body extending in the direction (+Z direction) along the axis AX1. The roller 63 is rotatably supported by the tip 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 a height such that it contacts the guide surfaces 53a and 54a of the stopper 50 when the first portion 10 and the second portion 20 rotate relative to each other. The roller 63 can move in the radial direction D2 integrally with the slider 62 . The slider 62 and the roller 63 are integral with the second portion 20 and rotate relative to the first portion 10 around the axis AX1.
　図１０及び図１１は、回転機構１００Ｂを軸線ＡＸ１の方向から見た場合の一例を示し、ストッパ５０及び被係止部６０の動作の一例を示す図である。図１０は、ストッパ５０に被係止部６０が係止された状態の一例を示す図である。図１１は、ストッパ５０に被係止部６０が係止された状態の他の例を示す図である。図１０及び図１１に示すように、第１部分１０に対して第２部分２０が＋θＺ方向に相対的に回転した際、及び－θＺ方向に相対的に回転した際、被係止部６０は、ストッパ５０によって係止される。 10 and 11 show an example of the rotation mechanism 100B viewed from the direction of the axis AX1, and show an example of the operations of the stopper 50 and the locked portion 60. FIG. FIG. 10 is a diagram showing an example of a state in which the locked portion 60 is locked by the stopper 50. As shown in FIG. 11A and 11B are diagrams showing another example of a state in which the locked portion 60 is locked by the stopper 50. FIG. As shown in FIGS. 10 and 11, when the second portion 20 rotates relative to the first portion 10 in the +θZ direction and when it rotates in the −θZ direction, the locked portion 60 is , is locked by a stopper 50 .
　図１０に示すように、第１部分１０に対して第２部分２０が＋θＺ方向（図中、時計回りの方向）に相対的に回転する場合、被係止部６０は、第２部分２０の回転に伴って＋θＺ方向に回転する。被係止部６０がストッパ５０に達すると、被係止部６０のローラ６３がガイド面５３ａに当接する。この状態で第２部分２０が＋θＺ方向に回転すると、ローラ６３がガイド面５３ａに案内されることでローラ６３（スライダ６２）が放射方向Ｄ２に沿って軸線ＡＸ１に向けて移動する。ローラ６３は、回転軸ＡＸ５まわりに回転しながらガイド面５３ａに沿って移動する。さらに第２部分２０が＋θＺ方向に回転すると、ローラ６３が第１凹部５３に入り込んで係止される。その結果、第２部分２０は、第１部分１０に対して＋θＺ方向への回転が規制された状態となる。 As shown in FIG. 10 , when the second portion 20 rotates in the +θZ direction (clockwise direction in the drawing) relative to the first portion 10 , the engaged portion 60 moves toward the second portion 20 . It rotates in the +θZ direction as it rotates. When the locked portion 60 reaches the stopper 50, the roller 63 of the locked portion 60 contacts the guide surface 53a. When the second portion 20 rotates in the +θZ direction in this state, the roller 63 (slider 62) is guided by the guide surface 53a and moves along the radial direction D2 toward the axis AX1. The roller 63 moves along the guide surface 53a while rotating about the rotation axis AX5. When the second portion 20 further rotates in the +θZ direction, the roller 63 enters the first concave portion 53 and is locked. As a result, the second portion 20 is restricted from rotating in the +θZ direction with respect to the first portion 10 .
　また、図１１に示すように、第１部分１０に対して第２部分２０が－θＺ方向（図中、反時計回りの方向）に相対的に回転する場合、被係止部６０は、第２部分２０の回転に伴って－θＺ方向に回転する。被係止部６０がストッパ５０に達すると、被係止部６０のローラ６３がガイド面５４ａに当接する。この状態で第２部分２０が－θＺ方向に回転すると、ローラ６３がガイド面５４ａに案内されることでローラ６３（スライダ６２）が放射方向Ｄ２に沿って軸線ＡＸ１から離れる方向に移動する。ローラ６３は、回転軸ＡＸ５まわりに回転しながらガイド面５３ａに沿って移動する。さらに第２部分２０が－θＺ方向に回転すると、ローラ６３が第２凹部５４に入り込んで係止される。その結果、第２部分２０は、第１部分１０に対して－θＺ方向への回転が規制された状態となる。 Further, as shown in FIG. 11, when the second portion 20 rotates relative to the first portion 10 in the -θZ direction (counterclockwise direction in the drawing), the engaged portion 60 As the second portion 20 rotates, it rotates in the -θZ direction. When the locked portion 60 reaches the stopper 50, the roller 63 of the locked portion 60 comes into contact with the guide surface 54a. When the second portion 20 rotates in the -θZ direction in this state, the roller 63 (slider 62) is guided by the guide surface 54a and moves away from the axis AX1 along the radial direction D2. The roller 63 moves along the guide surface 53a while rotating about 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 locked. As a result, the second portion 20 is restricted from rotating in the −θZ direction with respect to the first portion 10 .
　このように、本実施形態に係る回転機構１００Ｂによれば、上記した回転機構１００Ａと同様に、第１部分１０と第２部分２０との相対的な回転角度範囲を３６０°以上確保しつつ、必要以上に回転した場合に被係止部６０がストッパ５０に係止されることで、第１部分１０と第２部分２０との相対的な回転を確実に規制することができる。また、ストッパ５０及び被係止部６０を見ることで、第１部分１０と第２部分２０との回転状態を容易に区別することができる。つまり、ローラ６３が第１凹部５３にあるか、又は第２凹部５４にあるかを見ることで、第１部分１０と第２部分２０との相対的な回転位置を容易に把握することができる。 As described above, according to the rotation mechanism 100B according to the present embodiment, as with the rotation mechanism 100A described above, while ensuring the relative rotation angle range of 360° or more between the first portion 10 and the second portion 20, Since the locked portion 60 is locked by the stopper 50 when the first portion 10 and the second portion 20 are rotated more than necessary, the relative rotation between the first portion 10 and the second portion 20 can be reliably restricted. Also, by looking at the stopper 50 and the engaged portion 60, the rotational states of the first portion 10 and the second portion 20 can be easily distinguished. That is, by seeing whether the roller 63 is in the first recess 53 or in the second recess 54, the relative rotational position between the first portion 10 and the second portion 20 can be easily grasped. .
　なお、上記した回転機構１００Ｂでは、スライダ６２に対して駆動力又は弾性力を付与していないが、この形態に限定されない。例えば、コイルスプリング等の弾性部材によってスライダ６２をガイド部６１の中央付近（放射方向Ｄ２における中央付近）に弾性的に保持させる形態であってもよい。この場合、ローラ６３がガイド面５３ａ、５４ａに案内されると、スライダ６２は、弾性部材の弾性力に抗してガイド部６１を放射方向Ｄ２に移動することになる。 It should be noted that although the above-described rotating mechanism 100B does not apply a driving force or elastic force to the slider 62, it is not limited to this form. For example, an elastic member such as a coil spring may be used to elastically hold the slider 62 near the center of the guide portion 61 (near the center in the radial direction D2). In this case, when the rollers 63 are guided by the guide surfaces 53a and 54a, the slider 62 moves along the guide portion 61 in the radial direction D2 against the elastic force of the elastic member.
　＜天井搬送車＞
　図１２は、本実施形態に係る天井搬送車２００の一例を示す図である。天井搬送車２００は、例えば、処理装置と本棚との間などに物品Ｍを搬送する。図１２に示すように、天井搬送車２００は、走行部本体１１０と、移載装置１２０と、回転機構１３０とを備える。走行部本体１１０は、天井軌道Ｒを走行する。移載装置１２０は、走行部本体１１０に連結され、物品Ｍを移載する。回転機構１３０は、走行部本体１１０に対して移載装置１２０を回転させる。 <Ceiling carrier>
FIG. 12 is a diagram showing an example of the ceiling transport vehicle 200 according to this embodiment. The ceiling transport vehicle 200 transports the article M between, for example, the processing device and the bookshelf. As shown in FIG. 12 , the ceiling guided vehicle 200 includes a traveling section main body 110 , a transfer device 120 and a rotation mechanism 130 . The traveling portion main body 110 travels on the ceiling track R. The transfer device 120 is connected to the traveling section main body 110 and transfers the articles M thereon. The rotation mechanism 130 rotates the transfer device 120 with respect to the traveling section main body 110 .
　走行部本体１１０は、走行車輪１１１と、連結部１１２と、ユニット部１１３とを有する。走行車輪１１１は、天井軌道Ｒ上を転動可能に配置される。連結部１１２は、走行車輪１１１とユニット部１１３とを連結する。ユニット部１１３には、例えば、走行車輪１１１を駆動するための図示しない駆動装置、及び天井搬送車２００を制御するための図示しない制御装置等が配置される。ユニット部１１３は、天井軌道Ｒより下方に吊り下げられた状態で設けられる。 The traveling portion main body 110 has traveling wheels 111 , a connecting portion 112 and a unit portion 113 . The traveling wheels 111 are arranged so as to be able to roll on the ceiling track R. The connecting portion 112 connects the traveling wheel 111 and the unit portion 113 . In the unit section 113, for example, a driving device (not shown) for driving the traveling wheels 111 and a control device (not shown) for controlling the ceiling guided vehicle 200 are arranged. The unit part 113 is provided in a state of being suspended below the ceiling track R.
　移載装置１２０は、ユニット部１１３の下方から回転機構１３０を介して吊り下げられた状態で設けられる。移載装置１２０は、物品Ｍを保持する物品保持部１２１と、物品保持部１２１を鉛直方向（Ｚ方向）に昇降させる昇降駆動部１２２と、昇降駆動部１２２を鉛直方向の回転軸ＡＸ７まわりに回転駆動する回転機構１２３と、昇降駆動部１２２及び回転機構１２３を水平方向にスライド移動させる横出し機構１２４とを有する。回転機構１２３は、上記した回転機構１００、１００Ａ、１００Ｂのいずれかが用いられる。この場合、第１部分１０は、横出し機構１２４の一部であり、第２部分２０は、昇降駆動部１２２の一部である。上記した回転機構１００、１００Ａ、１００Ｂの軸線ＡＸ１は、回転機構１２３の回転軸ＡＸ７に一致する。なお、移載装置１２０が回転機構１２３を備えるか否かは任意である。例えば、移載装置１２０は、回転機構１２３を備えない形態であってもよい。 The transfer device 120 is provided in a state of being suspended from below the unit section 113 via the rotation mechanism 130 . The transfer device 120 includes an article holding unit 121 that holds an article M, an elevation driving unit 122 that vertically (Z-direction) raises and lowers the article holding unit 121, and rotates the elevation driving unit 122 about a rotation axis AX7 in the vertical direction. It has a rotation mechanism 123 that rotates, and a lateral extension mechanism 124 that horizontally slides the elevation drive unit 122 and the rotation mechanism 123 . As the rotating mechanism 123, one of the rotating mechanisms 100, 100A, and 100B described above is used. In this case, the first part 10 is part of the lateral ejection mechanism 124 and the second part 20 is part of the lift drive 122 . The axis AX1 of the rotation mechanisms 100, 100A, and 100B described above coincides with the rotation axis AX7 of the rotation mechanism 123. As shown in FIG. It is optional whether or not the transfer device 120 includes the rotation mechanism 123 . For example, the transfer device 120 may be configured without the rotation mechanism 123 .
　回転機構１３０は、移載装置１２０を走行部本体１１０に対して鉛直方向の回転軸ＡＸ６の軸まわり（θＺ方向）に回転させる。回転機構１３０は、上記した回転機構１００、１００Ａ、１００Ｂのいずれかが用いられる。この場合、第１部分１０は、走行部本体１１０の一部である。例えば、第１部分１０は、ユニット部１１３を構成する筐体１１３ａの一部である。また、第２部分２０は、移載装置１２０の一部である。例えば、第２部分２０は、横出し機構１２４を支持する天板部１２５の一部である。上記した回転機構１００、１００Ａ、１００Ｂの軸線ＡＸ１は、回転機構１３０の回転軸ＡＸ６に一致する。 The rotation mechanism 130 rotates the transfer device 120 with respect to the traveling unit main body 110 around the rotation axis AX6 in the vertical direction (the θZ direction). As the rotating mechanism 130, one of the rotating mechanisms 100, 100A, and 100B described above is used. In this case, the first portion 10 is part of the running portion main body 110 . For example, the first portion 10 is a portion of the housing 113a that constitutes the unit portion 113 . Also, the second portion 20 is a part of the transfer device 120 . For example, the second portion 20 is a portion of the top plate portion 125 that supports the lateral ejection mechanism 124 . Axis AX1 of rotation mechanisms 100, 100A, and 100B described above coincides with rotation axis AX6 of rotation mechanism .
　天井搬送車２００は、物品Ｍを処理装置又は保管棚との間で移載する際、横出し機構１２４をスライドさせた状態で、又は横出し機構１２４をスライドさせない状態で昇降駆動部１２２を駆動し、物品保持部１２１を昇降させることで物品Ｍの受け渡しを行う。このとき、回転機構１３０を駆動して横出し機構１２４を回転軸ＡＸ６の軸まわりに（θＺ方向に）回転させることで、横出し機構１２４によるスライドの方向を変えることができる。また、回転機構１２３を駆動して昇降駆動部１２２を回転軸ＡＸ７の軸まわりに（θＺ方向に）回転させることで、物品保持部１２１で保持している物品Ｍを回転軸ＡＸ７の軸まわりに回転させることができる。 The ceiling transport vehicle 200 drives the elevation drive unit 122 while the lateral delivery mechanism 124 is slid or in a state where the lateral delivery mechanism 124 is not slid when transferring the article M between the processing device or the storage shelf. Then, the article M is delivered by moving the article holding portion 121 up and down. At this time, by driving the rotation mechanism 130 to rotate the lateral ejection mechanism 124 around the rotation axis AX6 (in the θZ direction), the sliding direction of the lateral ejection mechanism 124 can be changed. Further, by driving the rotation mechanism 123 to rotate the elevation drive unit 122 around the rotation axis AX7 (in the θZ direction), the article M held by the article holding unit 121 is rotated around the rotation axis AX7. can be rotated.
　このように、本実施形態に係る天井搬送車２００によれば、回転機構１３０、１２３として上記した回転機構１００（１００Ａ、１００Ｂ）を備えるため、巻き掛け伝動部材１２の交換作業を容易に行うことができる。すなわち、天井搬送車２００は、天井軌道Ｒに吊り下げられた状態のため、メンテナンス等が高所作業となる場合がある。回転機構１００における巻き掛け伝動部材１２の交換を容易とするので、作業者の負担を軽減することができる。また、走行部本体１１０に対して移載装置１２０を０°から３６０°以上（少なくとも３６０°）回転させることができ、走行部本体１１０に対して移載装置１２０をθＺ方向に大きな回転角度範囲で回転させることができる。 As described above, according to the overhead guided vehicle 200 according to the present embodiment, since the rotation mechanisms 100 (100A, 100B) described above are provided as the rotation mechanisms 130, 123, the replacement work of the winding transmission member 12 can be easily performed. can be done. In other words, since the ceiling transport vehicle 200 is suspended from the ceiling track R, maintenance and the like may involve high-place work. Since replacement of the winding transmission member 12 in the rotation mechanism 100 is facilitated, the burden on the operator can be reduced. Further, the transfer device 120 can be rotated from 0° to 360° or more (at least 360°) with respect to the traveling section main body 110, and the transfer device 120 can be rotated with respect to the traveling section main body 110 in a large rotation angle range in the θZ direction. can be rotated with
　以上、実施形態について説明したが、本発明の技術範囲は、上記した実施形態等で説明した内容に限定されない。なお、上記した実施形態で説明した要件の１つ以上は、省略されることがある。また、上記した実施形態で説明した要件は、適宜組み合わせることができる。また、法令で許容される限りに於いて、日本特許出願である特願２０２１－０６０５５３、及び上述の実施形態等で引用した全ての文献の開示を援用して本文の記載の一部とする。また、上記した実施形態では、巻き掛け伝動部材１２がベルト状である形態を例に挙げて説明しているが、この形態に限定されない。例えば、巻き掛け伝動部材１２がチェーンであってもよい。この場合、回転駆動部２３は、チェーンと噛み合うスプロケット等が用いられてもよい。また、巻き掛け伝動部材１２は、ワイヤ等の紐状の部材が用いられてもよい。 Although the embodiments have been described above, the technical scope of the present invention is not limited to the contents described in the above-described embodiments and the like. Note that one or more of the requirements described in the above embodiments may be omitted. Also, the requirements described in the above embodiments can be combined as appropriate. In addition, as long as it is permitted by law, the disclosure of Japanese Patent Application No. 2021-060553 and all the documents cited in the above-described embodiments and the like are incorporated into the description of the text. Moreover, in the above-described embodiment, the form in which the transmission member 12 is belt-shaped is described as an example, but the present invention is not limited to this form. For example, the winding transmission member 12 may be a chain. In this case, a sprocket or the like that meshes with the chain may be used as the rotation driving portion 23 . Moreover, a string-like member such as a wire may be used as the winding transmission member 12 .
　また、上記した実施形態では、回転機構１００等が天井搬送車２００の回転機構１２３、１３０に適用された形態を例に挙げて説明したが、この形態に限定されない。例えば、上記した回転機構１００等は、ステージ装置においてテーブルを回転させる回転機構として用いられる形態であってもよい。 In addition, in the above-described embodiment, the configuration in which the rotation mechanism 100 and the like are applied to the rotation mechanisms 123 and 130 of the overhead transport vehicle 200 has been described as an example, but the configuration is not limited to this configuration. For example, the rotating mechanism 100 or the like described above may be used as a rotating mechanism for rotating a table in a stage device.
Ｄ１、Ｄ２・・・放射方向
Ｍ・・・物品
Ｒ・・・天井軌道
ＡＸ１・・・軸線
ＡＸ３・・・揺動軸
１０・・・第１部分
１１・・・円筒部材
１２・・・巻き掛け伝動部材
１２ａ・・・第１端部
１２ｂ・・・第２端部
１２ｃ・・・内周面
２０・・・第２部分
２２・・・モータ
２３・・・回転駆動部
３０、５０・・・ストッパ
３１・・・腕部
３２・・・当接部
３５・・・弾性部材
４０、６０・・・被係止部
４２ａ・・・テーパ面
１００、１００Ａ、１００Ｂ・・・回転機構
１１０・・・走行部本体
１２０・・・移載装置
１２３、１３０・・・回転機構
２００・・・天井搬送車 D1, D2 Radial direction M Article R Ceiling track AX1 Axis AX3 Swing shaft 10 First part 11 Cylindrical member 12 Winding Transmission member 12a First end portion 12b Second end portion 12c Inner peripheral surface 20 Second portion 22 Motor 23 Rotation drive units 30, 50 Stopper 31... Arm 32... Contact part 35... Elastic members 40, 60... Engaged part 42a... Tapered surfaces 100, 100A, 100B... Rotation mechanism 110... Traveling unit main body 120 Transfer devices 123, 130 Rotation mechanism 200 Ceiling carrier

Claims (8)

  1. 　第１部分と、前記第１部分に対して相対的に回転する第２部分と、を備える回転機構であって、
    　前記第１部分は、回転中心となる円筒部材と、前記円筒部材の外周面に巻き付けられ、両端のそれぞれが前記外周面に固定されている巻き掛け伝動部材と、を備え、
    　前記第２部分は、前記円筒部材の前記外周面と前記巻き掛け伝動部材との間で、前記巻き掛け伝動部材の内周面に噛み合う回転駆動部を備え、
    　前記巻き掛け伝動部材は、前記円筒部材の外周の一周を越えて、かつ回転の軸線方向にずらして巻き付けられている、回転機構。     A rotation mechanism comprising a first portion and a second portion that rotates relative to the first portion,
    The first portion includes a cylindrical member serving as a center of rotation, and a winding transmission member wound around the outer peripheral surface of the cylindrical member and having both ends fixed to the outer peripheral surface,
    The second portion includes a rotary drive portion that meshes with the inner peripheral surface of the winding transmission member between the outer peripheral surface of the cylindrical member and the winding transmission member,
    The winding transmission member is a rotation mechanism in which the transmission member is wound around the outer periphery of the cylindrical member while being shifted in the axial direction of rotation.
  2. 　前記第１部分及び前記第２部分のいずれか一方に設けられるストッパと、
    　前記第１部分及び前記第２部分のいずれか他方に設けられ、前記ストッパに係止される被係止部と、を備え、
    　前記ストッパ及び前記被係止部は、前記第１部分と前記第２部分との相対的な回転角度範囲が少なくとも０°から３６０°となるように配置される、請求項１に記載の回転機構。     a stopper provided on one of the first portion and the second portion;
    a locked portion provided on the other of the first portion and the second portion and locked by the stopper;
    2. The rotation mechanism according to claim 1, wherein said stopper and said engaged portion are arranged such that the relative rotation angle range between said first portion and said second portion is at least 0° to 360°. .
  3. 　前記ストッパは、前記軸線と平行に延びる揺動軸を中心として揺動可能な腕部と、前記腕部の先端に設けられ、前記被係止部と当接して前記被係止部を係止する当接部とを備え、
    　前記第１部分と前記第２部分とが所定方向に相対的に回転した際、及び前記所定方向と反対方向に回転した際の双方において、前記被係止部は、前記当接部に当接して前記腕部を揺動させた後に係止される、請求項２に記載の回転機構。     The stopper is provided at an arm portion that can swing around a swing shaft extending parallel to the axis, and at the tip of the arm portion, and contacts the locked portion to lock the locked portion. and a contact portion for
    The locked portion contacts the contact portion both when the first portion and the second portion rotate relatively in a predetermined direction and when they rotate in a direction opposite to the predetermined direction. 3. The rotation mechanism according to claim 2, wherein the arm is locked after the arm is swung by the arm.
  4. 　前記腕部は、前記軸線に対する放射方向に沿って延びる位置に弾性的に保持されている、請求項３に記載の回転機構。 The rotation mechanism according to claim 3, wherein the arm is elastically held in a position extending radially with respect to the axis.
  5. 　前記被係止部は、前記当接部に接触する部分にテーパ面が設けられている、請求項３又は請求項４に記載の回転機構。 The rotation mechanism according to claim 3 or 4, wherein the engaged portion has a tapered surface at a portion that contacts the contact portion.
  6. 　前記回転駆動部は、前記巻き掛け伝動部材の前記軸線方向におけるずれに対応して、前記軸線と平行な方向において前記巻き掛け伝動部材の幅よりも長い駆動面を備える、請求項１から請求項５のいずれか一項に記載の回転機構。 1 to 3, wherein the rotary drive portion has a drive surface longer than a width of the wound transmission member in a direction parallel to the axis, corresponding to a deviation of the wound transmission member in the axial direction. 6. The rotating mechanism according to any one of 5.
  7. 　天井軌道を走行する走行部本体と、物品を移載する移載装置とを備える天井搬送車であって、
    　前記走行部本体と前記移載装置との間に、請求項１から請求項６のいずれか一項に記載の回転機構が設けられ、
    　前記第１部分は、前記走行部本体の一部であり、
    　前記第２部分は、前記移載装置の一部である、天井搬送車。     An overhead transport vehicle comprising a traveling section main body that travels on an overhead track and a transfer device that transfers articles,
    The rotation mechanism according to any one of claims 1 to 6 is provided between the traveling unit main body and the transfer device,
    The first portion is a part of the running portion main body,
    The overhead transport vehicle, wherein the second part is a part of the transfer device.
  8. 　前記回転機構は、前記移載装置を前記走行部本体に対して鉛直方向の軸まわりに回転させる、請求項７に記載の天井搬送車。 The overhead guided vehicle according to claim 7, wherein the rotation mechanism rotates the transfer device about an axis in a vertical direction with respect to the traveling section main body.
PCT/JP2022/007930 2021-03-31 2022-02-25 Rotation mechanism and ceiling carrier WO2022209486A1 (en)

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Citations (6)

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JPH06511429A (en) * 1992-07-24 1994-12-22 バイオエンジニアリング・アクチエンゲゼルシヤフト Device for driving the rocking body
JP2005225598A (en) * 2004-02-12 2005-08-25 Asyst Shinko Inc Carriage, and carrying device
WO2007026724A1 (en) * 2005-08-29 2007-03-08 Mitsui Mining & Smelting Co., Ltd. Power unit for power slide device
WO2020090288A1 (en) * 2018-10-29 2020-05-07 村田機械株式会社 Ceiling carrier and ceiling carrier system
US20200246983A1 (en) * 2019-02-01 2020-08-06 Intuitive Surgical Operations, Inc. Constraint mechanisms, systems, and methods

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5105672A (en) * 1990-05-17 1992-04-21 Carson Donald G Rotary drive apparatus having one member with smooth outer peripheral surface
JPH06511429A (en) * 1992-07-24 1994-12-22 バイオエンジニアリング・アクチエンゲゼルシヤフト Device for driving the rocking body
JP2005225598A (en) * 2004-02-12 2005-08-25 Asyst Shinko Inc Carriage, and carrying device
WO2007026724A1 (en) * 2005-08-29 2007-03-08 Mitsui Mining & Smelting Co., Ltd. Power unit for power slide device
WO2020090288A1 (en) * 2018-10-29 2020-05-07 村田機械株式会社 Ceiling carrier and ceiling carrier system
US20200246983A1 (en) * 2019-02-01 2020-08-06 Intuitive Surgical Operations, Inc. Constraint mechanisms, systems, and methods

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