WO2022209486A1 - Mécanisme de rotation et dispositif de transport au plafond - Google Patents

Mécanisme de rotation et dispositif de transport au plafond 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
English (en)
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/ja
Publication of WO2022209486A1 publication Critical patent/WO2022209486A1/fr

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

Abstract

La présente invention vise à faire tourner une première partie et une seconde partie selon 0° à 360° ou plus, l'une par rapport à l'autre, et à réduire la charge de travail d'un ouvrier en facilitant le travail de remplacement d'un élément de transmission enroulé. Le mécanisme de rotation comprend une première partie, et une seconde partie qui tourne par rapport à la première partie. La première partie comprend un élément cylindrique qui sert de centre de rotation, et un élément de transmission enroulé autour d'une surface circonférentielle externe de l'élément cylindrique et qui est fixé aux deux extrémités à la surface circonférentielle externe. La seconde partie comprend une partie d'entraînement rotative en prise avec une surface circonférentielle interne de l'élément de transmission enroulé, entre la surface circonférentielle externe de l'élément cylindrique et l'élément de transmission enroulé. L'élément de transmission enroulé est enroulé au-delà de la circonférence extérieure de l'élément cylindrique tout en étant déplacé dans la direction axiale de rotation.
PCT/JP2022/007930 2021-03-31 2022-02-25 Mécanisme de rotation et dispositif de transport au plafond WO2022209486A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2023510677A JP7487842B2 (ja) 2021-03-31 2022-02-25 回転機構及び天井搬送車

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-060553 2021-03-31
JP2021060553 2021-03-31

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WO2022209486A1 true WO2022209486A1 (fr) 2022-10-06

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TW (1) TW202241779A (fr)
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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 (ja) * 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 揺転体を駆動するための装置
JP2005225598A (ja) * 2004-02-12 2005-08-25 Asyst Shinko Inc 搬送台車及び搬送装置
WO2007026724A1 (fr) * 2005-08-29 2007-03-08 Mitsui Mining & Smelting Co., Ltd. Unité de puissance pour dispositif coulissant de puissance
WO2020090288A1 (fr) * 2018-10-29 2020-05-07 村田機械株式会社 Dispositif de transport au plafond et système de dispositif de transport au plafond
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 (ja) * 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 揺転体を駆動するための装置
JP2005225598A (ja) * 2004-02-12 2005-08-25 Asyst Shinko Inc 搬送台車及び搬送装置
WO2007026724A1 (fr) * 2005-08-29 2007-03-08 Mitsui Mining & Smelting Co., Ltd. Unité de puissance pour dispositif coulissant de puissance
WO2020090288A1 (fr) * 2018-10-29 2020-05-07 村田機械株式会社 Dispositif de transport au plafond et système de dispositif de transport au plafond
US20200246983A1 (en) * 2019-02-01 2020-08-06 Intuitive Surgical Operations, Inc. Constraint mechanisms, systems, and methods

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JP7487842B2 (ja) 2024-05-21
TW202241779A (zh) 2022-11-01

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