JP5056166B2 - Belt-driven moving body - Google Patents

Description

  The present invention relates to a belt-driven moving body installed in, for example, an automatic warehouse.

  As a conventional belt drive type moving body, for example, as described in Patent Document 1, a stacker crane installed in an automatic warehouse is known. The belt-driven moving body described in Patent Document 1 has a toothed drive pulley and a pair of idler pulleys supported by a lower frame, and both ends of the drive pulley and idler pulley are fixed. A toothed travel drive belt is wound around. When the drive pulley is driven to rotate by the drive motor, the driving force is transmitted to the travel drive belt, and the belt drive type moving body travels along the travel drive belt.

Patent Document 2 describes a flat belt transmission mechanism that transmits the rotational force of a drive shaft to a driven shaft via a pulley and a belt.
JP 2004-131255 A Japanese Utility Model Publication No. 6-45145

  By the way, the traveling drive belt for automatic warehouses as described in the said patent document 1 is pulled strongly from the both ends. For this reason, since the lower frame that supports the drive pulley and idler pulley is easily deformed by the tensile force of the traveling drive belt, the support shaft of the drive pulley and the support shaft of the idler pulley may not be kept parallel. In this case, there is a possibility that the traveling drive belt is moved to one side during traveling of the belt-driven moving body, and the traveling drive belt rides on the flange of the pulley. For this reason, at present, the alignment of the drive pulley and the idler pulley is improved to eliminate the deviation of the travel drive belt. However, in order to obtain alignment accuracy, the lower frame must be sufficiently rigid so that the lower frame does not deform due to the tensile force of the traveling drive belt, or the alignment adjustment of the drive pulley and idler pulley can be performed accurately over a long period of time. There was a need to do.

  Further, the technology described in Patent Document 2 is a transmission in which a flat belt is wound around a plurality of step pulleys, and the flat belt is slid with respect to the step pulley to change the winding position. It is completely different from a belt-driven moving body that travels along a belt.

  An object of the present invention is to provide a belt drive type moving body capable of widening an allowable range of alignment of a drive pulley and an idler pulley.

The present invention relates to a belt-driven moving body that travels in both directions along a toothed traveling belt that is fixed at both ends. A driving pulley, at least two idler pulleys supported by the moving body frame and guiding the traveling belt toward the driving pulley from both ends of the traveling belt, a driving means for driving the driving pulley to rotate, and a traveling belt rather than the driving pulley And at least two pairs of guide members for restricting the traveling belt with respect to the width direction , each pair of guide members being attached to the movable body frame. And the width of the running belt on the opposite side of each drive pulley and in the vicinity of each idler pulley. Those characterized that you have been arranged so as to sandwich from both sides.

  In such a belt-driven moving body, when the driving pulley is rotationally driven by the driving means, the winding position of the driving pulley with respect to the traveling belt sequentially moves, so that the belt-driven moving body moves along the traveling belt. Run. Here, at least two pairs of guide members that restrict the traveling belt with respect to the width direction by sandwiching the traveling belt from both sides in the width direction are arranged on both ends of the traveling belt with respect to the drive pulley. As a result, even if the traveling belt is deviated in any direction due to misalignment of the drive pulley and idler pulley during traveling of the belt-driven moving body, the deviation of the traveling belt is suppressed by each guide member. The traveling belt is prevented from being detached from the drive pulley and the idler pulley. Accordingly, the allowable range of alignment of the drive pulley and idler pulley can be widened.

Further, each pair of guide members, since it is arranged so as to sandwich from both sides in the width direction of the running belt on the opposite side of the drive pulley for each idler pulleys, each idler pulley, the width direction by the guide member of each pair In this case, the traveling belt regulated in the above manner is guided toward the driving pulley. Thereby, it can prevent reliably that a driving | running | working belt remove | deviates from a drive pulley or an idler pulley by the offset of a driving | running | working belt. Further, since there is a sufficient space for disposing the guide member on the opposite side of the drive pulley with respect to the idler pulley, the guide member can be easily attached to the belt-driven moving body.

  Preferably, the guide member is a guide roller. In this case, when the side edge of the traveling belt hits the guide member due to the deviation of the traveling belt, the guide member rotates. For this reason, for example, even when the belt-driven moving body is moved at a high speed, the travel belt is less likely to be rubbed by the guide member, so that the life of the travel belt can be extended.

Preferably, each guide member is formed with a groove, and each pair of guide members is arranged such that the side edge of the traveling belt passes through the groove. In this case, for example, the traveling belt is restrained (held) in the groove of the guide member even if the traveling belt floats at the time of emergency stop of the belt-driven moving body or the traveling belt hangs down when the traveling belt tension is lowered. The traveling belt is prevented from being detached from the drive pulley and the idler pulley.
Preferably, both end portions of the idler pulley are provided with hooks, and each guide member may have the side edge of the running belt hitting the idler pulley set even if the side edge of the running belt hits each guide member. Is arranged so that there is no.
Preferably, each guide member is disposed with a gap between the guide member and the traveling belt.

  According to the present invention, the allowable range of alignment of the drive pulley and the idler pulley can be widened. Thus, since it is not necessary to increase the rigidity of the moving body frame more than necessary in order to obtain the alignment accuracy of the drive pulley and the idler pulley, the cost of the moving body frame is reduced. In addition, the time required for alignment adjustment of the drive pulley and idler pulley is reduced, and therefore the alignment adjustment time can be shortened.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of a belt-driven moving body according to the invention will be described in detail with reference to the drawings.

  FIG. 1 is a schematic perspective view showing an embodiment of a belt-driven moving body according to the present invention, and FIG. 2 is a schematic side view showing a lower structure of the belt-driven moving body shown in FIG. In each figure, the belt drive type mobile body 1 of this embodiment is a stacker crane installed in an automatic warehouse.

  The stacker crane 1 is a moving body that loads and unloads loads with respect to a rack (storage shelf) of an automatic warehouse. A traveling rail 2 is laid between each rack (not shown). Further, in the vicinity of the traveling rail 2, a toothed traveling belt 3 extending along the longitudinal direction (front-rear direction) of the traveling rail 2 is installed. Although not particularly illustrated, both end portions of the traveling belt 3 are fixed to the floor surface, for example. The stacker crane 1 can travel in both directions along the traveling rail 2 and the traveling belt 3.

  The stacker crane 1 includes a lower frame 4 having two wheels 4 a rolling on a traveling rail 2, a pair of front and rear masts 5 erected on the upper surface of the lower frame 4, and upper ends of these masts 5. It has a fixed upper frame 6 and a carriage 7 supported by each mast 5 so as to be movable up and down. On the carriage 7, a fork 8 is provided for storing a load in the rack and taking out the load from the rack.

  A traveling drive unit 9 that causes the stacker crane 1 to travel along the traveling rail 2 is provided at one end portion (here, the front end portion) of the lower frame 4, and the other end portion (here, the rear end portion) of the lower frame 4. Is provided with an elevating drive unit 10 for elevating the carriage 7 along the mast 5.

  The travel drive unit 9 has a bracket 11 attached to the lower frame 4 as shown in FIGS. The bracket 11 supports a toothed drive pulley 12 and idler pulleys 13A and 13B. These drive pulley 12 and idler pulleys 13 </ b> A and 13 </ b> B are covered with a cover 14. FIG. 4 shows a state in which the cover 14 and the like are removed from FIG. A travel motor 15 with a speed reducer that rotationally drives the drive pulley 12 is placed on the lower frame 4.

  A traveling belt 3 is wound around the drive pulley 12 and idler pulleys 13A and 13B. The teeth of the drive pulley 12 and the traveling belt 3 mesh with each other. The idler pulleys 13A and 13B are supported at a position below the drive pulley 12 in the bracket 11 so as to freely rotate. The idler pulleys 13 </ b> A and 13 </ b> B guide the traveling belt 3 toward the drive pulley 12 on both front and rear sides of the drive pulley 12. That is, the traveling belt 3 extending in the front-rear direction along the traveling rail 2 is wound around the driving pulley 12 while being bent upward toward the driving pulley 12 by the idler pulleys 13A and 13B.

  A shaft stopper 16 is attached to the tip of the support shaft (shaft) of the idler pulleys 13A and 13B. In addition, a derailment prevention member 17 is attached to the lower frame 4 so that the wheels 4a are not derailed from the traveling rail 2.

  Further, as shown in FIGS. 2 and 3, the traveling drive unit 9 includes a pair of guide rollers 18 that regulate the traveling belt 3 in the left-right direction (width direction) on the front side of the idler pulley 13A, and an idler pulley 13B. On the rear side, it has a pair of guide rollers 19 (only one is shown in FIG. 3) for regulating the traveling belt 3 in the left-right direction. These guide rollers 18 and 19 have a cylindrical shape, and are formed of, for example, metal or resin.

  Each guide roller 18 is attached to the bracket 11 via an L-shaped attachment plate 20 so as to sandwich the traveling belt 3 from both the left and right sides in the vicinity of the front side of the idler pulley 13A. Each guide roller 19 is attached to the bracket 11 via the attachment plate 20 so as to sandwich the traveling belt 3 from both the left and right sides in the vicinity of the rear side of the idler pulley 13B.

  As shown in FIG. 5, the guide rollers 18 and 19 are screwed into the guide rollers 18 and 19 and the through holes of the mounting plate 20 with the bolts 21 threaded at the front end portions, and screwed into the nuts 22. The mounting plate 20 is rotatably supported. At this time, a bearing may be interposed between the guide rollers 18 and 19 and the shaft portion of the bolt 21. The structure for attaching the guide rollers 18 and 19 to the attachment plate 20 is not limited to the above structure.

  As shown in FIG. 5, the guide rollers 18 and 19 are preferably disposed with a clearance of, for example, several millimeters between the guide rollers 18 and 19. In this case, the traveling belt 3 can be made to last longer than when the traveling belt 3 is always in contact with the guide rollers 18 and 19. Further, when the side edge of the traveling belt 3 hits the guide rollers 18 and 19, the guide rollers 18 and 19 rotate, so that the traveling belt 3 is prevented from being rubbed by the guide rollers 18 and 19. Accordingly, the traveling belt 3 can be further extended.

  Further, as shown in FIG. 5, the guide rollers 18 and 19 have the side edges of the running belt 3 that are in contact with the guide rollers 18 and 19, and the side edges of the running belt 3 are the flanges 12 a and idler pulleys of the drive pulley 12. It is arrange | positioned in the position which does not hit the collars 13a and 13b of 13A and 13B.

  In such a travel drive unit 9, when the drive pulley 12 is rotationally driven by the travel motor 15, the driving force is transmitted to the travel belt 3. At this time, since both ends of the traveling belt 3 are fixed as described above, the winding position of the drive pulley 12 with respect to the traveling belt 3 sequentially moves. As a result, the stacker crane 1 travels along the travel rail 2.

  By the way, if the support shaft of the drive pulley 12 and the support shafts of the idler pulleys 13A and 13B are not kept in parallel, that is, the alignment accuracy of the drive pulley 12 and the idler pulleys 13A and 13B is not achieved, the stacker crane When the vehicle travels 1, the traveling belt 3 approaches the left or right direction.

  On the other hand, in the present embodiment, a pair of guide rollers 18 that sandwich the traveling belt 3 from both the left and right sides is provided on the front side of the idler pulley 13A, and a pair of sandwiching the traveling belt 3 from both the left and right sides on the rear side of the idler pulley 13B. Since the guide roller 19 is provided, even if the running belt 3 is displaced while the stacker crane 1 is traveling, the displacement is suppressed by the guide rollers 18 and 19.

  At this time, even if the traveling belt 3 hits the guide rollers 18 and 19, the traveling belt 3 does not hit the flange 12a of the drive pulley 12 and the flanges 13a and 13b of the idler pulleys 13A and 13B. It is prevented from coming off from the idler pulleys 13A and 13B. Further, the traveling belt 3 is not cut by the riding of the traveling belt 3 on the collar 12a and the collars 13a, 13b.

  As described above, since the problem due to the deviation of the traveling belt 3 is eliminated, the allowable range of alignment of the drive pulley 12 and the idler pulleys 13A and 13B can be widened. As a result, it is not necessary to increase the strength of the lower frame 4 more than necessary in order to obtain the alignment accuracy of the drive pulley 12 and the idler pulleys 13A and 13B, so that the cost of the lower frame 4 can be suppressed. In addition, it is possible to shorten the alignment adjustment time of the drive pulley 12 and the idler pulleys 13A and 13B, and in some cases, no alignment adjustment is required.

  FIG. 6 shows a modification of the above embodiment. In the drawing, members that are the same as or equivalent to those in the above embodiment are given the same reference numerals. In the present modified embodiment, the structures of the guide rollers 18 and 19 are different from those in the above embodiment. In FIG. 6, the guide roller 19 is omitted.

  In FIG. 6, an annular groove 30 is formed on the outer peripheral surface of each guide roller 18. Each guide roller 18 is rotatably supported by the mounting plate 20 so that the side edge portion of the traveling belt 3 passes through the groove portion 30. Further, when the side edge of the running belt 3 hits the bottom surface of the groove portion 30, the side edge of the running belt 3 hits the flange 12a of the drive pulley 12 and the flanges 13a and 13b of the idler pulleys 13A and 13B. It is arrange | positioned in the position which does not have.

  In such a modified embodiment, for example, when the traveling belt 3 floats upward due to an emergency stop from a state where the stacker crane 1 is traveling at a high speed, the side edge of the traveling belt 3 is located above the groove portion 30. The traveling belt 3 is held by the guide roller 18 because it is caught on the side surface. Further, when the traveling belt 3 hangs down due to a decrease in the tension of the traveling belt 3, the side edge portion of the traveling belt 3 is caught on the lower side surface of the groove portion 30. It will be retained. Therefore, even in such a case, it is possible to reliably prevent the traveling belt 3 from being detached from the drive pulley 12 and the idler pulleys 13A and 13B.

  The present invention is not limited to the above embodiment. For example, in the above embodiment, the guide roller 18 is disposed on the opposite side of the drive pulley 12 with respect to the idler pulley 13A, and the guide roller 19 is disposed on the opposite side of the drive pulley 12 with respect to the idler pulley 13B. When there is a sufficient storage space in the interior, the guide roller 18 may be disposed between the drive pulley 12 and the idler pulley 13A, and the guide roller 19 may be disposed between the drive pulley 12 and the idler pulley 13B. .

  In the above embodiment, the traveling belt 3 is regulated with respect to the width direction by the guide roller having a cylindrical shape. However, as the guide member that regulates the traveling belt 3 as such, for example, a spherical roller or the like Also good. For example, when the stacker crane 1 is driven at a low speed, a member other than a roller (rotating body), such as a guide plate, may be used as a guide member. Further, the number of guide members is not particularly limited as long as at least one pair is provided on both ends of the traveling belt 3 with respect to the drive pulley 12.

  Furthermore, although the said embodiment demonstrated the stacker crane of an automatic warehouse, the belt drive type mobile body of this invention is not restricted to a stacker crane in particular, For example, like a self-propelled carriage, a traverser, etc. The present invention can be widely applied as long as it travels in both directions along a traveling belt attached.

It is a schematic perspective view which shows a stacker crane as one Embodiment of the belt drive type mobile body concerning this invention. It is a schematic side view which shows the lower structure of the stacker crane shown in FIG. FIG. 3 is a perspective view showing a part of a travel drive unit shown in FIG. 2. It is a perspective view which shows the state which removed the cover and the guide roller in the travel drive unit shown in FIG. FIG. 4 is an enlarged front view showing a part of the travel drive unit shown in FIG. 3. It is an enlarged front view which shows the modification of the traveling drive unit shown in FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Stacker crane (belt drive type mobile body), 3 ... Travel belt, 4 ... Lower frame (moving body frame), 9 ... Travel drive unit, 11 ... Bracket, 12 ... Drive pulley, 13A, 13B ... Idler pulley, 15 ... travel motor (drive means), 18 ... guide roller (guide member), 19 ... guide roller (guide member), 30 ... groove.

Claims (5)

In a belt-driven moving body that travels in both directions along a toothed traveling belt with both ends fixed,
A moving body frame;
A toothed drive pulley supported by the movable body frame and around which the traveling belt is wound;
At least two idler pulleys supported by the movable body frame and for guiding the traveling belt toward the drive pulley from both ends of the traveling belt;
Drive means for rotationally driving the drive pulley;
At least two pairs of guide members arranged to sandwich the traveling belt from both sides in the width direction at both ends of the traveling belt from the drive pulley, and restricting the traveling belt in the width direction ;
The pair of guide members are attached to the movable body frame, and sandwich the traveling belt from both sides in the width direction on the opposite side of the drive pulley and in the vicinity of the idler pulleys with respect to the idler pulleys. belt-driven movable body, characterized that you have been arranged so. Claim 1 Symbol placement of the belt-driven movable body, wherein the guide member is a guide roller. Each guide member is formed with a groove,
3. The belt-driven moving body according to claim 1, wherein the pair of guide members are arranged such that a side edge portion of the traveling belt passes through the groove portion. A hook is provided at both ends of the idler pulley,
Each guide member is arranged so that the side edge of the running belt does not hit the flange of the idler pulley even if the side edge of the running belt hits the guide member. The belt drive type moving body according to any one of claims 1 to 3. 5. The belt-driven movable body according to claim 1, wherein each guide member is disposed with a gap between the guide member and the traveling belt.

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