JP5747055B2 - Movable body moving device - Google Patents

Description

  The present invention relates to a movable body moving device that moves a movable body using a meshing chain that can move forward and backward.

  Conventionally, a plurality of pairs of chain members capable of moving forward and backward are engaged and integrated with each other as they move in the traveling direction, while driving the meshing chains that are disengaged from each other and branch as they move in the backward direction. An interlocking chain type lifting device (movable body moving device) that moves a lifting table (movable body) is known (for example, Patent Document 1). In such a device, the end of the meshing chain that can move forward and backward is connected to the lifting table, and when the meshing chain moves forward and backward when driven by a meshing chain driving device such as a sprocket, the moving direction of the meshing chain is raised and lowered. As the direction, the lifting table moves up and down.

  Further, in such a device, in order to suppress the inclination and buckling of the meshing chain that is in an integrated meshing state when the paired chain members are meshed with each other, the advancing / retreating direction of the meshing chain can be expanded and contracted. A guide portion is provided in the lazy tong mechanism (expandable link mechanism), and the meshing chain is guided by the guide portion so as to move in the forward / backward movement direction. That is, the lazy tong mechanism has an end portion on the extension direction side connected to the lifting table and an intermediate portion as an example of a guide portion between a pair of joint portions located in a direction crossing the extension / contraction direction. A support is installed.

  The intermediate support has a columnar shape with a rectangular cross section, and a chain passage hole is formed in an intermediate portion in the longitudinal direction so as to penetrate in the forward / backward movement direction of the meshing chain (= extension / contraction direction of the lazy tong mechanism). Then, the meshing chain in which the chain members are meshed with each other and integrated in a straight bar shape is inserted into the chain passage hole of the intermediate support, and guided so as to move in the forward and backward movement direction through the chain passage hole. Therefore, the inclination and buckling of the meshing chain were suppressed.

JP 2009-269975 A

  By the way, in the above-described conventional apparatus, the joint shaft constituting one joint portion of the pair of joint portions on which the intermediate support body is installed is attached to the intermediate support body in accordance with the expansion and contraction of the lazy tong mechanism. It is necessary to make a relative movement along the longitudinal direction. Therefore, it is necessary to extend a slide mechanism for supporting the joint shaft so that the joint shaft is slidable in the intermediate support body along the longitudinal direction. Only the end of one side of the intermediate support protrudes outward from the side edge of one side of the lazy tong mechanism. Therefore, it is necessary to ensure a large movement space area occupied by the intermediate support (guide portion) that moves in the expansion / contraction direction when the lazy tong mechanism expands / contracts as the meshing chain moves forward / backward.

  Such a problem is not limited to the meshing chain type lifting device that moves the lifting table using the meshing chain, but is a meshing chain that is guided so as to move along the advancing / retreating direction by a guide portion provided in the telescopic link mechanism. The movable body moving device that moves the movable body in the advancing and retreating direction of the meshing chain by using the is generally common.

  The present invention has been made in view of such circumstances, and its purpose is to engage with the guide portion while suppressing an increase in the movement space area occupied by the guide portion of the engagement chain during expansion and contraction of the expansion and contraction link mechanism. It is an object of the present invention to provide a movable body moving device capable of suppressing the inclination and buckling of the meshing chain by guiding the chain so as to move in the forward / backward movement direction.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
The movable body moving device that solves the above-described problem has at least a pair of chain members that can move forward and backward, and the pair of chain members move in the advancing direction so that they are engaged with each other and integrated. The chain members that are engaged with each other in the retraction direction from the meshed state are engaged with each other so as to be disengaged from each other and branched, the base portion fixedly arranged on the retraction direction side of the meshing chain, and the base portion more than the base portion. A movable body disposed in a region on the traveling direction side so as to be movable in the advancing / retreating movement direction of the meshing chain; and the base body portion and the movable body disposed between the movable body and the base body so as to be extendable and contractable. And a telescoping link mechanism that connects the chain members so that they can move relative to each other, and the meshing chain in which the chain members are meshed with each other so as to move along the advancing and retreating direction as the telescoping link mechanism expands and contracts. And at least a pair of intersecting arm members coupled so as to rotate in a state of intersecting with each other about a support shaft orthogonal to the expansion / contraction direction of the expansion / contraction link mechanism, A pair of proximal arm members whose one end side is rotatably connected to the cross arm member and the other end side is rotatably connected to the base portion, and one end side is rotatably connected to the cross arm member. And a pair of distal end side arm members rotatably connected to the movable body, and the guide portion is a connecting portion where the pair of intersecting arm members in the telescopic link mechanism intersect. Is provided.

  According to this configuration, the connecting portion of the intersecting arm members provided with the guide portions in the telescopic link mechanism moves in the telescopic direction when the telescopic link mechanism expands and contracts, but moves greatly in the direction intersecting with the telescopic direction. There is no. For this reason, the guide portion that guides the meshing chain in the forward / backward movement direction while being supported by such a connecting portion, even if the guide portion moves in the expansion / contraction direction during expansion / contraction of the expansion / contraction link mechanism, the movement space area occupied during the movement is expanded / contracted There will be no overhanging state on the outside of the link mechanism. Therefore, the meshing chain is guided by the guide portion so as to move in the forward / backward movement direction while suppressing an increase in the movement space area occupied by the guide portion of the meshing chain when the telescopic link mechanism is expanded / contracted. Can be suppressed.

In the movable body moving device, it is preferable that the guide portion is provided so as to be rotatable about the support shaft with respect to the connecting portion.
According to this configuration, even when the cross arm member rotates around the support shaft of the connecting portion as the extendable link mechanism expands and contracts, the guide portion can rotate about the support shaft with respect to the connecting portion. Therefore, by relatively rotating with respect to the rotating cross arm member, the relative angle with respect to the base portion and the movable body can be maintained, and the meshing chain can be guided to move along the forward / backward moving direction.

  In the movable body moving device, at least one of the pair of base end side arm members and the pair of distal end side arm members is line-symmetric with respect to the meshing chain in the meshed state with respect to the pair of arm members. It is preferable that a pair of gears fixed so as to mesh with each other are provided.

  According to this configuration, when the expansion / contraction link mechanism expands and contracts and the base portion and the movable body move relative to each other in the expansion / contraction direction, the rotation angle between the pair of arm members in which the pair of gears are fixed in line symmetry Therefore, it is possible to reduce distortion during expansion / contraction of the expansion / contraction link mechanism.

In the movable body moving device, it is preferable that the guide portion is provided inside a moving space area occupied by the telescopic link mechanism during expansion and contraction.
According to this configuration, the guide part moves inside the movement space area occupied by the expansion / contraction link mechanism during expansion / contraction, so the meshing chain guided by the guide part also moves inside the movement space area of the expansion / contraction link mechanism. Will move forward and backward. Therefore, when the meshing chain moves forward and backward, it is possible to reduce the possibility of colliding with other members arranged outside the telescopic link mechanism.

  In the movable body moving device, each chain member in the meshing chain is in a state in which ends are overlapped with a plurality of link plates sequentially connected in a series direction along the forward / backward movement direction. A pin for connecting adjacent link plates, and when the meshing chain moves forward and backward, the guide portion moves the meshing chain forward and backward through contact with a portion of the link plate extending along the forward and backward movement direction. It is preferable to guide in the moving direction.

  According to this configuration, the guide portion guides the meshing chain so as to move along the forward / backward movement direction through contact with a portion of the link plate extending along the forward / backward movement direction. For this reason, the guide portion can have a longer contact length between the guide portion and the meshing chain than in the case where the guide portion is guided through contact with the tip of the pin extending in a direction orthogonal to the advancing / retreating movement direction of the meshing chain. In addition, the meshing chain can be stably guided to move along the forward / backward moving direction.

  According to the present invention, the guide chain guides the mesh chain to move along the forward / backward movement direction while suppressing an increase in the movement space area occupied by the guide portion of the mesh chain when the telescopic link mechanism is expanded and contracted. Thus, the inclination and buckling of the meshing chain can be suppressed.

The front view of the state which the expansion-contraction link mechanism of the movable body moving apparatus of 1st Embodiment extended | stretched. The enlarged view of A part in FIG. FIG. 3 is a partially omitted cross-sectional view taken along line 3-3 in FIG. The perspective view of a guide part. The front view of the movable body moving apparatus of the state which the expansion-contraction link mechanism contracted. The perspective view of the movable body moving apparatus of the state which the expansion-contraction link mechanism extended. The rear view of the movable body moving apparatus of the state which the expansion-contraction link mechanism contracted. The perspective view of the state which the expansion-contraction link mechanism of the movable body moving apparatus of 2nd Embodiment extended | stretched.

(First embodiment)
Hereinafter, a first embodiment of a movable body moving device that moves a movable body using a meshing chain will be described with reference to the drawings.

  As shown in FIG. 1, the movable body moving device 11 includes a meshing chain 12 that can move forward and backward along its longitudinal direction, and a housing part 13 as an example of a base part that is fixedly disposed on the retreating direction side of the meshing chain 12. And a movable body 14 disposed on the traveling direction side of the meshing chain 12. Furthermore, the movable body moving device 11 includes a telescopic link mechanism 15 that connects the housing portion 13 and the movable body 14 so as to be movable relative to each other in a state in which the movable body 14 and the housing portion 13 are stretchable. A guide portion 16 that guides the meshing chain 12 to move along the forward / backward movement direction while being supported by the mechanism 15 is provided.

  In this embodiment, the advancing / retreating movement direction of the meshing chain 12 when the movable body 14 is moved coincides with the expansion / contraction direction Z of the expansion / contraction link mechanism 15. In the following description, the direction in which the expansion / contraction link mechanism 15 extends (upward in FIG. 1) is defined as the expansion direction Z1, and the direction in which the expansion / contraction link mechanism 15 contracts (downward in FIG. 1) is defined as the contraction direction Z2. That is, the extension direction Z1 coincides with the traveling direction of the meshing chain 12, and the contraction direction Z2 coincides with the retraction direction of the meshing chain 12. Further, of the directions orthogonal to the expansion / contraction direction Z, the paired chain members 31 and 32 are meshed with each other so that the meshing chain 12 in the meshing state is moved together in the retreat direction. The direction in which the two are separated from each other and branched is defined as a branch direction X (the left-right direction in FIG. 1). Each direction is illustrated with a direction perpendicular to the expansion / contraction direction Z and also perpendicular to the branching direction X being a front-rear direction Y (a direction perpendicular to the paper surface in FIG. 1). 1 and 5, illustration of the exterior 18 (see FIG. 6) of the housing portion 13 is omitted, and the internal configuration of the housing portion 13 is illustrated.

  As shown in FIG. 1, the accommodating portion 13 is provided with a drive source 19 such as a motor and a sprocket 20 that can rotate in both forward and reverse directions as the drive source 19 is driven. The sprocket 20 rotates about an axis along the front-rear direction Y, and the meshing chain 12 moves forward and backward along the expansion / contraction direction Z as the sprocket 20 rotates. Further, the accommodating portion 13 accommodates a guide plate 21 having a rectangular shape substantially the same as the exterior 18 in the front-rear direction Y. The guide plate 21 has a pair of spiral guide grooves 22 that can guide the meshing chain 12 so that the chain members 31 and 32 branched from the meshing state move while spiraling. It is formed so as to be symmetrical with respect to the straight rod-shaped meshing chain 12 that is meshed along the forward / backward moving direction.

  As shown in FIGS. 2 and 3, the pair of chain members 31 and 32 constituting the meshing chain 12 is an example of a link plate that is sequentially connected in a series direction along the forward / backward movement direction (stretching direction Z). Each has a plurality of inner plates 24 and outer plates 25. Further, each chain member 31, 32 includes a cylindrical bush 26 assembled between the inner plates 24 facing each other in the front-rear direction Y, a roller 27 rotatably inserted on the outer peripheral side of the bush 26, and a series direction In this case, the inner plate 24 and the outer plate 25 which are adjacent to each other are overlapped with each other, and a pin 28 is rotatably connected in a state where the inner plate 24 and the outer plate 25 are inserted through the bush 26.

  Further, as shown in FIG. 2, the inner plate 24 and the outer plate 25 are formed with tooth portions 29 each having a substantially triangular shape when viewed from the front in the front-rear direction Y. That is, the end edge on the traveling direction side of the outer plate 25 (inner plate 24) in one chain member 31 and the end edge on the retraction direction side of the outer plate 25 (inner plate 24) in the other chain member 32 are engaged with each other. Possible teeth 29 are formed. The meshing chain 12 is in a meshing state of a rigid structure integrated into a straight bar shape by meshing the tooth portions 29 with each other as the chain members 31 and 32 move in the traveling direction (extension direction Z1). . On the other hand, the meshing chain 12 is branched in the branching direction X when the chain members 31 and 32 are disengaged from each other as the chain members 31 and 32 move in the retracting direction (contraction direction Z2).

  In addition, each end part which becomes the advancing direction (extension direction Z1) side in the longitudinal direction of the chain members 31 and 32 is connected to the movable body 14. Various functional members such as a lifting table and a crane (not shown) can be attached to the movable body 14, and when the movable body 14 moves by moving the meshing chain 12 forward and backward, the functional members such as the lifting table and the crane are also provided. Moving.

  As shown in FIGS. 3 and 4, the guide portion 16 is a member whose outer shape is a substantially cubic shape, and in the plan view from the front-rear direction Y in a state of being supported by the telescopic link mechanism 15. A shaft hole 35 for inserting a support shaft 34 that supports the guide portion 16 with respect to the telescopic link mechanism 15 is formed at a position that is in the middle of the center and the branch direction X. That is, the guide portion 16 rotates around the support shaft 34 by inserting the other end side of the support shaft 34 along the front-rear direction Y supported at one end side by the telescopic link mechanism 15 into the shaft hole 35. The telescopic link mechanism 15 is freely supported.

  Furthermore, a guide hole 36 for guiding the chain member 31 and 32 to mesh with each other and to be inserted into the meshing chain 12 in a meshed state in which the chain members 31 and 32 are integrated into a straight bar shape so as to move in the forward and backward movement direction. Is formed penetrating in a direction intersecting the shaft hole 35. A pair of protruding ridges 37 are formed on the inner surface of the guide hole 36 in the guide portion 16 and are opposed to each other in the front-rear direction Y in which the shaft hole 35 is formed so as to penetrate therethrough. . In addition, in the front-rear direction Y, the distance between the two ridges 37 is substantially the same as the distance between the outer surfaces of the outer plate 25. Therefore, when the meshing chain 12 is inserted through the guide hole 36, the outer surface portion of the outer plate 25 extending along the forward / backward moving direction is in sliding contact with the ridge 37 so that the meshing chain 12 moves in the front-rear direction Y. It is guided to move along the advancing / retreating movement direction while suppressing the inclination of.

  As shown in FIGS. 2 and 3, the meshing chain 12 includes the inner plate 24 and the chain members 31 and 32 in a meshed state in which the tooth portions 29 are meshed with each other and integrated into a straight bar shape. Each one of the linear edges of the outer plate 25 extends along the forward / backward movement direction of the meshing chain 12. In this state, when the meshing chain 12 is inserted into the guide hole 36, a slight gap S is formed between the end edge extending along the forward / backward movement direction of each plate 24, 25 and the inner surface of the guide hole 36. It will be in the state which has. Therefore, when the meshing chain 12 inserted through the guide hole 36 is likely to be inclined in the branching direction X perpendicular to the front-rear direction Y, the edge extending along the forward / backward movement direction in each of the plates 24 and 25 is the guide hole. By contacting the inner surface of 36, the inclination and buckling are suppressed.

  As shown in FIG. 5, the guide parts 16 are provided in at least one place (two places in the present embodiment) in the extension / contraction direction Z of the extension / contraction link mechanism 15, and when the extension / contraction link mechanism 15 contracts, each guide part 16. Faces facing each other in the expansion / contraction direction Z of each other come into contact with each other. In this case, the guide portion 16 that is positioned closest to the extension direction Z1 in such a case is large enough not to contact the movable body 14 even if it contacts another guide portion 16 that is adjacent to the contraction direction Z2. That is, the movable body 14 is formed in a size that does not hinder the movement of the movable body 14 in the retracting direction (contraction direction Z2).

  As shown in FIG. 6, the telescopic link mechanism 15 is composed of a plurality (eight in this embodiment) of arm members 41 to 48 that constitute a lazy tong mechanism. And each arm member 41-48 is the axis | shaft where the edge parts of arm member 41-48 which continue in series in the expansion-contraction direction Z of the expansion-contraction link mechanism 15 in series in the front-back direction Y are piled up in the front-back direction Y. The parts 51 to 56 are pivotally connected to each other.

  When the extension direction Z1 side of the telescopic link mechanism 15 is the distal end side and the contraction direction Z2 side is the proximal end side, the first shaft portion 51 of the shaft portions 51 to 56 is the distal end portion of the first arm member 41. And the base end portion of the third arm member 43 are rotatably connected, and the second shaft portion 52 allows the tip end portion of the second arm member 42 and the base end portion of the fourth arm member 44 to be freely rotatable. It is connected. The third shaft portion 53 rotatably connects the distal end portion of the fourth arm member 44 and the proximal end portion of the fifth arm member 45, and the fourth shaft portion 54 is connected to the distal end of the third arm member 43. And the base end portion of the sixth arm member 46 are rotatably connected. The fifth shaft portion 55 rotatably connects the distal end portion of the sixth arm member 46 and the proximal end portion of the seventh arm member 47, and the sixth shaft portion 56 is connected to the distal end of the fifth arm member 45. And the base end portion of the eighth arm member 48 are rotatably connected.

  Of the arm members 41 to 48, the first arm member 41 and the second arm member 42 function as an example of a pair of proximal end arm members, and the seventh arm member 47 and the eighth arm member 48. Functions as an example of a pair of tip side arm members. The third arm member 43 and the fourth arm member 44, and the fifth arm member 45 and the sixth arm member 46 function as an example of at least one pair (two pairs in the present embodiment) of cross arm members. .

  Among the arm members 41 to 48, the first arm member 41 and the second arm member 42 that are located closest to the retreating direction (extension direction Z2) are the other end of the one end side and the other end side in the longitudinal direction. As an example of the side, each base end portion on the housing portion 13 side is rotatably connected to the housing portion 13 by base end side shaft portions 57 and 58 along the front-rear direction Y. In other words, the base end portion of the first arm member 41 is connected to the housing portion 13 by the first base end side shaft portion 57 and the base end portion of the second arm member 42 is set by the second base end side shaft portion 58. It is pivotally connected. In addition, the 1st base end side axial part 57 and the 2nd base end side axial part 58 are provided immovably in each position spaced apart in the branch direction X in the accommodating part 13. As shown in FIG.

  On the other hand, among the arm members 41 to 48, the seventh arm member 47 and the eighth arm member 48 located on the most travel direction (extension direction Z1) side are one end side and the other end side in each longitudinal direction, Each distal end portion on the movable body 14 side as an example of the other end side is rotatably connected to the movable body 14 by distal end side shaft portions 59 and 60 along the front-rear direction Y. That is, the distal end portion of the seventh arm member 47 is rotatable with respect to the movable body 14 by the first distal end side shaft portion 59, and the distal end portion of the eighth arm member 48 is rotatable by the second distal end side shaft portion 60. It is connected. The first distal end side shaft portion 59 and the second distal end side shaft portion 60 are provided immovably at respective positions spaced in the branch direction X in the movable body 14.

  Of the arm members 41 to 48, the third arm member 43 and the fourth arm member 44, and the fifth arm member 45 and the sixth arm member 46 intersect as an example of a connecting portion where the arm members intersect. The shafts 61 and 62 are connected so as to rotate in a state of crossing each other. In the present embodiment, the cross shaft portions 61 and 62 include the above-described support shaft 34 as a component, and the guide portion 16 is rotated with respect to the telescopic link mechanism 15 by the support shaft 34 of the cross shaft portions 61 and 62. Supported as possible. That is, the guide portion 16 moves in the expansion / contraction direction Z together with the cross shaft portions 61 and 62 of the cross arm member as the expansion / contraction link mechanism 15 expands and contracts.

  Further, when the telescopic link mechanism 15 is expanded and contracted, the respective shaft portions 51 to 56 are respectively paired in the branching direction X with the first shaft portion 51 and the second shaft portion 52, the third shaft portion 53 and the fourth shaft portion 54, Further, the shaft portions forming a pair in the fifth shaft portion 55 and the sixth shaft portion 56 have the same position in the expansion / contraction direction Z, and are in a position state having substantially the same interval in the branch direction X. Displace as follows. Similarly, when the telescopic link mechanism 15 is expanded and contracted, each of the shaft portions 51 to 56 is adjacent to the first shaft portion 51, the third shaft portion 53, the fifth shaft portion 55, and the second shaft portion in the expansion / contraction direction Z. The adjacent shaft portions in the 52, the fourth shaft portion 54, and the sixth shaft portion 56 make the positions in the branching direction X substantially the same, and the intervals between the adjacent shaft portions in the expansion / contraction direction Z become substantially the same. Displace as follows. On the other hand, the intersecting shaft portions 61 and 62 including the support shaft 34 that supports the guide portion 16 extend in the expansion / contraction direction inside the moving space area of the expansion / contraction link mechanism 15 in the branching direction X and the front-rear direction Y as described above. Move to Z.

  As shown in FIG. 6, each of the arm members 41 to 48 has a width in the front-rear direction Y and has a plate shape with substantially the same thickness in a direction orthogonal to the front-rear direction Y. Further, the lengths of the first arm member 41, the second arm member 42, the seventh arm member 47, and the eighth arm member 48 that are orthogonal to the front-rear direction Y are substantially the same. The lengths of the third arm member 43 to the sixth arm member 46 are substantially the same. Further, the lengths of the third arm member 43 to the sixth arm member 46 are longer than the lengths of the first arm member 41, the second arm member 42, the seventh arm member 47, and the eighth arm member 48. Is set to about twice as long.

  The first arm member 41 has a recess 41a at the base end and a notch 41b at both ends in the front-rear direction Y at the tip. In the direction orthogonal to the front-rear direction Y, the length of the recess 41a is shorter than the length of the notch 41b. And the 1st arm member 41 is connected with the accommodating part 13 by the base end side axial part 57 in the aspect which pinches | interposed the accommodating part 13 by arrange | positioning the accommodating part 13 in the recessed part 41a.

  The second arm member 42 has recesses 42a and 42b formed at the proximal end and the distal end. The recess 42 a formed at the base end of the second arm member 42 is substantially the same as the recess 41 a formed at the base end of the first arm member 41. On the other hand, the recessed part 42b formed in the front-end | tip part of the 2nd arm member 42 is larger than the recessed part 42a formed in the base end part. And the 2nd arm member 42 is connected with the accommodating part 13 by the base end side axial part 58 in the aspect which pinches | interposes the accommodating part 13 by arrange | positioning the accommodating part 13 in the recessed part 42a of a proximal end. .

  Next, in the third arm member 43, recesses 43a and 43b having substantially the same size are formed in the base end portion and the tip end portion, and a substantially rectangular hole 43c is formed in the center portion. The concave portions 43 a and 43 b formed in the third arm member 43 are substantially the same as the concave portion 42 b formed in the distal end portion of the second arm member 42. And the 3rd arm member 43 arrange | positions the front-end | tip part of the 1st arm member 41 in the recessed part 43a formed in the base end part, and is the 1st axial part 51 in the aspect which pinches | interposes the 1st arm member 41. Thus, the first arm member 41 is connected.

  Further, the fourth arm member 44 has a width in the front-rear direction Y that is smaller than the width of the third arm member 43 and is formed to have a width that can be inserted into a hole 43 c formed in the center of the third arm member 43. . Furthermore, a substantially rectangular hole 44a is formed in the center of the fourth arm member 44, and the guide portion 16 is disposed in the hole 44a. The fourth arm member 44 has a base end portion disposed in a recess 42b formed at the distal end portion of the second arm member 42, so that the fourth shaft 44 is sandwiched between the second arm members 42. The portion 52 is connected to the second arm member 42.

  Since the fifth arm member 45 has the same shape as the third arm member 43 and the sixth arm member 46 has the same shape as the fourth arm member 44, detailed description thereof will be omitted. The seventh arm member 47 has the same shape as the second arm member 42, and the eighth arm member 48 has the same shape as the first arm member 41. That is, the seventh arm member 47 and the eighth arm member 48 are arranged such that the recesses 47a and 48a are on the movable body 14 side, respectively. The seventh arm member 47 and the eighth arm member 48 are arranged such that the movable body 14 is sandwiched between the seventh arm member 47 and the eighth arm member 48 by disposing the movable body 14 in the recesses 47a and 48a. In the aspect, it is connected with the movable body 14 by the front end side shaft portions 59 and 60.

  As shown in FIG. 6, an insertion hole 64 through which the meshing chain 12 is inserted is formed on the side surface of the accommodating portion 13 on the extending direction Z1 side. The insertion hole 64 is formed at the same position in the branching direction X and the front-rear direction Y as the guide portion 16 provided in the first intersecting shaft portion 61 and the second intersecting shaft portion 62 and has the same opening shape as the guide hole 36. Is formed. Therefore, the meshing chain 12 delivered from the insertion hole 64 is supported linearly by being inserted into the guide hole 36 formed in the guide portion 16.

  As shown in FIG. 7, a pair of substantially semicircular gears 65 are provided at the proximal ends of the first arm member 41 and the second arm member 42 with reference to the meshing chain 12 that forms a straight rod shape when meshed. They are fixed so as to be symmetrical and mesh with each other. Further, a pair of substantially semicircular gears 66, which are also substantially semicircular, are arranged symmetrically with respect to the meshing chain 12 that forms a straight rod in the meshed state at the distal ends of the seventh arm member 47 and the eighth arm member 48. And are engaged with each other. That is, the gears 65 and 66 are fixed to each of the first arm member 41 and the second arm member 42 and the seventh arm member 47 and the eighth arm member 48 that make a pair in the branching direction X that intersects the expansion / contraction direction Z. Thus, at least one pair (two pairs in this embodiment) is provided so as to mesh with each other. The gear 65 is provided such that the center of rotation coincides with the axis of the base end side shaft portions 57 and 58. The gear 66 is provided so that the center of rotation coincides with the axis of the distal end side shaft portions 59 and 60.

Next, in the movable body moving device 11, an operation when the meshing chain 12 is moved forward and backward to move the movable body 14 in the expansion / contraction direction Z will be described.
Now, as shown in FIG. 5, when the chain source 31, 32 is branched and accommodated, when the drive source 19 is driven to rotate forward and the sprocket 20 is rotated forward, the meshing chain 12 moves in the traveling direction. The paired chain members 31 and 32 mesh with each other and are integrated into a straight bar shape. Then, the meshing chain 12 is fed out from the insertion hole 64 in a meshed state integrated in a straight bar shape, and moves forward in the extending direction Z1. Then, the movable body 14 is pushed by the tip of the meshing chain 12 and moves away from the accommodating portion 13, and the telescopic link mechanism 15 extends in the extending direction Z1.

  At this time, the telescopic link mechanism 15 extends so that the intersecting shaft portions 61 and 62 move along the telescopic direction Z. And the guide part 16 provided in the cross-axis parts 61 and 62 moves inside the movement space area at the time of expansion-contraction of the expansion-contraction link mechanism 15 in the state by which the movement to the branch direction X and the front-back direction Y was suppressed. . Therefore, the guide portion 16 does not protrude outside the moving space area occupied by the telescopic link mechanism 15 during expansion and contraction.

  In addition, since the guide portion 16 is provided so as to be rotatable around the support shaft 34 of the intersecting shaft portions 61 and 62, the arm member 41 with respect to the accommodating portion 13 and the movable body 14 as the telescopic link mechanism 15 expands and contracts. Even if the angle of -48 changes, the change of the angle of the guide part 16 itself is suppressed. Therefore, in the state where the guide portion 16 is supported by the telescopic link mechanism 15, the chain member 31, 32 meshes with each other, and the meshing chain 12 integrated into a straight bar shape is inserted into the guide hole 36 in the telescopic direction Z. Guide to move along.

  Further, since the gears 65 provided on the first arm member 41 and the second arm member 42 mesh with each other in a line-symmetrical manner with respect to the meshing chain 12 having a straight rod shape when meshed, the first arm member 41 is engaged. And the rotation angle of the second arm member 42 is substantially the same. Similarly, since the gears 66 provided on the seventh arm member 47 and the eighth arm member 48 are meshed with each other in a line-symmetric manner with respect to the meshing chain 12 having a straight rod shape in the meshed state, the seventh arm member The rotation angles of 47 and the eighth arm member 48 are also substantially the same.

  On the other hand, as shown in FIG. 1, when the drive source 19 is driven in the reverse direction and the sprocket 20 is driven in the reverse direction while the telescopic link mechanism 15 is extended, the meshing chain 12 moves backward in the contracting direction Z2 and each chain member. 31 and 32 are branched and accommodated in the accommodating portion 13. Furthermore, since the front end portion of the meshing chain 12 is connected to the movable body 14, the movable body 14 is pulled by the meshing chain 12 and moves so as to approach the accommodating portion 13, and the telescopic link mechanism 15 is contracted in the contraction direction Z2. Shrinks toward.

  Even when the telescopic link mechanism 15 contracts, the cross shaft portions 61 and 62 move along the telescopic direction Z in the same manner as when the telescopic link mechanism 15 expands. Therefore, the meshing chain 12 moves along the telescopic direction Z by the guide unit 16. To be guided. Since the gears 65 and 66 are provided, the rotation angles of the first arm member 41 and the second arm member 42, and the seventh arm member 47 and the eighth arm member 48 are substantially the same.

According to the first embodiment, the following effects can be obtained.
(1) The intersecting shaft portions 61 and 62 that are positions where the guide portion 16 is provided in the telescopic link mechanism 15 that connects the housing portion 13 and the movable body 14 so as to be relatively movable are moved in the telescopic direction Z when the telescopic link mechanism 15 is expanded and contracted. Does not move greatly in the branching direction X or the front-rear direction Y intersecting the expansion / contraction direction Z. Therefore, even when the guide portion 16 that guides the mesh chain 12 in the forward / backward movement direction (stretching direction Z) while being supported by the cross shaft portions 61 and 62 is moved in the stretching direction Z along with the expansion / contraction of the telescopic link mechanism 15. The movement space area occupied during the movement is a linear space area along the expansion / contraction direction Z which is the advancing / retreating direction of the meshing chain 12. That is, the moving space area does not protrude greatly outside the moving space area of the telescopic link mechanism 15. Therefore, the guide chain 16 guides the meshing chain 12 to move in the forward / backward movement direction while suppressing an increase in the movement space area occupied by the guide portion 16 of the meshing chain 12 when the telescopic link mechanism 15 is expanded / contracted. Thereby, the inclination and buckling of the meshing chain 12 can be suppressed.

  (2) As the telescopic link mechanism 15 expands and contracts, the third arm member 43 and the fourth arm member 44, and the fifth arm member 45 and the sixth arm member 46 are supported by the support shafts 34 of the respective cross shaft portions 61 and 62. Even when the guide portion 16 is rotated around the support shaft 34, the guide portion 16 is rotatable about the support shaft 34. Therefore, even when the cross arm member constituted by the third arm member 43 to the sixth arm member 46 is rotated, the accommodating portion 13 and the movable body 14 are rotated by relative rotation with respect to such a cross arm member. The meshing chain 12 can be guided so as to move in the forward / backward movement direction while maintaining a relative angle with respect to.

  (3) When the telescopic link mechanism 15 expands and contracts and the accommodating portion 13 and the movable body 14 move relative to each other in the expansion and contraction direction Z, a pair of first arms 65 and 66 are paired in a line-symmetric manner. The rotation angles of the member 41 and the second arm member 42, and the seventh arm member 47 and the eighth arm member 48 can be made constant. Therefore, the distortion at the time of expansion / contraction of the expansion / contraction link mechanism 15 can be reduced.

  (4) Since the guide portion 16 moves inside the movement space area occupied by the expansion / contraction link mechanism 15 during expansion / contraction, the meshing chain 12 guided by the guide section 16 is also in the movement space area of the expansion / contraction link mechanism 15. It will move forward and backward. Therefore, when the meshing chain 12 moves forward and backward, the possibility of colliding with other members disposed outside the telescopic link mechanism 15 can be reduced.

  (5) The guide portion 16 moves the meshing chain 12 through contact with end portions extending along the advancing and retreating movement directions in the inner plate 24 and the outer plate 25 which are examples of the link plate in the meshing chain 12 in the meshing state. Guide to move along the advancing and retreating direction. Therefore, the guide portion 16 has a longer contact length between the guide portion 16 and the meshing chain 12 than when guiding through the contact with the tip of the pin 28 extending in the direction orthogonal to the forward / backward movement direction of the meshing chain 12. Thus, the meshing chain 12 can be guided to move along the forward / backward movement direction more smoothly and stably.

  (6) In the telescopic link mechanism 15, the distal end portion of the seventh arm member 47 and the distal end portion of the eighth arm member 48 which are the ends on the movable body 14 side are provided so as not to move relative to the movable body 14. Therefore, it is possible to stably support the movable body 14 as compared with the case where each tip portion moves between the contact position and the separated position with respect to the movable body 14.

(Second Embodiment)
Next, a second embodiment of the movable body moving device will be described with reference to the drawings. In addition, this 2nd Embodiment differs from the case where an expansion-contraction link mechanism is 1st Embodiment. And since it is substantially the same as 1st Embodiment in another point, the overlapping description is abbreviate | omitted by attaching | subjecting the same code | symbol about the same structure.

  As shown in FIG. 8, the movable body moving device 69 of the present embodiment has the first arm member 71 to the eighth arm member 78 constituting the telescopic link mechanism 70 having a width in the front-rear direction Y of the first embodiment. It is smaller than the width of the arm member 41 to the eighth arm member 48. The telescopic link mechanism 70 is attached to a base 79 as an example of a base portion provided on the rear side of the accommodating portion 13 on the base end side, and attached to the movable body 80 on the tip end side. Note that the width of the base 79 in the front-rear direction Y is smaller than the width of the housing part 13 in the front-rear direction Y.

  The first arm member 71 and the second arm member 72 function as an example of a pair of proximal end arm members, while the seventh arm member 77 and the eighth arm member 78 are an example of a pair of distal end side arm members. Is functioning as Further, the third arm member 73 and the fourth arm member 74, and the fifth arm member 75 and the sixth arm member 76 function as an example of a pair of cross arm members, respectively.

  The guide portion 16 is attached to the front side of the first intersecting shaft portion 81 and the second intersecting shaft portion 82 so as to be rotatable with respect to the third arm member 73 and the fifth arm member 75. In other words, the guide portion 16 is provided inside the moving space area of the expansion / contraction link mechanism 70 in the expansion / contraction direction Z and the branching direction X, but is provided outside the movement space area of the expansion / contraction link mechanism 70 in the front-rear direction Y. ing. The guide portion 16 is provided at the same position in the insertion hole 64 and in the branching direction X and the front-rear direction Y.

Next, the operation when the movable chain 80 is moved in the expansion / contraction direction Z by moving the meshing chain 12 forward and backward in the movable body moving device 69 of the present embodiment will be described.
Now, when the drive source 19 is driven to rotate forward in a state in which the telescopic link mechanism 70 is contracted, the meshing chain 12 is fed out from the insertion hole 64 in a meshing state integrated in a straight bar shape and proceeds in the extending direction Z1. Moving. Then, the movable body 80 is pushed by the meshing chain 12 and moves away from the accommodating portion 13, and the telescopic link mechanism 70 extends in the extending direction Z1.

  At this time, the telescopic link mechanism 70 extends so that the intersecting shaft portions 81 and 82 move along the telescopic direction Z. Therefore, the guide portion 16 provided in the intersecting shaft portions 81 and 82 guides the meshing chain 12 to move along the expansion / contraction direction Z in a state where movement in the branch direction X and the front-rear direction Y is suppressed. .

  On the other hand, when the drive source 19 is driven in the reverse direction with the telescopic link mechanism 70 extended, the meshing chain 12 moves backward in the contraction direction Z2, so that the movable body 80 is pulled by the meshing chain 12 and approaches the accommodating portion 13. The telescopic link mechanism 70 contracts in the contraction direction Z2.

  Even when the expansion / contraction link mechanism 70 contracts, the cross shaft portions 81 and 82 move along the expansion / contraction direction Z as in the case of expansion, and therefore the meshing chain 12 moves along the expansion / contraction direction Z by the guide portion 16. To be guided.

According to the said 2nd Embodiment, in addition to the effect of (1)-(3), (5), (6) in 1st Embodiment, the following effects can be acquired further.
(7) By reducing the width in the front-rear direction Y of the arm members 71 to 78 constituting the expansion / contraction link mechanism 70, the expansion / contraction link mechanism 70 can be reduced in weight.

In addition, you may change the said embodiment as follows.
In each of the above embodiments, the meshing chain 12 may be integrated by meshing two or more pairs of chain members.

In each of the above embodiments, the movable body 14 itself may be an article placement table. That is, the movable body 14 may change its shape and size.
In each of the above embodiments, the set of the third arm members 43 and 73 and the fourth arm members 44 and 74 connected so as to cross each other, and the fifth arm members 45 and 75 and the sixth arm members 46 and 76 The set may be configured to provide any one set. Further, the number of sets of arm members that are connected so as to rotate in a state of crossing each other around the crossing shaft portion is not limited to two, and three or more sets may be provided.

In each of the above embodiments, the accommodating portion 13 may expose the guide plate 21 without providing the exterior 18. In addition, the guide groove 22 is not limited to a spiral shape, and may be formed in a linear shape or a wave shape.
In each of the above embodiments, the sprocket 20 may be provided for each of the chain members 31 and 32.

In each of the above embodiments, the guide portion 16 may be provided with a projection that can be engaged with the intersecting shaft portions 61 and 62 without providing the shaft hole 35 as a support shaft, and may be rotatable about the projection. .
In the above embodiments, when a plurality of guide portions 16 are provided, the sizes of the guide portions 16 in the expansion / contraction direction Z may be different. For example, the meshing chain 12 is more likely to buckle or tilt as it moves away from the housing portion 13, and therefore the size of the guide portion 16 on the side away from the housing portion 13 in the contraction direction Z <b> 2 is set closer to the housing portion 13. You may make it larger than the magnitude | size of the guide part 16. FIG. As a result, it is possible to further suppress buckling and inclination of the meshing chain 12 while suppressing an increase in size of the telescopic link mechanism 15 when the telescopic link mechanism 15 contracts.

  In each of the above embodiments, the guide portion 16 may guide any portion of the meshing chain 12 when guiding the meshing chain 12 to move in the forward / backward movement direction. That is, for example, the engagement chain 12 may be guided by forming a groove through which the pin 28 of the engagement chain 12 can pass and guiding the tip of the pin 28.

  In each embodiment described above, either one of the gears 65 and 66 may be provided. The gears 65 and 66 may not be provided. When the gear 65 is not provided, the base end portions of the first arm members 41 and 71 and the second arm members 42 and 72 are set to the same position in the branch direction X, and the housing portion 13 is formed by one base end side shaft portion. Alternatively, it may be connected to the base 79. When the gear 66 is not provided, the distal ends of the seventh arm members 47 and 77 and the eighth arm members 48 and 78 are set to the same position in the branching direction X, and the movable body 14 is formed by one distal end side shaft portion. , 80 may be connected.

  In each of the above embodiments, the guide portion 16 may be fixedly disposed so as not to rotate with respect to the arm members 41 to 48 and 71 to 78. In this case, it is preferable that the opening width in the branch direction X of the guide hole 36 of the guide portion 16 is larger than the width of the meshing chain 12. That is, when the telescopic link mechanisms 15 and 70 expand and contract, the guide portion 16 also rotates as the arm members 41 to 48 and 71 to 78 rotate. However, since the guide hole 36 is formed with a space with respect to the meshing chain 12, it is possible to reduce the influence of the guide chain 16 that the meshing chain 12 rotates, and the meshing chain 12 is moved in the front-rear direction. When tilted to Y, the meshing chain can be supported by the convex portion 37 on the inner surface of the guide hole 36 of the guide portion 16.

  In the above embodiments, the movable body moving devices 11 and 69 may be arranged in any direction. For example, the expansion / contraction direction Z may be aligned with the vertical direction. Further, at this time, the accommodating portion 13 may be disposed on the gravity direction side with respect to the movable body 14, and the accommodating portion 13 may be disposed on the antigravity side with respect to the movable body 14. Further, for example, the expansion / contraction direction Z may be aligned with the horizontal direction.

  DESCRIPTION OF SYMBOLS 11,69 ... Movable body moving apparatus, 12 ... Meshing chain, 13 ... Housing part (an example of base | substrate part), 14,80 ... Movable body, 15,70 ... Telescopic link mechanism, 16 ... Guide part, 24 ... Inner plate ( An example of a link plate), 25 ... an outer plate (an example of a link plate), 28 ... a pin, 31, 32 ... a chain member, 34 ... a support shaft, 41, 71 ... a first arm member (an example of a base end side arm member) , 42, 72 ... second arm member (an example of a proximal arm member), 43, 73 ... third arm member (an example of cross arm member), 44, 74 ... fourth arm member (an example of cross arm member) 45, 75 ... fifth arm member (an example of a cross arm member), 46, 76 ... sixth arm member (an example of cross arm member), 47, 77 ... seventh arm member (an example of tip arm member) 48, 78 ... 8th a Member (an example of a tip side arm member), 61, 62, 81, 82... Intersecting shaft part (an example of a connecting part), 65, 66... Gear, 79 .. base (an example of a base part), Z. (Example of forward / backward movement direction), Z1... Extension direction (example of traveling direction), Z2... Shrinkage direction (example of backward direction).

Claims (5)

It has at least a pair of chain members that can move forward and backward, and the chain members that make a pair move together in the direction of travel to engage and integrate with each other. A meshing chain that diverges and branches by moving to
A base portion fixedly disposed on the retraction direction side of the meshing chain;
A movable body arranged to be movable in the advancing and retreating direction of the meshing chain in a region closer to the traveling direction than the base portion;
A telescopic link mechanism that is disposed between the movable body and the base body so as to be stretchable and connects the base body section and the movable body in a relatively movable manner;
A guide portion that guides the meshing chain in which the chain members are meshed with each other so as to move along the advancing / retreating movement direction as the telescopic link mechanism expands and contracts.
The telescopic link mechanism is
At least a pair of intersecting arm members coupled so as to rotate in a state of intersecting with each other around a support shaft orthogonal to the expansion / contraction direction of the expansion / contraction link mechanism;
A pair of proximal arm members, one end of which is pivotally connected to the cross arm member and the other end of which is pivotally connected to the base portion;
A pair of distal end side arm members, one end side of which is rotatably connected to the cross arm member and the other end side of which is rotatably connected to the movable body;
The movable body moving apparatus according to claim 1, wherein the guide portion is provided at a connecting portion where the pair of intersecting arm members intersect in the telescopic link mechanism. The movable body moving apparatus according to claim 1, wherein the guide portion is provided so as to be rotatable about the support shaft with respect to the connecting portion. At least one of the pair of base end side arm members and the pair of distal end side arm members is fixed so as to be symmetrical with respect to the pair of arm members with respect to the meshing chain in the meshing state. The movable body moving device according to claim 1, wherein a pair of gears that mesh with each other are provided. The said guide part is provided inside the movement space area which the said expansion-contraction link mechanism occupies at the time of expansion-contraction, The movable body moving apparatus as described in any one of Claims 1-3 characterized by the above-mentioned. Each chain member in the meshing chain connects a plurality of link plates sequentially connected in a series direction along the forward / backward movement direction, and adjacent link plates in a state where ends overlap in the series direction. And a pin to
The guide part guides the meshing chain in the forward / backward movement direction through contact with a portion of the link plate extending along the forward / backward movement direction when the meshing chain moves forward / backward. The movable body moving device according to any one of claims 4 to 5.