JP6465093B2 - 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, as this kind of movable body moving device, for example, a meshing chain type lifting device as shown in Patent Document 1 is known. Such an interlocking chain type lifting device extends and contracts in the lifting and lowering direction of the actuated body to transmit the power of the drive motor to the actuated body and a lifting guide that guides the actuated body along the lifting direction with respect to the base. A pair of meshing chains for raising and lowering the actuated body and a pair of chain storage portions for storing the unengaged portions of the pair of meshing chains are provided.

  The raising / lowering guide is comprised by the punter mechanism (rage tong mechanism) which connected so that the some link was made to rotate freely in the state which crossed the zigzag, and has connected a pair of chain storage part and the to-be-actuated body. The pair of meshing chains mesh with each other as they are raised and are integrated into a straight bar shape, while they are separated from each other and branch as they descend, and their upper ends engaged with each other are covered. It is connected to the operating body. The pair of meshing chains are meshed with the drive sprocket, and are moved up and down together with the actuated body as the drive sprocket is driven by the drive motor.

JP 2014-196176 A

  By the way, in the meshing chain type lifting device as described above, since the upper ends of the pair of meshing chains are directly connected to the actuated body, the higher the highest lift position of the actuated body is set, It is necessary to increase the length of the pair of meshing chains. When the length of the pair of meshing chains is increased, the portion integrated into the straight bar shape is easily buckled, the weight is increased, and the storage space is increased. For this reason, there is room for improvement in shortening the length of the meshing chain.

  The present invention has been made paying attention to such problems existing in the prior art. The object is to provide a movable body moving device capable of shortening the length of the meshing chain.

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 to be separated from each other and branched, a chain housing portion that houses a meshed portion of the meshed chain, and the chain housing portion are fixed. The base portion is configured to be extendable and retractable in the advancing / retreating direction of the chain member, and the end on the advancing direction side is connected to the movable body so as to be movable in an orthogonal direction that is a direction orthogonal to the advancing / retreating direction. And an extendable link mechanism having an end portion on the retraction direction side coupled to the base portion so as to be movable in the orthogonal direction. End of the serial advancing direction, the being coupled to the base portion than the movable body side connecting portion is a portion coupled to the movable body in the telescopic link mechanism.

  According to this configuration, the telescopic link mechanism is expanded and contracted by the forward and backward movement of the meshing chain, and the movable body is moved. Therefore, the length of the meshing chain is longer than when the end of the meshing chain in the traveling direction is connected to the movable body. The length can be shortened.

  In the movable body moving device, it is preferable that an end portion on the traveling direction side of the meshing chain is connected to a rotating shaft that rotatably connects the links included in the telescopic link mechanism.

  According to this configuration, compared to the case where the end portion on the traveling direction side of the meshing chain is coupled to the link of the telescopic link mechanism, the end portion on the traveling direction side of the meshing chain is easily coupled to the telescopic link mechanism. Can do.

  In the movable body moving device, an end portion on the traveling direction side of the meshing chain is connected to the rotation shaft that is not displaced in the orthogonal direction by expansion and contraction of the expansion / contraction link mechanism among the plurality of rotation shafts. It is preferable.

  According to this configuration, even if the telescopic link mechanism expands and contracts as the meshing chain moves forward and backward, the positional relationship in the orthogonal direction between the meshing chain and the rotating shaft does not change, so the driving force due to the meshing chain moving forward and backward is expanded and contracted. It can be efficiently transmitted to the link mechanism.

  In the movable body moving device, an end portion on the traveling direction side of the meshing chain is connected to the rotating shaft via a connecting member, and an end portion on the traveling direction side of the meshing chain and the connecting member. It is preferable that the connection position is located on the traveling direction side with respect to the connection position between the rotation shaft and the connection member.

  According to this configuration, when the meshing chain moves in the traveling direction, the driving force of the meshing chain is transmitted to the telescopic link mechanism in such a manner that the meshing chain pulls the rotating shaft in the traveling direction via the connecting member. For this reason, since the rotational force centering on the rotating shaft does not act on the end portion on the traveling direction side of the meshing chain, the buckling load of the meshing chain can be prevented from being reduced. Incidentally, when the driving force of the meshing chain is transmitted to the telescopic link mechanism in such a manner that the meshing chain presses the rotation shaft in the traveling direction via the connecting member, the meshing chain rotates to the end of the meshing chain on the traveling direction side. Since the rotational force about the shaft acts, the buckling load of the meshing chain is reduced.

  In the movable body moving device, movement of the movable body side coupling portion and the base portion side coupling portion, which are portions respectively coupled to the movable body and the base portion, in the telescopic link mechanism accompanying the expansion and contraction operation of the telescopic link mechanism. It is preferable to provide a positioning mechanism that performs positioning in the orthogonal direction with respect to the movable body and the base portion of the telescopic link mechanism while allowing.

  According to this configuration, even if the expansion / contraction link mechanism expands / contracts, the orthogonal relationship between the expansion / contraction link mechanism, the movable body, and the base portion can be maintained.

  According to the present invention, the length of the meshing chain can be shortened.

The perspective view which shows a movable body moving apparatus when an expansion-contraction link mechanism is an expansion | extension state in one Embodiment. The front view which shows the inside of a chain unit when a meshing chain moves to the advancing direction. The front view which shows the inside of a chain unit when a meshing chain moves to a reverse direction. The perspective view which shows the connection part of a movable body and an expansion-contraction link mechanism, and its periphery. The perspective view which shows the connection part of a base part and an expansion-contraction link mechanism, and its periphery. The perspective view which shows the connection part of the edge part of the advancing direction side of a meshing chain, and the rotation part of an expansion-contraction link mechanism, and its periphery. The front view which shows the expansion-contraction link mechanism of an expansion | extension state. The front view which shows the expansion-contraction link mechanism of a contracted state. The perspective view which shows a movable body moving apparatus when an expansion-contraction link mechanism is a contracted state. The schematic diagram which is a positioning mechanism of the example of a change, and shows a state when an expansion-contraction link mechanism is an expansion | extension state. The schematic diagram which shows a state when an expansion-contraction link mechanism is a contracted state in FIG. The schematic diagram which shows a state when it is a positioning mechanism of another example of a change, and an expansion-contraction link mechanism is an expansion | extension state. The schematic diagram which shows a state when an expansion-contraction link mechanism is a contracted state in FIG.

Hereinafter, an embodiment of a movable body moving apparatus will be described with reference to the drawings.
As shown in FIG. 1, the movable body moving device 11 includes a square plate-like base portion 12, a pair of chain units 13 fixed on the base portion 12 so as to face each other at a predetermined interval, and a base portion. 12 includes a telescopic link mechanism 15 having a base end portion connected between a pair of chain units 13 on 12 and a distal end portion connected to a movable body 14 having a square plate shape.

  Each chain unit 13 has a pair of chain members 16a and 16b, and the pair of chain members 16a and 16b move in the advancing direction Z1 (upward in FIG. 1) to engage with each other to be integrated into a straight bar shape. On the other hand, the chain members 16a and 16b that make a pair from the integrated meshing state move in the retreating direction Z2 (downward in FIG. 1), so that the meshing chain 16 and the meshing chain 16 branch off from each other. And a chain accommodating portion 17 that accommodates the disengaged portions of the pair of chain members 16a and 16b. In the present embodiment, the pair of chain members 16a and 16b are constituted by three rows of chains.

  An end portion (upper end portion in FIG. 1) of the meshing chain 16 in the traveling direction Z1 is connected to the telescopic link mechanism 15 via an L-shaped plate-like connecting member 18, and expands and contracts as the meshing chain 16 moves forward and backward. The link mechanism 15 expands and contracts in the forward / backward movement direction Z (vertical direction in FIG. 1). That is, in this embodiment, the advancing / retreating movement direction Z of the meshing chain 16 and the expansion / contraction direction of the expansion / contraction link mechanism 15 are the same.

  Further, of the directions orthogonal to the advancing / retreating movement direction Z, the chain members 16a, 16b, which are paired with each other, mesh with each other to be integrated with each other. The direction in which 16b is disengaged from each other and branched is defined as a branching direction X. Each direction is illustrated with the direction orthogonal to both the advancing / retreating movement direction Z and the branching direction X as the front-rear direction Y. In the present embodiment, the front-rear direction Y coincides with the facing direction in which the pair of chain units 13 face each other.

  As shown in FIG.1 and FIG.2, the chain accommodating part 17 of each chain unit 13 has comprised the rectangular parallelepiped shape which is hollow and extends in the branch direction X, and the drive part 20 is provided in the side surface of the exterior 17a. The drive unit 20 includes a motor, a speed reducer, and the like. A sprocket 21 that can rotate in both forward and reverse directions about an axis extending in the front-rear direction Y is provided at the center of the branching direction X in the chain housing portion 17 so as to mesh with one chain member 16 b of the meshing chain 16. Yes.

  The sprocket 21 is rotationally driven in both forward and reverse directions by the drive unit 20, and the meshing chain 16 moves in the forward / backward movement direction Z as the sprocket 21 rotates. Further, a pair of rectangular guide plates 22 are arranged in the chain housing portion 17 with a gap in the front-rear direction Y.

  A pair of spiral guide grooves 23 capable of guiding the pair of chain members 16a, 16b penetrate the pair of guide plates 22 so that the pair of chain members 16a, 16b branched from the meshing state move while spiraling. It is formed as follows. In this case, the pair of guide grooves 23 are provided so as to be symmetrical in FIG. 2 and sandwich the pair of chain members 16a and 16b so as to be movable. An insertion hole 24 through which the meshing chain 16 is inserted is formed at the center of the branch accommodation direction X of the surface (upper surface in FIG. 2) on the traveling direction Z1 side of the chain housing portion 17.

  As shown in FIGS. 2 and 3, the pair of chain members 16 a and 16 b constituting the meshing chain 16 includes a plurality of inner plates 25 and a plurality of outer plates that are sequentially connected in a series direction along the advancing / retreating movement direction Z. 26 respectively. Further, the pair of chain members 16a and 16b includes a cylindrical bush (not shown) assembled between the inner plates 25 facing each other in the front-rear direction Y, and an inner plate 25 adjacent to the inner plate 25 adjacent to each other in the series direction. It has the pin 27 which connects the plate 26 in the state penetrated by the bush (not shown).

  The inner plate 25 and the outer plate 26 in one chain member 16a are configured to be able to mesh with the inner plate 25 and the outer plate 26 in the other chain member 16b, respectively. That is, the meshing chain 16 is formed in a straight bar shape by the inner plates 25 and the outer plates 26 of the pair of chain members 16a and 16b meshing with each other as the pair of chain members 16a and 16b move in the traveling direction Z1. It becomes the meshing state of the rigid body structure integrated with the. On the other hand, in the meshing chain 16 in the meshing state, the inner plates 25 and the outer plates 26 of the pair of chain members 16a and 16b are meshed with each other as the pair of chain members 16a and 16b move in the backward direction Z2. The branching is made in the branching direction X by the deviation.

  As shown in FIG. 1, the telescopic link mechanism 15 includes a pair of punter mechanisms (rage tong mechanisms) 31 having a plurality of links 30 that are rotatably connected, and a plurality of links 30 of the pair of punter mechanisms 31. A plurality of pivot shafts 32 that pivotably connect the pivot centers are provided. In this case, each rotation shaft 32 extends in the front-rear direction Y.

  The punter mechanism 31 prepares a plurality of X links 33 formed by connecting two central links 30 in an X-shaped manner so that the central intersecting portions can be rotated. These two end portions are obtained by connecting in series so as to be rotatable. As the pair of punter mechanisms 31 of the present embodiment, those in which three X links 33 are connected so as to be rotatable in series are employed.

  As shown in FIG. 4, the telescopic link mechanism 15 has a pair of rectangular plate-like upper slide members 34 at a pair of ends on the traveling direction Z1 side. The pair of upper slide members 34 are rotatably supported by the rotation shaft 32. The movable body 14 is provided with a pair of upper guide rails 35 extending in the branching direction X, and the pair of upper guide rails 35 are arranged at intervals in the front-rear direction Y.

  The pair of upper slide members 34 of the telescopic link mechanism 15 move in the branching direction X with respect to the pair of upper guide rails 35 in a state where they are disposed so as to straddle the pair of upper guide rails 35 of the movable body 14. Connected as possible. That is, the telescopic link mechanism 15 is connected so that the end on the traveling direction Z1 side can move in a branching direction X that coincides with the orthogonal direction that is a direction orthogonal to the advancing / retreating moving direction Z with respect to the movable body 14.

  The pair of upper slide members 34 are guided by the pair of upper guide rails 35 when moving in the branch direction X. In the present embodiment, the pair of upper slide members 34 constitute a movable body side coupling portion that is a portion coupled to the movable body 14 in the telescopic link mechanism 15.

  At the center of the movable body 14, positioning of the pair of upper slide members 34 in the branch direction X relative to the movable body 14 of the telescopic link mechanism 15 is allowed while allowing the pair of upper slide members 34 to move in the branch direction X accompanying the expansion and contraction of the telescopic link mechanism 15. An upper support link mechanism 36 is provided as an example of the positioning mechanism to be performed. The upper support link mechanism 36 is disposed at the center of a region surrounded by the pair of upper slide members 34 and the pair of upper guide rails 35.

  The upper support link mechanism 36 includes a pair of upper base portions 37 fixed to the movable body 14, a pair of upper auxiliary links 38, a tip portion of the pair of upper base portions 37, and one end portions of the pair of upper auxiliary links 38. A first upper pivot shaft 39 that pivotably connects, the other end of the pair of upper auxiliary links 38, and one link of the pair of front and rear X links 33 positioned on the most travel direction Z1 side in the telescopic link mechanism 15. And a second upper rotation shaft 40 that rotatably couples 30.

  When the telescopic link mechanism 15 performs the telescopic operation, the pair of upper slide members 34 move along the pair of upper guide rails 35 so as to approach and separate from each other. In this case, the distance from one of the pair of upper slide members 34 to the pair of upper base portions 37 is always the same as the distance from the other of the pair of upper slide members 34 to the pair of upper base portions 37. .

  As shown in FIG. 5, the telescopic link mechanism 15 has a pair of lower slide members 41 having a rectangular plate shape at a pair of ends on the backward direction Z2 side. Each of the pair of lower slide members 41 is rotatably supported by the rotation shaft 32. The base portion 12 is provided with a pair of lower guide rails 42 extending in the branching direction X, and the pair of lower guide rails 42 are arranged at intervals in the front-rear direction Y.

  The pair of lower slide members 41 of the telescopic link mechanism 15 are arranged so as to straddle the pair of lower guide rails 42 of the base portion 12, respectively, and branch direction with respect to the pair of lower guide rails 42. X is movably connected to X. That is, the telescopic link mechanism 15 is connected so that the end of the retracting direction Z2 side can move in the branching direction X that coincides with the orthogonal direction that is the direction orthogonal to the advancing / retreating moving direction Z with respect to the base portion 12.

  The pair of lower slide members 41 are guided by the pair of lower guide rails 42 when moving in the branch direction X. In the present embodiment, the pair of lower slide members 41 constitutes a base portion side connecting portion that is a portion connected to the base portion 12 in the telescopic link mechanism 15.

  Positioning in the branch direction X with respect to the base portion 12 of the telescopic link mechanism 15 is allowed at the center of the base portion 12 while allowing the pair of lower slide members 41 to move in the branch direction X accompanying the expansion and contraction operation of the telescopic link mechanism 15. A lower support link mechanism 43 is provided as an example of a positioning mechanism that performs the above. The lower support link mechanism 43 is disposed at the center of a region surrounded by the pair of lower slide members 41 and the pair of lower guide rails 42.

  The lower support link mechanism 43 includes a pair of lower base portions 44 fixed to the base portion 12, a pair of lower auxiliary links 45, a distal end portion of the pair of lower base portions 44, and a pair of lower auxiliary links. A pair of front and rear members positioned on the most retracting direction Z2 side in the telescopic link mechanism 15 and the other lower end of the pair of lower auxiliary links 45. A second lower rotation shaft 47 that rotatably connects one link 30 of the X link 33 is provided.

  When the telescopic link mechanism 15 performs the telescopic operation, the pair of lower slide members 41 move so as to approach or separate from each other along the pair of lower guide rails 42. In this case, the distance from one of the pair of lower slide members 41 to the pair of lower base portions 44 is the distance from the other of the pair of lower slide members 41 to the pair of lower base portions 44. It will always be the same.

  As shown in FIGS. 1 and 6, the end of the chain unit 13 on the side in the direction of travel Z <b> 1 of the meshing chain 16 is the same that rotatably connects the links 30 of the telescopic link mechanism 15 via the connecting member 18. It is connected to one rotating shaft 32. In this case, as the rotation shaft 32 to which the end portion on the traveling direction Z1 side of each meshing chain 16 is connected via the connecting member 18, the expansion link mechanism 15 of the plurality of rotation shafts 32 in the expansion link mechanism 15 is used. It is preferable to select the rotation shaft 32 that does not displace in the branch direction X due to expansion and contraction.

  As shown in FIGS. 7 and 8, the rotation shaft 32 that is not displaced in the branch direction X is a rotation shaft 32 that connects the links 30 in the X links 33 so as to be rotatable at the intersections thereof. 6 to 8 show the rotation shaft 32A. Even when each of the rotating shafts 32A is extended and retracted in the forward / backward movement direction Z between the extended state shown in FIG. 7 and the contracted state shown in FIG.

  In the present embodiment, as shown in FIGS. 1 and 7, the telescopic link mechanism 15 has three rotation shafts 32A arranged in the forward / backward movement direction Z, and the middle rotation of the three rotation shafts 32A. The end of each meshing chain 16 on the side in the traveling direction Z1 is connected to the moving shaft 32A via a connecting member 18. That is, the end of each meshing chain 16 on the traveling direction Z1 side is connected to the base portion 12 side rather than the pair of upper slide members 34 in the telescopic link mechanism 15.

  In this case, as shown in FIG. 6, the connecting member 18 is rotatably connected to the rotating shaft 32 </ b> A, and the connecting position between the end of the meshing chain 16 on the side in the traveling direction Z <b> 1 and the connecting member 18 is It is located on the traveling direction Z1 side (movable body 14 side) with respect to the connecting position between the rotating shaft 32A and the connecting member 18.

  Next, the operation when the movable body 14 is moved in the forward / backward movement direction Z via the telescopic link mechanism 15 by moving the meshing chain 16 in the forward / backward movement direction Z in the movable body moving device 11 will be described.

  As shown in FIG. 9, when the movable body 14 is closest to the base portion 12, the telescopic link mechanism 15 is in the contracted state in which it is contracted most. Then, when the sprocket 21 of each chain unit 13 is rotated in the clockwise direction in FIG. 3, the chain members 16a and 16b forming a pair are meshed with each other while the meshing chains 16 move in the traveling direction Z1 to form a straight bar shape. Integrated.

  When each meshing chain 16 is fed from the insertion hole 24 of the chain housing portion 17 in a meshed state in which the meshing chains 16 are integrated into a straight bar shape, and moves forward in the traveling direction Z1, the rotating shaft of the telescopic link mechanism 15 is moved by each meshing chain 16. 32A is pulled to the traveling direction Z1 side via the connecting member 18. For this reason, since the rotational force centering on the rotation shaft 32A does not act on the end of the meshing chain 16 on the traveling direction Z1 side, a reduction in the buckling load of the meshing chain 16 is suppressed.

  When the rotation shaft 32A is pulled by the meshing chains 16 toward the traveling direction Z1 via the connecting member 18, the telescopic link mechanism 15 extends in the traveling direction Z1, and as shown in FIG. 14 is moved (raised) to the position farthest away from the base portion 12, that is, the stretchable link mechanism 15 is in the most stretched state.

  At this time, the telescopic link mechanism 15 is connected to the movable body 14 and the base portion 12 by the upper support link mechanism 36 and the lower support link mechanism 43, respectively. Therefore, the pair of upper slide members 34 move toward the upper support link mechanism 36 so as to approach each other in the branching direction X, and the pair of lower slide members 41 move downward to approach each other in the branching direction X. It moves toward the support link mechanism 43.

  Therefore, the positional relationship in the branch direction X between the telescopic link mechanism 15 and the movable body 14 and the base portion 12 is maintained. That is, the positions of the pair of upper slide members 34 and the pair of lower slide members 41 when the telescopic link mechanism 15 is in the extended state are always determined.

  Further, at this time, the distance in the advancing / retreating movement direction Z from the base portion 12 to the rotation shaft 32 </ b> A where the end portion on the traveling direction Z <b> 1 side of each meshing chain 16 is connected via the connecting member 18 is movable from the base portion 12. It is about half of the distance in the forward / backward movement direction Z to the body 14. That is, the movement of each meshing chain 16 in the traveling direction Z1 extends the telescopic link mechanism 15 and the movable body 14 is moved away from the base portion 12 in the forward / backward moving direction Z. Compared with the case where the end on the Z1 side is connected to the movable body 14, the length of each meshing chain 16 is approximately halved. That is, the magnification of the expansion / contraction stroke of the expansion / contraction link mechanism 15 with respect to the movement stroke of the meshing chain 16 is approximately doubled.

  On the other hand, when the sprocket 21 of each chain unit 13 is driven to rotate counterclockwise in FIG. 2 in the extended state in which the telescopic link mechanism 15 is extended to the maximum, each meshing chain 16 moves in the retraction direction Z2. As a result, the paired chain members 16a and 16b are separated from each other and branched while being accommodated in the chain accommodating portions 17 from the insertion holes 24.

  Then, the rotating shaft 32 </ b> A of the telescopic link mechanism 15 is pressed to the retracting direction Z <b> 2 side via the connecting member 18 by each meshing chain 16. Thereby, the telescopic link mechanism 15 is contracted in the retraction direction Z2 with the help of gravity, and as shown in FIG. 9, the movable body 14 is moved (lowered) to the position closest to the base portion 12, that is, The telescopic link mechanism 15 is in the most contracted state.

  At this time, the telescopic link mechanism 15 is connected to the movable body 14 and the base portion 12 by the upper support link mechanism 36 and the lower support link mechanism 43, respectively. Therefore, the pair of upper slide members 34 move away from the upper support link mechanism 36 so as to be separated from each other in the branching direction X, and the pair of lower slide members 41 are lowered so as to be separated from each other in the branching direction X. It moves in a direction away from the side support link mechanism 43.

  Therefore, the positional relationship in the branch direction X between the telescopic link mechanism 15 and the movable body 14 and the base portion 12 is maintained. That is, the positions of the pair of upper slide members 34 and the pair of lower slide members 41 when the telescopic link mechanism 15 is in the contracted state are always determined.

According to the embodiment detailed above, the following effects are exhibited.
(1) In the movable body moving device 11, the end of the meshing chain 16 on the traveling direction Z <b> 1 side is closer to the base portion 12 than the pair of upper slide members 34 that are connected to the movable body 14 in the telescopic link mechanism 15. It is connected to. For this reason, the telescopic link mechanism 15 is expanded and contracted by the forward / backward movement of the meshing chain 16 and the movable body 14 is moved. The length of the chain 16 can be shortened, and the movable body moving device 11 can be reduced in size and weight. In addition, by shortening the length of the meshing chain 16, the moving speed of the meshing chain 16 can be made slower than the stretching speed of the telescopic link mechanism 15, and vibrations generated by the meshing chain 16 can be suppressed. . In this case, since the vibration of the meshing chain 16 is attenuated by the stretchability of the telescopic link mechanism 15, the vibration transmitted from the meshing chain 16 to the movable body 14 via the telescopic link mechanism 15 can be reduced.

  (2) In the movable body moving device 11, the end of the meshing chain 16 on the traveling direction Z1 side is connected to a rotating shaft 32 that rotatably connects the links 30 included in the telescopic link mechanism 15. For this reason, compared with the case where the end of the meshing chain 16 on the traveling direction Z1 side is connected to the link 30 of the telescopic link mechanism 15, the end of the meshing chain 16 on the traveling direction Z1 side is easier to the telescopic link mechanism 15. Can be linked to.

  (3) In the movable body moving device 11, the end of the meshing chain 16 on the traveling direction Z <b> 1 side is connected to a rotating shaft 32 </ b> A that is not displaced in the branching direction X due to the expansion / contraction of the expansion / contraction link mechanism 15. Has been. For this reason, even if the telescopic link mechanism 15 expands and contracts as the meshing chain 16 moves forward and backward, the positional relationship in the branching direction X between the meshing chain 16 and the rotating shaft 32A does not change. The force can be efficiently transmitted to the telescopic link mechanism 15.

  (4) In the movable body moving device 11, the end of the meshing chain 16 on the traveling direction Z1 side is connected to the rotating shaft 32 </ b> A via the connecting member 18, and the end of the meshing chain 16 on the traveling direction Z1 side The connecting position between the connecting member 18 and the connecting member 18 is located closer to the traveling direction Z1 than the connecting position between the rotating shaft 32A and the connecting member 18. For this reason, when the meshing chain 16 moves in the traveling direction Z1, the driving force of the meshing chain 16 pulls the rotation shaft 32A in the traveling direction Z1 via the connecting member 18 so that the expansion link mechanism 15 Is transmitted to. Therefore, since the rotational force around the rotation shaft 32A does not act on the end of the meshing chain 16 on the traveling direction Z1 side, the buckling load of the meshing chain 16 can be prevented from being reduced. Incidentally, when the driving force of the meshing chain 16 is transmitted to the telescopic link mechanism 15 in such a manner that the meshing chain 16 presses the rotating shaft 32A in the traveling direction Z1 via the connecting member 18, the traveling direction of the meshing chain 16 Since the rotational force about the rotation shaft 32A acts on the end portion on the Z1 side, the buckling load of the meshing chain 16 is reduced.

  (5) The movable body moving device 11 includes the movable body 14 and the base portion of the telescopic link mechanism 15 while allowing the pair of upper slide members 34 and the pair of lower slide members 41 to move in accordance with the telescopic operation of the telescopic link mechanism 15. 12 is provided with an upper support link mechanism 36 and a lower support link mechanism 43 that perform positioning in the branch direction X with respect to 12, respectively. For this reason, even if the expansion / contraction link mechanism 15 expands / contracts, the positional relationship in the branch direction X between the expansion / contraction link mechanism 15, the movable body 14, and the base portion 12 can be maintained.

(Example of change)
In addition, you may change the said embodiment as follows.
As shown in FIG. 10, a rotation link mechanism 50 may be used as a positioning mechanism instead of the upper support link mechanism 36. The rotation link mechanism 50 includes a rod-shaped rotation link 51, a support shaft 52 that supports the rotation link 51 so as to be rotatable at the center thereof, and protrusions 53 provided at both ends of the support shaft 52. ing. And the long hole 54 is extended in the position from the center part of the front-back direction Y to one end part, and the position from the center part of the front-back direction Y to the other end part in one and the other of a pair of upper side slide members 34, respectively. Then, the protrusions 53 described above are slidably inserted into the long holes 54, respectively. In this way, when the telescopic link mechanism 15 is in the extended state, both protrusions 53 move toward the end portions of the long holes 54 as shown in FIG. 10, and when the telescopic link mechanism 15 is in the contracted state, it is shown in FIG. In this way, the rotation link 51 rotates about the support shaft 52 so that both protrusions 53 move toward the end portions of both long holes 54. For this reason, the positional relationship in the branch direction X between the telescopic link mechanism 15 and the movable body 14 can be maintained. As shown in FIGS. 10 and 11, as in the case of the upper support link mechanism 36 described above, a rotating link mechanism 50 may be used as a positioning mechanism instead of the lower support link mechanism 43. In this way, the positional relationship in the branching direction X between the telescopic link mechanism 15 and the base portion 12 can be maintained by the same action as in the case of the upper support link mechanism 36 described above.

  As shown in FIG. 12, a gear mechanism 55 may be used as a positioning mechanism instead of the upper support link mechanism 36. The gear mechanism 55 is opposed to the pinion 56, the support shaft 57 that supports the pinion 56 so as to be rotatable at the center thereof, and the inner surfaces of the pair of upper slide members 34 with the pinion 56 interposed therebetween in the front-rear direction Y. 56 and a pair of racks 58 provided so as to mesh with each other. In this way, when the telescopic link mechanism 15 is in the extended state, as shown in FIG. 12, the pinion 56 maintains the meshed state with the pair of racks 58 so that the pair of upper slide members 34 approach each other. It rotates around the support shaft 57. On the other hand, when the telescopic link mechanism 15 is in the contracted state, as shown in FIG. 13, the pinion 56 maintains the meshed state with the pair of racks 58 so that the pair of upper slide members 34 are separated from each other. Rotate to the center. For this reason, the positional relationship in the branch direction X between the telescopic link mechanism 15 and the movable body 14 can be maintained. As shown in FIGS. 12 and 13, a gear mechanism 55 may be used as a positioning mechanism instead of the lower support link mechanism 43 as in the case of the upper support link mechanism 36 described above. In this way, the positional relationship in the branching direction X between the telescopic link mechanism 15 and the base portion 12 can be maintained by the same action as in the case of the upper support link mechanism 36 described above.

  The rotation shaft 32A that connects the end of the meshing chain 16 on the traveling direction Z1 side may be arbitrarily changed. In this case, the magnification of the expansion / contraction stroke of the expansion / contraction link mechanism 15 with respect to the movement stroke of the engagement chain 16 is increased as the position of the rotation shaft 32A connecting the end of the engagement chain 16 on the traveling direction Z1 side is closer to the base portion 12. Can do.

-At least one of the upper support link mechanism 36 and the lower support link mechanism 43 may be omitted.
The connection position between the end of the meshing chain 16 on the traveling direction Z1 side and the connecting member 18 does not necessarily need to be located on the traveling direction Z1 side relative to the connection position between the rotating shaft 32A and the connecting member 18.

The connecting member 18 may be omitted, and the end of the meshing chain 16 on the side in the traveling direction Z1 may be directly connected to the rotating shaft 32A (for example, welding or uneven fitting).
The end portion on the traveling direction Z1 side of the meshing chain 16 may be connected to the rotation shaft 32 that is displaced in the branching direction X by the expansion and contraction of the expansion / contraction link mechanism 15 among the plurality of rotation shafts 32. In this case, it is preferable to connect the end portion on the traveling direction Z1 side of the meshing chain 16 and the rotation shaft 32 to which the end portion is connected by a connecting member capable of absorbing the displacement in the branch direction X.

  The end of the meshing chain 16 on the traveling direction Z1 side may be connected to the link 30 that the telescopic link mechanism 15 has. In this case, it is preferable to connect the end portion on the traveling direction Z1 side of the meshing chain 16 and the link 30 to which the end portion is connected by a connecting member capable of absorbing the positional deviation in the branch direction X.

  The punter mechanism 31 constituting the telescopic link mechanism 15 may be constituted by one X link 33, or may be constituted by connecting two X links 33 so as to be rotatable in series. Two or more X links 33 may be configured so as to be rotatable in series.

  Any one of the pair of chain units 13 may be omitted. In this case, the chain unit 13 is preferably arranged so that the end of the meshing chain 16 on the side in the traveling direction Z1 is connected to the center in the front-rear direction Y of the rotation shaft 32A.

  -At least one of the pair of chain units 13 may be arranged by being rotated 90 degrees so that the direction in which the pair of chain members 16a and 16b are branched coincides with the front-rear direction Y.

-A pair of chain member 16a, 16b may be comprised with a chain of 1 row, may be comprised with a chain of 2 rows, and may be comprised with a chain of four or more rows.
The meshing chain 16 may be configured to be integrated by meshing two or more pairs of chain members 16a and 16b.

-You may make it provide the sprocket 21 for every chain member 16a, 16b.
The movable body moving device 11 may be arranged in any direction. For example, you may arrange | position so that the advancing / retreating movement direction Z may correspond with a perpendicular direction. In this case, the base portion 12 may be disposed on the gravity direction side of the movable body 14, or the base portion 12 may be disposed on the antigravity side of the movable body 14. Or you may arrange | position the movable body moving apparatus 11 so that the advancing / retreating movement direction Z may correspond with a horizontal direction, for example.

  DESCRIPTION OF SYMBOLS 11 ... Movable body moving apparatus, 12 ... Base part, 14 ... Movable body, 15 ... Telescopic link mechanism, 16 ... Interlocking chain, 16a, 16b ... Chain member, 17 ... Chain accommodating part, 18 ... Connection member, 30 ... Link, 32, 32A ... rotating shaft, 34 ... upper slide member constituting the movable body side connecting portion, 36 ... upper support link mechanism as an example of a positioning mechanism, 41 ... lower slide member constituting the base portion side connecting portion, 43 A lower support link mechanism as an example of a positioning mechanism, X a branch direction as an example of an orthogonal direction, Z advancing and retreating direction, Z1 advancing direction, Z2 a retreating direction.

Claims (3)

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 chain accommodating portion for accommodating a disengagement portion in the meshing chain;
A base portion to which the chain housing portion is fixed;
The chain member is configured to be extendable and retractable in the advancing / retreating direction, and an end portion on the advancing direction side is connected to the movable body so as to be movable in an orthogonal direction that is orthogonal to the advancing / retreating direction and the retreating direction A telescopic link mechanism that is connected to the base portion so as to be movable in the orthogonal direction with respect to the base portion;
The end of the meshing chain on the traveling direction side includes links that the telescopic link mechanism has on the base part side of the movable body side coupling part that is a part coupled to the movable body in the telescopic link mechanism. A movable body moving device connected to the rotation shaft that is not displaced in the orthogonal direction by expansion and contraction of the expansion / contraction link mechanism among a plurality of rotation shafts that are rotatably connected. An end portion on the traveling direction side of the meshing chain is connected to the rotating shaft via a connecting member,
The connection position between the end portion on the traveling direction side of the meshing chain and the connecting member is located on the traveling direction side with respect to the connection position between the rotating shaft and the connecting member. Item 4. The movable body moving device according to Item 1 . The telescopic link mechanism while allowing movement of the movable body side connecting portion and the base portion side connecting portion, which are portions connected to the movable body and the base portion, respectively, in the telescopic link mechanism accompanying the expansion and contraction operation of the telescopic link mechanism the movable body and the movable body moving apparatus according to claim 1 or claim 2, characterized in that it comprises a positioning mechanism for positioning the perpendicular direction relative to the base portion.

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