JP6545844B1 - Method of determining shape of connection rail, device thereof, program thereof and passenger conveyor using the same - Google Patents

Abstract

A method of determining the shape of a connection rail used for a reverse rail of a step is provided. A rotating shaft of a roller 308 which rolls on a connection rail 106 on the basis of an origin O under a constant restraint condition from a reversal radius R1, a distance L between the rollers 308 and 308, and a traveling speed V of the roller 308. The axial trajectory of the connecting rail 106 is calculated, and the shape of the connection rail 106 is determined from the axial trajectory and the radius r of the roller 308. [Selected figure] Figure 5

Description

  The embodiment of the present invention relates to a method of determining the shape of a connection rail on which a step travels, an apparatus thereof, a program thereof, and a passenger conveyor using the same.

  Conventionally, in passenger conveyors such as escalators and moving sidewalks, a plurality of steps are connected by an endless step chain, and the rollers of the step chain travel on the guide rails to move the steps.

Patent No. 4292083 Japanese Patent Application Publication No. 2005-516872 JP 2003-252560 A Patent No. 4107852

  When using a reverse rail where the step reverses from the forward path to the return path or from the return path to the return path, the velocity unevenness of the roller of the step chain occurs in this part, and the step vibrates in the front-back direction or leads to noise. was there.

  Therefore, in view of the above problems, an object of the present invention is to provide a method of determining the shape of a connection rail used for a reverse rail of a step, an apparatus thereof, a program thereof, and a passenger conveyor using the same.

  The embodiment of the present invention comprises: a plurality of steps connected by an endless step chain; a straight rail on an outward path on which rollers of the step chain travel; and a straight rail on a return path on which the rollers travel on the step chain. The return path from the forward path to the return path, or the reverse path from the return path to the reverse path for the step to reverse up and down, and the reverse rail connects the semicircular rail and the straight rail of the forward path A determination method for determining the shape of the connection rail including the connection rail for connecting, the connection rail connecting the straight rail of the return path and the semicircular rail, the center of inversion P of the semicircular rail The position where the vertical line from the inversion center P intersects with the extension line from the rotation axis of the roller rolling on the linear rail is set as the origin O, and the linear rail is rotated. A position connecting the end point of the rotation axis of the roller to the start point of the axial locus, which is the locus of the rotation axis of the roller rolling on the connection rail, is set as a first connection point. , The traveling speed V0 of the rotation shaft of the roller, and the distance L between the rotation shaft of one of the rollers and the rotation shaft of the next roller adjacent to the one of the rollers, The rotation axis of the roller, which receives a radius R1 from the reversal center P to the origin O, is on the opposite side of the origin O from the first connection point, and rolls on the semicircular rail The second connection point is a position connecting the start point of the roller and the end point of the axial locus, and the angle between the rotation axis of the roller moving the connection rail and the reversal center P and the origin O is θ. 2 connection point, the inversion center P and the origin O The end angle is θ n, the radius R2 from the reversal center P to the second connection point (where R1> R2), and the radius R1 and the interval L and the traveling speed V0 satisfy the condition of constant constraint Determination of the shape of the connection rail which calculates the axial locus of the rotation axis of the roller rolling on the connection rail based on the origin O, and determines the shape of the connection rail from the axial locus and the radius r of the roller It is a method.

  Further, according to an embodiment of the present invention, there are provided a plurality of steps connected by an endless step chain, a straight rail on which rollers of the step chain travel, a semicircular rail, and the method described in the above embodiment. And a connecting rail having a determined shape.

Side surface explanatory drawing of the escalator which shows one Embodiment of this invention. The side view of the step which drives a front guide rail and a rear guide rail. The side view which shows the inversion structure of the step in a follower side. The block diagram of the determination apparatus. The figure explaining the method to determine a connection rail. The graph which illustrates θn. FIG. 7 is a diagram of a method of determining each position of a connection rail.

  Hereinafter, the escalator 10 using the determination method of the connection rail of one Embodiment of this invention is demonstrated with reference to FIGS. 1-4.

(1) Escalator 10
The structure of the escalator 10 will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, a truss 12 which is a framework of the escalator 10 is supported by using supporting angles 2 and 3 across the upper and lower floors of the building 1.

  As shown in FIG. 1, inside the upper floor side machine room (first machine room) 14 at the upper end of the truss 12, a drive unit 18 for moving the steps 30, a pair of left and right drive sprockets 24, and a pair of left and right belts A sprocket 27 is provided. The drive device 18 includes a motor 20 including an induction motor (induction motor), a reduction gear, an output sprocket attached to an output shaft of the reduction gear, a drive chain 22 driven by the output sprocket, and rotation of the motor 20 And a disk brake for holding the stopped state. The drive sprocket 24 is rotated by the drive chain 22. The pair of left and right drive sprockets 24, 24 and the pair of left and right belt sprockets 27, 27 are connected by a connecting belt (not shown) and synchronously rotate. Further, inside the machine room 14 on the upper floor side, a control device 50 for controlling the motor 20, the disk brake and the like is provided.

  As shown in FIG. 2, the plurality of steps 30 are connected by a pair of endless step chains 28, 28 on the left and right. As shown in FIG. 1, a pair of left and right reverse rails 26 is provided in the lower machine room (second machine room) 16 at the lower end of the truss 12. On the upper floor side, the pair of left and right endless step chains 28 engage with the recesses provided on the circumferential surface of the drive sprocket 24, and the rotation of the drive sprocket 24 reverses the vertical direction. On the other hand, on the lower floor side, the pair of left and right endless step chains 28 travel on the pair of left and right reversing rails 26 and are vertically reversed. In the pair of left and right step chains 28, as shown in FIGS. 1 and 2, the front wheels 301 of the plurality of steps 30 travel along the front guide rail 100 fixed to the truss 12. The rear wheel 302 travels along the guide rails 102 after being fixed to the truss 12.

  As shown in FIG. 1, on the left and right sides of the truss 12, a pair of left and right skirt guards 44 and 44 and a pair of left and right balustrades 36 and 36 are provided upright. A handrail rail 39 is provided above the balustrade 36, and the handrail belt 38 moves along the handrail rail 39. A front skirt guard 40 on the upper floor is provided at the lower front of the upper floor of the balustrade 36, and a front skirt guard 42 on the lower floor is provided at the lower front on the lower floor. The inlets 46 and 48 which are the entrance and exit of the handrail belt 38 respectively project. The skirt guard 44 is provided at the lower part of the side of the balustrade 36, and the step 30 travels between the pair of left and right skirt guards 44, 44. Control panels 52 and 56 and speakers 54 and 58 are provided on the inner side surfaces of the skirt guards 44 on the upper and lower floors, respectively.

  As shown in FIG. 1, the handrail belt 38 intrudes into the front skirt guard 40 from the inlet 46 on the upper floor side, and is passed around the belt sprocket 27 via the guide roller group 64, and then the guide roller group It moves inside the skirt guard 44 through 66 and appears out of the front skirt guard 42 from the inlet 48 on the lower floor side. The handrail belt 38 moves in synchronization with the step 30 as the belt sprocket 27 rotates with the drive sprocket 24. Further, a pressing member 68 for pressing the handrail belt 38 traveling on the rotating belt sprocket 27 is provided.

  As shown in FIG. 1, a passenger board 32 on the upper floor side is horizontally provided on the ceiling of the machine room 14 on the upper floor side, and a passenger board 32 on the upper surface of the machine room 16 on the lower floor side. In the mouth, a lower board 34 is horizontally provided. A comb-like comb 60 is provided at the tip of the landing plate 32, and the step 30 advances or intrudes from the comb 60. Further, a comb-like comb 62 is also provided on the board 34.

(2) Step 30
Next, the steps 30 will be described with reference to FIG. As shown in FIG. 2, the step 30 has a step frame 303 with triangles on both sides, a cleat surface 304 provided on the upper surface of the step frame 303, a riser surface 305 provided on the rear surface of the step frame 303, and a step frame 303. A pair of left and right front wheels 301 and 301 provided at the front of the stage, and a pair of left and right rear wheels 302 and 302 provided at the lower part of the rear surface of the step frame 303, that is, the lower part of the riser surface 305.

  As shown in FIG. 2, the pair of left and right front wheels 301 of the step 30 are integrally formed with the step chain 28. In the step chain 28, a pin 307 is rotatably engaged between the pair of left and right link plates 306, and a roller 308 is rotatably and coaxially arranged on the pin 307. The front wheel 301 has the same shape as the roller 308, and is provided on the step chain 28 at predetermined intervals. For example, in the case of FIG. 2, the front wheel 301, the roller 308, the roller 308, and the front wheel 301 are provided in this order. At a position where the front wheel 301 is provided, a front axle 310 is provided instead of the pin 307, and unlike the pin 307, the front axle 310 connects a pair of left and right front wheels 301, 301.

  As shown in FIG. 2, in the inclined section of the truss 12, the front wheel 301 moves on the front guide rail 100, and the rear wheel 302 moves on the rear guide rail 102.

(3) Inverted Structure of Step 30 Next, the inverted structure of the step 30 in the machine room 16 on the lower floor side of the step 30 will be described with reference to FIG.

  FIG. 3 shows a reverse structure in the lower floor side machine room 16 in FIG. 1, and the step 30 is in the lowered state, and is rotating in the counterclockwise direction in FIG.

  First, the reverse structure of the front wheel 301 of the step 30 will be described with reference to FIG. The straight front guide rail 100 is comprised of a forward guide rail 100 on the forward path and a forward guide rail 100 on the return path. A semicircular reversing rail 26 is provided between the forward guide rail 100 of the forward pass and the forward guide rail 100 of the return pass. The reverse rail 26 connects the semicircular rail 104, the connection rail 106 connecting the upper end of the semicircular rail 104 to the forward guide rail 100 on the forward path, and the lower end of the semicircular rail 104 to the forward guide rail 100 on the return path. The connection rail 108 is configured.

  Next, the reverse structure of the rear wheel 302 of the step 30 will be described with reference to FIG. The straight rear guide rail 102 is composed of a forward guide rail 102 and a return guide rail 102. The upper end of the rear small semicircular rail 110 is connected to the tip of the forward guide rail 102. The lower end of the rear most circular rail 112 is connected to the tip of the guide rail 102 after the return path. The rear majority circular rail 112 is larger in diameter than the rear small semicircular rail 110, and the rear wheel 302 of the step 30 moves between the rear small semicircular rail 110 and the rear majority circular rail 112.

  As shown in FIG. 3, when the steps 30 move from the upper floor side to the lower floor side and come to the position of the machine room 16, the front wheels 301 of the steps 30 are the front guide rails 100, the connection rails 106, and the semicircular rails 104. , Through the connection rail 108 to the front guide rail 100 of the return route. The rear wheel 302 of the step 30 travels through the rear guide rail 102 on the forward path, between the rear small semicircular rail 110 and the rear most circular rail 112, and moves on the rear guide rail 102 on the return path.

(4) Method of Determining Shape of Connection Rail 106 Next, a method of determining the shape of the connection rail 106 on the forward path connecting the straight front guide rail 100 and the semicircular rail 104 will be described with reference to FIGS. 5 and 4. explain. This determination method is processed using the determination apparatus 200.

  FIG. 4 is a block diagram of the determination apparatus 200. The determination apparatus 200 includes a computer, and an input unit 202 such as a keyboard and a mouse, a storage unit 206 such as an HDD and a memory, and an output of a printer. The part 208 is connected. The processing unit 204 can execute a search solution. The search solution is executed by a program incorporated in the processing unit 204. The “search solution method” is a function capable of determining an optimal variable value for obtaining a target value in a mathematical expression including a plurality of variables. In the search solution method, the correlation between variables can be determined while changing the values of a plurality of variables, and an optimal value can be calculated. It is also possible to put a specific constraint on a certain variable, or change the value of another variable in order to obtain the maximum value / minimum value of a specific variable. Using the search solution method, it is possible to calculate the solution of simultaneous equations and the calculation of a shape in which a plurality of items are interlocked.

  The determination apparatus 200 first determines the axial locus of the rotation axis of the roller 308, secondly determines the rail locus from this axial locus, and thirdly determines the shape of the connection rail 106 from this rail locus. As described above, since the front wheel 301 and the roller 308 have the same diameter and are linked in a chain shape by the link plate 306 (see FIGS. 2 and 3), the front wheel 301 and the roller 308 will be described below. And will be collectively described as a roller 308 without distinction.

(4-1) Description of Parameters in FIG. 5 FIG. 5 is a diagram for explaining a method of determining the connection rail 106. The parameters described in FIG. 5 will be described.

  The “radius r” represents the radius of the roller 308 (front wheel 301).

  The "reversing center P" is the center of the semicircular rail 104, and represents the center of rotation of the step 30 in the up and down direction.

  “Origin O” is the origin of the xy orthogonal coordinate system, and a horizontal extension line from the rotation axis of the roller 308 rolling on the linear front guide rail 100 intersects with a vertical line extending from the reversal center P Represents the position where Note that each position (x, y) of the axis trajectory is represented by this xy orthogonal coordinate system.

  The “first connection point A” represents a connection position between the end point of the rotation axis of the roller 308 rolling on the front guide rail 100 and the start point of the rotation axis of the roller 308 rolling on the connection rail 106.

  The “second connection point B” represents the connection position of the end point of the rotation axis of the roller 308 rolling on the connection rail 106 and the start point of the rotation axis of the roller 308 rolling on the semicircular rail 104. As shown in FIG. 5, the rotation axis of the roller 308 present at the first connection point A and the rotation axis of the roller 308 present at the second connection point B are connected by a single link plate 306 to provide a first connection. The shortest distance (linear distance) between the point A and the second connection point B is the same as the distance L between the two rollers 308, 308. In addition, the first connection point A and the second connection point B are at opposite positions with respect to the x-axis connecting the inversion center P and the origin O.

  “Radius R1” represents the distance from the inversion center P to the origin O.

  “Radius R2” represents the distance between the second connection point B and the inversion center P, and R1> R2.

  “End angle θn” represents an angle formed by the second connection point B, the inversion center P, and the origin O, and an angle in the middle of changing to the end angle θn is represented by θ.

  “Rail speed V” represents the traveling speed of the rotation shaft of the roller 308 rolling on the connection rail 106.

  “Traveling speed V 0” represents the traveling speed of the rotation shaft of the roller 308 rolling on the front guide rail 100.

  “Speed Vt” represents the traveling speed of the rotation shaft of the roller 308 rolling on the semicircular rail 104.

  The “axis locus” means a locus along which the rotation axis of the roller 308 rolls between the first connection point A and the second connection point B. Each position of the axis trajectory is expressed as (x1, y1),... (Xk, yk).

  “Rail locus” represents the locus of the rolling surface of the connection rail 106.

  The “angle α” is an angle at which the straight line connecting the first connection point A and the second connection point B crosses the x axis at the first connection point A.

The relationship between these parameters can be obtained from the geometrical relationship in FIG. 6 as shown in the following equations (1) to (4).

Vt = V0 × {2R2 × sin ⁻¹ (L / 2R2)} / L (1)

V = Vt × cos (θ−α) / cos α (2)

α = sin ⁻¹ [{R 2 (1−cos θ) + ΔR} / L] (3)

R2 = R1-ΔR (4)

(5) Determination Method A method of determining the shape of the connection rail 106 by the determination device 200 will be described.

  The operator inputs the values of the radius R1, the interval L, the traveling speed V0, and the radius r to the processing unit 204 from the input unit 202 in the storage unit 206 of the processing unit 204 of the determination apparatus 200.

  The operator sets the position of the inversion center P and the position of the origin O for making the determination.

  The operator sets the following constraint conditions.

  The shortest distance (linear distance) between the first connection point A and the second connection point B is set as an interval L.

  When the rotation axis of the first roller 308 reaches the second connection point B, the rotation axis of the second roller 308 is set to reach the first connection point A.

  When the rotation axis of the second roller 308 moves along the axial path, it is set that the rotation axis of the first roller 308 performs a circular motion of radius R2 centering on the reversal center P.

  Under the above-described constraint condition, the determination device 200 sets the radius of the axis R2 and the position of each position (xk, yk) of the axis locus as variables so that the axis locus of the axis locus is within the predetermined range of the traveling speed V of the roller 308. Each position and radius R2 are determined as follows.

  As a first step, the determination apparatus 200 determines the end angles θn and ΔR.

  As a second step, the determination apparatus 200 determines a first connection point A and a second connection point B.

  As a third step, the determination apparatus 200 obtains each position (x1, y1),... (Xk, yk).

  As a fourth step, the determination apparatus 200 subtracts the radius r of the roller 308 from each position of this axial locus to determine the rail locus of the rolling surface of the connection rail 106.

  As a fifth step, the determination apparatus 200 determines the shape of the connection rail 106 so as to be a rail track.

  Each step of this determination method will be described in more detail.

  In the first step, the method of determining the end angles θ n and ΔR will be described. In the above equations (1) to (4), the lowest point of the rail velocity V becomes equal to the traveling velocity V0 as shown in FIG. 6 by changing ΔR (= R1−R2) as a variable Determine θ. The lowest point θ is θn. Further, R2 at this time is R2 of the second connection point B.

  In the second step, a method of determining the first connection point A and the second connection point B in the determination apparatus 200 will be described. The position of the second connection point B can be determined from θn and R2. The distance from the position of the second connection point B is L, and the position intersecting the x axis is the position of the first connection point A.

  A method of determining each position (x1, y1), ... (xk, yk) ... of the axis trajectory in the third step will be described with reference to Fig. 7. As shown in FIG. 7, the first roller 308a rolls on the linear front guide rail 100, the second roller 308b travels on the connection rail 106, and the third roller 308c is semicircular. It is assumed that the rail 104 is traveling. Since the traveling speed V0 of each roller 308 and the distance between each roller 308 are L, as shown in FIG. 7, a circle of radius L from the rotation axis of the first roller 308a, radius from the rotation axis of the third roller 308c When the circle of L is described, the intersecting position is the position (xk, yk) of the rotation axis of the second roller 308 b. This method is performed from the first connection point A to the second connection point B, and each position (x1, y1),... (Xk, yk).

  Then, when each step is completed and the shape of the forward connection rail 106 is determined, the determination device 200 determines the shape of the forward connection rail 106 to be vertically symmetrical with respect to the return connection rail 108.

 Based on the connection rail 106 and the connection rail 108 determined as described above, the reverse rail 26 is manufactured integrally with the semicircular rail 104.

(6) Effects As described above, according to the present embodiment, when the front wheel 301 of the step 30 rolls the connection rail 106, the semicircular rail 104, and the connection rail 108 and the upper and lower sides of the step 30 are reversed, the traveling speed V Since the step is reversed while maintaining it within a predetermined range, the steps 30 do not vibrate or generate noise.

Modified example

  Although the said embodiment demonstrated as the passenger conveyor with the escalator 10, it may replace with this and may apply to the moving sidewalk.

  Although one embodiment of the present invention has been described above, this embodiment is presented as an example and is not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and modifications thereof are included in the scope and the gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.

DESCRIPTION OF SYMBOLS 10 ... Escalator, 28 ... Step chain, 30 ... Step, 301 ... Front wheel, 302 ... Rear wheel, 306 ... Link board, 307 ... Pin, 308 ... Roller , 310: front axle, 104: semicircular rail, 106: connection rail, 108: connection rail

Claims (10)

A plurality of steps connected by an endless step chain,
A forward linear rail on which the rollers of the step chain travel;
A straight rail on the return path traveled by the rollers of the step chain;
A reverse rail for the step to turn up and down from the forward path to the return path or from the return path to the forward path;
Have
The reverse rail includes a semicircular rail, a connection rail connecting the straight rail on the forward path, and the connection rail connecting the straight rail on the return path to the semicircular rail. A determination method for determining the shape,
Set the inversion center P of the semicircular rail,
A position at which a vertical line from the reversing center P intersects with an extension line from the rotation axis of the roller rolling on the straight rail is set as an origin O.
A position connecting the end point of the rotation axis of the roller rolling on the linear rail and the start point of the axis locus which is the locus of the rotation axis of the roller rolling on the connection rail is set as a first connection point ,
Enter the radius r of the roller,
Input the traveling speed V0 on the linear rail of the rotation shaft of the roller,
Input an interval L between the rotation axis of one of the rollers and the rotation axis of the next roller adjacent to the one of the rollers,
Input radius R1 from the inversion center P to the origin O,
The first connection point is on the opposite side across the origin O, and a position connecting the start point of the rotation axis of the roller rolling on the semicircular rail and the end point of the axial locus is 2 connection points,
Let θ be the angle between the rotation axis of the roller moving the connection rail, the reversal center P, and the origin O
An end angle formed by the second connection point, the inversion center P, and the origin O is θn.
Radius R2 (where R1> R2) from the inversion center P to the second connection point,
From the radius R1, the interval L and the traveling speed V0, an axial locus of the rotation axis of the roller rolling on the connection rail is calculated based on the origin O under a constant constraint condition,
The shape of the connection rail is determined from the axial locus and the radius r of the roller,
How to determine the shape of the connection rail. When calculating each position of the axis trajectory, a search solution method is used so that the traveling speed V0 fluctuates within a predetermined range.
The method of determining the shape of the connection rail according to claim 1. The constraint condition is
The linear distance between the first connection point and the second connection point is L,
When the rotation axis of one of the rollers reaches the second connection point, the rotation axis of the next roller reaches the first connection point,
When the rotation axis of the next roller is moving along the axis trajectory, the rotation axis of one of the rollers performs a circular motion with a radius R2 centering on the reversal center P,
Under the constraint condition, an end angle θ n at which the angular velocity of the roller is the traveling speed V 0 is determined by the search solution method, with R 2 −R 1 = ΔR as a variable.
The method of determining the shape of the connection rail according to claim 2. The connection rail connects the straight rail of the forward path and the semicircular rail, and connects the semicircular rail and the straight rail of the return path.
The method of determining the shape of the connection rail according to claim 1. A plurality of steps connected by an endless step chain,
A straight rail on which the rollers of the step chain travel;
With semicircular rails,
A connection rail whose shape is determined by the method according to claim 1;
Passenger conveyor with. The roller doubles as the front wheel of the step.
The passenger conveyor according to claim 5. A drive sprocket provided on the circumferential surface with an engagement recess with which the roller of the step chain engages;
A drive for rotating the drive sprocket;
The passenger conveyor according to claim 6, comprising: A plurality of the steps move the forward path and the return path along the truss,
A first machine room is disposed at one end of the truss,
A second machine room is arranged at the other end of the truss,
The drive sprocket and the drive device are provided in the first machine chamber,
The reversing rail is provided in the second machine room,
The passenger conveyor according to claim 7. A plurality of steps connected by an endless step chain,
A forward linear rail on which the rollers of the step chain travel;
A straight rail on the return path traveled by the rollers of the step chain;
A reverse rail for the step to turn up and down from the forward path to the return path or from the return path to the forward path;
Have
The reverse rail includes a semicircular rail, a connection rail connecting the straight rail on the forward path, and the connection rail connecting the straight rail on the return path to the semicircular rail. A determining device for determining the shape,
Set the inversion center P of the semicircular rail,
A position at which a vertical line from the reversing center P intersects with an extension line of the roller rolling on the straight rail from the rotation axis is set as an origin O.
A position where the end point of the rotation axis of the roller rolling on the linear rail and an axial locus which is a locus of the rotation axis of the roller rolling on the connection rail are set as a first connection point.
Enter the radius r of the roller,
Input the traveling speed V0 of the rotation shaft of the roller,
Input an interval L between the rotation axis of one of the rollers and the rotation axis of the next roller adjacent to the one of the rollers,
Input radius R1 from the inversion center P to the origin O,
The first connection point is on the opposite side across the origin O, and a position connecting the start point of the rotation axis of the roller rolling the semicircular rail and the axial locus is a second connection Point,
Let θ be the angle between the rotation axis of the roller moving the connection rail, the reversal center P, and the origin O
An end angle formed by the second connection point, the inversion center P, and the origin O is θn.
Radius R2 (where R1> R2) from the inversion center P to the second connection point,
From the radius R1, the interval L and the traveling speed V0, an axial locus of the rotation axis of the roller rolling on the connection rail is calculated based on the origin O under a constant constraint condition,
The shape of the connection rail is determined from the axial locus and the radius r of the roller,
Device for determining the shape of connection rails. A plurality of steps connected by an endless step chain,
A forward linear rail on which the rollers of the step chain travel;
A straight rail on the return path traveled by the rollers of the step chain;
A reverse rail for the step to turn up and down from the forward path to the return path or from the return path to the forward path;
Have
The reverse rail includes a semicircular rail, a connection rail connecting the straight rail on the forward path, and the connection rail connecting the straight rail on the return path to the semicircular rail. A decision program for determining the shape,
Set the inversion center P of the semicircular rail,
A position at which a vertical line from the reversing center P intersects with an extension line of the roller rolling on the straight rail from the rotation axis is set as an origin O.
A position where the end point of the rotation axis of the roller rolling on the linear rail and an axial locus which is a locus of the rotation axis of the roller rolling on the connection rail are set as a first connection point.
Enter the radius r of the roller,
Input the traveling speed V0 of the rotation shaft of the roller,
Input an interval L between the rotation axis of one of the rollers and the rotation axis of the next roller adjacent to the one of the rollers,
Input radius R1 from the inversion center P to the origin O,
The first connection point is on the opposite side across the origin O, and a position connecting the start point of the rotation axis of the roller rolling the semicircular rail and the axial locus is a second connection Point,
Let θ be the angle between the rotation axis of the roller moving the connection rail, the reversal center P, and the origin O
An end angle formed by the second connection point, the inversion center P, and the origin O is θn.
Radius R2 (where R1> R2) from the inversion center P to the second connection point,
From the radius R1, the interval L and the traveling speed V0, an axial locus of the rotation axis of the roller rolling on the connection rail is calculated based on the origin O under a constant constraint condition,
The shape of the connection rail is determined from the axial locus and the radius r of the roller,
Program for determining the shape of connection rails for making things run by a computer.

Images