JPH04183669A - Carriage for traveling on curved route - Google Patents

Abstract

PURPOSE:To give a body to be traveled completely stable traveling even in the curved part of a traveling route by accommodating a towing belt which is driven by a power generating means so as to run freely through plural guide members, in a single surface, at least, of opposed surfaces parallel to a guide rail serving as a traveling route. CONSTITUTION:A guide rail 1 is supported by plural columns 10 along a curved route to form a traveling route, and a towing belt 3 is formed into an endless shape to be disposed around the guide rail 1. The guide rail 1 is of approximately rectangular section monorail structure and grooves 1-3 are provided to accommodate the towing belt 3 on both sides in the center of a side part respectively, and in the respective grooves 1-3, guide members 11, 12 of the towing belt are provided along them at prescribed intervals. The towing belt 3 is held by the guide members 11, 12. A transmission device 5 is arranged at the starting point of the guide rail 1 to be engaged with teeth provided in the towing belt 3, and a power generating means 7 is connected to the transmission device 5 to be controlled by a controller 8.

Description

[Detailed Description of the Invention] [Industrial Application Field] In production lines of factories, etc., materials and workpieces are connected and transported over short distances between stations where processing machines, assembly equipment, etc. are scattered. However, there is a need for a transport system that positions the station at a predetermined position with high precision.

The present invention relates to a drive device for traveling on a route including curves, which is suitable for such uses and can be applied to a conveyance system for routes including curves.

[Prior Art] Conventionally, as a means for transporting an object over a medium or long distance route, there has been a transport means that utilizes the driving force of a chain conveyor, a near motor, or the like.

In addition, as a conveying means that requires highly accurate positioning, for example, Japanese Patent Application No. 63-20 filed by the present applicant
Linear drive / as described in US Pat. No. 6,275
A linear actuator with i12 positioning has been proposed.

That is, this linear actuator includes a driving part to which a driving source is fixed, a frame slidably engaged with the driving part,
A linear actuator comprising an engagement mechanism provided between the drive section and the frame to cause relative movement between the two, a timing belt fixed to the frame, and a drive section engaged with the timing belt. This was an attempt to position a driven object such as a robot hunt at a desired position with high precision by using the former method. Although this is suitable, there is a problem in that it is difficult to obtain high positioning accuracy because it is not possible to accurately indicate and control the position of the destination just by transporting it.

On the other hand, the latter conveyance means has high precision and is therefore extremely suitable for conveying and positioning workpieces over short straight paths. It can also be applied when there is equipment such as a machine tool that is unrelated to the transport between the transport processes, and the workpiece can be positioned with high accuracy via a curved path that avoids the equipment and provides the shortest detour. There was a need for a transportation system that could handle the situation.

SUMMARY OF THE INVENTION An object of the present invention is to provide a driving device for traveling along a route including a curve, which can be applied to a transportation system for a route including a curve, which solves the above-mentioned conventional problems.

[Means for Solving the Problems] In order to solve the above problems (problems), the present invention provides a kite rail (1) having parallel opposing surfaces, and a kite rail (1) on at least one side of the guide rail (1). A plurality of guide members (11) arranged and fixed in the longitudinal direction of the
12) and a traction heald (3) which is housed in a freely flowing manner between these guiding members and is driven by a power generating means.
A drive device for traveling along a route including a curve. In this case, it is preferable that the traction belt uses a toothed heald, and the toothed heald is driven by power from a power generating means such as a motor. J
a tuple-toothed traction belt disposed and held along a kite rail; a toothed drive heald inscribed by a Tejon kite in a straight section having a predetermined distance from the double-toothed traction belt; and a power generation means. The drive device for traveling along a curved path may be provided with a transmission device connecting the power generating means and the toothed drive heald.

[Function] According to the present invention, the traction belt driven by the power generating means is movably housed on at least one side of the parallel opposing surfaces of the guide rail as the running path, so that the traction belt The belt is driven by a predetermined driving force along a kite rail including a curve. Therefore, the traveling object connected to the traction belt and provided to travel along the kite rail can be run stably and reliably even on curved sections of the travel path. Further, when the traction belt uses a toothed heald driven by a motor or the like, it can be easily and securely connected to the traveling object without slipping, and can exert a driving force. Further, a tuple toothed belt is used as the traction heddle, and a toothed drive heald driven by a power generating means is used to drive the tuple toothed belt, and the tuple toothed belt and the toothed drive heald are combined. If the tension kite is used to press the belt, the traction belt can be driven over a long distance more stably without slipping.

[Example] Next, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a diagram showing an overview of the overall configuration of an example of a conveyance system for a route including a curved line based on the present invention, and in the same figure (A> shows the overall configuration of the conveyance system for a route including a curved line). , (B) is an external perspective view showing a part of the guide rail, and (C) is a partial side view showing a stopped state of the guide rail and the carriage, which is a traveling object.

In Fig. 1 (A>), 1 is a kite rail (hereinafter referred to as a kite rail) laid as a traveling path, and 2 is a kite rail (hereinafter referred to as a kite rail) laid as a traveling path, and 2 is a holding means such as a Rojo Nodhunt for carrying objects to be transported (transported goods). (not shown) for grasping and conveying a conveyed object (transferred product); 3 is connected to a coupling device provided in the traveling object 2, the details of which will be described later, and drives the traveling object 2; A visible traction mechanism held on the kite rail 1 is a duffle toothed traction belt (hereinafter referred to as traction belt) with teeth on both sides. 5 is a transmission device that drives the traction belt 3, and 6 is a guide. A termination mechanism for the traction belt 3 provided at the end of the rail 1, 7 a power generation means, 8 a control device for the power generation means 7, 10 a support for the guide rail 1,
The configuration of the power generating means 7 and the transmission device 5 forms a driving means for the traction belt 3.

The conveyance system for the route including this curve is as shown in the figure.
A guide rail 1 is connected to a plurality of supports 1 along a path including a curve.
A guide member (FIG. 1 (A)
, (not shown in (C)))
are formed endlessly and arranged in a reciprocating manner around the guide rail 1. Further, a transmission device 5 is disposed at the starting point of the kite rail 1 and meshed with the teeth provided on the traction heald 3, and a power generation means 7 is coupled to the transmission device 5. The power generation means 7 is controlled by a control device 8. At the same time, a termination device 16 is disposed at the end of the guide rail 1 to fold back the traction belt 3, and an appropriate number (two in the figure) of running objects 2 are engaged with the guide rail 1 so that they can run freely. , each traveling object 2 is connected to a coupling device (first
(Illustrated in Figure (C)), the stop position is set as the drive of the traction belt 3 is stopped by the power generating means 7, which is controlled by the control device 8 and stopped. configured to be controlled.

The guide rail 1 is molded by extrusion molding of aluminum alloy and has a substantially rectangular cross-section molded rail structure as shown in FIG. Groove 1-3 for accommodating the traction belt for
are provided respectively, and the upper and lower parts of the rectangular shape are provided with running parts 1-
1 and 1-2, 1-11 and 1-12.1-21 and 1-
22 in parallel with the upper and lower end surfaces 1-13 and 1-2, respectively.
3 are formed at right angles to the parallel plane. Also,
On the grooves 1-3 provided on both sides of the guide rail 1, guiding members 11, 12 for the traction belt are installed along the grooves at a predetermined interval.

The straight and curved portions of the illustrated guide rail having the shape shown in the figure are processed into appropriate dimensions, and the pillars 10 are laid in appropriate combinations according to the condition of the route, and are provided at appropriate intervals.
to form a running path as shown in FIG. 1(A).

In Figure 1 (C), 1, 3, and 10 are respectively (
Among the guide rails, traction belts, and supports shown in A), only one traveling object 2 is shown. Further, in this figure, illustration of the guide members 11 and 12 is omitted. In the same figure, reference numerals 20-1 and 20-2 are upper and lower carriage stands of a carriage (hereinafter referred to as a carriage) constituting the traveling object 2, respectively.

Further, 23 indicates the upper and lower running portions 1-1 of the kite rail 1.
1-2, ■-11 side and 1-12 side, 1-21 side and 1
- driven rollers that are provided at symmetrical positions sandwiching the 22 surfaces and sandwich the guide rail 1 together with the driven roller on the opposite side that is hidden by the guide rail 1,
A coupling device 35 meshes with the traction belt 3 and drives the carriage 2 in accordance with the drive of the traction belt 3.

Further, 70 is an encoder as a position detection device coupled to the rotating shaft of the power generating means 7.

Fig. 2 is a detailed structural diagram showing the correlation between the guide rail 1 and the carriage 2, in which Fig. 2 (A) is a plan view of the carriage 2 seen from above, and Fig. 2 (B) is a portion seen from the side. The cross-sectional view (C) is a cross-sectional view taken along the line AA'.

Carriage 2 consists of two carriage stands 20-1 and 20-2.
are connected in parallel at appropriate intervals by a connecting member 21, and the central shafts 25 of the two support stands 22 are rotatably supported on the carriage stand 20-1 by bearings 25-1 at appropriate intervals.
Each support stand 22 has a driven roller 23 mounted on two shafts 24 provided at a predetermined interval by bearings 23-1.
These driven rollers 23 mounted on two shafts 24 are mounted on the running surfaces 1-11 and 1- of the guide rail 1.
It is attached so as to sandwich it between 12 and 12. Further, the carriage stand 20-2 is also provided with two support stands symmetrically with respect to the carriage stand 20-1, and as shown in FIG. By 23,
The running surfaces 1-21 and 1-22 of the guide rail 1 are sandwiched from the left and right sides so that the guide rail 1 can run smoothly.

A traction mechanism with teeth on both sides for driving a carriage 2 held by a plurality of guiding members (not shown in this figure) is installed in grooves 1-3 provided on both sides of the central part of the guide rail 1. The belt 3 is slidably disposed, one of the shafts 24 supporting the driven roller 23 is extended to the position of the traction belt 3, and a gear fixed to the tip of the shaft 24 is attached to the traction heald 3 having teeth on both sides. Outside f! It meshes with r31 to constitute the above-mentioned coupling device 35.

The traction heald 3 for driving the carry engine is formed endlessly and is arranged to reciprocate around the start and end points of the guide rail 1, and as shown in FIG. A transmission device 5 is provided at the starting point to fold back the toothed heald 3, and a transmission device 5 is provided at the starting point to fold back the toothed heald 3.
is driving.

The carriage 2 and the traction heald 3 are engaged by a coupling device 35 consisting of a gear fixed to the tip of one of the shafts 24 that support the driven rollers 23 provided in the carriage 2. 2 and the traction belt 3, and even when the carriage 2 passes through the curved part of the kite rail 1, there is no change in the relative position between the coupling device 35 and the traction heald 3. , the amount of movement of the carriage 2 is determined by a value detected by a position detection device (not shown) constituted by an encoder mounted on a power generating means (7 shown in FIG. 1 (A)) or by a control device control device. (1st
The information is inputted to 8) shown in Figure (A) and used as carriage position information shown with good accuracy.

Further, in FIG. 2(C), numeral 4 is a robot hand that is a means for grasping the conveyed object (conveyance hole) attached to the carriage 2, and expands and contracts the rod 4-1 in response to a control signal from the control device 8. The grip part 4-2 is opened and closed to grip the conveyed object (conveyance hole), and the carriage 2 is moved to move it from a predetermined location to a desired location.

Furthermore, depending on the requirements of the system, the traveling object can have any shape or structure, and a robot hand or other device having an appropriate structure or function can be mounted thereon.

Figure 3 shows the detailed structure of the power generating means and transmission device described above, with (A) being a plan view and (B) being a cross section of the main part taken along the line A-A' shown in (A). It is a diagram.

On the substrate 51 of the transmission device 5, guide rollers 53 of the traction belt 3 having teeth on both sides for driving are arranged in a trapezoidal distribution near the outer periphery, and the traction heald 3 or the guide rollers 5 are disposed in a trapezoidal manner.
3 and are spread out and arranged in a trapezoidal shape.

A toothed pulley 54 is attached to the shaft of a power generating means 7 constituted by an electric motor inside the traction heald 3 extended in a trapezoidal shape, and a plurality of toothed trino belt guiding pulleys 52 to be described later. are arranged along these pulleys, and a toothed drive heald 56, which is formed endlessly with teeth facing outward and has teeth only on one side, is extended to drive the traction belt 3. The teeth of this toothed drive belt 56 are pressed by the pressure contact member 55 and are closely meshed with the inner teeth of the traction belt 3 .

As mentioned above, the traction belt 3 and the toothed drive belt 56
The rotation of the power generating means 7 is transmitted to the toothed drive belt 56, and the teeth of the toothed drive belt 56 mesh with the inner teeth of the traction belt constituted by the tuple toothed belt to transmit the power. Therefore, the process of reciprocating the traction belt 3 over the entire length of the guide rail 1 and extending it by applying an appropriate tension, and the power generation means 7
The process of applying appropriate tension to and expanding the toothed drive belt 56 that transmits the rotation of the drive belt 56 can be performed separately, thereby simplifying the installation work at the site.

Further, the power generating means 7 is equipped with a position detection device 70, which includes a toothed pulley 54, a toothed drive belt 5, and a toothed drive belt 5.
6, the movement of the traction belt 3 is measured, and therefore the current position of the carriage 2 connected to the traction belt 3 by the coupling device 35 can be accurately detected, and the carriage can be moved to a desired location with high accuracy. It can be transported and stopped.

In this way, since the position detection device is provided in a position where it is mechanically and securely connected to the carriage, it is affected by play or elongation of the traction belt or toothed drive belt, but it is easy to disassemble the position detection device. Depending on the degree of accuracy, the repeatable positioning accuracy of the carriage can be about 50 microns.

The position detection device may also be provided with suitable detection means for the carriage along the kite rail depending on the requirements of the system.

Further, in the above explanation, an electric motor is used as the power generating means 7, a toothed belt is used as the traction heald, and the guide rail is extruded from aluminum alloy, but the motor is not necessary. AC motors, DC motors, or other types of motors may be used depending on the stopping accuracy and control device, and traction belts may also be suitable for use other than toothed belts by adapting the transmission device. You can use whatever you choose. That is.

As long as it has the ability to bend freely along the curved part of the guide rail, the guiding member, transmission device, and coupling device to the guide rail can be freely selected by matching it with the traction belt. . Further, the guide rail may also be formed of metal other than aluminum alloy or non-metallic material, as long as it has sufficient strength and precision in shape and can be assembled properly on-site.

In addition, in the above description, the mounting position of the coupling device 35 was explained to be provided on the central axis of the driven roller 23, or the spring,
If automatic mechanisms or other means are used to prevent the traction heald and coupling device from separating, for example,
It may also be provided at other locations such as the center of the carriage. In addition, although it has been explained that one coupling device is provided to couple the traveling object (carriage) and the traction belt, if a large driving force is required and there is a problem with the strength of the teeth of the traction heald or coupling device, It is also possible to provide two or more coupling devices as long as the structure is mechanically consistent.

It is also possible to implement the functions based on the present invention by other configuration means.

As mentioned above, since the traveling objects (carriages) 2 can freely travel along the guide rail 1, the required number of traveling objects (carriages) are arranged at necessary intervals and each coupling device 35 connects the traction belt. When engaged, the distance between the traveling objects (carriages) is maintained via the traction belt 3, and they can be made to travel simultaneously by starting and stopping the power generating means 7.

Next, an embodiment of another path structure based on the present invention will be described with reference to FIG. In FIG. 4, 103 is a double-toothed traction heald with teeth on both sides that is held along a guide rail (not shown in this figure) laid in a loop as a running path. Comes with a belt. The illustration of the traveling body for loading conveyance objects (conveyance holes) that is driven by the double toothed belt and travels along the guide rail is omitted.

A toothed pulley 154 attached to the shaft of a power generating means (not shown in this figure) and a plurality of toothed belt guiding earlys 152 are disposed inside the stretched traction belt 103. A drive belt 156 with one tooth, which is formed endlessly with the teeth facing outward, is stretched along the pulley of the belt and is driven by the power generating means.

The teeth of this toothed drive belt 156 are connected to the pressure contact member 15.
5 and is closely meshed with the inner teeth of the double toothed belt that constitutes the traction belt 103.

With the above-described configuration, it is possible to easily and reliably move the conveyed object from a predetermined location to a desired location along the loop-shaped path.

The guide rail (not shown) in this embodiment differs from the guide rail 1 in the above-described embodiment in that a hole for accommodating the traction belt 103 for driving the traveling object is provided only on the outside of the center side. ing.

Next, another embodiment of the drive mechanism based on the present invention will be described with reference to FIG. In FIG. 5, 203 is a flexible traction belt that has teeth formed on only one side and is not held along a kite rail (not shown in this figure) laid in a loop shape as a running path. , a toothed belt with teeth facing outward. A traveling body for loading conveyed objects (transferred goods) that is driven by the toothed belt and travels along the guide rail is not shown in this figure.

This toothed belt 203 is formed endlessly and is arranged to reciprocate around the starting point and ending point of the guide rail. A pulley 206, which is a termination mechanism, is provided at the ending point to fold back the toothed belt 203, and the toothed belt 203 is returned to the starting point. Conduction device 205
is provided to drive the toothed belt 203. The toothed belt 203 is pressed against the kite rail by kite pulleys 253 provided at appropriate locations near the starting and ending points of the kite rail.

In the transmission device 205, the toothed heald 203 is pressed against the toothed pulley 254 by the tension pulley 252, and the teeth of the toothed pulley 254 and the teeth of the toothed heald 203 are meshed.

In addition, an electric motor 207 serving as a power generating means or a gear machine [
Toothed pulley 25 of transmission device 205 via 271
4, and an encoder 270 as a position detection device is also connected to the electric motor 207.

Therefore, in this figure, a running body driven by a toothed belt 203 driven by a toothed pulley 254 driven by an electric motor 207 which is controlled and stopped by a control device (not shown in this figure). (not shown)
is moved from a predetermined position to a desired position, and the position of this traveling object is correctly detected by an encoder 270, which is a position detection device, and used for control.

In this embodiment, the traction heald is formed by a toothed belt with one tooth as described above, so that the conveyed object (conveyed goods) can be easily and reliably moved from a predetermined place to a desired place along a reciprocating path. I can do it.

FIG. 6 is a cross-sectional view of the guide rail 1 and the traction belt 3 showing the relationship between the guide rail and the traction belt in an embodiment based on the present invention, and FIG. The drawing shows a diagram in which the traction belt 3 is held only on one side of the guide rail 1, such as when it is formed in a loop shape, and FIG. 1 shows a view in which the traction belt 3 is held along both sides of the guide rail 1, such as when the vehicle is in use.

In addition, in the same figure (C), the traction belt 3 is connected to the kite rail 1.
This is a different embodiment from the one in the same figure (B) in which the guide rail is held along both sides of the guide rail, and has parallel parts at the top and bottom of the guide rail, with a concave part in the middle, and a traction belt is attached to the four parts. keeping.

In Figure 6, 1 is the kite rail.

It is made by extrusion molding of aluminum alloy that is molded on both sides or parallel to each other.

3 is a toothed belt which is a traction belt, which is formed in a loop shape and is driven by the aforementioned driving means;
The kite rail is formed by a plurality of guiding members 11 and 12 that are molded from an appropriate material corresponding to the material from which the guide rail is molded, such as aluminum alloy or synthetic resin, and are arranged and fixed to the kite rail 1 at a predetermined interval. 1
is held against. Therefore, whether the guide rail 1 is straight or curved, it can freely slide along the guide rail in a direction perpendicular to the drawing.

In addition to the drive device for running a route including a curve based on the present invention as described above with reference to the embodiments, drive devices for running a route including a curve having other configurations can be obtained by various means based on the present invention.

[Effects of the Invention] As explained above, according to the present invention, a traction belt driven by a power generating means is distributed by a plurality of guide members on at least one of the parallel opposing surfaces of the kite rail as a running path. When the towing heald is freely stored and driven by a predetermined driving force along a curved guide rail, the following excellent effects can be achieved.

(2) A traveling object coupled to the traction belt and provided to run along the guide rail can be run stably and reliably even on curved sections of the traveling path.

(2) When a toothed heald driven by a motor or the like is used for the traction belt, the traveling object and the traction belt can be easily and securely connected without slipping, and the driving force can be exerted.

■A double toothed belt is used for this traction heald, and a toothed drive belt driven by a power generation means is used to drive this double toothed belt.
When the double toothed belt and the toothed drive belt are brought into pressure contact with each other by a tension kite, even a long distance traction belt can be driven more stably without slipping.

[Brief explanation of the drawing]

Figure 1 (A>) is a plan view showing one embodiment of the overall configuration of this system based on the present invention, Figure <8) is a perspective view showing a part of the kite rail removed, and Figure (A) is a perspective view showing a part of the kite rail. C) is a partial side view showing the engagement relationship between the guide rail and the carriage. Figure 2 is a detailed structural diagram showing the correlation between the guide rail and the carriage. (C) is (A
), (B) is a sectional view taken along the line AA' in FIG. Fig. 3 is a structural diagram showing one embodiment of the power generating means and the transmission device, in which the figure (A> is a plan view, and Fig. 113<B) is a view along the line A-A' shown in (A>UA). The cross section is ■. 4th (21 is the outline f1 configuration showing an example different from Fig. 1 next to Kei! @Kokuzo and drive Fl, Fig. 5 is a different implementation from Fig. 4 of the drive model) A schematic configuration diagram showing an example, Figure 6 shows an example of the engagement between the guide rail and the traction heald, and the figure (A> shows a situation where the traction heald is held only on one side of the guide rail Cross-sectional view, same figure (
B) is a cross-sectional view showing the situation where the traction belt is held along both sides of the kite rail, and (C) is a separate view from the view (B) where the traction belt is held along both sides of the guide rail. FIG. 1... Running path (guide rail), 2-...
・Traveled object (carriage), 3.103,... Traction belt (double toothed belt), 4... Gripping mechanism (robot hand), 5.20
5... Transmission device, 6... Termination mechanism, 7.207... Power generation means (electric motor),
8...control device, 11.12...guiding member, 23...driven roller, 35...coupling device fixing 7= (inside), 54.154
．． 254- (Pulley with JLr, 70.270...
- Position detection device (encoder), 203... Traction heald (toothed heald). Applicant Nippon Surho Co., Ltd.

Claims (1)

[Scope of Claims] 1. A guide rail (1) having parallel opposing surfaces, and a plurality of guiding members (1) each arranged and fixed on at least one side of the guide rail (1) in the longitudinal direction of the guide rail.
1), (12), and a traction belt (3) which is housed in a freely flowing manner between these guiding members and is driven by a power generating means. Device. 2. The drive device for traveling along a route including a curve according to claim 1, wherein the traction belt is a toothed belt, and the toothed belt is driven by power from a power generating means such as a motor. 3. a double toothed traction belt disposed and held along a guide rail; a toothed drive belt inscribed in the double toothed traction belt by a tension guide in a straight section having a predetermined distance; a power generating means; A drive device for traveling along a route including a curve, characterized in that it comprises a power generating means and a transmission device connecting the toothed drive belt.