JPH06344900A - Self-traveling vehicle type carrying device, self-traveling vehicle and speed reducer integrated type motor - Google Patents

Abstract

PURPOSE:To perform regularly stable carrying regardless of the inclination gradient of a track. CONSTITUTION:A frictional wheel 12 is connected to the driving shaft of a variable torque motor 11, and a pinion gear 13 is connected to the driving shaft through an elliptic gear. Therefore, the pinion gear 13 has an output torque larger than the frictional wheel 12. In a vertical traveling section having a large load, a self-advancing vehicle 2 is driven forward by the gearing of a driven gear with a rack 18 laid along a track 3. On the other hand, in a horizontal traveling section having a small load, the self-advancing vehicle 2 is driven forward by the contact of the frictional wheel 12 with a frictional surface 17 similarly laid along the track 3. Thus, stable carrying can be performed in compliance with the load fluctuating with a wider fluctuating width, compared with a conventional carrying device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled vehicle type transfer device used for transferring loads, for example, between rooms, in a factory, etc. The present invention relates to a speed reducer-integrated motor that can be used as a drive source for propelling a vehicle.

[0002]

2. Description of the Related Art A self-propelled vehicle type conveying device is a device that conveys a load or other object to be conveyed by a track previously laid according to a transfer route and a self-propelled vehicle that runs along the track. In this carrying device, the track can be laid along any direction including the vertical direction as well as the horizontal direction depending on the carrying route, and therefore the carrying route is 3
It can be arbitrarily set in the dimensional space. Correspondingly, the drive source (propulsion means) for propelling the self-propelled vehicle generates a relatively light propulsive force when the self-propelled vehicle travels horizontally, and conversely rises vertically. , Configured to generate a relatively large propulsive force.

In a conventional self-propelled vehicle type conveying apparatus, as disclosed in, for example, Japanese Utility Model Publication No. 4-21749 by the same applicant, a drive source is connected to a rotary motor and a drive shaft of the motor through a speed reducer. It is equipped with two wheels. These wheels are directly connected to one axle and rotate at the same rotational speed. One of these wheels is
It is a friction wheel that rolls on a friction road surface that is laid along the track, and the other wheel is a pinion gear that meshes with a rack gear that is also laid along the track. When the self-propelled vehicle travels on a track that requires a high propulsive force, the vehicle is propelled by the engagement of the pinion gear and the rack gear. On the other hand, in a track where a low propulsion force is sufficient, the friction wheels contact the friction road surface to propel the vehicle. Since the required propulsive force varies depending on the track on which the vehicle travels, a variable torque motor whose output torque can fluctuate according to the magnitude of the load is used as the motor.

[0004]

By the way, between the propulsive force required for the drive source when the self-propelled vehicle travels horizontally and the propulsive force required for the vertical ascent, typically 10
There is a double difference. That is, the load applied to the motor used as the drive source is 1
It fluctuates with a fluctuation range of about 0 times. This fluctuation range exceeds the fluctuation range in which the output torque of the variable torque motor can fluctuate following. That is, the conventional self-propelled vehicle type transfer device has a problem that it cannot sufficiently cope with a change in load, that is, a change in required propulsion force.

The present invention has been made in order to solve the above-mentioned problems of the conventional device, and it is possible to cope with the fluctuation of the load along the track and to always keep the traveling speed at a sufficient speed. It is an object of the present invention to provide a self-propelled vehicle type conveying device capable of traveling, a self-propelled vehicle thereof, and a speed reducer-integrated motor used in the self-propelled vehicle.

[0006]

A self-propelled vehicle type transfer device according to the present invention is self-propelled along an installed track and is self-propelled in any direction including horizontal and vertical depending on the installation direction of the track. A self-propelled vehicle type conveying device for conveying an object to be conveyed using a self-propelled vehicle that is capable of traveling, wherein the self-propelled vehicle includes (a) a propulsion unit that propels the self-propelled vehicle,
(B) A road surface for propulsion laid in a strip along the track,
The propulsion means includes (a-1) a motor that generates a rotational force, and (a-2) rotation that is rotationally driven by the motor and that generates a propulsive force by rolling on the propulsion road surface. A rotating wheel, and (a-3) an urging means for pressing and urging the rotating wheel onto the road surface for propulsion, wherein the rotating wheel has (a-2-1) center on the drive shaft of the motor. A circular friction wheel coupled to each other; and (a-2-2) a planetary gear train coupled to a drive shaft of the motor, wherein the planetary gear train has an (a-2-2-1) outer diameter. Is a circular sun gear smaller than the outer diameter of the friction wheel, the center of which is the sun gear connected to the drive shaft of the motor, and (a-2-2
2) A circular planetary gear that meshes with the outer teeth of the sun gear,
(A-2-2-3) An annular driven gear having inner teeth and outer teeth, the inner teeth mesh with the planet gears, and the driven gear rotates with a common rotating shaft with the sun gear. A gear wheel, and the propulsion road surface has a (b-1) friction road surface on which the friction wheels abut on the surface and rolls with a frictional force; and (b-2) a tooth surface row is formed on the surface. And a rack gear whose tooth surface meshes with the external teeth of the driven gear, and the rack gear meshes with the external teeth of the driven gear in a traveling section in which the self-propelled vehicle requires relatively high propulsive force. , In the traveling section where the propulsion road surface is laid so that the friction road surface does not come into contact with the friction wheel and a relatively low propulsive force is sufficient, conversely, the rack gear does not touch the external teeth of the driven gear. , So that the friction road surface contacts the friction wheel, Serial propulsion road surface has been laid self-propelled vehicle transfer device.

The self-propelled vehicle according to the present invention is a self-propelled vehicle used in the self-propelled vehicle type conveying device of the present invention.

In the reducer-integrated motor according to the present invention, the propulsion means of the self-propelled vehicle according to the present invention is constructed in cooperation with the biasing means.

[0009]

In the self-propelled vehicle type conveying device of the present invention, the friction wheel is connected to the drive shaft of the motor, and the driven gear is further connected via the planetary gear. In a traveling section requiring a high propulsive force, such as a vertical traveling section, a self-propelled vehicle is propelled by meshing a driven gear with a rack laid along a track.
On the other hand, in a traveling section such as a horizontal traveling section that does not require a high propulsive force, the friction wheels contact the friction road surface also laid along the track to perform propulsion. The diameter of the sun gear that rotationally drives the driven gear via the planetary gear is set smaller than the diameter of the friction wheel. Therefore, even if the output torque of the motor is constant, the driven gear outputs a torque larger than the torque output by the friction wheels.
As a result, the carrying apparatus of the present invention can cope with a fluctuating load with a wider fluctuation range than the conventional carrying apparatus.

The self-propelled vehicle of the present invention is a self-propelled vehicle used in the self-propelled vehicle type conveying device of the present invention and is capable of traveling in response to a fluctuating load with a wide fluctuation range.

By using the speed reducer-integrated motor of the present invention as a drive source of the self-propelled vehicle of the present invention, a self-propelled vehicle capable of traveling in response to a fluctuating load with a wide fluctuation range can be constructed. it can.

[0012]

【Example】

<1. Self-propelled vehicle type conveyance device 1> FIG. 1 is a front sectional view of the self-propelled vehicle type conveyance device 1. The self-propelled vehicle transfer device 1 includes a self-propelled vehicle 2 and a track 3. The self-propelled vehicle 2 travels along a track 3 laid along the transportation route. A container 5 for storing a load is mounted on a machine frame 4 that functions as a base of the self-propelled vehicle 2. The container 5 has a box shape and stores a load to be transported. The machine frame 4 is further provided with an upper and lower restriction idle wheel 6 a and a lateral restriction idle wheel 6 via an axle 7.
b and rotatably attached to the front, back, left and right respectively. The idle wheel 6a can idle around a horizontal axis in FIG. 1, and the other lateral regulation idle wheel 6b can idle around a vertical axis.

A drive source (propulsion means) 8 for propelling the self-propelled vehicle 2 is further attached to the machine casing 4. The drive source 8 includes a support plate 10 rotatably attached to the machine frame 4 via a pin 9 forming a rotation shaft, a variable torque motor 11 fixed to the support plate 10, and a drive shaft of the variable torque motor 11. It has a friction wheel 12 and a pinion gear (driven gear) 13 which are connected to and rotate. The pinion gear 13 is not directly connected to the drive shaft of the variable torque motor 11 as will be described later, but is indirectly connected via a planetary gear. Drive source 8
Further has a spring (biasing means) 14 bridged between the support plate 10 and the machine frame 4. This spring 1
Reference numeral 4 urges the friction wheel 12 and the pinion gear 13 toward a propulsion road surface 15 described later.

The track 3 has a rail 16 having a "C" -shaped cross section and a propelling road surface 15. Rail 1
On the inner surface of 6, the vertically regulated idle wheel 6a and the laterally regulated idle wheel 6b abut with a certain amount of play. The rail 16 regulates the vertical position of the self-propelled vehicle 2 by coming into contact with the vertically regulated idling wheels 6a, and regulates the lateral position by coming into contact with the lateral regulated idling wheels 6b.
That is, the rail 16 has a function of guiding the self-propelled vehicle 2 along a predetermined transport route.

The propelling road surface 15 has two types of road surfaces, a friction road surface 17 and a rack gear 18. The friction road surface 17 has a flat upper surface, while the rack gear 18 has a row of tooth surfaces formed on the upper surface. The friction wheel 12 is brought into contact with the upper surface of the friction road surface 17 and rolls to generate a propulsion force, and the pinion gear 13 meshes with a tooth surface of the rack gear 18 to roll to generate a propulsion force. Friction wheel 1
Since the spring 14 presses the frictional road surface 17 toward the frictional road surface 17, a frictional force of a magnitude sufficient to propel the vehicle 2 is generated. Further, the pinion gear 13 is also pressed and urged to the rack gear 18 by the action of the spring 14, so that the pinion gear 13 and the rack gear 18 are surely engaged with each other.

FIG. 2 is a partially cut side view of the self-propelled vehicle type transport device 1. The above-mentioned FIG. 1 corresponds to a cross-sectional view taken along the line AA of FIG. In FIG. 2, the arrow with the symbol Z indicates the vertically upward direction. The track 3 can be laid in any direction in the three-dimensional space including the vertical direction as well as the horizontal direction along the transport path. In FIG. 2, a curved portion in which the direction of the track 3 changes from the horizontal direction to the vertical direction and its vicinity are drawn. The self-propelled vehicle 2 is smoothly guided from the horizontal traveling to the vertical traveling while being guided by the track 3.

In FIG. 2, the self-propelled vehicle 2 has a horizontal track 3
The upper surface of the rack gear 18 is at a height close to the upper surface of the friction road surface 17 in the horizontal traveling section along which the upper surface of the rack gear 18 is arranged in the vertical traveling section along the upright track 3. It is considerably higher than the upper surface of. Then, the upper surface of the rack gear 18 gently rises as the horizontal traveling section shifts to the vertical traveling section. Therefore, in the horizontal traveling section, the friction wheel 12 and the friction road surface 17 come into contact with each other as shown in FIG. 2, and the pinion gear 13 floats above the upper surface of the rack gear 18.
On the other hand, in the process of shifting from horizontal traveling to vertical traveling, the pinion gear 13 meshes with the rack gear 18 and the friction wheel 1
2 floats from the upper surface of the friction road surface 17.

FIG. 3 is a partial cross-sectional side view of the self-propelled vehicle type transfer device when the self-propelled vehicle 2 is traveling in the vertical traveling section. As shown in FIG. 3, in the vertical traveling section, the pinion gear 13 meshes with the rack gear 18, and the friction wheel 12 floats above the upper surface of the friction road surface 17. In the vertical traveling section, slippage may occur during traveling due to the weight of the self-propelled vehicle 2, but the pinion gear 13 and the rack gear 18
The intermeshing with and ensures a slip-free running.

As will be described later, when the pinion gear 13 and the friction wheel 12 are compared, the friction wheel 12 at the rotational peripheral speed is compared.
Is larger, but conversely in output torque, the pinion gear 13
Is bigger. Therefore, the self-propelled vehicle 2 can travel at a considerable speed by the friction wheels 12 in a horizontal traveling section where a low propulsion force is sufficient, and reliably travels with a high output torque in a vertical traveling section requiring a high propulsion force. It is possible to do. That is, by using wheels having different output torques according to the magnitude of the load, stable running can be obtained in response to large changes in the load.

<2. Reducer integrated motor 20>
FIG. 4 is a front view (FIG. 4A), a side view (FIG. 4B), and a rear view (FIG. 4C) of the reducer-integrated motor 20 that constitutes the drive source 8. The friction wheel 12 is directly connected to the rotary drive shaft of the variable torque motor 11. Further, a sun gear 21 forming a planetary gear train is directly connected to the rotary drive shaft. The outer diameter of the sun gear 21 is set smaller than the outer diameter of the friction wheel 12. The pinion gear 13 is an annular gear and has internal teeth. A planetary gear 22 is provided between the sun gear 21 and the pinion gear 13 so as to mesh with both the outer teeth of the sun gear 21 and the inner teeth of the pinion gear 13.

Therefore, as the drive shaft of the variable torque motor 11 rotates, the friction wheel 12 and the sun gear 21 are rotated.
Rotates at the same speed as the drive shaft. The rotation of the sun gear 21 is transmitted to the pinion gear 13 via the planetary gear 22. Since the outer diameter of the sun gear 21 is smaller than the outer diameter of the friction wheel 12, the rotation peripheral speed of the pinion gear 13 is smaller than the rotation peripheral speed of the friction wheel 12. On the other hand, the output torque of the pinion gear 13 is, on the contrary, larger than the output torque of the friction wheel 12. Therefore, even if the load fluctuates so that the output torque of the variable torque motor 11 cannot follow between different traveling sections, the friction wheel 12 and the pinion gear 13 are selectively used to sufficiently change the load. Correspondingly, stable traveling of the self-propelled vehicle 2 can be realized. By appropriately setting the ratio of the outer diameters of the friction wheel 12 and the sun gear 21, it is possible to deal with various fluctuation ranges of the load.

In this reducer-integrated motor 20, the friction wheel 12 is directly connected to the drive shaft of the variable torque motor 11 without a reducer, so that there is an advantage that the loss in output torque is small. Further, since the deceleration of the pinion gear 13 is realized by using the planetary gear train, the drive shaft and the pinion gear 13 are equiaxed, the loss in output torque is small, and the volume required for deceleration is small. There are advantages. Since the volume is small, the reducer-integrated motor 20 can be easily incorporated in the self-propelled vehicle 2.

The self-propelled vehicle carrier 1 is provided with a path for supplying electric power to the variable torque motor 11, a path for transmitting a signal for controlling the operation of the variable torque motor 11, and the like. These are not shown in FIG.

<3. Modifications> (1) Not only in the vertical traveling section along the upright track 3, but also in the inclined traveling section along the track 3 inclined with a considerable gradient, the pinion gear 13 and the rack gear 18 are formed similarly to the vertical traveling section. By configuring the self-propelled vehicle 2 to be propelled by meshing, it is possible to prevent slip and obtain stable traveling with high output torque. (2) Instead of the variable torque motor 11, another motor may be used. However, it is desirable to use the variable torque motor in order to obtain stable traveling that follows changes in the load due to changes in the gradient of the track 3 and changes in the load.

[0025]

According to the self-propelled vehicle type transfer device of the present invention, in a traveling section requiring a high propulsion force, the driven gear is propelled by the driven gear meshing with a rack laid along the track, and a horizontal traveling section, etc. In a traveling section that does not require a high propulsion force, the friction wheels contact the friction road surface that is also laid along the track to perform propulsion. Since the driven gear outputs a torque larger than that of the friction wheel, it is possible to always realize stable conveyance in response to a load that fluctuates with a wide fluctuation range.

The self-propelled vehicle of the present invention is a self-propelled vehicle used in the self-propelled vehicle type conveying device of the present invention, and can realize stable conveyance in response to a fluctuating load with a wide fluctuation range.

By using the speed reducer-integrated motor of the present invention as the drive source of the self-propelled vehicle of the present invention, stable conveyance can be realized in response to a load that fluctuates with a wide fluctuation range.

[Brief description of drawings]

FIG. 1 is a front cross-sectional view of a self-propelled vehicle type transport device in an embodiment.

FIG. 2 is a partial cross-sectional side view of the self-propelled vehicle type transport device in the embodiment.

FIG. 3 is a partial cross-sectional side view of the self-propelled vehicle type transport device in the embodiment.

FIG. 4 is an external view of a speed reducer-integrated motor according to an embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Self-propelled vehicle type conveying device 2 Self-propelled vehicle 3 Orbit 8 Drive source (propulsion means) 11 Variable torque motor (motor) 12 Friction wheel 13 Pinion gear (driven gear) 14 Spring (biasing means) 15 Propulsion road surface 17 Friction road surface 18 Rack gear

Claims (3)

[Claims] 1. A self-propelled vehicle that is self-propelled along a laid track and is capable of self-propelled in any direction including horizontal and vertical depending on the laying direction of the track, In a self-propelled vehicle type conveying device for conveying an object to be conveyed, the self-propelled vehicle comprises (a) propulsion means for propelling the vehicle;
Wherein the track includes (b) a propulsion road surface laid in a strip shape along the track, and the propulsion unit includes (a-1) a motor that generates a rotational force, and (a-2). A rotating wheel that is rotationally driven by the motor and generates a propulsive force by rolling on the propulsion road surface; and (a-3) a biasing means that presses and biases the rotary wheel onto the propulsion road surface. And (a-2-2) a circular friction wheel whose center is connected to the drive shaft of the motor, and (a-2-2) a planet connected to the drive shaft of the motor. A planetary gear train is a circular sun gear having an outer diameter (a-2-2-1) smaller than an outer diameter of the friction wheel, the center of which is a drive shaft of the motor. A sun gear coupled to
(A-2-2-2) A circular planetary gear that meshes with the outer teeth of the sun gear, and (a-2-2-3) an annular driven gear, in which inner teeth and outer teeth are provided. And a driven gear whose inner teeth mesh with the planetary gear and rotate about a common rotation axis with the sun gear, wherein the propulsion road surface is (b-1) with the friction wheel abutting on the surface. A friction road surface that rolls with frictional force, (b-
2) A row of tooth flanks is formed on the surface, the tooth flank includes a rack gear that meshes with the outer teeth of the driven gear, and in a traveling section in which the self-propelled vehicle requires relatively high propulsive force, The rack gear meshes with the external teeth of the driven gear so that the friction road surface does not contact the friction wheel,
On the contrary, in the traveling section where the propulsion road surface is laid, and a relatively low propulsive force is sufficient, the rack gear does not come into contact with the external teeth of the driven gear, and the friction road surface contacts the friction wheel. A self-propelled vehicle type transport device with a road surface for propulsion. 2. A self-propelled vehicle capable of carrying an object to be transported by self-propelled along a laid track and being able to run in any direction including horizontal and vertical depending on the laying direction of the track. (A) a motor that generates a rotational force, and (b) a rotating wheel that is rotationally driven by the motor and that generates a propulsive force by rolling on a propulsion road surface laid along the track. c) urging means for pressing and urging the rotary wheel onto the road surface for propulsion, wherein the rotary wheel is (b-1) a circular friction wheel whose center is coupled to the drive shaft of the motor. And (b-2) a planetary gear train coupled to the drive shaft of the motor, wherein the planetary gear train has a circular (b-2-1) outer diameter smaller than the outer diameter of the friction wheel. A sun gear, the center of which is coupled to the drive shaft of the motor, and (b-
2-2) A circular planetary gear that meshes with the outer teeth of the sun gear, and (b-2-3) an annular driven gear that is provided with inner teeth and outer teeth, and the inner teeth are the planets. A self-propelled vehicle comprising: a driven gear that meshes with a gear and rotates about a common rotation shaft with the sun gear. 3. A reducer-integrated motor, comprising: (a) a motor body that generates a rotational force; and (b) a rotating wheel that is rotationally driven by the motor body. b-1) a circular friction wheel whose center is coupled to the drive shaft of the motor body, and (b-2) a planetary gear train coupled to the drive shaft of the motor body, wherein the planetary gear train is , (B-2-1) a circular sun gear, the center of which is a sun gear coupled to the drive shaft of the motor body, and (b-2-2) a circular sun gear which meshes with external teeth of the sun gear. A planetary gear and a (b-2-3) annular driven gear having inner teeth and outer teeth, the inner teeth mesh with the planetary gear, and rotate with a common rotation shaft with the sun gear. A reduction gear integrated motor including: