JPS5847650A - Travelling device for travelling body - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a traveling device for a traveling body. Before explaining the device according to the present invention, IEIII will be explained in which cases the device according to the present invention is suitable for use. In this case, (1) is a rack,
A large number of magnetic tape cassettes (2) are stored in this with a lid. It is assumed that the tapes of these many tape cassettes have already been recorded. (3)
is the reproduction eccentricity of [1*j, for example, V 1' )L (hereinafter referred to as VTR) recorded on the magnetic tape, and is separated by a plurality of positions. (4) is a rail, on which a plurality of ranks (ti) and VTRs (3) are provided as DIiL8, on which a plurality of running bodies (5) run, and a plurality of running bodies (5) run at predetermined locations. Cassette in rack (1) (
2), places the cassette, runs, stops in front of the VTR (3) that was given the same command, and stores the placed cassette (2) into the VTR (3). Or take out the cassette (2) from the instructed VTR (a) and place it on the rack. 1) A device that can be stored inside the device can be considered.

The present invention relates to a running device for a running body which is suitable for applying such a device, and is particularly intended to make the running body (5) run even more smoothly on the rail (4).

In addition, on the rail (4) in 1II, there are two branching points where the traveling body (5) branches to the left or right, and there are also two merging points where the traveling body (5) branches to the left or right. Among these, at the merging point, the vehicle (5) naturally merges as the vehicle (5) travels, but at the branching point, which direction to go is selected based on information commanded in advance. Although this is not directly related to the gist of the present invention, it will become clear from what will be described later.

The apparatus according to the invention will now be described with reference to FIGS. The rail (4) is attached to the running body (5) as shown in Figures 2 and 3.
) is composed of a running surface (6) on which the running surface (6) runs, and a guide (7) provided alongside this running surface (6)K.

In this example, this guide (7) has a configuration in which both shoulders of the running surface (6) are bent upward (that is, it has a U-shaped cross section), so it is not suitable as the guide 2 (6). In other words, it is composed of (7a) and (7b).

This pair of guides (7m) (7b) is the running body (5),
It is used to accurately guide the traveling body onto the rail (4), but for convenience it will be referred to as the main guide below.

In addition, at the branch point, a running body (
5) A guide (8m) and (8b) are provided to determine the direction of travel. These guides (81)
and (8b) 'to' will be referred to as a branching guide. And these branching guides (8 crow) and (8b) are
At each of the above-mentioned branch points, they are provided parallel to the main guide 7) at a predetermined interval.

Next, the traveling body (5)K will be explained using FIG. 4 and subsequent figures. Figure 4 is a bottom view of the running body.

The cod is its main chassis and has a rectangular shape when viewed from the top (bottom).
5) are bent downward in the running direction. The arrow indicates this running direction. On the lower surface of this main chassis H, there are a total of four guide rollers 7 (hereinafter referred to as main guide rollers) (11m) on each side, front, back, left and right.
- (lid) are respectively attached by shafts (12m) - (12d) so as to be able to rotate around these, and these so-called outer surfaces are connected to the main guides (7m) and (7b) of the rail (4). By disposing it so as to be in rolling contact with the inner surface, the traveling body (5) is allowed to travel without meandering. In addition, one front wheel I is provided at the front of the lower surface of the traveling body (5) at the central portion in the left-right direction, and is tilted and supported so that it can move freely in the traveling direction with respect to the chassis a of the traveling body (5). via arm I and axis QS
It is mounted so that it can rotate around the center.

Q is the rotation axis of the front wheel Q3. Therefore, the direction of this front wheel 0 is automatically determined according to the traveling direction of the traveling body (5), for example, as shown by a chain line. This device is well known. - The rotary solenoid aII is attached to the lower surface of the main shear and palm sheath by means of a mounting frame fin as shown in Fig. 5, and the center of the axis as is Seesaw-like K1ff1 A moving seesaw part # (rod) Gl is provided, and at both ends there are further running bodies (
5) - rods (211) and (21b) that are elongated in the front-back direction
) are attached (see 4th vA), and p-ra (23m
) to (23d) are rotatably attached. In this case, as is clear from FIG. 5, the seesaw rod (2) is bent in the shape of a square in its central portion, and this is driven by the rotary lenoid 08 mentioned above.
In other words, it is driven like a seesaw around the shaft. For this purpose, there is a solenoid and a seesaw rod (2
) is not directly related to the gist of the present invention. I'll omit the explanation. However, the seesaw stick (
At the -〇 rotation position of 2), the branching roller (23m) and (
23C) is located outside I11 of either one of the branching guides (8a) and (8b) (for example, as shown in No. S@),
In other rotational positions, the minute rollers (23b) and (23d)
) is positioned outside the other branching guide.

On the lower surface of the running body (5), a support frame')' is formed by U-shaped supports (28a) and (26b) so that the shifter 4, which moves in the left and right directions, can be shifted (slided) to the left and right. 0 (see Figure 6).

The mounting position of the shifter 4 is selected at the center position with respect to the longitudinal direction of the traveling body (5). At both left and right ends of this chic (to) are shafts (281) and (28b), respectively.
) rollers (29m) and (29b) are respectively attached to rotate about the same center. For convenience, these rollers are referred to as auxiliary rollers. In addition, these garden rollers (29m) and (2
9b) is a branching guide (8 lines) as shown in Figure IIs.
and (8b) K is selected at a height position where it is not guided and is guided on the inner surfaces of the main guides (7m) and (7b).

The same applies to the main rollers (IIJI) to (11d) described above.

Further, on the lower surface of the chassis α of the traveling body (5), the sub-chassis (to) is attached to the chassis a at the rear half of the chassis so that it can rotate about the axis c(l) IL-, This includes a drive device (to) including a drive source such as a motor, a differential gear device, etc. (indicated by a dotted line block in Fig. 4), and a pair of right rear wheels (33a). and (33b) are attached. (34m) and (34b) are the shafts of these rear wheels (33a) and (33b).

The above-mentioned sub-chassis (to) K is provided with a long hole (to) that extends in the front and back direction, while a bottle (to) is installed in the chic (2), which is inserted into the long hole. (
Therefore, by shifting the chic (to) leftward or rightward, the subchassis (to) is engaged with the axis υ
It is designed to rotate in the direction of the hour hand or in the direction of the counter-hour hand. Note that this axis "01)" is the rear wheel (33)
and (33b).

Next, the drive device (to) will be explained. It is configured as shown in a plan view developed in FIG. M7. (to) is 毫-
A rotor that can rotate in reverse is used, and a small gear (2) is attached to its rotating shaft. Furthermore, first and second rotation axes (40m) and (40b) are provided, for which side 1 and second one-way clutches (411) are respectively provided.
and the first and second gears (42m) via (41b)
and (4th set b) are attached, and these always mesh with the small gear (to). The diameters of these gears (421) and (42b) are equal to X. $1 and the 20th wheel (
The third and fourth gears (42C) and (42d) with different diameters are further attached to the 4" zero shaft (40b), and the fifth small gear is further attached to the second single rotation shaft (40b). (42e)
is installed. - is a well-known differential gear device,
That gear meshes with the $5 gear (42e) mentioned above.

jll and second l-way clutch (41a) and (4
Regarding the connection and release of 1b), as shown in 8wA, when the small tooth rotates once in the direction of the hour hand, the small gear (2) - the first gear <42m) - the first one-way clutch ( 411), the first rotating shaft (40&) rotates counterclockwise, and at this time, the jI2 gear (42b) rotates counterclockwise by meshing with the pinion (to). It is selected so that the second rotating shaft (40b) is not driven to rotate other than the second one-way rack 'f (41b), and when the pinion (to) rotates in the counterclockwise direction,
2nd car (42b) - 2nd 1-way clutch (41b)
), the second rotating shaft (4ob) is driven to rotate clockwise. Therefore the motor (to)
When rotating in the direction of the hour hand, 1 from the rotation axis (40a) of Ml.
! A3 gear (42C) (small tooth) 1 ) -11G 4
The differential gear unit Otsuken is reversed and transmitted to the rear wheels via the No. m wheel (424) -@5- wheel (42e) (
When the motor (to) rotates in the counterclockwise direction, the fifth gear (4
2e), the differential gear device is rotated and transmitted to the rear wheels (referred to as a second power transmission system). That is, in the first power transmission system, the meshing system between the third gear (42C) and the fourth gear (42d) is intervened, so that the first power is transmitted even though the motor (2) has the same rotational speed KK in the forward and reverse directions. In the operating state of the transmission system, the traveling speed of the traveling body (5) is ! This is slower than the operation of the I2 power transmission system. This is the first example, and the operation of the second power transmission system is the second example. Reference numeral 4 shown in FIG. 7 is a brake that rotates simultaneously with the rotating shaft (40b), and in this example, a so-called power generation brake is used. The wire is a rotational speed detecting means, and when decelerating from second speed to first speed, the speed is detected and smooth deceleration is performed using a power generation brake.

Furthermore, in the illustrated example, a @20 motor is installed, and its rotating shaft (40c) is similarly connected to the third l-way clutch (41
c) This is the case where the IK- gear (42f) is installed through the
A gear (42f) is rotated via a way clutch (41c), and by selecting its rotational speed, the third speed, which is faster than the above-mentioned G2 speed, is obtained. Note that the means for obtaining the third train may be provided to drive the front wheels without being particularly provided for the rear wheels.Next, the operation of the above-mentioned configuration will be explained. In this example, it is assumed that the traveling body (5) is equipped with a battery, and command signals input in advance are stored in a similarly mounted storage device, and the traveling body (5) receives the signals from this. With position signal generation means provided on the rail,
It is assumed that the vehicle runs according to pre-stored instructions. When the vehicle is not traveling straight, including when turning at a branch point, the electric speed is reduced. Since the above means do not relate to the gist of the present invention, a detailed explanation thereof will be omitted.

If this electric property 1 is shown in dark lines using the talI and the 1oo&, the four main rollers (l1m) to (lid) attached to the front, rear, left and right sides of the traveling body (5) are connected to the rail (4). Since the traveling body (5) is guided by the inner surfaces of the pair of main guides (7m) (7b), it travels on the rail (4) without meandering. 9th wJ is a straight rail (4)
In this case, the rear wheels of the pair of rear wheels The extension directions of the axes of (3 buttons) and (33b) are orthogonal to the pair of main guides (7s (7b) of the rail (4),
Therefore, the rear wheels (33M) and (33b) can be expected to travel accurately on the rails.

Next, when the traveling body (5) enters a curve, as shown in Figure 10, one of the sub rollers (29i) of the chic (c)
) or (2Hb) is shifted to the left (or right) by the curvature of one of the main guides (7m) or (7b) constituting the rail (4), and along with this, the thin chassis (toward ) is the hour hand or counter-hour hand direction k with axis 6υ as the center.
It is important to move. As is clear from Fig. 10, it is clear that the extension direction of the shafts (34a) and (34b) of the pair of rear wheels (33m) and (33b) is on the center point P of the curve of the rail (4). The rear wheels (33) and (33b) are always aligned with the guides (7a) and (7b) of the rail (4), and the front wheels (n) are in a 7-lead state. Therefore, the extension direction of the shaft αe is in the tangential direction of the pair of main guides (7m) and (7b), and therefore the traveling body (5) is placed on the rail of the curve. Yes, this also allows for smooth running.

Of course, this also applies to the case where the traveling body (5) moves in the direction of turning at a branch point. Furthermore, the rear wheel (3
3a) and (13b) shafts (34ri and (34b)
) can be made so that the center point of the curve of the rail (4) is always located at the extension of the rail (4) by selecting the distance from the axis c11) to the bin (to).

In order to change the traveling direction of the X body (5), it is possible to consider a means of directing only the front side toward the traveling direction, as is known in conventionally known automobiles. However, in this case,
The shaft of the rear wheel is attached to the traveling body (vehicle body) in a state extending in the left and right direction, and as in the present invention, the shaft of the rear wheel is clockwise or counterclockwise centered at one point (its central position).
It is not possible to move in the tt direction. Therefore, if such a traveling body is made to run on the rail (4) of this example, it will become as shown in Fig. 11, that is, the rear wheels (33 m)
and (33b) no longer face in the tangential direction of the main guides (7a) and (7b), and in this state, it is impossible to run smoothly around the curve, and the road in this curve section is
The distance between the pair of main guides also has to be made sufficiently wide to match the circumferential locus of the front portion of the traveling body (generally the locus of the front wheels of an automobile). However, according to the present invention, such drawbacks can be avoided, and the present invention has the great feature that smooth running can be expected.

In the improved example, one wheel is used as the front wheel α, but as shown in Fig. 912, two front wheels (13a+) and (13b) can also be used. Similarly, a similar operation can be expected by rotatably bearing the two front wheels (13a, Qab) at positions slightly forward of the center portions about the axis a$.

According to the present invention described above, as the traveling body (5) travels, the chic is attached to the pair of main guides (7a) of the rail (4).
) and (7b) are shifted from K, i.e. the pair of rear wheels (33m) and (33b) are always shifted from the main guide (7ri and (33b)).
7b), it has the characteristic that the traveling body (5) can run extremely smoothly on the rail (4).

[Brief explanation of the drawing]

Rattan IwA is a perspective view showing the entire device using the traveling device for a traveling body according to the present invention, Figure 2 is a plan view showing a part of an example of the rail on which the traveling body runs, and Figure 3 is its A-Ag.
The upper joint view, Figure 4 is a lower box view of the traveling body, Figure 5 is a sectional view taken along line B-B in Figure 4, and Figure 6 is a cross-sectional view taken along line C-C in Figure 4. Fig. 7 is a developed plan view of the driving device of the traveling body, Fig. 8 is an elevation view of a part of Fig. 7, and Fig. 9 is a schematic plan view showing the positional relationship of the traveling body on the rail. 10 IQ is 9th
A similar plan view showing other states of the figure, Figure 11 is No. 101.
Figure 912, which is a plan view similar to No. 1, is a line-like plan view showing another base of the traveling body. (4) is the rail, (7) is its guide, (5) is the running body, and @ is the chic. Figure 1! Figure 3 Figure 10 Figure 12 Tomoe-=-=- Figure 11

Claims (1)

[Claims] The vehicle has a guide attached to the running surface on which a pair of left and right drive wheels provided on the traveling body travels, and a shifter guided by the guide is shifted in the left-right direction with respect to the traveling body. As the traveling body travels, the guide of the chic is shifted in the left and right direction, so that the traveling direction of the pair of drive wheels is always adjusted to the w! of the guide. A traveling device for a traveling body that matches in one direction.