WO2020255432A1 - Transport device - Google Patents

Abstract

[Problem] To achieve a reduction in cost with respect to the installation of teeth along a movement trajectory in a transport device 1 that causes an object to move along the movement trajectory. [Solution] A transport device 1 in which a pulley 3 is rotationally driven by an actuator 7, and a belt 4 is stretched parallel to a movement trajectory and meshes with the pulley 3. A pinion 5 is mechanically coupled with the pulley 3 and rotates synchronously with the pulley 3, and teeth groups 6A, 6B, 6C are such that each tooth meshing with the pinion 5 is lined up in a straight line. The teeth groups 6A, 6B, 6C are present so as to be set apart from each other at a plurality of locations along the movement trajectory. When the pulley 3 is rotationally driven, the pinion 5 moves parallel to the movement trajectory together with the pulley 3, segments between the teeth groups 6A, 6B and between the teeth groups 6B, 6C move without meshing with the teeth groups 6A, 6B, 6C, and segments at which the teeth groups 6A, 6B, 6C are present move while meshing with the respective teeth groups 6A, 6B, 6C.

Description

Transport device

The present disclosure relates to a transport device.

Conventionally, a transfer device such as a rack and pinion that utilizes the meshing of gears in order to move an object along a movement locus has been known (see, for example, Patent Documents 1 to 3). That is, according to the transport devices of Patent Documents 1 to 3, the rack is installed parallel to the movement locus, and an actuator for rotationally driving the pinion is provided, and the rotational force of the actuator is linearized by the meshing of the rack and pinion. Converts to driving force and moves the object. However, since it is necessary to provide teeth along the entire section of the movement locus, it hinders cost reduction.

Special Table 2018-508720 Japanese Patent Application Laid-Open No. 2014-513253 Japanese Unexamined Patent Publication No. 2013-36488

An object of the present disclosure is to achieve cost reduction in installing teeth along a movement locus in a transport device that moves an object along a movement locus.

The transport device of the present disclosure moves an object along a movement locus. The transport device of the present disclosure also includes the following pulleys, belts, pinions, and a plurality of tooth groups. First, the pulley is rotationally driven by a predetermined actuator. Next, the belt is stretched along the movement locus and meshes with the pulley. The pinion is then mechanically coupled to the pulley and rotates in synchronization with the pulley. In addition, the tooth group is a line of teeth that mesh with the pinion.

The plurality of tooth groups are provided at a plurality of locations along the movement locus. In addition, when the pulley is rotationally driven, the pinion moves along the movement trajectory together with the pulley, the section between the tooth groups moves without meshing with the tooth group, and the section where the tooth group exists is the tooth group. It meshes and moves. As a result, the transport device of the present disclosure has the effect of potentially achieving cost reduction regarding the installation of teeth along the movement locus.

It is an overall perspective view of the transport device (Example). It is the main part perspective view of the transport device (Example). It is a front view of the main part of a transport device (Example). It is a partial cross-sectional view which cut a part of the transport device along an axis (Example). It is a perspective view which shows the pulley, the pinion and the tooth group of the transport device (Example). It is an overall perspective view of a transport device (a modification).

The embodiment for carrying out the present disclosure will be described in detail with reference to the following examples.

[Structure of Example] The transport device 1 of the embodiment will be described with reference to FIGS. 1 to 5. The transport device 1 is incorporated into a predetermined production line, for example, and moves the target object 2 to be transported along a linear movement locus β. The following pulley 3, belt 4, pinion 5, And a plurality of tooth groups 6A, 6B, 6C. In the embodiment, the robot hand is illustrated as the object 2 to be moved. The robot hand has a known configuration having a chuck for grasping a predetermined article, an elevating mechanism for driving the chuck, and the like.

First, the pulley 3 is rotationally driven by a predetermined actuator 7. The pulley 3 has, for example, an external tooth 3a that meshes with a tooth 4a provided on one surface of the belt 4, a regulation edge 3b that prevents the belt 4 from coming off, and a through hole 3c through which the output shaft 7a of the actuator 7 penetrates. Have.

The actuator 7 has, for example, a well-known structure in which an electric motor (not shown) and a speed reducer (not shown) are arranged coaxially. Further, the pulley 3 and the output shaft 7a are coaxial with each other by fitting the key 8a provided in the output shaft 7a into the key groove 8b provided in the through hole 3c. Further, the electric motor is energized and controlled by a command from a control device (not shown) that controls the production line, for example. In the following description, the X-axis, Y-axis, and Z-axis Cartesian coordinate systems are defined in the space where the transport device 1 exists, and the Z-axis is parallel to the output shaft 7a axis, that is, the pulley 3. Is defined as.

Further, the actuator 7 is screwed to the mounting plate 10. More specifically, in the main body 7b of the actuator 7, the portion on the tip end side where the output shaft 7a protrudes has a reduced diameter, and the mounting plate 10 is provided with a through hole 10a into which the reduced diameter portion fits. ing. Then, the actuator 7 is screwed to the mounting plate 10 in a state where the reduced diameter portion is fitted into the through hole 10a and the step portion 7c is abutted against the mounting plate 10. The output shaft 7a is rotatably supported by a bearing (not shown) built in the main body 7b.

Next, both ends of the belt 4 are fixed to a predetermined fixing portion α1 and stretched parallel to the movement locus β. The movement locus β is set parallel to the X-axis, and the belt 4 is stretched parallel to the X-axis. Further, idlers 11A and 11B for engaging the belt 4 with the pulley 3 are arranged on both sides of the pulley 3 in the X-axis direction. Therefore, the belt 4 projects to one side in the Y-axis direction in the range where the pulley 3 exists and in the vicinity of both sides of this range with respect to the range of the X-axis.

Both the idlers 11A and 11B have a shaft portion 11a screwed to the mounting plate 10, a rotating body 11b rotating around the shaft portion 11a, and a bearing inserted between the shaft portion 11a and the rotating body 11b. It has 11c. Further, the axes of the output shafts 7a and the axes of the shaft portions 11a of the idlers 11A and 11B each exist in one plane perpendicular to the Y axis and parallel to the Z axis.

Further, the distances between the shaft of the output shaft 7a and the shafts of the shaft portions 11a of the idlers 11A and 11B are equal to each other. The bearing 11c is, for example, held by surrounding a plurality of spheres with two raceway rings, the raceway ring on the inner peripheral side is press-fitted and fixed to the shaft portion 11a, and the raceway ring on the outer peripheral side is fixed to the rotating body 11b. It is press-fitted and fixed.

Here, the rotating body 11b has a cylindrical outer peripheral surface that contacts the other side surface having no teeth on both sides of the belt 4, and slides with respect to the belt 4 in response to the rotation of the pulley 3. Rotate without. Further, the tips of the shaft portions 11a of the idlers 11A and 11B are both screwed to the tip side plate 12 different from the mounting plate 10.

A bearing 12a that rotatably supports the tip of the output shaft 7a is mounted on the tip-side plate 12. The bearing 12a is, for example, holding a plurality of spheres while being surrounded by two raceway rings, the raceway ring on the inner peripheral side is press-fitted and fixed to the output shaft 7a, and the raceway ring on the outer peripheral side is press-fitted into the tip side plate 12. It is fixed. From the above, when the actuator 7 operates and the output shaft 7a rotates, the pulley 3 moves in parallel with the X-axis together with the actuator 7.

A guide 2a fitted to the rail α2 is attached to the object 2, and the rail α2 is provided parallel to the movement locus β. Then, by fitting the rail α2 and the guide 2a, the object 2 can stably follow the movement locus β.

Next, the pinion 5 is arranged between the pulley 3 and the tip side plate 12, is mechanically connected to the pulley 3, and rotates in synchronization with the pulley 3. More specifically, the pinion 5 is provided with a through hole 5a through which the output shaft 7a penetrates. The output shaft 7a and the pinion 5 are coaxial with each other by, for example, the same fitting structure as the key 8a and the key groove 8b.

Further, the pinion 5 is sandwiched and held by the pulley 3 and the raceway ring on the inner peripheral side of the bearing 12a. As a result, when the output shaft 7a rotates, the pinion 5 rotates at the same rotation speed as the pulley 3. From the above, when the pulley 3 is rotationally driven by the actuator 7, the pinion 5 moves in the X-axis direction together with the actuator 7 and the pulley 3. The pinion 5 is a spur gear having external teeth 5b, and the tooth profile is formed by, for example, a trochoid curve.

Next, the tooth group 6A consists of a plurality of teeth that mesh with the pinion 5 arranged in a straight line, and more specifically, for example, five pins 6p arranged in parallel with each other. That is, each pin 6p constituting the tooth group 6A is oriented in a direction parallel to the Z axis and perpendicular to the X axis and the Y axis. Further, the five pins 6p are arranged in a row parallel to the X axis. Further, among the five pins 6p, the diameter D1 of the pins 6pe existing at both ends of the tooth group 6A is smaller than the diameter D2 of the other three pins 6p. The distance between the axes of the pins 6p adjacent to each other in the X-axis direction is the same among the four axes even if the diameter of the pins 6pe is small.

Further, the pin 6p has a core portion fixed at a predetermined position along the movement locus, and a cylindrical body 6a covering the outer peripheral side of the core portion. Here, the core portion is, for example, a cylindrical body, and is press-fitted and fixed to five press-fitting holes provided at predetermined positions. Then, the cylindrical body 6a covers the outer peripheral side of the portion of the core portion protruding from the press-fitting hole. Further, a retaining component 6b for preventing the cylindrical body 6a from falling off is attached to one end of the core portion. As described above, the pinion 5 meshes with the tooth group 6A when its outer teeth 5b come into contact with the cylindrical body 6a. At this time, the cylindrical body 6a rotates around the core portion without the outer peripheral surface of the cylindrical body 6a sliding with respect to the tooth surface of the outer teeth 5b. A needle roller may be interposed between the outer circumference of the core portion and the inner circumference of the cylindrical body 6a.

Further, the tooth groups 6B and 6C have the same configuration as the tooth groups 6A. The tooth groups 6A, 6B, and 6C are provided at three positions apart from each other along the movement locus β. Therefore, the pinion 5 moves between the tooth groups 6A and 6B and between the tooth groups 6B and 6C without meshing with the tooth groups 6A to 6C, and each of the tooth groups 6A to 6C exists. The sections move in mesh with the tooth groups 6A to 6C, respectively.

[Effect of Example] The transport device 1 of the example moves the object 2 along the linear movement locus β, and the following pulley 3, belt 4, pinion 5, and tooth group 6A, It includes 6B and 6C. First, the pulley 3 is rotationally driven by the actuator 7, and the belt 4 is stretched parallel to the movement locus β and meshes with the pulley 3. Further, the pinion 5 is mechanically connected to the pulley 3 and rotates in synchronization with the pulley 3, and the teeth groups 6A, 6B, and 6C have teeth that mesh with the pinion 5 arranged in a straight line.

The tooth groups 6A, 6B, and 6C are provided at a plurality of locations along the movement locus β. Further, when the pulley 3 is rotationally driven, the pinion 5 moves in parallel with the movement locus β together with the pulley 3, and the sections between the tooth groups 6A and 6B and between the tooth groups 6B and 6C are the tooth groups 6A and 6B. , 6C move without meshing with each other, and the section in which the tooth groups 6A, 6B, 6C exist meshes with the tooth groups 6A, 6B, 6C, respectively.

As a result, in the production line, for example, when three target positions are set as the transport destinations of the object 2, in the movement locus of the pinion 5, the positions γ1, γ2, and γ3 corresponding to these three target positions are set. By arranging the tooth groups 6A, 6B, and 6C, respectively, only in the vicinity of, most of the teeth required in the conventional rack can be omitted. Therefore, it is possible to achieve cost reduction related to rack installation.

Since the tooth groups 6A, 6B, and 6C are arranged in the vicinity of the positions γ1, γ2, and γ3, respectively, and mesh with the pinion 5, the object 2 can be accurately arranged at the target position. Further, in the section between the tooth groups 6A and 6B and between the tooth groups 6B and 6C, the object 2 is moved by the meshing of the pulley 3 and the belt 4 regardless of the meshing of the pinion 5, so that the speed is higher than before. Moreover, the object 2 can be moved quietly.

That is, according to the transport device 1, the object 2 can be positioned with high accuracy in the vicinity of the target position where accuracy is required, and the object 2 is fast and quiet in the section where accuracy is not required. Can be moved to.

Further, according to the transport device 1, the tooth group 6A,
6B and 6C are composed of a plurality of pins 6p arranged in parallel with each other. As a result, the tooth groups 6A to 6C can be easily provided by arranging the pins 6p at the required positions on the production line.

Further, according to the transport device 1, the diameter D1 of the pins 6pe existing at both ends of the tooth groups 6A to 6C is smaller than the diameter D2 of the other pins 6p. For example, when the object 2 is moving toward one side in the X-axis direction due to the engagement of the belt 4 and the pulley 3 between the tooth groups 6A and 6B, the belt 4 is elastically moved to one side in the X-axis direction. It is growing to. In this state, when the pinion 5 reaches the pin 6pe located at the other end of the tooth group 6B in the X-axis direction, the belt 4 tries to reduce the elongation, so that the pinion 5 is accelerated to one side in the X-axis direction. , The pin 6pe is shocked.

Therefore, by making the pins 6pe existing at both ends of the tooth groups 6A to 6C smaller in diameter than the other pins 6p, a buffer section that absorbs the temporary acceleration of the pinion 5 due to the reduction in the elongation of the belt 4 Can be provided. Therefore, the impact when the pinion 5 reaches the tooth groups 6A to 6C can be alleviated.

Further, according to the transport device 1, the outer peripheral side of the pin 6p is covered with the cylindrical body 6a, and the pinion 5 meshes with the tooth groups 6A to 6C when its outer teeth 5b come into contact with the cylindrical body 6a. As a result, backlash can be eliminated in the meshing between the pinion 5 and the tooth groups 6A to 6C. Therefore, the meshing between the pinion 5 and the tooth groups 6A to 6C can be stabilized and made quiet.

[Modified Examples] The present invention can be considered in various modified examples without departing from the gist thereof. For example, according to the transport device 1 of the embodiment, the tooth groups 6A to 6C are composed of rows of pins 6p, but the tooth groups 6A to 6C may be formed by a rack having a small number of teeth. In this case, a pin gear can be adopted for the pinion 5.

Further, in the transport device 1 of the embodiment, the robot hand is illustrated as the object 2 to be moved, but the object 2 is not limited to the robot hand. For example, a shelf on which tools and parts are placed may be moved as the object 2. Further, two transport devices 1 may be combined to move the object 2 in the biaxial direction.

Further, in the transport device 1 of the embodiment, the object 2 is moved along the linear movement locus β, but the mode of the movement locus β is not limited to the straight line. For example, as shown in FIG. 6, the movement locus β may be set in an arc shape, and the two tooth groups 6A and 6B may be provided apart along the arc shape movement locus β. In this case, the belt 4 is stretched along the arc-shaped movement locus β. Further, in each of the tooth groups 6A and 6B, each of the five teeth may be provided with the same pins 6p as in the embodiment, and the five pins 6p may be arranged along the movement locus β.

1 Conveyor device 2 Object 3 Pulley 4 Belt 5 Pinion 6A, 6B, 6C Tooth group 7 Actuator

Claims (4)

1. In a transport device (1) that moves an object (2) along a predetermined movement locus (β), a pulley (3) that is rotationally driven by a predetermined actuator (7) and a pulley (3) that is stretched along the movement locus. A belt (4) that meshes with the pulley, a pinion (5) that is mechanically connected to the pulley and rotates in synchronization with the pulley, and a plurality of tooth groups (6A, 6B) in which teeth that mesh with the pinion are lined up. , 6C), and the plurality of tooth groups are provided at a plurality of locations along the movement locus, and when the pulley is rotationally driven, the pinion and the pulley follow the movement locus. A transport device that moves along the teeth, the section between the tooth groups moves without meshing with the tooth group, and the section in which the tooth group exists meshes with the tooth group.
2. The transport device according to claim 1, wherein the tooth group includes a plurality of pins (6p, 6pe) arranged along the movement locus.
3. The transport device according to claim 2, wherein the pin (6pe) existing at the end of the tooth group has a smaller diameter than the other pins.
4. In the transport device according to claim 2 or 3, the pin has a core portion fixed at a predetermined position along the movement locus, and a cylindrical body (6a) covering the outer peripheral side of the core portion. However, the pinion is a transport device characterized in that its own teeth (5b) come into contact with the cylindrical body and mesh with the tooth group.

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