JPH0466766B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention is mainly used in a multi-sided automatic pallet changing device for machining centers, when a moving object such as a pallet carrier is transported along a track-type rail. This invention relates to a support and guide device for supporting and guiding.

``Prior Art'' Conventionally, as shown in FIGS. 5 to 7, this type of multi-sided automatic pallet exchange device has been designed to operate along an oval rail 1 consisting of a semicircular rail portion 1a and a straight rail 1b. A device in which a plurality of pallet carriers 2 carrying workpieces travel is known. These pallet carriers 2 each have a pair of pivots 4 rotatably supported at front and rear positions with respect to the traveling direction of the upper part of the pallet carrier main body 3, and a pair of pivots 4 screwed and fixed to the lower surface of each pivot 4. A pair of upper horizontal rollers 7 and 8 are attached to the roller shafts 5 and 6, respectively, and roll along both sides of the upper part of the oval rail 1, and a roller shaft 9 that passes horizontally through each of the pivots 4, A vertical roller 10 that rolls along the upper end surface of the oval rail 1 is attached, while a pair of lower horizontal rollers 11 that rolls along the lower outer peripheral surface of the oval rail 1 is attached to the lower part of the pallet carrier body 3. Each of the oval rails is attached via a mounting member 12, and the tension is adjusted by a tension adjustment mechanism T disposed in the opening 1c of one of the semicircular rails 1a of the oval rail 1. A joint block 16 attached to an upper link member 15 of a conveyor chain 14 stretched over the outer peripheral surface of the pallet carrier body 3 is engaged with a drive shaft 13 vertically disposed above the pallet carrier body 3. Then, when the conveyor chain 14 runs along the outer circumference of the oval rail 1 by operating the drive device S disposed on one straight rail section 1b of the oval rail 1, the upper side The joint block 16 attached to the link member 15 moves along the outside of the oval rail 1, whereby the drive shaft 13 engaged with the locking groove of the joint block 16 moves along the oval rail 1. By moving along the pallet carrier 2, each horizontal roller 7, 8,
11 and vertical rollers 10 and are supported and guided along the oval rail 1.

"Problems to be Solved by the Invention" By the way, in the above-mentioned conventional apparatus for conveying the pallet carrier 2, when the load w of the pallet carrier body 3 at a distance d from the central axis l of each pivot 4 is applied, (When an unbalanced load is applied),
The force applied to the oval rail 1 by the pallet carrier 2 is the sum of the load w and the horizontal couple 2F = 2 (w x d/h) caused by the horizontal rollers 7 and 11. That is, the force applied to the oval rail 1 = w + 2 (w x d/h). Here, h is the distance between the upper horizontal rollers 7 and 8 and the lower horizontal roller 11.

Therefore, the oval rail 1 and each roller 7, 10, 1
1, the frictional force applied to the pallet carrier 2 is the frictional force μ×w caused by the vertical load, and the frictional force μ caused by the horizontal couple mentioned above.
×2 (w×d/h) will be added. Furthermore, when the pallet carrier 2 changes its traveling direction, the horizontal force due to the couple is applied to the travel guiding pivot 4, and since the pivot 4 cannot rotate smoothly, a large frictional force is added. There are also problems. In this way, in the conventional device described above, each of the horizontal rollers 7, 11 and the pivot 4
Since the frictional force caused by this is added to the frictional force caused by the vertical load w, there is a problem in that the running resistance of the pallet carrier 2 increases significantly and a large traction force is required.

Furthermore, in order to maintain positioning and stopping accuracy, it is necessary to increase the rigidity of the pallet carrier 2, but since the structure of the pallet carrier 2 is complex, if you try to increase the rigidity of the pallet carrier 2, the pallet carrier 2 will become larger and heavier. I am dissatisfied.

The present invention was made in view of the above circumstances, and
The purpose of this is to suppress the frictional force generated between the rollers that support and guide a moving object such as a pallet carrier and the endless track rail to only the component due to the vertical load (self-weight) of the moving object.
The increase in running resistance can be suppressed, the traction force required to transport the moving object can be extremely small, the structure of the moving object can be simplified, and a highly rigid moving object can be easily manufactured. An object of the present invention is to provide a support and guide device for a pallet carrier, etc., which can improve positioning accuracy.

"Means for Solving the Problems" In order to achieve the above object, the present invention provides a mobile object such as a pallet carrier that is made to run along an endless track type rail having a straight section and a semicircular section.
When the movable body travels on the straight line section, vertical rollers for straight running roll along the upper end surface of the endless track type rail; In a support guide device such as a pallet carrier, which is equipped with a semicircular vertical roller that rolls along the end surface and a horizontal roller that rolls along a groove formed on the upper end surface, an oval inner rail is used. The endless track type rail is configured by being surrounded by a substantially oval outer rail, the groove is formed in the inner rail, and the first support member provided with the horizontal roller fitted in the groove is opposed to the groove. The first support member is attached to the lower surface of the movable body, and is attached to the inner side of the inner rail of the first support member so that the movable body rolls along the upper end surface of the inner rail when the movable body travels in a straight line, and the movable body travels in a semicircle. a pair of first straight-running vertical rollers disposed above the groove when the movable body is running in a semicircle; Rolls along the upper end surface of the inner rail,
A pair of first semicircular running vertical rollers are attached to the rollers, which are retracted from the upper end surface of the inner rail when the movable body travels in a straight line, and a second support member is attached to the lower surface of the movable pair so as to face the upper end surface of the outer rail. The second supporting member is attached to the opposite side of the inner rail, and is attached to the upper end surface of the outer rail so as to roll along the upper end surface of the outer rail when the movable body runs in a straight line, and to roll along the upper end surface of the outer rail when the movable body runs in a semicircle. A pair of second linear running vertical rollers that are retracted further are attached to the inner rail side of the second support member, and are mounted on the inner rail side of the second support member to roll along the upper end surface of the inner rail when the movable body runs in a semicircle, and to move the rollers. A pair of second vertical rollers for semi-circular travel are attached to the body to retract from the upper end surface of the outer rail when the body travels in a straight line.

"Function" In the support guide device for a pallet carrier or the like of the present invention, horizontal rollers roll in the grooves of the inner rail to guide the traveling of the moving body, and when the moving body is traveling in a straight line, the horizontal rollers are placed in the first and second rollers. The vertical rollers for semicircular running do not interfere with the endless track type rail, and the first and second vertical rollers for linear running roll to support the movable body. , a second straight-running vertical roller is above the horizontal roller rolling groove, respectively;
The first,
The second vertical roller for semicircular travel rolls to support the movable body, and the movable body is smoothly conveyed.
In order to prevent interference between the semicircular running vertical rollers and the endless track type rail, it is not necessary to make the endless track type rail side into a special shape, and the endless track type rail is simplified accordingly.

"Embodiment" Hereinafter, an embodiment of the present invention will be described based on FIGS. 1 to 4.

20 in the figure is an endless track type rail, and this endless track type rail 20 has an oval inner rail 21.
and an outer rail 22 arranged surrounding the inner rail 21. The inner rail 21 is composed of a pair of straight parts 21a and a pair of semicircular parts 21b, and an oval groove 23 having a predetermined width is formed on the outer side of the upper end surface 21c of the inner rail 21. ing. Further, the outer rail 22 has a pair of straight portions 22a arranged in parallel.
A pair of semicircular portions 22c are connected to both ends of the ellipse via connecting portions 22b, respectively, in an oval shape.

Above the endless track type rail 20, at a plurality of equally spaced positions along the rail 20,
Each flat plate-shaped pallet carrier (moving body) P
is installed. A substantially rectangular parallelepiped-shaped support member (first support member) 24 is attached to the lower surface of each pallet carrier P at a position facing the groove 23 of the inner rail 21. A pair of horizontal rollers 25 that roll in contact with the side walls of the groove 23 of the inner rail 21 are attached to their support shafts 25a.
are screwed and attached to the lower surface of the support member 24 at positions symmetrical to the center line m of the pallet carrier P. Also, a side surface 24 of the support member 24 on the inner side of the inner rail 21
At both ends of a, there is a pair of straight lines that roll on the inner upper end 21c of the straight portion 21a of the inner rail 21 and are located above the groove 23 of the inner rail 21 when the pallet carrier P travels in a semicircle. Running vertical roller (first straight running vertical roller) 2
6 are attached by screwing their support shafts 26a in a direction parallel to the center line m of the pallet carrier P at positions symmetrical to the center line m of the pallet carrier P. Furthermore, the inner side surface 24a of the support member 24 is symmetrical with respect to the center line m, and is slightly closer to the center line m than each of the vertical rollers 26.
On the slopes of the pair of mounting portions 24b protruding from the sides, a pair of semicircular running vertical rollers (first semicircular rollers) that roll on the inner upper end surface 21c of the semicircular portion 21b of the inner rail 21 are mounted. Vertical roller for circular travel) 27
However, these support shafts 27a are screwed in toward the center of rotation of the pallet carrier P.

Further, a substantially rectangular parallelepiped-shaped support member (second support member) 28 is attached to the lower surface of the pallet carrier P at a position opposite to the outer rail 22. Then, the outer side surface 2 of the support member 28
The straight portions 22 of the outer rail 22 are attached to both ends of the outer rail 22.
A pair of linear running vertical rollers (second straight running vertical rollers) 29 that roll on the upper end surface 22d of a and are located outside the outer rail 22 when the pallet carrier P travels in a semicircle, support them. Axis 2
9a are screwed into the pallet carrier P at symmetrical positions with respect to the center line m in a direction parallel to the center line m. Further, on the inner side surface 28b of the support member 28, a slope of a notch 28c is formed symmetrically with respect to the center line m and slightly closer to the center line m than each of the vertical rollers 29. , the above outer rail 2
A pair of semicircular running vertical rollers (second semicircular running vertical rollers) 30 rolling on the upper end surface 22d of the second semicircular portion 22c align their support shafts 30a with the center of rotation of the pallet carrier P. It is installed by screwing in the direction. Furthermore, when the pallet carrier P moves from the semicircular part to the straight part of the endless track type rail 20, or from the straight part to the semicircular part, each vertical roller 29, 30 (or the rear side The time during which the vertical rollers 29, 30) are simultaneously in contact with the connecting portion 22b of the outer rail 22 is shortened, and the front vertical rollers 29, 30 (or the rear vertical rollers 29, 30) The installation position and angle of each connecting portion 22b are set so that the connecting portions 22b do not come out of contact with the connecting portion 22b at the same time.

Each of the pallet carriers P is connected to the endless track type rail by a conveyor chain (not shown) stretched over the outer peripheral surface of the inner rail 21, as in the conventional example shown in FIGS. 5 to 7. 2
0.

When using a support and guide device such as a pallet carrier configured as described above, first, as in the conventional case, a drive device (not shown) is operated to cause the conveyor chain to travel. As a result, the pallet carrier P moves onto the endless track type rail 20 together with the pallet and workpiece placed thereon.
It runs along the road and is transported.

At this time, the pallet carrier P has a pair of vertical rollers 26 rolling on the upper end surface 21c of the inner rail 21 in the straight part of the endless track type rail 20,
It is supported at four points by a pair of vertical rollers 29 rolling on the upper end surface 22d of the outer rail 22, and at the semicircular portion, a pair of vertical rollers 27 rolling on the upper end surface 21c and the upper end surface. 22d, and is supported at four points by a pair of vertical rollers 30 that roll on the groove 22d, and is guided by a pair of horizontal rollers 25 that roll in contact with the side walls of the groove 23 of the inner rail 21 to be smoothly conveyed. Ru. In this case, in the straight section, each vertical roller 2 for semicircular travel
7 and 30 are respectively located on the inner side of each rail 21 and 22, and in the semicircular portion, each vertical roller 26 and 29 for straight running is
Above the groove 23 of the inner rail 21 and the outer rail 2
2, the vertical rollers 26, 27 for straight-line travel and semi-circle travel located close to each other, except for a small portion that connects the semi-circular part and the straight part, 29 and 30 do not contact and interfere with the inner and outer rails 21 and 22 at the same time.

Further, when the pallet carrier P moves from a straight line section to a semicircular section of the endless track type rail 20, or from a semicircular section to a straight section, each of the horizontal rollers 25 moves inside the groove 23 of the inner rail 21. Groove 2
It rolls according to the shape of 3. As a result, each of the vertical rollers 26 is moved to the inner upper end surface 2 of the inner rail 21.
1c to the outer groove 23, and each vertical roller 27 moves from the inside of the end surface 21c to the upper end surface 21.
Proceeds on c (when transitioning from the straight part to the semicircular part),
Alternatively, each vertical roller 26 enters onto the inner upper end surface 21c from the groove 23, and each vertical roller 27 leaves inward from the upper end surface 21c (when transitioning from the semicircular portion to the straight portion). For this reason, each vertical roller 2
6 and 27 slide diagonally forward, but the sliding friction force at this time is much smaller than the friction force in the conventional device described above,
without causing a significant increase in running resistance.

In addition, in the transition section, the pallet carrier P has vertical rollers 27 for semicircular travel on the front side,
30 and vertical rollers 26, 2 for straight running on the rear side
9 is vertical rollers 27 and 30 for running in a semicircle on the rear side and vertical roller 2 for running in a straight line on the front side.
6, 29 roll along the upper end surfaces 21c, 22d of the inner and outer rails 21, 22, so each vertical roller 26, 27 on the front side; 29, 30 (or each vertical roller 26, 27 on the rear side ;29,3
0) are not in contact with each other at the same time, and are reliably supported by the respective vertical rollers 26, 27; 29, 30.

In this way, each vertical roller 26, 27, 29,
30 supports the vertical load of the pallet carrier P, and each horizontal roller 25 regulates and guides the traveling direction of the pallet carrier P, so no horizontal force is applied to the endless track type rail 20, and the pallet carrier The running resistance due to P can be reduced to only the rolling friction caused by its vertical component (self-weight), and the traction force can be reduced. Furthermore, since the pallet carrier P can be formed into a plate shape, the structure is simplified and there is no need to adopt the box structure used in the conventional type. Therefore, since the rigidity is improved for the same weight, a highly rigid pallet carrier P can be easily manufactured, and the positioning accuracy of the pallet carrier P can be improved. Furthermore, the vertical rollers 26 for linear running that roll on the upper end surface 21c of the inner rail 21 are connected to the pallet carrier P.
Since the structure is configured so that the inner rail 2 is retracted onto the groove 23 of the inner rail 21 when traveling in the semicircular portion of the inner rail 2, the inner rail 2
1 is formed into a simple oval shape and is easy to manufacture.

"Effects of the Invention" As explained above, the present invention provides a mobile object such as a pallet carrier that runs along an endless track type rail having a straight section and a semicircular section. a vertical roller for linear running that rolls along the upper end surface of the endless track type rail; and a semicircular roller that rolls along the upper end surface when the movable body runs in the semicircular section. In a support guide device such as a pallet carrier that is provided with vertical rollers for running and horizontal rollers that roll along grooves formed on the upper end surface, an oval inner rail is surrounded by a substantially oval outer rail. The above-mentioned endless track type rail is configured, the above-mentioned groove is formed in the above-mentioned inner rail, and a first support member provided with the above-mentioned horizontal roller fitted into the groove is attached to the lower surface of the above-mentioned movable body facing the above-mentioned groove, and the above-mentioned The first support member is provided on the inner side of the inner rail so that the movable body rolls along the upper end surface of the inner rail when the movable body travels in a straight line, and is located above the groove when the movable body travels in a semicircle. a pair of first linear running vertical rollers disposed in the first linear running vertical roller; rolling,
A pair of first vertical rollers for semicircular running are attached to the upper end surface of the inner rail when the movable body moves in a straight line, and a second support member is attached to the lower surface of the movable body so as to face the upper end surface of the outer rail. The second supporting member is attached to the opposite side of the inner rail, and is attached to the upper end surface of the outer rail so as to roll along the upper end surface of the outer rail when the movable body runs in a straight line, and to roll along the upper end surface of the outer rail when the movable body runs in a semicircle. A pair of second linear running vertical rollers that are retracted further are attached to the inner rail side of the second support member, and are mounted on the inner rail side of the second support member to roll along the upper end surface of the inner rail when the movable body runs in a semicircle, and to move the rollers. A pair of second vertical rollers for semicircular running are attached to the outer rail, which retract from the upper end surface of the outer rail when the moving body moves in a straight line. The first vertical rollers are located above the horizontal roller rolling groove and at a retracted position from the upper end surface of the outer rail when the movable body travels in a semicircle, and support the movable body when the movable body travels in a semicircle. By configuring the second semicircular traveling vertical roller to be retracted to a retracted position from the upper end of the inner rail and a retracted position from the upper end surface of the outer rail, respectively, when the moving body travels in a straight line, The first and second vertical rollers for linear running and the first and second vertical rollers for semicircular running can support the moving body without contacting and interfering with the endless track type rail, thereby supporting the moving body. In order to drive the moving body, the frictional force generated between the guide or supporting rollers and the endless track type rail can be suppressed to only the component due to the weight of the moving body, and the increase in running resistance can be suppressed. Not only can the required traction force be extremely small, but also the movable body can be transported smoothly in the straight portion and the semicircular portion.

Furthermore, when the movable body travels in a straight line, the movable body is moved at least four times by the first and second vertical rollers for straight travel.
When the movable body travels in a semicircle, the movable body can be supported at at least four points by the first and second vertical rollers for semicircular travel, and when the movable body travels in a straight line, the movable body can travel in a semicircle. Since horizontal rollers are fitted into the grooves of the inner rail at the same time, it is possible to prevent the moving object from lifting up while traveling, resulting in extremely good running stability, and as a result, the durability of supporting and guiding devices such as pallet carriers. can be significantly improved.

In addition, the structure of the moving body can be simplified, a highly rigid moving body can be manufactured easily, and positioning accuracy can be improved. In order to prevent interference between the second semicircular running vertical roller and the endless track type rail, it is not necessary to make the endless track type rail into a special shape, which simplifies the structure of the endless track type rail. A horizontal roller, a pair of first and second vertical rollers for linear travel, and a pair of first and second semicircular rollers, respectively, are provided on the lower surface of the movable body via first and second support members. Since vertical rollers are installed, the first
A pair of first vertical rollers for linear running and a pair of first vertical rollers for semicircular running are provided on the supporting member, respectively.
A pair of second vertical rollers for linear running and a pair of second vertical rollers for semicircular running are attached to the second support member, respectively, and the first,
By attaching the second support member, each of the rollers described above can be quickly attached to the movable body, which has excellent effects such as significantly improving the ease of assembling the device.

[Brief explanation of drawings]

Figures 1 to 4 show one embodiment of the present invention. Figure 1 is an explanatory diagram illustrating the relationship between the endless track type rail and each roller, and Figure 2 is an explanatory diagram illustrating the relationship between the inner rail and each roller. FIG. 3 is a cross-sectional view explaining the relationship between the inner rail groove and the vertical rollers 26, FIG. 4 is a cross-sectional view explaining the relationship between the outer rail and each vertical roller, and FIG. is an explanatory diagram showing a conventional pallet exchange device, and Fig. 6 is a diagram showing the - of Fig. 5.
A sectional view taken along the line, and FIG. 7 is a schematic plan view showing a conventional oval rail. P... Palette carrier (mobile object), 20...
Track type rail, 21... Inner rail, 22...
...Outside rail, 23...Groove, 24...Support member (first support member), 25...Horizontal roller, 26...
Vertical roller for straight-line travel (first vertical roller for straight-line travel), 27... Vertical roller for semi-circular travel (first vertical roller for semi-circle travel), 28... Support member (second support member), 29 ...Vertical roller for straight-line traveling (second vertical roller for straight-line traveling), 30... Vertical roller for semicircular traveling (second vertical roller for semicircular traveling),
21a... straight line part, 21b... semicircular part, 21c...
...Top end surface, 22a...Straight line portion, 22c...Semicircular portion, 22d...Top end surface.

Claims (1)

[Scope of Claims] 1. A moving object such as a pallet carrier that is made to run along an endless track type rail having a straight line part and a semicircular part, when the moving body runs on the straight line part, a vertical roller for linear traveling that rolls along the upper end surface of the rail; a vertical roller for semicircular traveling that rolls along the upper end surface when the moving body travels in the semicircular portion; In a support guide device for a pallet carrier or the like, which is provided with horizontal rollers that roll along grooves formed on the end surface, an oval inner rail is surrounded by a substantially oval outer rail to constitute the endless track type rail. , forming the groove in the inner rail, and attaching a first support member having the horizontal roller fitted in the groove to the lower surface of the movable body so as to face the groove; A pair of grooves are disposed on the inner side of the movable body so as to roll along the upper end surface of the inner rail when the movable body travels in a straight line, and to be located above the groove when the movable body travels in a semicircle. a vertical roller for linear running, and a roller disposed between the pair of first vertical rollers for linear running, and rolling along the upper end surface of the inner rail when the moving pair runs in a semicircle;
A pair of first vertical rollers for semicircular running are attached to the upper end surface of the inner rail when the movable body moves in a straight line, and a second support member is attached to the lower surface of the movable body so as to face the upper end surface of the outer rail. The second supporting member is attached to the opposite side of the inner rail, and is attached to the upper end surface of the outer rail so as to roll along the upper end surface of the outer rail when the movable body runs in a straight line, and to roll along the upper end surface of the outer rail when the movable body runs in a semicircle. A pair of second linear running vertical rollers that are retracted further are attached to the inner rail side of the second support member, and are mounted on the inner rail side of the second support member to roll along the upper end surface of the inner rail when the movable body runs in a semicircle, and to move the rollers. 1. A support and guide device for a pallet carrier, etc., characterized in that a pair of second vertical rollers for semicircular travel are attached, the rollers retracting from the upper end surface of the outer rail when the body travels in a straight line.