JPH0661640U - Friction transfer device - Google Patents

Abstract

(57) [Abstract] [Purpose] In a frictional movement device for moving a moving carriage by rotationally driving a drive roller pressed against a guide rail,
The frictional force of the drive roller is obtained without being affected by dimensional error and wear, and the durability and the degree of freedom in setting the movement path are improved. [Structure] The positioning rollers 52 and 54 are connected to the drive roller 4
0, the positioning roller 50 is separated from the positioning roller 50 in the moving direction so as to be in contact with the first guide surface 16 and the second guide surface 18 of the guide rail 14, and the lever member 80 axially supporting the positioning roller 50 is provided. A cam 84 that is rotatably provided around the pin 76 and that engages with a cam roller 82 that is rotatably supported at the other end of the lever member 80 is controlled by the electric cylinder 86 so that the amount of rotation of the lever member 80 and the positioning thereof can be improved. The pressing force of the roller 50 is controlled, and the frictional force between the drive roller 40 and the first guide surface 16 is controlled.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a moving device that moves a moving carriage along a guide rail, and more particularly, to a friction moving device that includes a drive roller that is rotated by being pressed by the guide rail.

[0002]

[Prior art]

 One type of device for moving a movable member such as a work at a relatively high speed and with high accuracy is as follows: (a) A first guide surface is provided in the longitudinal direction along a predetermined moving path. A guide rail, and (b) is rotatably disposed on the movable carriage about an axis parallel to the first guide surface and perpendicular to the longitudinal direction of the guide rail, and the outer peripheral surface is the first guide surface. By being driven to rotate about the axis in the pressed state, frictional movement having a drive roller for moving the movable carriage along the guide rail due to friction between the outer peripheral surface and the first guide surface. There is a device. For example, the friction moving device described in Japanese Patent Application Laid-Open No. 3-96748 is an example thereof. The moving carriage is provided with a pressure contact roller so as to be located on the opposite side of the drive roller with the guide rail interposed therebetween. When the roller is pressed against the guide rail by the pressure contact force generating means such as a piezo element, the drive roller on the opposite side is relatively pressed against the guide rail so that a predetermined frictional force is generated between them. Has become. This frictional force is controlled according to acceleration, moving speed, and the like. In addition, such a conventional friction moving device is provided with a pair of support rails that support the weight of the carriage and regulate the posture thereof to position in a direction perpendicular to the moving direction, in parallel with the guide rails. While being guided by the support rail, it can be moved based on the frictional force against the guide rail.

[0003]

[Problems to be solved by the device]

 However, when the support rail for positioning the movable carriage and the guide rail against which the drive roller is pressed are separately provided, high parallelism is required between the support rail and the guide rail, and a straight line or a circle is required. It is difficult to set a complicated movement path other than motion, and if the parallelism is poor, a frictional force cannot be obtained due to a gap between the drive roller and the guide rail. There is a case where the device is forcibly pressed and the durability of the device is impaired. In particular, the pressure contact roller is pressed by a piezo element or the like that is displaced in the direction perpendicular to the guide rail, and the friction force of the drive roller is controlled by the pressing force, that is, the displacement amount of the piezo element or the like. Since the moving stroke of the pressure roller driven by is relatively small, higher parallelism is required. In other words, if the displacement stroke of the pressure contact roller is small, the gap between the pressure contact roller and the drive roller is set to be approximately the same as the width of the guide rail, so the flatness between the support rail and the guide rail is poor. However, even if the moving carriage is slightly displaced with respect to the guide rail, the pressure roller and the drive roller may be forced against the guide rail. Also, since the movement stroke of the pressure contact roller is small, high precision is required for the width dimension of the guide rail itself, and even if the guide rail, pressure contact roller, or drive roller wears, the maximum stroke is sufficient. There is the inconvenience that the frictional force cannot be obtained and the life is reached early.

[0004] It should be noted that by configuring the engagement form of the movable carriage and the support rail to allow a certain degree of relative movement in the width direction of the guide rail, there is a requirement for parallelism between the support rail and the guide rail. Although it is alleviated, the posture of the moving carriage becomes unstable, which causes vibration and the like, which hinders smooth movement, which is not preferable.

The present invention has been made in view of the above circumstances. The purpose of the present invention is to reduce the influence of dimensional error and wear of each part and to set the movement path to a high degree of freedom and to provide excellent durability. It is to provide a friction transfer device.

[0006]

[Means for Solving the Problems]

 In order to achieve such an object, the gist of the present invention is: (a) a guide rail provided along a predetermined movement path and provided with a first guide surface in the longitudinal direction; b) In a state in which the outer peripheral surface is pressed against the first guide surface so that the guide rail is rotatably disposed around the axis perpendicular to the longitudinal direction of the guide rail and parallel to the first guide surface. In a friction moving device having a drive roller that is driven to rotate around the axis and moves the moving carriage along the guide rail due to friction between the outer peripheral surface and the first guide surface, c) The movable carriage is rotatably arranged around an axis parallel to the axis of the drive roller and has an outer peripheral surface parallel to and opposite to the first guide surface or the first guide surface. Engage with two guide surfaces And (d) a plurality of positioning rollers for positioning the movable carriage in the direction perpendicular to the first guide surface, and (d) rotation about a rotation axis parallel to the axis of the drive roller. One of the plurality of positioning rollers, which is attached to the movable carriage and is pressed against the first guide surface or the second guide surface to relatively press the drive roller against the first guide surface, is held. And a lever member that presses the one positioning roller against the first guide surface or the second guide surface by applying a force to a predetermined action portion, and (e) the action portion of the lever member. Is provided on the movable carriage with an output rod that engages with, and controls the protruding position of the output rod while driving the output rod to protrude and retract. Depending on the come-out position is to have the electric cylinder for pivoting the lever member.

[0007]

[Action]

 In such a friction moving device, a plurality of positioning rollers are provided on a moving carriage so as to be rotatable about an axis parallel to the axis of the driving roller, and the outer peripheral surfaces of the positioning rollers are the first guide surface or the first guide surface of the guide rail. Since the movable carriage is positioned in the vertical direction with respect to the first guide surface by being engaged with the two guide surfaces, at least the positioning in that direction need not be performed by another member. On the other hand, for example, a lever member attached to the movable carriage so as to be rotatable about a rotation axis parallel to the axis of the drive roller has one positioning roller located on the opposite side of the drive roller with the guide rail interposed therebetween. Is held so as to be engageable with the second guide surface, and a force is applied to the action portion of the lever member, whereby the lever member is rotated around the rotation axis, and the one positioning roller is moved. It is pressed against the second guide surface, which causes the drive roller to be relatively pressed against the first guide surface. In addition, an electric cylinder that controls the protruding position of the output rod while protruding and retracting the output rod that engages with the action portion of the lever member, and rotates the lever member according to the protruding position is arranged on the moving carriage. The frictional force between the outer peripheral surface of the drive roller and the first guide surface is controlled according to the amount of rotation of the lever member that is rotated.

[0008]

[Effect of device]

 In this friction moving device, since the moving carriage is positioned by the guide rail against which the drive roller is pressed, when the guide rail and the supporting rail for positioning are separately arranged as in the conventional case. By comparison, problems such as parallelism are eliminated, the durability of the device is improved, and the freedom of setting the movement path is increased. Further, the moving stroke of the positioning roller arranged on the lever member and pressed by the guide rail is appropriately determined depending on the lever ratio of the lever member, the form of engagement of the output rod of the electric cylinder with the action portion of the lever member, and the like. Since it can be made sufficiently larger than the moving stroke of the pressure contact roller using a conventional piezo element, etc., the desired friction between the drive roller and the first guide surface can be maintained for a long time regardless of dimensional error or wear of the guide rail. Can generate force.

[0009]

【Example】

 An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a plan view and a front view of a friction transfer device 10 which is an embodiment of the present invention. 2 and 3 are a plan view and a front view showing the vicinity of the moving carriage 12 in FIG. 1 in detail, respectively. The moving carriage 12 has a substantially square shape in a plan view, and is arranged in a posture in which a pair of opposite sides are parallel to the guide rails 14 and the like provided along a predetermined moving path. There is. A pair of mounting seats 12a, 12b for fixing a support frame (not shown) on which a movable member such as a work is placed is provided on the upper surface of the movable carriage 12.

As shown in FIG. 4, the guide rail 14 positioned in the widthwise center of the movement path in FIG. 2 has a rectangular cross section, and a pair of vertical rails of the guide rail 14 intersect each other. One of the opposite side surfaces parallel to the first guide surface 16 and the other is the second guide surface 18. On both sides of the guide rail 14, a pair of support rails 20 and 22 are provided in parallel with the guide rail 14. Specifically, the support rails 20 and 22 are arranged on the plane having substantially the same height as the guide rail 14 and separated from the first guide surface 16 and the second guide surface 18 by a certain distance. The guide rail 14 and the support rails 20 and 22 are supported by a plurality of pillar members 24 that are erected at appropriate intervals on a floor surface 23 on which a moving path is set, and the moving carriage 12 As is clear from FIG. 1, the movement path of is composed of a curved line portion and an inclined portion in the middle. The column member 24 supports a dust-proof cover member 26 (only part of which is shown) in addition to each rail member in parallel with the guide rail 14, and the cover member 26 and the guide rail 14 are movable. The carriage 12 is arranged so as to penetrate the inner hollow portion of the carriage 12 in the moving direction.

FIG. 4 is a cross-sectional view taken along the line IV-IV in FIG. 3, in which the support rails 20 and 22 are each a lower rail 28 fixed on the support member 24, and a plurality of spacers from the lower rail 28. The upper rail 30 is fixed to the upper rail 30 with a predetermined distance therebetween and is fixed to the upper rail 30. On the other hand, in the movable carriage 12, at the four corner positions in the plan view of FIG. 2, four side rollers 34 rotatably supported around a horizontal axis perpendicular to the moving direction are projected outward from the side wall portion 12d. The side rollers 34 are provided between the lower rail 28 and the upper rail 30 of the support rails 20 and 22. The predetermined dimension between the lower rail 28 and the upper rail 30 is set to be slightly larger than the diameter of the side roller 34, and the side rollers 34 are guided by the support rails 20 and 22 while rolling. As a result, the weight of the movable carriage 12 is supported via the side rollers 34, and the movable carriage 12 is prevented from being lifted up by being positioned vertically.

The support member 20 on the support rail 20 side and the support member 24 on the support rail 22 side are integrally connected to each other via the floor plate 24 a on the floor side, and the distance between the support rails 20 and 22 is increased. However, in the frictional movement device 10 of the present embodiment, the movable carriage 12 is positioned in the width direction of the guide rail 14 by the engagement between the side rollers 34 and the support rails 20 and 22. In addition, since a high positional accuracy between the rail members is not required, the skeletal members such as the strut members 24 have a simple structure that does not have an excessively high rigidity. Further, as is clear from FIG. 4, the guide rail 14 is positioned in the inner hollow portion of the moving carriage 12 while being supported by the support member 24 on the support rail 20 side through the bracket 36. The cover member 26 is arranged over a wide hollow range inside the upper part of the moving carriage 12 via a support fitting 38 fixed to the bracket 36 thereof. Since the guide rails 14 and the cover members 26 are continuous over the entire length of the moving path, the moving carriage 12 has a substantially saddle-shaped cross section perpendicular to the moving direction so as not to interfere with them during movement. ing.

A drive roller 40 is disposed inside the movable carriage 12 so as to be rotatable about an axis perpendicular to the longitudinal direction of the guide rail 14 and parallel to the first guide surface 16. The stepped shaft-shaped drive roller 40 has its outer peripheral surface 41 in the middle portion contacting the first guide surface 16 of the guide rail 14 and the upper and lower end portions of the outer peripheral surface 41 are respectively movable trucks. It is supported by a pair of bearings 42 and 44 arranged at 12. The lower end portion, which has a relatively large diameter, is connected to the output shaft 48 of the drive motor 46 integrally fixed to the moving carriage 12 below the bearing 44 so as not to be able to rotate relatively. When the drive motor 40 rotationally drives the drive roller 40 around the axis while the outer peripheral surface 41 is pressed against the first guide surface 16 of the guide rail 14, the outer peripheral surface 41 and the first guide surface are rotated. The friction between the drive roller 40 and the surface 16 causes the drive roller 40 to roll while being in contact with the first guide surface 16, and the movable carriage 12 integrated with the drive roller 40 is moved along the guide rail 14.

FIG. 5 is a plan view showing a detailed configuration of a main part of the movable carriage 12 by cutting out a part thereof, and FIG. 6 is a sectional view taken along line VI-VI in FIG. Positioning rollers 50, 52 and 54, which come into contact with the first guide surface 16 or the second guide surface 18 of the guide rail 14, respectively, are arranged in the movable carriage 12 so as to rotate about an axis parallel to the axis of the drive roller 40. It is rotatably arranged. The positioning roller 50 is positioned on the opposite side of the drive roller 40 with the guide rail 14 interposed therebetween, while the positioning rollers 52 and 54 are positioned at a predetermined distance in the moving direction from the drive roller 40 and the positioning roller 50, respectively. , The guide rails 14 are sandwiched between them. The positioning rollers 52 and 54 are respectively held by movable holders 56 and 58 arranged on the moving carriage 12 so as to be rotatable about an axis parallel to the axes thereof, and they are attached to the guide rails 14. It is configured symmetrically.

The movable holder 56 is axially fitted to a pin 60 standing vertically downward from the inner beam portion 12 c of the moving carriage 12 via a bearing bush 59, and is prevented from falling downward by a washer 61. It has been blocked. Further, the movable holder 56 is engaged with a biasing mechanism 66 having a plurality of disc springs 62 and a flanged shaft 64 for holding the disc springs 62 concentrically at the end of the movable holder 56 which axially supports the positioning roller 52. As a result, the positioning roller 52 is biased in the rotation direction in which it is pressed by the guide rail 14. A fitting hole 68 is provided on the end surface of the movable holder 56 that receives the above-mentioned biasing force so that the movable holder 56 can be fitted to the flanged shaft 64. FIG. 7 is a vertical cross-sectional view of the movable holder 56 and the like, and the positioning roller 52 is supported by a pair of bearings 70 on both upper and lower shaft ends. By rotating the flanged shaft 64 screwed to the side wall portion 12d of the moving carriage 12 so that the positioning roller 52 comes into contact with the guide rail 14, the urging mechanism 66 protrudes toward the guide rail 14 side. The condition is adjusted. Such a structure is substantially the same on the side of the movable holder 58 holding the positioning roller 54, except that a large-diameter shaft portion 64a is provided on the flanged shaft 64 in order to secure the axial dimension. .

A rotary encoder 72 is attached below the movable holder 56, and an input shaft 74 is connected to the lower shaft end of the positioning roller 52 so as not to be able to rotate relative to it. By counting the output pulses from the rotary encoder 72, the rotation angle of the positioning roller 52 is calculated and the position of the moving carriage 12 is detected.

Returning to FIG. 5 and FIG. 6, a pin 76 is erected vertically downward on the inner beam portion 12e of the moving carriage 12 and has a hook shape so as to be rotatable around the pin 76 via a bearing 78. A lever member 80 is provided. The positioning roller 50 is supported by one end of the lever member 80 on the side where the length dimension from the pin 76 is shorter in parallel with the pin 76, so that the positioning roller 50 is guided in a posture in which the shaft center is parallel to the drive roller 40. It can be brought into rolling contact with the second guide surface 18 of the rail 14. The positioning roller 50 is horizontal and is in contact with the second guide surface 18 on the side opposite to the positioning roller 50 with respect to the center of rotation of the lever member 80, that is, at the other end where the length dimension from the pin 76 is long. In this state, the cam roller 82 is provided rotatably around an axis substantially parallel to the longitudinal direction of the guide rail 14, while the wedge taper cam 84 engaging with the outer peripheral surface of the cam roller 82 is provided with the pin 76. It is provided at the tip of an output rod 88 of an electric cylinder 86 fixedly mounted on the moving carriage 12 in parallel therewith. The acting direction of the force applied from the cam 84 to the cam roller 82 is substantially perpendicular to the second guide surface 18, and the arm length of the moment between the positioning roller 50 and the cam roller 82 with respect to the rotation center of the lever member 80. The dimensional ratio, that is, the lever ratio of the lever member 80 is about 1: 2.

As can be seen from FIG. 8 showing a section taken along the line VIII-VIII in FIG. 3, since the inclination of the wedge taper of the cam 84 with respect to the axis of the output rod 88 is relatively small, the movement of the cam roller 82 relative to the movement of the cam 84. The amount is small, and the amplification factor of the force due to the wedge action is relatively large. A backup roller 90 is provided near the side wall portion 12d of the moving carriage 12 at a position opposite to the cam roller 82 with the cam 84 interposed therebetween so as to be rotatable about an axis parallel to the longitudinal direction of the guide rail 14. Has been. The vertical position of the axis of the backup roller 90 coincides with the moving plane of the axis of the cam roller 82, and the surface of the cam 84 on the side in contact with the backup roller 90 is parallel to the axis of the output rod 88. . In the present embodiment, the other end side of the lever member 80 provided with the cam roller 82 corresponds to the acting portion.

The internal structure of the electric cylinder 86 is shown in detail in FIG. The output rod 88 has a shaft portion 88a on the front end side, to which a cam 84 is attached at a portion protruding from the casing 92, and a ball screw portion 88b on the rear end side, which is concentric with the shaft portion 88a and is relatively non-rotatably connected inside the casing 92. It consists of The shaft portion 88a is held by a ball spline 93 integrally provided with the casing 92 so as to be slidable in the axial direction and non-rotatable around the axial center, while the ball screw portion 88b is not shown. It is screwed with the ball nut 94 through a large number of steel balls. The ball nut 94 is supported by the pair of bearings 96 with respect to the casing 92 so as to be rotatable about the axis and immovable in the axis direction, and is of an electric motor 98 integrally fixed to the casing 92. It is connected to the output shaft 100 so as not to rotate relative to it.

The electric motor 98 is a stepping motor with a brake mechanism capable of controlling the rotation angle. The electric motor 98 is drive-controlled to control the rotation angle of the ball nut 94, and the ball screw mechanism ejects and retracts the ball nut 94. The protruding position of the driven output rod 88 can be controlled. The electric motor 98, the drive motor 46, and the rotary encoder 72 are connected via, for example, a trolley-type electric connection device (not shown) equipped with a contactor which is always in contact with an overhead wire provided along the movement path. It is connected to a control device or the like that is fixedly arranged on the floor surface 23 so that driving power and signals can be exchanged.

When the output rod 88 and the cam 84 are projected by the electric cylinder 86, the projecting force is amplified according to the inclination of the wedge taper of the cam 84, and the lever member 80 is drawn through the cam roller 82. 5 is rotated counterclockwise of the pin 76, that is, the positioning roller 50 in a direction to be pressed against the second guide surface 18 of the guide rail 14. The pressing force of the positioning roller 50 at this time becomes a force amplified according to the inclination of the cam 84 and further amplified by the lever ratio of the lever member 80, and the rotation control of the lever member 80, that is, the above-mentioned It is adjusted to a desired value according to the protruding position of the output rod 88 by controlling the rotation angle of the electric motor 98. When the positioning roller 50 is pressed against the second guide surface 18 in this way, the reaction force applies a force to the moving carriage 12 in the upward direction in FIG. 5, so that the drive roller 40 is relatively moved. It is pressed by the first guide surface 16 of the guide rail 14, and a predetermined frictional force is generated between the outer peripheral surface 41 of the drive roller 40 and the first guide surface 16 of the guide rail 14. This frictional force, that is, the rotation angle control value of the electric motor 98 in the electric cylinder 86 is set in advance by teaching or the like according to the moving speed, acceleration / deceleration, etc. of the moving carriage 12 in each part of the moving path.

Then, in the state where the drive roller 40 is pressed against the first guide surface 16 of the guide rail 14 as described above, the drive roller 40 is rotationally driven in both the forward and reverse directions by the drive motor 46, so that the movable carriage 12 is moved. Generates a driving force due to the frictional force between the outer peripheral surface 41 of the driving roller 40 and the first guide surface 16, and is reciprocated along the guide rail 14. The moving carriage 12 presses the guide rail 14 by the driving roller 40 and the positioning roller 50, and the pair of the pair of rollers arranged at a position separated from the rollers 40 and 50 in the longitudinal direction of the guide rail 14. By pressing the guide rail 14 by the positioning rollers 52 and 54 as well, positioning is performed in the width direction thereof, that is, in the direction perpendicular to the first guide surface 16 and the second guide surface 18, and the vehicle travels in a fixed posture. To be made. Further, by the engagement of the plurality of side rollers 34 and the support rails 20 and 22, the moving carriage 12 is supported at the substantially same height position as the guide rail 14 and is positioned in the vertical direction, so that the moving carriage 12 can be moved during running. Lifting is prevented. The support rails 20 and 22 are engaged with the side rollers 34 in a state in which the movable carriage 12 can move in the width direction of the guide rails 14 by a predetermined dimension, so that the drive rollers 40 and the positioning rollers 50, 52, 54. The engagement of the guide rail 14 with the guide rail 14 does not hinder the positioning of the movable carriage 12 in the width direction.

As described above, the frictional movement device 10 of the present embodiment is moved by the positioning rollers 50, 52, 54 being engaged with the guide rails 14 that press the drive roller 40 to generate a driving force. Since the carriage 12 is positioned in the width direction, the support rail and the guide rail are provided as in the conventional device for positioning the movable carriage by providing the positioning support rail separately from the guide rail for generating the driving force. There is a problem that a gap is created between the drive roller and the guide rail due to poor parallelism of the drive roller, or excessive force is applied to the drive roller and the guide rail, and the durability of the device is impaired. Basically eliminate it. Further, since a high degree of parallelism as in the conventional case is not required between the support rails 20 and 22 for supporting the moving carriage 12 and the guide rails 14, the entire moving path can have a simple structure, and the moving path can be simplified. This will increase the degree of freedom in the setting of, and it will be possible to keep equipment costs low.

On the other hand, the pressing means that presses the drive roller 40 against the first guide surface 16 is a lever member 80 having a cam roller 82 at the action portion opposite to the positioning roller 50, or the tip of the output rod 88. Of the electric cylinder 86 for rotating the lever member 80 by engaging the cam 84 of the cam roller 82 with the cam roller 82. The force for pushing the cam roller 82 around is boosted according to the lever ratio to guide the positioning roller 50 to the second guide. By pressing against the surface 18, the drive roller 40 is relatively pressed against the first guide surface 16. In such a configuration, since the movement stroke of the positioning roller 50 when pressing the drive roller 40 can be made relatively large, a conventional friction movement device having a small adjustment range of the movement stroke composed of a piezo element or the like can be used. As described above, there is no problem of being unable to cope with a change in the required stroke due to displacement or wear, and it is possible to secure a sufficient device life while maintaining the moving performance of the moving carriage 12. The dimensional accuracy of the guide rail 14 itself in the width direction is not strictly required as in the conventional case. The lever ratio of the lever member 80 and the inclination angle of the cam 84 are appropriately set in consideration of the moving stroke and pressing force of the positioning roller 50, the output of the electric cylinder 86, and the like.

In order to push the cam roller 82 around, an electric cylinder 86 for driving the output rod 88, which has a wedge-tapered cam 84 at its tip, is provided. The output rod 88 is driven by a ball screw mechanism. Since it is driven by an electric motor 98 whose rotation angle can be controlled, the amount of rotation of the lever member 80 is accurate because the stroke of the cam 84 is larger than the movement stroke of the cam roller 82. The frictional force between the drive roller 40 and the first guide surface 16 is controlled with high accuracy, and the pressing operation against the guide rail 14 is surely obtained, and quick response performance is obtained. There are advantages.

Further, in this embodiment, the position of the moving carriage 12 is detected by detecting the rotation angle of the positioning roller 52 by the rotary encoder 72. Therefore, the drive motor 46 that rotationally drives the drive roller 40. Compared with the case where the position of the moving carriage 12 is detected from the rotational angle position, the detection error due to slippage is small, and the moving carriage 12 can be position-controlled with high accuracy.

Although one embodiment of the present invention has been described in detail with reference to the drawings, the present invention can be implemented in other modes.

For example, in the above-described embodiment, three positioning rollers 50, 52 and 54 are provided, and the positioning rollers 52 and 54 among them are located at predetermined distances in the moving direction from the driving roller 40 and the positioning roller 50, respectively. Although the guide rails 14 are located so as to sandwich each other at the separated positions, instead of the positioning roller 54, the position opposite to the positioning roller 52 with respect to the driving roller 40 in the moving direction, that is, the electric cylinder 86. A positioning roller is disposed in the vicinity so as to be in contact with the first guide surface 16, or instead of the positioning roller 52, the positioning roller 50 is opposite to the positioning roller 54 in the moving direction, that is, the guide rail 14 A positioning roller is installed at a position opposite to the electric cylinder 86 with respect to Even if the movable carriage 12 is brought into contact with the id surface 18, the position of the movable carriage 12 can be determined as in the above-described embodiment. Further, the positioning roller of another aspect as described above may be additionally provided in the above-mentioned embodiment, and the number of positioning rollers may be changed appropriately.

Further, the positioning rollers 52 and 54 in the above-described embodiment are held by the movable holders 56 and 58, respectively, and are pressed against the guide rail 14 by the biasing mechanism 66 having an adjusting function. However, it is not always necessary to provide the positioning rollers 52 and 54 so as to be biased by the biasing mechanism 66, and a biasing mechanism having no adjusting function may be used. May be provided in a fixed position with respect to the moving carriage 12.

Further, in the above-described embodiment, the positioning roller 50 that presses the drive roller 40 relatively to the first guide surface 16 by being pressed by the second guide surface 18 is provided. In addition to this, a positioning roller A held by a lever member and pressed against the first guide surface 16 is provided, and the positioning roller A is positioned intermediate the positioning roller A and the driving roller 40 in the moving direction. It is also possible to press the drive roller 40 against the first guide surface 16 by disposing the positioning roller B that is brought into contact with the two guide surfaces 18.

Further, the lever member 80 in the above-described embodiment is arranged so as to be rotatable around a uniaxial center (pin 76) intermediate between the positioning roller 50 and the action portion (cam roller 82), and FIG. The positioning roller 50 is pressed against the second guide surface 18 of the guide rail 14 by being rotated counterclockwise of the pin 76 in the above. However, the form of the lever member or the like is limited to that of the above-mentioned embodiment. For example, the positioning roller 50 is located in the middle of the rotation center and the action portion, and is rotated clockwise in FIG. 5 to press the positioning roller 50 against the second guide surface 18. It is also possible to dispose a lever member or the like.

Further, the operating portion of the lever member 80 in the above-described embodiment is provided with the cam roller 82 which is engaged with the cam 84 provided on the output rod 88 of the electric cylinder 86. As long as the force that rotates the lever member 80 so as to press the lever against the second guide surface 18 can be applied, an action portion of any form may be configured, and for example, the tip of the output rod 88. A cam to be engaged with a cam roller provided on the shaft, or a hinge connected to the tip end of the output shaft of an electric cylinder rotatably provided around an axis parallel to the rotation axis of the lever member. The action portion may be configured by dipin or the like.

Further, the backup roller 90 in the above-mentioned embodiment may not necessarily be provided, and the axial direction of the cam roller 82 and the disposing direction of the electric cylinder 86 (protruding direction of the output rod 88) are It can be appropriately changed depending on the form of engagement in the action portion of the lever member.

Further, in the electric cylinder 86 in the above-described embodiment, the ball screw portion 88b on the rear end side of the output rod 88 is screwed with the ball nut 94 via a large number of steel balls, and the ball nut 94 is The electric motor 98 rotatably drives the output rod 88 so that the output rod 88 is ejected and retracted. However, a ball nut shaft that is fixed in position is rotationally driven and the output rod 88 is attached to a ball nut that is moved in the axial direction. May be connected, or even if an electric cylinder equipped with an output rod driven by a normal sliding screw mechanism or roller screw mechanism other than the ball screw mechanism is used, the protrusion of the output rod It does not matter if the position can be controlled.

Further, in the above-mentioned embodiment, the guide rail 14 has the first guide surface 16 and the second guide surface 18 which are parallel to the vertical direction, but the guide surfaces do not necessarily have to be vertical. For example, it may be the first guide surface and the second guide surface parallel to the horizontal direction. In this case, the weight of the carriage is supported by the guide rails and the positioning is performed in the up and down directions.

Further, in the above-described embodiment, the support rails 20 and 22 and the side rollers 34 are arranged to position the moving carriage 12 in the vertical direction with respect to the moving direction. The support rails 20 and 22 and the side rollers 34 are provided by providing a monorail-shaped guide rail, which performs horizontal positioning with respect to the moving direction and also performs vertical positioning, together with a roller member which makes rolling contact with the guide rail in the vertical direction. It can be omitted.

Further, although the moving path in the above-described embodiment includes the curved portion and the inclined portion, a linear moving path that does not have them, one that has the curved portion and the inclined portion at the same position, The form of the moving route can be changed as appropriate. The cross section of the guide rail may be inclined toward the center of curvature in order to obtain the centripetal force in the curved portion, so that it is possible to move at a higher speed.

Further, although the movable carriage 12 in the above-described embodiment is of a type in which the movable member is mounted on the upper surface side, the movable member is mounted on the lower surface side by providing a drive motor or the like on the upper surface side. It is also possible to hang it or to attach a movable member to the side surface.

Further, in the above-described embodiment, the cover member 26 is provided so as to penetrate the hollow portion of the movable carriage 12 together with the guide rail 14, but such a dustproof member is inevitable. It is not necessary to provide it, and it may be omitted. Further, another cover member as shown by the one-dot chain line in FIG. 4 or a member of another form may be additionally provided.

Further, in the above-described embodiment, the control signal is transmitted and received between the mobile carriage 12 and the control device by the electric connection device of the trolley type, but various controls are performed by using the wireless transceiver or the like. Signals may be exchanged.

Although not illustrated one by one, the present invention can be implemented in various modified and improved modes based on the knowledge of those skilled in the art.

[Brief description of drawings]

1A and 1B are views showing a friction moving device according to an embodiment of the present invention, in which FIG. 1A is a plan view and FIG. 1B is a front view.

FIG. 2 is a plan view showing in detail the vicinity of a moving carriage in the friction moving device of FIG.

3 is a front view showing in detail the vicinity of a moving carriage in the friction moving device of FIG. 1. FIG.

4 is a sectional view taken along line IV-IV in FIG.

FIG. 5 is a plan view showing a part of the moving carriage of FIG. 2 by cutting it out.

6 is a sectional view taken along line VI-VI in FIG.

FIG. 7 is a vertical cross-sectional view of the positioning roller and the like shown in FIG.

8 is a sectional view taken along line VIII-VIII in FIG.

9 is a sectional view showing the electric cylinder of FIG. 8 in detail.

[Explanation of symbols]

 10: Friction moving device 12: Moving carriage 14: Guide rail 16: First guide surface 18: Second guide surface 40: Driving roller 41: Outer peripheral surface 50, 52, 54: Positioning roller 80: Lever member 82: Cam roller (action Part) 86: electric cylinder 88: output rod

Claims (1)

[Scope of utility model registration request] 1. A guide rail which is arranged along a predetermined movement path and which is provided with a first guide surface in a longitudinal direction, and a first guide surface which is perpendicular to the longitudinal direction of the guide rail. The outer peripheral surface and the first guide are rotatably mounted on a movable carriage around parallel axes and are driven to rotate about the axial center while the outer peripheral surface is pressed by the first guide surface. A friction moving device having a drive roller for moving the moving carriage along the guide rail by friction between the moving carriage and the moving carriage so as to be rotatable about an axis parallel to the axis of the driving roller. The outer peripheral surface is arranged to be engaged with the first guide surface or a second guide surface parallel to and opposite to the first guide surface, so that the movement in the direction perpendicular to the first guide surface. Positioning the dolly And a plurality of positioning rollers that are attached to the movable carriage so as to be rotatable about a rotation axis that is parallel to the axis of the drive roller, and the first guide surface or the second guide of the plurality of positioning rollers. The one holding roller relatively presses the drive roller against the first guide surface by being pressed against the surface, and the one positioning roller is moved by applying a force to a predetermined action portion. A lever member that is pressed against the first guide surface or the second guide surface and an output rod that engages with the action portion of the lever member are provided on the movable carriage, and the output rod is ejected and retracted while the output rod is driven. A friction moving device, comprising: an electric cylinder that controls a protruding position of a rod and rotates the lever member according to the protruding position.