JP2001097534A - Moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving body for easily connecting frame bodies and a device to be guided to each other with the compact structure. SOLUTION: This moving body 10 can move on a constant route while being supported by a rail through plural devices 30 to be guided, and has a material- to-be-carried support part 40. A main body 11 of the moving body 10 is formed of plural frame bodies 12, 13, 14 connected to each other through a connecting device 20. The connecting device 20 connects the frame bodies 12-14 to each other through a vertical shaft 21 freely to be relatively turned right and left. The device 30 to be guided is connected to an end of the vertical shaft 21 freely to be relatively turned. The frame bodies 12-14 and the device 30 to be guided can be connected to each other with a small number of connecting shaft, and the structure of the moving body 11 can be simplified and miniaturized.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, a moving body which is moved on a fixed path while supporting an object to be conveyed, and more specifically, a fixed path which is supported and guided by a rail via a plurality of guided devices. The present invention relates to a movable body that is movable on the top and has a support portion for a transferred object.

[0002]

2. Description of the Related Art Conventionally, as a moving body of this type, for example, a configuration as disclosed in Japanese Patent Application Laid-Open No. 7-25441 has been provided. That is, the main body of the movable body (movable body) supported and guided by the rail and movable on a fixed path is formed by three frame bodies that are relatively rotatably connected via the connecting device. The frame body is formed of a rectangular body that is long in the direction of the fixed path, and the side surface is formed on the passive surface. In addition, as a connecting device, a connecting body is attached to the front and rear ends of the intermediate frame body via horizontal pins in the horizontal direction so as to be able to swing up and down, and these connecting bodies are attached to the front and rear frame bodies via vertical pins. A trunnion type, which is swingably connected, is adopted.

The intermediate frame is provided with an object support portion and a guided device supported and guided by rails, and the front and rear end frames are provided with guided devices supported by rails. A device is provided. At this time, the guided device includes a vertical pin rotatably attached to an end member provided on the corresponding frame body, and a trolley body rotatably connected to a lower end of the vertical pin via a left-right pin. The trolley body is attached to a supported roller and a guided roller to form a trolley.

[0004]

However, according to the conventional structure described above, the connecting device requires a horizontal pin and a vertical pin, and the guided device requires a vertical pin and a horizontal pin. There is a problem that the structure is complicated due to the connection of the pins. SUMMARY OF THE INVENTION An object of the present invention is to provide a moving body capable of easily and compactly connecting between frame bodies and guided devices.

[0005]

In order to achieve the above-mentioned object, according to the present invention, the moving body according to the first aspect of the present invention is supported and guided by a rail via a plurality of guided devices, thereby providing a fixed path. It is a movable body that is movable on the top and has a support portion for the transferred object, and a main body of the movable body is formed by a plurality of frame bodies connected via a connecting device,
The coupling device is characterized in that the frame bodies are connected to each other via a vertical shaft so as to be relatively rotatable in the left-right direction, and a guided device is connected to an end of the vertical shaft so as to be relatively rotatable. It was done.

Therefore, according to the first aspect of the present invention, in the linear path portion on the fixed path, the moving body is connected to the main body,
That is, each frame body can be moved as a linear posture in plan view and side view. In the left and right curve path sections,
Each frame body can be moved in a bent position along a curve at a portion of the connecting device in plan view. The bending at that time,
This can be done by relative rotation about the vertical axis. Further, the guided device can be smoothly moved while automatically changing its direction along the left-right curve of the rail by rotating through the vertical axis.

According to a second aspect of the present invention, in the moving body according to the first aspect, the connection between the end of the vertical shaft and the guided device is penetrated through the end of the vertical shaft. It is characterized in that it is performed via a lateral pin. Therefore, according to the second aspect of the present invention, the guided device can be smoothly moved while automatically changing its direction with respect to the vertical displacement and deformation of the rail by rotating through the lateral pin. .

The moving object according to claim 3 of the present invention is:
In the above configuration, the connecting device connects the frame bodies via a vertical axis so as to be relatively rotatable in the left-right direction, and also connects the frame bodies vertically via a horizontal axis. And are connected so as to be relatively rotatable. Therefore, according to the third aspect of the present invention, in the upper and lower curved path portions of the fixed path, each frame body can be moved in a posture bent along the curve at the portion of the connecting device in plan view. The bending can then be effected by a relative rotation about a transverse axis.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below.
The state adopted in the floor side traveling type will be described with reference to the drawings. 1 to 6, a channel-shaped rail 3 is disposed on a machine frame 2 from the floor 1 side in a pair of open right and left sides facing each other. A guide portion 3a is formed at the edge by bending upward from the upper edge. Constant path 5 by the rail 3
Here, the fixed path 5 has an endless shape in plan view by, for example, a pair of parallel linear path sections 5a and a curved path section 5b connecting the start and end of the linear path sections 5a. Is formed.

A movable body 10 supported and guided by both rails 3 and movable on a fixed path 5 is provided. This moving object 10
Has three (multiple) frame bodies 12,
13 and 14. Here, each of the frame bodies 12, 13, 14 is integrated with a square tubular body (square rod-shaped body) 12A, 13A, 14A that is long in the direction of the fixed path 5, and is integrated with the front ends of the square tubular bodies 12A, 13A, 14A. Formed by the front end members 12B, 13B, 14B and the rear end members 12C, 13C, 14C integrated with the rear end.

At least one side surface, ie, for example, the inwardly facing side surface of the endless path, is the passive surface 15.
Is formed. The front and rear surfaces of the main body 11, that is, the front surface (free end portion) of the front end member 12B and the rear end member 1
The rear surface (the free end portion) of the 4C is formed at the contact portions 16 and 17. The front frame body 12 and the intermediate frame body 13 and the intermediate frame body 13 and the rear frame body 14 are relatively rotatable in the left-right direction and the up-down direction via the coupling device 20, respectively. Are linked. Here, both connecting devices 20 are connected to the front frame body 12.
Rear end member 12C and front end member 1 of intermediate frame body 13
3B, and between the rear end member 13C of the intermediate frame body 13 and the front end member 14B of the rear frame body 14.

That is, as the connecting device 20, a connecting body 22 is connected to a front end member 13B and a rear end member 13C of the intermediate frame member 13 via a vertical shaft 21 so as to be relatively rotatable in the left-right direction. A trunnion type in which the connecting body 22 is connected to the rear end member 12C of the front frame body 12 and the front end member 14B of the rear frame body 14 via a horizontal shaft 23 so as to be relatively rotatable in the vertical direction is adopted. Have been.

The moving body 10 includes a plurality of guided devices 30.
Is supported and guided by the rail 3 via the
It is configured to be movable on the top. At that time, each guided device 30 is configured in a similar trolley format. That is, the trolley body 31 includes a pair of left and right plate bodies 31A and a pair of front and rear C-shaped bodies 31B fitted and fixed between upper portions of the plate bodies 31A.
B is disposed so as to be opened before and after.

A pair of front and rear horizontal pins 32 penetrates and is fixed between the lower portions of the plate body 31A. 33 is mounted so as to freely rotate. In addition, the vertical pins 34 penetrate and are fixed to both the C-shaped bodies 31B, respectively.
A guided roller 35, which is guided in contact with the guide portion 3a, is freely rotatably attached to a portion inside 1B.

As a result, each guided device 30 has a pair of front and rear supported rollers 3 on both sides of its trolley body 31.
3 and a pair of front and rear guided rollers 35 is provided on the upper portion of the roller 3. The guided device 30 includes two longitudinal shafts 21 and the front end member 12.
B and the end of a vertical shaft 24 provided on the rear end member 14C are rotatably connected to each other. That is, the vertical axis 2
Numerals 1 and 24 are inserted between both plate bodies 31A and between both C-shaped bodies 31B, and horizontal pins 26 passed between both plate bodies 31A are penetrated through the ends of the vertical shafts 21 and 24. ing.
Thereby, the ends of the longitudinal shafts 21 and 24 and the guided device 30
The connection is made via a lateral pin 26 passing through the ends of the longitudinal shafts 21, 24.

The moving body 10 has a support 40 for the object to be transported.
Is provided. That is, the frame body 12, 1
The intermediate frame body 13 of the members 3 and 14 is provided with a support portion 40 for the transferred object. The support portion 40 is composed of a pair of front and rear vertical members 41 erected from between the upper surfaces of the intermediate frame member 13 and the front end member 13B or the rear end member 13C.
A front and rear member 42 provided between the upper surfaces of these vertical members 41,
It is composed of left and right members 43 fixed to the front and rear end surfaces of the front and rear members 42, and a support (not shown) for the object provided on the left and right members 43, respectively.

An idler wheel (guide roller) 45 is attached to the support portion 40. That is, the vertical member 4
Brackets 46 are continuously provided from the left and right side surfaces of the bracket 1, and the idler wheels 45 are attached to shafts 47 projecting left and right outward from the brackets 46. And the idler wheel 4
A pair of guide rails 7 that support and guide the guide 5 from below are provided along the fixed path 5.

The guide rail 7 may be provided along the entire length of the fixed path 5, or may be provided only on the linear path section 5a which mainly supports the work to be conveyed and works. Further, a cover body 8 is provided at the guide rail 7 portion, and the idler wheel 45 may be supported and guided by the cover body 8 from below. In addition to the four-wheel type shown in FIG.
It may be a wheel type, a three wheel type, a four or more wheel type, or the like.

A feed device 50 is provided at a predetermined position of the two linear path portions 5a to apply a running force to the moving body 10 by acting on the passive surface 15. The feeder 50 has a base frame 51 attached to the outer surface of the rail 3 on one side, as shown in FIGS.
A vertical axis 53 is rotatably supported by the bracket 52 from the front. A link 54 is attached to the longitudinal axis 53, and a support member 5 is attached to the free end of the link 54.
5 are provided.

On the lower surface side of the support member 55, an induction motor 56 with a speed reducer, which is an example of a rotary driving device, is disposed. An output shaft 57 taken out from the induction motor 56 has, for example, an outer periphery. A feed roller 58 made of urethane is fixed. The induction motor 56 is configured to apply a feed rotation force A to the feed roller 58.

On the side opposite to the rail 3 with the longitudinal axis 53 at the center, between the base frame 51 and the supporting member 55, a rocking and swinging-adjustable rocking stopper 5 is provided.
9, and a compression spring 60 is fitted between the base frame 51 and the support member 55 so as to be externally fitted to a bolt. The non-working portion of the feed roller 58 is covered by a cover 61. 51 to 61 above
An example of the feeding device 50 is configured by the above-described method.

Therefore, the feeder 50 is provided with a compression spring 60
The support member 55 and the link body 54 can be swung inward around the longitudinal axis 62 by the elastic repulsive force of (1), so that the feed roller 58 can be urged in a direction in which the feed roller 58 comes into contact with the passive surface 15. At that time, the maximum approach position is regulated by the swing regulating tool 59. A braking device 65 that acts on the passive surface 15 to apply a braking force to the moving body 10 is provided below the feed device 50 in the linear path portion 5a. This braking device 65
Has the same structure as the feeding device 50,
1, a braking roller 66 made of, for example, urethane, and a rotation driving device 67 which is interlocked with the braking roller 66 and applies a rotational force B to the braking roller 66. Consists of The rotation driving device 67 is composed of a torque motor or the like, and the feed rotation force B is set to be smaller than the feed rotation force A of the induction motor 56, that is, A> B.

Therefore, in the straight path portion 5a,
Between the feeding device 50 and the braking device 65, the plurality of moving bodies 10 do not form a gap between the front and rear ends thereof, that is, in a state where the front and rear contact portions 16 and 17 are substantially in contact with each other. It is configured to travel in a tightly pushed state while being aligned. A feeding device 68 is provided slightly above the feeding device 50, and a feeding device 69 is provided slightly below the braking device 65. Here, as the feeding device 68 and the feeding device 69, those having the same structure as the feeding device 50 are employed. The arrangement patterns of the devices 50, 65, 68, and 69 are variously changed, and the brake device 65, the feed device 68, and the feed device 69 may be partially or entirely omitted.

The operation of the above embodiment will be described below. As shown in FIG. 6, the linear path portion 5a
The moving body 10 which has been fed into the portion of the feed device 50 by the feed torque of the feed device 68 at the start end portion of the is given a running force by the feed torque A of the feed device 50. That is, as shown by the imaginary line A in FIG. 8, the feed roller 58 protruding inward by the elastic force of the compression spring 60 is brought into contact with the passive surface 15 of the moving body 10 that has been fed. As shown by the solid line in FIG. 8, the compression spring 60 is pressed against the passive surface 15 in a retracted state against the elastic force of the compression spring 60.

At this time, the feed roller 58 is driven to rotate by the induction motor 56. Therefore, the feed roller 58, which is forcibly rotated, is brought into pressure contact with the passive surface 15 so that the feed roller 58 travels on the moving body 10 by the rotational force A of the feed. Empower. At this time, the front end of the sent moving body 10 is brought into contact with the rear end abutting portion 17 of the last moving body 10 of the group of moving bodies 10 located in the form of a dense train on the linear path section 5a. The moving bodies 10 that are in contact with the abutting portions 16 of the sections and that are located in a dense train shape on the linear path portion 5a are driven at a desired speed by the feed torque A of the feed device 50. As shown in FIG. 2, the moving body group 10 located in the form of a dense train on the straight path portion 5a is pushed back.

In this manner, the moving body 10 that has been moved on the straight path portion 5a and has reached the end side is braked by the braking device 65. That is, in the braking device 65, the braking roller 66 pressed against the passive surface 15 is forcibly rotated by the same operation as that of the feeding device 50,
A braking force is applied to the moving body 10 by the feed rotation force B.

Here, since the feed torque A of the feed device 50 is larger than the feed torque B of the brake roller 66, the moving body 10 corresponding to the brake device 65 is braked according to the difference. The vehicle will be driven under the action.
Therefore, in the linear path portion 5a, the feeding device 50
, The plurality of moving bodies 10 are aligned and driven in a tightly pushed state without any gap between the front and rear ends thereof.

As described above, the moving body 1 on the linear path 5a
While group 0 is running intermittently or continuously, or while it is intermittently stopped, the worker or body 1 on floor 1
The worker who has moved on 1 performs various operations on the transported object supported by the support unit 40. Then, the moving body 1 that is pushed and run from the part of the braking device 65
0 is sent out to the curved path section 5b by the sending-out device 69, travels on the curved path section 5b by an appropriate feeding means, and reaches the feeding device 68 in the next linear path section 5a, thereby circulating. Be run. After being pushed out from the braking device 65 and before reaching the feeding device 68 in the next linear path portion 5a, the worked transported object is lowered from the supporting portion 40, and Is loaded with a new object.

At the time of such movement (running), each guided device 30 is supported and guided by the rail 3 via each supported roller 33, and each guided roller 35 is guided by the guide portion 3a.
Is contacted and guided. Thereby, the movement of the moving body 10 is performed stably without rattling or falling down, so that various operations on the transferred object and loading / unloading of the transferred object can always be performed accurately.

The movement of the moving body 10 by the above-described feeder 50 is performed by moving the feed roller 58 from the passive surface 15 of the front frame body 12 to the passive surface 15 of the intermediate frame body 13 and the passive surface of the rear frame body 14. 15 in order. Further, the feed roller 58 acts on the side surface of the connecting body 22 in the connecting device 20 as a passive surface.

At this time, when the feed roller 58 is acting on the front frame body 12, the intermediate frame body 13 and the rear frame body 14 are pulled and moved via the connecting device 20, and the intermediate frame body 13 is moved. When acting on
When the front frame body 12 is pushed and moved via the connecting device 20 and the rear frame body 14 is pulled and moved via the connecting device 20 and further acts on the rear frame body 14, the intermediate frame body 13 The front frame body 12 is pushed and moved via the connecting device 20.

In the above-described push-up movement of the train on the fixed path 5, as shown in FIG. 2, the main body 11 of each moving body 10, that is, each of the frame bodies 12, 13, 14 is moved along the straight path section 5a. Since the posture is linear in the plan view and the side view, the contact portion 16 comes into contact with the contact portion 17 from directly behind, and thereafter the pushing movement can be performed smoothly and reliably.

As shown in FIG. 9, in the left and right curve path portions 5b, the frame bodies 12, 13, and 14 are pushed and moved in a bent position along the curve at the connecting device 20 in plan view. Will be. This allows
The rear frame body 14 of the preceding moving body 10 in a plan view
And the front frame body 12 of the succeeding moving body 10 form an obtuse angle, so that the contact portion 16 comes into contact with the contact portion 17 at an obtuse angle. I can do it.

The bending is performed by relative rotation about the longitudinal axis 21 in the connecting device 20. Further, the guided device 30 is smoothly moved while automatically changing its direction along the left-right curve of the rail 3 by being rotated via the vertical shafts 21 and 24. As shown in FIG. 10, also in the case where a curved path portion 5 b upward (or downward) in a side view is formed in the fixed path 5, the rear frame body 14 of the preceding moving body 10 and the rear frame body 14 in a side view are also formed. The relative angle す formed between the succeeding moving body 10 and the front frame body 12 becomes an obtuse angle, and
Are brought into contact at an obtuse angle, and thereafter the pushing movement can be performed smoothly and reliably.

The bending is performed by relative rotation about the horizontal axis 23 in the connecting device 20. In addition, the guided device 30 is smoothly moved while automatically changing its direction along the vertical curve of the rail 3 by being rotated via the horizontal pin 26. In the above-described embodiment, the type in which one side surface of the main body 11 is formed on the passive surface 15 and the feeding device 50 acting on the passive surface 15 is provided, May be provided so that a sufficient frictional force can be obtained by sandwiching the main body 11 from both sides to provide a sufficient running force. Further, the type of clamping is the braking device 65
And the feeding device 68 and the sending device 69 can be adopted. At this time, the receiving roller acting on the other side surface may be either a forced drive type or a free running type.

In the above-described embodiment, the main body 11 of the moving body 10 has been described as having three frames 12, 13, and 14. Three or more types in which one or a plurality of frame bodies are connected to the front and rear of the body 14 or three or more types in which a plurality of intermediate frame bodies 13 are used may be used. Alternatively, a two-piece type in which any one of the frame bodies 12, 13, and 14 is omitted may be used.

In the above-described embodiment, the connecting device 20 is provided with the vertical shaft 21 on the intermediate frame body 13 side and the horizontal shaft 23 on the front and rear frame bodies 12 and 14 side.
Is shown, but this is the intermediate part frame body 13
A lateral axis is provided on the side and the front and rear frame bodies 12,
A type in which a vertical axis is provided on the 14 side may be used. In the above embodiment, the rail 3 is attached to the machine frame 2 from the floor 1 side.
Is installed in the pit below the floor.
May be provided. According to this, the entire height including the moving body 10 can be formed low. In addition, since the rail 3 does not have a part requiring maintenance such as a chain, it can be disposed in the pit below the floor 1a without any trouble.

In the above-described embodiment, the movable body 10 that can travel on the floor 1 is shown. However, it may be a movable body that is supported and guided by rails provided on the ceiling side. In the above-described embodiment, a plurality of moving bodies 10 are arranged between the feeding device 50 and the braking device 65 in a tightly-pushed state without a gap between the front and rear ends thereof and are driven to travel. Although the type is a type, the type may be a type in which the moving body 10 is driven to run with a gap between the front and rear ends. As the feeding means, a combination type of a drive chain and an engagement / disengagement structure can be adopted.

[0039]

According to the first aspect of the present invention, the moving body can be moved in the linear path portion in the fixed path in a linear posture in its main body, that is, each frame body in plan view and side view. In the left and right curve path portions, each frame body can be moved in a bent position along the curve at the connecting device in a plan view, and the bending is automatically performed by relative rotation about a vertical axis. It can be performed reliably and reliably. Further, the guided device can be smoothly moved while automatically changing its direction along the left-right curve of the rail by rotating through the vertical axis.
Thereby, the connection between the frame bodies or the guided device can be performed with a reduced number of connecting shafts, and the moving body is
The structure can be provided simply and compactly.

According to the second aspect of the present invention,
The guided device can be smoothly moved while automatically changing its direction with respect to the vertical displacement and deformation of the rail by rotating via the horizontal pin. According to the third aspect of the present invention described above, in the upper and lower curved path portions in the fixed path, each frame body can be moved in a posture bent along the curve at the connecting device portion in a plan view, Can be performed automatically and reliably by relative rotation about the horizontal axis.

[Brief description of the drawings]

FIG. 1 is a side view of a moving object, showing an example of an embodiment of the present invention.

FIG. 2 is a plan view of the moving body in a straight path section.

FIG. 3 is a front view of the moving body.

FIG. 4 is a side view of a main part of the moving body.

FIG. 5 is a plan view of a main part of the moving body.

FIG. 6 is a schematic plan view of a transport facility using the moving body.

FIG. 7 is a side view of a feeder portion in a transport facility using the moving body.

FIG. 8 is a plan view of a feeder portion in a transport facility using the moving body.

FIG. 9 is a plan view of left and right curve paths of the moving body.

FIG. 10 is a side view of upper and lower curved path portions of the moving body.

[Explanation of symbols]

 Reference Signs List 1 floor 3 rail 5 constant path 5a straight path section 5b curved path section 7 guide rail 10 moving body 11 main body 12 front frame body 13 intermediate frame body 14 rear frame body 15 passive surface 16 contact section 17 contact section 20 Connecting device 21 Vertical axis 22 Connecting body 23 Horizontal axis 24 Vertical axis 26 Horizontal pin 30 Guided device 31 Trolley body 33 Supported roller 35 Guided roller 40 Supporting section 45 Idler wheel (guide roller) 50 Feeder 58 feed roller 60 compression spring 65 braking device 66 braking roller 67 rotation drive device 68 feed device 69 feed device A feed torque B feed torque

Claims (3)

[Claims] 1. A moving body that is movable on a fixed path by being supported and guided by a rail via a plurality of guided devices, and that has a support portion for a conveyed object, and a main body of the moving body. Is formed by a plurality of frame members connected via a connecting device, and the connecting device connects the frame members via a vertical axis so as to be relatively rotatable in the left-right direction. A moving body, wherein a guided device is connected to an end portion so as to be relatively rotatable. 2. The moving body according to claim 1, wherein the connection between the end of the vertical shaft and the guided device is performed via a horizontal pin passing through the end of the vertical shaft. 3. A connecting device for connecting the frame bodies relative to each other via a vertical shaft so as to be relatively rotatable in the left-right direction, and for connecting the frame bodies relative to each other vertically via a horizontal shaft. The moving body according to claim 1, wherein the moving body is used.