JP2001114094A - Carrying device using moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carrying device using a moving body capable of dividing and joining the moving body in a direction crossing a specific route. SOLUTION: A moving body 10 can move on a specific route 5 while being supported and guided through guided devices 30, 40. A main body 11 of the moving body 10 is formed of plural framebodies 12, 13, 14 relatively turnably connected to each other through a connecting device 20. The framebody 13 is provided with a support part 50 for a material 110 to be carried. The guided device 30, 40 are relatively turnably connected to the moving body 10 through vertical shafts 21, 25. A set route 5c is provided with a divided rail body 81 for supporting the guided devices 30, 40, and a turning means 91 for turning the divided rail body 81 around a vertical axis 82 is provided. A side of the set route part 5c is provided with a lateral rail body 87 group, to which the divided rail body 81 turned for separation in relation to the rail 2 can be connected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer facility using a moving body, which is used for moving a moving body for conveying a conveyed object, for example, on a fixed path on a floor side or a ceiling side.

[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. Each frame body is formed of a rectangular body that is long in the direction of a fixed path, and the side surface is formed as a passive surface. The intermediate frame body of the frame body is provided with a support portion for a transferred object and a guided device supported and guided by rails, and the front and rear end frame bodies are supported and guided by rails. A guided device is provided.

[0003]

However, according to the above-described conventional configuration, for example, after a moving body is taken out from a certain path, when this moving body is moved to another certain path or returned to the original certain path, , While moving the moving body in the front-back direction, the branching and merging must be performed.
A long path for merging is required. Also, for example, when a moving path is stored by forming a storage path in a fixed path, since the moving object is stored with each frame body being linear, the storage path has a longer overall length according to the number of storages. Become.

[0004] For these reasons, it is not easy to form the layout of the entire fixed path, and the area occupied by branching, merging, and storage is increased. SUMMARY OF THE INVENTION It is an object of the present invention to provide a transporting device using a moving body that can branch and move the moving body in a direction just lateral to a certain path.

[0005]

In order to achieve the above-mentioned object, according to the present invention, there is provided a transfer facility using a moving body, wherein the moving body is mounted on a rail via a plurality of guided devices. It is movable on a fixed route by being supported and guided,
The main body of the moving body is formed by a plurality of frame bodies connected to each other via a connecting device so as to be relatively rotatable in the left-right direction, and at least one frame body is provided with a support portion for the transferred object, and The guide device group is connected to the moving body side via a vertical axis so as to be relatively rotatable, and a plurality of divided rail bodies capable of supporting the guided device group are provided on a set path portion in the fixed path. A rotating means for rotating the divided rail body around the longitudinal axis is provided, and a traversing rail body group to which the divided rail body separated and rotated with respect to the rail is freely connectable is provided on the side of the set path portion. It is characterized by that.

Therefore, according to the first aspect of the present invention, the divided rail body group is rotated around the longitudinal axis by the operation of the rotating means, so as to be connected to the rail and separated from the traversing rail body. Thereby, each guided device of the moving body that has moved can be transferred from the rail to the divided rail body group, and the moving body is stopped at a position where each guided device is supported by the corresponding divided rail body. obtain.

Next, the group of divided rails is separated from the rail by the reverse rotation of the rotation means, and then connected to the traversing rail. By the turning power of such a split rail body,
Each guided device can be rotated via a vertical axis with respect to the main body and the support portion of the moving body, so that the moving body has its main body side oriented along the set path portion, and The device may be in a laterally oriented position.

Then, the guided device group is moved by a suitable traversing means. The moving guided device group moves from the divided rail body to the traversing rail body, and can move the moving body sideways with its main body side in a posture along the set path portion. Can stop at. Then, the split rail body group can be separated from the traversing rail body and connected to the rail by the reverse operation of the rotating means,
This can return to the initial state.

The moving body supported by the traversing rail body group can be returned to the original rail by the reverse operation of the divided rail body and the rotating means. Alternatively, by disposing a similar divided rail body or a rotating means on the free end side (opposite side) of the traversing rail body group, the vehicle is transferred from the divided rail body to another rail, and then another fixed rail body is provided. You can move on the route. As a result, the moving body is branched right and left with respect to a certain route,
Can move together.

According to a second aspect of the present invention, there is provided a transfer device using a moving body, wherein the coupling device is configured to relatively rotate in a lateral direction between the frame bodies via a vertical axis. The guided device is connected to the end of the longitudinal shaft so as to be relatively rotatable. Therefore, according to the second aspect of the present invention, in the linear path portion in the fixed path, the moving body can be moved in a linear posture in its main body, that is, each frame body in plan view and side view. Further, in the left and right curve path portions, 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 the longitudinal axis. In addition, 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, and can smoothly be rotated by the divided rail body. Can follow.

According to a third aspect of the present invention, there is provided a transfer facility using a moving body according to the first aspect of the present invention.
The connecting device connects the frame bodies relative to each other via a vertical axis so as to be relatively rotatable in the horizontal direction, and connects the frame bodies via a horizontal axis so as to be relatively rotatable in the vertical direction. And the guided device are rotatably connected to each other via a horizontal pin passing through an end of the vertical shaft.

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 bent position along the curve at the connecting device in plan view. The bending can then be effected by a relative rotation about a transverse axis. 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 a fourth aspect of the present invention, there is provided a transfer facility using a moving body, wherein the moving body has a configuration in which the side surface of each frame body is formed as a passive surface. In addition, a feeder having a feed roller capable of abutting on the passive surface is provided in the fixed path. Therefore, according to the fourth aspect of the present invention, the moving roller (forcing force) can be applied to the moving body by the feed rotation force by bringing the forcibly rotating feed roller into contact with the passive surface of the moving body.

According to a fifth aspect of the present invention, there is provided the transport equipment using a moving body according to any one of the first to fourth aspects, wherein the moving body is provided below at least one frame body. The present invention is characterized in that a support portion for a transported object is provided. Therefore, according to the fifth aspect of the present invention, the suspended-conveying-type moving body can be laterally moved with its supporting portion being horizontal.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS. 7 to 13, a rail 2 having a cross section I is provided on a machine frame 1 from the ceiling side. The fixed path 5 is formed by the rail 2, and the fixed path 5 is connected to, for example, a linear work path section 5 a in a plan view and a terminal end of the work path section 5 a via a curved path section 5 b in a plan view. It is formed by a linear return path section (an example of a setting path section) 5c and the like.

Further, a traversing path section 6 is formed orthogonal to the return path section 5c. Another constant path 5A orthogonal to the traversing path section 6 and parallel to the return path section 5c is similarly formed by a rail 2A having an I-shaped cross section. A movable body 10 is provided, which is supported and guided by the rails 2 and 2A and is movable on fixed paths 5 and 5A. The moving body 10 has a main body 11 formed of three (a plurality of) frame bodies 12, 13, and 14. Here, each of the frame bodies 12, 13, and 14 includes a square tubular body (square rod-shaped body) that is long in the direction of the fixed path 5, 5A, a front end member integrated with the front end of the square tubular body, and a rear end. The both sides of the main body 11 are formed on the passive surface 15.

The front and rear surfaces of the main body 11, that is, the front surface (free end portion) of the front frame body 12 and the rear surface (free end portion) of the rear frame body 14 are formed in contact portions 16 and 17. ing. 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 rotatably connected to each other via the connecting device 20 in the left-right direction and the up-down direction. Have been. Here, both connecting devices 20 are provided between the rear end member of the front frame body 12 and the front end member of the intermediate frame body 13 and between the rear end member of the intermediate frame body 13 and the front end member of the rear frame body 14. It is provided between them.

That is, as the connecting device 20, the longitudinal shaft 21 is attached to the front end member or the rear end member of the intermediate frame body 13.
The connecting body 22 is rotatably connected in the left-right direction via the connecting member 22, and the connecting body 22 is connected to the rear end member of the front frame body 12 and the front end member of the rear frame body 14 by the horizontal shaft 2.
A trunnion type is used, which is connected so as to be relatively rotatable in the up-down direction via a third. At that time, the vertical shaft 21 is also configured to be rotatable (rotatable) relative to the intermediate frame body 13 and the connecting body 22 around the longitudinal axis 21a.

The moving body 10 is supported and guided by the rails 2 and 2A via a plurality of guided devices, and is configured to be movable on the fixed paths 5 and 5A. At this time, the guided device includes an intermediate guided device 30 connected to the vertical shaft 21 and a vertical shaft 25 provided on a front end member of the front frame body 12 and a rear end member of the rear frame body 14. And the end guided devices 40 are connected to each other, and these guided devices 30 and 40 are configured in a similar trolley type.
At this time, the vertical shaft 25 is configured to be rotatable (rotatable) relative to the front frame body 12 and the rear frame body 14 around a vertical axis 25a.

That is, the trolley body 31 of the intermediate portion guided device 30 is composed of a pair of left and right support plates 31a and a pair of front and rear connection plates 31b fixed between the lower portions of the support plates 31a. It is configured. A pair of front and rear horizontal pins 32 are respectively provided inward on the upper portions of both support plate bodies 31a, and the inwardly protruding portions of these horizontal pins 32 are fitted to the rails 2 and 2A. A supported roller 33 to be supported and guided is attached to be freely rotatable.

Further, brackets 34 are respectively provided inwardly above and below the supporting plate members 31a and before and after the places where the horizontal pins 32 are provided. A vertical pin 35 is fixed, and a guided roller 36, which is guided in contact with the rails 2 and 2A, is attached to the vertical pin 35 in a freely rotatable manner.

The intermediate guided device 30 is connected to the upper end of the vertical shaft 21 so as to be relatively rotatable. That is, the vertical shaft 21 is inserted between the two supporting plates 31a and between the two connecting plates 31b.
The horizontal pin 24 passed between the vertical shafts 21a is passed through the upper end of the vertical shaft 21. Thus, the upper end of the vertical shaft 21 and the intermediate guided device 30 are connected via the horizontal pin 24 that passes through the upper end of the vertical shaft 21.

The end guided device 40 is also substantially the same as the intermediate guided device 30.
A pair of left and right support plate members 41a, and these support plate members 41
and a plurality of cylindrical space members 41c provided between the lower portions of the members a through fixing members (bolts and nuts) 41b. One horizontal pin 42 is connected to the upper part of each of the supporting plate members 41a inward, and fitted to the rails 2 and 2A at the inwardly protruding portions of the horizontal pins 42. A supported roller 43 that is supported and guided is attached to be freely rotatable.

Further, brackets 44 are respectively provided inwardly above and below the supporting plate members 41a and before and after the location where the horizontal pins 42 are provided. A vertical pin 45 is fixed, and a guided roller 46, which is guided in contact with the rails 2 and 2A, is attached to the vertical pin 45 in a freely rotatable manner. In addition, a pair of predetermined front and rear cylindrical space members 41c is provided with a lift prevention roller 47 that is opposed to the rails 2 and 2A from below so as to freely rotate.

The end guided device 40 is connected to the longitudinal axis 2.
5 is connected to the upper end portion so as to be relatively rotatable. That is, the vertical shaft 25 is inserted between the two supporting plate members 41a and between the two lifting prevention rollers 47, and the horizontal pin 26 passed between the two supporting plate members 41a is connected to the vertical shaft 25.
Is penetrated to the upper end. Thereby, the connection between the upper end portion of the vertical shaft 25 and the end guided device 40 is established by the vertical shaft 25.
Through a lateral pin 26 which passes through the upper end of the slab.

The moving body 10 has a support 50 for the transported object.
Is provided. That is, the frame body 12, 1
A support portion 50 for the transferred object is provided below the intermediate frame body 13 among the members 3 and 14. The support portion 50 includes a front and rear member 51 provided between the lower ends of the middle vertical shaft 21 and a left and right arm member 53 connected to the front and rear ends of the front and rear member 51 via brackets 52, respectively.
And a support 54 for the object provided at the free ends of the arm members 53. At this time, the vertical shaft 21 is configured to be rotatable (rotatable) relative to the front and rear members 51 around the longitudinal axis 21 a described above.

In FIG. 7, a feeder 60 is provided at the start end of the work path 5a to apply a running force to the moving body 10 by acting on the passive surface 15. As shown in FIGS. 11, 14, and 15, the feeder 60 has a base frame 61 attached to the upper surface of the rail 2, and a bracket 62 from the base frame 61 rotatably supports a longitudinal axis 63. ing. The vertical axis 63 has a link body 64
And a support member 65 is provided at the free end of the link body 64.

On the upper surface side of the support member 65, an induction motor 66 with a speed reducer, which is an example of a rotary driving device, is disposed. An output shaft 67 taken out from the induction motor 66 has, for example, an outer periphery. A feed roller 68 made of urethane is fixed. Note that the induction motor 66 is configured to apply a feed rotation force A to the feed roller 68.

With the vertical axis 63 at the center, the bracket 6
An adjustable rocking and regulating member 69 in the form of a bolt and a nut is penetrated and disposed between the support member 65 and the support member 65, and a bolt is externally fitted between the bracket 62 and the support member 65. Thus, a compression spring 70 is provided. 61-
An example of the feeding device 60 is constituted by 70 and the like. Therefore, the feed device 60 causes the support member 65 and the link body 64 to swing inward around the longitudinal axis 71 by the elastic repulsive force of the compression spring 70, thereby bringing the feed roller 68 into contact with the passive surface 15. May be biased in any direction. At this time, the maximum approach position is regulated by the swing regulating tool 69.

In FIG. 7, a braking device 75 which acts on the passive surface 15 to apply a braking force to the moving body 10 is provided at the end of the work path section 5a. This braking device 75
Has the same structure as the feeder 60,
1, a braking roller 76 made of, for example, urethane, and a rotation driving device 77 which is interlocked with the braking roller 76 and applies a rotational force B to the braking roller 76. Consists of The rotation driving device 77 is composed of a torque motor or the like, and its feed torque B is set smaller than the feed torque A of the induction motor 56, that is, A> B.

Therefore, in the work path section 5a, a plurality of moving bodies 1 are provided between the feeder 60 and the braking device 75.
No. 0 is configured to run in a tightly pushed state without forming a gap between its front and rear ends, that is, in a state where the front and rear contact portions 16 and 17 are substantially in contact with each other. A feeding device 78 similar to the feeding device 60 is provided at a predetermined position 7 of the straight return path portion 5c, another fixed path 5A, and the like. A feed device 79 similar to the feed device 60 is provided in the curve path section 5b as shown in FIGS. 16 and 17, components similar to those of the feeder 60 include
The same numbers are assigned and the detailed description is omitted. Here, the arrangement pattern of each device 60, 75, 78, 79 is variously changed, and each device 60, 75, 78, 79 is changed.
May be partially or entirely omitted.

As shown in FIG. 1 to FIG.
The return path section 5c, which is the middle set path section, is provided with four (plural) divided rail bodies 81 capable of supporting the guided devices 30, 40 group. Each of the divided rail bodies 81 has a cross-sectional I shape like the rail 2 and is formed in a state where the rail 2 is divided. Each split rail body 81
Are rotatably provided around a vertical axis 82. For this purpose, a bearing 84 is provided on a gantry 83 supported on the ceiling side, and the split rail body 81 is connected to the lower end of a vertical axis 85 supported only by this bearing 84 so as to freely rotate.

Then, the group of divided rail bodies 81 is
There is provided a turning means 91 for turning around. That is, a link 92 is fixed to the upper end of each longitudinal axis 85, and a link plate 93 is provided between the free ends of the links 92.
Are connected via a vertical pin 94 so as to be relatively rotatable. An operating link 95 is fixed to one longitudinal axis 85, and a piston rod 97 of a cylinder device 96 rotatably provided on the gantry 83 side is connected to a free end of the operating link 95 via a vertical pin 98. And are connected so as to be relatively rotatable. An example of the rotating means 91 is constituted by the above 92 to 98.

On the side of the other fixed path 5A, which is arranged alongside the return path section 5c, the same split rail body and rotating means as described above are provided. Detailed description is omitted. That is, 81A is a split rail body, 82A is a vertical axis, 83A is a gantry, 84A is a bearing, 85A is a vertical axis, 91A is a rotating means, 92A is a link, 93A is a link plate, 94A is a vertical pin,
95A is a working link, 96A is a cylinder device, 97A
Denotes a piston rod, and 98A denotes a vertical pin.

On the side of the return path section 5c and over another fixed path 5A, four (plural) traversing rail bodies 87 orthogonal to the return path section 5c are connected to the return path section 5c. They are provided at predetermined intervals in the direction of 5c. And the divided rail bodies 81 and 81A separated and rotated with respect to the rails 2 and 2A are configured to be freely connected to the traversing rail body 87. Here, the traversing rail body 87 has an I-shaped cross section like the divided rail bodies 81 and 81A and the rails 2 and 2A.

Note that the traversing rail body 87 is
c and another fixed path 5A are distributed to both sides. At this time, the space between the return path section 5c and another fixed path 5A has a predetermined length, so that the traversing path section 5d for the mobile unit 10 is connected to the return path section 5c and another constant path 5A. It is formed orthogonally to this. The other side of the return path section 5c is short and is used for waiting for a traversing means (described later), and the other side of another fixed path 5A is also short and used for disposing the traversing means. ing.

Both end surfaces of the divided rail bodies 81 and 81A are formed in an arc surface centered on the longitudinal centers 82 and 82A, and opposing surfaces of the rails 2 and 2A and the traversing rail body 87 are concave arc surfaces. Thus, the circular arc surface and the concave circular arc surface are connected densely, and the divided rail bodies 81, 81A can be smoothly rotated. The traversing rail body 87 is provided with a traversing means 101 for laterally moving the moving body 10 on the traversing route section 5d.
That is, shafts 102a and 102b are respectively disposed above both ends of the traversing rail body 87 along the return path portion 5c, and these shafts 102a and 102b
It is rotatably supported by bearings 103a and 103b from the 3,83A side. Pulleys 104a, 102a and 102b are provided on pulleys 104a,
A belt (endless rotating body) 105 is wound between pulleys 104a and 104b opposed to each other in the direction of the traversing path portion 5d.

A lateral push body 106 is connected to one portion of the belt 105, and the lateral push body 106 is
5 and a lateral pushing member 108 provided on the lower surface side of the main body 107.
07 is a divided rail body 81, 81A or a traversing rail body 8;
The upper flange portion 7 is supported and guided via a plurality of idle rollers 109.

Here, the lateral pushing member 108 is connected to the guided device 3.
The trolleys 0 and 40 are configured to be able to abut on the trolley bodies 31 and 41. One of the shafts 102a and 102b is linked to a drive device (not shown) that can be driven forward and reverse. An example of the traversing movement unit 101 is configured by the above 102a and 102b to 109. less than,
The operation of the first embodiment will be described.

As shown in FIG. 7, the moving body 10 that has been moved in the work path 5a by the feed rotation force of the feed device 78 is moved by the feed rotation force of the feed device 60 provided in the work path 5a. A gives a moving force (running force). That is, as shown by a virtual line A in FIG.
The feed roller 68 projecting inward by the elastic force of the compression spring 70 is connected to the passive surface 1 of the moving body 10 that has been fed.
15, as shown by the solid line in FIG. 15, it comes into pressure contact with the passive surface 15 while being retracted against the elastic force of the compression spring 70. At this time, the feed roller 68 is rotationally driven by the induction motor 66, and thus the feed roller 68 that is being forcibly rotated.
Is brought into pressure contact with the passive surface 15 to apply a moving force to the moving body 10 by the feed rotational force A.

At this time, 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 work route section 5a.
Abutment portion 16 at the front end of the work path portion 5a
The moving body 10 group located in a dense train shape above is moved at a desired speed by the feed torque A of the feed device 60,
As shown by the imaginary lines in FIGS.
A group of moving bodies 10 located in a dense train shape on a will be pushed and moved.

In this way, the braking device 75 applies a brake to the moving body 10 that has been moved on the work path section 5a and has reached the terminal side. That is, in the braking device 75, the passive surface 1
5 is forcedly rotated, and 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 60 is larger than the feed torque B of the brake roller 76, the moving body 10 corresponding to the brake device 75 is braked in accordance with the difference. It will be moved under the action.
Therefore, in the work path section 5a, the plurality of moving bodies 10 are closely aligned and moved in the pushing state without any gap between the front and rear ends thereof between the feeding device 60 and the braking device 75. Will be.

The movement of the moving body 10 by the feeder 60 is performed by moving the feed roller 68 from the passive surface 15 of the front frame 12 to the passive surface 15 of the intermediate frame 13 and the passive surface of the rear frame 14. 15 in order. Further, the feed roller 68 is also operated as a passive surface on the side surface of the connecting body 22 in the connecting device 20.

At this time, when the feed roller 68 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 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.

As described above, the moving object 10 is placed on the work path 5a.
While the group is being moved intermittently or continuously, or during intermittent stops, for example,
With respect to the transferred object 110 supported by the support portion 50,
Perform various tasks from below. As shown in FIG. 7, the moving body 10 pushed and moved from the braking device 75 is moved by the feed device 79 into the curved path portion 5 b.
, And is sent out to the return route section 5c. In the return path section 5c, the moving body 10
And is fed to the location of the split rail body 81.

That is, in the split rail body 81, as shown in FIGS. 1 and 3, the operating link 95 and the link 9 are moved by the extension movement of the cylinder device 96 of the rotating means 91.
2. The group of ordinates 85 is synchronously rotated via the link plate 93 and the like. By this rotation, the divided rail body 8
The first group is connected to the rail 2 and is separated from the traversing rail body 87.

Accordingly, each of the guided devices 30 and 40 of the moving body 10 moved by the feed device 78 moves from the rail 2 to the group of divided rail bodies 81. At a predetermined position, that is, at a position where each of the guided devices 30 and 40 is supported by the corresponding divided rail body 81, the moving body 1
Stop 0. Next, by the contraction movement of the cylinder device 96 in the rotating means 91, the vertical axis 85 group is moved through the operating link 95, the link 92, the link plate 93, and the like.
It is reversely rotated 90 degrees in synchronization. After being separated from the rails 2 by the reverse rotation, the divided rail bodies 81 are separated from the rails 2 and, as shown in FIGS.
Connected to.

The guided devices 30 and 40 are driven by the main body 1 of the moving body 10 by the rotating power of the divided rail body 81.
It is rotated around the longitudinal axes 21a and 25a with respect to the support 1 and the support portion 50. As a result, the guided body 30, 40 is oriented toward the traversing path 6 while the main body 11 of the moving body 10 is oriented along the return path 5c. At this time, the horizontal pushing body 106 of the horizontal moving means 101 is waiting on the short side of the horizontal rail body 87 as shown by the solid line in FIG. Further, the split rail body 81A on the other fixed path 5A side is similarly rotated, separated from the rail 2A, and connected to the traversing rail body 87.

Next, the belt 105 is rotated by the operation of the traversing moving means 101, whereby the traversing rail body 8 is moved.
7, the laterally pushed body 106 waiting on the short side moves on the divided rail body 81 and is brought into contact with the trolley bodies 31 and 41 of the guided devices 30 and 40, and is guided via the trolley bodies 31 and 41. The 30 and 40 groups are pushed and moved. The group of guided devices 30, 40 to be pushed and moved is moved from the divided rail body 81 to the long side of the traversing rail body 87, and the moving body 10 is moved to the main body 11 thereof.
The side is laterally moved along the traversing route section 6 in a posture along the return path section 5c. Then, as shown by the imaginary lines in FIGS. 4 and 5, the moving body 10 transfers from the traversing rail body 87 to another divided rail body 81A of another fixed path 5A and stops.

After the moving body 10 is laterally moved to a predetermined position in this way, the belt 105 is rotated backward by the reverse operation of the traversing means 101. As a result, the horizontal pushing body 106 located on the long side of the traversing rail body 87 is moved backward, moves to the divided rail body 81, and is returned to the short side of the traversing rail body 87. Next, both rotating means 9
By the extension movement of the cylinder devices 96, 96A of 1, 91A, the operating links 95, 95A, the links 92, 92A,
Vertical axes 85, 8 via link plates 93, 93A, etc.
The group 5A is rotated synchronously. Due to this rotation, the group of divided rail bodies 81 and 81A is separated from the traversing rail body 87 and connected to the rails 2 and 2A.
As shown in FIG. 3, the state is returned to the initial state.

By the turning power of the divided rail body 81A, each of the guided devices 30, 40 is rotated around the longitudinal axes 21a, 25a with respect to the main body 11 and the support portion 50 of the moving body 10 in the opposite manner as described above. Is rotated. Thereby, the moving body 10
The main body 11 and each of the guided devices 30 and 40 are in postures along another fixed path 5A. Therefore, by applying a moving force to the moving body 10 on the other fixed path 5A side by the feeding device 78, the moving body 10 is divided into the divided rail bodies 81A.
Transfer to the rail 2A from. And another constant path 5A
Can move on.

As described above, the return route section 5 in the fixed route 5
c, a plurality of divided rail bodies 81 capable of supporting the guided devices 30 and 40 are provided.
1 is provided around a longitudinal axis 82. A traversing rail body is provided on the side of the return path portion 5c. With the configuration including the 87 groups, the moving body 10 can branch off and merge with the fixed path 5 in the lateral direction.

Therefore, the path for branching and merging may be short, and for example, when the traversing path section 6 composed of the traversing rail bodies 87 is used as a storage path, the moving body 10 connects the frame bodies 12 to 14 to each other. Since storage can be performed in a horizontal parallel configuration, the total length of the storage path can be shortened according to the number of storages. For these reasons, the entire layout of the fixed path 5 can be easily formed, and the area occupied by branching, merging, and storage can be minimized.

During the movement of the moving body 10 as described above, the intermediate guided device 30 is supported by the rails 2 and 2A, the divided rail bodies 81 and 81A and the traversing rail body 87 via the supported rollers 33. Guided and each guided roller 35
Are brought into contact with the rails 2 and 2A, the divided rail bodies 81 and 81A, and the traversing rail body 87 and guided. The end guided device 40 is connected to the rails 2 and 2A via the supported rollers 43.
And guided by the divided rail bodies 81 and 81A and the traversing rail body 87, and each guided roller 46 is
2A, split rails 81, 81A and traversing rails 87
The lifting prevention roller 47 is opposed to the rails 2 and 2A, the divided rail bodies 81 and 81A, and the traversing rail body 87 from below.

Thus, the moving body 10 can be moved stably without rattling, falling down, or floating, so that various operations on the transferred object 110 and unloading of the transferred object 110 can be performed. , Always accurate. In the above-described push-up movement of the train on the fixed route 5, as shown in FIGS. , 14 are in a linear posture in plan view and 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.

The left (or right) curve path section 5
In b, each of the frame bodies 12, 13, and 14 is pushed and moved in a posture bent along the curve at the portion of the coupling device 20 in plan view. Thereby, in a plan view, the relative angle formed by the rear frame body 14 of the preceding moving body 10 and the front frame body 12 of the succeeding moving body 10 becomes an obtuse angle, and the contact part 16 is obtuse with respect to the contact part 17. As a result, the pushing movement can be performed smoothly and surely thereafter.

At this time, the bending is caused in the connecting device 20.
This is performed by relative rotation about the vertical axis 21. In addition, the guided devices 30 and 40 are automatically rotated along the left and right curves of the rails 2 and 2A by being rotated around the vertical axes 21a and 25a via the vertical shafts 21 and 25. It is moved smoothly while changing to. In the above-described first embodiment, in a state where the moving body 10 is taken out to the traversing path section 6, various operations are performed on the conveyed object 110 supported on the moving body 10 side. You may. At this time, the support unit 50 may be configured to always support the transported object 110 in a fixed direction with respect to the main body 11 side, or may be configured to change the direction of the transported object 110 by 90 degrees.

Next, a second embodiment of the present invention will be described with reference to FIG.
Explanation will be given based on FIG. That is, the fixed route 5
The moving body 10 taken out from the return path section 5c to the traversing path section 6 is returned to the return path section 5c again. At this time, the moving body 10 may be stored in the traversing route section 6 for a predetermined time, or may perform various operations in various directions as described above.

When returning the moving body 10 of the traversing path section 6 to the return path section 5c, for example, as shown in FIG.
Is locked to the trolley bodies 31 and 41 as indicated by the phantom line, and the side pushing body 106 is moved backward,
It can be smoothly and easily performed by the traversing means 101. Next, a third embodiment of the present invention will be described with reference to FIG. That is, the traversing route portions 6 are formed at a plurality of locations in the fixed route 5 on the side of the return route portion 5c and in the direction of the return route portion 5c. According to the third embodiment, a stock path can be formed using each traversing path section 6 as a stock section. In this case, the moving body 10 is returned to the original fixed path 5, but this may be a method in which the moving body 10 is set to another fixed path as in the first embodiment. Adjusting the order of returning (putting out) may enable permutation and rearrangement.

Next, a fourth embodiment of the present invention, that is, an embodiment employing a movable body 10 that can move on the floor 1 side will be described with reference to FIG. In the fourth embodiment, the rails 2 and the split rail body 81 are different in details such as a pair of left and right types as compared with the above-described first to third embodiments, but generally have the same configuration. is there. Therefore, components that are the same as or similar to those of the above-described first to third embodiments are given the same reference numerals, and detailed descriptions thereof are omitted.
In the fourth embodiment, the rotating means 91 and the traversing means 101 are disposed below the rail 2 and the divided rail body 81, that is, on the floor side (the pit side formed on the floor). I have.

In each of the above embodiments, the frame 1
Guided devices 30 and 40 are connected to the end of a vertical shaft 21 that connects the two, 13, and 14 relatively freely in the left-right direction.
Guided device 30, via a longitudinal axis separately provided in
For example, a type in which 40 are relatively rotatably connected may be used.

In each of the above-described embodiments, the main body 11 of the moving body 10 has been described as having three frames 12, 13, and 14, but this is the front, rear, and rear of the front frame 12. Three or more types in which one or a plurality of frame bodies are connected to the front and rear of the frame body 14 or three or more types in which the intermediate frame body 13 is a plurality of types 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 these cases, the design and the number and positions of the divided rail bodies 81 and 81A are changed according to the number and length of the frame bodies.

In each of the above embodiments, the connecting device 20
The vertical shaft 21 is provided on the intermediate frame body 13 side, and the horizontal shaft 2 is provided on the front and rear frame bodies 12 and 14.
3 is provided, but this is the intermediate frame 1
A horizontal shaft is provided on the three sides and the front and rear frame bodies 1
For example, a type in which a vertical axis is provided on the sides 2 and 14 may be used.

In each of the above embodiments, the feeder 60
, A plurality of moving bodies 10 are driven and aligned in a tightly pushed state without a gap between the front and rear ends of the moving bodies 10 between the front and rear ends. The moving body 10 may be driven and driven in a state where a gap is formed between the ends. In each of the above-described embodiments, in the return path unit 5c, etc., the sending devices 60, 78, 7
9 is brought into contact with the passive surface 15 to move the moving body 1.
Although the method of moving 0 is adopted, it may be moved by a drive chain method particularly at a place where the divided rail body 81 is provided. That is, as shown in FIG. 9, a drive chain-side transmission member disposed along the return path portion 5 c is engaged with and disengaged from the passive pin 19 provided on the intermediate frame member 13. There may be. Further, a form in which a drive belt is brought into contact with the passive surface 15 may be employed.

In each of the above-described embodiments, the return path section 5c for moving the moving body 10 supporting the transported object 110 is shown as the set path section.
It can be easily adopted in a path section for moving 0, for example. In each of the above-described embodiments, the feeders 60, 78, 79 and the braking device 75 are provided only on one of the passive surfaces 15 of the main body 11.
Although a form in which the main body 11 is provided with receiving means such as a receiving roller acting on the other passive surface is provided, a strong frictional force is obtained by sandwiching the main body 11 from both sides. It can be of a type that can provide a great running force or braking force. At that time, the receiving roller acting on the other side may be of a forced drive type or a free-running type.

[0067]

According to the first aspect of the present invention, a plurality of divided rails capable of supporting a group of guided devices are provided on a set path portion in a fixed path, and these divided rails are aligned with a vertical axis. Is provided by providing a traversing rail group that can be connected to a divided rail body separated and rotated with respect to the rail beside the set path section. The body can diverge and merge right next to a certain path. Therefore, the path for branching and merging may be short. Also, for example, when the traversing path section composed of the traversing rail body group is used as a storage path, the moving body can store the main body group in a side-by-side configuration, and the storage path is The total length can be shortened according to the number of storages. From these facts, it is possible to easily form the entire layout of the fixed path, and to minimize the area occupied by the branching, merging, and storage.

According to the second aspect of the present invention,
The moving body can be moved as a linear posture in the main body, that is, each frame body in a plan view and a side view, in the straight path section in the fixed path, and each frame body is connected in a plan view in the left and right curve path sections. It can move in a bent position along a curve at the device. In this case, the bending can be performed by relative rotation about the vertical axis. In addition, the guided device can be smoothly moved while automatically changing its direction along the left-right curve of the rail by rotating through a vertical shaft that also serves as a connecting structure, and the divided rail body can be moved. The rotation can smoothly follow the rotation.

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 connecting device portion in a plan view. In this case, the bending can be performed automatically and reliably by relative rotation about the horizontal axis. 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.

Further, according to the fourth aspect of the present invention, the feed roller, which is being forcibly rotated, is brought into contact with the passive surface of the moving body, so that the moving torque (running force) is applied to the moving body by the feed rotation force. And the moving body can be easily and reliably moved. Moreover, according to claim 5 of the present invention described above,
The suspension-type moving body can be laterally moved with its supporting portion being horizontal.

[Brief description of the drawings]

FIG. 1 shows a first embodiment of the present invention, and is a side view before rotation of a divided rail body portion in a transport facility using a moving body.

FIG. 2 is a side view after rotation of a divided rail body portion in the transfer facility using the moving body.

FIG. 3 is a partially cutaway plan view of a divided rail body in a transfer facility using the moving body before rotation.

FIG. 4 is a partially cutaway plan view of the divided rail body portion after rotation in the transfer facility using the moving body.

FIG. 5 is a front view after rotation of a divided rail body portion in the transport equipment using the moving body.

FIG. 6 is a partially cutaway side view of the traversing moving means in the transfer equipment using the moving body after the traversing means is rotated.

FIG. 7 is a schematic plan view of a fixed path portion in the transport equipment using the moving body.

FIG. 8 is a side view of the moving body along a straight path in the transport equipment using the moving body.

FIG. 9 is a plan view of the moving body along a straight path in the transfer equipment using the moving body.

FIG. 10 is a rear view of the moving body along a straight path in the transport facility using the moving body.

FIG. 11 is a partially cutaway rear view of the moving body at a feeding device portion in the transfer facility using the moving body.

FIG. 12 is a side view of a main part of the moving body in the transfer facility using the moving body.

FIG. 13 is a partially cutaway plan view of a main part of the moving body in the transfer facility using the moving body.

FIG. 14 is a partially cutaway side view of a feeder portion in the transfer facility using the moving body.

FIG. 15 is a plan view of a feeder portion in the transfer equipment using the moving body.

FIG. 16 is a partially cutaway side view of a curved portion feeding device in the transfer equipment using the moving body.

FIG. 17 is a plan view of a curved section feeding device in the transfer facility using the moving body.

FIG. 18 shows second and third embodiments of the present invention,
(A) is a schematic plan view of a fixed path portion in a transfer facility using a moving body in the second embodiment, and (b) is a third embodiment of the present invention, in which a fixed path portion in the transfer facility using a moving body is used. It is a schematic plan view.

19A and 19B show a fourth embodiment of the present invention, in which FIG. 19A is a partially cutaway side view of a divided rail body portion in a transfer facility using a moving body before rotation, and FIG. FIG. 4 is a partially cut-away side view of FIG.

[Explanation of symbols]

 2 rail 2A rail 5 constant path 5A another constant path 5a work path section 5c return path section (setting path section) 6 traversing path section 10 moving body 11 body 12 front frame body 13 intermediate frame body 14 rear frame body 15 passive Surface 20 connecting device 21 longitudinal axis 21a longitudinal axis 22 connecting body 23 lateral axis 24 lateral pin 25 longitudinal axis 25a longitudinal axis 26 lateral pin 30 intermediate guided device 31 trolley body 33 supported roller 36 covered Guide roller 40 End guided device 41 Trolley body 43 Supported roller 46 Guided roller 47 Floating prevention roller 50 Support unit 60 Feeding device 68 Feeding roller 71 Vertical axis 75 Braking device 76 Braking roller 78 Feeding device 79 Feeding device 81 Splitting Rail body 81A Split rail body 82 Vertical axis 82A Vertical axis 87 Horizontal Rail unit 91 Rotating means 91A Rotating means 92 Link 92A Link 93 Link plate 93A Link plate 95 Actuating link 95A Acting link 96 Cylinder device 96A Cylinder device 101 Traversing means 105 Belt 106 Laterally pushing body 109 Idling roller 110 Conveyed Object A Feed torque B Feed torque

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Takaharu Suzuki 1225 Nakazaiji Temple, Hino-cho, Gamo-gun, Shiga Prefecture Daifuku Shiga Works Co., Ltd.

Claims (5)

[Claims] 1. A moving body is movable on a fixed path by being supported and guided by a rail via a plurality of guided devices, and a main body of the moving body is relatively moved in a left-right direction via a connecting device. It is formed of a plurality of rotatably connected frame bodies, and at least one of the frame bodies is provided with a support portion for a conveyed object, and the guided device group is relatively rotated toward the moving body via a vertical axis. A plurality of divided rails movably connected to each other and capable of supporting a group of guided devices in a set path portion of the fixed path, and a rotating means for rotating these divided rails about a vertical axis; And a traversing rail group to which a divided rail body separated and rotated with respect to the rail is freely connectable is provided on a side of the setting path section. 2. A connecting device for connecting a frame body relative to each other via a vertical shaft so as to be relatively rotatable in the left-right direction, and having a guided device relatively rotatably connected to an end of the vertical shaft. The transport equipment according to claim 1, wherein the transport equipment uses a moving body. 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. 2. The use of a moving body according to claim 1, wherein the end of the longitudinal shaft and the guided device are relatively rotatably connected via a lateral pin passing through the end of the longitudinal shaft. Transport equipment. 4. The moving body, wherein a side surface of each frame body is formed on a passive surface, and a feeder having a feed roller capable of abutting on the passive surface is provided in the fixed path. Item 4. A transport facility using a moving body according to any one of Items 1 to 3. 5. The transport equipment according to claim 1, wherein the movable body is provided with a support for the transported object at a lower portion of at least one frame body.