JP2003040426A - Wire clamping device in transfer vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wire clamping device in a transfer vehicle which can manufacture a workpiece at a low cost by a simple constitution while attaining improvement of reliability in conveying of the workpiece and production efficiency. SOLUTION: A first clamp part 352, by eccentrically placing a wire clamping surface 398 of a cam 360 relating to a rotary shaft 370 and eccentrically placing a wire clamping surface 399 of a cam 362 relating to a rotary shaft 372, clamps a wire 20 when it is rotated in a forward direction (direction of arrow mark X1) and does not clamp the wire 20 when it is rotated in a reverse direction (direction of arrow mark X2). For making the wire 20 and the cams 360, 362 come into always contact, a spring 382 energizes the cam 360 and 362 in a direction of arrow mark X3 by its elastic force. Accordingly, the first clamp part 352 is self locked when the wire 20 is rotated in the forward direction (direction of arrow mark X1).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wire gripping device in a transfer vehicle for transferring a work, which is used when supplying a work to a designated manufacturing line.

[0002]

2. Description of the Related Art Conventionally, at a work site, a transfer device has been known in which a plurality of work blocks are connected by a transfer path and a work is transferred to each work block by a transfer vehicle moving on the transfer path. For example, as disclosed in JP-A-8-39374, a holding member is provided on a trolley chain that moves in one direction, and an engaging / disengaging mechanism that can engage with the holding member is provided on the trolley. A configuration in which the trolley is moved by the driving force of the chain is a good example.

[0003]

The transport vehicle shown in the above-mentioned prior art is a non-self-propelled transport vehicle that moves by utilizing the driving force of the trolley chain. However, since the chain is easily bent, it is transported and positioned. There is a difficulty that the accuracy of can not be expected so much. Further, the transport vehicle has a structure in which a holding member provided on the trolley chain side is engaged and moved by an engagement / disengagement mechanism on the trolley side, and it is not possible to grip an arbitrary position of the trolley chain. That is, the mounting position of the holding member is restricted. Therefore, there is no degree of freedom in positioning,
If you try to increase the number of transport vehicles due to demand for improved work efficiency, etc., it will not be possible to cope with the increase in the number of holding members of the trolley chain, which will hinder the improvement of production efficiency and reduce the product cost. There is a problem that there is no.

The present invention has been made in order to solve the above problems, and improves the reliability of positioning when a work is conveyed, and positions an arbitrary position of a wire constituting the conveying means by grasping it. It is an object of the present invention to provide a wire gripping device for a transfer vehicle that can increase the production efficiency by increasing the degree of freedom and can reduce the cost of the product itself with a simple configuration.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention has a non-self-propelled transfer vehicle engaged with a moving wire to convey the transfer wire to a desired position and transfer the transferred wire at the desired position. A wire gripping device in a transfer vehicle for separating a car from a wire, the wire gripping device having a first clamp means and a second clamp means attached to the transfer car, wherein the first clamp is provided. Means clamps the wire in the forward direction of the wire and second clamping means unclamps the wire in the normal direction of the wire, and the first clamping means unclamps the wire in the reverse direction of the wire. In addition, the second clamp means clamps the wire in the reverse direction of the wire (the invention according to claim 1).

With this structure, the transfer vehicle is self-locked in the moving direction of the wire, so that the mechanism for gripping the wire is simple, and the wire can be gripped at any desired position for positioning. The degree of freedom of is increased. This can increase production efficiency, while
The device configuration is simplified.

[0007] The first of the wire gripping device according to the present invention.
Clamping means has a pair of first eccentric cams and a first biasing means for bringing the pair of first eccentric cams so that the cam surfaces of the pair of first eccentric cams approach each other in the normal direction of the wire, and the second clamp is provided. The means has a second biasing means for bringing the pair of second eccentric cams and the pair of second eccentric cams so that the cam surfaces of the pair of second eccentric cams come close to each other in the reverse direction of the wire (claim 2). Invention).

With this structure, the wire gripping structure is simplified and a drive source is not required, so that the device can be manufactured at low cost.

Further, the first clamping means of the wire gripping device according to the present invention has a pair of first gears for synchronously rotating the pair of first eccentric cams, and the second clamping means. The clamp means has a pair of second gears that rotate the pair of second eccentric cams in synchronization (the invention according to claim 3).

With this configuration, the pair of eccentric cams are simultaneously rotated, and the wire can always be held stably and reliably. As a result, the reliability of work positioning is further improved.

Further, a pair of first cam expanding means for forcibly expanding the first eccentric cam is provided, and a pair of first cam expanding means forcibly expanding the second eccentric cam. Two
The present invention is characterized in that it has the cam expanding means of (Claim 4).

Thus, if the first and second cam expanding means are provided at predetermined positions, the first and second eccentric cams forcibly release the wire and the transfer vehicle is moved to the predetermined position. It can be stopped at the position. That is, the positioning of the transport vehicle can be selected as desired by setting the cam expanding means at any position.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION A wire gripping device in a transfer vehicle according to the present invention will be described below in detail with reference to the accompanying drawings, showing preferred embodiments in relation to a production system incorporating the wire gripping device. .

The production system 10 according to the present embodiment is
Basically, when a plurality of vertically and horizontally arranged works are transferred from the transfer car, they are divided into work blocks, and the work processed by one work block is moved to another work block via the transfer car. , A mechanical production system for subjecting a work to the next processing.

For convenience of explanation, in the present embodiment,
It is assumed that the production system 10 has a work block A and a work block B.

The work block A and the work block B are basically connected via a rail member. That is,
The work blocks A and B have an end portion transfer mechanism 12 held at a predetermined height. A pulley 14 and a pulley 16 are rotatably supported on the end portion transfer mechanism 12 vertically with a slight displacement. In fact, the end transport mechanism 12 has a pair of legs 17,17 between which the pulleys 14,16 are mounted.

A rail member 18 is further held at the tips of the legs 17, 17. As can be seen from FIG. 1, the rail member 18 is formed by bending a metal plate body in an inverted U shape, and on the lower end portions 19a and 19b extending in opposite directions. The wheels of the transport vehicle described later are configured to roll (see FIG. 2).

A wire 20 that circulates along the rail member 18 is suspended from the pulley 14 and the pulley 16. The other end of the wire 20 is suspended on pulleys 116 and 118 of the branch transfer mechanism 100 described later. Therefore, wire 2
As is apparent from FIG. 1, 0 is defined between the pulley member 16 and the lower end portions 19a and 19b of the rail member 18 after reaching the pulley 14 from the upper side of the rail member 18 and curving downward. It is configured to endlessly circulate through the space to the branch transfer mechanism 100 side. The body structure of the end transfer mechanism 12 is basically the branch transfer mechanism 1
Because the same structure as the main body structure of 00 is adopted,
Detailed description is omitted here.

Next, the branch transfer mechanism 100 will be described. The branch transfer mechanism 100 is held in an elevated state. The branch transfer mechanism 100 substantially has a cylindrical body 104, and internally has a motor 106 and a gear train 108 directly connected to a rotation shaft (not shown) of the motor 106. In FIG. 2, reference numeral 102 indicates the motor 10
6 shows an encoder for detecting the rotation angle of 6.

At the tip of the gear train 108, as shown in FIG. 3, a shaft 110 exposes the lower end of the shaft 110 below the cylindrical body 104. A leg portion 112 for holding a pulley is fixed to a part of the outer peripheral wall of the cylindrical body 104. The leg 112 is a pair of flat plates 114 extending obliquely downward.
a flat plate 11 having a and 114b and separated from each other by a predetermined distance
Pulleys 116 and 118 are rotatably mounted between 4a and 114b. The pulley 116 is located slightly obliquely above the pulley 118, and the pulley 116 is
A motor 120 held by a gear train 122
Are linked to.

Specifically, the rotational driving force of the motor 120 is reduced by the gear train 122, and then the pulley 116 is rotationally driven. And
The wire 20 will be suspended between the pulleys 14, 16 and the pulleys 116, 118 of the end transport mechanism 12.

In fact, as can be seen from FIG. 1, the branch transfer mechanism 100 has four legs 112 displaced by 90 ° from each other on the peripheral wall of the cylindrical body 104, and at least two symmetric positions are provided. The motor 120 is provided on the leg 112 side.
And the gear train 122 is fixed. The motor 12
0, on the side of the leg 112 where the gear train 122 does not exist, it is assumed that the counterpart end transfer mechanism 12 on which the wire 20 is suspended has the motor 120 and the gear train 122.
Therefore, with respect to one wire 20, the motor 120 and the gear train 122 are provided in either one of the branch transfer mechanism 100 and the end transfer mechanism 12 to be rotationally driven.

In this case, as shown in FIG.
The guide plates 124a and 124b are fixed to the lower ends of the twelve flat plates 114a and 114b at predetermined intervals. The guide plates 124a and 124b are the lower end portion 19a of the rail member 18,
19b and its height are made substantially the same. Then, wire gripping and opening plates 128a and 128b, which are flat plates having tip portions formed as tapered portions 126a and 126b, are fixed to the lower ends of the guide plates 124a and 124b.

In the leg portion 112, a support plate 132 is extended from the cylindrical body 104, if necessary, and is vertically movable in FIG. 2 to the position adjusting plate 133 at the tip of the support plate 132. Tension pulley 1
34 may be rotatably supported. The tension pulley 134 applies a predetermined tension to the wire 20 suspended on the pulleys 14, 16, 116 and 118.

As a result, the branch transfer mechanism 100 has the four legs 112 displaced by 90 ° each, and as a result, the four rail members 18 and the wires displaced by 90 ° as shown in FIG. Leg 1 in relation to 20
12 will be provided. Each of the flat plates 114a and 114b forming the leg portion 112 holds the other end of the rail member 18 at its bent and rising tip. In the end transfer mechanism 12 and the branch transfer mechanism 100, the same components are designated by the same reference numerals, and detailed description thereof will be omitted.

By the way, in the present embodiment, the shaft 1
A rotation mechanism 200 that rotates integrally with the rotation of the shaft 110 is arranged below the shaft 10. The rotating mechanism 200 has a horizontal plate 202 fixed to the end of the shaft 110, and holding brackets 204a, 204b and 204c fixed to the horizontal plate 202 at a predetermined distance.

A plate 206 bridged to one lower end of the holding brackets 204a, 204b and 204c is provided, and a plate 208 bridged to the other lower end of the holding brackets 204a, 204b and 204c is provided. There is.

A large diameter driven roller 210 is provided on the plate 206 via a holding member 209, and a motor 212 is fixed via a holding member 211.
The rotational driving force of 12 is reduced by the gear train 214, and the driving roller 216 is rotationally driven.

The drive roller 216 and the driven roller 210 have substantially the same diameter, and the drive roller 216 and the driven roller 210 are connected by a belt 217.

FIG. 4 is a partially omitted plan view of the rotating mechanism 200. In this case, the support shafts 226, 22 are attached to the plate body 208.
8, the support shafts 226 and 228 rotatably attach holding arms 230 and 232 that are bent in an L shape. The driven rollers 222 and 224 are rotatably held at one ends of the holding arms 230 and 232, respectively. The shaft 23 is attached to the other ends of the holding arms 230 and 232.
4, 23, and the support shaft 23 mounted on the plate 208
8 and 240, coil springs 242 and 244 surrounding the shafts 234 and 236 are interposed.

Therefore, the coil springs 242, 2
The driven rollers 222 and 224 under the action of the elastic force of 44
As shown by the chain double-dashed line in FIG. 4, the drive roller 216 is biased toward the drive roller 216.

By the way, a plate body 250 is provided below the horizontal plate 202, that is, inside the holding brackets 204a, 204b and 204c.
A plate body 252 extending in the vertical direction is fixed. A rotating plate 254 is fixed below the plate body 252.

A step is provided on the rotating plate 254, and the transfer vehicle 3 which will be described later is provided on both long sides formed by the step.
Guide part 25 for rolling the rollers constituting 00
5a and 255b will be formed. As easily understood from FIG. 4, the guide portions 255a and 255b are provided.
Is the lower ends 19a and 19b of the rail member 18, the guide plate 1
24a and 124b are substantially the same in width and height.

Next, a transfer vehicle 300 for transferring the work in order to transfer the work in different directions by the branch transfer mechanism 100 will be described below with reference to FIG.

The transfer vehicle 300 includes a support 302. The support base 302 has a tapered surface 304 at one end and a lower end.
a, 304b, 306a, 306b. A pair of holding plates 308a and 308b are erected from the support base 302, and rollers 312 are respectively attached to the holding plates 308a and 308b.
a, 312b, 314a, 314b are rotatably supported.

Incidentally, the rollers 312a, 312b, 314
Guides 316a, 316b, 318a, 318b made of a substantially rectangular synthetic resin body are fixed to the inside of a, 314b. Then, the plate body 320 is hung on the lower surface of the support base 302, and the plate body 32 provided on the lower surface of the plate body 320.
The U-shaped rod bodies 324a and 324b are fixed to both ends of 2.

The rod bodies 324a and 324b hold work mounting plates 326a and 326b. As easily understood from FIG. 5, the work placement plates 326a and 326b are comb-teeth-shaped flat plates and are spaced apart from each other with a distance L1 therebetween, and the distance between the comb teeth is a distance L3. It is set. This structure will be described later.

The wire gripping mechanism 350 incorporated in the transfer vehicle 300 constructed as described above will be described. The wire gripping mechanism 350 is for transferring the transfer vehicle 300 by the wire 20 and for changing the transfer direction of the transfer vehicle 300 in cooperation with the branch transfer mechanism 100.

6 to 8 are explanatory views showing the structure of the wire gripping mechanism 350. The wire gripping mechanism 350 is attached to the upper surface of the support base 302. Therefore, the line X is the center line of the wire gripping mechanism 350, and is also the moving center of the wire 20 to be gripped. The wire 20 is the line X
The top can be rotated in both forward and reverse directions. Wire gripping mechanism 35
0 is composed of a first grip portion 352, a second grip portion 354, a third grip portion 356 and a fourth grip portion 358 (first clamp means and second clamp means), and as shown in FIG. At positions a, b on the upper surface of the support base 302 of the transfer vehicle 300,
It is arranged in each of c and d.

The first to fourth grips 352, 354, 35
6, 358 are cams 360 and 36 having arcuate surfaces, respectively.
2 and the cams 360 and 362 are arranged symmetrically with respect to the left and right about the line X. The arrangement of the cams 360 and 362 is such that the first to fourth gripping portions 352, 35 are arranged.
4, 356, 358, and the first grip 352
7, the cam 360 is arranged on the left side and the cam 362 is arranged on the right side in FIG. 7 with the line X as the axis, and the second gripping part 354 and the fourth gripping part 358 are arranged on the left side. The cams 360 are arranged on the right side in a state where the cam 360 is rotated by 180 ° with respect to the first grip portion 352. The first to fourth grips 352, 354,
356 and 358 have the same mechanism for gripping the wire 20, although the mounting directions of the cams 360 and 362 are different.

First, the cam 360 moves the wire gripping surface 3 along the line X.
It is placed to the left of line X with 98 facing. The cam 3
A rotary shaft 370 of the support 60 is a support base 302 of the transfer vehicle 300.
Is rotatably supported by a bearing (not shown) formed on the. A spring 382 is wound around the rotary shaft 370, one end of the spring 382 is seated on a holding plate 308a provided upright on the support base 302, and the other end of the spring 382 is mounted on the cam 36.
It sits in a chamber 374 formed in zero.

Further, the gear 3 is provided on the lower surface of the cam 360.
86 is pivotally supported with its meshing surface facing the line X, and a cover 390 is fixed to the upper surface of the cam 360. Further, a columnar cam releasing portion 378 protruding upward is fixed to the cam 360. The cover 390, cam 360, and gear 386 form a three-layer structure as shown in FIG.

On the other hand, the cam 362 shows the wire gripping surface 3 on the line X.
It is placed to the right of line X with 99 facing. The cam 3
A rotary shaft 372 of 62 is rotatably supported by a bearing (not shown) formed on the support base 302. A spring 382 is wound around the rotating shaft 372,
One end of 82 is seated on a holding plate 308b standing on the upper surface of the support 302, and the other end is seated on a chamber 376 formed in the cam 362. Further, a gear 388 is fixed to the lower surface of the cam 362 with its meshing surface facing the line X, and a cover 392 is fixed to the upper surface of the cam 362. Further, a columnar cam opening 380 protruding upward is fixed to the cam 362. The cover 392, the cam 362, and the gear 388 form a three-layer structure (FIG. 8).
reference).

The gears 386 and 388 have the same tooth number ratio, and the gears 386 and 388 act as synchronization gears for avoiding rotational deviation of the cams 360 and 362. Further, the covers 390 and 392 are
The cams 360 and 362 have a structure in which they overlap with each other when the wire 20 is gripped, and a function of avoiding disconnection of the wire 20 is achieved.

Therefore, on the line X, one point of the wire gripping surface 398 and one point of the wire gripping surface 399 are the wires 2.
0 is gripped, the gear 386 and the gear 388 mesh, and the cover 390 and the cover 392 face each other so as to shield the line X.

That is, when the first grip portion 352 and the third grip portion 356 are in the clamped state, the second grip portion 354 is formed.
When the first grip 352 and the third grip 356 are unclamped, the fourth grip 358 and the fourth grip 358 are unclamped, and the second grip 354 and the fourth grip 358 are clamped.

Next, the transfer vehicle 30 constructed as described above.
An elevating device 400 for exposing the work transferred by 0 to the processing device will be described. The lifting device 400 generally includes an end transfer mechanism 12 and a branch transfer mechanism 10.
It is provided between 0 and in proximity to the rail member 18 (see FIG. 1).

As shown in FIG. 9, the lifting device 400 includes a base 402, and a plurality of vertical frames 404a to 404d extending upward from the base 402 in FIG. The frame bodies 404c and 404d are the wires 20.
It has a height to reach the vicinity of. On the other hand, the frame body 4
Horizontal members 406a to 406h are bridged to 04a to 404d. A motor 408 is installed in the frame bodies 404a to 404d of the base 402, and a rotation drive shaft (not shown) of the motor 408 has a pulley 41 via a gear train 410.
It is connected to 2.

On the other hand, the lower shaft 414 and the upper shaft 416 of the elevating device 400 are bridged between the frame bodies 404c and 404d, and both ends thereof are paired with a pair of bearings 418, 418, respectively.
It is rotatably supported by 420 and 420. Further, sprockets 422 and 424 are fixed to the lower shaft 414 and the upper shaft 416 near both ends thereof, and a chain 426 is provided between the upper and lower sprockets 422 and 424.
426 is wound. A pulley 428 is fixedly attached to the lower shaft 414, and the pulley 412 and the pulley 42 are attached.
A belt 430 is wound around the belt 8. A mounting table 450 is attached to the chains 426 and 426 by a fixing member 429.
Is stuck by.

The mounting table 450 includes a plurality of rollers 452 and 454 protruding from the mounting table 450.
2 and 454 are frame bodies 404c and 404 having a U-shaped cross section.
It rolls on d and runs vertically in FIG. The mounting table 450 includes a rectangular frame body 456.
The first mounting surface 458 and the second mounting surface 460 are arranged at 56 in the vertical direction with a predetermined distance therebetween. In fact, the first mounting surface 458 has the comb-shaped first and second mounting members 462a, 462.
2b, and the second mounting surface 460 similarly has first and second mounting members 464a and 464b.

The first mounting member 46 of the first mounting surface 458.
2a and the second mounting member 462b are arranged at a predetermined distance from each other, while the second mounting surface 460 includes the first plate member 4a.
66a and a second plate 466b, and the first and second mounting members 464a and 464b of the second mounting surface 460 are fixed to the first plate 466a and the second plate 466b, respectively. It is set up. The first plate body 466a and the second plate body 466b are separated from each other by a predetermined distance, and the corner portions of the facing end faces are notched in a tapered shape so as to widen each other.
Therefore, when the transport vehicle 300 reaches the lifting device 400, the plate body 320 of the transport vehicle 300 is moved to the first mounting member 46.
The gap between 4a and the second mounting member 464b can be easily entered.

The transfer vehicle 30 is installed above the lifting device 400.
A fixing device 500 for temporarily positioning and fixing 0 is installed (see FIGS. 10 and 11). The fixing device 500 includes a drive source 502 including a rotary actuator.
A housing 504 accommodating the above, rods 506a and 506b protruding from the drive source 502 to the outside, an arm member 508 fixed to the housing 504, and pivotally supported by the arm member 508. Bending claw members 510a and 510
b. One ends of the claw members 510a and 510b are pivotally supported by the rods 506a and 506b, respectively. Therefore, the other ends of the claw members 510 a and 510 b are under the urging action of the drive source 502 and thus the rod 50.
It will be easily understood that the 6a and 506b move forward and backward to open and close. 10 and 11, reference numerals 512a and 512b denote position detection sensors, respectively.

In FIG. 1, the end transfer mechanism 12 of the work blocks A and B and the branch transfer mechanism 100 are electrically connected to the sub controller 750, and the sub controller 750.
Are electrically connected to the main controller 700. In FIG. 1, reference numeral 800 indicates a work processing station.

The production system 10 incorporating the wire gripping device of this embodiment is basically constructed as described above, and its operation will be described below.

FIG. 12 shows the first grip portion 352 for gripping the wire 20 of the wire grip mechanism 350. As described above, the first to fourth grips 352, 354, 356,
The operation of 358 is the same as that of the mechanism for gripping the wire 20 although there is a difference in the mounting direction. Therefore, the first gripping portion 352 will be described here. Further, the gears 386 and 388 and the covers 390 and 392 are not shown in FIG. 12 for the sake of clarity.

The distance from the rotary shaft 370 is different between the one end side and the multi-end side of the wire gripping surface 398 of the cam 360.
When the distance from the rotary shaft 370 on one end side is R1 and the distance from the rotary shaft 370 on the other end side is R2, R1 <
The relationship of R2 is established. The cam 362 is also the cam 3 described above.
It has the same structure as 60.

As described above, the first gripping portion 352 causes the wire gripping surface 398 of the cam 360 to be eccentric with respect to the rotating shaft 370, and the wire gripping surface 399 of the cam 362 to be eccentric with respect to the rotating shaft 372. By wire 2
When 0 is rotating in the forward direction (X1 direction), the wire 20 is gripped, and when rotating in the reverse direction (X2 direction), the wire 20 is not gripped.

Further, the spring 382 biases the cams 360 and 362 in the direction of arrow X3 by its elastic force.
This is the wire gripping surface 398 of the wire 20 and cam 360.
This is because (and the wire gripping surface 399 of the cam 362) are always in contact with each other. By doing so, the wire gripping mechanism 350 is self-locked in the rotation direction (forward rotation direction, reverse rotation direction) by the rotation driving force of the wire 20.

The wire gripping mechanism 350 grips the wire 20 by using the above-mentioned operation. Further, in the wire gripping mechanism 350 in the present embodiment, as shown in FIG. 7, the first gripping part 352 is arranged at the position a, and the first gripping part 352 is rotated by 180 ° about the line X. The second grip portion 354 in the open state is arranged at the position b. According to this structure, the wire 20 moves in the X direction based on the above-described operation.
When moving in one direction (forward rotation direction), the first grip 352
Grips the wire 20, and the second grip 354 grips the wire 20.
When the wire 20 moves in the X2 direction (reverse direction) without gripping, the second gripping portion 354 grips the wire 20 and the first gripping portion 352 does not grip the wire 20. That is,
By providing the mechanism for gripping the wire 20 in each rotation direction (forward rotation direction and reverse rotation direction) of the wire 20, the wire 20 can be gripped without depending on the rotation direction of the wire 20. However, when the wire 20 is in either the forward rotation direction or the reverse rotation direction, the first gripping portion 352 is used.
Alternatively, only one of the second grips 354 may be provided.

Further, as shown in FIG. 7, the wire gripping mechanism 350 places the third gripping part 356 facing the same direction as the first gripping part 352 at the position c, and the second gripping part 3
By disposing the fourth grip portion 358 facing the same direction as 54 at the position d, the wire 20 can be gripped at two locations in each rotation direction (forward rotation direction and reverse rotation direction), and the wire 20 is gripped. Transport vehicle 300
The posture at the time of transfer of is also more stable.

FIG. 13 shows wire gripping open plates 128a, 1
28b is a state transition diagram showing a procedure in which 28b releases the grip of the wire 20 from the wire gripping mechanism 350. FIG. Normally, the transfer vehicle 300 is released from below the rotational drive of the wire 20 at the time of branching in the branch transfer mechanism 100, and stops moving on the spot. Therefore, the branch transfer mechanism 100 is provided with wire gripping release plates 128a and 128b for releasing gripping of the wire 20 by the wire gripping mechanism 350. As described above, the first to fourth grips 352, 3
54, 356, and 358 have the same mechanism and operation for releasing the grip of the wire 20 although the mounting directions are different, and therefore the first grip portion 352 will be described as an example here.

First, the transfer vehicle 300 is mounted on the first grip 35.
While gripping the wire 20 at 2, the wire 20 moves in the direction of the arrow X1 (state of FIG. 13A). However, at this point in time, the cam opening portion 378 of the cam 360 and the cam opening portion 380 of the cam 362 are not in contact with the wire gripping opening plates 128a and 128b.

When the transfer vehicle 300 further moves in the direction of the arrow X1, the cam opening portions 378 and 380 come into contact with the wire gripping opening plates 128a and 128b (state of FIG. 13B). At this time, the cam releasing portions 378 and 380 relatively slide on the slopes at the tips of the wire gripping releasing plates 128a and 128b. At the same time, the cam opening 37
The cam 360 fixed to the No. 8 rotates about the rotation shaft 370 in the arrow X4 direction, and the cam 362 fixed to the cam opening 380 rotates about the rotation shaft 372 in the arrow X5 direction. That is, as the transfer vehicle 300 moves in the arrow X1 direction, the cams 360 and 362 expand and the grip of the wire 20 is released.

Further, when the transfer vehicle 300 moves in the direction of the arrow X1, the cam releasing portions 378 and 380 cause the taper portions 126 of the wire gripping releasing plates 128a and 128b.
After relatively passing through a and 126b, the wire holding and releasing plates 128a and 128b relatively reach the main body (state of FIG. 13C). At this time, the interval between the cam 360 and the cam 362 is expanded to the maximum (corresponding to L11), and the cam release parts 378 and 380 are connected to the wire grip release plates 128a, 1a.
It remains constant while in contact with 28b. This maximum distance L1
1 is the width L2 of the pulley 118 that drives the wire 20 to rotate.
It is wider and consequently does not block the passage of the pulley 118.

FIG. 14 shows the second mounting surface 4 of the lifting device 400.
60 and work loading plates 326a and 326b of the transfer vehicle 300
14A is a plan view showing a state in which the second mounting surface 460 and the work stacking plates 326a and 326b are aligned in a horizontal plane. 14B is a front view thereof. Since the first mounting surface 458 and the second mounting surface 460 have the same shape, the second mounting surface 460 will be described here.

In FIG. 14A, the arrow indicates the moving direction of the transfer vehicle 300, and the reference numeral 600 indicates the first mounting member 464.
The gap between a and the 2nd mounting member 464b, ie, a passage, is shown. The plate 320 of the transfer vehicle 300 passes through this gap (passage 600). The width L1 of the passage 600 is larger than the width of the plate 320. First mounting member 464a
The second mounting member 464b has a protrusion 610 with a width L2.
And the notch 612 having the width L3 correspond to each other, and the work placing plates 326a and 326b also have the width L.
The second protrusion 614 and the notch 616 having the width L3 are similarly arranged. Needless to say, width L
2 and the width L3 have a relationship of L3> L2. Furthermore, the length L4 in the longitudinal direction of the protrusion 610 of the first placing member 464a and the second placing member 464b, and the work placing plate 3
The length L5 of the cut portions 616 of the 26a and 326b in the longitudinal direction has a relationship of L5> L4.

Therefore, the first mounting member 464a and the second mounting member 464a
Notch 612 of mounting member 464b and work mounting plate 3
26a, 326b of the protrusion 614, the first mounting member 464
a and the protruding portion 610 of the second mounting member 464b and the cut portions 616 of the work mounting plates 326a and 326b are arranged so as to overlap with each other, L3> L2 and L5>
Due to the relationship of L4, one protrusion (for example, the protrusion 610 of the first mounting member 464a) and the other notch (for example, the notch 61 of the work mounting plates 326a and 326b).
It is possible to pass (pass) 6).

Further, as shown in FIG. 14B, the first plate member 466a, the first mounting member 464a, and the second plate member 466b.
The second mounting member 464b and the second mounting member 464b are spaced apart from each other by a constant distance (L7) to form a space 618. The interval L7 of the space 618 is the plate thickness L of the work placing plates 326a and 326b.
It is wider than 6. In other words, in the present embodiment, the transfer of the work is performed by utilizing the fact that the second mounting surface 460 and the work mounting plates 326a and 326b pass through without interfering with each other.

Next, a specific example of transferring the work placed on the work placing plates 326a and 326b to the second placing surface 460 will be described with reference to FIGS. 15A and 15B. In this case, since the second mounting surface 460 and the first mounting surface 458 have the same structure, the second mounting surface 460 will be described as an example here.

FIG. 15A shows the work placement plates 326a, 32.
6b shows a state where the work is placed and reaches the second placement surface 460. At this time, the work placement plates 326a, 326
b is fixed by the fixing device 500, and FIG.
4B, as shown in FIG. 4B, the protrusion 610 of the second placement surface 460 and the notch 616 of the work placement plates 326a and 326b,
Further, it is assumed that the notch 612 of the second placement surface 460 and the protrusion 614 of the work placement plates 326a and 326b are positioned so as to overlap each other. At this point, the work placing plates 326a and 326b have not yet entered the space 618.

When the second mounting surface 460 is further raised,
The protrusions and the notches slip through (see FIGS. 14A and 14B), the work placement plates 326a and 326b enter the space 618, and the second placement surface 460 causes the work placement plate 3 to move.
26a, 326b, and the work placement plate 326a,
The work placed on the work placing plate 326 is mounted on the work placing plate 326.
It is released from a and 326b and transferred to the second mounting surface 460. The state at this time is shown in FIG. 15B.

Next, although not shown, a method of transferring the work from the second mounting surface 460 to the work mounting plates 326a and 326b will be described. The elevating device 400 uses the second placement surface 460 on which the work is placed on the work placement plates 326a, 326.
Raise slightly above b and wait there. The transfer vehicle 300 reaches there. At this time, the second mounting surface 46
0 stands by at a position slightly above the work placing plates 326a, 326b, so that the work placing plates 326a, 32
6b enters the space 618. When the second placement surface 460 is slightly lowered, the protrusions and the notches pass through each other as described above, and the work placement plates 326a and 326.
In the area b, the work is transferred from the second mounting surface 460 while leaving the space 618 (see FIGS. 14A and 14B).

Further, referring to FIGS. 16A to 16E,
A procedure for transferring a work from the transfer vehicle 300 to the work block (and a procedure for transferring a work from the work block to the transfer vehicle 300) will be described.

16A to 16E, the fixed point Z1 indicates the height of the work placing plates 326a and 326b of the transfer vehicle 300. Since the transfer vehicle 300 itself does not move up and down, the fixed point Z1, that is, the height of the work placement plates 326a and 326b is constant. The fixed point Z1 is a work transfer position from the transfer vehicle 300 to the mounting table 450 of the lifting device 400 (or a work transfer position from the mounting table 450 to the transfer vehicle 300). The fixed point Z2 indicates the height of the work surface of the work block. Since the work block itself does not move up and down, the fixed point Z2, that is, the height of the work surface is constant. The fixed point Z2 is a work transfer position from the mounting table 450 to the work block (or a work transfer position from the work block to the mounting table 450). That is, the lifting device 400 moves the mounting table 450 up and down to receive and deliver the work from the fixed point Z1 or the fixed point Z2 which is a fixed position.

Here, reference numeral 650 indicates a work that has not yet been processed in the work block (referred to as unprocessed work), and reference numeral 652 indicates a work that has been processed in the work block (referred to as processed work).
Indicates. As a basic work flow, the work block receives an unprocessed work 650 from a previous process (not shown), performs a processing process, and then transfers a processed work 652 to the next process (not shown).

First, in order to receive the unprocessed work 650 carried from the previous process, the lifting device 400 is mounted on the mounting table 4.
50 is raised, and the first mounting surface 458 is transferred to the fixed point Z1.
When it reaches a little lower, stop there. next,
The transfer vehicle 300 mounts the unworked workpiece 650 and reaches the transfer position of the lifting device 400 of the work block from the previous process,
The fixing device 500 temporarily positions and fixes. At this time, the protrusion 610 of the first placing surface 458 and the cut portion 616 of the work placing plates 326a and 326b, and the notch 612 of the first placing surface 458 and the protrusion 614 of the work placing plates 326a and 326b. Shall be positioned so that they overlap. On the other hand, the processed work 652 is waiting in the work block (state of FIG. 16A).

Here, when the mounting table 450 is slightly raised, as described above, the protrusions and the notches pass through each other, and the work mounting plates 326a and 326b enter the space 618 of the first mounting surface 458. With the first mounting surface 458
Rises above the work placing plates 326a, 326b, and the unprocessed work 650 placed on the work placing plates 326a, 326b becomes free from the work placing plates 326a, 326b and is transferred to the first placing surface 458. (FIG. 14A, FIG.
(See B).

Next, the unprocessed work 6 is placed on the first mounting surface 458.
The transfer vehicle 300 that has been emptied by transferring 50 moves to another work block. On the other hand, the lifting / lowering device 400 is configured such that the unprocessed workpiece 650 is placed on the first placing surface 458 and the placing table 4
50 is lowered, and when the second mounting surface 460 reaches the fixed point Z2, it is stopped there (state of FIG. 16B).

Next, the processed work 652 which has been waiting in the work block is transferred onto the second mounting surface 460 (FIG. 16).
C state). Then, the elevating device 400 raises the mounting table 450 and stops it when the first mounting surface 458 reaches the fixed point Z2 (not shown).

The unworked workpiece 650 placed on the first placing surface 458 is transferred to the work block. The elevating device 400 raises the mounting table 450 while the processed work 652 is mounted on the second mounting surface 460, and moves the second mounting surface 460.
When reaches a position slightly higher than the fixed point Z1, stop there. Then, in order to transfer the processed work 652 to the next process, the transfer vehicle 300 causes the work placement plates 326a, 326 to move.
It is moved from another work block with b empty. Then, the work block reaches the transfer position of the elevating device 400 (state of FIG. 16D) and is temporarily positioned and fixed by the fixing device 500. At this time, the protrusion 610 of the second placement surface 460 and the work placement plates 326a, 32
It is assumed that the notch 616 of 6b and the notch 612 of the second placement surface 460 and the protrusion 614 of the work placing plates 326a and 326b are positioned so as to overlap each other.

At this time, since the second mounting surface 460 stands by at a position slightly above the work mounting plates 326a and 326b, the work mounting plates 326a and 326b enter into the space 618. When the second placement surface 460 is slightly lowered, the protrusions and the notches slip through each other, the work placement plates 326a and 326b exit from the space 618, and the processed placement placed on the second placement surface 460 is completed. The work 652 is released from the second mounting surface 460 and transferred to the work mounting plates 326a and 326b (FIGS. 14A and 14A).
(See B).

The transfer vehicle 300 moves from that position to the next process so as to supply the processed work 652 received from the second mounting surface 460 to the next process. On the other hand, the lifting device 400
Prepares for the next operation and raises the mounting table 450 to
When the mounting surface 458 reaches a position slightly below the fixed point Z1, the mounting surface 458 is stopped there (state of FIG. 16E).

16A to 16E, the raw workpiece 6
An example is shown in which 50 is transferred to the first mounting surface 458 of the mounting table 450 and the processed work 652 is transferred to the second mounting surface 460 of the mounting table 450, respectively. , But is not limited to this combination. For example, the preprocessed work 652 is placed on the mounting table 450.
If placed on the first mounting surface 458 of the second mounting surface 4
Since 60 is vacant, the transfer vehicle 300 can handle the unprocessed workpiece 6
The 50 can be transferred onto the second mounting surface 460. Further, after the unprocessed workpiece 650 placed on the second placing surface 460 is transferred to the work block by the lifting device 400, the transfer vehicle 300 transfers the processed workpiece 652 placed on the first placing surface 458. It can be received and transferred to another work block, which further increases the degree of freedom in the transfer process.

Here, the branch transfer mechanism 100 will be described with reference to FIG.
A branching method of the transfer vehicle 300 according to the above will be described. First, when the transfer vehicle 300 moves on one rail member 18 toward the branch transfer mechanism 100 and reaches the end of the rail member 18, the wire gripping open plate 128a fixed to the back surface of the guide plates 124a and 124b. , 128b releases the grip of the wire 20 by the wire gripping mechanism 350 fixed to the transfer vehicle 300.

Specifically, in FIG. 7, first, the cam releasing portions 378 and 380 of the first grasping portion 352 come into contact with the wire grasping and releasing plates 128a and 128b and rotate to release the wire 20 from the source. To be done. At this time, the second
The grip portion 354 and the fourth grip portion 358 are in an unclamped state. However, since the third grip portion 356 is in the clamped state of gripping the wire 20 that is the movement source, the transfer vehicle 300 is transferred to the rotating plate 254 of the branch transfer mechanism 100.

On the other hand, when the rotating mechanism 200 detects that the head of the transfer vehicle 300 has reached the driven roller 210 or the driving roller 216 by a position detection sensor (not shown), it rotates the motor 212. The drive roller 216 is driven by the rotation of the motor 212 via the gear train 214.
Then, the driven roller 210 rotates to transfer the transfer vehicle 300 to the rotating plate 254.

After that, the third grip portion 356 of the transfer vehicle 300.
Of the cam release portions 378 and 380 of the wire grip release plate 128.
a, 128b, the wire gripping open plates 128a, 1
28b, the cam releasing portions 378 and 380 are rotated to release the grip of the wire 20, and the transfer vehicle 300 is completely released from under the drive of the wire 20 as the movement source.

On the other hand, the driven rollers 222 and 224 are driven by the coil springs 242 and 244 by the elastic force of the coil springs 242 and 244.
0 is urged to the drive roller 216 side to prevent falling off.

When the motor 212 is further rotated, the transfer vehicle 300 is released from the original rail member 18 and transferred onto the rotating plate 254. Rotating plate 254 of transfer vehicle 300
The transfer is completed by a position detection sensor (not shown), and when the transfer is completed, the motor 212 is stopped (state in FIG. 4). In this case, the rotation mechanism 200 is the motor 1
The rotation of 06 causes the shaft 110 to freely rotate 360 ° about the fulcrum.

Next, the transfer vehicle 3 transferred to the rotating plate 254
A method of sending 00 to the destination rail will be described. As described above, the rotating plate 2 on which the transfer vehicle 300 is transferred
After 54 is aligned with the destination rail, the motor 212 is rotated to push the transfer vehicle 300 toward the destination rail, and the rollers 312a, 312b, 314a, 314b of the transfer vehicle 300 move. The wire gripping mechanism 350 of the transport vehicle 300 grips the wire 20 of the moving destination while getting on the rail member 18 of the moving destination.

Specifically, first, the cam release parts 378 and 380 of the first grip part 352 of the transfer vehicle 300 are expanded by the wire grip release plates 128a and 128b, and then returned to their original positions to move to the destination. The wire 20 is gripped. At this time, since the first grip portion 352 grips the wire 20 of the moving destination, the transport vehicle 300 is pulled by the driving force of the wire 20 of the moving destination and is pushed by the rotation of the driving roller 216 and the driven roller 210. Has been advanced.

When the transport vehicle 300 further moves, the third grip portion 356 of the transport vehicle 300 causes the wire grip release plate 128 to move.
After being expanded by a and 128b, it returns to the original position and grips the wire 20 of the movement destination.

Therefore, the transfer vehicle 300 is driven by the wire 20 at the destination and is released from the rotating plate 254, and the branching by the branching transfer mechanism 100 is completed.

17A to 17D show the branch transfer mechanism 10.
9 is a state transition diagram showing a procedure of direction branching of the transfer vehicle 300 by 0. FIG. The source rail (the rail on which the transfer vehicle 300 is currently traveling) is E, and the destination rails (the rail on which the transfer vehicle 300 is about to move) are F, G, and H. The destination rail F is a rail that is orthogonal to the right when viewed from the source rail E. The destination rail G is a rail that is orthogonal to the left as viewed from the source rail E. Destination rail H
Is a rail parallel to the straight traveling direction of the transfer vehicle 300 when viewed from the source rail E. Here, the branching method of the transfer vehicle 300 in the branch transfer mechanism 100 will be described by taking the case where the transfer vehicle 300 turns right from the source rail E to the destination rail F as an example.

First, the transport vehicle 300 travels on the source rail E toward the rotating plate 254 (state of FIG. 17A). Next, the transfer vehicle 300 is pulled in on the rotating plate 254 (state of FIG. 17B). This retraction is performed using the method described above (see FIG. 4). Next, the rotating plate 254 on which the transfer vehicle 300 has been transferred is turned to the right (state of FIG. 17C), and when the rotating plate 254 is aligned with the destination rail F, the rotating plate 254 is rotated. To stop. Further, the transfer vehicle 300 transferred on the rotating plate 254 is sent to the destination rail F. This delivery is performed using the method described above (see U4). In this way, the transport vehicle 30
0 is under the drive of the destination rail F and is released from the rotating plate 254 (state of FIG. 17D).

[0096]

According to the present invention, the first clamping means and the second clamping means which are clamped along the moving direction of the wire are provided. By using the wire, the slack and the like can be avoided, so that the positioning accuracy of the transfer vehicle is improved.

Further, the first clamp means and the second clamp means are self-locked without using a drive source. Therefore, the operation is reliable, the structure is simplified, and the cost is reduced (the inventions of claims 1 and 2).

In this case, since the first clamping means and the second clamping means each have a pair of gears that rotate the pair of eccentric cams in synchronization, the opening and closing of the eccentric cams is surely performed. And at the same time (the invention of claim 3).

Further, since a pair of cam expanding means for forcibly expanding the pair of eccentric cams is provided, if the cam expanding means is set at a desired position, the transfer vehicle will be at that position. It can be detached from the wire (the invention of claim 4).

[Brief description of drawings]

FIG. 1 is a schematic perspective view of a production system according to an embodiment of the present invention.

FIG. 2 is a schematic perspective view illustrating the structure of a branch transfer mechanism.

FIG. 3 is a schematic front view illustrating the structure of a branch transfer mechanism.

FIG. 4 is a schematic plan view illustrating the structure of a rotation mechanism.

FIG. 5 is a schematic perspective view illustrating the structure of a transfer vehicle.

FIG. 6 is a perspective view of relevant parts for explaining the structure of a wire gripping mechanism.

FIG. 7 is a partially omitted plan view illustrating a structure of a wire gripping mechanism.

FIG. 8 is a partially omitted vertical sectional view for explaining the structure of the wire gripping mechanism.

FIG. 9 is a schematic perspective view illustrating the structure of a lifting device.

FIG. 10 is a schematic plan view showing a state in which a claw member of the fixing device is closed.

FIG. 11 is a schematic plan view showing a state in which a claw member of the fixing device is opened.

FIG. 12 is an explanatory diagram of a wire gripping method of the wire gripping mechanism.

13A to 13C are state transition diagrams illustrating a procedure of gripping and releasing a wire.

FIG. 14A and FIG. 14B are schematic plan views illustrating the structures of the work placement plate of the lifting device and the transfer vehicle.

15A and 15B are perspective views illustrating a method of transferring a work between an elevating device and a transfer vehicle.

16A to 16E are state transition diagrams illustrating a work transfer procedure.

17A to 17D are state transition diagrams showing a procedure of direction branching of a transfer vehicle by a branch transfer mechanism.

[Explanation of symbols]

10 ... Production system 12 ... End transfer mechanism 18 ... Rail member 20 ... Wire 100 ... Branch transfer mechanism 128a, 128
b ... Wire gripping open plate 200 ... Rotating mechanism 254 ... Rotating plate 300 ... Transfer vehicle 326a, 326
b ... Work placement plate 350 ... Wire gripping mechanism 352 ... First gripping part 354 ... Second gripping part 356 ... Third gripping part 358 ... Fourth gripping part 360, 362 ...
Cam 378 ... Cam open part 400 ... Elevating device 450 ... Mounting table 458 ... First mounting surface 460 ... Second mounting surface 500 ... Fixing device

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Junichi Nakano             1-10-1 Shinsayama, Sayama City, Saitama Prefecture             Engineering Co., Ltd. F-term (reference) 3C030 AA08 AA15 AA19 DA14 DA21                       DA27 DA36 DA37

Claims (4)

[Claims] 1. A wire gripping device for a transport vehicle, wherein a non-self-propelled transport vehicle is engaged with a moving wire to convey the transport vehicle to a desired position and at the desired position, the transport vehicle is separated from the wire. The wire gripping device has a first clamp means and a second clamp means that are attached to the transfer vehicle, and the first clamp means clamps the wire in the forward direction of the wire and the second clamp means. Clamping means for unclamping the wire in the forward direction of the wire, the first clamping means for unclamping the wire in the reverse direction of the wire and the second clamping means for clamping the wire in the reverse direction of the wire. A wire gripping device for a transfer vehicle, characterized by being clamped. 2. The wire gripping device for a transfer vehicle according to claim 1, wherein the first clamping means includes a pair of first eccentric cams and the pair of first eccentric cams in a normal direction of the wire. A first biasing means for bringing the cam surfaces closer to each other,
The second clamp means includes a pair of second eccentric cams and a second urging means for bringing the pair of second eccentric cams so that the cam surfaces of the pair of second eccentric cams approach each other in the wire reverse direction. Wire gripping device for a transfer vehicle. 3. A wire gripping device for a transfer vehicle according to claim 1 or 2, wherein the first clamping means rotates the pair of first eccentric cams in synchronization.
Wire holding device in a transfer vehicle, wherein the second clamping means has a pair of second gears for synchronously rotating the pair of second eccentric cams. 4. The wire gripping device for a transfer vehicle according to claim 1, further comprising a pair of first cam expanding means for forcibly expanding the first eccentric cam. 1 having and forcibly expanding the second eccentric cam
A wire gripping device in a transfer vehicle, comprising a pair of second cam expanding means.