JP2009274850A - Workpiece moving device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a workpiece moving device and a moving method capable of coping even with the different floor surface height in a processing line and an assembling line, capable of largely reducing workers, capable of safely carrying-in and carrying-out, and capable of standardizing unsteady work such as when a defective product is caused. <P>SOLUTION: This workpiece moving device has a floor part 7 for placing a carrying object E, a moving mechanism 8 having the function of moving the carrying object E up to the floor part 7 from an exclusive carriage AGV or moving the carrying object up to the exclusive carriage AGV from the floor part 7, an outrigger 6 having the function of vertically moving the floor part 7, and a control device 3. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an apparatus for moving a workpiece, such as an engine of a truck, in a production line. More specifically, the present invention carries a workpiece being assembled in a production line from a dedicated unmanned transport cart or the unmanned vehicle. The present invention relates to an apparatus for moving a workpiece that can be carried out to a transport carriage.

For example, in an assembly line for an automobile engine or the like, a workpiece (for example, an automobile engine) is conveyed by an automatic guided vehicle (hereinafter referred to as “AGV”).
In such an assembly line, a work (for example, an automobile engine) determined to be defective due to processing defects or other reasons is carried out of the assembly line using a simple carriage in the middle of the line.
Then, there is a case where the work determined as the defective product is repaired outside the assembly line and is carried into the line again.

However, for example, when a work to be assembled (cargo vehicle engine) is large and heavy, such as an assembly line for a truck engine, a simple truck is used to carry it out of the assembly line by a simple truck. 5 to 6 workers are required, such as a worker who holds the workpiece and a worker who transfers the work from the AGV to the simple cart (by human power).
In the prior art, since the work of carrying out and carrying in the work from the assembly line by the simple carriage is all performed manually by the operator, it is a very dangerous work.

In addition, the height of the floor surface in the processing / assembly line is not necessarily common, and the height of the workpiece mounting surface of the simple carriage and the height of the AGV product mounting surface may not be the same. There is also a problem that it is not always possible to carry out and carry in a workpiece from any position.
Furthermore, as described above, every time a workpiece is transferred from the AGV to the simple cart or a workpiece is transferred from the simple cart to the AGV, 5 to 6 workers are required. Cannot do any other work in the meantime. For this reason, the assembly line must be temporarily stopped during the transfer work (when the workpiece is unloaded and loaded).

  Furthermore, in the prior art, the work procedure for unloading and loading workpieces from the assembly line differs depending on each line and the location in the line. Depending on the case, special jigs and options are prepared for each workpiece (so-called “setup”). Therefore, it is difficult to standardize (so-called “manualization”) in spite of being a dangerous and labor-intensive work.

As another conventional technology, for example, a set of parts that can be assembled to a workpiece is placed so that the parts can be easily and efficiently attached to the workpiece and the assembly line can be made compact. A technique has been proposed in which the parts tray is moved in parallel with the workpiece at the same pitch as the workpiece conveyance pitch and at the same speed as the workpiece conveyance speed (see, for example, Patent Document 1).
However, the related art (Patent Document 1) cannot solve the above-described problems of the prior art.
JP 2004-291170 A

  The present invention has been proposed in view of the above-mentioned problems of the prior art, and can cope with different floor heights in the processing line and the assembly line, and is necessary for the work to carry out and carry in the work from the assembly line. The purpose is to propose a workpiece moving device and a moving method that can greatly reduce the number of persons and can standardize irregular work such as when a defective product occurs.

  An apparatus for moving a workpiece (100) according to the present invention carries an object to be transported (work: E) placed on a dedicated carriage (dedicated unmanned carriage: AGV used in a production line) or is an object to be transported (E). In the apparatus for moving a work to carry the material to the dedicated carriage (AGV), a floor part (7) for placing the object to be transported (E), and a part to be transported (E) from the dedicated truck (AGV) to the floor part (7) Or a moving mechanism (8) having a function of moving from the floor portion (7) to the dedicated carriage (AGV), an outrigger (6) having a function of moving the floor portion (7) up and down, and a control device (3 And the control device (3) operates the outrigger (6) so that the floor portion (7) has the same height as the floor portion (Rc) of the dedicated carriage (AGV) ( E) Machine that makes it movable And a function of moving the object to be conveyed (E) between the floor portion (Rc) of the dedicated carriage (AGV) and the floor portion (7) by the moving mechanism (8). (Claim 1).

  Here, the control device (3) may be, for example, a control device that is remotely operated by an operator, a control panel type (31), or a transport object ( A control device of a type capable of automatically controlling loading and unloading of E) with the dedicated cart (AGV) and the workpiece moving device (100) of the present invention may be used.

  In the present invention, the moving mechanism (8) is provided at the tip of the cylinder (cylinder 81) disposed on the floor portion (7) and extendable to the floor portion (Rc) of the dedicated carriage (AGV). It is preferable that a gripping device (skid leg fixing mechanism 400) capable of being engaged with and disengaged from the transport object (skid leg 802 of the transport object mounting device) is provided (claim 2).

  Furthermore, in the present invention, it is preferable that a coupling device (positioning mechanism 40) for integrally coupling with the dedicated carriage (AGV) at a predetermined relative position is provided.

  Alternatively, in the present invention, a detection device (cylinder rod pull-in confirmation mechanism 300) that detects that the moving mechanism (8) has returned to a predetermined position of the floor portion (7) in a state in which the conveyance object (E) is engaged. And a fixing device (skid leg fixing mechanism 400) for fixing an object to be transported (skid leg 802). The control device (3) includes a moving device (8) to be transported by a detection device (retraction confirmation sensor 302). When it is detected that the object (E) is engaged and returned to a predetermined position of the floor portion (7), the fixing device (skid fixing mechanism 400) is operated to move the object to be conveyed (skid leg 802). It preferably has a fixing function (claim 4).

  In the present invention, the control device (3) is connected to the dedicated cart (AGV) when integrally coupled to the dedicated cart (AGV) at a predetermined relative position by the coupling device (positioning mechanism 40). It is preferable to have a function of releasing the mechanism (unmanned carriage retreat prevention device 200) that restricts the movement of the moving object (E) provided (claim 5).

  In addition to this, the present invention includes a hydraulic pressure generator for operation (actuating the outrigger 6, the retracting cylinder 81, the alignment mechanism 40, the coupling fixing mechanism 70, and the skid leg fixing mechanism 400), and the control device ( 3) preferably has a function of operating and stopping the operating hydraulic pressure generator (21) (claim 6).

  In this invention, it is preferable that the said conveyance target object (E) is the engine for lorries mounted on the exclusive stand (skid 801) in the state upside down from the time of completion (Claim 7).

  The workpiece moving method using the workpiece moving device of the present invention described above (the workpiece moving device 100 of claims 1 to 7) is placed on a dedicated carriage (a dedicated unmanned carriage used in a production line: AGV). In the workpiece moving method for carrying the object to be transported (work E) into the workpiece moving device of the present invention (the workpiece moving device 100 of claims 1 to 7), the above-described workpiece moving device of the present invention (claims 1 to 7). 7, the workpiece moving device 100) and the dedicated carriage (AGV) are integrally coupled by a coupling device (positioning mechanism 40) (S 2), and the workpiece moving device ( The floor portion (7) of the workpiece moving device (100) according to claims 1 to 7 is moved up and down to be flush with the floor portion (Rc) of the dedicated carriage (AGV) so that the transfer object (E) can be moved. Process (S ) And the object to be transported (E) placed on the floor portion (Rc) of the dedicated carriage (AGV) by the moving mechanism (8), the workpiece moving device of the present invention (the workpiece moving device of claims 1 to 7). And 100) a floor portion (7) (S11).

  In addition, the workpiece moving method using the workpiece moving device of the present invention (the workpiece moving device 100 of claims 1 to 7) described above is the workpiece moving device of the present invention (work moving device 100 of claims 1 to 7). In the workpiece movement method for carrying the object to be conveyed (work E) placed on the dedicated carriage (AGV), the workpiece movement device of the present invention described above (the workpiece movement device 100 of claims 1 to 7) and A step (S2) of integrally connecting the dedicated carriage (AGV) with a connecting device (positioning mechanism 40) and a workpiece moving device according to the present invention (for moving the workpiece according to claims 1 to 7) by an outrigger (6). A step (S4) in which the floor portion (7) of the apparatus 100) is moved up and down to make the transfer target (E) movable on the same plane as the floor portion (Rc) of the dedicated carriage (AGV); ) The moving object (E) placed on the floor portion (7) of the workpiece moving device (the workpiece moving device 100 of claims 1 to 7) is moved to the floor portion (Rc) of the dedicated carriage (AGV). Step (S7). (Claim 9).

  In the work moving method of the present invention, the transport object (E) is preferably a truck engine mounted on a dedicated table (skid 801) in a state opposite to that at the time of completion.

According to the present invention having the above-described configuration, the transfer object (E) is moved by the moving mechanism (8) in the dedicated carriage (AGV) and the workpiece moving device (100) of the present invention. Since the mechanism (8) is operated by a hydraulic motor or the like, for example, even a heavy transport object such as a large engine can be moved with a small number of workers. Therefore, the work efficiency in the moving work is improved.
In addition, a large number of workers are not required for the moving work, and it is not necessary to stop the manufacturing line every time the moving work is performed, so that the work efficiency of the entire manufacturing line is improved.
Further, according to the present invention, the movement of the object to be transported, which has been performed by an operator in the prior art, can be mechanized, and thus the safety in the moving work can be improved.

  Further, according to the present invention, the outrigger (6) is operated to convey the floor portion (7) of the workpiece moving device (100) of the present invention and the floor portion (Rc) of the dedicated carriage (AGV) on the same plane. Since the object (E) is configured to be movable, the object to be conveyed between the dedicated carriage (AGV) and the workpiece moving apparatus (100) of the present invention at an arbitrary position on the production line. Is movable.

In addition, special jigs and options are prepared for each conveyance object when the conveyance object (E) is moved between the workpiece movement device (100) of the present invention and the dedicated carriage (AGV). (So-called “setup” is not necessary).
Therefore, it is possible to standardize or standardize (manualize) the above-mentioned moving work which is an unsteady work.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
An apparatus 100 for moving a workpiece according to the present invention includes a conveyance object (hereinafter referred to as “work”) E placed on a dedicated carriage (dedicated unmanned carriage used in a production line: hereinafter referred to as “AGV”) E. Or a work E for unloading the workpiece E to the AGV.
The symbol Rc in the AGV indicates a roller conveyor provided in the AGV, and the surface described as “AGV floor” means the upper surface of the roller conveyor Rc.
In the accompanying drawings showing the illustrated embodiment, the AGV or AGV portion is indicated by a two-dot chain line.

First, the workpiece moving apparatus 100 will be described with reference to FIGS.
1 to 3, a workpiece moving device 100 includes a frame 1, a hydraulic pressure generator mounting portion 2 fixed to a rear end of the frame 1, that is, a right end in FIGS. 1 and 2, and a control device 3. ing. The control device 3 has a control panel 31 and a remote controller 32.

As shown in FIGS. 1 to 3, the control device 3 is not limited to the type including the control panel 31 and the remote controller 32. For example, it may be a control device that is remotely operated by an operator, a unit (so-called “computer”) type having an information processing function, or a type that can be automatically controlled.
In other words, the type of control device is not particularly limited as long as it is possible to control the movement of the workpiece E by the AGV and the workpiece moving device of the present invention. .

Here, the left side of FIGS. 1 and 2 is defined as the front end (or “front”) of the workpiece moving device 100, and the right end of FIGS. 1 and 2 is defined as the rear end (or “rear”) of the workpiece moving device 100. Define.
1 indicates a center line of the workpiece moving apparatus 100 in the width direction.

In the vicinity of the four corners of the frame 1, recesses 11 whose lower side is open are formed as shown in FIG. 2. A wheel 4 is attached to each of the hollow portions 11.
An oil tank 12 is attached to the center lower portion of the frame 1, and the oil stored in the oil tank 12 is used in a later-described hydraulic pressure generator.

In FIG. 1, a hydraulic pressure generator 21 and a plurality of solenoid valves 22 are mounted on the hydraulic pressure generator mounting portion 2, and the solenoid valve 22 controls hydraulic equipment (for example, various hydraulic cylinders) to be described later.
Although not explicitly shown in FIGS. 1 and 2, the hydraulic pressure generating device 21 is, for example, an electric motor driven hydraulic pump.
At the rear end (right end in FIG. 2) of the hydraulic pressure generator mounting portion 2, a handle 23 for an operator to manually push the workpiece moving device 100 is provided. In FIG. A power supply device 24 is mounted on the right side.

In FIG. 1, a pair of auxiliary wheels 5 are provided at the lower portion of the hydraulic pressure generator mounting portion 2.
The auxiliary wheel 5 is provided so that the ground contact portion thereof is flush with the ground contact portions of the four wheels 4 in the frame 1. In other words, the grounding portion of the auxiliary wheel 5 and the grounding portions of the four wheels 4 in the frame 1 are configured to be flush with each other.

The work moving device 100 is provided with a total of four outriggers 6. The outriggers 6 are disposed on the left and right side portions in the vicinity of the connection portion between the left and right side portions at the left end of the frame 1 and the frame 1 of the hydraulic pressure generator mounting portion 2 in FIG.
The outrigger 6 communicates with the solenoid valve 22 through a hydraulic pipe (not shown). By controlling the opening and closing of the solenoid 22, the oil boosted by the hydraulic pressure generator 21 is supplied to the outrigger 6 or is shut off. Six legs 61 (see FIG. 3) are configured to expand and contract.
2 and 5 show a state in which the leg 61 is extended with the outrigger 6 in contact with the ground, and the wheel 4 and the auxiliary wheel 5 are separated from the floor surface F. FIG.

Above the frame 1, a plurality of rows of rollers are arranged in the front-rear direction (left-right direction in FIGS. 1 and 2) to form a roller conveyor 7.
In this specification, the upper surface in FIG. 2 of the roller conveyor 7 may be described as a “floor surface” of the workpiece moving device 100.

A moving mechanism 8 is provided above the roller conveyor 7, and the moving mechanism 8 moves the work (cargo vehicle engine in the illustrated embodiment) E from the unmanned carriage AGV to the work moving device 100, or This is a device for moving the workpiece E from the workpiece moving apparatus 100 to the AGV.
The moving mechanism 8 includes a retraction hydraulic cylinder (hereinafter referred to as “retraction cylinder”) 81 having a long stroke, and the retraction cylinder 81 has a center in the width direction center line Lc of the workpiece moving device 100. It is arranged to match up.
A skid leg fixing mechanism 9 is attached to the tip of the rod 82 (see FIG. 4) of the pull-in cylinder 81, and the skid leg fixing mechanism 9 is engaged with a skid leg 802 of a transfer object placing device 800 described later. It is possible and can be disengaged.
The skid leg fixing mechanism 9 will be described later with reference to FIGS. 13 and 14.

In FIG. 1, reference numeral 50 denotes an unmanned carriage connection confirmation mechanism, reference numeral 60 denotes a floor surface coincidence confirmation mechanism, reference numeral 70 denotes a connection fixing mechanism, reference numeral 200 denotes an unmanned carriage reverse prevention device, and reference numeral 300 denotes a cylinder. A rod pull-in confirmation mechanism is shown. Reference numeral 400 denotes a skid leg fixing mechanism.
In FIG. 2, reference numeral 40 denotes an alignment mechanism, and reference numeral 800 denotes a conveyance object placing device.

In the state shown in FIGS. 4 and 5, the rod 82 of the drawing cylinder 81 is extended to a position for clamping the workpiece placed on the AGV, and the workpiece E is fixed by the skid leg fixing mechanism 9. The manner of fixing the workpiece E by the skid leg fixing mechanism 9 will be described later with reference to FIGS.
The reverse prevention block denoted by reference numeral 201 in FIG. 5 will also be described later with reference to FIGS. 15 and 16.

6 and 7 show details of the alignment mechanism 40. FIG. The alignment mechanism 40 is equipped with a pair of left and right at the front end of the workpiece moving device 100. The alignment mechanism 40 has a function of matching the position in the width direction (vertical direction in FIG. 4, horizontal direction in FIG. 6) of the unmanned carriage AGV with the position in the width direction of the workpiece moving device 100.
As shown in FIGS. 6 and 7, the alignment mechanism 40 has a hydraulic cylinder 41 and a positioning pin 42, and the positioning pin 42 constitutes the rod tip of the hydraulic cylinder 41.
In the state shown in FIG. 7, the positioning pin 42 is inserted into the vertical groove Bc formed in the positioning block B of the AGV. In this state, the position of the workpiece moving device 100 in the width direction (the vertical direction in FIG. 4, the horizontal direction in FIG. 6, the direction perpendicular to the paper surface in FIG. 7) and the position in the width direction of the unmanned carriage AGV coincide.

The tip of the positioning pin 42 is pointed in a substantially conical shape, and the displacement of the AVG and the workpiece moving device 100 in the width direction (vertical direction in FIG. 4, horizontal direction in FIG. 6, direction perpendicular to the paper surface in FIG. 7) The correction is forcibly corrected by pushing the pin 42 into the groove Bc of the positioning block.
The state shown in FIGS. 6 and 7 is immediately after the positioning in the width direction (vertical direction in FIG. 4, horizontal direction in FIG. 6, direction perpendicular to the paper surface in FIG. 7) is completed, and the leg 61 of the outrigger 6 is grounded. Not done. In other words, in the state shown in FIGS. 6 and 7, the height of the AGV floor (that is, the height of the upper surface of the roller conveyor Rc) and the floor surface of the workpiece moving device 100 (that is, the upper surface of the roller conveyor 7). The height does not match.

In FIG. 1, an unmanned cart connection confirmation mechanism (hereinafter referred to as “connection confirmation mechanism”) 50 is provided at the front end portion of the frame 1 of the workpiece moving device 100. The details of the connection confirmation mechanism 50 are shown in FIG.
In FIG. 8, the connection confirmation mechanism 50 includes a connection confirmation rod 51, a magnetic sensor 52, a stay 53 that supports the magnetic sensor, and a return spring 54.
The connection confirmation rod 51 includes a rod main body 51a, a return spring locking member 51b, and a magnetic body 51c attached to the rear end (right end in FIG. 8) of the rod main body.

In FIG. 8, the magnetic sensor 52 is supported on the back side of the front end member 13 of the frame 1 (see FIG. 1) by an L-shaped stay 53.
The magnetic sensor 52 is connected to the control panel 31 (see FIG. 1) via a line (not shown), and is configured to detect whether the sensor head 52h is closest to the magnetic body 51c.
When the AGV is connected to the workpiece moving device 100, the rod body 51a is pressed by the AGV as shown in FIG. 8 and moves to the right in FIG. 8, and the sensor head 52h comes closest to the magnetic body 51c. The magnetic sensor 52 detects that the sensor head 52h is closest to the magnetic body 51c, and transmits the fact to the control panel 31 via a line (not shown). The AG 31 is connected to the workpiece moving device 100 in the control panel 31. It is judged that.

The connection confirmation rod 51 is attached through the frame front end member 13 and the stay 53.
As described above, FIG. 8 shows a state in which the AGV is connected to the workpiece moving device 100, and the tip of the rod body 51a of the connection confirmation rod 51 is in contact with the wall surface of the AGV. In the state shown in FIG. 8, the return spring 54 is compressed between the locking member 51 b of the rod 5 and the stay 53.

FIG. 9 shows a state where the leg 61 of the outrigger 6 is extended.
The height direction (up and down direction in FIGS. 2 and 9) position (the floor surface of AGV) on the upper surface of the roller bearing Rc (see FIGS. 1 and 2) of the AGV and the height of the upper surface of the roller conveyor 7 of the workpiece moving device 100 The leg 61 is extended to match the direction (vertical direction in FIGS. 2 and 9) position (the floor surface of the workpiece moving device 100).
In the state of FIG. 9, as described above with reference to FIG. 7, the positioning pin 42 is inserted into the groove Bc of the positioning block of the AGV.

10 and 11 show the floor surface coincidence confirmation mechanism 60.
The floor surface coincidence confirmation mechanism 60 includes a height direction (vertical direction in FIG. 2) position (AGV floor surface) on the upper surface of the roller bearing Rc (see FIGS. 1 and 2) of the AGV, and a roller conveyor of the workpiece moving device 100. 7 is a device for confirming that the height direction (the vertical direction in FIG. 2) position (the floor surface of the workpiece moving device 100) of the upper surface matches.
As shown in FIG. 11, the floor surface coincidence confirmation mechanism 60 includes a sensor 61, a sensor mounting member 62, a height direction position confirmation plate 63, a hinge bracket 64, a hinge pin 65, a return spring 66, and a spring end. Part locking member 67.
The hinge bracket 64 is attached to the end surface of the frame front end member 13.

The sensor 61 may be composed of a magnetic sensor similarly to the connection confirmation sensor 52, or may be composed of known detection means other than the magnetic sensor. The sensor 61 is attached to the upper surface of the frame front end member 13 by a sensor attachment member 62.
The sensor 61 is connected to the control panel 31 via a line (not shown), and a judgment unit (not shown) of the control panel 31 is configured to judge that the floor surfaces coincide when the signal generated by the sensor 61 becomes maximum. Yes.

The height direction position confirmation plate 63 is formed in a substantially triangular shape, and the plate width increases toward the upper side of FIG. The tip 63b of the hypotenuse 63a of the height direction position confirmation plate 63 is formed to be smoothly rounded. On the other hand, a defect portion G is formed at a predetermined upper position on the vertical plane D of the AGV on the workpiece moving device 100 side.
The tip 63b of the hypotenuse 63a of the height direction position confirmation plate 63 and the AGV defect portion G are arranged such that the tip 63b fits into the defect portion G when the floor surface of the AGV and the floor surface of the workpiece moving device 100 coincide. The position in the height direction is set.
When the leg 61 (FIG. 9) is extended and the workpiece moving device 100 side is raised, and the apex 63b of the hypotenuse 63a of the height direction position confirmation plate 63 reaches the height of the AGV defect G, the elastic repulsion of the return spring 66 occurs. The vertex 63b is inserted into the AGV defect G by the force. When the apex 63b is inserted into the defect portion G, the signal transmitted by the sensor 61 is maximized, and the judgment unit (not shown) of the control panel 31 indicates that the floor surface of the AGV and the floor surface of the workpiece moving device 100 coincide. to decide.

FIG. 12 shows a coupling and fixing mechanism 70. The coupling and fixing mechanism 70 is connected when the width direction (left and right direction) position and the vertical direction position of the AGV and the workpiece moving apparatus 100 are aligned (matched). The AGV and the workpiece moving device 100 are provided so as not to move.
In FIG. 12, the connecting and fixing mechanism 70 includes a clamp member 71, a clamp cylinder 72, a cylinder rod 73, a clevis 74, a lever 75, a lever pin 76, and a lever bracket 77.

A clevis 74 is fixed to the tip of the cylinder rod 73 by a known means such as a screw.
The clevis 74 is rotatably engaged with the small diameter end of the lever 75 by a clevis pin 74P.
The large-diameter end of the lever 75 and the clamp member 71 are fixed by a lever pin 76, and the lever pin 76 is pivotally supported by a lever bracket 77.

In FIG. 12, a clamp member 71 indicated by a solid line is engaged with (clamped to) the positioning block B of the AGV and fixed. In a state where the clamp member 71 is engaged with the positioning block B of the AGV, the cylinder rod 73 moves forward.
In FIG. 12, a clamp member 71 indicated by a two-dot chain line indicates a state in which the cylinder rod 73 is retracted and the clamp of the AGV positioning block B is released.

The clamping cylinder 72 is provided with a position sensor 78A that detects that the rod 73 has moved forward and a position sensor 78B that detects that the rod 73 has moved backward.
Although not shown, the cylinder 72 communicates with the solenoid valve 22 through a hydraulic pipe (not shown), and the solenoid 22 is connected to the control device 3.

After confirming that the height of the floor surface of the AGV and the height of the floor surface of the workpiece moving device coincide with each other by a signal from the sensor 61 of the floor surface coincidence confirmation mechanism 60 (see FIG. 10), the control device 3 (see FIG. 1). ) Sends a control signal to the solenoid 22 to advance the cylinder 72 (FIG. 12).
As the cylinder 72 (FIG. 12) moves forward, the clamp member 71 swings and engages (clamps) with the positioning block B of the AGV to fix the AGV and the workpiece moving device 100.

The skid leg fixing mechanism 9 at the tip of the rod 82 of the hydraulic cylinder 81 shown in FIG. 5 will be described in detail with reference to FIGS.
First, before explaining the skid leg fixing mechanism 9, a transport object placing device 800 (see FIG. 5) for placing and moving a work will be explained.

5 and 14, when moving the assembly line of the truck engine, which is the work E, by the unmanned carriage AGV, the engine E is an upper surface of four plate-like members (hereinafter referred to as “skid”) 801. In addition, it is placed in an upside-down state (inverted state).
The four skids 801 are arranged so as to abut against the four corners of the upper end surface of the cylinder block of the engine (not shown). As shown in FIG. 14, each of the four skids 801 has a lower surface side. A skid leg 802 is fixed to the side opposite to the engine mounting surface.

13 and 14, a skid leg sled 803 having an L-shaped cross section is connected to the lower end portion of the skid leg 802. Here, the sled 803 extends in the front-rear direction (left-right direction in FIG. 5) and is connected to the two skid legs 802. In other words, the four skid legs 802 of the skid 801 are connected to the sled 803 for two skid legs.
The two skid leg sleds 803 are configured to slide on the floor surface (roller conveyor 7) of the workpiece moving device 100 and the floor surface of the AGV (roller conveyor Rc).

The skid leg fixing mechanism 9 includes a plate-shaped member 91, two shafts 92, two skid leg fixing arms 93, two pairs of bearings 94, a hydraulic cylinder 95, a skid leg detection sensor 96, Link mechanism.
One end of the skid leg fixing arm 93 is fixed to the shaft 92, and a U-shaped recess 93u is formed at the center of the other end. On the other hand, when the hydraulic pressure is applied to the hydraulic cylinder 95, the shaft 92 operates a link mechanism (not shown) so that the right shaft 92 in FIG. 14 rotates clockwise and the left shaft 92 rotates counterclockwise. It is configured.

With the rotation of the shaft 92, the skid leg fixing arm 93, which is vertically upward in FIG. 14 when not in operation (in the state of the two-dot chain line), moves toward the skid leg 802 as shown by the solid line in FIG. Rotate to collapse. When the skid leg fixing arm 93 rotates so as to fall down toward the skid leg 802, the skid leg 802 engages with the recess 93 u of the skid leg fixing arm 93.
The skid leg detection sensor 96 is configured to detect that the skid leg 802 and the recess 94u of the skid leg fixing arm 93 are engaged.

A total of four hangers 97 are fixed to the lower surface side of the plate-like member 91 in the front-rear and left-right directions. The hanger 97 is connected to one sled 98 as a pair of two hangers 97 arranged in the front-rear direction (left-right direction in FIG. 13).
The lower surface of the sled 98 comes into contact with the upper surface of the AGV roller conveyor Rc or the upper surface of the roller conveyor 7 of the workpiece moving device 100 and slides on the roller conveyor Rc or the roller conveyor 7.
The sled 98 supports the skid leg fixing mechanism 9 having a large mass and the cylinder rod 82 to which the sled 98 is attached. The sled 98 is supported by the roller conveyor Rc or the roller conveyor 7.

In FIG. 1, an unmanned carriage retreat prevention device 200 is provided in the vicinity of a connection portion between the unmanned carriage AGV and the workpiece moving device 100.
15 and 16 show an unmanned carriage retreat prevention device 200 and a retraction prevention function release confirmation mechanism 210.
The unmanned carriage retreat prevention device 200 is a device for preventing the skid 801 on which the engine E is mounted from moving from the AGV side to the workpiece moving device 100 side.
The reverse prevention function release confirmation mechanism 210 releases the state where the skid 801 on which the engine E is mounted is prevented from moving from the AGV side to the workpiece moving device 100 side by the unmanned carriage reverse prevention device 200, The mounted skid 801 can move from the AGV side to the workpiece moving device 100 side.

15 and 16, the unmanned carriage retreat prevention apparatus 200 includes an apparatus (shown by a two-dot chain line in FIGS. 15 and 16) installed on the unmanned carriage AGV side, and an apparatus installed on the workpiece moving apparatus 100 side ( 15 as a device equipped on the unmanned carriage AGV side, and includes a reverse prevention block 201 and a sub-block 202, and as a device equipped on the workpiece moving device 100 side, the backward prevention Cylinder 205, cylinder rod 206 of cylinder 205, and rod guide 207.
The reverse movement prevention cylinder 205 is provided with a position sensor 208A that detects that the cylinder rod 206 has moved forward, and a position sensor 208B that detects that the cylinder rod 206 has moved backward.

The retreat prevention block 201 is a plate-like member having a predetermined thickness, and is inclined so as to decrease the plate width as the end surface 201a on the side away from the workpiece moving device 100 (the left end side in FIG. 16) becomes lower. In FIG. 16, the upper edge of the end surface 201a is rounded.
The side surface of the sub block 202 is L-shaped, and the back surface 202b is disposed on the side close to the workpiece moving device 100 (right side in FIG. 16).
The retreat prevention block 201 has a rotating shaft 203 that extends in a direction perpendicular to the paper surface of FIG. 16 and penetrates the block 201. Similarly, the sub-block 202 has a rotating shaft 204 that extends in a direction perpendicular to the paper surface of FIG. These two rotating shafts 203 and 204 are parallel to each other, and are also parallel to the central axis of the rollers constituting the roller conveyor Rc of the unmanned carriage.

The rod 206 of the retreat preventing cylinder 205 is slidably supported by a rod guide 207 fixed to the frame front end member.
When the cylinder 205 is extended, the tip of the rod 206 of the retraction preventing cylinder 205 abuts above the back surface 202b of the sub block 202 as shown in FIG.

In order to prevent the skid 801 on which the engine E is mounted from moving from the AGV side to the workpiece moving device 100 side by the retreat prevention device 200, first, it is indicated by an arrow P in FIG. In this manner, the back-prevention block 201 is pressed so that the back-prevention block 201 is changed from the “sleeping” state as shown in FIG. 16 to the state shown in FIG. 5 (the “raised” state). At that time, the backward movement prevention block 201 rotates clockwise, a part of the backward movement prevention block 201 comes into contact with the sub block 202, and the sub block 202 rotates counterclockwise.
In this state, the tip 206t of the rod 206 is brought into contact with the upper surface of the back surface 202b of the sub block 202 to prevent the sub block 202 from rotating clockwise.
As a result of the clockwise rotation of the sub-block 202 being prevented, the anti-retraction block 201 is held in the “raised” state as shown in FIG. 801 is prevented from moving from the AGV side to the workpiece moving device 100 side.

When canceling the operation of the backward movement prevention device 200, the rod 206 of the backward movement prevention cylinder 205 is moved backward. Then, with the operator's finger or some tool, the retraction prevention block 201 is pressed as shown by the arrow R in FIG. 16, and the retraction prevention block 201 is shown in FIG. 16 from the “raised” state shown in FIG. Return to the “sleeping” state.
If the reverse movement prevention block 201 is in the “sleeping” state as shown in FIG. 16, the sled 98 is shown in FIG. 5 when the skid 801 with the engine E is moved from the AGV side to the workpiece moving device 100 side. Therefore, it moves smoothly toward the workpiece moving device 100 without engaging with the retreat prevention block 201.
Although not shown in the drawing, the sub-block 202 is biased in the clockwise direction, and when the operation of the backward movement prevention device 200 is released, the sub-block 202 rotates clockwise and at a predetermined position. Stop.

In FIG. 15, the backward movement prevention function release confirmation mechanism 210 includes a sensing rod 211, a release confirmation sensor 212, a sensing rod guide 213, and a return spring 214.
The configuration shown in FIG. 15 is substantially the same as the configuration of the connection confirmation mechanism 50 described above with reference to FIG. 8, and the operation thereof is also the same as the operation of the connection confirmation mechanism 50. That is, while the backward movement prevention device 200 is operating, the sensor 212C is in a position indicated by a dotted line in FIG. 15 (a position not directly below the release confirmation sensor 212), and the release confirmation sensor 212 senses the sensor 212C. No release signal is sent.
When the skid prevention device 200 is released and the skid 801 on which the engine E is mounted becomes movable toward the workpiece moving device 100, the sub-block 202 rotates clockwise, and the sensing rod 211 and the sensor 212C are moved to the right in FIG. Move in the direction and place it at the position indicated by the solid line. As a result, the sensor 212C is positioned directly below the release confirmation sensor 212, and the release confirmation sensor 212 senses the sensor 212C and transmits a release signal.

FIG. 17 shows a cylinder rod retraction confirmation mechanism 300 (see FIG. 1) for confirming that the rod 82 of the retraction cylinder 81 of the moving mechanism 8 has retracted.
In FIG. 17, the cylinder rod pull-in confirmation mechanism 300 includes a pull-in confirmation rod 301, a magnetic sensor 302, rod guides 303 </ b> A and 303 </ b> B, and a return spring 304. The rod guide 303A is formed in a cylindrical shape with a flange, and the rod guide 303B is constituted by a plate material bent in an L shape. The rod guides 303A and 303B are both attached to the rear end (right end in FIG. 1) of the horizontal member 14 at the rear of the frame 1 (right side in FIG. 1).

Both rod guides 303A and 303B are formed with through holes, and the pull-in confirmation rod 301 is configured to pass through the through holes and slide freely.
A magnetic material 301c is fixed in the center of the pull-in confirmation rod 301, and a return spring 304 is interposed between the magnetic material 301c and the rod guide 303B.

In FIG. 17, the rod 82 of the retracting cylinder 81 of the moving mechanism 8 moves backward so that the rear end of the skid leg sled 803 of the transfer object placing device 800 is just before the horizontal member 14 at the rear portion of the frame in the work moving device 100. It shows the reached state. In this state, the tip 301a of the confirmation rod 301 is in contact with the rear end of the skid leg sled 803, and the magnetic material 301c of the confirmation rod 301 and the head 302h of the magnetic sensor 302 are at the closest distance. In this state, the magnetic sensor 302 outputs a detection signal.
If the skid leg sled 802 moves forward and the rod 82 of the retracting cylinder 81 moves forward (moves leftward in FIG. 17), the confirmation rod 301 is moved leftward in FIG. Extruded.

FIG. 18 shows a skid leg fixing mechanism 400 that fixes the skid leg 802 in a predetermined position.
In FIG. 18, the skid leg fixing mechanism 400 includes a skid leg fixing cylinder 401, a cylinder rod 402, a cylinder mounting bracket 403, and a rod guide 404.
The skid leg fixing cylinder 401 is provided with a position detection sensor 405A for detecting that the cylinder rod 402 has moved forward and a position detection sensor 405B for detecting that the cylinder rod 402 has moved backward.

The cylinder mounting bracket 403 is fixed to the upper surface of a side member (not shown) of the frame 1 in the workpiece moving device 100, and is configured to mount the flange portion of the skid fixing cylinder 401.
The rod guide 404 has a cylindrical portion, is fixed integrally with the cylinder mounting bracket 402, and is configured such that the cylinder rod 402 slides in the cylindrical portion of the rod guide 404.

  In FIG. 18, the control panel 31 (FIG. 1) that has received the detection signal from the retraction confirmation sensor 302 (FIG. 17) of the cylinder rod retraction confirmation mechanism 300 transmits a control signal to the solenoid valve 22 (FIG. 1). Hydraulic pressure is sent to the skid fixing cylinder 401 (FIG. 18). When pressure oil is supplied to the cylinder 401, the cylinder rod 402 expands, and its tip 402 t is in front of the skid leg 802 (to the left in FIG. 18) and is closer to the workpiece moving device 100 than the skid leg 802. It protrudes to a position near the center line, restrains the skid leg 802, and prevents the transfer object placing device 800 from moving forward (leftward in FIG. 18).

Next, with reference to the flowchart of FIG. 19, a work procedure for transferring the workpiece (conveyance target) E from the unmanned carriage AGV to the workpiece moving device 100 and carrying the conveyance target E out of the line will be described.
In the stage before reaching step S1 in FIG. 19, the workpiece moving device 100 is on the right side of the unmanned carriage AGV in FIG.
In step S1, the worker pushes the handle 23 of the work moving device 100 to bring the work moving device 100 closer to the right end of the unmanned carriage AGV, and activates the control panel 31 and the remote controller 32 of the control device 3.

In step S2, the AGV and the workpiece moving device 100 are brought into contact with each other, and as shown in FIGS. 7 and 8, the positioning pin 41 of the positioning mechanism 40 is formed in the groove Bc formed in the positioning block B of the AGV by the hydraulic cylinder 42. Push into.
Accordingly, the AGV and the workpiece moving device 100 are aligned with each other in the width direction or the left-right direction, and the AGV and the workpiece moving device 100 are set.

In step S3, the magnetic sensor 52 of the connection confirmation mechanism 50 described with reference to FIG. 8 detects that the AGV and the workpiece moving device 100 have been aligned in the width direction (left-right direction). This detection information is transmitted to the control panel 31, and the control panel 31 sends a control signal to the solenoid valve 22.
In step S4, the solenoid valve 22 is controlled to open and close, and the hydraulic pressure generated by the hydraulic pressure generator 21 is sent to the outrigger 6.
When the hydraulic pressure is supplied, the outrigger 6 extends (or contracts), and the height direction between the floor surface of the AGV (the upper surface of the roller conveyor Rc) and the floor surface of the workpiece moving device 100 (the upper surface of the roller conveyor 7). Are aligned.

In step S5, the outrigger 6 is extended by a predetermined distance, and the AGV floor surface and the floor of the workpiece moving apparatus 100 are detected by the height direction position confirmation plate 63 and the sensor 61 in the floor surface coincidence confirmation mechanism 60 shown in FIGS. It is confirmed that the surface matches.
Information indicating that the floor surface of the AGV and the floor surface of the workpiece moving device 100 coincide with each other is sent to a determination unit (not shown) provided on the control panel 31.

In step S6, a control signal is transmitted from the control panel 31 to the solenoid valve 22 on the basis of information indicating that the floor surface of the AGV and the floor surface of the workpiece moving device 100 in step S5 coincide with each other. Hydraulic pressure is sent to the clamping cylinder 72 of the mechanism 70.
When the hydraulic pressure is supplied to the cylinder 72, the cylinder rod 73 moves forward, the clamp member 71 swings, and the clamp member 71 engages (clamps) with the positioning block B of the AGV. Consolidation is complete.
Information on the completion of connection between the AGV and the workpiece moving device 100 is sent to the control panel 31 by the position sensor 78A of the connection fixing mechanism 70.

In step S7, a control signal is sent from the control panel 31 to the solenoid valve 22, hydraulic pressure is sent to the drawing cylinder 81 (see, for example, FIG. 1), and the cylinder rod 82 extends.
In step S8, as shown in FIGS. 13 and 14, the skid leg fixing arm 93 has been advanced to the position of the skid leg 802 by the skid leg detection sensor 96 of the skid leg fixing mechanism 9 provided at the tip of the cylinder rod 82. Is detected.
In step S9, the hydraulic pressure is sent to the skid leg fixing hydraulic cylinder 95, the link mechanism (not shown) is operated, and the skid leg fixing arm 93 falls to the skid leg 802 side as shown by the arrow Y in FIG. The skid leg 802 is engaged with the recess 94u of the skid leg fixing arm 93. This engagement completes the fixing of the skid leg 802.

In the next step S10, the unmanned carriage retraction preventing device 200 shown in FIGS. 15 and 16 is released, and the transfer object placing device 800 on which the engine E is placed is made movable to the workpiece moving device 100 side.
In step S11, the rod 82 of the drawing cylinder 81 is retracted, and the conveyance object placing device 800 on which the engine E as a workpiece is placed is drawn to the workpiece moving device 100 side.
In step S12, FIG. 17 shows that the retracting cylinder 81 has retracted to a predetermined position (the transfer object mounting device 800 on which the engine E is mounted has been retracted to a predetermined position on the workpiece moving device 100 side). This is confirmed by a retraction confirmation sensor 302 of the cylinder rod retraction confirmation mechanism 300.

  Then, in step S13, the control panel 31 having obtained the confirmation information transmits a control signal to the solenoid valve 22, and supplies hydraulic pressure to the skid leg fixing cylinder 401 of the skid leg fixing mechanism 400 shown in FIG. When the hydraulic pressure is supplied, the rod 402 of the skid leg fixing cylinder 401 moves forward, and the skid leg 802 is fixed so as not to move in the front-rear direction (the longitudinal direction of the AGV and the workpiece moving device 100). At this time, the position sensor 405A transmits to the control panel 31 that the rod 402 of the skid leg fixing cylinder 401 has advanced to a predetermined position and the fixing of the skid leg 802 (in the front-rear direction) has been completed.

In step S14, the control panel 31 sends a control signal to the solenoid valve 22, retracts the rod 73 of the clamp cylinder 72 in the coupling and fixing mechanism 70 shown in FIG. 12, and rotates the clamp member 71 in the clamp release direction. The connection state between the unmanned carriage AGV and the workpiece moving device 100 is released.
In step S15, the workpiece moving device 100 on which the engine E is mounted is unloaded from the assembly line, and the unloading operation is completed.

  In order to move the engine E, which has been repaired in the area outside the assembly line, to the AGV from the state of being placed on the workpiece moving device 100 in order to return it to the assembly line, the operation described above with reference to FIG. You can do it.

    According to the illustrated embodiment described above, the moving mechanism 8 that moves the conveyance object E between the dedicated carriage AGV and the workpiece moving device 100 is operated by, for example, a hydraulic motor, and thus, like a large engine. Even a heavy transport object can be transported (the transport object E between the dedicated carriage AGV and the workpiece moving apparatus 100) with a small number of workers. Therefore, the work efficiency in the moving work (work for moving the conveyance object E between the dedicated carriage AGV and the work moving device 100) is improved.

  Further, since many workers are not required for the moving work, it is not necessary to stop the operation on the assembly line every time the moving work is performed. As a result, the work efficiency of the entire assembly line is also improved.

  Further, according to the workpiece moving apparatus 100 of the illustrated embodiment, the movement of the transfer object (conveyance object E between the dedicated carriage AGV and the workpiece moving apparatus 100, which has been performed manually by the operator in the prior art). ) Can be mechanized, so that safety in the moving operation can be improved.

  Furthermore, according to the workpiece moving device 100 of the illustrated embodiment, the outrigger 6 is actuated so that the conveying object E can be moved with the floor portion 7 of the workpiece moving device 100 and the floor portion Rc of the dedicated carriage AGV being flush with each other. Since it is comprised so that it may be made to show, it becomes possible to move the conveyance target E between the dedicated trolley AGV and the workpiece moving apparatus 100 at an arbitrary position on the production line.

  In addition, according to the illustrated embodiment, a special jig or option is prepared for each conveyance object when the conveyance object E is moved between the workpiece moving device 100 and the dedicated carriage AGV ( So-called “setup” is not necessary). Therefore, it is possible to standardize or standardize (manualize) the above-described moving work that is an unsteady work (work that moves the conveyance object E between the dedicated carriage AGV and the work moving device 100).

  It should be noted that the illustrated embodiment is merely an example, and is not a description to limit the technical scope of the present invention.

The top view of the workpiece moving apparatus which concerns on embodiment of this invention. The side view corresponding to FIG. The front view corresponding to FIG. 1, FIG. The top view which shows the mode which advanced the rod of the drawing cylinder in FIG. FIG. 5 is a side view corresponding to FIG. 4. The side view of the alignment mechanism used by embodiment. FIG. 7 is a front view corresponding to FIG. 6. The side view of the unmanned cart connection confirmation mechanism used in an embodiment. The front view explaining the action | operation of the outrigger in embodiment. The top view of the floor surface coincidence confirmation mechanism used by embodiment. FIG. 11 is a side view corresponding to FIG. 10. The top view of the connection fixing mechanism used by embodiment. The side view of the skid leg fixing mechanism used in embodiment. FIG. 14 is a front view corresponding to FIG. 13. The top view of the unmanned cart retreat prevention mechanism used in an embodiment. FIG. 16 is a partial side view corresponding to FIG. 15. The top view of the Linder rod pull-in check mechanism used in an embodiment. The top view of the skid leg fixing mechanism used in embodiment. The flowchart which shows the operation | work procedure which carries a conveyance target object out of a line in embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Frame 2 ... Oil pressure generator mounting part 3 ... Control apparatus 4 ... Wheel 5 ... Auxiliary wheel 6 ... Outrigger 7 ... Roller conveyor 8 ... Moving mechanism 9 ..Skid leg fixing mechanism 21 ... hydraulic generator 22 ... solenoid valve 40 ... positioning mechanism 50 ... unmanned cart connection confirmation mechanism 60 ... floor surface matching confirmation mechanism 70 ... connection fixing Mechanism 200 ... Unmanned carriage retraction prevention mechanism 300 ... Cylinder rod pull-in confirmation mechanism 400 ... Skid leg fixing mechanism 800 ... Conveyance object placing device AGV ... Unmanned carriage E ... Work / engine

Claims (9)

  In the apparatus for moving a workpiece that carries in the conveyance object (E) placed on the dedicated carriage (AGV) or carries the conveyance object (E) to the dedicated carriage (AGV), place the conveyance object (E). And a moving mechanism having a function of moving the object to be conveyed (E) from the dedicated carriage (AGV) to the floor section (7) or from the floor section (7) to the dedicated carriage (AGV) ( 8), an outrigger (6) having a function of moving the floor portion (7) up and down, and a control device (3). The control device (3) operates the outrigger (6) to The function of enabling the transfer object (E) to move with the floor part (7) being flush with the floor part (Rc) of the dedicated carriage (AGV), and the transfer mechanism (8) The floor of the dedicated carriage (AGV) (Rc The workpiece movement device, characterized in that it has a function of moving between said Geoffroy portion (7).   The moving mechanism (8) is disposed on the floor portion (7) and can extend to the floor portion (Rc) of the dedicated carriage (AGV), and a transfer object (802) provided on the tip of the cylinder. The workpiece moving device according to claim 1, further comprising: a gripping device that can be engaged with and disengaged from the workpiece.   The apparatus for moving a workpiece according to any one of claims 1 and 2, further comprising a coupling device (40) for integrally coupling to the dedicated carriage (AGV) at a predetermined relative position.   A detection device (300) for detecting that the moving mechanism (8) has returned to a predetermined position of the floor portion (7) in a state where the conveyance object (E) is engaged, and a conveyance object (802) are fixed. The control device (3) includes a fixing device (400), and the control device (3) includes a predetermined portion of the floor portion (7) in a state in which the moving device (8) engages the conveyance object (E) by the detection device (302). The workpiece moving device according to any one of claims 1 to 3, which has a function of operating the fixing device (400) to fix the object to be transported (802) when it is detected that the return has been made.   When the control device (3) is integrally coupled to the dedicated cart (AGV) at a predetermined relative position by the coupling device (40), the moving object provided on the dedicated cart (AGV) The apparatus for moving a workpiece according to any one of claims 1 to 4, which has a function of releasing a mechanism (200) that restricts the movement of (E).   6. An operating hydraulic pressure generating device (21) is provided, and the control device (3) has a function of operating and stopping the operating hydraulic pressure generating device (21). Device for moving workpieces.   The apparatus for moving a workpiece according to any one of claims 1 to 6, wherein the object to be conveyed (E) is an engine for a lorry mounted on a dedicated stand (801) in an upside down state when completed. .   In the workpiece moving method for carrying the object to be transferred (E) placed on the dedicated carriage (AGV) into the workpiece moving device (100) of the present invention, the above-described workpiece moving device (100) of the present invention and the dedicated device. A step (S2) of integrally connecting the carriage (AGV) with the connecting device (40), and the floor portion (7) of the workpiece moving device (100) of the present invention is moved up and down by the outrigger (6). A step (S4) of making the transfer object (E) movable on the same plane as the floor portion (Rc) of the carriage (AGV), and the floor portion (Rc) of the dedicated carriage (AGV) by the moving mechanism (8) And a step (S11) of moving the placed object (E) to the floor portion (7) of the workpiece moving device (100) of the present invention.   The work moving apparatus (100) according to claim 1, wherein the object to be transported (E) placed on the work moving apparatus (100) according to claim 1 is carried out to a dedicated carriage (AGV). The step (S2) of integrally connecting the carriage (AGV) with the connecting device (40) and the floor portion (7) of the workpiece moving device (100) according to claim 1 are moved up and down by the outrigger (6). The step (S4) of making the transfer object (E) movable on the same plane as the floor portion (Rc) of the dedicated carriage (AGV), and the workpiece moving device (100) according to claim 1 by the moving mechanism (8) And a step (S7) of moving the object to be conveyed (E) placed on the floor portion (7) to the floor portion (Rc) of the dedicated carriage (AGV).

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