JP2020117121A - Conveyance system - Google Patents

Abstract

To provide a conveyance system capable of moving one of a plurality of trucks moving in a traveling direction to a width direction orthogonal to the traveling direction.SOLUTION: A module manufacturing system S includes a plurality of automatic conveying trucks 2 mounted with a skeleton component or a small component and enabling an operator to get thereon and a truck controller 7 moving the plurality of automatic conveying trucks 2 in a line along a first work station 11. A truck main body of the automatic conveying truck 2 is provided with a front and rear link arm 24 to be coupled with a preceding truck and a front and rear link rail 25 to be coupled with a following truck. The front and rear link rail 25 includes a recessed part extending in a width direction orthogonal to a traveling direction. The front and rear link arm 24 includes a cam follower engaged with the recessed part of the front and rear link rail 25. The cam follower of the front and rear link arm 24 is slidable in the width direction while being engaged with the recessed part of the front and rear link rail 25.SELECTED DRAWING: Figure 8

Description

The present invention relates to a transportation system. More specifically, the present invention relates to a transfer system that moves a plurality of carriages on which works or parts are mounted and on which an operator can ride in a line along a work station.

A manufacturing line for manufacturing an automobile includes a plurality of sublines for manufacturing modularized module parts such as instrument panels, bumpers, and suspension assemblies, and a mainline for assembling various module parts manufactured in the plurality of sublines into a vehicle body. ..

Here, a so-called cell production system is often used for the sub line. More specifically, the skeleton parts and a plurality of small parts required for manufacturing the module parts are transported to the work station by a trolley. Then, the worker manufactures the module parts by performing an assembling work of assembling the small parts to the frame parts conveyed by the trolley at the work station. For example, Patent Document 1 discloses a technique in which a plurality of carriages are moved in a line in a track-shaped transport path and the front and rear of the plurality of carriages are connected to each other.

Patent No. 5849931

However, in the technique disclosed in Patent Document 1, two carriages are connected by engaging a pin extending along the traveling direction from one carriage with a claw member provided on the other carriage. Therefore, the connected carts are also restricted from moving in the width direction orthogonal to the traveling direction. Therefore, according to the technique disclosed in Patent Document 1, even if some failure occurs in one of the plurality of carriages connected in a row, only one vehicle in which this failure has occurred Cannot be removed from.

An object of the present invention is to provide a transport system capable of moving one of a plurality of carriages that move along the traveling direction in a width direction orthogonal to the traveling direction.

(1) A transfer system (for example, a module manufacturing system S described later) according to the present invention has a work (for example, a skeleton component W described later) or a component (for example, a small component P described later) mounted thereon and is boarded by an operator. A plurality of possible carriages (for example, an automatic carrier truck 2 described later) and the plurality of carriages are moved in a row along a work station (for example, a first work station 11 and a second work station 12 described later). And a control device (for example, a trolley controller 7 described later) for controlling the trolley body of the trolley (for example, a trolley body 21 described later) of the trolley. A front and rear link arm 24), and a rear connecting portion (for example, a front and rear link rail 25, which will be described later) for connecting to the trailing carriage, and either one of the front connecting portion and the rear connecting portion. Has a concave portion (for example, a concave portion 251 to be described later) extending in the width direction orthogonal to the traveling direction in a sectional view, and the other connecting portion has an engaging portion that engages with the concave portion (for example, a concave portion 251). The cam follower 241) described later is provided, and the engagement portion is slidable along the width direction in a state of being engaged with the recess.

(2) In this case, the other connecting portion is an arm member (for example, an arm member 242 described later) that extends along the traveling direction and is provided with the engaging portion on the tip side thereof, and a base of the arm member. A support member (for example, an instruction member 243 described below) that supports the end side of the bogie body so as to be swingable in the vertical direction, and the arm member is urged toward the bottom side of the recess along the vertical direction. And a biasing member (for example, a biasing member 244 described later) that is provided, and an outer edge portion (for example, an edge portion 252 described later) of the concave portion has a tapered surface (eg, A tapered surface 253) described later is preferably formed.

(3) In this case, a station guide rail (for example, a first station guide rail 13 and a second station, which will be described later) provided at the work station is provided on a side portion of the bogie body on the work station side with respect to the traveling direction. A side connecting portion (for example, a side link arm 26 described later) for connecting with the second station guide rail 14) is provided, and the side connecting portion is connected to the station guide rail. Is slidable along the extending direction of the work station, and the work station has a connection releasing mechanism (for example, a connection releasing mechanism 80, 80A, which will be described later) that releases the connection between the side connecting portion and the station guide rail. 80B, 80C) are provided, and when the connection releasing mechanism disconnects the side connecting portion and the station guide rail from each other, the control device controls the carriage in which the connection is released in the width direction. Preferably along the direction away from the work station.

(4) In this case, the station guide rail includes a station recess (for example, a recess 131 described later) that extends along the extending direction and is concave in a cross-sectional view, and the side connecting portion engages with the station recess. A side engaging portion (for example, a cam follower 261 to be described later) to be fitted, and a side arm member (for example, an arm member 262 to be described later) extending along the width direction and provided with the side engaging portion on the tip side thereof. ), a side support member (for example, a support member 263 described later) that supports the base end side of the side arm member so as to be swingable with respect to the carriage main body along the vertical direction, and the side arm member. An urging member (for example, an urging member 264 described later) that urges the urging member to the bottom side of the station recess along the up-and-down direction, and the connection release mechanism is movable back and forth with respect to the inside of the station recess. A block (for example, decoupling blocks 81, 81A, 91B.81C described later) and an actuator (for example, actuators 84A, 84B, 84C described later) that advances and retracts the block, and the block includes: It is preferable to release the connection between the side connecting portion and the station guide rail by pushing the side engaging portion from the inside of the station concave portion to the outside.

(5) In this case, a side concave portion (for example, a concave portion 271 described later) extending in the traveling direction and having a concave shape in a sectional view is provided on a side portion of the carriage main body that faces the side connecting portion. It is preferable that the side engaging portion is slidable along the traveling direction in a state of being engaged with the side concave portion.

(1) A transport system according to the present invention includes a plurality of carriages on which works or parts are mounted and on which an operator can mount, and a control device for moving the plurality of carriages in a line along a work station. Equipped with. The trolley bodies of these trolleys are provided with a front coupling portion for coupling with the preceding trolley of the row and a rear coupling portion for coupling with the trailing trolley of the row. Further, one of the connecting portions has a recessed portion that extends along the width direction orthogonal to the traveling direction and is concave in a cross-sectional view, and the other connecting portion has an engaging portion that engages with this recessed portion. Therefore, in the transport system, by engaging the front connecting portion and the rear connecting portion of the leading carriage, and engaging the rear connecting portion and the front connecting portion of the trailing carriage, the front and rear of each of the joined carriages are connected. A platoon can be formed and the platoon of this dolly can be moved along a work station. Therefore, according to the transfer system, the worker can board the trolley from the work station, perform an assembly work of assembling the parts to the work on the moving trolley, or move on the plurality of trolleys. Further, in the transport system, the engaging portion is slidable along the width direction while being engaged with the recess. If any trouble occurs in the multiple carriages that make up the formation, only the carriage that has this trouble is moved along the width direction and the connection between the leading carriage and the trailing carriage is released. can do. Further, in the transport system, the carriages can be disconnected from each other only by moving the carriages in the width direction, and therefore the carriages do not need to be provided with an actuator for releasing the connection. Therefore, the weight of the trolley can be reduced and the cost can be reduced. Further, in the transport system, by forming one of the front connecting portion and the rear connecting portion as a recess extending in the width direction, the amount of protrusion of these connecting portions in the traveling direction can be reduced.

(2) In the transport system according to the present invention, the other connecting portion has an arm member that extends along the traveling direction and is provided with an engaging portion on the tip side thereof, and the base end side of the arm member with respect to the carriage main body. A support member that swingably supports the vertical direction and a biasing member that biases the arm member to the bottom side of the recess along the vertical direction are provided. In addition, a tapered surface that is inclined with respect to the vertical direction is formed at the outer edge of the recess, that is, the edge of the recess adjacent to the bogie. With this, according to the transport system, the two carriages can be connected only by bringing them close to each other along the traveling direction. That is, when the arm member provided on one of the trucks and the recessed portion provided on the other truck are brought close to each other along the traveling direction, the engagement portion provided on the tip end side of the arm member and the tapered surface of the recessed portion are separated from each other. Abut. When further approaching from this state, the engaging portion slides up and down along the tapered surface while resisting the biasing force of the biasing member, and when it gets over the edge of the recess, the biasing member causes the bottom side of the recess to move. Biased into engagement with the recess. As described above, according to the transport system, since the carriages can be connected to each other without using the actuator, the carriages can be weighed and the cost can be reduced.

(3) In the transport system according to the present invention, a side connecting portion for connecting with a station guide rail provided in the work station is provided on a side portion of the carriage main body side with respect to the traveling direction. Further, the side connecting portion is slidable along the extending direction of the station guide rail in a state of being connected to the station guide rail. Therefore, according to the transport system, the front and rear of each of the carriages are connected to each other to form a row of carriages, and the carriages are moved along the extending direction of the work station while connecting the side portions of the carriages to the work station. be able to. Further, according to the present invention, for example, the side connecting portion of the truck is connected to the station guide rail of the work station by bringing the truck closer to the work station along a direction orthogonal to the extending direction of the station guide rail. You can Therefore, according to the present invention, even if the space for connecting the truck to the front and the rear of the work station cannot be secured, the truck can be connected to the work station. Further, in the transfer system, the work station is provided with a connection releasing mechanism for releasing the connection between the side portion of the trolley and the station guide rail, and the control device is connected when the connection is released by the connection releasing mechanism. The released carriage is moved in the direction away from the work station along the width direction. With this, according to the transport system, when there is no problem in the carriages that form the platoon, a stable work floor can be formed by connecting these carriages to the work station, and in the case of any malfunction, Only the trolley in which this problem has occurred can be removed.

(4) In the transport system according to the present invention, the station guide rail includes a station concave portion that extends along the extending direction and is concave in a sectional view, and the side coupling portion engages with the station concave portion. And a side arm member extending along the width direction and provided with a side engaging portion on its tip side, and a base end side of the side arm member is swingably supported with respect to the bogie body in the vertical direction. And a biasing member that biases the side arm member toward the bottom side of the station recess along the vertical direction. Therefore, according to the transport system, the carriage and the work station can be connected to each other only by bringing the carriage close to the station guide rail in the width direction. In the transport system, the decoupling mechanism is a block that is capable of advancing and retreating with respect to the inside of the station recess, and pushes out the side engagement part from the inside of the station recess to the outside to connect the side connection part and the station guide rail. Unlink. Thus, according to the transport system, the carriage can be disconnected from the work station at the position where the connection release mechanism is provided, and the carriage can be detached.

(5) In the transport system according to the present invention, a side recess facing the side connecting portion of the carriage main body is provided with a side recess extending in the traveling direction and having a concave shape in a sectional view. Are slidable along the traveling direction in a state of being engaged with the lateral recesses. Therefore, according to the transport system, the carriages can be connected to each other in the width direction by using the side connecting portion used to connect the carriage and the work station.

It is a figure which shows the structure of the automobile manufacturing line containing the module manufacturing system which concerns on one Embodiment of this invention. It is a figure which shows the structure of an assembly work area. It is a perspective view of an automatic carrier. It is the figure which looked at the front-and-back link arm of an automatic carrier, and the front-and-rear link rail of the preceding car which runs ahead of this automatic carrier along the advancing direction along the width direction. It is a figure for demonstrating the procedure of connecting the front-and-back link arm of an automatic carrier, and the front-and-rear link rail of a preceding trolley. It is a figure for demonstrating the procedure of connecting the front-and-back link arm of an automatic carrier, and the front-and-rear link rail of a preceding trolley. It is the figure which looked at the 1st station guide rail provided in the side link arm and the 1st work station of an automatic conveyance truck along the extension direction of the 1st station guide rail parallel to the advancing direction. It is the figure which looked along the advancing direction of the side link rail of an automatic carrier, and the side link arm provided in the parallel carrier which runs in parallel with this automatic carrier. It is a figure showing a state where a plurality of automatic conveyance vehicles are running along with the 1st work station in an assembly work area. It is sectional drawing which followed the cross section perpendicular|vertical to the advancing direction of the hollow area|region. FIG. 9B is a cross-sectional view taken along the center line IX-IX of FIG. 9A. FIG. 9 is a diagram showing a configuration of a connection releasing mechanism of Modification 1. FIG. 9 is a diagram showing a configuration of a connection releasing mechanism of Modification 1. It is a figure which shows the structure of the connection releasing mechanism of the modified example 2. It is a figure which shows the structure of the connection releasing mechanism of the modified example 2. It is a figure which shows the structure of the connection releasing mechanism of the modification 3. It is a figure which shows the structure of the connection releasing mechanism of the modification 3. It is a figure which shows the row of two rows formed by the some automatic conveyance vehicle.

Hereinafter, the configuration of a module manufacturing system S as a transfer system according to an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing a configuration of an automobile manufacturing line L including a module manufacturing system S according to this embodiment. The automobile production line L is a production line for producing two or more types of automobiles, and produces a main line Lm through which various types of vehicle bodies flow and a plurality of types of module parts M to be assembled to the vehicle bodies along the main line Lm. And a module manufacturing system S for carrying.

On the main line Lm, vehicle bodies of two or more models flow in an order determined according to a predetermined production plan. The main line Lm includes a plurality of vehicle body assembling steps of assembling various module parts M according to the model of the target vehicle body with respect to the vehicle body flowing from the upstream side. FIG. 1 shows three steps of assembling the instrument panel module, the front end module, and the bumper module, which are the module parts M manufactured in the module manufacturing system S, out of a plurality of vehicle body assembling steps included in the main line Lm. Only shown.

In the instrument panel assembling step L1, an assembling work is performed for assembling the instrument panel module of each model supplied from the module manufacturing system S to the vehicle body flowing through the main line Lm according to the model of the target vehicle body. .. In the front-end module assembling step L2, an assembling work of assembling a front-end module of each model supplied from the module manufacturing system S according to the model of the target vehicle body with respect to the vehicle body flowing through the main line Lm Is done. In the bumper assembling step L3, an assembling work is carried out for assembling a bumper module of each model supplied from the module manufacturing system S according to the model of the target vehicle body to the vehicle body flowing through the main line Lm. ..

The module manufacturing system S includes a plurality of automatic carrier carts 2 that move according to a command, and a skeleton part set in which a plurality of workers carry out a skeleton part mounting work for mounting skeleton parts W on the plurality of automatic carrier carts 2. A pack area 3 and a small parts set pack area 6 in which a plurality of workers mount a plurality of small parts P on a plurality of automatic carrier vehicles 2 and a skeleton part W by a plurality of workers. An assembling work area 1 in which an assembling work for manufacturing a module component M by assembling a plurality of small parts P is performed, and a plurality of automatic carrier vehicles 2 are provided along a predetermined route including at least the assembling work area 1. And a carriage controller 7 that moves in a predetermined loading order.

Each automatic carrier 2 generates a power to move the communicator that receives the command from the carriage controller 7, the carriage main body on which the frame parts W, the small parts P, the module parts M, etc. are mounted, and the main body of the carriage. And a control device that controls the drive device and moves the platform at a predetermined speed along a route determined according to a command transmitted from the carriage controller 7. The detailed structure of the automatic carrier 2 will be described later with reference to FIG.

The carriage controller 7 can communicate with a communication device mounted on each automatic carrier 2 by, for example, wireless communication. The trolley controller 7 wirelessly transmits a command to each automatic carrier 2 to move each automatic carrier 2 in a predetermined loading order along a path described below.

The skeleton parts trolley route followed by the automatic carrier truck 2 delivered from the skeleton parts set pack area 3 is a route C21 from the skeleton parts set pack area 3 to the assembly work area 1 and the assembly work area 1 to the main line Lm. A route C22 and a route C23 from the main line Lm to the skeleton part set pack area 3 are included.

The small component truck route that the automatic carrier 2 delivered from the small component set pack area 6 follows is the route C51 from the small component set pack area 6 to the assembly work area 1 and the assembly work area 1 to the small component set pack area. 6 and a path C52.

The automatic carrier 2 on which the new skeleton component W is mounted after the skeleton component mounting work in the skeleton component set pack area 3 follows the route C21 from the skeleton component set pack area 3 to the assembly work area 1. The automatic carrier 2 on which a plurality of new small parts P are mounted after the small parts mounting work in the small parts set pack area 6 follows the route C51 from the small parts set pack area 6 to the assembly work area 1.

The automatic carrier 2 carrying the module parts M manufactured through the assembling work in the assembling work area 1 follows the route C22 from the assembling work area 1 to the main line Lm. Here, when the module component M mounted on the automatic carrier 2 is an instrument panel module, the automatic carrier 2 moves to the instrument panel assembly process L1 of the main line Lm, and moves the instrument panel module to this instrument panel assembly process L1. Supply. When the module component M mounted on the automatic carrier 2 is a front end module, the automatic carrier 2 moves to the front end module assembling process L2 of the main line Lm, and the front end module is installed in this front end module assembly. Supply to the attaching step L2. When the module component M mounted on the automatic carrier 2 is a bumper module, the automatic carrier 2 moves to the bumper assembling process L3 on the main line Lm and supplies the bumper module to the bumper assembling process L3. To do.

The automatic carrier 2 which has become empty after the assembling work in the main line Lm follows the route C23 from the main line Lm to the skeleton component set pack area 3. In this way, the automatic carrier 2 returning to the skeletal part set pack area 3 is loaded with a new skeletal part W through the skeletal part mounting work in the skeletal part set pack area 3, and then follows the route C21 again to perform the assembling work area. It is paid out to 1.

The automatic carrier 2 which has become empty after the assembling work in the assembling work area 1 follows the route C52 from the assembling work area 1 to the small parts set pack area 6. In this way, a plurality of new small parts P are mounted on the automatic carrier 2 which has returned to the small parts set pack area 6 through the small parts mounting work in the small parts set pack area 6, and the path C51 is followed again to assemble. It is paid out to the work area 1.

FIG. 2 is a diagram showing a configuration of the assembling work area 1. Hereinafter, a case will be described in which the instrument panel module, the front end module, and the bumper module for two models (model A and model B) are manufactured in the assembly work area 1, but the present invention is not limited to this. The types of module parts manufactured in the assembly work area are not limited to these three types: instrument panel module, front end module, and bumper module, and the number of models of module parts manufactured in the assembly work area is model A and model B. Not limited to two models.

In the assembly work area 1, a plurality of units (in the example of FIG. 2, in the example of FIG. 2) a fixed platform 10 to which a worker who carries out the assembly work is freely movable and a first work station 11 formed on the fixed platform 10 are docked. 10 carriages and a plurality of carriages (10 in the example of FIG. 2) that are docked at the second work station 12 formed on the fixed platform 10.

The fixed platform 10 has, for example, a rectangular island shape extending in the left-right direction in FIG. 2. A first work station 11 extending in the longitudinal direction is formed on the upper side of the fixed platform 10 in FIG. 2, and a second work station 12 extending in the longitudinal direction is formed on the lower side in FIG. ..

The end portion on the left side in FIG. 2 of the first work station 11 follows the route C21 and is introduced into the assembling work area 1 and is introduced into the assembling work area 1 along the automatic carrier truck 2 and the route C51. It is the first berthing point 11a on which the automated guided vehicle 2 berths. The end portion on the right side in FIG. 2 of the first work station 11 is a first berthing point 11b at which the automated guided vehicle 2 berthed to the first work station 11 departs. Between the first berthing point 11a and the first berthing point 11b of the first work station 11, it extends in the left-right direction in FIG. 2 so that each automatic carrier 2 berths at the first work station 11. The first station guide rail 13 is formed.

The end portion of the second work station 12 on the right side in FIG. 2 is introduced into the assembly work area 1 by following the route C21 and the automatic carrier vehicle 2 and the route C51. It is the second berthing point 12a on which the automated guided vehicle 2 berths. In addition, an end portion of the second work station 12 on the left side in FIG. 2 is a second berthing point 12b at which the automatic carrier vehicle 2 berthed to the second work station 12 departs. Between the second berthing point 12a and the second berthing point 12b of the second work station 12, it extends along the left-right direction in FIG. 2 so as to bring each automatic carrier 2 to the second work station 12. The second station guide rail 14 is formed.

As shown in FIG. 2, the first berthing point 11a and the second berth point 12b face each other along the lateral direction of the fixed platform 10, and the first berth point 11b and the second berth point 12a are fixed. Opposite along the lateral direction of the platform 10.

The automatic carrier 2 has a rectangular shape in a plan view, and basically moves in the lateral direction as a traveling direction. The shape and traveling direction of the automatic carrier 2 in plan view are not limited to this. The shape of the automatic carrier truck 2 in plan view is not limited to a rectangular shape, but may be a square shape or any other shape. Further, the traveling direction of the automatic carrier 2 is not limited to the lateral direction and may be the longitudinal direction.

A skeleton parts table 51 on which skeleton parts are installed is provided in the center along the longitudinal direction of the automatic carrier cart 2 delivered from the skeletal part set pack area 3. Further, in the automatic carrier 2 delivered from the skeletal component set pack area 3, a first work stage 52 and a second work stage 53 on which an operator can mount are formed on both sides of the skeletal component pedestal 51. Therefore, the worker mounts on the first work stage 52 and the second work stage 53, and performs the assembling work on the skeletal parts mounted on the skeletal parts table 51 while the automatic carrier 2 is moving. It is possible.

When the automatic carrier truck 2 delivered from the skeletal component set pack area 3 follows the route C21 under the control of the truck controller 7 and reaches the first berth point 11a (or the second berth point 12a), refer to FIG. 6 later. The side link arm 26 to be described engages with the first station guide rail 13 (or the second station guide rail 14), whereby the automatic carrier 2 berths at the first work station 11 (or the second work station 12). .. Further, the automatic carrier vehicle 2 docked at the first docking point 11a (or the second docking point 12a) is kept in the state of being docked at the first work station 11 (or the second work station 12) under the control of the carriage controller 7. As it is, it moves along the first station route CS1 (or the second station route CS2) extending along the first station guide rail 13 (or the second station guide rail 14) and moves to the first berthing point 11b (or 2 Reach the pier 12b). Further, when the automatic carrier 2 reaches the first berthing point 11b (or the second berthing point 12b), the side link arm 26 disengages from the first station guide rail 13 (or the second station guide rail 14), and Depart from work station 11 (or second work station 12). The automated guided vehicle 2 that has left the shore at the first shore separation point 11b (or the second shore separation point 12b) follows the route C22 under the control of the carriage controller 7 and moves to the main line Lm.

In addition, while moving along the first station route CS1 (or the second station route CS2) as described above, the automatic carrier truck 2 on which the skeletal components are mounted will be described later with reference to FIG. 5B. The state in which the first station route CS1 (or the second station route CS2) is connected to the end portion on the rear side in the traveling direction of the automated guided vehicle 2 that moves ahead is maintained.

The automatic carrier 2 delivered from the small parts set pack area 6 includes a first front container 54, a second front container 55, a first rear container 56, and a second rear container 57, each of which is equipped with a plurality of small parts. It is provided.

Of the automatic carrier 2 delivered from the small parts set pack area 6, front containers 54 and 55 are provided on the front side in the traveling direction, and rear containers 56 and 57 are provided on the rear side in the traveling direction. The first front container 54 is provided on the right side (that is, the work stations 11, 12 side) when viewed along the traveling direction, and the second front container 55 is provided on the left side when viewed along the traveling direction. Further, the first rear container 56 is provided on the right side when viewed along the traveling direction, and the second rear container 57 is provided on the left side when viewed along the traveling direction.

For this reason, for example, when the automatic carrier 2 for mounting the skeletal components is connected to the front side in the traveling direction of the automatic carrier 2 for mounting the small parts, the worker who rides on the first work stage 52 of the preceding vehicle is (1) It is possible to perform an assembling work in which the small parts provided in the front container 54 are taken out and assembled to the skeletal parts mounted on the skeletal part base 51. In addition, the worker who rides on the second work stage 53 of the preceding vehicle takes out the small parts provided in the second front container 55 and performs the assembling work for assembling the small parts on the skeletal parts table 51. You can

Further, when the automatic carrier 2 for mounting the skeletal components is connected to the rear side of the automatic carrier 2 for mounting the small parts in the traveling direction, the worker riding on the first work stage 52 of the trailing vehicle is It is possible to perform an assembling work in which the small parts provided in the container 56 are taken out and assembled to the skeletal parts mounted on the skeletal parts table 51. In addition, the worker who rides on the second work stage 53 of the trailing vehicle should take out the small parts provided in the second rear container 57 and perform the assembling work for assembling them to the skeletal parts mounted on the skeletal parts table 51. You can

The automatic carrier truck 2 delivered from the small parts set pack area 6 follows the route C51 under the control of the truck controller 7 and reaches the first docking point 11a (or the second docking point 12a). Or, it engages with the second station guide rail 14), whereby the automatic carrier 2 berths at the first work station 11 (or second work station 12). Further, the automatic carrier vehicle 2 docked at the first docking point 11a (or the second docking point 12a) is kept in the state of being docked at the first work station 11 (or the second work station 12) under the control of the carriage controller 7. As it is, it moves along the first station route CS1 (or the second station route CS2) and reaches the first berthing point 11b (or the second shore point 12b). When the automated guided vehicle 2 reaches the first berthing point 11b (or the second shorened point 12b), the automated guided vehicle 2 is disengaged from the first station guide rail 13 (or the second station guide rail 14), and Depart from work station 11 (or second work station 12). The automatic carrier vehicle 2 that has left the shore at the first shore separation point 11b (or the second shore separation point 12b) follows the route C52 under the control of the trolley controller 7 and moves to the small part set pack area 6.

Further, while moving along the first station route CS1 (or the second station route CS2) as described above, the automatic carrier truck 2 on which the small parts are mounted is mounted on the first station route CS1 (or the second station route). The state in which CS2) is connected to the end portion on the rear side in the traveling direction of the truck that moves in advance is maintained. Further, as shown in FIG. 2, a predetermined plurality of (10 in the example of FIG. 2) automatic carrier vehicles 2 can be simultaneously docked at the first work station 11 (or second work station 12). Has become. Therefore, as shown in FIG. 2, a plurality of automatic carrier vehicles that move along the first station route CS1 (or the second station route CS2) while docking at the first work station 11 (or the second work station 12). 2 are connected in rows. As a result, the first work station 11 (or the second work station 12) forms a work area configured by connecting a plurality of automatic carrier vehicles 2 in a line.

For this reason, the operator can confirm that the automatic carrier truck 2 on which a certain skeletal component is mounted berths at the first berth point 11a (or the second berth point 12a), and then the automatic carrier trolley 2 moves at the first berth point 11b. It is possible to perform the assembly work on the skeletal components mounted on the automatic carrier 2 until the shore breaks off (or at the second shore separation point 12b). Further, as described above, the plurality of carriages docked at the first work station 11 (or the second work station 12) are connected. For this reason, the worker can go back and forth between the connected automatic carrier trucks 2 and perform the work of assembling the skeletal parts mounted on the automatic carrier truck 2 different from the first mounted automatic carrier truck 2. It is possible.

In addition, as described above, the passing time taken until the automatic carrier 2 passes through the first work station 11 (or the second work station 12) (more specifically, the automatic carrier 2 receives the first docking point 11a ( Alternatively, the time required for the berth at the second berth 12a) to the berth at the first berth 11b (or the berth at the second berth 12b) is determined by the carriage controller 7 of these automatic carrier vehicles 2. Adjusted by controlling the velocity along the first station path CS1 (or the second station path CS2).

Then, the operator board|boards the automatic carrier vehicle 2 in which the frame|skeleton component is mounted from the fixed platform 10 in the 1st berth point 11a (or the 2nd berth point 12a), and after that, the 1st berth point 11b (or the 2nd berth point 11b). By dismounting from the automatic carrier 2 at the shore separation point 12b), basically, the assembling work can be performed over the passage time. Further, as described above, the first berthing point 11b faces the second berth point 12a along the lateral direction of the fixed platform 10, and the second berth point 12b occupies the first berth point 11a and the lateral side of the fixed platform 10. Opposite along the direction. Therefore, the worker who has carried out the assembling work on the side of the first work station 11 (or the side of the second work station 12) as described above, after getting off at the first pier 11b (or the second shore 12b). , Board the automatic carrier 2 again from the fixed platform 10 at the second dock 12a (or the first dock 11a) and then at the second dock 12b (or the first dock 11b) from the carrier 2. By getting off the vehicle, the assembly work can be basically performed for the passage time. Therefore, the worker can alternately repeat the assembling work at the first working station 11 and the assembling work at the second working station 12 with a small movement distance.

In the assembling work area 1 as described above, the skeleton parts mounted on the automatic carrier 2 are operated while the automatic carrier 2 passes through the first station route CS1 (or the second station route CS2). Assembly work is performed by a person, and thereby a module part is completed. The automated guided vehicle 2 carrying the completed module parts, after leaving the shore at the first berthing point 11b (or the second shore leaving point 12b), follows the route C22 under the control of the trolley controller 7 to the main line Lm. Move to.

In the assembly work area 1 as described above, a plurality of small parts mounted on the automatic carrier 2 are provided while the automatic carrier 2 passes through the first station route CS1 (or the second station route CS2). Used for assembly work by workers. After the plurality of necessary small parts have been taken out in this way, the automated guided vehicle 2 is unleashed at the first berthing point 11b (or the second berthing point 12b) and then under the control of the bogie controller 7. The route C52 is followed to move to the small part set pack area 6.

Further, when the automatic carrier trucks 2 having small parts are connected to the front and rear of the traveling direction of the automatic carrier trucks 2 having certain frame parts as described above, the automatic carrier trucks 2 in the middle are boarded. The operator can take out the small parts from the two automatic carrier carts 2 connected to the front and rear and perform the assembly work. Therefore, the carriage controller 7 connects the automatic carrier truck 2 on which the skeleton parts are mounted and the automatic carrier truck 2 on which a plurality of small parts mounted on the skeleton parts mounted on the automatic carrier truck 2 are mounted. In this state, the automatic carrier 2 dispensed from the skeletal component set pack area 3 and the automatic dispensed from the small component set pack area 6 so as to run in parallel along the first station route CS1 (or the second station route CS2). It is preferable to alternately feed the carrier truck 2 to the first work station 11 (or the second work station 12).

Note that, in FIG. 2, an automatic carrier 2 equipped with a bumper frame A, which is a frame part of a model A bumper module, a small part Bpr-A assembled to the bumper frame A, and a frame part of a model A front-end module. An automatic carrier truck 2 that mounts a small part FEM-A that is assembled to the front frame A, an automatic carrier truck 2 that mounts the front frame A, and an instrument panel frame that is a frame part of the instrument panel module of the small part FEM-A and model A An automatic carrier 2 having a small part IP-A mounted on A, an automatic carrier 2 having an instrument panel skeleton A, and an automatic carrier 2 having small parts IP-A and Bpr-A. The automatic carrier 2 having the bumper frame A, the automatic carrier 2 having the small parts Bpr-A and the small part FEM-A, the automatic carrier 2 having the front frame A, the small parts FEM-A and The case where the automatic carrier 2 equipped with the small parts IP-A and the first working station 11 are loaded in this order is shown. As a result, an operator who rides on the automatic carrier 2 docked at the first work station 11 can take out the necessary small parts from the left and right of each and carry out the assembling work for assembling the skeleton parts to be carried in a short moving distance. it can.

Further, in FIG. 2, an automatic carrier 2 having a bumper skeleton B which is a skeleton component of the model B bumper skeleton, a small component Bpr-B assembled to the bumper skeleton B, and a skeleton component of the model B front-end module are shown. An automatic carrier truck 2 equipped with a small part FEM-B mounted on the front skeleton B, an automatic carrier cart 2 equipped with a front skeleton B, and an instrument panel skeleton which is a skeleton part of the instrument panel module of the small part FEM-B and model B An automatic carrier 2 for mounting a small part IP-B assembled to B, an automatic carrier 2 for mounting an instrument panel skeleton B, an automatic carrier 2 for mounting a small part IP-B and a small part Bpr-B, The automatic carrier truck 2 equipped with the bumper frame B, the automatic carrier truck 2 mounted with the small parts Bpr-B and the small part FEM-B, the automatic carrier truck 2 mounted with the front frame B, the small part FEM-B and The case where the automatic carrier 2 equipped with the small parts IP-B and the second work station 12 are loaded in this order is shown. As a result, an operator who rides on each of the automatic carrier trucks 2 docked at the second work station 12 should take out the necessary small parts from the left and right of each and carry out the assembling work for assembling the skeleton parts to be boarded together with a small moving distance. You can

The order of loading the automatic carrier 2 into the first work station 11 and the second work station 12 by the carriage controller 7 is not limited to that shown in FIG. The order of loading the automatic carrier 2 is determined according to the number of assembling steps of the assembling work for the skeleton parts mounted on the automatic carrier 2 so that the loss in the assembling work by the operator is reduced.

In FIG. 2, the trolley controller 7 puts in the first work station 11 the automatic transport trolley 2 which mounts the skeleton parts of the model A and the automatic transport trolley 2 which mounts the small parts assembled to the skeleton parts of the model A. By doing so, the module parts used for the model A are manufactured in the first work station 11, and the automatic carrier 2 for mounting the frame parts of the model B and the automatic parts for mounting the small parts assembled to the frame parts of the model B are automatically mounted. Although the case where the module parts used for the model B are manufactured in the second work station 12 by inserting the carrier 2 into the second work station 12, the present invention is not limited to this. The skeleton parts and small parts of the model A and the model B may be mixed and introduced into the work stations 11 and 12, and the module parts of the model A and the model B may be manufactured in the respective stations 11 and 12. ..

Next, the detailed configuration of each automatic carrier 2 will be described with reference to FIGS. 3 to 7.

FIG. 3 is a perspective view of the automatic carrier 2. The automatic carrier 2 includes a flat plate-shaped carriage main body 21, front and rear link arms 24, front and rear link rails 25, side link arms 26, and side link rails 27 respectively provided at four end portions of the carriage main body 21. A drive device 22, a turntable 23, a communication device (not shown), and a control device (not shown) provided on the lower surface side of the carriage main body 21 are provided.

The trolley body 21 has a rectangular shape in a plan view. As described with reference to FIG. 2, the skeleton part base 51 provided with skeleton parts and the containers 54 to 57 containing a plurality of small parts are installed on the upper surface of the trolley body 21, and It is possible to form work stages 52 and 53 that can be boarded.

The drive device 22 includes four drive wheels 22a to 22d, a battery 22e that can be appropriately charged in the skeletal component set pack area 3, the small component set pack area 6 and the like, and a plurality of motors (not shown) supplied with electric power from the battery 22e. By driving the drive wheels 22a to 22d and changing the steering angle of the drive wheels 22a to 22d. The control device controls the drive device main body 22f in response to a command from the carriage controller 7 received via the communication device, and the carriage main body 21 is located on the front side in the traveling direction Fd extending along the lateral direction of the carriage main body 21. The vehicle main body 21 is moved rearward in the traveling direction Fd.

Further, the drive device main body 22f is attached to the center of the lower surface of the carriage main body 21 via a turntable 23 which is rotatable around a rotation axis O which extends along the vertical direction and passes through the center of the carriage main body 21. Therefore, the control device rotates the turntable 23 around the rotation axis O in response to a command from the carriage controller 7 received via the communication device, thereby causing the drive wheels 22a to 22d to face in the traveling direction Fd. It is possible to make them orthogonal to each other, and further to translate the carriage main body 21 along a width direction Wd orthogonal to the traveling direction Fd. Further, by tilting the directions of the drive wheels 22a to 22d with respect to the traveling direction Fd, it is possible to move the carriage main body 21 in an oblique direction with respect to the traveling direction Fd.

Two front and rear parts extending along the traveling direction Fd of the carriage main body 21 are provided at the front end of the lower surface of the carriage main body 21 along the traveling direction Fd as front connecting portions for connecting with the preceding carriage. A link arm 24 is provided. Further, one of the front and rear link rails extending along the width direction Wd is provided as a rear connecting portion for connecting with the rearward traveling vehicle at an end portion on the rear side along the traveling direction Fd on the lower surface side of the carriage main body 21. 25 are provided.

FIG. 4 is a view of the front and rear link arms 24 of the automatic carrier 2 and the front and rear link rails 25 of the preceding car 2a traveling on the front side of the automatic carrier 2 along the traveling direction Fd in the width direction Wd. It is a figure.

The front-rear link rail 25 extends along the width direction Wd orthogonal to the traveling direction Fd, and has a recessed portion 251 that is recessed downward along the up-down direction in a sectional view. A taper surface 253 that is inclined with respect to the vertical direction is formed on the outer edge 252 of the recess 251.

The front-rear link arm 24 includes a cam follower 241 that engages with a recess 251 of the front-rear link rail 25, an arm member 242 that extends along the traveling direction Fd and is provided with the cam follower 241 on the tip side, and a base end side of the arm member 242. A supporting member 243 that supports the carriage main body 21 so as to be swingable in the vertical direction, and a biasing member 244 that biases the arm member 242 in the vertical direction.

The cam follower 241 includes a roller 241a having an outer peripheral surface 241b in contact with the inner wall surface of the recess 251, and a shaft 241c rotatably supporting the roller 241a. The shaft 241c is provided on the tip side of the arm member 242. The shaft 241c extends in the up-down direction.

The support member 243 is provided on the base end side of the arm member 242 and extends along the width direction Wd. The stay 243 is fixed to the lower surface of the carriage main body 21 and rotatably supports the rotary shaft 243a. 243b and. Accordingly, the support member 243 supports the arm member 242 so as to be swingable in the vertical direction.

The biasing member 244 is, for example, a tension coil spring extending along the up-down direction, and its upper end portion 244a is fixed to the arm member 242 and its lower end portion 244b is fixed to the stay 243b. More specifically, the upper end portion 244a of the biasing member 244 is fixed to the rear side of the arm member 242 extending along the traveling direction Fd with respect to the rotating shaft 243a along the traveling direction Fd. The lower end 244b of the biasing member 244 is fixed to the stay 243b below the upper end 244a. The biasing member 244 constantly generates an elastic force in a direction that brings the upper end portion 244a and the lower end portion 244b closer to each other in the vertical direction. As a result, the biasing member 244 biases the arm member 242 toward the bottom 254 side of the recess 251 of the front and rear link rail 25 along the vertical direction.

5A and 5B are views for explaining a procedure for connecting the front-rear link arm 24 of the automatic carrier 2 and the front-rear link rail 25 of the preceding carrier 2a.

When the automatic carrier 2 is first moved forward along the traveling direction Fd to approach the preceding carrier 2a, the cam follower 241 of the front and rear link arm 24 contacts the tapered surface 253 of the front and rear link rail 25. From this state, when the automatic carrier 2 is moved closer to the preceding carrier 2a against the elastic force of the biasing member 244, the cam follower 241 slides downward along the tapered surface 253 as shown in FIG. 5A. Move.

When the automatic carrier 2 is further brought closer to the preceding carrier 2a from the state shown in FIG. 5A, the cam follower 241 gets over the edge 252 of the recess 251. Further, when the cam follower 241 gets over the edge portion 252, the cam follower 241 is biased by the biasing member 244 toward the bottom portion 254 side of the recess 251, so that the cam follower 241 engages with the recess 251. As a result, the automatic carrier vehicle 2 and the preceding vehicle 2a are connected to each other, and the movement along the traveling direction Fd is restricted. As described above, the automatic carrier vehicle 2 and the preceding vehicle 2a are connected to each other only by approaching each other along the traveling direction Fd.

As described above, the roller 241a of the cam follower 241 is rotatably supported by the shaft 241c extending in the up-down direction. Therefore, the cam follower 241 can be slid along the extending direction of the front and rear link rails 25 (that is, the width direction Wd) while maintaining the state in which the roller 241a is engaged with the recess 251. Therefore, after connecting the automatic carrier 2 and the preceding carrier 2a, by moving either of the automatic carrier 2 and the preceding carrier 2a along the width direction Wd, the front and rear link arms 24 and the front and rear link rails 25 are used. Can be disconnected.

Returning to FIG. 3, the end of the carriage main body 21 on the right side (that is, the work stations 11 and 12 side) as viewed along the traveling direction Fd is connected to the work stations 11 and 12 or the parallel traveling carriage. Two side link arms 26 extending along the width direction Wd are provided as side connecting portions for the side link arms 26.

FIG. 6 is a side view of the side link arm 26 of the automatic carrier 2 and the first station guide rail 13 provided at the first work station 11 along the extending direction of the first station guide rail parallel to the traveling direction Fd. It is a figure. Since the configuration of the second station guide rail 14 provided in the second work station 12 is almost the same as that of the first station guide rail 13, the description thereof will be omitted below.

The first station guide rail 13 extends along the extending direction of the first station guide rail 13, and has a concave portion 131 that is concave downward along the vertical direction in a sectional view. A taper surface 133 that is inclined with respect to the vertical direction is formed on the outer edge 132 of the recess 131.

The side link arm 26 includes a cam follower 261 that engages with the recess 131 of the first station guide rail 13, an arm member 262 that extends along the width direction Wd and is provided with the cam follower 261 on the tip side thereof, and a base of the arm member 262. A support member 263 that supports the end side of the carriage main body 21 so as to be swingable in the vertical direction, and a biasing member 264 that biases the arm member 262 in the vertical direction are provided.

The cam follower 261 includes a roller 261a having an outer peripheral surface 261b in contact with the inner wall surface of the recess 131, and a shaft 261c rotatably supporting the roller 261a. The shaft 261c is provided on the tip side of the arm member 262. The shaft 261c extends in the up-down direction.

The supporting member 263 is provided on the base end side of the arm member 262 and extends along the traveling direction Fd. The stay 263 is fixed to the lower surface of the carriage main body 21 and rotatably supports the rotating shaft 263a. 263b and. Accordingly, the support member 263 supports the arm member 262 so as to be swingable in the vertical direction.

The biasing member 264 is, for example, a tension coil spring extending in the vertical direction, and its upper end portion 264a is fixed to the arm member 262 and its lower end portion 264b is fixed to the stay 263b. More specifically, the upper end portion 264a of the biasing member 264 is fixed to the inside of the arm member 262 extending along the width direction Wd along the width direction Wd with respect to the rotating shaft 263a. The lower end portion 264b of the biasing member 264 is fixed to the stay 263b below the upper end portion 264a. The urging member 264 constantly generates an elastic force in a direction of bringing the upper end portion 264a and the lower end portion 264b closer to each other in the vertical direction. Accordingly, the biasing member 264 biases the arm member 262 along the vertical direction toward the bottom portion 134 side of the recess 131 of the first station guide rail 13.

According to the first station guide rail 13 and the side link arm 26 configured as described above, the automatic carrier 2 and the first working station 11 are the first working station along the widthwise direction Wd of the automatic carrier 2. It is connected only by approaching 11. Since the specific procedure for connecting the automatic carrier 2 and the first work station 11 is the same as the procedure described with reference to FIGS. 5A and 5B, detailed description thereof will be omitted.

Returning to FIG. 3, one side link rail 27 extending along the traveling direction Fd is connected to an end portion on the left side of the carriage main body 21 when viewed along the traveling direction Fd so as to be connected to the parallel traveling truck. Is provided.

FIG. 7 is a view of the side link rails 27 of the automatic carrier 2 and the side link arms 26 provided on the parallel carrier 2b that runs in parallel with the automatic carrier 2 as viewed along the traveling direction Fd.

The side link rail 27 extends along the traveling direction Fd, and in the cross-sectional view, a concave portion 271 that is concave downward is formed along the vertical direction. A taper surface 273 that is inclined with respect to the vertical direction is formed on the outer edge 272 of the recess 271. The urging member 264 of the side link arm 26 urges the arm member 262 along the vertical direction toward the bottom 274 side of the recess 271 of the side link rail 27.

With the side link rail 27 and the side link arm 26 configured as described above, the automatic carrier 2 and the parallel trolley 2b approach the automatic carrier 2 and the parallel trolley 2b along the width direction Wd. Just let them connect. The specific procedure for connecting the automatic carrier vehicle 2 and the parallel traveling vehicle 2b is the same as the procedure described with reference to FIGS. 5A and 5B, and thus detailed description thereof will be omitted.

FIG. 8 is a diagram showing a state in which a plurality of (6 in the example of FIG. 8) automatic carrier vehicles 2 are traveling along the first work station 11 in the assembly work area 1. The carriage controller 7 moves the plurality of automatic carrier carriages 2 in a line along the first work station 11 in the assembly work area 1.

As described above, the automatic carrier vehicles 2 can be connected in a row by engaging the front and rear link arms 24 with the front and rear link rails 25 of the preceding vehicle that travels forward in the traveling direction Fd. It is possible. Further, each automatic carrier 2 can be connected to the first work station 11 by engaging each side link arm 26 with the first station guide rail 13 of the first work station 11. .. Therefore, as shown in FIG. 8, the carriage controller 7 forms a row by connecting the plurality of automatic carrier carriages 2 in a row, and the first carrier station 11 berths these automatic carrier carriages 2 while berthing the first work station 11. It is possible to move along the route CS1. As a result, the worker can board the automatic carrier 2 from the fixed platform 10 and perform the assembly work.

By the way, in the skeleton part set pack area 3 and the small part set pack area 6 described with reference to FIG. 1, the automatic carrier truck 2 carrying the defective small part or skeleton part may be erroneously discharged. When such a problem is discovered after the automatic carrier truck 2 is paid out, a defective small component or skeletal component is mounted from among the plurality of automatic carrier trucks 2 traveling in a row at the first work station 11. Only the ones that do need to be punctured. For this reason, in the first work station 11, the side link arm 26 of the automatic carrier 2 and the first station are provided in the hollow area permission area 8 defined between the first docking point 11a and the first docking point 11b. A connection releasing mechanism 80 for releasing the connection with the guide rail 13 is provided.

FIG. 9A is a sectional view taken along a section perpendicular to the traveling direction Fd of the hollow area permission area 8.
9B is a cross-sectional view taken along the center line IX-IX of FIG. 9A.

As shown in FIGS. 9A and 9B, the coupling release mechanism 80 is configured by a coupling release block 81 provided only in the concave portion 131 in the hollow area permission area 8 of the first station guide rail 13. As shown in FIG. 9B, tapered surfaces 82 and 83 are formed on both ends of the decoupling block 81. Therefore, when the automatic carrier 2 moving along the first work station 11 enters the hollow area 8, the cam follower 261 of the side link arm 26 rides on the disconnecting block 81 as shown in FIG. 9A. Therefore, the automatic carrier 2 is temporarily released from the connection with the first work station 11 within the hollow area permission area 8. Therefore, when the automatic carrier truck 2 to be the target of the hollow insertion enters the hollow area permission area 8 and the connection is released by the connection release mechanism 80, the carriage controller 7 temporarily disconnects the automatic transfer carriage 2. By translating the carriage 2 in the direction away from the first work station 11 along the width direction Wd, the automatic carrier carriage 2 that is the target of the hollow-out is removed from the row.

10A and 10B are diagrams showing the configuration of the connection release mechanism 80A of the first modification. The connection release mechanism 80A includes a connection release block 81A provided in the through hole 13a formed in the first station guide rail 13 and an actuator 84A for moving the connection release block 81A forward and backward along the horizontal direction. In the decoupling mechanism 80A of the first modification, when the automatic carrier vehicle 2 to be the target of the hollow portion enters the hollow area permission area 8, as shown in FIG. 10B, the coupling release block 81A is moved to the recess 131 by the actuator 84A. Move it inside. As a result, the cam follower 261 of the side link arm 26 is pushed out of the recess 131 to the outside, and the connection between the automatic carrier 2 and the first work station 11 is released. Further, when the connection between the first automatic transfer carriage 2 and the first work station 11 which is the object of hollowing is released by the connection release mechanism 80A, the carriage controller 7 sets the automatic transfer carriage 2 in the first direction along the width direction Wd. By translating in a direction away from the first work station 11, the automatic carrier vehicle 2 that is the target of the hollowing-out is removed from the row. In addition, in the coupling release mechanism 80A of the first modification, when the automated guided vehicle 2 that enters the hollow region permission area 8 is not the target of the hollow region, the coupling release block 81A is retracted to the outside of the recess 131 as shown in FIG. 10A. Let As a result, only the automatic carrier truck 2 that is the target of the hollow portion can be detached from the first work station 11.

11A and 11B are diagrams showing the configuration of the connection releasing mechanism 80B of the second modification. The connection release mechanism 80B includes a connection release block 81B provided in the through hole 13b formed in the first station guide rail 13 and an actuator 84B that moves the connection release block 81B forward and backward along the vertical direction. In the decoupling mechanism 80B of the second modification, when the automatic carrier vehicle 2 to be subjected to the hollowing-out enters the hollowing-out permission area 8, the coupling-releasing block 81B is moved to the recess 131 by the actuator 84B as shown in FIG. 11B. It advances to the inside and disconnects the automatic carrier 2 and the first work station 11. In addition, when the connection between the first transfer station 11 and the automatic carrier truck 2 to be subjected to the hollowing is released by the connection release mechanism 80B, the carriage controller 7 sets the automatic carrier truck 2 to the first position along the width direction Wd. By translating in a direction away from the first work station 11, the automatic carrier vehicle 2 that is the target of the hollowing-out is removed from the row. In addition, in the coupling release mechanism 80B of the second modification, when the automated guided vehicle 2 that enters the hollow region permission area 8 is not the target of the hollow region, the coupling release block 81B is retracted to the outside of the recess 131 as shown in FIG. 11B. Let As a result, only the automatic carrier truck 2 that is the target of the hollow portion can be detached from the first work station 11.

FIG. 12A and FIG. 12B are views showing the configuration of the coupling release mechanism 80C of Modification 3. The connection release mechanism 80C is an actuator including a connection release block 81C provided in a through hole 13c formed in the first station guide rail 13 and a rotation shaft 85C extending along the extending direction of the first station guide rail 13. 84C, and a swing arm 86C extending along the radial direction of the rotating shaft 85C and connecting the rotating shaft 85C and the connection release block 81C. In the decoupling mechanism 80C of the third modification, when the automatic carrier vehicle 2 that is the target of the hollowing-out enters the hollowing-out permission area 8, the coupling-releasing block 81C is recessed by using the actuator 84C as shown in FIG. 12B. The inside of 131 is advanced and the connection between the automatic carrier 2 and the first work station 11 is released. Further, when the connection between the automatic carrier truck 2 to be subjected to the hollowing-out and the first work station 11 is released by the connection release mechanism 80C, the carriage controller 7 sets the automatic carrier truck 2 to the first position along the width direction Wd. By translating in a direction away from the first work station 11, the automatic carrier vehicle 2 that is the target of the hollowing-out is removed from the row. Further, in the decoupling mechanism 80C of the third modification, when the automatic carrier 2 invading the hollow area permission area 8 is not the target of the hollow area, the decoupling block 81C is retracted to the outside of the recess 131 as shown in FIG. 12B. Let As a result, only the automatic carrier truck 2 that is the target of the hollow portion can be detached from the first work station 11.

Although one embodiment of the present invention has been described above, the present invention is not limited to this. The detailed configuration may be appropriately changed within the scope of the gist of the present invention. For example, in the above-described embodiment, a case has been described in which the worker performing the assembling work in the assembling work area 1 is the worker, but the present invention is not limited to this. The work subject may be a robot other than the worker, or a combination of the worker and the robot.

Further, in the above-described embodiment, as described with reference to FIG. 8, the carriage controller 7 forms a row of a plurality of automatic carrier vehicles 2 and moves the row along the first work station 1. However, the present invention is not limited to this. As described with reference to FIG. 7, the side link rails 27 of the automatic carrier 2 are engaged with the side link arms 26 provided on the parallel carrier that runs in parallel with the automatic carrier 2. It is possible to connect the carriage 2 and the parallel running carriage. Therefore, as shown in FIG. 13, the carriage controller 7 controls the side link rails 27 of each of the plurality of automatic carrier trucks 2 forming the row 2c connected to the first work station 11 to form a plurality of rows 2d. By connecting the side link arms 26 of the automatic carrier 2, it is possible to form two rows.

Further, in the above-described embodiment, the front and rear link arm 24 is provided as a front connecting portion at the front end of the carriage main body 21 along the traveling direction Fd, and the rear connecting portion is provided at the rear end thereof along the traveling direction Fd. The case where the front and rear link rails 25 are provided has been described above, but the present invention is not limited to this. For example, in the carriage main body 21, a front-rear link rail 25 is provided as a front connecting portion at an end on the front side along the traveling direction Fd, and a front-rear link arm is provided as a rear connecting portion at an end on the rear side along the traveling direction Fd. 24 may be provided.

Further, in the above-mentioned embodiment, the case where the fleet of the automatic carrier vehicles is formed in the work station by connecting the next automatic carrier vehicle to the rear of the automatic carrier vehicle previously connected to the work station has been described. The procedure for connecting the carrier vehicles is not limited to this. For example, the next automatic carrier may be connected in front of the automatic carrier that was previously connected to the work station, or the automatic carrier may be interrupted between the two automatic carrier that are previously connected to the work station. The next automatic carrier may be connected.

L: Automotive manufacturing line S: Module manufacturing system (transport system)
1... Assembly work area 10... Fixed platform 11... First work station (work station)
13... 1st station guide rail (station guide rail)
131... Recess (station recess)
134... Bottom (bottom)
132... Edge 133... Tapered surface 12... Second work station (work station)
14... 2nd station guide rail (station guide rail)
2... Automatic carrier truck
W...Skeletal parts (work)
P: Small parts (parts)
21... Bogie main body 24... Front/rear link arm (front connecting portion)
241... Cam follower (engagement part)
242... Arm member 243... Support member 244... Energizing member 25... Front/rear link rail (rear connecting portion)
251... Recessed portion 254... Bottom portion (bottom)
252... Edge part 253... Tapered surface 26... Side link arm (side connecting part)
261...Cam follower (side engaging part)
262... Arm member (side arm member)
263... Support member (side support member)
264... Energizing member 27... Side link rail 271... Recessed portion (side recessed portion)
272... Edge 273... Tapered surface 3... Skeleton parts set pack area 6... Small parts set pack area 7... Cart controller (control device)
8... Hollow-out permission area 80, 80A, 80B, 80C... Connection release mechanism 81, 81A, 81B, 81C... Connection release block (block)
84A, 84B, 84C... Actuator

Claims (5)

A plurality of trolleys on which a work or a part is mounted and on which an operator can board,
A transport system comprising: a control device that moves the plurality of carriages in a line along a work station;
The trolley body of the trolley is provided with a front coupling part for coupling with the preceding trolley and a rear coupling part for coupling with the trailing trolley,
One of the front connecting portion and the rear connecting portion has a recessed portion that extends in the width direction orthogonal to the traveling direction and is concave in cross section, and the other connecting portion engages with the recessed portion. With joints,
The conveyance system, wherein the engagement portion is slidable along the width direction while being engaged with the recess. The other connecting portion extends along the traveling direction and has an arm member provided with the engaging portion at a tip end side thereof, and a base end side of the arm member swings vertically with respect to the carriage main body. A support member that supports the arm member, and a biasing member that biases the arm member toward the bottom side of the recess along the vertical direction,
The transport system according to claim 1, wherein a taper surface that is inclined with respect to the vertical direction is formed on an outer edge of the recess. A side connecting portion for connecting with a station guide rail provided in the work station is provided on a side portion of the trolley body on the work station side with respect to the traveling direction,
The side connecting portion is slidable along the extending direction of the station guide rail in a state of being connected to the station guide rail,
The work station is provided with a connection releasing mechanism for releasing the connection between the side connecting portion and the station guide rail,
When the connection release mechanism releases the connection between the lateral connection portion and the station guide rail, the control device separates the disconnected carriage from the work station along the width direction. The transport system according to claim 1, wherein the transport system is moved in a direction. The station guide rail includes a station concave portion that extends along the extending direction and is concave in a sectional view,
The lateral connecting portion includes a lateral engaging portion that engages with the station recess, a lateral arm member that extends along the width direction and has the lateral engaging portion provided on a tip end side thereof, A side support member that supports the base end side of the side arm member so as to be swingable in the vertical direction with respect to the trolley body, and the side arm member is attached to the bottom side of the station recess in the vertical direction. And a biasing member for biasing,
The decoupling mechanism includes a block that is capable of advancing and retreating with respect to the inside of the station recess, and an actuator that advances and retracts the block. The conveyance system according to claim 3, wherein the side connection portion and the station guide rail are released from each other by being pushed out. On the side portion of the carriage main body that faces the side coupling portion, a side concave portion that extends along the traveling direction and has a concave shape in a sectional view is provided.
The transport system according to claim 4, wherein the side engaging portion is slidable along the traveling direction while being engaged with the side recess.

Images