JP2780547B2 - Floor-side transfer equipment using self-propelled bodies - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled floor-side transfer facility which is used to transfer a conveyed object on a fixed path on the floor side.

[0002]

2. Description of the Related Art Hitherto, for example, Japanese Unexamined Patent Publication No. 2-209309 discloses a configuration for transporting a non-driven trolley on a fixed route.

In this conventional structure, a movable body transport device is provided above a fixed path on which a movable body can travel, a brake device is provided below the movable device, and a movable body transport device for the next process is provided below the brake device. ing. The movable body transport device includes a pair of left and right feed rollers that can freely contact the side surface of the movable body, and a rotation driving device that is interlocked with these feed rollers. Further, the brake device is composed of a pair of left and right brake rollers that can freely contact the side surface of the movable body, and a torque motor that applies reverse rotation torque to these brake rollers. It is set to large.

According to such a conventional configuration, a large driving force is applied to the movable body by forcibly rotating the two feed rollers abutting on both side surfaces of the movable body by the rotary drive device. Thus, the movable body can be transported on a fixed route. At that time, the movable body pushes and transports the movable body group that has stopped before.

[0005] In the lower part of the fixed path, since the reversely rotating brake roller is in contact with both side surfaces of the movable body, a propulsive force in the reverse transport direction acts on the movable body, and the feed roller rotates here. Since the force is larger than the reverse rotation torque, the brake roller is rotated to the feed rotation side in accordance with the difference, whereby the movable body of the lower hand is conveyed under the braking action. Therefore, the movable body group is conveyed in a densely pushed state without forming a gap between the front and rear ends. Then, the movable body pushed out from the brake device is carried out to the next step by the next movable body transport device.

[0006]

According to the above-mentioned conventional structure, the moving body is sequentially conveyed by a plurality of moving body conveying devices on a fixed path, so that the speed is substantially constant, and therefore, the speed between the work path sections is reduced. In the non-work route section, the conveyance becomes inefficient. Furthermore, since the movable bodies are densely arranged and conveyed over substantially the entire length of the fixed path including the non-work path section, a large number of expensive movable bodies are required, and equipment costs are increased.

An object of the present invention is to provide a floor-side transfer facility using a self-propelled body capable of running at high speed except for a specific route portion.

[0008]

In order to achieve the above object, a floor-side transfer facility using a self-propelled body according to the present invention is provided with a rail disposed on the floor side and supported and guided by the rail via a group of wheels. and a traveling freely self body on certain routes, the self-propelled body,
A traveling drive coupled to at least one wheel;
Having a current collector connected to the traveling drive,
Having a support portion for the transferred object at the top, forming a pressure receiving portion facing outward on the self-propelled body, in a specific route portion in the fixed route,
A feed device for transmitting a traveling force to the self-propelled body is provided, and the feed device is configured by a feed roller freely contactable with the pressure receiving portion, and a rotary drive device interlocked with the feed roller, and other than the specific route portion. A power supply device to which the current collector is slidable is disposed.

[0009]

According to the structure of the present invention, the feed roller which is forcibly rotated by the rotary drive device in a state where the self-propelled body is positioned opposite to the feed device at the start end of the specific path portion and is not driven is driven. By bringing the self-propelled body into contact with the pressure-receiving body, a large propulsive force is given to the self-propelled body, so that the self-propelled body can be transported on the specific route. At that time, the self-propelled body boosts and conveys the self-propelled body group that has stopped ahead of the specific route section. The self-propelled body extruded from a particular path portion by pushing enters the beginning of another path portion and a particular route section, in Rukoto actuates the travel drive device is allowed to act on the feeding device and the current collector The vehicle is automatically driven on this route.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. A pair of left and right rails 1A and 1B are disposed in a pit 2 formed on the floor side, and the upper surface thereof is at the same level as the work floor plate 3. One of the rails 1A has an I-shape,
The other rail 1B has a plate shape. The other rail 1B is located above the plate-shaped base member 4 and is integrated via a square tubular spacer member 5 located near the center. Outside the spacer member 5, a guide ridge 6 is integrally formed on the upper surface of the base member 4.

The self-propelled body 10 has a pair of front and rear wheels 12A, 12B on both lower sides of a main body 11, respectively.
By mounting on the rails 1A and 1B via B,
The vehicle can travel on the fixed route 9. Here the other wheel 12B
A bracket 14 is provided downward from a wheel support frame 13 for supporting the rails. The bracket 14 has a plurality of lateral displacement prevention rollers 15 facing both side surfaces of the ridge 6 and a lift facing the lower surface of the rail 1B. A prevention roller 16 and a current collector 17 facing the outer surface of the spacer member 5 are provided.

A traveling drive unit 20 is provided which is linked to the other front wheel 12B.
Fixed to The main body 11 has a long flat frame shape, and a pressure receiving portion 21 is formed by outer surfaces of both side frames, and a front end surface 22 and a rear end surface 23 are formed on a contact surface. The front and rear portions of the pressure receiving portion 21 are formed on inclined surfaces. At the front and rear portions of the main body 11, support portions 24 are disposed upward, respectively, and these support portions 24 support a pallet 28 for a transferred object. Note that the support portion 24 may be of a type that directly supports the transferred object. 25 indicates an operation box.

The fixed path 9 is formed in a loop by a work path section 9a, which is an example of a specific path section, and a non-work path section 9b, which is an example of a path section other than the specific path section.
Here, the work path portion 9a is linear, and a feed device 30 for transmitting the running force to the self-propelled body 10 is provided at a start end thereof, and a braking device 50 is provided at a terminal end thereof. The feeding device 55 is provided slightly better. The feed device 30, the braking device 50 and the feed device 55 are symmetrically arranged in a left-right pair.

Next, the details of the feeder 30 will be described. A vertical axis 33 is erected from a base body 31 disposed in the pit 2 outside the rails 1A and 1B via a mounting member 32. A support member 35 is attached to the vertical axis 33 via a bearing 34 so as to be swingable about a vertical axis 36.
The support member 35 is provided with a servomotor 37 with a speed reducer, which is an example of a rotary drive device.
A feed roller 39 made of, for example, urethane is fixed to an output shaft 38 taken out from the upper side. Note that the servo motor 37 applies a feed rotation force A to the feed roller 39. The support member 35 integrally has a bracket 40 extending forward, and a cylinder device 41 for swinging the support member 35 is provided between the bracket 40 and the base body 31.

Therefore, by operating the cylinder device 41, the support member 35 can be swung about the longitudinal axis 36, and the feed roller 39 can be moved into and out of contact with the pressure receiving portion 21. At that time,
In order to regulate the maximum approach position, a stopper body 42 is continuously provided from the support member 35, and the stopper body 42 is
A stopper body 43 which can freely contact is provided on the base body 31 so as to be adjustable in position.

The braking device 50 has the same structure as that of the feeding device 30, and is configured to be able to freely contact and separate from the pressure receiving portion 21 of the main body 11 from the side and to have a braking roller 51 made of, for example, urethane. It comprises a reverse rotation driving device 52 which works in conjunction with the braking roller 51 and applies a reverse rotation torque B to the braking roller 51. The reverse rotation driving device 52 is composed of a torque motor or the like, and the reverse rotation torque B is set smaller than the rotation torque A of the servomotor 37. The feeder 55 has the same structure as the feeder 30.

In the non-work path section 9b, as shown by the phantom line in FIG. 1, a power supply device 7 is disposed on the outer surface of the spacer member 5. Can slide freely. In the non-work path section 9b, the loading section 56 of the pallet 28 on which the article is placed and the wholesale section 57
And are arranged.

Next, the operation of transporting the pallet (transported object) 28 in the above embodiment will be described. In the non-working route section 9a in the fixed route 9, the self-propelled body 10 travels at a desired high speed by operating the traveling drive device 20 by sliding the current collector 17 against the power supply device 7. At this time, the wheels 12A and 12B are supported and guided by the rails 1A and 1B, and the lateral displacement prevention roller 15 is guided by the ridge 6 and the lifting prevention roller 16 is guided by the lower surface of the rail 1B, so that the self-propelled body is provided. The 10 runs stably without lifting or lateral displacement.

The self-propelled body 10 having traveled in this manner is:
The traveling drive device reaches the terminal end of the non-work path 9a.
25 is stopped and its running is temporarily stopped. The self-propelled body 10 travels again by a signal indicating that the start end of the work path section 9a is empty, and stops when the front end reaches the start end of the work path section 9a and enters the feeding device 55. Next, in a state in which the feeding device 30 is ready to receive, the feeding device 55 is operated in the same manner as the feeding device 30 described later to convey the self-propelled body 10. At this time, the front end face 22 of the sent self-propelled body 10 is applied to the rear end face 23 of the rearmost self-propelled body 10 of the group of self-propelled bodies 10 located in a dense train shape on the work route section 9a. Then, the self-propelled bodies 10 are conveyed by the feeding force of the feeding device 55.

The feeding by the feeding device 55 is stopped when the front end of the corresponding self-propelled body 10 enters the feeding device 30. At this time, the cylinder device 41 of the feed device 30 is extended, and the support member 35 is swung outward around the longitudinal axis 36, so that the feed roller 39 is moved to the pressure receiving portion 21 as shown by the phantom line in FIG. Away from Therefore, the loading (running) of the self-propelled body 10 is performed without any trouble.

After the carry-in operation, the feed roller 39 is moved close to the pressure receiving portion 21 by an action reverse to that described above and pressed against the pressure receiving portion 21 as shown by the solid line in FIG.
Is rotationally driven by a servomotor 37. Therefore, by forcing the feed roller 39, which is being forcibly rotated, into pressure contact with the pressure receiving portion 21, a traveling force is given to the self-propelled body 10 by the rotational force A of the feed. The transport C is performed at a desired low speed on the work path 9a, and the self-propelled bodies 10 located in a dense train shape on the work path section 9a are boosted and transported.

The feed amount of the self-propelled body 10 by the feed device 30 is detected by an encoder or the like, and when a certain predetermined feed amount is detected, the feed roller 39 is separated and the transfer operation is stopped. The braking device 50 brakes the self-propelled body 10 reaching the end of the work path section 9a. That is, when the transport operation of the self-propelled body 10 by the feed device 30 is stopped, the cylinder device of the braking device 50 is contracted, and thus the braking rollers 51 are separated from each other. And feeder
In conjunction with the carry-in movement of 30, the two brake rollers 51 are moved closer to each other by the reverse action and press-contacted with the pressure receiving part 21, but at this time, the brake roller 51 is on the opposite side to the feed roller 39. It is driven to rotate.

That is, the two braking rollers 51 are forcibly rotated in directions opposite to each other by driving the torque motor. Therefore, when the braking roller 51 that is being forcibly rotated is pressed against the pressure receiving portion 21, a propulsive force in the reverse transport direction D acts on the self-propelled body 10 due to the reverse rotation torque B.
Is larger than the reverse feed rotation force B, the braking roller 51 is rotated to the feed rotation side in accordance with the difference, and the load at that time is absorbed by the torque motor.

As a result, the self-propelled body 10 corresponding to the inferior braking device 50 is conveyed under a braking action. Therefore, between the feed device 30 and the braking device 50, a plurality of self-propelled The body 10 will be tightly pushed and aligned without creating a gap between its front and rear ends. Such a braking operation by the braking device 50 is stopped immediately before and after the transport by the feed device 30 is stopped.

As described above, in the work route section 9a, the self-propelled body
While the intermittent conveyance of 10 is being carried out, and the operator is stopped, the worker on the work floor plate 3 or the worker who has moved onto the main body 11
Various operations are performed on the transferred object on the pallet 28. At that time, since the work floor plate 3 and the main body 11 are at the same level, the walking including the transfer of the worker can always be performed safely.

By the above-described pushing, the braking device 50 is driven.
The self-propelled body 10 pushed out of the vehicle enters the starting end of the non-working path section 9b, and the current collector 17 acts on the power supply device 7 to automatically travel on the non-working path section 9b. Then, in the non-working route section 9b, the self-propelled body 10 is stopped facing the wholesaler 57 and the pallet 28 is wholesaled. Then, the self-propelled body 10 stops at the loading section 56 and a new pallet 28 is loaded. The pallet 28 may be unloaded and loaded at one place.

In each of the feeding devices 30 and the feeding devices 55, the corresponding servo motors 37 are electrically synchronized, and in the braking device 50, the corresponding reverse rotation driving devices 52 are electrically synchronized.

In the above embodiment, in the feeding device 30, the feeding device 55 and the braking device 50, the feeding roller 39 and the braking roller
Although all of 51 were forcibly driven, this is, for example, one side of the feed roller 39 and the braking roller 51 are forcibly driven,
Then, the feed roller 39 and the braking roller 51 on the other side may be of idle rotation type.

In the above-described embodiment, the fixed path 9 is formed in a loop shape in plan view. However, the fixed path 9 is provided with a lift device opposite to the start and end of the work path section 9a, and the upper floor or lower floor facing these lift devices is provided. The work path portion 9b may be formed on the floor in a loop shape in a side view.

Note that the specific route portion may be set on the non-work route portion 9b side, and the self-propelled body 10 may be driven and run on the work route portion 9a side. Further, the feed roller 39 may be provided only on one side and a backup roller may be provided on the other side.

[0031]

According to the present invention having the above-described structure, the rotation driving device forcibly rotates the self-propelled pressure receiving member, which is located at the starting end of the specific path portion and faces the feeder and is not driven. By contacting the feeding roller, a large propulsive force can be given to the self-propelled body, and the self-propelled body can be conveyed on the specific route. At that time, the self-propelled body efficiently moves the self-propelled body group that has stopped ahead on the specific route portion in a densely pushed state without creating a gap between the front and rear ends, and at a desired low speed. Can be transported.

Then, the self-propelled body pushed out from the specific route portion to the start end of the route portion other than the specific route portion by the pushing is:
The driving device is made by applying the current collector to the power feeding device.
In Rukoto is dynamic, with the path portion other than the specific path portion can be automatically run at any speed, and thus the entire equipment can reduce the equipment cost and can reduce the number of expensive self-propelled body These self-propelled bodies can be used efficiently.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention and is a front view of a work path section.

FIG. 2 is a partially cutaway side view of a main part of the work path unit.

FIG. 3 is a plan view of a main part of the work path unit.

FIG. 4 is a schematic plan view of the work path unit.

FIG. 5 is a schematic plan view of the whole.

[Explanation of symbols]

 1A, 1B rail 2 pit 3 floor 7 power supply device 9 constant route 9a work route (specific route) 9b non-work route (route other than specific route) 10 self-propelled body 11 main body 17 current collector 20 running Driving device 21 Pressure receiving part 22 Front end face 23 Rear end face 24 Support part 28 Pallet 30 Feeding device 37 Servo motor 39 Feed roller 41 Cylinder device 50 Braking device 55 Feeding device A Reverse feed torque B Feed torque

Claims (1)

(57) [Claims] 1. A rail arranged on the floor side and a rail
And a freely <br/> self body travels on a predetermined path are supported and guided through a wheel group, the self-propelled body, at least one wheel
And a drive connected to this drive
Having a current collecting device, and having a support portion for the transported object at the top, forming a pressure receiving portion facing outward on the self-propelled body,
A feed device for transmitting a running force to the self-propelled body is provided on a specific route portion of the fixed route, and the feed device includes a feed roller freely contactable with the pressure receiving portion, and a rotary drive device interlocked with the feed roller. And a power supply device to which the current collecting device is slidable is disposed in a route portion other than the specific route portion.