JP2831032B2 - Transport device using self-propelled body - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device using a self-propelled body, which is used to support and transfer a body or the like, for example, in an automobile assembly line.

2. Description of the Related Art As this type of transport device, a suspended transport type or a trolley transport type is adopted, and a moving body such as a trolley device or a trolley supports an object to be transported such as a body and travels along a fixed path. It is configured to run.

Conventionally, for example, as a suspended conveyance type
There is provided a transport facility as disclosed in JP 183010. In this conventional type, a self-propelled body that can travel on a fixed path via a plurality of wheels mounted on a rail is provided, a driving device linked to one wheel is provided, and a lower part of the self-propelled body is further provided. In addition, there is provided a hanger device for supporting a transferred object having a pair of left and right hanger frames that can swing left and right. The transported object is transported by causing the self-propelled body to travel on a fixed route.

According to the above-mentioned conventional type, according to the above-mentioned conventional type, when a work is performed on an object to be conveyed by a robot, for example, in a specific work process section on a certain path, the position of the object to be conveyed in the vertical direction (horizontal position) The work cannot be performed easily because the position) is not accurate. To cope with this, it is only necessary to increase the accuracy of the rail, the self-propelled body and the hanger device, but it is not easy and the cost is high. Further, in a specific work process section in a certain path, the transferred object cannot be transferred in a state where the position of the transferred object in the vertical direction has been corrected. That is, after stopping once, the position is corrected by another device to perform various operations.

An object of the present invention is to provide a self-propelled transport equipment capable of correcting the position of a transferred object in a vertical direction with a simple structure and stably transferring the transferred object in a state where the position is corrected. .

Means for Solving the Problems In order to achieve the above object, a transport facility using a self-propelled body according to the present invention is a self-propelled body that can travel on a fixed path via a pair of front and rear wheels mounted on rails. Along with
The self-propelled body is provided with a traveling drive device that is interlocked with the wheel on one end side in the fixed path direction, and the height position of a fulcrum provided on the one end side is fixed to the self-propelled body with respect to the wheel body. The supporting device for the object to be conveyed is swingably mounted so that the other end thereof can be moved up and down within a certain range, and the other end of the supporting device is rotatable about a horizontal axis perpendicular to the traveling direction. Guided body consisting of various rollers
In a specific work process section formed in a fixed path, the guided body is lifted from the lowered position, and the two weights of the supporting device and the transported object supported by the supporting device are supported by the one end side wheel. A guide body for supporting and guiding so as to be concentrated is provided.

According to the configuration of the present invention, the self-propelled body supporting the object to be transported by the support device is driven by the traveling drive device to forcibly rotate the one end side of the body, thereby forming a pair of front and rear wheels. It runs on rails. Then, when reaching a specific work process section in a certain path, the guided body is guided by the guide body, the other end of the support device is lifted around the fulcrum, and the transferred object also moves integrally and moves vertically. Can be corrected. At that time, since the left and right guided bodies are supported and guided by the guide body at the other end side, the vehicle travels in a form of three places support together with the one end side wheel body. Since the other end is lifted, the weights of the supporting device and the transported object supported by the supporting device are concentrated on the one end of the wheel body. The pressing force of the wheel body against the rail is inevitably increased, so that the traveling drive based on the operation of the traveling drive device can be performed with a strong propulsive force.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

Reference numeral 1 denotes a rail formed to have an I-shaped cross section, which is supported on a flange 2 from the ceiling beam side via a mounting bracket 3, and a signal / power supply device 4 is provided on the side opposite to the side to which the mounting bracket 3 is coupled. Are disposed over the entire length. The self-propelled body 5 supported and guided by the rail 1 and capable of traveling on the fixed path 20 is plural (two in the embodiment) in the traveling direction.
Trolley body 6 and a bearing 7
A shaft 9 in the left-right direction attached via a shaft, a wheel 9 attached to these shafts 8 and mountable on the upper surface of the rail 1,
A roller 10 for preventing lateral vibration attached to each trolley body 6 and capable of abutting on both upper and lower ends of the rail 1, and a front-rear direction for connecting the trolley bodies 6 via vertical connection pins 11. A connecting rod 12, a traveling drive unit 13 with a brake attached to one of the trolley bodies 6 of the group of trolley bodies 6 and moving on its shaft 8, attached to the specified trolley body 6, and The signal and power supply device 4 is configured by a current collector 14 that can slide freely. The connecting rod 12
At both ends, there are recesses 15 that are open on both sides and outside the ends.
Are formed, and a vertical hole 16 passing through the concave portion 15 is formed. From the lower end of the trolley body 6, a connecting portion 6A that is bent inward and can be inserted into the concave portion 15 is integrally formed, and a vertical through hole 17 is formed in the connecting portion 6A. The connecting pin 11 is passed between the aligned vertical hole 16 and the through hole 17, so that the trolley body 6 and the connecting rod 12 can swing relative to each other around the longitudinal axis 18. A horizontal hole 19 is formed at a position inside the concave portion 15 of the connecting rod 12. A hanger device 21 as an example of a support device is attached to the connecting rod 12. The hanger device 21 includes an upper frame 22, a pair of arm members 24 attached to both sides of the upper frame 21 via front and rear direction pins 23 so as to be able to swing left and right,
It is composed of a receiving stand 25 attached to the lower ends of these arm members 24 and the like. Brackets from the front and back of the upper frame 22
The upper frame 22 is connected to the connecting rod 12 by passing through the connecting pin 28 after the left and right through holes 27 and 27A formed on the upper portions of the brackets 26 are aligned with the left and right holes 19, respectively. Be linked. At this time, the through hole 27A on the rear end side
Larger than that of the hanger device 21.
Is mounted on the connecting rod 12 such that the rear end side can move up and down within a certain range with the connecting pin 28 on the front end side as a fulcrum. The large-diameter through hole 27A may be a long hole or the like.
The front-rear direction pin 23 is supported by a bearing member 29 provided on the upper frame 22, and is rotatable around a front-rear direction axis 30. The arm member 24 has a pair of front and rear bent brackets 31 each having a lateral end connected to a front and rear direction pin 23.
And vertical rods 32 extending downward from the other lower ends of the bent brackets 31 and front and rear rods 33 connecting the lower ends of the vertical rods 32 facing each other in front and rear. Cradle
25 are connected in series. A positioning guide roller 35 is attached to the center of the upper surface of the upper frame 22 via a bracket 34, and a lifting guide roller 37, which is an example of a guided body, is attached to both sides of the rear portion via a bracket 36. Can be 38 is a guide rail as an example of a guide body on which the lifting guide roller 37 acts in a specific work process, 39
Is a positioning rail on which the positioning guide roller 35 acts at other locations. Numeral 40 denotes an object to be transported, which corresponds to the body of an automobile.

 Next, the transfer operation in the above embodiment will be described.

As shown by the solid lines in FIGS. 1 and 2, the self-propelled body 5 supporting the object 40 to be transported by the hanger device 21 is a traveling drive device.
By operating the wheel 13 to forcibly rotate the wheel 9, the vehicle travels in a state where the wheel 9 is supported by the plurality of wheels 9 and the lateral vibration is prevented by the plurality of rollers 10 for preventing lateral vibration. The power supply to the self-propelled body 5 is performed by the current collector 14 slidingly contacting the signal / power supply device 4. When the self-propelled body 5 traveling in this manner enters a specific work process section in the fixed path 20, first, both lifting guide rollers 37 are fitted into the corresponding guide rails 38, respectively. At this time, the guide rail 38 is disposed so as to be higher than the fitting position (lower position). Therefore, the lifting guide roller 37 is guided by the guide rail 38 to ascend, so that a large-diameter through hole is formed. The rear portion of the hanger device 21 is tilted by being lifted within the range permitted by 27A, and the transferred object 40 is also tilted in the vertical direction (pitching shape), so that the vertical position is corrected. At this time, no load is applied to the rear wheel 9, but the left and right lifting guide rollers 37 are supported and guided by the guide rails 38 on the rear side. Together, they form a three-wheeled configuration, and running is stable. By lifting the rear more, the hanger device 21
The weight of the object and the object 40 supported by the hanger device 21 are concentrated on the front wheel 9, so that the pressing force of the front wheel 9 against the rail 1 inevitably increases, Thus, the traveling drive based on the operation of the traveling drive device 13 is reliably performed without causing a slip or the like. When the self-propelled body 5 reaches the exit of a specific work process section after the intended work has been performed by the robot or the like on the transferred object 40 whose position has been corrected in this way, the guide rails 38 descend. Accordingly, the hanger device 21 and the rear portion of the self-propelled body 5 also descend, and the transported portion 40 is returned to its original position.

In the above-described embodiment, the type in which the transported object 40 whose length is constant in the fixed path 20 direction is supported via the arm member 24 which can swing left and right is described. The object 40 may be supported via an arm member 24 that can swing back and forth.

According to the present invention having the above-described configuration, the self-propelled body supporting the object to be transported by the support device is configured to forcibly rotate the one end side of the wheel body via the traveling drive device, thereby forming a pair of front and rear wheel bodies. Thus, the vehicle can be run on the rail. And when it reaches a specific work process part in a certain path, the guided body is supported and guided by the guide body and rises from the lowered position,
The support device is tilted with the other end lifted about the fulcrum, and the object to be conveyed can also move integrally to correct the vertical position. At that time, since the left and right guided bodies are supported and guided by the guide body at the other end side, a three-point support form is achieved together with the one end side wheel body, and the vehicle can run stably. Thus, the position of the transported object can be corrected in the vertical direction, and the transported object can be stably transported with the position corrected. For example, various operations on the transported object by the robot can be performed accurately. Since the other end is lifted, the weights of the supporting device and the transported object supported by the supporting device are concentrated on the one end of the wheel body. The pressing force of the wheel body against the rail is inevitably increased, so that the traveling drive based on the operation of the traveling drive device can be reliably performed with a strong propulsive force. Since the guides need only be provided at necessary places, the guides can be provided at a lower cost as compared with a configuration in which the entire line is configured with high accuracy.

[Brief description of the drawings]

The drawings show an embodiment of the present invention. FIG. 1 is a side view during normal running, FIG. 2 is a front view of the same, and FIG. 3 is a partially cutaway side view of a connecting rod portion. 1 ... rail, 5 ... self-propelled body, 6 ... trolley body, 9 ...
… Wheel body, 12… connecting rod, 13… traveling drive device, 20… fixed path, 21… hanger device (supporting device), 22… upper frame, 23… front and rear direction pin, 24… Arm member, 25… Cradle, 27, 27A… Through hole, 37… Lifting guide roller (guided body), 38… Guide rail (guide body), 40
…… Conveyed object.

Continued on the front page (51) Int.Cl. ⁶ Identification code FI B66C 11/04 B66C 11/04 // B65G 17/20 B65G 17/20 A 47/52 101 47/52 101A 47/61 47/61 Z ( 56) References JP-A-61-285166 (JP, A) JP-A-49-49685 (JP, U) JP-A-42-1144 (JP, Y1)

Claims (1)

(57) [Claims] 1. A self-propelled body which can run on a fixed path via a pair of front and rear wheels mounted on a rail is provided, and the self-propelled body is provided with a wheel on one end side in the fixed path direction. An interlocking traveling drive device is provided, the height position of the fulcrum provided on the one end side is fixed to the wheel body on the self-propelled body, and the other end side of the self-propelled body is movable up and down within a certain range. A supporting device is swingably mounted, and a guided body composed of a roller rotatable around a horizontal axis perpendicular to the traveling direction is provided on the other end side of the supporting device by distributing it to the left and right. In the specific work process section formed in the above, the guided body is lifted from the lowered position, and the two weights of the supporting device and the transferred object supported by this supporting device are concentrated on the one end side wheel body. Self-propelled characterized by providing a guide body for supporting and guiding as described above Conveying apparatus of use.