JP3066188B2 - Article transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article transfer apparatus for transferring a work such as a cylinder head or a pallet from a processing station to an assembly station.

[0002]

2. Description of the Related Art As a conventional article conveying apparatus, for example,
As described in JP-A-1-133801, the vehicle includes a rail suspended from a ceiling and a ceiling self-propelled vehicle as a traveling body running along the rail. There is an apparatus which is configured to transfer a work from one station to another station by mounting a plurality of metal driving wheels which are in contact with a rail and driven by a motor, and a control unit for controlling the motor described above.

[0003] However, in the above-mentioned conventional apparatus, since the control unit is mounted on the overhead self-propelled vehicle, the weight of the overhead self-propelled vehicle is increased, and there is a problem that high-speed conveyance is hindered. In addition, the driving wheel that is in contact with the rail is made of metal, and due to the mutual contact between the rail and the driving wheel by metal,
Since the frictional resistance is relatively small, there has been a problem that it is difficult to suddenly start and suddenly brake (sudden braking).

[0004]

SUMMARY OF THE INVENTION According to the first aspect of the present invention, it is possible to achieve an increase in article conveying speed by reducing the weight of a traveling body, and to use a power supply line for speed control. By independently providing the brake control line and the brake control line, the brake control can be reliably performed even when a failure such as a disconnection occurs in the speed control line or during a power failure, ensuring safety. co When it can Ru
Automatically stops the vehicle even if the brake control line is disconnected.
Can be stopped and power transmission stopped (power transmission OF
An object of the present invention is to provide an article transporting device that can secure more sufficient safety by performing braking according to F).

A second object of the present invention is to provide an article conveying apparatus capable of smoothly performing speed change control, in addition to the object of the first embodiment.

According to a third aspect of the present invention, in addition to the object of the second aspect of the present invention, there is provided an article conveying apparatus capable of performing a braking operation without being affected by speed change control at all. With the goal.

According to a fourth aspect of the present invention, in addition to the object of the first aspect, the traveling speed of the traveling body is switched in accordance with the area (corner portion or straight portion) on the rail. It is an object of the present invention to provide an article conveying device capable of performing smooth speed control.

A fifth object of the present invention is to provide an article conveying apparatus capable of fail-safe of a traveling body, in addition to the object of the fourth object of the present invention.

According to a sixth aspect of the present invention, in addition to the object of the fifth aspect , the speed of the traveling body is directly detected to determine whether or not the vehicle is at a low speed. It is an object of the present invention to provide an article transport device that can achieve fail-safe by operating a brake unit .

According to a seventh aspect of the present invention, in addition to the object of the fifth aspect , the speed of the traveling body is indirectly detected to determine whether or not the vehicle is in a low speed control state. It is an object of the present invention to provide an article transport apparatus that can achieve fail-safe by operating a brake unit in a low-speed control state.

According to an eighth aspect of the present invention, in addition to the object of the first aspect, the frictional resistance between the rail and the drive wheel is set to be large, so that the traveling body suddenly starts and suddenly brakes. It is an object of the present invention to provide an article transport apparatus capable of performing a sufficiently high-speed transport by enabling the above.

According to a ninth aspect of the present invention, in addition to the object of the first aspect of the present invention, an article transporter capable of securing traveling stability when a traveling body travels on a corner of a rail. The purpose is to provide the device.

According to the tenth aspect of the present invention, in addition to the object of the ninth aspect , the traveling stability when the traveling body travels on the corner of the rail can be further improved. The purpose is to provide an article transport device.

[0014]

According to the first aspect of the present invention, there is provided:
The present invention provides a rail disposed between different stations, a traveling body traveling along the rail and transporting articles, a driving means provided on the traveling body and driving the traveling body, and a traveling A brake means for braking the body, a power supply line provided along the rail and connected to a control unit, and a power supply line provided on the traveling body and connected to the drive means and sliding on the power supply line. and a brush unit that is contacted, the control unit is arranged in stationary, to control the source power to a predetermined control power, and power supply to the feed line, running the running body, it is configured to control stop, the paper Electric wire is a driver
A speed control line connected to the step, and the brake means
And a brake control line connected to the power supply line. Each of the lines is independently disposed on the rail, and the brake means is operated by stopping the power transmission to the power supply line.
A clutch unit for braking the rotation of the driving means,
Urging means for urging the latch portion in the braking direction;
Holds the clutch part apart from the urging force of the gear.
Holding means for brake control.
When voltage is applied through the line, the brake
Release state, and release to apply the braking state when the application is released.
The present invention is characterized in that it is an article transport device that switches states .

According to a second aspect of the present invention, in addition to the configuration of the first aspect of the present invention, the control unit includes frequency conversion means, and supplies the control power converted by the frequency conversion means to the power supply. The present invention is characterized in that it is an article conveying device for feeding to an electric wire.

According to a third aspect of the present invention, in addition to the configuration of the second aspect of the present invention, the brake power supply line is an article conveying device connected to a power supply bypassing the frequency conversion means. It is characterized by.

According to a fourth aspect of the present invention, in addition to the configuration of the first aspect of the present invention, the control unit performs at least two levels of speed control in accordance with a predetermined area on the rail. It is an article conveying device.

According to a fifth aspect of the present invention, there is provided an article for operating the brake means when the traveling body is at a low speed in a low speed region on the rail, in addition to the configuration of the fourth aspect of the invention. It is a transport device.

According to a sixth aspect of the present invention, in addition to the configuration of the fifth aspect of the present invention, there is provided an article transporting apparatus which detects the speed of the traveling body and determines whether or not the speed is low. There is a feature.

According to a seventh aspect of the present invention, in addition to the configuration of the fifth aspect of the present invention, it is an article conveying apparatus which determines whether the control state of the control section is a low speed control state. Features.

According to an eighth aspect of the present invention, in addition to the configuration of the first aspect, the traveling body abuts a support wheel abutting on the upper surface of the rail, a lower surface of the rail, and An article conveying device comprising: a driving wheel having elasticity; a urging unit that presses and urges the driving wheel to the lower surface of the rail to pinch the rail between the supporting wheel and the driving wheel; and the brush unit and the driving unit. There is a feature.

According to a ninth aspect of the present invention, in addition to the configuration of the first aspect of the present invention, the radius of curvature of the rail is gradually changed from large to small and small to large at a corner thereof. The corner rail is an article conveying device inclined with respect to a horizontal line.

According to a tenth aspect of the present invention, in addition to the configuration of the ninth aspect , the inclination angle of the rail with respect to the horizontal line is changed from small to large and large to small in accordance with the radius of curvature of the rail. The present invention is characterized in that the article conveying device is changed gradually.

[0024]

According to the first aspect of the present invention, since the control section is fixedly arranged without attaching the control section to the moving section, the weight of the moving section can be reduced, and the movement of the moving section can be reduced. By reducing the weight of the section, there is an effect that the article transport speed can be increased.

In addition , since the power supply line is provided independently of the speed control line and the brake control line, even if a failure such as disconnection occurs in the speed control line or during a power failure, the brake control line is provided. When the Ru can be carried out to ensure
In both cases, even if the brake control line is disconnected,
There is an effect that the vehicle can be stopped and safety can be secured.

Further , since the brake section operates by stopping power transmission to the power supply line, when the power supply line is disconnected or at the time of a power failure, the above-mentioned brake means automatically performs the braking operation. There is an effect that the property can be secured.

According to the invention described in claim 2 of the present invention,
In addition to the effect of the first aspect of the present invention, since the power whose frequency has been converted by the frequency conversion means is supplied to the speed control line, the speed change control can be smoothly performed.

According to the third aspect of the present invention,
In addition to the effect of the second aspect of the present invention, since the brake power supply line is connected to the power supply by bypassing the frequency conversion means, it is surely not affected by the speed change control by the frequency conversion means. There is an effect that the braking operation can be performed.

According to the fourth aspect of the present invention,
In addition to the effect of the first aspect of the present invention, the above-described control unit performs at least two levels of speed control in accordance with the predetermined area on the rail, so that the area on the rail (corner portion or straight line portion). Therefore, the traveling speed of the traveling body can be switched in response to the above, smooth speed control can be performed, and as a result, there is an effect that the efficiency of article conveyance can be improved.

According to the invention described in claim 5 of the present invention,
In addition to the effect of the fourth aspect of the present invention, when the traveling body is at a low speed in the low speed region on the rail, the control unit operates the brake means to brake the traveling body. It is possible to achieve fail-safe, and it is possible to eliminate an inconvenience of, for example, the traveling body colliding with a stop at a stop end.

According to the invention described in claim 6 of the present invention,
In addition to the effect of the fifth aspect of the present invention, the speed of the traveling body is directly detected to determine whether or not the traveling speed of the traveling body is low in a low speed region on the rail. Operate the brake means , so that fail-safe can be achieved.

According to the seventh aspect of the present invention,
In addition to the effect of the fifth aspect of the present invention, the speed of the traveling body is indirectly detected based on the control state of the control unit, and the traveling state of the traveling body is controlled in the low speed control state in the low speed region on the rail. It is determined whether or not there is, and in the non-low speed control state, the above-described control unit operates the brake means , so that there is an effect that fail-safe can be achieved.

According to the invention described in claim 8 of the present invention,
In addition to the effects of the first aspect of the present invention, since the driving wheels driven by the driving means are elastic wheels, the frictional resistance between the rails and the driving wheels can be increased, so that the vehicle can travel. Since the sudden start and sudden braking (sudden braking) of the body become possible, there is an effect that the article can be transported at a sufficiently high speed.

In addition, since the driving wheel is pressed and urged to the lower surface of the rail by the above-mentioned urging means, and the rail is clamped between the supporting wheel and the driving wheel, a sufficient clamping force can be secured, and the traveling stability of the traveling body can be secured. Nature can be secured.

According to the ninth aspect of the present invention,
In addition to the effect of the first aspect of the present invention, the radius of curvature of the rail is gradually changed from large to small and small to large at the corner, and the rail is inclined with respect to the horizontal line at the corner. When traveling through the corner,
There is an effect that it is possible to prevent abrupt centrifugal force from acting on the running body and to ensure running stability of the running body during cornering.

According to the tenth aspect of the present invention, in addition to the effect of the ninth aspect , the inclination angle of the rail with respect to the horizontal line is changed from small to large and large to small according to the radius of curvature of the rail. Therefore, the traveling stability when the traveling body travels on the corner of the rail can be further improved.

[0037]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings. The drawing shows an article conveying apparatus. In FIG. 1, the article conveying apparatus includes a metal rail 1 suspended and supported by a ceiling (not shown) and a moving body running along the rail 1. The control unit 4 includes a unit 2 and a control unit 4 that is fixedly arranged on the floor 3 and controls traveling and stopping of the moving unit 2 described above.

The moving unit 2 is a train 2 on the leading side.
A and a work carrier 2B on the trailing side.
For example, a work (not shown) loaded by the one lifter 51 from the conveyor device 50 on the processing line side is transferred to the work carrier 2B, and after transferring this work to the assembly line side, the work is transferred from the work carrier 2B. The work is received by the other lifter 52, and the work on the lifter 52 is configured to be unloaded to the conveyor device 53 on the assembly line side.

Here, the columns 54 and 5 connecting the floor 3 and the rail 1 are provided on the machining line side and the assembly line side.
The work 5 is raised and lowered by the lifters 51 and 52 which move up and down along the columns 54 and 55, respectively.

[0040] In the processing line side of the above (left see Figure 1), the workpiece on the conveyor device 50 by the lifter 51 is lifted up from the lower the falling edge of FIG. 1, the re <br/> cover 51 The ascending speed of the lifter 51 is switched to a high speed at the ascending acceleration point.
The lifter 51 on which the work is mounted by lowering the ascending speed of 1
At the rising end (see FIG. 16).

An empty work carrier 2B is covered with the lifter 51 at the rising end (see FIG. 17).
Is slightly lowered (see FIG. 18), the work on the lifter 51 is transferred to the work carrier 2B. In this manner, the lifter 51 transferring the work to the work carrier 2B
Descends from the rising end to the lower standby point. At the descent acceleration point, the descent speed of the lifter 51 is switched to high speed, and at the descent deceleration point, the descent speed of the lifter 51 is reduced.
1 is made to stand by at a standby point, and when the next work after the completion of processing arrives on the conveyor device 50, the empty lifter 51 descends to the descending end, and thereafter, the same operation as described above is repeated.

The lifting and lowering of the lifter 51 is performed using, for example, a motor driven by an inverter.

On the other hand, on the assembly line side (see the right side of FIG. 1) , the empty lifter 52 is made to stand by at the upper standby point, and when the work carrier 2B on which the work is loaded is stopped at a predetermined position, the lifter 52 is raised. The work of the work carrier 2 </ b> B is transferred to the lifter 52 by being raised to the end (from the state of FIG. 18 to the state of FIG. 17). Next, work carrier 2B
After moving to the outside of the interference with the lifter 52 (see FIG. 16), the lifter 52 puts the work and descends to the lower end. At the descent acceleration point, the descent speed of the lifter 52 is switched to high speed, and the descent deceleration point is reached. In, the lowering speed of the lifter 52 is reduced, and the lifter 52 is temporarily made to stand by at a lower standby point.

When the previously unloaded work is conveyed out of the interference on the conveyor device 53 on the assembly line side, the lifter 52 is lowered from the standby point to the lower end, and the work on the lifter 52 is conveyed. Unload on device 53.

In this way, the lifter 52 having unloaded the work rises from the lower end to the upper standby point, but switches the lift speed of the lifter 52 to high speed at the rising acceleration point and raises the lifter 52 at the rising deceleration point. The speed is reduced, the lifter 52 is stopped at the upper standby point, and the same operation as described above is repeated. The lifting and lowering of the lifter 52 is performed using, for example, a motor driven by an inverter.

Next, a specific configuration of the train 2A in the moving section 2 will be described in detail with reference to FIGS. The above-mentioned train 2A is configured as follows. That is, as shown in FIGS. 2, 3 and 4, one side plate 5 spaced apart from one side of the rail 1 and another side plate 6 spaced apart from the other side of the rail 1 , A base plate 7 integrally connected thereto is provided, and the base plate 7 has a tire 8 as a driving wheel having elasticity.
And an AC motor 9 as a drive motor (drive means for driving the traveling body) with a brake 99 (see FIG. 20). Here, an induction motor (induction motor) is used as the AC motor 9 described above.

As shown in FIG. 3, one end is set as a fulcrum 10, and the other end is provided with a tire support plate 12 urged upward by a spring 11 (biasing means). (See FIG. 4) and an axle 15 is rotatably provided via bearings 14, 14, and the above-mentioned tire 8 is attached to one end of the axle 15 via a wheel 16. , And a small-diameter driven pulley 17 is key-fitted to the other end of the axle 15.

The above-mentioned AC motor 9 is mounted on a rectangular slide plate 18, and the two plates 7, 18 are fastened by bolts and nuts 20 using the elongated holes 19 formed in the base plate 7. A large-diameter driving pulley 22 is key-fitted to the rotating shaft 21 of the AC motor 9, and a transmission belt 23 is stretched between the driving pulley 22 and the driven pulley 17.

Further, both the base plate 7 and the slide plate 18 have opposing projecting pieces 7a, 18a.
The lower end of the adjusting bolt 24 attached to the protruding piece 7a on the base plate 7 abuts on the protruding piece 18a on the slide plate 18 side. It is configured to adjust the tension. Furthermore, each pulley 1 described above
A belt cover 25 is attached to the base plate 7 so as to surround the transmission belts 7 and 22 and the transmission belt 23.

On the other hand, as shown in FIGS. 3 and 5, the axles 28, 2 are attached to the front and rear ends of the side plates 5, 6 by using an axle mounting member 26 and an axle locking member 27.
8 is fixed in the horizontal direction, and a urethane material 30 is attached to the metal surface of each of the axles 28, 28 via bearings 29, 29.
The train 2A is attached to the rail 2 by the support wheels 30, 30 by rotatably mounting the support wheels 30, 30 to which the a is attached, and bringing the support wheels 30, 30 into contact with the upper surface of the bottom of the rail 1. It is suspended and supported.

At both front and rear positions of the upper bent portions 5a, 5a of the side plates 5, 6, the axles 32, 32 are fixed vertically using nuts 31, 31, as shown in FIG. Each of these axles 32, 32 has a bearing 3
Guide wheels 34, 34 each having a urethane material 34a adhered to a metal surface via the base 3, 3 are rotatably mounted, and these guide wheels 34, 34 connect the bottom 1a of the rail 1 to the head 1b. It is configured to roll on both sides of the abdomen 1c (see FIGS. 7 and 8).

As shown in FIG. 3, a carrier mounting block 35 for connecting the rear ends of the side plate 5 on one side and the side plate 6 on the other side is provided. A spherical portion 37 is provided and is connected to the spherical portion of the carrier connecting arm 38. The work carrier 2B connected to the carrier connecting arm 38 conveys, for example, a work such as a cylinder head or a pallet as a vehicle engine part. Make up.

As shown in FIG. 3, a connecting block 39 is provided for connecting the front ends of the one side plate 5 and the other side plate 6 to each other.
9, a rod 40 is attached downwardly, and the spring 11 (biasing means) is tensioned between the spring retainer 41 provided on the rod 40 and the recess 42 formed on the tire support plate 12 described above. It is constructed so that the tire 8 provided on the tire support plate 12 can be spring-biased on the bottom surface 1a of the rail 1 at all times.

On the other hand, as shown in FIG. 4, a trolley wire unit 44 as a power supply line is attached to the upper surface of the head 1b of the rail 1 via a bracket 43 over the entire length of the rail 1, and is slid on the trolley wire unit 44. The contacting brush unit 45 is attached to the above-mentioned side plate 6 via a pantograph mechanism 46 (however, schematically shown in the drawing). Here, the above-mentioned trolley wire unit 4
Reference numeral 4 denotes a sintered brush body having a five-pole structure. Three poles are used for rotating and stopping the AC motor 9, and two poles are used for braking.
In addition, the control unit 4 fixedly arranged on the floor 3 and the trolley wire unit 44 are electrically connected by a cable 47 shown in FIG. Therefore, the cable 47 and the trolley wire unit 4 are provided between the control unit 4 and the AC motor 9.
4. Brush unit 45 and AC from brush unit 45
It is electrically connected by a cable (not shown) leading to the motor 9.

Here, the trolley wire unit 44 as the above-described power supply line includes a three-pole speed control line 44a for controlling the traveling speed of the moving part 2 and a two-pole brake control line for braking the moving part 2. 44b and each of these
The ins 44a, 44b are independently provided on the rail 1 . Thus, the speed control line 44a is connected to the AC mode.
The brake control line 44b is connected to the
Connected to a brake 99 as a braking means
(See FIG. 23). In this regard, the same applies to the cable 47.

Therefore, the speed control line 44a
Even when a failure such as disconnection occurs or during a power outage, the brake control line 44b can reliably perform the brake control, and has an effect of ensuring safety.

By the way, as shown in FIG. 6, in the track portion 48 where the above-mentioned rail 1 is disposed, in the linear portion α of the track route 48, as shown in FIG.
b, the abdomen 1c is installed so that the bottom 1a is horizontal and the abdomen 1c is oriented vertically. At the corner β of the track path 48, the above-described abdomen 1c acts on the moving unit 2 as shown in FIGS. The rail 1 is inclined and installed so as to be substantially perpendicular to the centrifugal force to be applied. Therefore, the above-mentioned corner portion β
In FIG. 10, each element is as shown in FIG.

Further, in the above-mentioned corner portion β, FIG.
As shown in FIG. 1, the radius of curvature of the rail 1 is gradually changed from large to small and small to large. That is, the aforementioned rail 1
Is the radius of curvature RL from the initial point of curvature to the middle point of curvature for an imaginary line having a constant radius R0 shown in FIG.
> RO), a radius of curvature RS (where RS <RO) is set at the center of curvature, and a radius of curvature RL (where RL> RO) is set from the middle point of curvature to the end point of curvature, and a radius of curvature RL is set. 8, the inclination angle .theta.1 of the rail 1 with respect to the horizontal line is small as shown in FIG.
In the portion of FIG. 9, the inclination angle .theta.2 (where .theta.1 <.theta.2) of the rail 1 with respect to the horizontal line becomes large as shown in FIG.
At the corner β, the inclination angle of the rail 1 is small to large,
It is set so as to gradually change from large to small, and prevents a sudden centrifugal force from acting on this moving part 2 when the moving part 2 composed of the train 2A and the work carrier 2B runs on the corner part β. In addition, the configuration is such that the traveling stability of the moving unit 2 during the corner portion β traveling is ensured.

In the drawings other than FIG. 11, the radius of curvature of the corner portion β is schematically shown for convenience of illustration.

Next, referring to FIG. 12 to FIG.
Will be described in detail below. The above-described work carrier 2B includes an upper trolley 60 and a lower carrier main body 61 as shown in FIG. The above-described trolley 60 includes left and right side plates 62 and 63 spaced from the rail 1 as shown in FIG.
An axle 64 stretched horizontally between the lower portions of the left and right side plates 62, 63, lower wheels 66, 66 attached to the axle 64 via a pair of bearings 65, respectively, and the above-described side plates 62, 63 Axle 6 horizontally fixed on top of
A plurality of upper wheels 69, 69 attached to bearings 7, 67 via bearings 68, 68, and rails 1 extending horizontally from upper portions at front and rear ends of the side plates 62, 63 as shown in FIG. Fixed vertical axles 71, 71 and bearings 72,
And a total of four guide wheels 73 attached via a base 72. The lower wheel 66 described above is rolled on the lower surface of the rail 1, the upper wheel 69 is rolled on the bottom 1a of the rail 1, and the guide wheel described above. 73... Are rotatably connected to the abdomen 1 c of the rail 1.

A dog 7 having substantially the same length as the entire length of the truck 60 is attached to the truck 60 via a bracket (not shown).
4, the carrier connecting arm 38 is attached to the front end of the trolley 60 via a connecting member 75 and a connecting pin 76, and the trolley 60 is guided by the train 2A.
It is configured to travel.

Further, the rail 1 facing the dog 74 described above.
A proximity switch PX is attached to a predetermined location. In this embodiment, a bracket 78 is fastened and fixed to the head 1b of the rail 1 using bolts and nuts 77, and the above-described proximity switch PX is attached to a horizontally extending end of the bracket 78.
Is installed. The proximity switch PX includes a trolley wire unit 44 and a brush unit 4 shown in FIG.
5 so that it does not interfere.

The carrier main body 61 suspended and supported by the trolley 60 having the above configuration via the front and rear support members 79, 79 is configured as shown in FIG. That is, a total of four gate-shaped support rods 80 are spaced apart in the front-rear direction, and the upper portions of these support rods 80 are connected to each other by two frames 81, 81 extending in the front-rear direction. A rectangular pallet table 82 is provided at the lower end of each support rod 80.
Are fixed, a pallet positioning member 83 is mounted on each pallet table 82, and four pallet positioning members 83 are set as one set, and each pallet 84
Is detachably arranged.

Therefore, as shown in FIG. 12, two pallets 84, 84 are detachably provided on the carrier body 61, and the work is placed on each of the pallets 84, 84.

A connecting bracket 86 having a connecting hole 85 is fixed to the front and rear opposing surfaces of the two frames 81, 81 by welding means or the like, and these connecting brackets 86 are fixed by the support members 79, 79 described above. By supporting, the lower carrier main body 61 is configured to be suspended and supported with respect to the upper truck 60.

Further, a total of four gate-shaped support rods 80 described above are provided.
The left and right legs of the beam member 87
As shown in FIG. 17, a reinforcing member 88 is attached to the upper region of the inner side of each support rod 80. In FIG. 15, illustration of the reinforcing member 88 is omitted for convenience of illustration.

Next, the specific configuration of the lifters 51 and 52 will be described in further detail with reference to FIGS.
The above-described lifters 51 and 52 include a lifting base 56 located on the side of the columns 54 and 55, and the columns 54 and 5 of the lifting base 56.
Roller shafts 57 projectingly formed on both sides separated by 5 and guide rollers 58 rotatably supported by the respective roller shafts 57 and sandwiching the above-mentioned columns 54, 55 from both sides;
A substantially L-shaped lift main body 59 extending in a horizontal direction from the above-described elevating base 56, and configured to elevate and lower a work (not shown) via the pallet 84 by the top deck 59a of the lift main body 59. ing. The lift body 59 described above is also driven in a horizontal direction by a forward / backward moving means (not shown) such as a hydraulic cylinder between a solid line position shown in FIG. 1 and a virtual line position shown in FIG. Make up.

Next, with reference to FIG. 19, the arrangement of the command means, confirmation means, and detection means will be described in detail. FIG. 19 is a plan view of the track path 48 by the rail 1 connecting the processing station 90 and the assembly station 91. A proximity switch PXO for detecting a switching point is provided at the center between the two stations 90 and 91. Proximity switches PX4 and PX5 for medium-speed deceleration commands are provided at the front (front side) of the corner portions β1 and β2 from the central portion to the stations 90 and 91.
The proximity switches PX3 and PX6 for high-speed acceleration command are located downstream (downstream) of the proximity switches PX4 and PX5.
Are disposed downstream (downstream side) of the corner sections β1, β2, and proximity switches PX2, PX7 for deceleration command are disposed, and deceleration is provided downstream (downstream side) of each of these proximity switches PX2, PX7. Photoelectric sensors PH1 and PH2 for confirmation are provided, and proximity switches PX1 and PX8 for standby point detection are provided in front of the stations 90 and 91.
Limit switches LS1 and LS2 for detecting a fixed position are provided at fixed positions of 0 and 91, and limit switches LS0 and LS3 for detecting overrun are provided at overrun positions in the stations 90 and 91, respectively. Assembly station 9
A proximity switch PX9 for standby point detection is separately provided between the limit switches LS2 and LS3 on the first side.

When the moving unit 2 travels from the processing station 90 on the left side to the assembly station 91 on the right side in the drawing, each of the above-described elements PX3, PX0, PX
5, PX7, PH2, PX8, LS2, PX9, LS3
Conversely, when the moving unit 2 travels from the assembly station 91 on the right side to the machining station 90 on the left side in the drawing, the above-described elements PX6, PX0, PX4, PX
2, PH1, PX1, LS1, and LS0 are used.

Here, each of the above proximity switches PX0-PX
X9 is disposed as described with reference to FIG. 13, and each of the photoelectric sensors PH1 and PH2 includes a light emitting element 92 and a light receiving element 93 as shown in FIG. The light-emitting element 9
These elements 92 and 93 are arranged to face each other so as to block the light beam 94 transmitted from 2 to the light receiving element 93.

FIG. 20 shows a control circuit of the article transport device.
The CPU 100 determines the RO based on the input from the limit switch group 95, the proximity switch group 96, and the photoelectric sensor group 97.
According to the program stored in M98, the AC motor 9
Brake 99, inverter 1 as frequency conversion means
01, drive control of the lifters 51 and 52, and
Reference numeral 2 controls switching of frequency conversion means set corresponding to the high-speed running speed, the medium-speed running speed, and the low-speed running speed during deceleration, respectively. The AC motor 9 is connected to the inverter 10
The drive is controlled to the number of rotations corresponding to one output.

Here, the above-described brake 99 brakes the rotation of the AC motor 9 as a driving means as shown in FIG.
Clutch unit to 99a, pressed direction the clutch portion 99a
Spring 99 as urging means for urging (braking direction)
b, the clutch portion 9 against the urging force of the spring 99b.
Coil section 9 as holding means for holding 9a in a separated state
9c.

[0073] In addition, CPU 100 mentioned above receives a deceleration command signal from the deceleration command means (see proximity switch PX2, PX7), a speed control unit 103 for controlling decelerating the travel speed of the moving portion 2 to a predetermined speed, the speed detection When the detection speed is higher than the above-described predetermined speed by the means (see the photoelectric sensor group 97), the stop control unit 1 that stops the traveling of the moving unit 2 described above.
04.

Further , the above-described speed detecting means (see photoelectric sensor group 97) may actually detect the speed of moving unit 2, but when the moving unit 2 of photoelectric sensor group 97 is detected, the speed control state is changed. It may be configured to detect whether or not the vehicle is in the low speed control state.

As shown in FIG. 20, power whose frequency has been converted by the inverter 101 as the frequency conversion means is supplied to the above-described three-pole speed control line 44a, whereby the speed conversion control is smoothly performed. It is configured as follows.

Further, the above-mentioned brake 99 is a brake system.
It is set so that a release state is obtained by applying a voltage via the control line 44b, and a braking state is obtained by releasing the applied voltage.

The illustrated embodiment is configured as described above, and the operation will be described below. The work on the conveyor device 50 (see FIG. 1) on the processing line side is picked up together with the pallet 84 by the lifter 51, and the lifter 51 is raised along the column 54 as shown in FIG. 16, and stopped at the rising end in FIG. Let it.

Next, the moving unit 2 which has been waiting at the waiting point on the left side of FIG. 19 is moved leftward to the home position of the processing station 90, and the carrier 61 is moved relative to the pallet 84 and the work as shown in FIG. Exterior.

Next, when the lifter 51 is slightly moved downward from the state shown in FIG. 17 as shown in FIG. 18, the pallet 84 and the work are transferred while being positioned with respect to the carrier body 61.

Next, the CPU 100 applies power to the AC motor 9 via the inverter 101, the cable 47, the trolley wire unit 44, the brush unit 45, and the like. AC
When the rotating shaft 21 of the motor 9 rotates, the driving pulley 22,
Since the tire 8 rotates in the direction of the arrow a in FIG. 3 via the transmission belt 23, the driven pulley 17, and the axle 15, the train 2A is hung and supported on the rail 1 by the support wheels 30, 30, and While traveling in the direction of arrow b in FIG. 3 while being guided by the guide wheels 34, 34, a work such as a cylinder head is transferred from the processing station 90 to the assembly station 91 by the work carrier 2 </ b> B.

When the moving unit 2 travels from the processing station 90 to the assembly station 91, the CPU 100 sets the speed command state MX of the AC motor 9 to the medium speed in the first step S1 in FIG. 74 is the proximity switch P at the high-speed acceleration command point (see FIG. 19).
When X3 is turned ON (refer to the second step S2), the rotation speed of the AC motor 9 is switched at a high speed (third step S3).
), After passing through the central switching point,
Turns on the proximity switch PX5 at the middle speed deceleration command point (see FIG. 19) (see the fourth step S4).
The rotation speed of the motor 9 is switched to the medium speed (fifth step S
5), the dog 7 described above at the rear of the corner portion β2.
4 is the proximity switch P at the deceleration command point (see FIG. 19).
When X7 is turned on (see the sixth step S6), the rotation speed of the AC motor 9 is switched to a low speed (the seventh step S7).
), The deceleration traveling of the moving unit 2 is confirmed by the next-stage deceleration confirmation photoelectric sensor PH2 (eighth and ninth steps S8,
S9).

Here, when the proximity switch PX7 for deceleration command or the proximity switch upstream thereof breaks down, the traveling speed of the moving unit 2 is maintained at the medium speed state.
o (refer to the tenth step S10) (however, υ is a value corresponding to the current speed, and υo is a value corresponding to the low speed). Therefore, when the photoelectric sensor PH2 detects such a failure state (YES in the tenth step S10). CPU 1)
The brake control unit 104 in 00 drives the brake 99 to stop the traveling of the moving unit 2 (see the twelfth step S12).

On the other hand, the moving section 2 is normally decelerated, and the limit switch PX8 is turned on (see the eleventh step S11).
Then, when the limit switch LS2 of the assembly station 91 is turned ON by the dog 74, the traveling of the moving unit 2 is stopped (see the twelfth step S12).

Next, the lifter 52 which has been waiting at the waiting point on the right side of FIG. 1 is raised from the state shown in FIG. 18 as shown in FIG. 17, and the work of the carrier body 61 is transferred to the lifter 52 together with the pallet 84. I do.

Next, the moving unit 2 is moved to the work and the pallet 84.
When the lifter 52 is controlled to descend after moving out of the interference, the work together with the pallet 84 can be unloaded to the conveyor device 53 on the assembly line side.

As shown in FIG. 19, a plurality of corner portions β1 and β2 are present in the orbital path 48 at an intermediate position where the moving section 2 travels from the processing station 90 to the assembly station 91 as shown in FIG. Since the rails 1 at the corners β1 and β2 are inclined in a predetermined direction, when the moving unit 2 runs on the corners β1 and β2, there is no need to control the speed of the moving unit 2 to reduce the speed. Therefore, there is an effect that the article conveying speed can be increased.

In the above structure, the corner portions β1,
It is assumed that the vehicle travels at a medium speed when traveling on β2, but by setting the radius of curvature and the inclination angle of the rail 1 as appropriate, it is possible to travel at high speed even at the corner portions β1, β2. Is also good.

In addition, since the control unit 4 is fixedly arranged on the floor 3 without attaching the control unit 4 to the moving unit 2, the weight of the moving unit 2 can be reduced. Due to the weight reduction of 2, the high-speed conveyance can be performed.

Also, the power supply line (trolley wire unit 44)
4 ) is connected to the AC motor 9 as shown in FIGS.
A speed control for a line 44a which is, connected to the brake 99
Independently provided in the brake control line 44b to be,
Since both the lines 44a and 44b are arranged on the rail 1 , the brake control can be reliably performed even when a failure such as disconnection of the speed control line 44a occurs or during a power failure, There is an effect that safety can be ensured.

In addition, the above-mentioned brake 99 is an AC motor
9, a clutch portion 99a for braking the rotation of
A spring 99b for urging the portion 99a in the braking direction;
Of the above-mentioned clutch portion against the urging force of the spring 99b.
Coil part 99c (holding means) for holding 99a in a separated state
The coil portion 99c is provided with a brake control line.
The voltage is applied via the
State and release state.
Key control line 44b is temporarily disconnected (equivalent to release of applied voltage)
Even if the moving body (see moving unit 2) is stopped automatically
And safety can be ensured.

Further, since the power whose frequency has been converted by the frequency conversion means (see the inverter 101) is supplied to the speed control line 44a, the speed change control can be smoothly performed.

Further , since the driving wheels driven by the AC motor 9 are constituted by the elastic tires 8, the frictional resistance between the rails 1 and the tires 8 can be increased. This makes it possible to perform a more sufficient high-speed conveyance.

Further, the traveling speed of the moving unit 2 is reduced from a middle speed to a low speed via the speed control unit 103 by a command of the above-mentioned deceleration command means (proximity switch PX7 for forward movement, proximity switch PX2 for backward movement). This deceleration state is confirmed by deceleration detection means 97 (photoelectric sensor PH2 at the time of forward movement, photoelectric sensor PH1 at the time of backward movement). When the speed is higher than a predetermined speed, C as a stop control means
The stop control unit 104 in the PU 100 stops the traveling of the moving unit 2. For this reason, it is possible to eliminate the inconvenience that the moving unit 2 collides with, for example, a vehicle stop at the stop end, and it is possible to achieve a fail-safe effect of the moving unit 2.

It should be noted that the above-mentioned deceleration detecting means 97 (see photoelectric sensors PH2 and PH1) is connected to medium speed deceleration command means PX4 and P4.
It may be provided at the back (downstream side) of X5.

Further, the radius of curvature of the rail 1 is gradually changed from large to small and small to large as shown in FIG. 11 at each of the corner portions β1 and β2 of the above-mentioned track path 48, and the inclination angle of the rail 1 with respect to the horizontal line is changed. Since the moving portion 2 is gradually changed from small to large and large to small to prevent a sudden centrifugal force from acting on the moving portion 2 when the moving portion 2 runs on the corner portions β1 and β2, the corner portions β1 and β2 There is an effect that traveling stability of the moving unit 2 during traveling can be ensured.

Next, the inverter 101 and the brake 9
The control of No. 9 will be described below with reference to the flowchart of FIG.

In the first step C1, the CPU 100
The CPU 100 reads the speed command state MX of the motor 9, and in the next second step C2, the CPU 100 determines whether or not the braking BR is performed. When the braking is performed with MX = BR, the next third step C3 is performed.
Then, the CPU 100 turns on the brake 99.

On the other hand, if it is not the braking BR, in the next fourth step C4, the CPU 100 determines whether or not MX = low speed. When the speed is low, the process proceeds to the next fifth step C5. The CPU 100 controls the inverter 101 at a low speed.

If MX is not low, the CPU 100 determines whether or not MX = medium speed at the next sixth step C6. At the time of medium speed, the CPU 100 shifts to the next seventh step C7. Then, the CPU 100 controls the inverter 101 at a medium speed.

If MX = not middle speed, the CPU 100 determines whether MX = high speed or not at the next eighth step C8. At high speed, the CPU 100 moves to the next ninth step C9, and at this ninth step C9 The CPU 100 controls the inverter 101 at high speed while returning to the first step C1 if MX = not high speed.

In correspondence between the configuration of the present invention and the above-described embodiment, the corner portion of the present invention corresponds to the track path 4 of the embodiment.
In the same manner, the traveling body for transporting articles corresponds to the train 2A, the driving means for driving the traveling body corresponds to the AC motor 9, and the biasing means corresponds to the corner portions β1 and β2 of FIG.
The power supply line corresponds to the trolley wire unit 44, and the driving wheel having elasticity corresponds to the tire 8
The upper surface of the rail corresponds to the upper surface of the bottom 1a of the rail 1, the deceleration command means corresponds to the proximity switches PX2 and PX7, and the speed detection means corresponds to the photoelectric sensor group 97 having the photoelectric sensors PH1 and PH2. Then, the brake means corresponds to the brake 99 and urges the clutch portion in the braking direction.
The urging means corresponds to the spring 99b, and the holding means
The frequency conversion unit corresponds to the inverter 101, and the speed control unit corresponds to the speed control unit 103.
And the stop control means corresponds to the stop control unit 104, but the present invention is not limited to only the configuration of the above embodiment.

[Brief description of the drawings]

FIG. 1 is a schematic front view showing a system for transporting articles according to the present invention.

FIG. 2 is a system diagram showing a related structure between a control unit and a train.

FIG. 3 is an enlarged right side view of a train in the article transport device.

FIG. 4 is a sectional view taken along line EE of FIG. 3;

FIG. 5 is a sectional view taken along line FF of FIG. 3;

FIG. 6 is a schematic partial view of a track path.

FIG. 7 is a sectional view taken along line AA of FIG. 6;

FIG. 8 is a sectional view taken along line B2-B2 of FIG. 6;

FIG. 9 is a sectional view taken along line B1-B1 of FIG. 6;

FIG. 10 is an explanatory diagram showing a state of a rail and a train in a corner portion.

FIG. 11 is an explanatory view showing a curvature state of a rail at a corner portion.

FIG. 12 is a side view of a work carrier.

FIG. 13 is a sectional view taken along line XX of FIG. 12;

FIG. 14 is a sectional view taken along line YY of FIG. 12;

FIG. 15 is a perspective view of a carrier body.

FIG. 16 is a schematic diagram showing a related structure between a lifter and a pallet.

FIG. 17 is an explanatory view showing a state of loading and unloading a work and a pallet on a carrier body.

FIG. 18 is an explanatory view showing a related structure of a work, a pallet, and a lifter mounted on a carrier body.

FIG. 19 is an explanatory diagram showing a planar layout of a command unit, a confirmation unit, and a detection unit.

FIG. 20 is a control circuit block diagram.

FIG. 21 is a flowchart showing speed control.

FIG. 22 is a flowchart showing inverter control.

FIG. 23 is an electric circuit diagram.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Rail 2 ... Moving part 2A ... Train 4 ... Control part 8 ... Tire 9 ... AC motor(Drive means) 11 spring (biasing means) 30 support wheels 44 trolley wire unit (feeding line) 44a speed control line 44b brake control line 45 brush unit 48 track path β1, β2 corner99 ... Brake (brake means) 99a… Clutch part 99b: Spring (biasing means) 99c: coil part (holding means) 101: Inverter (frequency conversion unit) 103: Speed control unit 104: Stop control unit PH1, PH2: Photoelectric sensor (speed detection unit) PX2, PX7: Proximity switch (deceleration command unit)

Continuation of the front page (72) Inventor Koji Funazuki 3-1 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Inside Mazda Co., Ltd. (56) References JP-A-3-9409 (JP, A) JP-A-62-215494 (JP, A) JP-A-2-84090 (JP, A) JP-A-1-288638 (JP, A) JP-A-54-70548 (JP, A) JP-A-61-145776 (JP, U)

Claims (10)

(57) [Claims] And 1. A rail disposed over between different stations, travels along the rail, a traveling member for conveying the articles, provided in the running body, your driving means for driving the traveling body
Brake means for braking the vehicle and the traveling body; a power supply line provided along the rail and connected to a control unit; and a power supply line provided on the traveling body and connected to the driving means. A brush unit that slides on the control unit, wherein the control unit is arranged at a fixed position, controls power supply power to a predetermined control power, supplies power to the power supply line, and runs and stops the traveling body . The speed of the feed line is connected to the driving means
A control line and a brake connected to the brake means.
Control lines, and each of these lines
The brakes are arranged on the rails, and the brakes are activated by stopping power transmission to the power supply lines.
The rake means includes a clutch unit for braking the rotation of the driving means, and the clutch unit.
Urging means for urging the switch in the braking direction;
Holds the clutch part in a separated state against the urging force.
Holding means, and the holding means is supplied with a voltage through a brake control line.
The brake is released by applying
An article transport device that switches to a braking state when removed . 2. The controller according to claim 1, further comprising a frequency converter.
The control power converted by the wave number conversion means is sent to the power supply line.
The article conveying device according to claim 1, wherein 3. The power supply line for braking includes a frequency conversion means.
3. The article conveying apparatus according to claim 2, wherein the article conveying apparatus is passed and connected to a power supply . 4. The control unit according to a predetermined area on the rail.
And performing at least two steps of speed control, high and low.
An article conveying device as described in the above . 5. The vehicle according to claim 1 , wherein said traveling body is in a low speed region on said rail.
5. The brake device according to claim 4, wherein said brake means is operated at a low speed.
An article carrying apparatus. 6. A low speed is detected by detecting a speed of the traveling body.
The article conveying device according to claim 5, wherein it is determined whether or not the condition is satisfied . 7. A control state of the control section is a low speed control state.
The article conveying device according to claim 5, wherein it is determined whether or not the article is transferred. 8. The running body contacts the upper surface of the rail.
The support wheel is in contact with the lower surface of the rail and has elasticity.
Drive wheel, and press-urge the drive wheel to the lower surface of the rail.
And the biasing hand holding the rail between the support wheels and the drive wheels
Comprising a step, the brush unit and the driving means
The article conveying device according to claim 1. 9. The rail has a half curvature at a corner thereof.
The diameter is gradually changed from large to small and small to large,
The article conveying device according to claim 1 , wherein the rail of the corner portion is inclined with respect to a horizontal line . 10. A horizontal line according to a radius of curvature of the rail.
Gradual change of rail inclination angle from small to large, large to small
The article transport device according to claim 9, wherein