JP3115962B2 - Lifting device for handling mechanism of transport 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 apparatus for raising and lowering the above-mentioned handling mechanism in a transfer apparatus having a plurality of traveling carts and a handling mechanism which is supported by a frame connecting them so as to be able to ascend and descend. Things.

[0002]

2. Description of the Related Art Conventionally, in a factory assembly line or the like, it is common practice to transport various articles by a transport device that moves along a monorail. As the transfer device, for example, as disclosed in Japanese Patent Application Laid-Open No. 2-200561, a traveling vehicle having drive wheels rolling on a monorail, and a traveling vehicle supported by the traveling vehicle so as to be able to ascend and descend in a suspended state. 2. Description of the Related Art There has been known a device provided with a handling mechanism and a hoisting mechanism for raising and lowering the handling mechanism.

[0003] The traveling drive of the traveling carriage and the lifting and lowering drive of the handling mechanism by operating the hoisting mechanism are as follows.
This is performed using a motor as a drive source. In the apparatus disclosed in the above publication, one motor mounted on the traveling vehicle is used for both traveling driving and lifting / lowering driving of the handling mechanism so as to rationalize and downsize the driving system. Can be switched between a state in which the driving force is transmitted to the driving wheels and a state in which the driving force is transmitted to the hoisting mechanism.

[0004]

By the way, as a transporting device used for transporting a large load, a plurality of traveling vehicles are connected via a frame, and a plurality of winding mechanisms disposed on the frame make it possible to use a relatively large-sized transporting vehicle. In some cases, a handling mechanism is suspended. In such a transfer device, it is common to separately provide a motor for traveling and a motor for lifting and lowering the handling mechanism. However, for rationalization, etc., the motor provided on each traveling vehicle is used for traveling. It is also preferable to use both for lifting and lowering of the handling mechanism.

In order to achieve this, a plurality of hoisting mechanisms are connected to the motors of the respective traveling vehicles via transmission mechanisms and clutch means, and the clutch means is fastened when the handling mechanism moves up and down. Is transmitted to a plurality of hoisting mechanisms and the motors are controlled so as to be driven synchronously. However, even if each motor is controlled in this way, the operation of each hoist mechanism may not be correctly synchronized due to a control response delay or a control error when a speed difference occurs due to a variation in load of each hoist mechanism or the like. There is. Then, if the synchronism of the operation of each hoisting mechanism is impaired, there is a problem that the handling mechanism tilts during elevating.

The present invention has been made in view of the above circumstances, and when driving a hoisting mechanism for raising and lowering a handling mechanism by means of motors provided on a plurality of traveling vehicles, the hoisting mechanism is reliably synchronized to stabilize the raising and lowering of the handling mechanism. An object of the present invention is to provide a lifting and lowering device for a handling mechanism of a transport device that can perform well.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a plurality of traveling trolleys connected to each other via a frame, and a handle supported on the frame so as to be able to ascend and descend in a suspended state. A transport mechanism provided with a driving wheel for rolling on a rail and a motor for rotating the driving wheel on each of the traveling vehicles. A plurality of winding mechanisms are connected to each other, and the handling mechanism is suspended by these winding mechanisms, and the drums of the winding mechanisms driven by different motors are connected by shafts, and these drums are integrally formed. It is configured to rotate.

[0008]

According to the above construction, when raising and lowering the handling mechanism, the clutch means is engaged and the power of each motor is transmitted to the hoist mechanism via the transmission mechanism.
In this case, the respective drums are interlocked by the shaft, and the mechanical interlock ensures the synchronization of the respective winding mechanisms.

[0009]

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

FIGS. 1 and 2 show one embodiment of a transfer device provided with a handling mechanism elevating device according to the present invention. In these drawings, reference numeral 1 denotes a rail (monorail), It is suspended from the ceiling of the assembly line. The transfer device that moves along the monorail 1 includes a plurality of traveling vehicles, and in the illustrated example, includes two main and auxiliary traveling vehicles 3A and 3B.

The two carriages 3A, 3B are connected to each other below a monorail 1 via a frame 4 for supporting a handling mechanism. The traveling carts 3A, 3
The lower ends of B are connected. In the frame 4,
The handling mechanism 5 is supported so as to be able to ascend and descend in a suspended state via an elevating device including a plurality of hoisting mechanisms as described in detail below.

The handling mechanism 5 carries out processing such as holding, loading, and unloading of a load. The specific structure of the handling mechanism 5 is not limited to the present invention. , A pair of left and right movable frames 8 having upper ends attached to the upper frame 6 via guide members 7, and a luggage holder attached to lower ends of both movable frames 8. 9 is provided. Then, the pair of movable frames 8 is driven by driving means such as a motor (not shown).
By moving in a state separated from each other at a maximum interval and a state approaching a predetermined interval,
Processing such as holding of luggage can be performed.

3 to 5 show a specific structure of a main part. In these figures, the traveling vehicles 3A, 3B
Are equipped with motors 11A and 11B which serve both as a driving source for traveling and a driving source for elevating and lowering the handling mechanism, respectively, and the driving wheels 12 which are driven by the motors 11A and 11B and roll on the monorail 1 are provided. Is provided. Further, the traveling carriages 3A and 3B are provided with a lower roller 13 and a guide roller 14 which are in contact with the monorail 1 from below and on both sides, and a control unit 15 for controlling a drive system.
A, 15B, etc. are provided.

An output shaft 17 protrudes from the motors 11A and 11B in each of the traveling vehicles 3A and 3B, and the drive wheel 12 is rotatably supported on the output shaft 17 and travels by an electromagnetic clutch. A traveling brake 19 composed of a clutch 18 and an electromagnetic brake is arranged on both sides of the drive wheel 12. The power of the motors 11A and 11B is transmitted to the drive wheels 12 when the traveling clutch 18 is ON and the traveling brake 19 is OFF. In addition, a timing pulley 21 is provided on the output shaft 17 on the side of the traveling clutch 18 for transmission to the lifting device, and a horizontal pulley pivotally supported at a connection point between the lower portions of the traveling vehicles 3A and 3B and the frame 4. A timing pulley 23 is provided on the shaft 24, and a timing belt 22 is stretched around these timing pulleys 21 and 23.

The frame 4 for supporting the handling mechanism has, on one side thereof, a motor 11 of the main traveling vehicle 3A.
A is provided with a pair of hoisting mechanisms 26A, 26A 'driven by the power transmitted from A, and on the other side,
A pair of hoisting mechanisms 26B, 26B 'driven by the power transmitted from the motor 11B of the auxiliary traveling vehicle 3B is provided. Each of the winding mechanisms 26A, 26A ', 26
B and 26B 'each include a drum 27, a belt 28 derived from the drum 27, and a guide roller 29. Each of the drums 27 is disposed at an intermediate portion in the front-rear direction on both sides of the frame 4. And each guide roller 2
9 are arranged on both front and rear sides of both sides of the frame 4, and belts 28 derived from the respective drums 27 are connected to the respective guide rollers 2.
The leading end of each belt 28 is connected to the upper frame 6 of the handling mechanism 5 in a state of extending downward through 9. The pair of hoisting mechanisms 26A, 26A 'on one side are provided with timing gears 31,
32 are rotated synchronously by meshing with each other, and the pair of winding mechanisms 26B, 26B 'on the other side are also configured to rotate synchronously by meshing the timing gears 31, 32 at the ends of the respective drum shafts. Have been.

A transmission mechanism for transmitting the power from the motor 11A of the main traveling vehicle 3A to the hoisting mechanisms 26A, 26A 'is provided on the horizontal axis 24 via bevel gears 33, 34, a vertical axis 35, and bevel gears 36, 37. Input shaft 3 connected
8, a sprocket 39 rotatably supported on the input shaft 38, a sprocket 40 attached to the shaft of one of the two drums 27 interlocking via timing gears 31, 32, And a chain 41 spanned over the sprockets 39 and 40 of the above. Further, on both sides of the sprocket 39 on the input shaft 38,
A lifting clutch 42 composed of an electromagnetic clutch and a lifting brake 43 composed of an electromagnetic brake are provided. The power from the motor 11B of the auxiliary traveling vehicle 3B is taken up by a winding mechanism 26.
The transmission mechanism for transmitting to B and 26B 'is similarly configured, and both transmission mechanisms are arranged point-symmetrically. And
When the lifting clutch 42 in both transmission mechanisms is ON and the lifting brake 43 is OFF, the power of the motors 11A, 11B is supplied by the hoisting mechanisms 26A, 26A ', 26B, 26B'.
It is transmitted to.

Further, one drum 27 of the hoisting mechanisms 26A, 26A 'to which the power from the motor 11A of the main traveling vehicle 3A is transmitted, and the hoisting mechanism 26B, to which the power from the motor 11B of the auxiliary traveling vehicle 3B is transmitted. One drum 27 of 26B 'is connected by a shaft 45. The shaft 45 has a shaft 45a connected to the shaft of one drum 27 on one side of the frame 4 and a shaft 45b connected to the shaft of one drum 27 on the other side.
Are connected via a coupling 46 in a state where they are located on a straight line.

FIG. 6 schematically shows a drive system for traveling and elevating. The drive system described above will be summarized with reference to this figure. The drive system includes a first drive system 47A using the motor 11A of the main traveling vehicle 3A as a drive source and a first drive system 47A using the motor 11B of the sub traveling vehicle 3B as a drive source. 2 drive system 4
7B. In each of the drive systems 47A and 47B, the drive wheels 12 are connected to the output shaft 17 of the motors 11A and 11B via a traveling clutch 18, and the output shaft 17 is connected to the pulley 21, the timing belt 22, the pulley 23, Horizontal shaft 24, bevel gears 33, 34,
The vertical axis 35, bevel gears 36, 37, input shaft 38, lifting clutch 42, sprocket 39, chain 41, sprocket 40, timing gears 31, 32, etc., the drum 27 of the winding mechanisms 26A, 26A 'and the winding mechanism 26B. , 26B 'are connected. The winding mechanisms 26A and 26A 'in the first drive system 47A and the winding mechanisms 26B and 26B' in the second drive system 47B
Are linked so as to synchronize with each other.

The control system for each of the motors 11A and 11B is configured as shown in FIG. In the figure, each of the motors 11A and 11B is provided with a pulse generator 49A and 49B for detecting a drive position. The main control unit 15A for controlling the motor 11A on the main traveling vehicle has a CPU 50, a position control
1, D / A converter 52, speed control unit 53, current control unit 5
4 and an amplifier 55 connected in this order, and an F / V connected to a pulse generator 49A.
A converter 56 is provided. The position detection signal given from the pulse generator 49A is input to the position control unit 51, and the frequency of this signal is converted into a voltage by the F / V converter 56, so that the driving speed is detected. Is input to the speed control unit 53. Then, a deviation between the target position given from the CPU 50 and the actual position based on the position detection signal is obtained by the position control unit 51, a target speed is set according to the deviation, and the speed control unit 53 A deviation between the target speed and the actual speed based on the speed detection signal is obtained, and a control signal corresponding to the deviation is output.
4 and the amplifier 55 control the drive current of the motor 11A according to the control signal.

A sub-control unit 15B for controlling the motor 11B on the sub-carriage side has a deviation counter 61 for receiving signals from both pulse generators 49A and 49B.
A speed controller 63 connected thereto via a D / A converter 62; a current controller 64 and an amplifier 65 for controlling the drive current of the motor 11B;
An F / V converter 66 that supplies a speed detection signal obtained by converting the signal from B to the speed control unit 63 is provided, and a changeover switch 67 is provided. The changeover switch 67 connects the current control unit 64 to the main control unit 15.
A, and a second connection state in which the current control unit 64 is connected to the speed control unit 63 of the sub control unit 15B.
The switching operation is performed by a signal from the PU 50.

When the vehicle is driven to travel, the changeover switch 67 is set to the first connection state. In this state, the main control unit also controls the current control unit 64 for controlling the drive current of the motor 11B on the auxiliary traveling vehicle. A control signal is supplied from the speed control unit 53 of 15A. That is, both motors 11 are controlled by a common control signal from the speed control unit 53.
The drive currents of the motors A and 11B are controlled, so that the torque is equally shared between the motors 11A and 11B during traveling.

Further, at the time of raising and lowering drive for raising and lowering the handling mechanism, the changeover switch 67 is set to the second connection state. In this state, the deviation counter 61 causes the motor 11A on the main traveling vehicle and the motor 11B on the sub traveling vehicle
And a target speed corresponding thereto is set, and a control signal corresponding to the difference between the target speed and the actual speed is output from the speed control unit 63 to the current control unit 64. Thereby, both motors 11A,
Control is performed so that there is no difference in the drive position of 11B, that is, there is no difference in the operation amount of the hoisting mechanism driven by each of the motors 11A and 11B.

According to the apparatus of this embodiment as described above, when the traveling vehicles 3A, 3B travel along the rail 1, the traveling clutch 18 in each traveling vehicle 3A, 3B is turned on and the traveling brake 19 is turned off. In this state, when the motors 11A and 11B of the two traveling vehicles 3A and 3B are driven, their power is transmitted to the drive wheels 12. In this case, the lifting clutch 42 is turned off and the lifting brake 43
Is turned ON, the handling mechanism 5 is maintained at a constant height position (for example, a rising end position).

When the traveling carriages 3A and 3B reach predetermined positions where operations such as loading and unloading are to be performed, the traveling clutch 18
Is turned off, the traveling brake 19 is turned on, the traveling is stopped, and the lifting clutch 42 is turned on,
When the lift brake 43 is switched off,
The power of both motors 11A and 11B is
A, 26A ', 26B, 26B', and the lifting and lowering operation of the handling mechanism 5 is performed. In this case, if the operation amounts of the winding mechanisms 26A, 26A ', 26B, 26B' are shifted, the handling mechanism 5 is tilted.
The motors 11A and 11B are electrically controlled so as to be synchronized with each other, and the respective winding mechanisms 26A and 26B are mechanically mechanically controlled.
By interlocking A ', 26B, 26B', deviation of the operation amounts of the winding mechanisms 26A, 26A ', 26B, 26B' is reliably prevented.

That is, electrically, both motors 11A, 1A
The driving current is controlled so that there is no difference between the driving positions 1B (see FIG. 7). Further, each motor 11
Each of the hoisting mechanisms 26A, 26A ', 26B, 26B' driven by a pair of A and 11B, the drums 27 are linked by timing gears 31 and 32 for each pair, and driven by one motor 11A. The drum 27 and the drum 27 driven by the other motor 11B are connected by the shaft 45, so that each drum 27 surely rotates synchronously. Therefore, the motors 11A, 11B
Even if a control error or malfunction occurs in the drive of the motor, no deviation occurs in the operation amounts of the winding mechanisms 26A, 26A ', 26B, 26B', and the inclination of the handling mechanism 5 is prevented.

In each of the traveling vehicles 3A and 3B, the structure of the portion for rotatably supporting the output shaft 17 of the motors 11A and 11B is designed to solve the following functional problems as shown in FIG. It is preferable to keep as follows.

That is, in this type of motor, an output shaft and a rotating portion connected to the output shaft are rotatably supported by a housing at a plurality of locations via bearings. For example, one cross roller bearing and another two A structure supported at three points by a bearing is generally known in the prior art. However, in such a support structure, when the traveling vehicle moves on a sloped rail or the like, an excessive force is likely to act on the bearing portion, and thus the durability tends to decrease. Then, in order to absorb and disperse the force acting in the thrust direction and the like, it is conceivable to provide a coupling having elasticity by a leaf spring or the like on the output shaft. However, if the above-mentioned coupling is incorporated in a portion protruding outward from the motor, the amount of protrusion of the output shaft from the motor becomes longer,
Since the distance between the motor and the drive wheels is increased, the position of the center of gravity is shifted from the point of support by the rail, resulting in a poor balance or an increase in size.

Therefore, in the example shown in FIG. 8, the amount of protrusion of the output shaft 17 from the motors 11A and 11B increases while absorbing a force in the thrust direction or the like so that no excessive force acts on the bearing portion. The coupling 78 using the leaf spring 79 is disposed inside the motors 11A and 11B in order to reduce the size of the motor 11A. More specifically, each of the motors 11A and 11B is provided with a field coil 71 at an inner peripheral portion of its body, and an armature 72 and an output shaft 17 are disposed inside the field coil 71. One end of the output shaft 17 is located at the center inside the motors 11A and 11B, and the other end is connected to the motors 11A and 11B.
Around the protruding portion of the output shaft 17, the pulley 21, the traveling clutch 18, and the drive wheels 12.
And a travel brake 19 are provided.

The output shaft 17 and the armature 72 are rotatably supported by the housing 75 at two points via a cross roller bearing 73 and a bearing 74. Further, inside the armature 72, a cup provided with elasticity by a leaf spring 79 is provided between a flange portion 76 provided at an end of the output shaft 17 and an auxiliary member 77 fixed to the armature 72. A ring 78 is provided.

In this way, the force acting on the output shaft 17 is absorbed and dispersed between the output shaft 17 and the auxiliary member 77 by the coupling 78 using the leaf spring 79, and the force is imposed on the cross roller bearing 73 and the like. A large force is avoided. Moreover, by utilizing the space existing inside the armature 72 inside the motors 11A and 11B and incorporating the coupling 78 therein, an increase in the axial length can be avoided.

The specific structures of the motors 11A and 11B and the portion around the output shaft are not limited to this example. Further, the specific structure of each of the traveling vehicles 3A and 3B, the handling mechanism 5, and the like may be variously changed without departing from the gist of the present invention.

[0032]

As described above, the present invention comprises a plurality of hoisting mechanisms connected to the respective motors of the plurality of traveling trolleys via a transmission mechanism and clutch means, respectively. Since the handling mechanism is suspended and the drums of the hoisting mechanism driven by different motors are connected by shafts, the handling mechanism is raised and lowered using the motors of the above-mentioned carriages, and the structure of the drive system is streamlined. can do. Moreover, since the winding mechanisms driven by a plurality of motors are mechanically linked via the shaft, the operations of the winding mechanisms are reliably synchronized,
This prevents tilting of the handling mechanism during ascent and descent, thereby increasing the stability of the ascent and descent operation.

[Brief description of the drawings]

FIG. 1 is a front view of a transfer device provided with a handling mechanism elevating device according to an embodiment of the present invention.

FIG. 2 is a side view of the transfer device.

FIG. 3 is an enlarged sectional view taken along the line III-III of FIG. 2;

FIG. 4 is a partially cut-away enlarged sectional view taken along the line IV-IV of FIG. 1;

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

FIG. 6 is a skeleton diagram showing a drive system.

FIG. 7 is a block diagram showing a control system.

FIG. 8 is an enlarged cross-sectional view illustrating an example of a specific structure of an output shaft mounting portion of the motor.

[Explanation of symbols]

 Reference Signs List 1 rail 3A, 3B traveling cart 4 frame 5 handling mechanism 11A, 11B motor 12 drive wheel 17 output shaft 26A, 26A ', 26B, 26B' winding mechanism 27 drum 45 shaft

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-4-12992 (JP, A) JP-A-1-242395 (JP, A) JP-A-61-114996 (JP, A) 76683 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) B66C 11/20, 13/08, 13/22

Claims (1)

(57) [Claims] 1. A vehicle comprising: a plurality of traveling vehicles connected to each other via a frame; and a handling mechanism supported by the frame so as to be able to move up and down in a suspended state. In a transfer device provided with a driving wheel that moves and a motor that rotationally drives the driving wheel, a plurality of hoisting mechanisms connected to the respective motors via a transmission mechanism and clutch means are provided. A handling mechanism for the transport device, wherein the handling mechanism is suspended and the drums of the winding mechanism driven by different motors are connected by a shaft so that these drums rotate integrally. lift device.