JP6080617B2 - Mounting structure, trolley, working device and attaching / detaching method - Google Patents

Description

  The present invention mainly relates to a mounting structure between a carriage and a gantry.

  In a working device constituting an automatic assembly facility, a plurality of different types of parts may be assembled to a workpiece. It is also desirable to be able to respond flexibly to changes in the type of parts. In view of this, a system has been proposed in which components are supplied by being mounted on a carriage and transported, and the carriage can be integrally attached to a work apparatus base. For example, Patent Literature 1 and Patent Literature 2 disclose a system that connects a cart that can run on a running surface such as a floor surface and a gantry. Patent Document 3 discloses a system in which a carriage is lifted by an air cylinder and connected to a gantry.

JP 2003-176021 A Japanese Patent No. 2973980 Japanese Patent Application Laid-Open No. 07-336094

  However, in the systems of Patent Literature 1 and Patent Literature 2, since the carriage is mounted on the gantry while being in contact with the running surface, the positioning accuracy of the carriage can be affected by the inclination of the running surface. Since the structure of Patent Document 3 lifts the carriage by an actuator (air cylinder), the positioning accuracy of the carriage is not affected by the inclination of the running surface. However, it is necessary to always drive the actuator, which is not suitable for maintaining a state where the carriage is connected to the gantry for a long time.

  It is an object of the present invention to prevent the positioning accuracy of the carriage from being affected by the running surface when connecting the carriage and the gantry, and to make an actuator unnecessary for maintaining the connected state.

According to the present invention, there is a mounting structure of a carriage and a gantry, wherein the carriage includes a carriage body, a plurality of wheels disposed on a bottom portion of the carriage body, and the carriage body and the plurality of wheels. A distance changing mechanism that is provided between the carriage main body and the plurality of wheels, and a distance change mechanism that protrudes from one side of the carriage main body and connects the carriage main body and the gantry. A connecting portion; and a contact portion that is provided on the one side portion of the carriage main body, is positioned below the connecting portion and contacts the gantry, and the gantry is coupled to the linking portion. A connected portion and a contacted portion with which the contact portion abuts, and the distance changing mechanism raises the cart body to a position higher than the height of the connected portion. a possible increase the distance of the vertical direction by the distance change mechanism Wherein said connecting portion from a position higher than the height of the the connected portion by varied lowering the carriage body is seated on the connected portion, and further by changing the distance of the vertical direction, the plurality of wheels is a floating mounting state from the running surface, the abutting portion becomes a contact state in contact with the said abutted portion when in the mounted state, and the connecting portion and the the connected portion, the connecting portion A mounting structure is provided, each comprising a horizontal positioning portion that performs positioning in the horizontal direction when seated on the coupled portion.

Further, according to the present invention, the carriage is detachable from the gantry, and is provided between the carriage main body, the plurality of wheels arranged at the bottom of the carriage main body, and the carriage main body and the plurality of wheels. A distance changing mechanism for changing a distance in the vertical direction between the carriage main body and the plurality of wheels; a connecting portion that protrudes from one side of the carriage main body and can be seated on the gantry from above; and the carriage provided on the one side of the body, located below the connecting portion, e Bei and a contact portion that contacts the pedestal, by the contact portion comes into contact with the frame, by the connecting portion There is provided a carriage characterized in that the attitude of the carriage main body mounted on the mount is maintained .

According to the present invention, there is provided a working device for performing a predetermined work on a workpiece, the platform, a transport unit mounted on the platform and transporting the workpiece, and mounted on the platform, the transport unit. A plurality of work units that perform a predetermined work on the workpiece conveyed by the apparatus, and a plurality of carriages that are detachable from the gantry along a conveyance direction of the conveyance unit. And a plurality of wheels arranged at the bottom of the cart body, and a distance change that is provided between the cart body and the plurality of wheels, and changes a vertical distance between the cart body and the plurality of wheels. A mechanism, a connecting portion that protrudes from one side of the cart body, and connects the cart body and the gantry, and is provided on the one side portion of the cart body, and is located below the connecting portion. The mount An abutting portion that abuts, and a placement portion disposed at an upper portion of the cart body, and the placement unit is provided with a work auxiliary unit that assists the work by the work unit. A control unit that controls the work auxiliary unit , wherein the gantry includes a connected portion that is connected to the connecting portion, and a contacted portion that contacts the contacting portion, and the distance changing mechanism is The linking body can be raised to a position higher than the height of the connected portion by raising the trolley body, and the trolley body is lowered by changing the vertical distance by the distance changing mechanism. The seat is connected to the to-be-connected portion from a position higher than the height of the to-be-connected portion, the vertical distance is further changed, and the plurality of wheels are in a mounted state floating from the running surface, The abutting part is the front When in a mounted state, the contacted portion is in contact with the contacted portion, and the connecting portion and the connected portion are positioned in the horizontal direction when the connecting portion is seated on the connected portion. There is provided a working device including a horizontal positioning portion for performing the above.

Further, according to the present invention, there is provided a method for attaching and detaching a carriage to a gantry, wherein the carriage includes a carriage body, a plurality of wheels disposed at a bottom portion of the carriage body, the carriage body, and the plurality of wheels. A distance changing mechanism for changing a vertical distance between the carriage main body and the plurality of wheels, and a connection projecting from one side of the carriage main body and connecting the carriage main body to the gantry And a contact portion that is provided on the one side portion of the cart main body and is located below the connecting portion and contacts the gantry, and the distance changing mechanism raises the cart main body. The connecting portion can be raised to a position higher than the height of the connected portion provided on the gantry, and the mounting method includes a moving step of moving the carriage to the mounting position of the gantry, and the connected portion. Horizontal direction of the connecting part with respect to A horizontal alignment step for aligning, by the distance change mechanism, wherein at Rukoto the carriage body is lowered, the seating step of seating the connecting portion from a position higher than the height of the the connected portion on the the connected portion And a connecting step in which, after the connecting portion is seated on the connected portion , the distance change mechanism causes the plurality of wheels to float from a running surface and the contact portion is brought into contact with the gantry to be in a contact state. A method for attaching and detaching is provided.

  According to the present invention, when connecting the carriage and the gantry, the positioning accuracy of the carriage is not affected by the traveling surface, and an actuator can be made unnecessary for maintaining the connected state.

Schematic diagram of the work system. The disassembled perspective view of the working device of FIG. The perspective view of a trolley | bogie. The perspective view of the trolley | bogie with a work auxiliary unit. The side view of a trolley | bogie. The perspective view of a distance change mechanism. The perspective view of a distance change mechanism. Explanatory drawing of the change aspect of distance. Explanatory drawing of a mounting structure. Explanatory drawing of a mounting structure. Explanatory drawing of a mounting structure. Explanatory drawing of a mounting structure. Explanatory drawing of a mounting state. Explanatory drawing which shows a mounting state and a isolation | separation state.

  1 is a schematic view of the work system A, and FIG. 2 is an exploded perspective view of the work system A. In each figure, X and Y indicate horizontal directions orthogonal to each other, and Z indicates the vertical direction.

  The work system A is a system that performs a predetermined work on the workpiece W on the pallet 1. The predetermined work includes, for example, assembly, processing, inspection, and the like. The work system A includes a work device 2 and transfer devices 3A and 3B. The work device 2 includes transport units 21 and 22, and the transfer devices 3 </ b> A and 3 </ b> B transfer the pallet 1 between the transport unit 21 and the transport unit 22. The pallet 1 is cyclically conveyed counterclockwise by the conveyance units 21 and 22 and the transfer apparatuses 3A and 3B as indicated by arrows in FIG. The transport units 21 and 22 transport the pallet 1 in the opposite directions in the X direction. The transfer apparatuses 3A and 3B transfer the pallet in the Y direction in opposite directions.

  The transport units 21 and 22 include rail-shaped guide members 21a and 22a and a moving mechanism (not shown) that moves the pallet 1 on the guide members 21a and 22a. The pallet 1 is guided by the guide members 21a and 22a. It is moved while. Thereby, the workpiece W is conveyed.

  The transfer devices 3A and 3B include two fixed units 31 and 31 and a movable unit 32. The fixed units 31 and 31 are arranged so as to be continuous with the guide members 21a and 22a, respectively, and deliver the pallet 1 between the transport units 21 and 22. The movable unit 32 is provided so as to be movable between the two fixed units 31, and transfers the pallet 1 between the two fixed units 31. Then, the transfer devices 3 </ b> A and 3 </ b> B receive the pallet 1 from the work device 2 with one fixed unit 31. The movable unit 32 moves the pallet 1 from one fixed unit 31 to the other fixed unit 31. The pallet 1 is transferred to the work device 2 by the other fixed unit 31. In this way, the pallet 1 is transferred and transferred.

  The work device 2 includes a gantry 23. In addition to the transport units 21 and 22, a plurality of work units 24 are mounted on the gantry 23. The work unit 24 performs the above-described predetermined work on the workpiece W on the pallet 1 transported by the transport unit 21. The work unit 24 can move back and forth in the Y direction and can turn (turn) about the Z axis. The work unit 24 has a work tool T, and drives the work tool T to perform assembling work on the work W or the like.

  The pallet 1 on which the work W that has been worked is loaded is transferred from the transfer unit 21 to the transfer device 3A, and further transferred to the transfer unit 22. During the conveyance by the conveyance unit 22, the work W on the pallet 1 that has been worked is carried out of the work system A by a carry-out device (not shown). Further, in the middle of the conveyance of the conveyance unit 22, a new workpiece W is loaded onto the empty pallet 1 by a loading device (not shown). The pallet 1 on which the new workpiece W is mounted is transported from the transport unit 22 to the transfer device 3B and further transferred to the transport unit 21. A new work W is subjected to a predetermined work by the work unit 24.

  The work apparatus 2 also includes trolleys 4A to 4D that are detachably attached to the gantry 23. When the carriages 4A to 4D are collectively referred to as the carriage 4. The carts 4A to 4D have the same basic configuration, but the details are slightly different depending on the application. The carriage 4A is equipped with an input / output unit 25 and a support arm 25a to which the input / output unit 25 is attached and supported by the carriage 4A. The input / output unit 25 includes a touch panel display unit, and can display output information such as the operation status of the work device 2 and input various instruction input information. One end of the support arm 25a is attached to a cart body 41 to be described later, and the input / output unit 25 is attached to the other end. The input / output unit 25 can be arbitrarily moved and maintained at a desired position. A control unit (control circuit) that is connected to the input / output unit 25 and controls the entire work device 2 can be accommodated inside the cart 4A. The carts 4B and 4C can be used to accommodate, for example, the spare pallet 1, the replacement work tool T, or a plurality of types of maintenance tools.

  A work auxiliary unit 26 is mounted on the cart 4D. The work auxiliary unit 26 is a unit that assists the work by the work unit 24. In the present embodiment, the work auxiliary unit 26 is a component supply unit that supplies components, and includes a tray Tr on which many components are mounted. The work unit 24 can acquire parts from the tray Tr and assemble them onto the work W. In the case of the present embodiment, it is assumed that the worker replaces the tray Tr with a new tray Tr on which components are mounted when the tray Tr becomes empty.

  However, the work auxiliary unit 26 may include a plurality of trays Tr and include a mechanism for moving these trays cyclically. In the case of this configuration, the work unit 24 can acquire a part from the uppermost tray Tr and assemble it to the work W. For example, when the uppermost tray Tr becomes empty, the work auxiliary unit 26 moves the tray Tr group so that another tray Tr is positioned at the uppermost stage. Thus, when the work auxiliary unit 26 is configured to include a drive mechanism, a control unit (for example, a programmable controller) that is connected to the work auxiliary unit 26 and performs control thereof is required. The control unit can be housed inside the carriage 4D. Thereby, both the work auxiliary unit and its control unit can be transported by one carriage 4 and can be handled collectively.

  As the work auxiliary unit 26, a unit having a function other than the component supply can be adopted. For example, a unit that supplies the replacement work tool T to the work unit 24 can be employed.

  Next, the configuration of the carriage 4 will be described. FIG. 3 is a perspective view of the carriage 4 and shows a basic configuration thereof. FIG. 4 is a perspective view of the carriage 4 </ b> D on which the work auxiliary unit 26 is mounted, and shows how the work auxiliary unit 26 is mounted. FIG. 5 is a side view of the carriage 4.

  The cart 4 includes a cart body 41, a plurality of wheels 42, a distance changing mechanism 43, a connecting member 44, and a contact member 45.

  The cart body 41 is a hollow body with a bottom and an open and bottomless box shape with a space inside. The upper part of the carriage main body 41 forms a placement part 411. In the case of this embodiment, the mounting portion 411 is a plate-like member that constitutes the ceiling portion of the carriage main body 41. The mounting portion 411 can be provided with dedicated units such as the input / output unit 25 and the work auxiliary unit 26 described above, and the control unit described above can be accommodated in the space inside the cart body 41. The mounting portion 411 is replaceable, and the one having the opening 4a as shown in the carts 4B and 4C can be used. Through this opening 4a, the control unit housed inside the carriage main body 41 and the control unit of the work auxiliary unit 26 attached and fixed to the upper surface of the mounting portion 411 can be connected by an electric cable. Of the four side portions of the carriage main body 41, the side portion 412 serving as the first surface is a side portion facing the gantry 23 of the work device 2 in the mounted state. The side portion 413 is a side portion serving as a second surface (surface on which the worker is located) facing the side portion 412.

  The plurality of wheels 42 are casters arranged at the bottom of the carriage main body 41. In the present embodiment, a total of four are provided, one below the bottom four corners. By providing the plurality of wheels 42, the operator can move the carriage 4 by hand. In addition, you may provide grip parts, such as a handle, in the side part 413 of the trolley | bogie 4 so that an operator can push easily.

  The distance changing mechanism 43 is provided between the carriage main body 41 and the plurality of wheels 42 and changes the vertical distance between the carriage main body 41 and the plurality of wheels 42. In other words, the distance changing mechanism 43 changes the height of the mounting portion 411 and the connecting member 44 described later from the carriage running surface. 6 and 7 are perspective views of the distance changing mechanism 43. FIG.

  The distance changing mechanism 43 includes a base portion 431, arm members 432 and 433, and an adjusting mechanism 434. The base portion 431 has a plate shape, and functions as a member that closes the opening at the bottom of the carriage main body 41 in the case of the present embodiment.

  The arm member 432 includes a pair of intersecting portions 4321 and a support portion 4322. The pair of intersecting portions 4321 extend in parallel with each other, and one end sides thereof are engaged with the base portion 431 via the adjusting mechanism 434. The base portion 431 is formed with an opening 431b for connecting the adjustment mechanism 434 disposed on the upper side to the crossing portion 4321 disposed on the lower side. The support portion 4322 is provided so as to bridge the other end side of the pair of intersecting portions 4321, and engages with the attachment portion 42 a of the wheel 42 to support the wheel 42.

  The arm member 433 has the same configuration as that of the arm member 432, but their arrangement modes are opposite to each other. The arm member 433 includes a pair of intersecting portions 4331 and a support portion 4332. The pair of intersecting portions 4331 are extended in parallel to each other, and one end sides of the pair of intersecting portions 4331 are rotatably engaged with the base portion 431 via the shaft support member 435. In the base portion 431, an opening 431a that avoids interference with the intersecting portion 4321 is formed. The support portion 4332 is provided so as to bridge the other end side of the pair of intersecting portions 4331, and engages with the attachment portion 42 a of the wheel 42 to support the wheel 42.

  The arm member 432 and the arm member 433 are rotatably connected to each other through a shaft 436 at the connection crossing portion in a state where the crossing portions 4321 and 4331 cross each other. The adjustment mechanism 434 adjusts the intersection angle between the arm member 432 and the arm member 433 at the connection intersection where the shaft 436 is disposed. When the wheel 42 is in contact with the floor surface due to the intersection angle between the arm member 432 and the arm member 433, the carriage main body 41 moves up and down. Thereby, the distance of the up-down direction of the trolley | bogie main body 41 and the some wheel 42 can be changed.

  The adjusting mechanism 434 is a moving mechanism that moves one end side of the arm member 432 in the Y direction. One end side of the arm member 433 is engaged with the base portion 431 via the shaft support member 435, and its position is unchanged. When one end side of the arm member 432 is moved in the Y direction, the distance from the one end side of the arm member 433 changes. Thereby, the crossing angle between the arm member 432 and the arm member 433 can be adjusted. In the present embodiment, the one end side of the arm member 432 is moved. However, it is sufficient that at least one of the one end side of the arm member 432 and the one end side of the arm member 433 can be moved in the direction of approaching and separating from each other.

  The adjustment mechanism 434 includes a rotation shaft 4341, a conversion mechanism 4342, and a movable member 4343. The rotating shaft 4341 is rotatably supported by a pair of bearing portions 4344 and 4344. A handle 4341a is provided at one end of the rotating shaft 4341, and an operator can rotate the rotating shaft 4341 by rotating the handle 4341a. Since the rotating shaft 4341 and the handle 4341a are provided on the side portion 413 side, the operation space is secured even when the carriage 4 is mounted on the mount 23.

  In the case of the present embodiment, the conversion mechanism 4342 is a screw mechanism that includes a male screw (not shown) provided in the middle of the peripheral surface of the rotating shaft 4341 and a nut 4342a that is screwed into the male screw. The nut 4342a is fixed to the fixed member 4343 so as not to rotate on the movable member 4343 by the fixed member 4343a. Since the rotating shaft 4341 rotates while being supported at a fixed position, the nut 4342a moves in the Y direction according to the rotating direction. As a result, the movable member 4343 moves in the Y direction.

  One end of an intersecting portion 4321 of the arm member 432 is rotatably engaged with both ends of the movable member 4343 via a shaft member 4343b. Therefore, when the movable member 4343 moves in the Y direction, one end of the intersecting portion 4321 moves in the Y direction. Thus, the conversion mechanism 4342 converts the rotational force input to the rotation shaft 4341 into a displacement force that displaces one end of the arm member 432, and as a result, the crossing angle between the arm member 432 and the arm member 433 can be adjusted. it can.

  A roller 4343c is rotatably mounted on the shaft member 4343b. The roller 4343c rolls on one surface (on the bottom surface) of the base portion 431 so that the movable member 4343 moves smoothly. A roller support member 4343e on which a roller 4343d is rotatably mounted is fixed to the movable member 4343. The roller 4343d rolls on the other surface (on the surface) of the base portion 431 so that the movable member 4343 moves smoothly.

  FIG. 8 shows an aspect in which the distance in the vertical direction between the carriage main body 41 and the plurality of wheels 42 is changed by the distance changing mechanism 43. The left side of FIG. 8 shows an ascending mode in which the cart body 41 is separated from the traveling surface FL, and the right side shows a descending mode in which the cart body 41 approaches the traveling surface FL. The traveling surface FL to which the wheels 42 are grounded is, for example, a factory floor. As shown in the figure, the cart body 41 can be raised and lowered with respect to the running surface FL by adjusting the crossing angle between the arm member 432 and the arm member 433. By using such a scissor mechanism as the distance changing mechanism 43, the distance in the vertical direction between the carriage main body 41 and the plurality of wheels 42 can be changed with a relatively simple configuration. The configuration of the distance changing mechanism 43 is not limited to this, and various mechanisms that can raise and lower the cart body 41 with respect to the wheels 42 can be employed. In the present embodiment, the distance changing mechanism 43 is manually operated. However, the distance changing mechanism 43 may be operated using an actuator such as a motor.

  Next, the connecting member 44 and the contact member 45 will be described with reference to FIGS. 3 and 5. These constitute the mounting structure of the carriage 4 and the mount 23.

  The connecting member 44 is provided on the carriage main body 41, and is an L-shaped member provided on the side portion 412 of the carriage main body 41 in this embodiment. The connecting member 44 includes a connecting portion 441 that connects the carriage main body 41 and the gantry 23. The connecting portion 441 has a plate shape extending in the horizontal direction. In the case of the present embodiment, the connecting portion 441 is positioned above the placement portion 411 of the carriage main body 41 and the side portion 412 of the carriage main body 41. It protrudes outward (on the gantry 23 side).

  The connecting part 441 includes a horizontal positioning part 4411. The horizontal positioning unit 4411 performs horizontal positioning of the carriage 4 with respect to the gantry 23. In the case of this embodiment, the horizontal positioning portion 4411 includes a horizontal engaging portion 4411a formed at the center of the connecting portion 441 and a plurality of fitting portions 4411b spaced in the X direction. The horizontal engagement portion 4411 a is a notch formed in a groove shape from the long side edge of the connecting portion 441. The fitting portion 4411b is a hole that penetrates the connecting portion 441 in the Z direction. The connecting portion 441 also includes a plurality of fixing device holes 4412 penetrating the connecting portion 441 in the Z direction. The bottom surface 4413 of the connecting portion 441 constitutes a seating portion that sits on the mount 23.

  The connecting portion 441 also includes two holes 4412. Bolts for fixing the carriage 4 and the gantry 23 pass through the holes 4412.

  The abutting member 45 is positioned below the connecting portion 441 in the side portion 412, and forms a contact portion 451 whose surface abuts against the gantry 23. In the case of the present embodiment, the contact member 45 has a plate shape, and the contact portion 451 forms a plane (contact surface) parallel to the contacted portion 232 of the gantry 23 described later. In the case of this embodiment, the contact member 45 is fixed to the end portion of the base portion 431, and the back surface thereof is in close contact with the side portion 412. In the case of this embodiment, the contact portion 451 is formed by the contact member 45 which is a member different from the cart body 41. However, a part of the side portion 412 of the cart body 41 is provided so as to protrude, and the projection portion is provided. The contact portion 451 may be used.

  The structure for fixing the contact member 45 to a part of the carriage 4 may be any structure, for example, a bolt fastening structure. The posture of the carriage 4 at the time of mounting depends on the contact state of the contact portion 451 with the gantry 23. Therefore, it is preferable to provide the contact portion 451 with an inclination correction portion that corrects the inclination of the carriage 4 when mounted on the gantry 23. The inclination correction unit may be any unit as long as it can adjust the direction of the contact part 451 and the amount of protrusion from the side part 412, and a simple one is preferable. For example, a spacer (shim) interposed between the contact member 45 and the side portion 412 may be used. In the case of the present embodiment, the surface accuracy is set by performing surface processing integrally by machining in a state in which the contact member 45 is integrally welded to the carriage 4 in advance.

  Next, the mounting structure on the gantry 23 side corresponding to the connecting portion 441 and the contact portion 451 will be described with reference to FIG. The figure shows a state where one carriage 4 is separated from the gantry 23. The gantry 23 includes a coupled portion 231 coupled to the coupling portion 441 and a contacted portion 232 with which the contact portion 451 contacts. In the case of the present embodiment, the abutted portion 232 is configured as one member common to all the carts 4, but may be provided for each cart 4.

  The coupled portion 231 includes a horizontal seating surface 231a, a horizontal positioning portion 2311, and a screw hole 2312. The bottom surface 4413 of the connecting portion 441 is seated on the seating surface 231a. The seating surface 231a defines the position of the connecting portion 441 in the Z direction. Thereby, the positioning of the cart 4 with respect to the gantry 23 can be performed. When the connecting portion 441 is seated on the seating surface 231a of the connected portion 231 together with the horizontal positioning portion 4411 of the carriage 4, the horizontal positioning portion 2311 performs positioning in the horizontal direction.

  The horizontal positioning portion 2311 and the horizontal positioning portion 4411 are configured to correspond to each other. Specifically, the horizontal positioning portion 2311 includes a horizontal guide portion 2311a corresponding to the horizontal engagement portion 4411a and a fitting portion 2311b corresponding to the fitting portion 4411b.

  The horizontal guide portion 2311a is a columnar member protruding in the Z direction, and the outer diameter thereof is set corresponding to the notch width of the horizontal engagement portion 4411a. For example, the width (size) of the notch formed in the horizontal engagement portion 4411a is substantially the same width (size) that can move while engaging the outer periphery of the horizontal guide portion 2311a. When the carriage 4 is mounted on the gantry 23, the horizontal engagement portion 4411a is aligned with the horizontal guide portion 2311a and engaged so as to be pressed (approached). Thereby, the carriage 4 can be guided to a predetermined position (mounting position) in the horizontal direction with respect to the gantry 23, and positioning of the trolley 4 with respect to the gantry 23 can be performed.

  The fitting portion 2311b is a columnar member protruding in the Z direction. However, the protruding amount of the fitting portion 2311b is shorter than that of the horizontal guide portion 2311a. Two fitting portions 2311b are provided apart from each other in the X direction. The separation distance is the same as the separation distance of the fitting portion 4411b. When the carriage 4 is attached to the gantry 23, the fitting portion 2311b is inserted into the fitting portion 4411b so that they are fitted together. Thereby, the positioning of the cart 4 with respect to the gantry 23 in the X direction and the Y direction can be performed.

  Two screw holes 2312 are provided corresponding to the holes 4412 of the connecting portion 441. The abutted portion 232 is disposed below the coupled portion 231 and forms a vertical abutted surface (ZX plane) in the present embodiment, and the abutting portion 451 abuts in the Y direction. .

  Next, with reference to FIGS. 9-14, the attachment / detachment method of the trolley | bogie 4 with respect to the mount frame 23 is demonstrated. The operator can manually attach and detach the carriage 4. Here, the case where the carriage 4 is mounted on the gantry 23 from the separated state shown in FIG. 9 will be described. First, the carriage 4 is previously brought into the ascending mode (left side in FIG. 8) in which the carriage body 41 is raised by the distance changing mechanism 43 (preparation step). Thereby, the bottom face 4413 of the connection part 441 becomes a position above the fitting part 2311b.

  Next, the carriage 4 is pushed and moved in the direction (Y direction) of the gantry 2 from the state where the trolley 4 is separated from the gantry 23 (state of FIG. 9) (moving step). At this time, the carriage 4 is guided to the mounting position by guiding the horizontal engagement portion 4411a together with the horizontal guide portion 2311a. FIG. 10 shows a state where the carriage 4 has reached the mounting position. At this time, the connecting portion 441 is positioned higher than the seating surface 231a of the connected portion 231. That is, the connecting portion 441 is positioned higher than the seating position.

  Next, horizontal alignment of the connecting portion 441 with respect to the connected portion 231 of the gantry 23 is performed (horizontal alignment step). Here, the position of the carriage 4 is adjusted to a position where the fitting portion 4411b and the fitting portion 2311b overlap. Since the horizontal engagement portion 4411a is already pressed against the horizontal guide portion 2311a, the position of the carriage 4 in the horizontal direction is generally appropriate, and fine adjustment of the position of the carriage 4 is sufficient for the alignment here.

  Next, by operating the distance changing mechanism 43, the carriage main body 41 is lowered (the carriage main body 41 and the wheel 42 are brought close to each other), and the connecting portion 441 is seated on the seating surface 231a of the gantry 23 (sitting step). At this time, the positioning of the carriage 4 in the horizontal direction is completed by inserting the fitting portion 2311b into the fitting portion 4411b. When the distance changing mechanism 43 is further operated, the connecting portion 441 is seated on the seating surface 231a of the pedestal 23. Therefore, instead of the bogie body 41 descending, the wheels 42 are lifted from the running surface FL and the cart 4 is not connected. The state hangs on the part 231 (the state where the carriage main body 41 and the wheel 42 are further approached), and the contact part 451 is in contact with the contacted part 232 of the mount 23 (connection process). FIG. 11 shows the operation of the carriage 4 in the seating process and the connection process, where the broken line indicates the start of the seating process and the solid line indicates the completion of the connection process.

  The distance in the vertical direction between the carriage main body 41 and the plurality of wheels 42 is set so that the distance can be changed by the distance changing mechanism 43 to the distance in the case of the broken line position in FIG. 11 and the distance in the case of the solid line position. Yes. The separation distance in the case of the broken line position in FIG. 11 is a distance at which the connecting portion 441 is higher than the connected portion 231 in a state where the plurality of wheels 42 are in contact with the traveling surface FL. The separation distance in the case of the solid line position is a distance by which the plurality of wheels 42 are lifted from the traveling surface FL in a state where the connecting portion 441 is seated on the connected portion 231.

  12 and 13 show a state where the carriage 4 is completely mounted. In the case of this embodiment, a fixed handle 46 with a bolt is used, and the bolt portion is passed through the hole 4412 of the connecting portion 441 and fastened to the screw hole 2312 of the connected portion 231.

  As shown in these drawings, in a mounted state (connected state) in which the carriage 4 is attached to the gantry 23, the carriage 4 is in a state in which a plurality of wheels 42 are lifted from the traveling surface FL. Is hung from the coupled portion 231. However, since the contact portion 451 is in contact with the contacted portion 232, it is in a mechanically stable state. The positioning of the carriage 4 in the horizontal direction (XY direction) is achieved by the fitting portion 4411b and the fitting portion 2311b, and the positioning in the vertical direction (Z direction) of the connecting portion 441 with respect to the seating surface 231a (bottom surface 4413). Achieved by sitting).

  As described above, in the present embodiment, since the plurality of wheels 42 are floating from the travel surface FL in the mounted state, the positioning accuracy of the cart 4 is adjusted to the travel surface FL when the cart 4 and the mount 23 are connected. Not affected. Further, although the carriage 4 is in a state where the wheel 42 is lifted from the traveling surface FL, the carriage 4 is brought into a mechanically stable state by the abutting portion 451 coming into contact with the abutted portion 232, so The carriage 4 can be configured integrally to form the work device 2. Further, an actuator for maintaining an integral connection state between the carriage 4 and the gantry 2 is also unnecessary.

  When the carriage 4 is separated from the mount 23, the procedure is the reverse of the mounting. That is, after removing the fixed handle 46, the distance changing mechanism 43 is operated to land the plurality of wheels 42 on the traveling surface FL, and then the distance changing mechanism 43 is further operated to raise the cart body 41. Then, the connecting portion 441 is separated from the gantry 23 (connection releasing step). FIG. 14 shows both the mounted cart 4 and the separated cart 4. The carriage 4 can be easily attached and detached simply by moving the carriage 4 and operating the distance changing mechanism 43.

  As mentioned above, although embodiment of this invention was described, this invention is not restricted to this, A various deformation | transformation is possible. In particular, the configurations of the connecting portion 441 and the connected portion 231 and the configurations of the contact portion 451 and the contacted portion 232 can be variously modified.

  For example, the connecting portion 441 does not necessarily have to be positioned higher than the cart body 41, and may be arranged at a middle height of the cart body 41 as long as it can be positioned higher than the connected portion 231. I do not care. Further, the connecting portion 441 does not need to protrude outward from the cart body 41, and the connecting portion 231 is configured to be able to enter the inside of the cart body 41, so that the connecting portion 441 is located inside the cart body 41. May be present. The seating mode of the connecting portion 441 with respect to the connected portion 231 does not need to be in contact with each other, and any configuration may be used as long as the carriage 4 can be stably suspended from the connected portion 231. Further, the contact mode between the contact part 451 and the contacted part 232 is not limited to the contact between the surfaces, and may be a point-surface, a convex shape, a concave shape, or the like.

  Even when the location of the work system A is changed, the gantry 23 and the carriage 4 can be separated, and after the arrangement change, the gantry 23 and the trolley 4 can be connected again to form the work device 2. At this time, since the positional relationship between the gantry 23 and the cart 4 can be repeatedly configured with the same positional relationship, it is not necessary to reset the positional relationship between the work unit 24 and the work auxiliary unit 26 installed on the cart 4. . As a result, it is possible to easily change the arrangement of the work system A.

  Further, a cart 4 in which the same type of work auxiliary unit 26 is installed in advance may be prepared as a spare. Even if the work auxiliary unit 26 of the carriage 4 connected to the work device 2 breaks down, the carriage 4 is replaced with another carriage 4 in which a spare work auxiliary unit 26 is installed, so that the work system A can be replaced. It is possible to prevent a decrease in work efficiency to a minimum.

Claims (16)

The mounting structure of the carriage and the gantry,
The cart is
The cart body,
A plurality of wheels arranged at the bottom of the carriage body;
A distance changing mechanism that is provided between the carriage main body and the plurality of wheels, and changes a vertical distance between the carriage main body and the plurality of wheels;
A projecting portion provided from one side of the cart body, and connecting the cart body and the gantry;
An abutting portion provided on the one side portion of the cart body , positioned below the connecting portion, and abutting against the gantry;
The mount is
A connected portion connected to the connecting portion;
A contacted portion with which the contact portion contacts,
The distance changing mechanism can raise the connecting portion to a position higher than the height of the connected portion by raising the cart body.
By changing the distance in the vertical direction by the distance changing mechanism and lowering the cart body, the connecting portion is seated on the connected portion from a position higher than the height of the connected portion, and the vertical distance the further varied, is a mounted state in which the plurality of wheels is lifted from the running surface,
When the contact portion is in the mounted state, the contact portion is in contact with the contacted portion,
The connecting portion and the connected portion respectively include a horizontal positioning portion that performs positioning in the horizontal direction when the connecting portion is seated on the connected portion.
A mounting structure characterized by that. The distance changing mechanism is
The first distance in which the connecting portion is higher than the connected portion in a state where the plurality of wheels are in contact with the traveling surface, and the plurality of wheels in the state in which the connecting portion is seated on the connected portion. The separation distance can be changed with a second distance that floats from the running surface.
The mounting structure according to claim 1, wherein: The contacted portion is a contacted surface;
The contact portion includes an inclination correction portion that performs inclination correction of the carriage with respect to the contacted surface.
The mounting structure according to claim 1, wherein: The horizontal positioning portion of the connected portion includes a horizontal guide portion that guides the carriage to a predetermined position in a horizontal direction with respect to the gantry.
The horizontal positioning portion of the connecting portion includes a horizontal engaging portion that engages with the horizontal guide portion,
The mounting structure according to claim 1, wherein: The horizontal positioning portion of the connected portion includes a plurality of first fitting portions spaced in the horizontal direction,
The horizontal positioning portion of the connecting portion has a plurality of second fitting portions that fit with the plurality of first fitting portions,
The connecting portion is
A plate extending in the horizontal direction, including a seating portion seated on the coupled portion;
The mounting structure according to claim 1, wherein: The distance changing mechanism is
A base portion on which the carriage body is placed;
The first and second arm members, one end of which is engaged with the base portion and the other end of which is engaged with the wheel and connected in a crossed manner;
An adjustment mechanism for adjusting an intersection angle at a connecting intersection of the first and second arm members;
Comprising
The mounting structure according to claim 1, wherein: The first and second arm members are rotatably connected at the connecting intersection,
The adjusting mechanism is
A moving mechanism for moving at least one of the one end side of the first arm member and the one end side of the second arm member in a direction of approaching and separating from each other;
The mounting structure according to claim 6. The adjusting mechanism is
A rotation axis;
A conversion mechanism that converts a rotational force input to the rotation shaft into a displacement force that displaces the one end side of the second arm member;
The mounting structure according to claim 7. A trolley that is detachable from the gantry,
The cart body,
A plurality of wheels arranged at the bottom of the carriage body;
A distance changing mechanism that is provided between the carriage main body and the plurality of wheels, and changes a vertical distance between the carriage main body and the plurality of wheels;
It protrudes from one side of the carriage body, and the sitting linkage section from above the frame,
Wherein provided on the one side of the carriage body, located below the connecting portion, e Bei and a contact portion that contacts the pedestal,
When the abutting portion abuts on the gantry, the posture of the cart body mounted on the gantry by the connecting portion is maintained.
A cart characterized by that. The distance changing mechanism is
A base portion on which the carriage body is placed;
The first and second arm members, one end of which is engaged with the base portion and the other end of which is engaged with the wheel and connected in a crossed manner;
An adjustment mechanism for adjusting an intersection angle at a connecting intersection of the first and second arm members;
Comprising
The trolley | bogie of Claim 9 characterized by the above-mentioned. The first and second arm members are rotatably connected at the connecting intersection,
The adjusting mechanism is
A moving mechanism for moving at least one of the one end side of the first arm member and the one end side of the second arm member in a direction of approaching and separating from each other;
The trolley | bogie of Claim 10 characterized by the above-mentioned. The cart body has a facing side portion that faces the one side portion,
The adjusting mechanism is
A rotating shaft provided on the opposite side portion side;
A conversion mechanism that converts a rotational force input to the rotation shaft into a displacement force that displaces the one end side of the second arm member;
The trolley | bogie of Claim 11 characterized by the above-mentioned. A working device that performs a predetermined work on a work,
A frame,
A transport unit mounted on the gantry and transporting the workpiece;
A plurality of work units mounted on the gantry and performing a predetermined work on the work transported by the transport unit;
A plurality of carriages detachably attached to the gantry along the conveyance direction of the conveyance unit ;
The cart is
The cart body,
A plurality of wheels arranged at the bottom of the carriage body;
A distance changing mechanism that is provided between the carriage main body and the plurality of wheels, and changes a vertical distance between the carriage main body and the plurality of wheels;
It protrudes from one side of the carriage body, and a connecting portion connecting the before and Symbol carriage body frame,
An abutting portion provided on the one side portion of the cart body, positioned below the connecting portion, and abutting on the gantry;
A mounting portion disposed on an upper portion of the cart body,
The placement unit is provided with a work auxiliary unit that assists the work by the work unit,
The carriage body, e Bei control unit for controlling the working auxiliary unit,
The mount is
A connected portion connected to the connecting portion;
A contacted portion with which the contact portion contacts,
The distance changing mechanism can raise the connecting portion to a position higher than the height of the connected portion by raising the cart body.
By changing the distance in the vertical direction by the distance changing mechanism and lowering the cart body, the connecting portion is seated on the connected portion from a position higher than the height of the connected portion, and the vertical distance Is further changed, the plurality of wheels are in a mounted state floating from the running surface,
When the contact portion is in the mounted state, the contact portion is in contact with the contacted portion,
The connecting portion and the connected portion respectively include a horizontal positioning portion that performs positioning in the horizontal direction when the connecting portion is seated on the connected portion.
A working device characterized by that. A method for attaching and detaching a carriage to a gantry,
The cart is
The cart body,
A plurality of wheels arranged at the bottom of the carriage body;
A distance changing mechanism that is provided between the carriage main body and the plurality of wheels, and changes a vertical distance between the carriage main body and the plurality of wheels;
A projecting portion provided protruding from one side of the carriage body, and connecting the carriage body to the gantry;
An abutting portion provided on the one side portion of the carriage main body , positioned below the connecting portion, and abutting on the gantry;
The distance changing mechanism can raise the connecting body to a position higher than the height of the connected part provided on the gantry by raising the cart body,
The mounting method is:
A moving step of moving the carriage to the mounting position of the mount;
A horizontal alignment step of performing horizontal alignment of the connecting portion with respect to the connected portion;
By the distance change mechanism, in Rukoto lowers the carriage body, a seating step of seating the connecting portion to the the connected portion from a position higher than the height of the the connected portion,
After the connection portion is seated on the connected portion , the distance changing mechanism causes the plurality of wheels to float from the running surface, and the contact portion is brought into contact with the gantry and brought into a contact state. Prepare
A method for attaching and detaching. Before the horizontal alignment step, the vehicle body is raised by the distance changing mechanism, and a preparation step of raising the connecting portion to a position higher than a seating position with respect to the connected portion is provided.
The attachment / detachment method according to claim 14. After the connecting step, the distance changing mechanism includes a connection releasing step of landing the plurality of wheels on the traveling surface, and then raising the cart body to separate the connecting portion from the connected portion .
The attachment / detachment method according to claim 14.

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