JP6299483B2 - Self-propelled conveyor with lifting function - Google Patents

Description

  The present invention relates to a self-propelled conveyance device with a lifting function capable of lifting and lowering a suspended load at a required location along a rail.

  A drive trolley that is driven by a travel drive device that moves along a horizontal rail while supporting a load, and a driven trolley that is not driven by the travel drive device are provided in a state of being separated in the front-rear direction, and the travel drive device As a first conventional example of a self-propelled transfer device with a lifting function that includes a hoisting device that self-propels along a rail and lifts and lowers a lifting frame that supports a suspended load by winding and unwinding a flexible lifting member. The driving trolley (front trolley 6) and the driven trolley (rear trolley 7) are connected by a frame body (front / rear frame 10) that is long in the front-rear direction, and the suspended load (vehicle body 78) supported by the elevating frame (support 30). Pantograph provided at the lower part of the frame body (front and rear frame 10) that is long in the front-rear direction. The structure 66, there is to the anti-swing and the flexible lifting element (Sakutai 23) prevention of falling suspended load during cutting during lifting operation (see Patent Document 1).

  Further, as a second conventional example of the self-propelled transfer device with a lifting function, as shown in the front view of FIG. 7, a drive trolley 2A and a driven trolley 3A moving along a horizontal rail R are long frames in the front-rear direction. The length of the two long and short links L1A and L2A that constitute a link mechanism that is connected by the body F and is lifted and lowered by the hoisting device 5A and supported by the lifting frame 4A to perform the exact linear motion of the Scott Russell. The upper end portion of the link L1A is connected to the slide body S supported so as to be slidable along the frame body F that is long in the front-rear direction, while being swingable about the left-right axis, and the lower end portion of the long link L1A is raised and lowered. When the upper end of the short link L2A is swingably connected to the frame body F so as to be swingable about the left-right direction axis, the frame 4A is swingably connected about the left-right direction axis. In addition, the lower link of the short link L2A is connected to the middle point of the long link L1A so as to be swingable around the axis in the left-right direction, and a parallel link mechanism is configured by attaching a link L3A parallel to the long link L1A. Thus, there is one that prevents shaking during the lifting operation and prevents the suspended load W from falling when the flexible lifting member 10 is cut.

Japanese Patent Laid-Open No. 7-315218

In the configuration of the self-propelled conveyance device with a lifting function as in the first conventional example (Patent Document 1), the front and rear frames 10 that connect the front trolley 6 and the rear trolley 7, and the connecting member below the front and rear frames 10 60, 60 and the upper frame 61 need to be provided, and the pantograph mechanism 66 is configured by a large number of links and a large number of right and left pins that connect the links, so that the number of parts increases and the weight increases. Cost increases.
In addition, since a large number of links that make up the pantaffleff mechanism 66 are thin, the links may break when a strong external force is applied.
In addition, since a large number of links constituting the putter fluff mechanism 66 are connected by the left and right direction pins, rattling is likely to occur at this connecting portion, and the function of preventing shaking is reduced.

Further, in the configuration of the self-propelled transfer device with a lifting function as in the second conventional example (FIG. 7), the frame body F that is long in the front-rear direction connecting the drive trolley 2A and the driven trolley 3A, and the upper ends of the links L1A and L3A Since it is necessary to provide the slide body S to which the parts are connected, the number of parts increases and the weight increases, and the manufacturing cost increases.
In addition, the slide body S to which the upper ends of the links L1A and L3A are connected needs to be supported so as to be slidable in the front-rear direction by the frame body F that is long in the front-rear direction. The shaking prevention function is reduced.

  Therefore, in view of the above-described situation, the present invention intends to solve a self-propelled conveyance device with a lifting function that can reduce the number of parts and reduce the weight, suppress an increase in manufacturing cost, and has a high shaking prevention function. The point is to provide.

  A self-propelled conveyance device with an elevating function according to the present invention includes a drive trolley that is driven by a travel drive device that supports a load and moves along a horizontal rail, and a travel drive device that solves the problem. A driven trolley that is not driven is provided in a state of being separated in the front-rear direction, and is self-propelled along the rail by the traveling drive device, and the elevating frame that supports the suspended load is raised and lowered by hoisting and lowering the flexible elevating member. A self-propelled conveying device with a lifting function provided with a hoisting device, wherein the hoisting device is attached to the drive trolley, and an upper end portion is swingable about a first left-right axis relative to the driven trolley. A first link having a lower end coupled to the lifting frame so as to be swingable about a second horizontal axis; and a third horizontal axis about the drive trolley. The upper end is movably connected, and can swing around a fourth horizontal axis located at or near the midpoint between the first horizontal axis and the second horizontal axis of the first link. A second link to which a lower end portion is connected, the first left-right direction axis and the third left-right direction axis are located in substantially the same horizontal plane, and the second left-right direction axis and the third left-right direction axis are In the state where the drive trolley is located in substantially the same vertical plane and the drive trolley is moving along the rail while being driven by the traveling drive device, the hoisting device can be used. When the flexible lifting member is rolled up to raise the lifting frame, the driven trolley moves along the rail so as to move away from the driving trolley, and the flexible lifting member is lowered by the hoisting device. When lowering the lifting frame, the driven trolley, characterized in that moving along the rail to approach the driving trolley.

According to such a configuration, since the lifting frame is connected to the driven trolley by the first link even when the flexible lifting member wound or lowered by the hoisting device is cut, Is prevented from falling.
In addition, there is no pantograph mechanism composed of a frame body that is long in the front-rear direction for connecting the drive trolley and the driven trolley as in the first conventional example, and a large number of left and right pins for connecting the links. Compared to the first conventional example, the number of parts and the weight can be reduced, and the manufacturing cost can be reduced.
In addition, unlike the first conventional example, since there is no thin link that constitutes the panta- fluff mechanism, breakage of the link when a strong external force is applied is suppressed.
In addition, since there is no connecting portion for connecting a large number of links with the right and left direction pins as in the first conventional example, since the backlash is unlikely to occur like the connecting portion, the function of preventing shaking does not deteriorate.
Furthermore, in a state where the drive trolley is stopped or in a state where the drive trolley is moving along the rail while being driven by the traveling drive device, the flexible lift member is wound up and down by the hoisting device. When the frame is raised, the driven trolley moves along the rail so as to move away from the driving trolley. When the flexible lifting member is lowered by the hoisting device and the lifting frame is lowered, the driven trolley approaches the driving trolley. Move along the rail. That is, since the driven trolley connected to the upper end of the first link can be separated from or approached to the drive trolley, the slide body connected to the upper end of the first link as in the second conventional example is slid in the front-rear direction. Since a frame body long in the front-rear direction that can be supported becomes unnecessary, the number of parts and the weight can be reduced and the manufacturing cost can be reduced compared to the second conventional example, and the slide body and the frame body long in the front-rear direction can be reduced. Since there is no play between them, the shaking prevention function does not deteriorate.

Here, the rails are arranged in two strips spaced apart in the left-right direction, and for each of these rails, the drive trolley and the driven trolley, the hoisting device, the first link, and the second link are arranged. In addition to connecting the lower ends of the two left and right first links to the only one lifting frame, the lifting frame is lifted and lowered by the left and right hoisting devices attached to the left and right drive trolleys. And preferred.
According to such a configuration, one elevating frame that supports the suspended load is supported by the drive trolley and the driven trolley, and the first link and the second link, which are respectively provided on the two rails separated in the left-right direction. Therefore, since the strength and rigidity in the left-right direction of the self-propelled transfer device with a lifting function are increased, even if the suspended load is long in the left-right direction, the transfer operation and the lifting operation are stabilized.

In addition, an upper end portion of a third link that is parallel to the first link and has the same length is coupled to the driven trolley so as to be swingable about a fifth left-right axis, and a lower end portion of the third link is It is preferable that a parallel link mechanism is configured by the first link and the third link by connecting the lift frame so as to be swingable about the sixth left-right axis.
According to such a configuration, the posture of the lifting frame is maintained and the longitudinal rigidity is improved by the parallel link mechanism configured by the first link and the third link, so that the suspended load is conveyed and lifted. At this time, the swing of the lifting frame around the left-right axis is suppressed and the swing in the front-rear direction is restricted.
In addition, since the rigidity in the left-right direction is improved by the third link arranged in parallel with the first link, the shaking in the left-right direction is also suppressed.

As described above, according to the self-propelled conveyance device with a lifting function according to the present invention,
(1) There is no pantograph mechanism composed of a frame body that is long in the front-rear direction for connecting the driving trolley and the driven trolley as in the first conventional example, and a large number of left and right pins for connecting the links. Compared to the first conventional example, the number of parts can be reduced and the weight can be reduced, and the manufacturing cost can be reduced.
(2) Since there is no thin link that constitutes the pan-tuffle mechanism as in the first conventional example, breakage of the link when a strong external force is applied is suppressed,
(3) Since there is no connecting part for connecting a large number of links with left and right direction pins as in the first conventional example, rattling is unlikely to occur like the connecting part, so that the anti-swaying function does not deteriorate,
(4) Since the driven trolley to which the upper end portion of the first link is connected can be separated or approached to the drive trolley, the slide body to which the upper end portion of the first link is connected as in the second conventional example is moved in the front-rear direction. Since a frame body that is slidably supported in the front-rear direction is not required, the number of parts can be reduced and the weight can be reduced as compared to the second conventional example, and the manufacturing cost can be reduced.
(5) Since there is no slide body and a long frame body in the front-rear direction that supports the slide body so as to be slidable in the front-rear direction as in the second conventional example, there is no backlash generated in these slide parts, so Not drop,
There are remarkable effects such as.

BRIEF DESCRIPTION OF THE DRAWINGS It is a front view of the self-propelled conveyance apparatus with a raising / lowering function which concerns on Embodiment 1 of this invention, and has shown the state which wound up the flexible raising / lowering member with the winding apparatus, and raised the raising / lowering frame and the suspended load. It is the partial longitudinal cross-sectional view which looked at the self-propelled conveyance device with the raising / lowering function from the front. It is a front view for raising / lowering operation | movement description of the self-propelled conveying apparatus with the same raising / lowering function. Similarly, it is a front view for explaining the lifting operation, and a horizontal plane in which the first left and right axis and the third left and right axis are located in the plane, and a vertical plane in which the second left and right axis and the third left and right axis are located in the plane are shown. It is described. It is a perspective view of the self-propelled conveyance apparatus with a raising / lowering function which concerns on Embodiment 2 of this invention, and has shown the state which rolled up the flexible raising / lowering member with the winding apparatus, and raised the raising / lowering frame and the suspended load. It is a front view for raising / lowering operation | movement description of the self-propelled conveying apparatus with the same raising / lowering function. It is a front view for raising / lowering operation | movement description of the conventional self-propelled conveyance apparatus with a raising / lowering function (2nd prior art example).

Next, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments shown in the accompanying drawings, and includes all the embodiments that satisfy the requirements described in the claims. It is a waste.
In this specification, the direction of the arrow B in FIGS. 3, 4 and 6 is the front, the left and right are forwards, and the view from the right is the front view.

Embodiment 1 FIG.
As shown in the front view of FIG. 1 and the partial longitudinal cross-sectional view seen from the front of FIG. 2, the self-propelled conveyance device 1 with a lifting function according to Embodiment 1 of the present invention supports the load and is horizontal. A drive trolley 2 that is driven by the travel drive device D and a driven trolley 3 that is not driven by the travel drive device D, which are moved along the rail R, are provided in a state of being separated in the front-rear direction. And a hoisting device 5 that elevates and lowers the elevating frame 4 that supports the suspended load W by hoisting and lowering the belt 10 that is a flexible elevating member. The hoisting device 5 is a drive trolley. 2 is attached.

The traveling drive device D includes an electric motor and a speed reducer, and the traveling wheel 6 travels on the rail R by driving the traveling wheel 6 connected to its output shaft, and the driven wheel of the driven trolley 3. 7 and 7 roll on the rail R.
Moreover, the traveling drive device D includes a brake, and the drive trolley 2 can be stopped at a predetermined location on the rail R by turning on the brake.
The rail R has an I-shaped longitudinal section made of, for example, I-shaped steel, and on the side surfaces of the upper and lower flanges of the rail R, the drive trolley 2 has lateral vibration prevention rollers 8, 8,. Are in contact with the horizontal shake prevention rollers 9, 9,..., And the horizontal shake of the drive trolley 2 and the driven trolley 3 is suppressed.

  As shown in FIG. 1, the self-propelled conveyance device 1 with an elevating function has an upper end connected to the driven trolley 3 so as to be swingable about a first left-right axis J <b> 1 and to the elevating frame 4. The lower end of the first link L1 is swingably connected around the second left-right axis J2, and the upper end is connected to the drive trolley 2 so as to be swingable around the third left-right axis J3. The second link L2 is connected to the lower end of the first link L1 so that the lower end of the first link L1 is swingable around the fourth left-right axis J4 positioned at the midpoint between the first left-right axis J1 and the second left-right axis J2. ing.

Here, as shown in the elevation view for explaining the lifting operation in FIG. 4, the first left-right direction axis J1 and the third left-right direction axis J3 are located in the horizontal plane H, and the second left-right direction axis J2 and the third left-right direction axis. J3 is located in the vertical plane V.
Further, the upper end portion of the third link L3 that is parallel to the first link L1 and has the same length is connected to the driven trolley 3 so as to be swingable around the fifth left-right axis L5, and the lower end of the third link L3. The part is connected to the lift frame 4 so as to be swingable about the sixth left-right direction axis J6, and the first link L1 and the third link L3 constitute a parallel link mechanism.

In a state where the brake of the travel drive device D is turned on and the drive trolley 2 is stopped at a predetermined position on the conveyance path, the belt 10 is lifted by the hoisting device 5 as shown in the front views for explaining the lifting operation in FIGS. When the lift frame 4 is lowered as indicated by an arrow A, the driven trolley 3 moves forward as indicated by an arrow B along the rail R so as to approach the drive trolley 2 that is stopped.
Further, when the belt 10 is wound up by the hoisting device 5 and the elevating frame 4 is raised, the driven trolley 3 moves rearward along the rail R so as to move away from the driving trolley 2 that is stopped.

The lower end of the second link L2 is swingably connected around a fourth left / right axis J4 located at the midpoint between the first left / right axis J1 and the second left / right axis J2 of the first link L1, Further, as shown in FIG. 4, the first left-right direction axis J1 and the third left-right direction axis J3 are located in the horizontal plane H, and the second left-right direction axis J2 and the third left-right direction axis J3 are located in the vertical plane V. Therefore, as shown in FIG. 3, the elevating frame 4 moves up and down along the vertical line.
Note that the fourth left-right direction axis J4 may be positioned not in the middle point between the first left-right direction axis J1 and the second left-right direction axis J2, but in the vicinity of the middle point. Go up and down along the approximate straight line. Further, the first left-right axis J1 and the third left-right axis J3 may be located in substantially the same horizontal plane, and the second left-right axis J2 and the third left-right axis J3 may be located in substantially the same vertical plane. .
In the above description, the case where the elevating frame 4 is moved up and down by the hoisting device 5 while the driving trolley 2 is stopped at a predetermined position on the rail R has been shown. In the state where 2 is moving along the rail R, the lifting frame 4 may be lifted and lowered by the hoisting device 5.

According to the configuration of the self-propelled conveyance device 1 with a lifting function according to the first embodiment as described above, even when the belt 10 that is wound or unwound by the hoisting device 5 is cut, the lifting frame 4 Is connected to the driven trolley 3 by the first link L1, so that the suspended load W is prevented from falling.
Further, there is no pantograph mechanism composed of a frame body that is long in the front-rear direction for connecting the drive trolley 2 and the driven trolley 3 as in the first conventional example, a large number of links and a large number of lateral pins for connecting the links. Therefore, compared with the first conventional example, the number of parts can be reduced and the weight can be reduced, and the manufacturing cost can be reduced.
Further, since there is no thin link that constitutes the pantaffleff mechanism as in the first conventional example, breakage of the link when a strong external force is applied is suppressed.
Furthermore, since there is no connecting portion for connecting a large number of links with the left and right direction pins as in the first conventional example, rattling is unlikely to occur as in the connecting portion, so that the vibration preventing function does not deteriorate.

In the state where the driving trolley 2 is stopped or the driving trolley 2 is moving along the rail R while being driven by the traveling driving device D, the belt 10 is wound up by the hoisting device 5 and the lifting frame 4 is moved. When it is raised, the driven trolley 3 moves along the rail R so as to move away from the driving trolley 2, and when the belt 10 is lowered by the hoisting device 5 and the lifting frame 4 is lowered, the driven trolley 3 is moved to the driving trolley 2. It moves along the rail R so as to approach. That is, since the driven trolley 3 to which the upper end portion of the first link L1 is connected can be separated or approached to the drive trolley 3, the upper end portion of the first link L1A as in the second conventional example (FIG. 7) is connected. The frame body F, which is long in the front-rear direction for supporting the slide body S so as to be slidable in the front-rear direction, is not necessary, so that the number of parts and the weight can be reduced and the manufacturing cost can be reduced as compared with the second conventional example. In addition, since there is no backlash generated between the slide body S and the frame body F that is long in the front-rear direction, the shaking prevention function does not deteriorate.
Furthermore, since the first link L1 and the third link L3 form a parallel link mechanism, the parallel link mechanism maintains the posture of the elevating frame 4 and improves the rigidity in the front-rear direction. When transporting and moving up and down, the swing of the lift frame 4 about the left-right axis is suppressed and the swing in the front-rear direction is restricted.
In addition, since the third link L3 juxtaposed with the first link L1 also improves the lateral rigidity, the lateral swing is also suppressed.

Embodiment 2. FIG.
In the perspective view of FIG. 5 showing the second embodiment and the front view for explaining the lifting operation of FIG. 6, the same reference numerals as those in FIGS. 1 to 4 of the first embodiment indicate the same or corresponding parts. A description of portions common to the first embodiment is omitted.
As shown in FIGS. 5 and 6, the self-propelled conveyance device 1 with an elevating function according to the second embodiment of the present invention is provided with two horizontal rails R spaced apart in the left-right direction. For each of the rails R, R, a drive trolley 2 and a driven trolley 3, a hoisting device 5, and a first link L1 and a second link L2 are provided, two on the left and right on a lifting frame 4 provided with only one. The lower ends of the first links L1, L2 are connected.
Further, the lifting frame 4 is moved up and down by winding and lowering the belts 10 and 10 with the left and right hoisting devices 5 and 5 attached to the left and right drive trolleys 2 and 2.

  According to such a configuration of the self-propelled transfer device 1 with a lifting function according to the second embodiment, in addition to the function and effect of the self-propelled transfer device 1 with a lift function according to the first embodiment, the self-propelled transfer device 1 with a lifting function is separated in the left-right direction. Since the two trolleys R and R each have a driving trolley 2 and a driven trolley 3, and a first link L1 and a second link L2, a single lifting frame 4 that supports the suspended load W is supported. Since the self-propelled transport device 1 with function increases the strength and rigidity in the left-right direction, even if the suspended load W is long in the left-right direction, the transport operation and the lifting operation are stable.

  In the above description, the case where the flexible lifting member is the belt 10 has been described. However, the flexible lifting member may be a chain, a wire, or the like that can be wound and unwound by the hoisting device 5. .

DESCRIPTION OF SYMBOLS 1 Self-propelled conveyance apparatus 2 with a raising / lowering function 2, 2A Drive trolley 3, 3A Driven trolley 4, 4A Lifting frame 5, 5A Hoisting device 6 Traveling wheel 7 Driven wheel 8, 9 Side vibration prevention roller 10 Belt (flexible raising / lowering) Element)
A, B Movement direction D Travel drive device F Long frame in the front-rear direction H Horizontal plane J1 First left-right direction axis J2 Second left-right direction axis J3 Third left-right direction axis J4 Fourth left-right direction axis J5 Fifth left-right direction axis J6 First 6 left and right axis L1, L1A first link L2, L2A second link L3, L3A third link R rail S slide body V vertical surface W suspended load

Claims (3)

A drive trolley that is driven by a travel drive device that moves along a horizontal rail while supporting a load, and a driven trolley that is not driven by the travel drive device are provided in a state of being separated in the front-rear direction, and the travel drive device A self-propelled transfer device with a lifting function that includes a hoisting device that self-propells along a rail and lifts and lowers a lifting frame that supports a suspended load by winding and lowering a flexible lifting member,
Attach the hoisting device to the drive trolley,
A first upper end is connected to the driven trolley so as to be swingable about a first left-right axis, and a lower end is connected to the lift frame so as to be swingable about a second left-right direction axis. Link,
An upper end portion is connected to the drive trolley so as to be swingable around a third left-right direction axis, and a midpoint between the first left-right direction axis and the second left-right direction axis of the first link or the vicinity thereof A second link having a lower end connected to be swingable around a fourth left-right axis positioned at
The first left and right axis and the third left and right axis are located in substantially the same horizontal plane, and the second left and right axis and the third left and right axis are located in substantially the same vertical plane,
In the state where the driving trolley is stopped or the driving trolley is moving along the rail while being driven by the traveling driving device, the flexible lifting member is wound up by the hoisting device. When the frame is raised, the driven trolley moves along the rail so as to move away from the drive trolley. When the flexible lifting member is lowered by the hoisting device and the lifting frame is lowered, the driven trolley is moved. A self-propelled conveyance device with an elevating function, wherein the trolley moves along the rail so as to approach the drive trolley. Two rails are arranged apart from each other in the left-right direction,
For each of these rails, the drive trolley and the driven trolley, the hoisting device, and the first link and the second link,
The lower frames of the two left and right first links are connected to only one lifting frame, and the lifting frame is lifted and lowered by the left and right hoisting devices attached to the left and right drive trolleys. The self-propelled conveyance device with a lifting function as described.   An upper end portion of a third link that is parallel to the first link and has the same length is connected to the driven trolley so as to be swingable around a fifth left-right axis, and the lower end portion of the third link is connected to the lifting frame. The self-propelled type with a lifting function according to claim 1 or 2, wherein a parallel link mechanism is constituted by the first link and the third link by connecting the first link and the third link so as to be swingable about a sixth left-right axis. Conveying device.

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