JPH01301480A - Method and apparatus for transferring and loading weighty goods - Google Patents

Abstract

PURPOSE:To soften a shock at the time of transferring and loading weighty goods by once making the lifting speed of an elevating table zero just before weighty goods placed on a support frame is transferred and loaded on an elevating frame lifted up from below, and then again lifting the elevating table. CONSTITUTION:An elevating mechanism 3 has two link shafts 4, 5 intersecting in the shape of X to form a link, and a pivotal shaft 6 disposed in the intersecting portion is connected to a driving mechanism 21. The driving mechanism 21 includes a main body, a hydraulic cylinder capable of freely moving with respect to the main body and a rotary screw shaft 25 rotated by a servo motor. When the servo motor is operated, an elevating table 7 is started to rise and is accelerated until the rising speed becomes constant. After that, when the elevating table reaches a preset stroke, a servo motor is stopped. After that, the servo motor is again driven to elevate the elevating table up to a point for lifting up a car body.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention provides a method for transferring and lifting a heavy object placed on a gantry to another gantry rising from below, or lowering the lifted heavy object to another gantry. When transferring to.

The present invention relates to a method for alleviating shock at the moment of transfer and a transfer device thereof.

(Prior Art) ' A conventional heavy object transfer device is used, for example, as an intermittent transfer device in an automobile assembly process, and this intermittent transfer device is disclosed in Japanese Patent Application Laid-Open No. 58-152705 or Japanese Patent Application Laid-Open No. 58-183513.
A device like No. 1 is known. That is, stations are provided at predetermined intervals on the transfer path, and these stations are
It is equipped with an elevating pedestal and a supporting pedestal for placing the heavy vehicle body, a transfer device is provided to move the elevating pedestal up and down, and the supporting pedestal is attached to a transfer shaft extending to connect each station. It is configured to be mounted and axially movable. The vehicle body is normally placed on a raised elevating pedestal and work is done at each station, but when one work is completed, the elevating pedestal lowers and the vehicle body is transferred to the supporting pedestal. The transfer shaft that is integrated with the machine moves forward in the axial direction by the distance between the stations, and the car body is transferred to the next station, where it is lifted up by the elevating platform waiting below, and in this state it enters the next work process. During this time, the support frame moves back together with the transfer shaft,
Return to original position. JP-A No. 58-152705 uses a triangular flat plate cam for lifting and lowering as this transfer device, and by causing this cam to act as if driving a wedge into the lower part of the lifting pedestal, the cam (triangular) ) is trying to move it up and down along the slope.

However, in the case of this device, since the slope of the triangular slope is constant, the operation of the lifting platform is also at a constant speed, and there is a problem that an excessive impact is applied between the platform and the work at the moment the workpiece is transferred. The above-mentioned Japanese Patent Application Laid-open No. 183513/1983 was devised to solve this problem. And this improves the slope of the flat plate cam for lifting and lowering, and forms a part of the triangular slope corresponding to the point at which the work is transferred to a gentle slope,
This is intended to cushion the impact.

(Problem to be Solved by the Invention) However, even with the improved device described above, the impact during transfer can still be ignored.In addition, in the case of the above example, the flat plate cam for lifting The problem was that the slope could only be applied to - models, and no effect could be obtained when changing models. Moreover, in this type of work, the transfer is repeated many times in one process, so the impact during transfer can damage and wear out the supported parts of heavy objects. There was a desire to develop a transfer device that would cause less shock.

(Means for Solving the Problems) The present invention has been made to solve the above-mentioned problems, and is to transfer a heavy object placed on a support pedestal onto an elevating pedestal rising from below. Immediately before the transfer, the lifting speed of the lifting platform was reduced to zero, and then raised again to reduce the impact during the transfer. That is, the present invention uses an X-shaped link that expands and contracts up and down as a transfer device, and by directly connecting the drive mechanism to the center of the intersecting pivot shaft, a separately provided control device can perform delicate position control, for example, immediately before transfer. The configuration is such that it is possible to reduce the frame speed to zero.

(Function) By stopping the ascent (lowering) of the elevating pedestal immediately before transferring, the movement of the elevating pedestal during transfer becomes extremely small, and the instantaneous separation between the heavy object and the elevating pedestal (supporting frame) is minimized. It is possible to reduce the impact received.

(Example) FIG. 1 is a side view of an intermittent transfer device to which a transfer device according to the present invention is applied, and FIG. 2 is a plan view of the same transfer device.

The intermittent transfer device has elevating mechanisms 3 for elevating and lowering the vehicle body 2, which is a heavy object, arranged at predetermined intervals on a substrate l laid down along a transfer line, and also disposes elevating mechanisms 3 for elevating and lowering the vehicle body 2, which are heavy objects, at predetermined intervals.
A horizontal transfer mechanism 50 for transferring and receiving is provided.

As shown in FIG. 3, which is an enlarged view of FIG. 1, and FIG. 4, which is an enlarged view taken along line A-A in FIG. They intersect, and the intersection is supported by a pivot shaft 6, and the upper and lower ends are respectively connected to a board 1 and an elevating plate 8, which has an elevating frame 7 integrally attached to the upper surface, forming a link that can extend and contract up and down. . That is, the lower end of the link shaft 4 is pivotally connected to the base plate 1 by the rotating shaft 4a, the upper end engages the sliding part 4b with the rail part 9 of the elevating plate 8, and the upper end of the other link shaft 5 is moved up and down by the rotating shaft 5a. It is pivotally attached to the plate 8, and the lower end connects the sliding part 5b to the seat 10 part 1 of the board l.
0. In addition, two link shafts 4
．． A drive mechanism 21 is connected to the cross pivot shaft 6 of No. 5 as described later. Further, a locking mechanism 11 is provided adjacent to the rail portion 10 on the board 1, and this locking mechanism 11 is connected to the rotation shaft 1.
Rotating rod 13 and rotating rod 13 that can freely rotate around 2
It consists of a lever 14 integrally formed with a cylinder 15 connected to one end of the lever 14. The tip of the rotating rod 13, which rotates around the rotating shaft 12 due to cylinder pressure, touches the sliding portion 5b of the link shaft 5 when the link shaft 4.5 compresses in the lateral direction and lifts the elevating plate 8. They come into contact with each other to prevent the elevator plate 8 from descending.

As shown in FIG. 5, which is an enlarged sectional view of FIG. 3, and FIG. 6, which is an enlarged sectional view of FIG.
It consists of a main body 22 that is swingably supported via a mounting shaft 38, a moving part 23 that is movable relative to the main body 22, and a cylinder 35. The cylinder 35 is driven up and down by air pressure, and the main body 22 The moving unit 23 assists in vertical movement and controls the position. That is, the main body 22 has a servo motor 24 as a driving source and a rotary screw contact 25 formed in a vertical direction, and the servo motor 24 and the rotary screw contact 2
5 are connected by a gear train 27 housed in a gear case 26.

The moving part 23 includes an elevating body 3 screwed onto the rotary screw connection 25.
1, and one side of this elevating body 31 has a rotating screw 2.
A slide portion 32 is provided that protrudes in the direction of a support member 30 that supports 5, and engages with a rail portion 33 that protrudes from the support member 30 to suppress its rotation and is capable of sliding only in the vertical direction. It is configured so that Therefore, the elevating body 31 moves up and down by the rotation of the rotary screw 25. Furthermore, a horizontal connecting shaft 34 is attached to the other side of this elevating body 31, and a piston rod 36 of the cylinder 35 is connected to the connecting shaft 34, and this cylinder 35 is integrally connected to the gear cane 26 below. The mounting member 37 is supported by the mounting shaft 3
8, it is rotatably attached to the substrate l.

On the other hand, as shown in FIGS. 1 and 2, the horizontal transfer mechanism 50 has rails 52 extending along the transfer direction on pillars 51 set up along the substrate l, and between the grooves of the rails 52. A transfer shaft 53 is provided extending along the rail, and the transfer shaft 53 engages with the rail 52 by a sliding body 54 attached at a predetermined location. That is, this sliding body 54
As shown in the figure, rollers 5 are placed above and below both sides of the transfer shaft 53.
5a and 55b, and is slidable in the transfer direction by vertically sandwiching the horizontal convex portion of the rail 52. Also, this movement axis 53
Support frames 56 are attached to the upper surface at intervals according to the setting of the lifting mechanism 3, and furthermore, a rack 57 of a predetermined length is provided along the axial direction on the lower surface of this transfer shaft 53. A pinion 58 is engaged with the rack 57. This pinion 58 is fitted to the output shaft of a reduction gear 59, and this reduction gear 59 is connected to a drive motor 62 which is a drive source for horizontal transfer.
The drive shaft 61 is connected to the drive shaft 61. The operation of the intermittent transfer device configured as described above is as follows.

When the drive motor 62 for horizontal transfer operates, the transfer shaft 53 moves along the rail 52 via the pinion 58 and rack 57, and the vehicle body is transferred to the next location of the elevating mechanism 3. The cylinder 35 and the servo motor 24 are driven, and the elevating body 31 is raised by the rotation of the rotary screw 25.

For this reason, the pivot shaft 6 of the X link integrated with the elevating body 31
is also pulled up, and the pivot shaft 6 rises while drawing an arcuate trajectory around the rotating shaft 4a which is the attachment portion of one link shaft 4 and the substrate l.

Therefore, the main body 22 of the drive mechanism 21 is driven while gradually tilting clockwise (FIG. 3) about the mounting shaft 38. When the elevating body 31 has risen to a certain stroke, it is detected by the servo motor and the servo motor 24 is stopped. When the elevating frame 7 rises to a high position, the cylinder 15 of the locking mechanism 11 is actuated to rotate the rotary rod 13 so that its tip enters the rail portion 10 of the board l. For this reason, the tip of this rotary rod 13 comes into contact with the base end of the sliding link shaft 5 to prevent the link mechanism from being crushed. When the vehicle body 2 that has been worked on in this state enters the next work process, similar operations are repeated.

Next, the transfer method of the present invention will be explained in detail using the operating speed diagram shown in FIG. Here, the vertical axis indicates the operating speed of the lifting frame (increase at the top, decrease at the bottom), and the horizontal axis indicates the operating stroke. When the servo motor 24 operates, the elevating frame 7 starts to rise (point A), is accelerated (between AB) until the rising speed becomes constant, and when it reaches the set stroke X (point 0), the servo motor 24 is detected and stopped. Therefore, the elevating frame 7 rises to point D, but at this time, the elevating frame 7 is in a state immediately before contacting the vehicle body 2. If the model of the vehicle body 2 is changed, the setting of the stroke X is changed according to the stroke y. Thereafter, the servo motor 24 is driven again to lift the vehicle body up to point G. Conversely, the same procedure is used when lowering.

By operating as described above, the movement of the lifting platform at the moment of transfer can be made extremely small, and for this delicate stop position control, this device connects the drive unit directly to the center point of the link mechanism. are doing.

(Effects of the Invention) As described above, the present invention temporarily stops the pedestal immediately before transferring, so the pedestal speed during transfer becomes extremely low, and the problem that heavy objects and the pedestal are damaged and worn by impact is avoided. It has been resolved. Furthermore, even if the model of the heavy object is changed, the settings can be easily changed by adjusting the control mechanism, making it highly practical.

[Brief explanation of the drawing]

FIG. 1 is a side view of an intermittent transfer device to which the transfer device according to the present invention is applied, FIG. 2 is a plan view of the same transfer device, FIG. 3 is an enlarged view of FIG. 1, and FIG. Sectional view taken along line A-A in Figure 5.
The figure is an enlarged sectional view showing the drive device in Figure 3, and Figure 6 is an enlarged sectional view showing the drive device in Figure 4.
FIG. 7 is an enlarged cross-sectional view showing the drive device of FIG. In the drawings, l is the board, 2 is the vehicle body, 3 is the lifting mechanism, and 4.5
1 is a link shaft, 6 is a pivot shaft, 7 is an elevating frame, 8 is an elevating plate, 9 and 10 are rail parts, 11 is a locking mechanism, 12 is a rotating shaft, 13 is a rotating rod, 14 is a lever, 15 2 is a cylinder, 21 is a drive mechanism, 22 is a main body, 23 is a moving part, 2
4 is a servo motor, 25 is a rotary screw connection, 26 is a gear case, 27 is a gear train, 30 is a support member, 31 is an elevating body, 3
2 is a slide part, 33 is a rail part, 34 is a connecting shaft, 35
36 is a cylinder, 36 is a piston rod, 37 is a mounting member, 38 is a mounting shaft, 50 is a horizontal transfer mechanism, 51 is a column, 52
is a rail, 53 is a transfer shaft, 54 is a sliding body, 55a, 55
56 is a roller, 56 is a support frame, 57 is a rack, 58 is a pinion, 59 is a reduction gear, 61 is a drive shaft, and 62 is a drive motor.

Claims (2)

[Claims] (1) When transferring a heavy object placed on a support pedestal to an elevating trestle that rises from below, or transferring a heavy object lifted by the elevating trestle onto a support trestle below, the heavy object is placed on the support trestle. A heavy object is characterized in that the lifting and lowering of the lifting frame is temporarily stopped immediately before being transferred between the lifting frame and the lifting frame, and the lifting and lowering of the lifting frame is then started again, thereby alleviating the impact that the heavy load and the platform receive during transfer. Transfer method. (2) In a transfer device having an elevating platform that moves up and down,
A heavy object characterized in that it has an X-shaped link mechanism that expands and contracts up and down, a drive mechanism is attached to the connection part of the X-shaped link mechanism, and a control mechanism is provided to control the operation by this drive mechanism. Transfer equipment.