JPH02290769A - Article transporting device - Google Patents

Abstract

PURPOSE:To improve the stability at a horizontal position by positioning the node point of a damping mechanism and a pivot shaft core on a straight line in a horizontal attitude, in the constitution in which an article holding part and a device body side suspension-supported onto a monorail, through the damping mechanism and an article is transported in the horizontal state. CONSTITUTION:An article holding part 202 is connected with the body 201 of an article transporting device 200 by a pivotal shaft 203 which crosses at right angle with the traveling direction and extends in the nearly lateral direction, and the body 201 side and the article holding part 202 are connected by a damping mechanism 204 which attenuates the swing movement and converts it to a rectilinear movement, and the article holding part 202 can be held always in a horizontal state. In other words, the absorber 205 of the damping mechanism 204 is connected with the body 201 by a pin 206 (node point (a)), and a piston rod 207 is connected with the article holding part 202 by a pin 208 (node point (b)). In this case, the node points (a) and (h) of the damping mechanism 204 and the axis core (c) of the pivot shaft 203 are positioned on a straight line at the horizontal attitude, and the aixs core (c) of the pivot shaft 203 is positioned at an intermediate position.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an article conveying device, and more particularly, to an article conveying device that always runs articles in a parallel state. [Prior Art] For example, an assembly line for vehicle engines and the like is equipped with transport equipment that automatically transports engine parts to predetermined positions. This transportation equipment is designed to make efficient use of three-dimensional space by providing an uphill section and a downhill section on the monorail because it is easy to secure the installation space and has good workability. The monorail traveling device is designed to run automatically and transport cargo such as parts to a predetermined location. By the way, when the monorail runs on an uphill or downhill section, the monorail traveling device tilts, so for example, as disclosed in Japanese Utility Model Application Publication No. 62-176072, it is necessary to move the article holding section that holds the article orthogonally to the running direction. By connecting it to the main body side with a pivot shaft that extends substantially laterally, it is possible to transport items in a horizontal state at all times. [Problems to be Solved by the Invention] However, with this method, when the monorail runs on an uphill or downhill section, the monorail becomes horizontal, but when it suddenly accelerates or stops, the inertia force causes the object to become flat. The holding part swings around the pivot axis, causing the object to swing. Therefore, as disclosed in Japanese Patent Publication No. 55-6538, for example, it is conceivable to provide an absorber between the main body and the article holding part to damp the shaking. However, this device is constructed as shown in the schematic diagram of FIG. 9, and has a zero body 10.
0 and the article holding section 101
2 has to cope with uphill and downhill, so the rod 104 of the absorber 103 is in an intermediate state in the horizontal state. For this reason, although the shaking of the article holding section 101 can be absorbed, there is a problem that it is difficult to stabilize the article holding section 101 in a horizontal position.

The present invention was made in view of the above circumstances, and an object of the present invention is to provide an article conveying device that can prevent articles from shaking with a simple mechanism and that improves stability in a horizontal position. [Means for Solving the Problem] In order to solve the problem, the invention of claim 1 includes an article holding section that holds an article, and the article holding section extends in a substantially transverse direction perpendicular to the traveling direction. An article that is connected to the main body side by a pivot shaft that exists, and further connects the main body side and the article holding part via a damping mechanism that converts rocking motion into linear motion and damps it, so that the article is always conveyed in a horizontal state. The conveying device is characterized in that the node of the damping mechanism and the axis of the pivot shaft are located on a straight line when horizontal. Further, in the invention of claim 2, the damping mechanism is fixed to the main body side or the article holding part side, and one end of the absorber is linked to a point different from the axis of the pivot shaft on the article holding part or the main body side. It is constructed by connecting. [Function] In the invention of claim 1, the vibration of the article holding section connected to the main body by the pivot shaft is absorbed by the damping mechanism, and furthermore, in the horizontal position, the damping mechanism is fully extended! ! ! ! , or in a fully contracted state, improving stability in the horizontal position. Moreover, in the invention of claim 2, when the vibration of the article holding part is absorbed by the damping mechanism, the absorber is fixed and therefore does not swing, but the link swings, so it is easy to secure the arrangement space. Interference with other parts can be prevented. [Example] Next, an example of the present invention will be described in detail based on the accompanying drawings. FIG. 1 is a basic configuration diagram of the article conveyance device of the present invention. In FIG. 1, reference numeral 200 indicates an article conveying device, and an article holding section 202 for holding an article is connected to a zero body 201 of the apparatus by a pivot shaft 203 that extends substantially laterally and perpendicular to the traveling direction. Further, the wooden body 201 side and the article holding section 202 are connected by a damping mechanism 204 that converts swinging motion into linear motion and damps it, so that the article is always conveyed in a horizontal state. That is, the absorber 205 of the damping mechanism 204 is
G (node point a) is connected to the wooden body 201, and the piston rod 207 is connected to the article holding part 202 at the bin 208 (node point b).
is connected to. Node a of these damping mechanisms 204
, b and the axis C of the pivot shaft 203 are located on a straight line when horizontal, and the axis C of the pivot shaft 203 is located in the middle. Therefore, due to the shaking of the article holding section 202, the piston rod 2
07 is pushed toward the absorber 205, but the piston rod 207 is urged in the extending direction and the shaking is absorbed. This absorber 205 has, for example, a piston that reciprocates inside a cylinder, and this piston is provided with small holes and valves, and each time the piston reciprocates, oil passes through these holes and valves, and the resistance suppresses the photographing. Perform the action. In its horizontal position, the piston rod 2 of the damping mechanism 204
Since 07 is fully extended, stability in the horizontal position is improved. In addition, the node points a and b of the damping rod structure 204 and the bipot shaft 20
The axis C of the pivot shaft 203 is located on the straight line when horizontal, and the axis C of the pivot shaft 203 is outside the pin 208 of the piston rod 207 of the damping mechanism 204, and when the pin 208 is located in the middle, the axis C of the absorber 205 piston rod 20
7 is in a completely shrunk state, and in this case, the article holding part 20
2, the piston rod 207 moves to the absorber 205.
However, the piston rod 207 is urged in the direction of contraction and the shaking is absorbed. Furthermore, since the piston rod 207 of the damping mechanism 204 is in a fully compressed state in the horizontal position, stability in the horizontal position is improved. Note that in this embodiment, the absorber 205 is connected to the article holding section 20.
Of course, the piston rod 207 may be connected to the wooden body 201 on the second side. FIG. 2 is a basic configuration diagram of another embodiment of the article conveyance device of the present invention, and FIG. 3 is a conceptual diagram thereof. In the figure, the damping mechanism 304 is the absorber 30
5 is fixed to the wooden body 201 side, and the piston rod 305a
is connected to the link 307 via a pin 308 (node a), and the piston rod 305a is always urged in the direction of extension by a spring 305b. Link 307 is bin 3
09 (connected to the article holding part 202 by the node b).The node a, b of the damper side 304 and the pivot shaft 2
The damping mechanism 304 fixes an absorber 305 to the wooden body 201, and aligns one end of this absorber 305 with the axis C of the pivot shaft 203 of the article holding section 202. is constructed by connecting different points with links 307. Therefore, when the article holding section 202 swings about the pivot shaft 203, the link 307 swings. At this time, since the above 305 is fixed, the piston rond 305a connected to the link 307
moves in a straight line and absorbs the shaking. In this way, when the vibration of the article holder 202 is absorbed by the damping mechanism 304, the absorber 305 is fixed, so that the vibration of the article holder 202 is absorbed by the damping mechanism 304. Since it does not move and only the link 307 swings, it is easy to secure the installation space and prevent interference with other members. Note that the link 307 may be connected to the article holding section 202 at the pin 309 (node b) outside the pivot shaft 203; in this case, the piston rod 30 of the absorber 305
5a is always pushed in the direction of contraction. Further, in this embodiment, the absorber 305 is fixed to the wooden body 201, but the absorber 305 is fixed to the article holding part 201.
Of course, it can also be fixed to the side. Figures 4 to 8 show more specific examples of the embodiments shown in Figures 2 and 343, with Figure 4 being a front view of the monorail traveling device, and Figure 5 being '! V in Figure J4 Cross-sectional view,'
Fig. s6 is an enlarged view of the main parts, Fig. 7 is a cross-sectional view of Fig. 6, and Fig. 's8 is a rear view showing the state of the monorail traveling device running on a slope. In the figure, reference numeral 1 is a monorail, which is connected to the ceiling 3 of the engine assembly line via a supporting arm 2.
It is suspended in the. For example, the engine assembly line is 1
The monorail 1 has a floor part and a mezzanine floor part, and the monorail 1 is placed between the first floor part and the mezzanine floor part, and can transport parts etc. by effectively utilizing the three-dimensional space. I am now able to do it. In this way, since the monorail 1 is arranged on the ceiling 3 of the first floor and the mezzanine floor, an uphill section and a downhill section are provided between the two, and the monorail traveling device A runs on this monorail 1 under its own power. It is supposed to be done.

A collector 5 is provided on the wooden body 4 of the monorail traveling device A, and power is supplied from a trolley wire 6 provided on the monorail 1 to a control unit 7, a drive motor 8, and the like. This drive motor 8 is provided at the top of the wooden body 4, and a lifting mechanism 9 and a handling mechanism 10 are provided at the bottom. The output shaft 11 of the drive motor 8 is disposed in a direction perpendicular to the monorail 1, and on the axis of this output shaft 11 there are a pulley 12,
A running clutch 13, a driving wheel 14, and a running brake 15 are arranged. The driving force of the drive motor 8 is transmitted from a pulley 12 via a timing belt 16 to a pulley 18 provided on a pivot shaft 17 of the lifting mechanism 9. A predetermined tension is applied to the timing belt 16 by a tensioner 19. Note that instead of the timing belt 16, power may be transmitted by a chain or a shaft. The driving motor 8 is a direct drive (DD) motor. This DD motor is a motor that can obtain high torque at low speed rotation. The traveling clutch 13 uses an electromagnetic clutch, and the traveling brake 15 uses an electromagnetic brake. Drive motor 8, travel clutch 1
3. The travel brakes 15 are each operated by a control signal from a control unit. A pair of support wheels 21 are respectively provided on the wooden body 4 so as to contact the lower surface of the monorail 1 facing the drive wheel 14.
This frictional force between the support wheels 21 and the drive wheels 14 causes the monorail 1 to
The vehicle is now able to travel uphill and downhill sections on its own. Further, the wooden body 4 has a pair of upper auxiliary wheels 22,
A pair of lower auxiliary wheels 23 are provided, and these upper auxiliary wheels 22 and lower auxiliary wheels 23 are arranged to sandwich the upper and lower sides of the monorail 1, so that when the monorail traveling device A runs, it moves left and right. Guide it so it doesn't come off. The lifting mechanism 9 is constructed independently of the wooden body 4, and the support plate 24 of the lifting mechanism 9 is rotatably provided on the pivot shaft 1 via a bearing 25.
7 is rotatably supported by a bracket 2 frame fixed to the frame 26 of the wooden body 4 via a bearing 28, thereby connecting the elevating mechanism 9 and the wooden body 4. The pivot shaft 1f is arranged in a direction perpendicular to the traveling direction,
This pivot shaft 17 is provided with an elevating clutch 29 and an elevating brake 30. Furthermore, the pivot shaft 1f is also used as a drive shaft for the pulley 18. An electromagnetic clutch is used as the lifting clutch 29, and an electromagnetic brake is used as the lifting brake 30, which are controlled by the control unit 7. A gear 31 is fixed to the pivot shaft 1, and this gear 31
An intermediate gear 32 is engaged with the intermediate gear 32, a drum gear 33 is engaged with the intermediate gear 32, and a drum gear 34 is rotated in conjunction with the drum gear 33. A drum 35 coaxially provided with this drum gear 33 and 34
．． 36 is designed to rotate, and this drum 35.
36 has belts 37 and 313 wrapped around them, respectively.
The handling mechanism 10 is raised and lowered by these belts 37 and 38. The handling mechanism 10 is not limited to a belt, and can be hung by a hanging member such as a wire or a string.
The mechanism is not limited to one unit, but may be one that raises and lowers the handling mechanism 10 in plural units. Handling mechanism! O frame 39
A drive shaft 40 is rotatably provided on the drive shaft 40, and a drive gear 41 provided on the drive shaft 40 is connected to an output gear 4 of a drive motor 42.
3 and is rotated by a drive motor 42. Drive@40 has Drive Gear 4! A right-hand thread and a left-hand thread are formed with the boundaries between the two, and as the drive shaft 40 rotates, the hand members 45 supported by the guide shaft 44 move toward each other to grasp cargo such as parts or workpieces. However, they also begin to move away from each other and release their grip on the cargo. The lifting mechanism 9 is a pivot axis! When the monorail 1 runs on a slope, the load becomes horizontal, so the lifting mechanism 9
The wooden body 4 is connected to the wooden body 4 through a damping mechanism 46, which converts the rocking movement of the lifting mechanism 9 and the handling mechanism 10 due to inertia into linear movement during sudden acceleration or stopping. It is designed to attenuate it. The absorber 47 of the damping mechanism 46 is attached to the frame 26 of the wooden body 4.
The piston rod 47a of this absorber 47 is connected to one end of a link 49 via a connecting shaft 48, and the other end of this link 49 is connected to the support plate 24 of the lifting mechanism 9.
is rotatably connected to via a bottle 50. The absorber 47 is located on a line connecting the drive wheel 14 and the pivot shaft 1f, and the connecting shaft 48 connected to the piston rod 47a of the absorber 47 is supported by a guide shaft 5I, which is attached to the frame 26 of the wooden body 4. It is slidably supported by a bearing 52 provided. A node a of a connecting shaft 48 that connects an absorber 47 fixed to the frame 26 of the wooden body 4 and a link 49, a node b of a pin 50 that connects this link 49 and the support plate 24 of the lifting mechanism 9, Lifting mechanism 9
The axis C of the pivot shaft l7, which rotatably supports the support plate 24 of, is on a straight line. Therefore, when sudden acceleration or stopping is performed, the lifting mechanism 9 and the handling mechanism 10 are moved by the pivot shaft 17 due to inertia.
When the lifting mechanism 9 is rocked using the fulcrum as a fulcrum, the connecting shaft 48 is pulled by the lifting mechanism 9 support plate 24 and the link 49. As a result, the piston wood 47a of the absorber 47 is pulled, but the absorber 47 always urges the piston rod 47a in the direction of extension, and the vibration is attenuated by the absorber 47, improving stability when horizontal. Also, at this time, the absorber 47 does not shake and the piston rod 47a
Since the connecting shaft 48 moves linearly and it is the link 49 connected to the elevating mechanism 9 that swings, it is easy to secure a space for the damping mechanism 46. Next, the operation of this embodiment will be explained. When power is input, when the power is input and the drive motor 8 is driven, the travel brake 15 is operated to perform braking, while the travel clutch 13 is activated.
is released to prevent power from being transmitted to the drive wheels 14. At this time, the elevating brake 30 of the elevating mechanism 9 is activated and braked, and the elevating clutch 29 is in the released state, so that the driving wheel 14 is not transmitted. Even if the timing belt 16 rotates the bobbin 12 due to the rotation of the output shaft 11, the pivot shaft 17
This restricts rotation. When traveling When traveling, the operation of the travel brake 15 is released,
Connect the travel clutch 13. At this time, the elevator mechanism 9 is braked by the operation of the elevator brake 30, and the elevator clutch 2
9 is open, and even if the timing belt 16 rotates the pulley 12 due to the rotation of the output shaft 11 of the drive shaft 8, the drive shaft 40 is prevented from rotating. The output of the drive motor 8 is directly transmitted to the drive wheels 14 via the running clutch 13, so that high torque can be obtained at low rotation speed. Therefore, it is possible to run the monorail 1 smoothly with a small device, climb the uphill section of the monorail 1 under one's own power, and descend the downhill section by braking on one's own power. When this monorail running device A suddenly accelerates or stops, the lifting mechanism 9 and the handling mechanism 10 swing in the running direction using the pivot shaft 17 as a fulcrum due to inertia, but the damping mechanism 46 absorbs the swing and makes it horizontal. Becomes a state. When the monorail 1 travels on a slope, the lifting mechanism 9 and the handling mechanism 10 are automatically assisted to a horizontal state using the pivot shaft 17 as a fulcrum, so that the load 53 can always be transported in a stable state. At this point, the support plate 24 of the lifting mechanism 9 is rotatably provided on the pivot shaft 17, and includes drum gears 33, 34, drums 35, 36, belts 37, .
38 etc. is provided, and is connected to the drive gear 31 of the pivot shaft 17 via the intermediate gear 32, and is independent from the zero body 4 side. can be brought to a horizontal position without any special adjustments. In this horizontal state, the damping mechanism 46 is such that the node b of the pin 50 connecting the link 49 and the support plate 24 of the lifting mechanism 9 is connected to the piston rod 4 of the link 49 and the absorber 47.
The lifting mechanism 9 and the handling mechanism 10 are brought into a horizontal state by moving to the left from the straight line connecting the node a of the connecting shaft 48 that connects the pivot shaft 7a and the axis C of the pivot shaft 17.

This is because the weight of the lifting mechanism 9 and the handling mechanism 10 is greater than the restoring force of the damping mechanism 46. When the stop monorail traveling device A reaches a predetermined position, the control unit 7 controls the repelling motor 8 to reduce the rotational speed and stop the monorail traveling device A at the predetermined position. At this stop position, the travel brake 15 is activated to perform braking, and the travel clutch 13 is deactivated to cut off the transmission of power to the drive wheels 14. If the lifting mechanism 9 and the handling mechanism 10 may swing due to inertia during this stop, the damping mechanism 46 acts to damp the swinging motion in the same way as in the case of sudden acceleration. When lifting or lowering the load 53 at this stop position, the traveling brake 15 is activated to brake the load 53 in the stopped state.
The traveling clutch 13 is opened and the transmission of assistance to the drive wheels 14 is cut off. In this state, the lifting clutch 29 is activated, the lifting brake 30 is released, and the drive is stopped.
The pivot shaft 17 is rotated with the power of. Due to this rotation of the pivot shaft l7, the drum 35 is
．． 36 rotates and the belts 37, 38 are wound or unwound, and the handling mechanism 10 moves up and down to move it to a predetermined position. In this manner, when the handling mechanism 10 reaches a predetermined position, the drive motor 42 is rotated to rotate the drive shaft 40. As a result, the hand members 45 supported by the guide shaft 44 move toward each other to grip the component, and move away from each other to release the grip on the component. In addition, in the above embodiment, the absorber 4 of the damping mechanism 46
7 is fixed to the main body side, but it may also be provided on the lifting mechanism side and connected to the main body side via a link mechanism. [Effects of the Invention] As described above, in the invention of claim 1, since the node of the damping mechanism and the axis of the pivot shaft are located on a straight line when horizontal, the article holding device connected to the main body by the pivot shaft The vibrations of the parts are absorbed by the damping mechanism, and the damping mechanism is either fully extended or compressed in the horizontal position, improving stability in the horizontal position. Further, in the invention of claim 2, the damping mechanism fixes the absorber to the main body side or the article holding section side, and links one end of the absorber to a point different from the axis of the pivot shaft on the article holding section or the main body side. Since the absorber is fixed, it does not swing when the damping bottle structure absorbs the scattering of the article holding part, and the link swings, making it easy to secure the installation space. , can prevent interference with other parts.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is a basic configuration diagram of an article conveyance device of the present invention, FIG. 2 is a basic configuration diagram of another embodiment of the article conveyance device of the present invention,
Fig. 3 is a conceptual diagram thereof, Figs. 4 to 8 are more specific examples of the embodiment shown in Figs. 2 and 3, Fig. 4 is a front view of the monorail traveling device, and Fig. 5 is V- in Figure 4.
V sectional view, Figure 6 is an enlarged view of the main part, Figure 7 is the ■ of Figure 6
8 is a rear view showing the monorail traveling device running on a slope, and FIG. 9 is a schematic diagram showing a conventional article conveying device. In the figure, 1 is the monorail, 4 is the main body, 8 is the drive motor,
9 is a lifting mechanism, 10 is a handling mechanism, 11 is an output shaft, 17 is a pivot shaft, 37.38 is a belt, 46 is a damping mechanism, 4th is an absorber, 49 is a link, 201 is a main body, 202 is an article holding section, 203 is a pivot axis, 204,
304 is a damping mechanism, and 205, 305 are absorbers.

Claims (1)

[Claims] 1. An article holding part for holding an article is provided, and the article holding part is connected to the main body side by a pivot shaft extending in a substantially transverse direction perpendicular to the traveling direction, and further connected to the main body side and the article. In an article conveying device that connects the holding part through a damping mechanism that converts a swinging motion into a linear motion and attenuates it, and conveys the article in a horizontal state at all times, the node of the damping mechanism and the axis of the pivot shaft An article conveying device characterized in that the core and the core are positioned on a straight line when horizontal. 2. The damping mechanism is constructed by fixing an absorber to the main body side or the article holding part side, and connecting one end of the absorber with a point different from the axis of the pivot shaft on the article holding part or the main body side with a link. The article conveying device according to claim 1, characterized in that: