JPH0245254A - Monorail running device - Google Patents

Abstract

PURPOSE:To enable a smooth running by providing a slant running surface mechanism compressing drive wheels against the monorail running face by a reaction force obtained in running a slant way, thereby giving frictional force to the wheels in response to the conditions of the slant way. CONSTITUTION:A monorail running device A mounted along an engine assembly line and the like has a machine main body 26 mounted movably at a monorail 21 made of H steel, and is operated by rotating drive wheels 39 driven by means of the motive power of a drive motor 34 through a running clutch and the like. In this case, the body 26 is provided with a slant way running mechanism B compressing the wheels against a monorail running face 21a through a reaction force generated in running the slant face of the monorail 21. This mechanism B is constituted such that a running wheel 72 on the lower side of slant face is forcibly contacted to a monorail lower face 21b against the force of a spring 75 due to the weight W of the device A, and that a support member 73 for the wheel 72 is elongated by means of the spring 75 whereby reaction force N2 is generated at the position of auxiliary wheel 70.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a monorail traveling device, and relates to a monorail traveling device in which drive wheels run on a monorail by frictional force with the monorail. rPrior art] For example, 2. Description of the Related Art Assembly lines for vehicle engines and the like are equipped with transport equipment that automatically transports engine parts to predetermined positions. Some of these transportation facilities are equipped with a monorail with a climbing section and a descending section to make effective use of three-dimensional space, for example, because it is easy to secure a placement space and the monorail has good workability. This system allows a monorail traveling device to automatically travel on a monorail and transport parts and the like to a predetermined location.

[The problem that the invention tries to solve! ! ! By the way, some monorail running devices run on the monorail due to the friction between the drive wheels and the monorail, but depending on the slope of the ascending and descending sections of the monorail, it may not be possible to run the monorail. For this reason, for monorails with large slopes, it is conceivable to use, for example, the Abt type, but this is not preferable as it would complicate the structure.

This invention was made in view of the above circumstances, and has a simple structure that uses frictional force without using any special means, by pressing the drive wheels against the running surface of the monorail by reaction force when the monorail runs on a slope. The aim is to provide monorail running equipment (which will allow for running on hills).

[Means for Solving the Problems] In order to solve the above problems, the monorail traveling device of the present invention, in which drive wheels run on a monorail having a slope using frictional force, is capable of driving on a slope of 1,000 rules. The train is characterized by a slope running mechanism that uses the reaction force generated by the trunk to push the drive wheels against the monorail running surface.

In the monorail running device of the present invention, the hill running mechanism is characterized in that it presses the drive wheels against the monorail running surface using a reaction force obtained according to the gradient of the slope of the monorail.

[Function] When the monorail traveling device of the present invention runs on a slope, the driving wheels are pressed against the running surface of the monorail by the reaction force obtained by the slope traveling mechanism, so the frictional resistance of the driving wheels increases, and the monorail travels on a slope. It is possible to run on the slopes of

In addition, in the monorail running device of the present invention, since the hill running mechanism presses the drive wheels against the monorail running surface using a reaction force obtained according to the slope of the slope, a frictional force corresponding to the slope of the monorail is applied, and the slope can be reliably Diagnose by driving on a hill.

[Example] Next, an example of the present invention will be described in detail based on the accompanying drawings.

FIG. 1 is a schematic perspective view showing an engine assembly line.

In this figure, reference numeral 1 denotes a monorail, which is suspended from a ceiling (not shown) of an engine assembly line. The engine assembly line has a first floor section 2 and a mezzanine floor section 3. The first floor section 2 has a line side parts supply port 4, and the mezzanine floor section 3 has an empty packet return lane 5. The monorail 1, which is equipped with a and a parts supply lane 6, is arranged between the first floor part 2 and the middle 21!1 part 3, and can transport parts etc. by effectively utilizing the three-dimensional space. It looks like this.

Since the monorail l is placed on the ceiling of the first floor part 2 and the mezzanine part 3, there is a climbing part 1a and a descending part 1b between them.
and is provided. A monorail traveling device A runs on this monorail 1 using its own blade.

This monorail traveling device A stops at the position of the line side parts supply port 4 on the first floor section 2 or at the position of the empty packet return lane 5 and the parts supply lane 6 on the mezzanine floor section 3, and lifts up the parts by going up and down. It can be lowered or lowered.

The monorail traveling device A is shown in Figures 2 to 'M5, and Figure 2 is a front view of the monorail traveling device A, 'M3.
The figure is a side view of the monorail traveling device A, FIG. 4 is a plan view of the handling mechanism, and FIG. M5 is a diagram showing the operation of the hill traveling mechanism.

In FIG. 2, reference numeral 21 denotes a monorail made of H-shaped steel, which is suspended from the ceiling 23 via a support arm 22, and the monorail traveling device A runs over this monorail 21.
is now running. A position indicator 24 is provided on this monorail 21 via a stay 25, and a position detection sensor 27 is provided on the main body 26 of the monorail traveling device A.
are provided so that a signal to stop at a predetermined position can be obtained.

Further, a detection sensor 28 for detecting obstacles is provided on the front side of the device main body 26.

A sliding electronic 29 is provided in the device main body 26 of the monorail traveling device A via a support 30, and power is supplied from the sliding electronic 31 provided in the monorail 1 to a power supply unit 32, and this monorail traveling device A has a control unit 33. controlled by

A drive motor 34 is provided at the top of the device main body 26, and a lifting mechanism 35 is provided at the bottom.

An output shaft 36 of the drive motor 34 is arranged in a direction perpendicular to the monorail 21, and a pulley 3 is disposed on the axis of the output shaft 36.
7. Running latch 38, drive wheel 39 and running brake 4
0 is placed.

The surface 39a of the drive wheel 39 is made of a material having a large coefficient of friction, such as rubber or resin, so that the drive wheel 39 runs on the running surface 21a of the monorail 21 using frictional force.

The pulley 37 connects to the lifting mechanism 3 via the timing belt 41.
The power is transmitted to the pulley 37 of No. 5, and at this time it is driven with low torque. Note that instead of the timing belt 41, power may be transmitted by a chain or a shaft.

A direct drive (DD) motor is used for the drive motor 34, and this DD motor is a motor that can obtain high torque at low speed rotation, and the latch 38 that runs is the i! A magnetic clutch is used, and an electromagnetic brake is used as the travel brake 40, each of which is activated by a control signal from the control unit 33.

The device main body 26 is equipped with a hill running mechanism B that presses the drive wheels 39 against the running surface 21a of the monorail 21 using a reaction force when the monorail 21 runs on a slope. Drive wheel 3 with the reaction force obtained accordingly
9 is pressed against the running surface 21a of the monorail 21.

The configuration and operation of this hill traveling mechanism B are shown in FIGS.
The auxiliary wheel 70 is attached to the bracket 71 with a predetermined gap on the lower surface 21b of the monorail 21.
The auxiliary wheel 70 contacts the lower surface 21b of the monorail 21 at a position corresponding to the drive wheel 39.

Running wheels 72 are provided on both sides of the auxiliary wheel 700, and the running wheels 2 are rotatably supported by support members 73, respectively. This support member 73 is slidably provided on a receiving member 74, and is adapted to keep the running wheel 72 in constant contact with the lower surface 21b of the thousand rule 21 by means of a spring 75. The running wheels 72 prevent the monorail traveling device A from wobbling when traveling on a flat portion of the monorail 21.

When this monorail running device A runs on an ascending slope of the monorail 21, as shown in FIG.
5, the supporting member 73 of the running wheel 72 on the upper side of the plate is extended by the spring 5, and a reaction force N2 is generated at the position of the auxiliary wheel 70. Therefore, gravity W has a component W1 in the a direction in the same direction as the reaction force N2,
It can be divided into a component W2 in the b direction, which causes a reaction force N2 to the drive wheel 39 and a load! The resultant force of the component W1 of W in the a direction is generated as a reaction force N1. Therefore, the pressing force F with which the drive wheel 39 presses against the running surface 21a of the monorail 21 becomes larger than the pressing force f. Therefore, the frictional force of the drive wheels 39 is increased, and the monorail 21 can travel on a slope reliably.

In this way, the drive wheel 39 is moved by the monorail 21 due to frictional force.
Examine the pitching and dismounting sections of the board by running with a self-bladed blade.

Further, the device main body 26 is provided with a pair of upper auxiliary wheels 44 and a pair of lower auxiliary wheels 45.
4 and a lower auxiliary wheel 45 are arranged to sandwich the upper and lower sides of the 1,000-rule 21, and guide the monorail traveling device A so that it does not come off to the left or right when it travels.

A drive shaft 46 of the lifting mechanism 35 is rotatably supported by a bracket 47, and a pulley 37 is provided on the drive shaft 46. This drive shaft 46 has a lifting clutch 48.
and an elevating brake 49 are provided, an electromagnetic clutch is used as the elevating clutch 48, and an electromagnetic brake is used as the elevating brake 49. A gear 50 is provided at both ends of the drive shaft 46, and the gear 50 drives a pair of drive gears 51 arranged on both sides of the drive shaft 46, and rotates a drum 52 provided coaxially with the drive gear 51. It looks like this. A wire 53 is wound around each drum 52, and a handling mechanism 54 is moved up and down by this wire 53.

In the handling mechanism 54, a drive shaft 56 is rotatably provided on a frame 55, and a drive gear 57 provided on the drive shaft 56 meshes with a drive gear 59 of a drive motor 58, so that the handling mechanism 54 is rotated by the drive motor 58. It has become.

The drive shaft 56 is formed with a right-hand thread and a left-hand thread, and as the drive shaft 56 rotates, the hand members 61 supported by the guide shaft 60 move toward each other to grip the component. The grips on the parts are released by moving away from each other.

Next, the operation of this embodiment will be explained.

The latch 3 operates the travel brake 40 to perform braking when inputting the power source and driving the drive motor 34 during one-way driving.
8 is released so that power is not transmitted to the drive wheels 39.

Also, at this time, the lifting brake 49 of the lifting mechanism 35 is operated and braked, and the lifting clutch 4B is in the released state, and the pulley 37 is rotated by the timing belt 41 due to the rotation of the output shaft 36 of the drive motor 34. However, rotation of the drive shaft 46 is restricted.

When traveling, the operation of the traveling brake 40 is released,
Connect the latch 38 for running. At this time, the lifting mechanism 35
When the lift brake 49 is operated and braked, and the lift clutch 48 is released, the drive shaft 46 does not rotate even if the pulley 3 is rotated by the timing belt 41 due to the rotation of the output shaft 36 of the drive motor 34. is regulated.

The output of this drive motor 34 is directly transmitted to the drive wheels 39 via a latch 38 that runs in a direct drive system.
It is designed to provide high torque at low speed rotation. Therefore, the small device can run smoothly on the monorail 21, climb up the ascending part of the monorail 21 with its own blade, and descend by braking the descending part with its own blade.

When the stopped monorail traveling device A reaches the predetermined position, (■
Based on the detection signal 48 obtained by the operation of the position detection sensor 27, the control unit 33 controls the drive motor 34 to reduce its rotational speed and stop it at a predetermined position. At this stop position, the travel brake 40 is activated to perform braking, and the travel latch 38 is deactivated to cut off power transmission to the drive wheels 39.

When lifting or lowering a component at this stop position, the travel brake 40 is activated to apply braking in the stopped state, and the travel latch 38 is opened to cut off the transmission of power to the drive wheels 39. has been done.

In this state, the lift brake 49 is released, the lift clutch 48 is activated, and the drive shaft 46 is driven by the power of the drive motor 34.
is rotated, and at this time it is driven with low torque.

As the drive shaft 46 rotates, the wire 53 is wound or unwound, and the handling mechanism 54
moves up and down to move it to a predetermined position.

In this manner, when the handling mechanism 54 reaches a predetermined position, the drive shaft 58 is rotated to rotate the drive shaft 56. As a result, the hand members 61 supported by the guide shaft 60 move toward each other to grip the component, and move away from each other to release the grip on the component.

FIG. 6 shows another embodiment of the hill traveling mechanism B. This embodiment eliminates the auxiliary wheel O of the hill traveling mechanism B shown in FIG.
4 is provided with a stopper 76.

Therefore, when the monorail 21 travels on the board, the support member 3 of the running wheel 72 on the upper side of the board is stretched by the spring 75 due to the gravity W of the monorail traveling device A, and the support member 73 of the running wheel 72 on the lower side of the board is stretched by the spring 75. 75, the movement of the supporting member 3 is regulated by the stopper 76 of the receiving member 74, and a reaction force N2 is generated at the position of the running wheel 72. Therefore, the gravity W can be divided into a component W1 in the a direction, which is the same direction as the reaction force N2, and a component in the b direction, and the resultant force of the component W1 in the a direction and the reaction force N2 is the It arises as a force N1. Therefore, the pressing force F that the drive wheels 39 press against the running surface 21a of the monorail 21 becomes greater than f, and the frictional force of the drive wheels 39 increases, allowing the monorail 21 to run on a slope.

FIG. 7 shows yet another embodiment of the hill traveling mechanism B. In this embodiment, a support lever 7 is provided with a rotational fulcrum 0 at a position facing the drive wheel 39, and a running wheel 2 is rotatably supported by two arm portions 77a of the support lever 77. ing. A container flap 8 for storing parts and the like is provided at the base 77b of the support lever 7 flap.

Therefore, when traveling on the flat part of the monorail 21,
The weight of the parts stored in the container 78 provided at the base 77b of the support lever 21 acts to prevent the monorail traveling device A from wobbling in the front-rear direction.

When the monorail 21 runs on a slope, the support lever 77 rotates clockwise due to the weight of the parts stored in the container flap 8, and the running wheel 72 on the side of the block presses against the lower surface 21b of the monorail 21. The running wheels 72 on the upper side of the board
The lower surface 21b of the rule 21 becomes separated from the lower surface 21b. Therefore, similarly to the embodiments shown in FIGS. 5 and 6, the force with which the driving wheels 39 press against the running surface 21m of the monorail 21 increases, and this increases the frictional resistance of the driving wheels 39, causing the slope You can definitely climb it.

Although the above embodiment describes the case where the monorail is placed on the ceiling, it can also be applied to one placed on the floor.
Furthermore, the drive motor is not limited to the DD.

8 to 11 show still other embodiments, FIG. 8 is a front view of the monorail traveling device, FIG. 9 is a right side view thereof, FIG. 10 is a left side view thereof, and FIG. FIG.

In this embodiment, a pair of running wheels 1f 2 are arranged below the monorail 21, and each of the running wheels 1f 2 is fixed to the device main body 26 via a support member 173. The running wheel 172 is formed of an elastic body, and for example, urethane rubber or the like is used as the elastic body. In this way, running wheel 1
72 is fixed to the main body 26 of the apparatus via the support member 173, the change in posture when the monorail 21 runs on a raised surface as shown by the two-dot chain line in FIG. 10 can be minimized. Can be done. At this point, since the running wheel 172 is fixed to the device main body 26, a force in the locking direction is applied to the lower running wheel 172 when climbing, but this is absorbed by the deformation of the elastic body, allowing smooth and stable climbing. become.

The elastic force of the elastic body of this running wheel 172 is set depending on the weight of the main body 26 of the device, the weight of the object to be transported, the gradient of the slope, etc., and the distance between the front and rear running wheels 172 is determined by the amount of gap when running uphill. It is determined to be within the elastic range.

Above the running wheels 172, auxiliary wheels 144 are arranged on both sides of the upper part of the monorail 21 at the front and rear in the running direction, and auxiliary wheels 145 are similarly arranged at both sides at the lower part. That is, by fixing the running wheel 172 to the device main body 26 and using an elastic body, the amount of fluctuation of the running wheel 172 can be suppressed. Therefore, the auxiliary wheels 144 and 145 can be prevented from coming off the sides of the monorail 21 at corners of a flat running road where the monorail 21 curves left and right, as shown by the two-dot chain line in FIG. Driving stability on flat roads is further improved.

[Advantageous Effects of the Invention 1] As described above, the monorail running device of the present invention includes a hill running mechanism that presses the drive wheels against the monorail running surface by reaction force when the monorail runs on a slope, so that the monorail running device can run on a slope of the monorail. At times, the frictional resistance of the drive wheels can be increased with a simple structure in which the reaction force obtained by the hill running mechanism presses the drive wheels against the running surface of the monorail, without using a special mechanism such as the Abto type. The monorail can run on slopes using friction running.

In addition, in the monorail running device of the present invention, since the hill running mechanism presses the drive wheels against the monorail running surface using a reaction force obtained according to the slope of the slope, a frictional force corresponding to the slope of the monorail is applied, thereby ensuring reliable Can run on hills.

[Brief explanation of the drawing]

Fig. 1 is a schematic perspective view showing the engine assembly line, Fig. 2 is a front view of the monorail traveling device, Fig. 3 is a side view of the monorail traveling device, Fig. 4 is a plan view of the handling mechanism,
Fig. 5 is a diagram showing a hill traveling mechanism, Figure 's6 is a diagram showing another hill traveling mechanism, and Figure 7 is a diagram showing still another hill traveling mechanism.
'M8 to FIG. 11 show still other embodiments.
9 is a front view of the monorail traveling device, FIG. 9 is a right side view thereof, FIG. 10 is a left side view thereof, and FIG. 11 is a plan view thereof. In the figure, 1.21 is the monorail, 21m is the running surface, 21
b is the bottom surface, 26 is the device body, 34 is the drive motor, 35 is the lifting mechanism, 36 is the output shaft, 38 is the running latch, 39 is the drive wheel, 70, 144, 145 are the auxiliary wheels, 72.172
is a running wheel, and B is a hill running mechanism. Patent Applicant: Yamaha Motor Co., Ltd., Date, Figure 11, Figure 10, Indication of Procedural Amendment Case, 1985 Patent Application No. 199721, Title of Invention: Relationship with the Person Who Amends Monorail Traveling Device Case, Patent Applicant Address: 2500 Shingai, Iwata City, Shizuoka Prefecture

Claims (1)

[Claims] 1. In a monorail traveling device in which drive wheels run on a monorail having a slope using frictional force, the drive wheels are pressed against the monorail running surface by a reaction force obtained when the monorail runs on a slope. A monorail traveling device characterized by being equipped with a hill traveling mechanism. 2. The monorail traveling device according to claim 1, wherein the hill traveling mechanism presses the drive wheels against the monorail running surface using a reaction force obtained according to the gradient of the slope of the monorail.