JPH041010Y2 - - Google Patents

Description

[Detailed description of the invention] Industrial application field The present invention moves while being guided by a track, and transports objects such as samples stored in relatively small containers between a plurality of stations arranged along the track. The present invention relates to a track-type transport device using a self-propelled vehicle for transport.

BACKGROUND OF THE INVENTION Various types of self-propelled vehicles have been known in the past, and relatively small objects are usually transported while being stored in a storage container provided on the body of the self-propelled vehicle.

Problems to be Solved by the Invention Therefore, in the past, when storing and taking out objects to be transported, it was necessary to open and close the lid of the storage container, and this operation was extremely complicated. For this reason, objects to be transported can be automatically fed into the storage container of a self-propelled vehicle using a simple mechanism such as a magic hand, or objects to be transported stored in the storage container of a self-propelled vehicle can be automatically fed into a storage container of a self-propelled vehicle using a simple mechanism such as a magic hand. It was extremely difficult to automatically take it out using a simple mechanism.

The present invention was developed in view of the above-mentioned circumstances, and it uses a self-propelled vehicle that can extremely easily supply and take out containers containing relatively small objects to be transported, and that can also automate the process. The purpose of this project is to provide a track-type conveyance device that has been developed.

Means for Solving the Problems To achieve this objective, the present invention has a rotary table connected to a rotary drive system mounted on the body of a self-propelled vehicle, which can be rotated horizontally by 360 degrees x 1/n. The rotary table is supported in a horizontal state, and the rotary table is formed with a plurality of n open support parts for removably supporting containers containing objects to be transported, and each of the support parts has a n for specifying the destination station of a container containing a transported object supported by these supports in a one-to-one correspondence.
A designation member is provided near each station, and in order to detect the destination station of the container designated by the designation member, a movement of the designation member accompanying the rotation of the rotary table is provided. A detection mechanism is provided at a position corresponding to the path. Here, the designated member is a member that indicates each station and is set in a predetermined state for each station, thereby specifying the destination station of the container supported by the corresponding support part. , for example, comprises a plurality of light emitting elements that identify the destination station of the container depending on which element is in a light emitting state. On the other hand, the detection mechanism is configured according to the designated member, and for example, when the designated member is a plurality of light emitting elements, it is composed of a plurality of light receiving elements arranged so as to be able to face these and detect the presence or absence of a light emitting state.

Function: The n supporting parts in the open state provided on the rotary table allow the rotary table to move 360 degrees in the horizontal direction.
By rotating at a predetermined angle by 1/n, for example, by 60 degrees if there are six supports, or by 40 degrees if there are nine supports, it will always stop at a predetermined position. Then, by using a simple mechanism such as a magic hand, a container containing an object to be transported can be supplied to and supported by each of the supporting parts that are sequentially stopped at a specific position, or each of the supported containers can be taken out. Further, by specifying the destination of the container containing the transported object supported by each support part using n designation members corresponding one-to-one with each of the support parts, it is possible to set the container near the station, for example. The specified content of the specified member is read by an appropriate detection mechanism, the rotary table of the self-propelled vehicle stopped at the target station is rotated and stopped in a predetermined state, and the transported object whose destination is specified is transferred to the station. The support part that supports the container containing the object is stopped at a predetermined position, and the container containing the object to be transported is taken out from the specific support part stopped at this predetermined position using a simple mechanism such as a magic hand, and the container containing the object to be transported is removed from the station. can be housed within.

Embodiments Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, an example of a transport device for driving a self-propelled vehicle according to the present invention will be described. The transport device of this embodiment reciprocates a sample container containing an appropriate sample and a predetermined destination between a main station and a plurality of sub-stations, and transports the sample container to a self-propelled vehicle. is automatically supplied and collected.

In FIG. 1, a distribution/recovery station 1 as a main station has a sample container inlet/outlet path ( (not shown). Further, one end of a horizontally extending single-wire reciprocating conveyance line 3 is connected to the distribution/recovery station 1. Along the single-wire reciprocating transport line 3, a plurality of analysis stations 4 that perform analysis work are arranged at intervals from each other. As is clear from FIG. 2, the single-wire reciprocating conveyance line 3 includes a conveyor frame 5, and guide portions 6a and 6b each having a U-shaped cross section on both sides, which are fixed to the inner bottom surface of the conveyor frame 5 and facing each other. a running rail 8 provided with a running surface 7;
It consists of two power supply rails 9a, 9b and two signal rails 10a, 10b which are fixed in parallel to each other on the running surface 7 of this running rail 8.

Next, an example of a self-propelled vehicle according to the present invention will be described. As shown in FIGS. 2 and 3, the self-propelled vehicle 11 has two pairs of guide wheels 13a, 13b, and 13c (however, one not shown) rotatably supported on the vehicle body 12. It is guided by guide portions 6a and 6b of the running rail 8. And the car body 12
A drive wheel 14 attached to an output shaft (not shown) of a reducer (not shown) integrally provided with a drive motor (not shown) installed inside the drive wheel 14 is attached to a spring on the running surface 7 of the running rail 8. (not shown) are pressed against each other by a resilient force. A power supply rail 9a is connected to the drive motor via sliding contacts 15a and 15b.
Electric power is supplied from 9b, and the sliding connectors 15c, 1
Control signals based on current changes are supplied from signal rails 10a and 10b via 5d. From this,
The drive motor is driven and controlled, and its rotational driving force is transmitted to the drive wheels 14 through the reduction gear, and the self-propelled vehicle 11 is guided to the guide parts 6a and 6b by the propulsive force of the drive wheels 14. The vehicle travels on the traveling rail 8.

A support frame 1 is provided on the upper surface of the vehicle body 12 of the self-propelled vehicle 11.
6 is fixed, and an index table 17 is supported on this support frame 16 so as to be slidable in the running direction. The index table 17 is moved in the outward traveling direction by the elastic force of a spring (not shown).
That is, while being urged toward the upper left in FIG. 3, it is normally stopped at a predetermined position by contacting a stopper (not shown) provided on the support frame 16. Further, triangular prism-shaped engagement protrusions 1 are provided on both end faces of the index table 17 in the running direction.
8a and 18b are provided in a protruding manner. A support shaft 19 is rotatably supported on the index table 17 so as to extend vertically.
is connected within the index table 17 to a Geneva mechanism (not shown) having a drive motor (not shown). A rotary table 20 is fixed to the upper end of the support shaft 19, and this rotary table 20 is rotated 360 degrees x 1/2 by the Geneva mechanism.
It is controlled to rotate accurately in increments of n (where n is the number of support parts), that is, in increments of 45 degrees since there are eight support parts as will be described later. Note that a rotational drive system is constituted by the support shaft 19 and a Geneva mechanism (not shown) including the drive motor (not shown).

Eight container holders 21a, 21b, 21c, 21d, 21e, 21a, 21b, 21c, 21d, 21e, 21a, 21b, 21c, 21e, 21b, 21c, 21e, 21b, 21c, 21c, 21e, 21b, 21c, 21e, 21b, 21c, 21e, 21b, 21c, 21e, 21e, 21a, 21b, 21c, 21e, are provided concentrically spaced at equal intervals on the periphery of the upper surface of the rotary table 20.
21f, 21g, 21h are the rotary table 2
0 rotation, the engagement protrusions 18a, 1
It is positioned and fixed so that it moves to a position corresponding to 8b. Each of these container holders 21
a, 21b, 21c, 21d, 21e, 21f,
21g and 21h are cylindrical blocks, with a circular hole 2 in the center for holding the sample container 2.
2 is drilled.

Next, the sample container 2 whose destination has been determined is transported and stored in the target analysis station 4, and
The mechanism for conveying and collecting the materials to the distribution/recovery station 1 will be explained again. Each of the container holders 21 is provided on the circumferential surface of the rotary table 20 described above.
a, 21b, 21c, 21d, 21e, 21f,
Light-emitting element plates 24a, 24b, 24, which are eight designated members, are provided with three light-emitting elements 23a, 23b, 23c, respectively, in positions corresponding to 21g and 21h.
c, 24d, 24e, 24f, 24g, and 24h are hanging fixedly. Each of the light emitting element plates 24a,
24b, 24c, 24d, 24e, 24f, 24
Which light emitting elements 23a, 23 in g, 24h?
Depending on whether light emitting elements b and 23c are to be emitted, the respective light emitting element plates 24e and 2 located opposite to these
4f, 24g, 24h, 24a, 24b, 24
Each container holder 21 located corresponding to c, 24d
e, 21f, 21g, 21h, 21a, 21b,
Sample container 2 held in 21c and 21d
Memorize and specify the destination. For example, the destination of the sample container 2 held in the container holder 21a is stored and designated by the light emitting element plate 24e.

On the other hand, on the inner surface of the conveyor frame 5 facing the entrance/exit of each analysis station 4, there are light receiving elements 25a, 25 disposed at the same height as the light emitting elements 23a, 23b, 23c, respectively.
An L-shaped light receiving element plate 26, which is a detection mechanism provided with portions b and 25c, is fixed via a mounting plate 27 and a fixing plate 28. When it is detected that the sample container 2 is to be transported to the corresponding analysis station 4 based on the state of light entering each of the light receiving elements 25a, 25b, and 25c, the sample container 2 is transported to the corresponding analysis station 4 using a magic hand (not shown). It is accommodated in the analysis station 4 by a known access mechanism. At this time, in the illustrated state, the destination specified by the light emitting element plate 24c is the sample container 2 held in the container holder 21g, so the magic hand always grips the sample container 2 closest to the entrance/exit. . When storing the sample container 2 in each analysis station 4, the light emitting elements 23a, 23b, 23c and the light receiving elements 25a, 25
The rotary table 20 must be positioned so that the rotation table 25b and the rotary table 25c are in opposing positions. In order to do this accurately, a stopper mechanism is provided.

This stopper mechanism will be explained based on FIG. 2. Two upper and lower support plates 2 fixed to a fixed plate 28
A rotary cylinder 31 is attached to the lower support plate 29b of the mounting plate 30 having 9a and 29b,
An arm 32 is fixed to the output shaft of the arm 32, and the free end of the arm 32, which is rotated horizontally by the rotary cylinder 31, has a recess 33 (a recess 33) shaped like the engagement protrusions 18a and 18b of the self-propelled vehicle 11. A stopper body 34 is fixed. This stopper body 34
8a, 18b, said arm 3
The height position and length of 2 have been determined. Also,
A light emitting element 36 is fixed to the upper surface of the mounting base 35 of the arm 32, while an upper support plate 29 is fixed to the mounting base 35 of the arm 32.
3A shows a light receiving element 37a that receives light from the light emitting element 36 when the arm 32 is in the standby position (the imaginary line state position in FIGS. 3 and 4), and a light receiving element 37a that receives light from the light emitting element 36 when the arm 32 is in the stop position (Fig. 2). to the solid line state position in FIG. 4), the light receiving element 37b, which receives light, is fixed. Therefore, the position of the arm 32 is detected by each of the light receiving elements 37a, 37b and the light emitting element 36, and the engaging protrusion 18a always engages with the stopper body 34 at a predetermined position. That is, since there are variations in the transmission of stop signals and there is also inertia, it is difficult to accurately stop the self-propelled vehicle 11 at a predetermined position.
The positioning of the rotary table 20 is performed using the engaging protrusion 18.
This is ensured by the engagement between a and the stopper body 34. As mentioned above, the index table 17 is
Since it is slidable in the running direction with respect to the vehicle body 12 and elastically biased by the spring in the direction of returning to its original position, by positioning the stopper body 34 at a predetermined position on the traveling route of the self-propelled vehicle 11, ,
In addition to absorbing the impact when engaged with the vehicle body 12, it is possible to always stop the index table 17 at a predetermined position, and the rotary table 20 is always kept at a predetermined position without being affected by the stopping position of the self-propelled vehicle 11. This allows for accurate positioning.

Also, in the dispensing/recovery station 1, similarly to each analysis station 4 described above, a magic hand (not shown) is used to move the sample container 2 to each container holder 21a, 21b, 21 of the rotary table 20.
Necessary mechanisms including a known in/out mechanism for taking in and out of the ports 21c, 21d, 21e, 21f, 21g, and 21h are provided. Furthermore, although not shown, an appropriate mark indicating the destination analysis station 4 is provided on the outer peripheral surface of the sample container 2. By reading this mark, the sample container 2 of the desired destination is selected at the dispensing/recovery station 1, and the destination is determined by the container holder 21a containing the container,
21b, 21c, 21d, 21e, 21f, 21
Each light emitting element plate 24e, 24 corresponding to g, 21h
f, 24g, 24h, 24a, 24b, 24c,
24d, it is stored in each light emitting element 23a, 23b, 23c and designated.

Subsequently, the self-propelled vehicle 11 in the above-mentioned transport device
The operation will be explained. First, a call signal from an appropriate analysis station 4 is sent to the dispensing/recovery station 1. Each sample container 2 containing a sample is read in response to a signal from the destination, and is sequentially rotated by a magic hand. Each container holder 21a, 21b of the table 20,
21c, 21d, 21e, 21f, 21g, 21
It is inserted and held in h. At this time, the rotary table 20 rotates each container holder 21a, 21b, 21c, 2 by rotating the index table 17 at a predetermined angle of 45 degrees by the Geneva mechanism.
1d, 21e, 21f, 21g, and 21h are positioned at predetermined working positions relative to the magic hand,
Performs reliable insertion and holding operation. At the same time, the analysis station 4, which is the destination of each sample container 2,
Container holders 21a, 21b, 21 holding
Predetermined light emitting element plates 24e, 24f, 24 according to c, 21d, 21e, 21f, 21g, 21h
g, 24h, 24a, 24b, 24c, and 24d and specify it. In this case, all container holders 21a, 21b, 21c, 21
The sample container 2 is not supported by d, 21e, 21f, 21g, and 21h.

Subsequently, a travel command is issued to the self-propelled vehicle 11, and the self-propelled vehicle 11 is guided by the traveling rail 8 and travels. Each of the analysis stations 4 that made the call detects the arrival of the self-propelled vehicle 11 using a detection device (not shown) such as a micro switch, and when this detection is made, the rotary of the stopper mechanism at the corresponding position is activated. While the cylinder 31 is driven, a stop current flows through the signal rails 10a and 10b. As a result, the self-propelled vehicle 11 is stopped, and
As shown in FIGS. 2 to 4, the arm 32
rotates and the stopper body 34 engages with the engagement protrusion 18a of the self-propelled vehicle 11, and the rotary table 20 is accurately stopped at a predetermined position regardless of the stopping position of the self-propelled vehicle 11.

Now, if the self-propelled vehicle 11 is stopped at a certain analysis station 4, the rotary table 20 is sequentially rotated by a predetermined angle of 45 degrees in response to a control signal, and the sample container whose destination is the analysis station 4 is rotated sequentially by a control signal. When the light-emitting element plate corresponding to 2, for example, the light-emitting element plate 24c, and the light-receiving element plate 26 face each other, the designation that the destination of the sample container 2 held in the container holder 21g is the analysis station 4 is read. , a stop signal is sent to the drive motor of the rotary table 20. At the same time, the container holder 2 is
The sample container 2 held at 1 g is housed in the analysis station 4. Then, a predetermined analysis operation is performed on the sample contained in the sample container 2 in the analysis station 4. on the other hand,
When a start command is issued to the self-propelled vehicle 11, the stopper body 34 moves to the standby position, and the arm 32
After the detection of the position is confirmed, the self-propelled vehicle 11 starts traveling again towards the next analysis station 4.

In this way, when the predetermined sample containers 2 are stored in all of the called analysis stations 4, the self-propelled vehicle 11 runs in the opposite direction on the traveling rail 8 and returns to the dispensing/recovery station 1. It stops at the standby position and waits for a call command from each analysis station 4 after analysis work.

When this call command is issued, the self-propelled vehicle 11 runs again and sequentially stops at each analysis station 4 that has received the call command. At this time, the rotary table 20 is positioned as described above, and its respective container holders 21a, 21b, 21c, 21
Sample containers 2, which have undergone analysis, are inserted into and held by the magic hand of the insertion/exit mechanism. All the distributed sample containers 2 are placed in each container holder 21a, 21b, 21c, 21d, 2 on the rotary table 20.
When held at 1e, 21f, 21g, 21h,
The self-propelled vehicle 11 runs in the opposite direction on the traveling rail 8 and returns to the distribution/collection station 1. And the said distribution/
At the collection station 1, each sample container 2 is collected by the magic hand of its entry/exit mechanism, and the self-propelled vehicle 11 waits until the next travel command is issued.

Further, each of the operations described above is controlled by a known method using a control panel (not shown). Furthermore, with regard to the running of the self-propelled vehicle 11, it is desirable to slowly start and slowly stop depending on the conditions of the transported object, but this can be done by changing the voltage on the power supply rails 9a and 9b.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above-mentioned embodiments, and as shown in FIG. 20 can also be supported below the self-propelled vehicle 11. Further, as a positioning mechanism for the rotary table 20, in addition to the Geneva mechanism, an electromagnetic brake may be used when the rotation speed is slow. Furthermore, the support part for supporting the transported object is modified according to the shape and size of the transported object,
The number is not limited to eight either. Furthermore, in addition to using optical elements such as the light emitting elements 23a, 23b, and 23c as the specifying member, it is also possible to adopt a configuration in which the destination is specified by displacing a protrusion or the like. Furthermore, if accurate positioning and stopping of the rotary table 20 is not required when the self-propelled vehicle 11 stops at each analysis station 4, the rotary table 20 does not need to be slidable in the traveling direction, and the stopper mechanism is not necessary either.

Effects As is clear from the above explanation, according to the present invention, by rotating the rotary table at a predetermined angle according to the number of supports, the supports in the open state can be moved to a predetermined position and stopped. can be made,
In addition, since the station where the self-propelled vehicle has stopped can stop the support part that supports the container containing the transported object designated as the destination in a predetermined position, the container containing the transported object can be stopped at a predetermined position. By providing a simple mechanism such as a magic hand that can be grasped and moved as well as released from the grasped state, loading and unloading of multiple containers containing objects to be transported into a self-propelled vehicle can be carried out. This method is easy to carry out, makes the work of conveying objects more efficient, enables automation of the entire conveying device, and has the advantage of being able to convey a plurality of objects at the same time.

[Brief explanation of the drawing]

The figures show a preferred embodiment of the present invention; Fig. 1 is a schematic plan view showing the entire single-track reciprocating track conveyance system in which a self-propelled vehicle according to the present invention runs, and Fig. 2 shows a vehicle stopped at an analysis station. FIG. 3 is a side view, FIG. 4 is a plan view, and FIG. 5 is a side view of another embodiment of the self-propelled vehicle. DESCRIPTION OF SYMBOLS 1...Distribution/collection station, 2...Sample container, 3...Single-track reciprocating transport line, 4...Analysis station, 8...Traveling rail, 11...Self-propelled vehicle, 12...Vehicle body, 13a, 13b, 13c...
Guide wheel, 14... Drive wheel, 16... Support frame,
17... Index table, 19... Support shaft, 20... Rotary table, 21a, 21b, 2
1c, 21d, 21e, 21f, 21g, 21h
...Container holder, 23a, 23b, 23c...
Light emitting element, 24a, 24b, 24c, 24d, 2
4e, 24f, 24g, 24h... light emitting element board,
32... Arm, 34... Stopper body.

Claims (1)

[Scope of utility model registration request] In a track transport system using a self-propelled vehicle that travels guided by a track and transports objects between multiple stations arranged along the track, the body of the self-propelled vehicle is connected to a rotational drive system. The rotary table can be rotated horizontally by 360 degrees x 1/n.
The rotary table is supported in a horizontal state, and the rotary table is formed with a plurality of n open support parts for removably supporting containers containing objects to be transported, and each of the support parts has a n number of designation members are provided in one-to-one correspondence for designating the destination station of the container containing the transported object supported by these support parts. In order to detect a designated destination station of the container, a self-propelled vehicle is used, characterized in that a detection mechanism is provided to correspond to a movement path of the designated member as the rotary table rotates. Orbital transport device.