JPH06191634A - Conveying device - Google Patents

Abstract

PURPOSE:To absorb the speed difference between conveying devices at the ceiling side and the floor side automatically, by controlling the moving speed of the lower side moving body depending on the detection of the longitudinal movement of the lower side moving body of the second member holder to the main body side, when the second member is assembled to the first member. CONSTITUTION:An engine holder 69 is connected to an upper position slide plate 61, and a detecting device 70 to detect the longitudinal movement of the holder 69 to the main body 24 side of a self-traveling carrier 23 is provided. And a small position correction when the internal combustion engine B is positioned at the front side or the rear side to the car body A by the running speed of the carrier 23 is carried out by moving the upper position slide plate 61 to the front side or the rear side to a lower position slide plate 51. And when the movement of the carriage is made out of a set scope by the slow speed of the running speed of the carriage 23, a detected body 71 moving together with the upper position slide plate 61 is detected by a photoelectric switch 72 or 73. As a result, a detecting signal is given to a running control board, a speed increase or decrease instruction is output to a running drive device, and the carriage 23 is run in a decreased or an increased speed so as to synchronize to a trolley device 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transportation facility used in a line for incorporating an internal combustion engine (engine) in a vehicle body in an automobile manufacturing factory, for example.

[0002]

2. Description of the Related Art Conventionally, as this type, for example, the structures shown in FIGS. 10 and 11 have been provided. That is, a ceiling-side transfer device 90 that supports and transfers the vehicle body A includes a trolley guide rail 91, a guide rail 92 installed above the trolley guide rail 91, and a trolley device 93 supported and guided by the trolley guide rail 91.
The trolley device 93 is supported and guided by the support device 94 attached to the lower portion of the trolley device 93 and the driver rail 92.
The vehicle body A is carried on an upper carrying line 96, which is composed of a driving device 95 using a chain that gives a moving force to the.

The floor-side transfer device 100 for supporting and transferring the internal combustion engine B incorporated in the vehicle body A includes a plurality of wheels 101.
The trolley 102 having the above structure is provided with the supporting portion 104 of the internal combustion engine B through the lifting device 103. Further dolly 102
The passive pin 105 is hung from the front and back of the
A pit 106 that allows entry from above 05 is formed on the floor 107 side.

Inside the pit 106, guide rails 108 and 109 are arranged in two steps, that is, upper and lower guide rails 108 and 109, respectively.
Is a movable body (truck) 110 on which the passive pin 105 can be freely engaged and disengaged.
The lower guide rail 109 supports a drive device (chain) 111 that applies a moving force to the movable body 110.
Support and guide. As a result, the carriage 102 carries the internal combustion engine B on the lower carrying line 112.

According to this conventional configuration, the lower transfer line 11
At least a part of 2 is vertically opposed to the upper conveyance line 96, and the trolley device 93 and the carriage 102 are opposed to each other at this opposed part.
And are moving in sync. Then, during the synchronous movement, the lifting and lowering device 103 raises the support portion 104, whereby the operator is performing the desired assembly in a state where the internal combustion engine B is incorporated into the vehicle body A from below.

[0006]

According to the above-mentioned conventional structure, the drive device 95 for moving the trolley device 93 and the carriage 102.
Even if the rotation speed of the drive unit 111 is set correctly, the trolley device 93 and the carriage 102 cannot be moved at the set correct speed due to the elongation of the chain of each part, etc. It is disturbed and the assembly work cannot be done easily and accurately.

Further, since the carriage 102 is always driven and driven by the drive unit 111 at a predetermined speed, it is inefficiently driven on a non-working line except for a built-in portion and the length of the lower conveyance line 112 is increased. Many trolleys 10
2 is required. Furthermore, on the floor-side transfer device 100 side, since a large width and deep pit 106 is formed on the floor 107 side and large-scale traveling drive equipment is installed, it is easy to change the lower transfer line 112. I can't do it.

It is an object of the present invention to automatically and quickly absorb the speed difference between the ceiling side transfer device and the floor side transfer device, and to prevent the floor side transfer device from facing the ceiling side transfer device. In the line section of the apparatus, it is possible to easily change the traveling speed to a high speed and to provide a transfer facility that can easily change the transfer line of the floor side transfer apparatus.

[0009]

In order to achieve the above object, the transfer equipment of the first aspect of the present invention comprises a ceiling side transfer device for supporting the first member and a floor side transfer device for supporting the second member, A part of a lower transfer line formed by the floor side transfer device is vertically opposed to an upper transfer line formed by the ceiling side transfer device, and the ceiling side transfer device includes a rail and an upper part supported and guided by the rail. The floor-side transfer device has a lower transfer member that is movable on a lower transfer line, and the lower transfer member is capable of moving up and down and moving back and forth on a support portion that supports the second member. A detection device is provided for detecting that this support portion moves back and forth with respect to the main body side of the lower moving body, and controls the moving speed of the lower moving body based on the detection of this detection device. There is.

In the transfer facility of the second aspect of the present invention, the floor-side transfer device is composed of a derivative provided on the floor side and a self-propelled carriage that can automatically travel while detecting this derivative.

[0011]

According to the structure of the first aspect of the present invention described above, the upper moving body can be moved on the upper conveying line in the ceiling side conveying apparatus, and the lower moving body can be moved on the lower conveying line in the floor side conveying apparatus. . In such a moving state, the upper moving body and the lower moving body can face each other and run synchronously at the facing portions of the two transport lines. Then, by raising the support portion, the second member can be brought closer to the first member from below.

The second member is raised little by little, during which the final position of the second member relative to the first member is corrected. That is, the synchronous traveling cannot be completely performed, and the moving speed of the floor side transfer device is faster than the moving speed of the ceiling side transfer device,
Or late. Here, when the moving speed of the floor-side transfer device is high, the second member is positioned on the front side with respect to the first member, and thus the final position correction is performed by moving the support portion rearward, and also the floor-side transfer device. When the moving speed of the device is slow, the second member is located on the rear side with respect to the first member, and thus the final position correction is performed by moving the support portion forward.

Such a final position correction is carried out when the movement in the front-back direction due to the displacement is within the set range. However, there are cases where the second member is largely displaced in the front-rear direction with respect to the first member, and the correction movement in the front-rear direction is outside the set range. That is, when the movement of the support portion is out of the setting range, the detection device detects that the support portion has moved out of the setting range, and an acceleration or deceleration command is issued to the lower moving body side based on the detection signal, Thus, the lower moving body is accelerated or decelerated so as to travel synchronously with the upper moving body.

According to the structure of the second aspect of the present invention, in the floor side transfer device, the self-propelled carriage detects the guide and automatically travels while automatically correcting the displacement with respect to the guide. Then, when the traveling is performed synchronously at the opposite portions of the two transport lines, the traveling speed of the self-propelled carriage can be controlled in the same manner as described above.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. In FIG. 1 and FIG. 2, reference numeral 1 denotes a ceiling side transfer device, which is an example of a rail, a trolley guide rail 2, a guide rail 3 installed above the trolley guide rail 2, and an upper movement supported and guided by the trolley guide rail 2. Trolley device 4, which is an example of a body, and a supporting device 5 attached to the trolley device 4.
And a chain type drive device 10 that is supported and guided by the drive body rail 3 to give a moving force to the trolley device 4, and the like. The vehicle body A, which is an example of the first member, is supported by the support device 5
And is carried on the upper carrying line 6.

As shown in FIGS. 2 and 9, the chain type driving device 10 includes a driven chain wheel 11 located on the upper side of the upper transfer line 6, a drive chain wheel 12 located on the lower side, and both chain wheels. 11,
It is composed of a drive chain 13 stretched between 12 and a drive unit (a motor with a speed reducer, etc.) 15 interlocking with a drive shaft 14 to which the drive chain wheel 12 is fixed. The transmission projections 16 provided on the drive chain 13 at a predetermined pitch are configured to be disengageable with respect to the passive projections 7 provided on the trolley device 4 side.

As shown in FIGS. 1 and 2, a floor-side carrier device 20 for supporting and carrying an internal combustion engine B, which is an example of a second member, includes a derivative (guide magnet etc.) 21 provided on the floor 8 side, Detector that can detect the derivative 21 (guide sensor, etc.)
A self-propelled carriage 23, which is an example of a lower moving body having 22. This self-propelled carriage 23 has drive wheels 25 at the center of the front of the main body 24.
And a pair of left and right driven wheels 26 at the rear.

The drive wheel 25 shown in FIGS. 3 to 6 and FIG.
Is rotatably attached to the main body 24 together with a traveling drive device (motor, etc.) 27, and the swivel drive device 28 including a winding transmission structure and a motor is mounted on a traveling control panel 29 mounted on the front part of the main body 24. Turning control is performed, and the traveling control panel 29
Controls the moving speed of the self-propelled carriage 23 via the traveling drive device 27. The traveling control board 29, the traveling drive device 27, etc. are connected to a battery 30 mounted on the rear portion of the main body 24, and the detection device 22 provided on the front portion of the main body 24 is connected to the traveling control board 29. A component receiver 31 is provided on the travel control panel 29.

The self-propelled carriage 23 in the floor-side carrier device 20 having the above-described structure can automatically travel on the lower carrier line 32 while controlling the direction and speed by the detection device 22 detecting the inductor 21. At this time, the lower transfer line 32 is formed in an endless shape, and a part of the lower transfer line 32 is formed so as to face the linear part of the upper transfer line 6 in the vertical direction. There is. The dielectric material 21 is laid in the groove 9 formed on the floor 8 side, and at that time, the feeder cable 34 is laid along the dielectric material 21, and the upper surfaces of both of them 21 and 24 are resin-molded (FIG. 4). reference).

A detection device 22 capable of detecting the derivative 21 is provided on a side portion of the drive wheel 25, and a feeder radio 35 which is opposed to the feeder cable 34 is provided at a lower position of the detection device 22 and is provided on the side portion thereof. A charging collector 36 is provided, and optical transmission devices 37 are provided on both sides. Here, the feeder radio 35 and the optical transmission device 37 are respectively the traveling control panel 29.
And the collector 36 is connected to the battery 30.

A lower elevating body 41 is provided at the center of the main body 24 via a lower elevating / lowering device 40. The lower lifting device 40 is composed of a plurality (a pair of front and rear) of cylinder devices, the cylinder body is fixed to the main body 24, and the upper end of the upward piston rod is connected to the flat frame-shaped lower lifting body 41. .

The lower lifting body 41 is provided with an upper lifting body 43 via an upper lifting mechanism 42. The upper lifting device 42 consists of a cylinder device located in the center,
While fixing the cylinder body to the lower lifting body 41,
Place the upper end of the upward piston rod into a flat frame-shaped upper lift 43
Connected to. At both front and rear positions of the upper lifting device 42, a vertical guide tube 44 provided on the lower lifting body 41 is provided.
An elevating guide mechanism including a guide rod 45 vertically extending from the upper elevating body 43 so as to be fitted into the guide cylinder 44 is provided.

A left and right guide device is provided on the upper lift 43.
A lower slide plate 51 is provided via 50. That is, the left and right guide device 50 includes a plurality of left and right guide rails 52 arranged on the upper lifting body 43, and a sliding body 53 attached to the lower surface of the lower slide plate 51 so as to be fitted to the guide rails 52 from above. And a stopper (not shown) for restricting the lateral movement limit of the lower slide plate 51 is provided.

Further, a lower lock mechanism 54 for maintaining the neutral position of the lower slide plate 51 is provided.
Reference numeral 54 denotes a fitting member 56 that is continuously provided from a side portion of the lower elevating body 41 and has a V-shaped recess 55 with an open upper surface, and a fitted member 57 that is vertically provided from a side portion of the lower slide plate 51. The fitted member 57 has a roller 58 which is guided to the V-shaped surface when descending and is then fitted into the recess 55.

An upper slide plate 61 is provided on the lower slide plate 51 via a front / rear guide device 60. That is, the front-rear guide device 60 includes a plurality of front-rear guide rails 62 arranged on the lower slide plate 51 and the guide rails 62.
The LM guide is composed of a sliding body 63 attached to the lower surface of the upper slide plate 61 so that the upper slide plate 61 can be fitted from above, and a stopper (not shown) for restricting the lateral movement limit of the upper slide plate 61 is provided.

Further, an upper lock mechanism 64 for maintaining the neutral position of the upper slide plate 61 is provided.
Reference numeral 64 denotes a fitting member 66 that is continuously provided from the rear portion of the lower elevating body 41 and has a V-shaped recess 65 with an open upper surface, and a fitted member 67 that is vertically provided from the rear portion of the upper slide plate 61. The fitted member 67 has a roller 68 that can be fitted into the recess 65 after being guided to the V-shaped surface when descending. The above-mentioned left and right guide device 50 and the front-rear guide device 60 constitute a plane movement allowance device.

From the upper slide plate 61, a support portion (skit) 69 extending in the left-right direction and rearward is continuously provided.
The internal combustion engine B is configured to be supported between the support portions 69. Further, the support unit 69 is provided with a detection device 70 for detecting that the support unit 69 has moved back and forth with respect to the main body 24 side of the self-propelled carriage 23, and based on the detection of the detection device 70, the traveling control panel 29 is set. It is configured to control the moving speed of the self-propelled carriage 23 via the.

That is, as shown in FIG. 1 to FIG. 8, the detected body (striker) 71 is provided on the upper slide plate 61 on the side of the supporting portion 69, and the lower slide plate 51 on the side of the main body 24 is provided. A pair of photoelectric switches 72 and 73 are provided. Here, the photoelectric switches 72 and 73 are arranged apart from each other in the front-rear direction so as to obtain the above-mentioned setting range L, and the positions in the front-rear direction are attached via brackets 74 and 75 so as to be adjustable. The detection device 70 is constituted by the above 71 to 75, and both photoelectric switches 72 and 73 are connected to the traveling control panel 29.

Elevating levers 80, which are operating tools for moving up and down the lifting and lowering devices (cylinder devices) 40 and 42, are provided in the main body 24 at a plurality of positions, and a work completion button 81 is further provided. . An air unit 82 for supplying air to the lifting / lowering devices 40, 42 is mounted on the rear portion of the main body 24. The air unit 82 has an accumulator built therein and an air coupler 83.

As shown in FIG. 9, in the endless lower transfer line 32, a line portion extending from the end to the start of the assembling work section 33 has a first station 84, a second station 85 and a standby section 86. Are arranged in this order, and ID tags 87 are provided at a plurality of positions on the floor 8 side.

Both stations 84 and 85 are formed in the loading portion of the internal combustion engine B, and have an air supply device 88 and a charging device 89.
Is provided. The air supply device 88 is, for example, an air generator such as a compressor, an air coupler attached to the end of the hose from the air generator and connectable to the air coupler 83 in male and female form, and a cylinder for making and disconnecting the air coupler. The charging device 89 is of a rail type so that the collector 36 can abut from above.

The operation of the above embodiment will be described below. In the ceiling-side transfer device 1, the trolley device 4 supporting the vehicle body A moves by receiving the moving force from the chain type drive device 10 and thus transfers the vehicle body A on the upper transfer line 6 at a predetermined speed. is doing. In the floor-side transfer device 20, the drive wheels 25 are forcibly rotated by the electric power of the battery 30 via the travel drive device 27, whereby the self-propelled carriage 23 can automatically travel on the lower transfer line 32.

At this time, when the detecting device 22 detects the guide 21 and the position of the detecting device 22 is about to shift with respect to the guide 21, the traveling control panel 29 causes the turning drive device 28 to move forward or backward. A command is issued, whereby the self-propelled carriage 23 can be automatically traveled on the lower conveyance line 32 while automatically correcting the positional deviation of the self-propelled carriage 23.

The self-propelled carriage 23 supporting the internal combustion engine B is stopped by the standby portion 86. At this time, in the self-propelled carriage 23, the upper elevating body 43 is descending with respect to the lower elevating body 41 by the lowering movement of the upper elevating device 42, and by this lowering, the fitting member 56 is
On the other hand, by fitting the fitted member 57 from above, the lateral position of the lower slide plate 51 with respect to the upper lifting body 43 is corrected to the central portion, and the corrected position is locked. Further, by fitting the fitted member 67 to the fitting member 66 from above, the position of the upper slide plate 61 in the front-rear direction with respect to the lower slide plate 51 is corrected to the central portion, and the corrected position is adjusted. It's locked.

In such a state, the self-propelled carriage 23 waiting in the waiting portion 86 is automatically driven again when the trolley device 4 reaches a predetermined position on the upper conveyance line 6, and enters the built-in working portion 33. go. Then, as shown by the solid lines in FIGS. 1 and 2, the self-propelled carriage 23 is mounted on the trolley device 4 side in a state where the internal combustion engine B is opposed to a predetermined position of the vehicle body A which has been conveyed through the upper conveyance line 6. Run synchronously.

In this built-in working unit 33, a self-propelled carriage
A worker is attached to 23 and walks according to the synchronized running. During this walking, the operator operates the elevating lever 80 to move the lower elevating / lowering device 40 upward to lower the lower elevating body with respect to the main body 24.
While raising 41, the upper elevating body 43 is elevated with respect to the lower elevating body 41 by the ascending movement of the upper elevating device 42. Due to the rise of the upper lifting body 43, both locking mechanisms 54, 64
Is automatically unlocked.

The above-mentioned upper elevating body 43 is raised little by little, during which the operator performs the final position correction of the internal combustion engine B with respect to the vehicle body A. That is, the worker applies a force to the internal combustion engine B in the position correcting direction. Accordingly, the position correction in the left-right direction can be performed by the lower slide plate 51 moving left and right with respect to the upper lifting body 43 by the allowance structure of the left and right guide device 50.

Further, the synchronous traveling is difficult to be perfectly synchronized, and the traveling speed of the self-propelled carriage 23 is faster or slower than the traveling speed on the trolley device 4 side. That is, when the traveling speed of the self-propelled carriage 23 is high, the internal combustion engine B
Is located on the front side, the final position correction is
When the upper slide plate 61 is moved rearward with respect to the lower slide plate 51, and when the traveling speed of the self-propelled carriage 23 is low,
Since the internal combustion engine B is located on the rear side of the vehicle body A, the final position correction is performed by moving the upper slide plate 61 forward with respect to the lower slide plate 51.

Such a final position correction is performed when the movement in the front-rear direction due to the position shift is within the set range L. However, the internal combustion engine B is largely displaced in the front-rear direction with respect to the vehicle body A, and the correction movement in the front-rear direction is set within the set range L.
It may be outside.

That is, when the traveling speed of the self-propelled carriage 23 is fast and the backward movement is outside the set range L, the detected object 71 moving backward together with the upper slide plate 61 is moved to the rear photoelectric switch 73. Will be detected. Then, the detection signal is given to the traveling control panel 29, and a deceleration command is issued from the traveling control panel 29 to the traveling drive device 27, whereby the self-propelled carriage 23
Is decelerated to synchronize with the trolley device 4.

When the traveling speed of the self-propelled carriage 23 is slow,
When the forward movement is outside the set range L, the detected object 71 moving forward together with the upper slide plate 61 is detected by the photoelectric switch 72 at the front position. Then, the detection signal is given to the traveling control panel 29, and an acceleration command is issued from the traveling control panel 29 to the traveling drive device 27, whereby the self-propelled carriage 23 is accelerated to synchronize with the trolley device 4.

In this way, the internal combustion engine B, whose position has been corrected with respect to the vehicle body A, is incorporated into the vehicle body A from below as shown by the phantom lines in FIGS. 1 and 2, and thereafter, by an operator. Fixed work is performed. When this fixing work is performed, the components in the component receiver 31 are used. After the fixing work, the operator operates the elevating lever 80 in the reverse manner to the above, and the lower elevating device 40 lowers the lower elevating body with respect to the main body 24.
While lowering 41, the upper elevating body 43 is lowered with respect to the lower elevating body 41 by the lowering movement of the upper elevating device 42. By this lowering of the upper lifting body 43, both locking mechanisms 54, 64
Is automatically locked.

Further, the worker pushes the work completion button 81 together with the reverse operation of the elevating lever 80. As a result, the locking mechanism 54, 64
The work is completely completed in a state in which the lock motion of is confirmed, so that the self-propelled carriage 23 automatically travels on the lower conveyance line 32 at a high speed and stops at one of the stations 84 and 85. At the time of this stop, the support part is operated by the operation of the loading device or manually.
A new internal combustion engine B is loaded onto 69. This loading is stable and reliable because both slide plates 51 and 61 are in a lock shape.

When stopped, the collector 36 is charged by the charging device.
The battery 30 is automatically contacted with 89 to be charged, and the air coupler of the air supply device 88 is connected to the air coupler 83 of the air unit 82 to replenish the accumulator of the air unit 82 with air. Self-propelled cart 23
Automatically travels again on the lower transport line 32 at high speed,
At 86, stop and wait. As described above, the self-propelled carriage 23, which is traveling on the lower conveyance line 32, wirelessly exchanges with the ID tag 87, and the presence confirmation is performed.

When the stations 84 and 85 are provided at two locations (plural locations) as shown in the above embodiment, the self-propelled carriage
Sufficient downtime is available at the 23 stations 84, 85, but this may be at one location. Further, although the guide magnet is shown as the derivative 21 in the above embodiment, it may be a magnetic tape or the like, and in the case of a magnetic tape, a pickup coil is used as the detection device 22.

In the above embodiment, the trolley device 4 is shown as the moving body of the ceiling side conveying device 1, and the self-propelled carriage 23 is shown as the moving body of the floor side conveying device 20, but in the first invention, the ceiling side conveying device is used. As a moving body of the device 1, a self-propelled moving body supported and guided by rails may be used. Further, in the first aspect of the present invention, a self-propelled moving body may be used for the ceiling side transfer device 1, and a transfer carriage that is driven by a chain type drive device may be used for the floor side transfer device 20, Alternatively, the trolley device 4 may be used for the ceiling-side transfer device 1 and the transfer carriage may be used for the floor-side transfer device 20.

[0047]

According to the first aspect of the present invention having the above-described structure, the position correcting movement in the front-rear direction when the first member supported by the ceiling side transfer device and the second member supported by the floor side transfer device are opposed to each other is performed. By utilizing it, the moving speed of the lower moving body can be automatically adjusted to the moving speed of the upper moving body, whereby both moving bodies can always travel synchronously in the same speed state, and the moving speed between both transporting devices can be improved. Various operations can be performed easily and accurately.

According to the second aspect of the present invention having the above-described structure, the moving body of the ceiling side transfer device and the self-propelled carriage of the floor side transfer device can always travel synchronously at the same speed. At that time, since it is only necessary to lay the dielectric on the floor side with a simple structure, it is possible to easily change the lower transfer line in the floor side transfer device,
In addition, by using a self-propelled carriage, it is possible to easily change the traveling speed on the lower transportation line, and to perform efficient high-speed traveling on non-work line parts that do not travel synchronously, and The number of units used on the line can be reduced.

[Brief description of drawings]

FIG. 1 is a front view of a synchronous traveling unit of a transportation facility according to an embodiment of the present invention.

FIG. 2 is a side view of a synchronous traveling unit of the transfer facility.

FIG. 3 is a partially cutaway plan view of the self-propelled carriage.

FIG. 4 is a partially cutaway rear view of the self-propelled carriage.

FIG. 5 is a partially cutaway front view of the self-propelled carriage.

FIG. 6 is a partially cutaway side view of the self-propelled carriage.

FIG. 7 is a partially cutaway side view of the detection device portion.

FIG. 8 is a partially cutaway plan view of the same detection device portion.

FIG. 9 is a schematic plan view showing an entire line of the transfer facility.

FIG. 10 is a side view of the synchronous traveling unit of the transfer facility, showing the conventional example.

FIG. 11 is a front view of a synchronous traveling unit of the transfer facility.

[Explanation of symbols]

 1 Ceiling side transfer device 2 Trolley guide rail (rail) 4 Trolley device (upper moving body) 5 Support device 6 Upper transfer line 20 Floor side transfer device 21 Derivative 22 Detection device 23 Self-propelled carriage (lower moving body) 24 Main body 27 Travel drive device 28 Rotation drive device 29 Travel control panel 32 Lower transfer line 33 Built-in working unit 40 Lower lift device 42 Upper lift device 50 Left and right guide device (flat motion allowance device) 51 Lower slide plate 60 Front and rear guide device ( Plane movement allowance device) 61 Upper slide plate 69 Support part 70 Detection device 71 Detected object 72 Photoelectric switch 73 Photoelectric switch A Vehicle body (first member) B Internal combustion engine (second member) L Setting range

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification number Internal reference number FI Technical display location G05D 3/00 R 9179-3H (72) Inventor Michio Iwama 3-2 Minamijima, Nishiyodogawa-ku, Osaka-shi, Osaka No. 11 Daifuku Co., Ltd. (72) Inventor Kenzo Onikuda 3-21-11 Minejima, Nishiyodogawa-ku, Osaka City, Osaka Prefecture Daifuku Co., Ltd.

Claims (2)

[Claims] 1. A ceiling-side transfer device for supporting a first member and a floor-side transfer device for supporting a second member, wherein a part of a lower transfer line by the floor-side transfer device is used as the ceiling-side transfer device. And the ceiling-side transfer device is configured by a rail and an upper moving body supported and guided by the rail, and the floor-side transfer device is
A lower moving body that is movable on the lower transport line is provided, and the lower moving body has a support portion that supports the second member so as to be able to move up and down and move back and forth. On the other hand, a conveyance facility is provided with a detection device that detects that the robot has moved back and forth over a set range, and controls the moving speed of the lower moving body based on the detection of the detection device. 2. The transfer facility according to claim 1, wherein the floor-side transfer device is composed of a derivative provided on the floor side and a self-propelled carriage that is capable of automatically traveling while detecting the derivative.