JPH0620757Y2 - Drive device for traveling truck - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a drive device for a traveling carriage for applying thrust to a traveling carriage mounted on a pair of rails laid between processing stations.

(Prior Art) Conventionally, there is known a transfer device that performs processing at a plurality of processing stations while a work is placed on a traveling carriage. An apparatus using a linear motor has been proposed as means for moving a traveling carriage to move between a plurality of processing stations (see Japanese Utility Model Application No. 62-176153). This device is provided with a linear motor fixed to the processing station where the carriage stops, and a secondary conductor is attached to the bottom of the carriage.The linear motor is activated when the carriage is stopped at the processing station. A thrust is generated in the secondary conductor of the truck to drive the truck.

(Problems to be Solved by the Invention) As described above, there is no problem as long as it is a transfer device in which rails are laid on a flat surface, but two pairs of rails are divided into an upper part and a lower part, such as a three-dimensional transfer device. In the case of arranging the rails, a lifter is added in order to transfer the rail from one rail to the other rail. If the mounting position of the lifter is provided in the processing station, the number of times the carriage is stopped is small and the efficiency is high, but since it is also the position to fix the linear motor, it was very difficult to mount both.

The present invention provides a traveling system in which the linear motor can be moved to a predetermined position when necessary and the truck can be propelled even when it is difficult to attach the linear motor to the predetermined position of the three-dimensional conveyance device. A drive device for a trolley is provided.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a secondary conductor on a carriage that is movably mounted on a pair of rails laid between processing stations. In a drive device for a traveling carriage in which a linear motor for generating thrust on a conductor is arranged between rails of each processing station, a rail for supporting a wheel of a stopped carriage is detachably provided at the processing station, and a gripping means for the carriage is provided. Is provided, a linear motor is fixed to a movable substrate of a moving means installed facing the processing station, and the linear motor can be stopped at a position where the linear motor of the processing station is provided.

(Function) A linear motor must be installed at each processing station to stop the carriage from starting and stopping, but in a processing station equipped with a lifting device, the lifting device moves only the carriage to the processing station above or below. Therefore, it requires a space for movement in the vertical direction. Therefore, the carriage can be moved upward or downward by operating the moving means to take out the linear motor from the processing station, holding the carriage by the gripping means, and removing the rail supporting the wheels.

Further, the carriage can be started and stopped by installing the carriage in the processing station and returning the linear motor to the processing station.

(Embodiment) Next, an embodiment of the present invention will be described with reference to FIGS.

As shown in FIG. 2, the three-dimensional transport apparatus 1 has rails arranged vertically, and a pair of rails 2 is laid on a support member 3 at a lower portion and a pair of rails is divided at a plurality of portions at an upper portion. The rail 4 is fixed to the support member 5, and the rail 4 and the support member 5 are supported at a predetermined height by columns 6 standing upright from the support member 3. Carts 7 and 9 are mounted on the rail 2 and carts 8 and 10 are mounted on the rail 4 so that they can travel freely. A secondary conductor (see the secondary conductor 8a at the bottom of the carriage 8 shown in FIG. 4) is provided at the bottom of each carriage, and the wheels 11 and 11a are mounted so as to overlap the ends of the carriage. The carriages 7 and 8 are equipped with the same jig (not shown), and the carriages 9 and 10 are equipped with other same jigs (not shown). That is, the three-dimensional transport apparatus 1 processes two types of workpieces.

Next, the lifting device 12 as a gripping means will be described.

Reference numeral 13 is a column, which is attached to the supporting members 3 and 5 and stands upright at the positions of the stations A and B. Rails 14 and 14 are arranged at both ends of the column 13, and bases 16 and 16 to which a pair of arms 15 and 15 are attached are provided so as to be able to move up and down on the rails 14 and 14. A cylinder 17 is attached to each of the left and right bases 16,
Each arm 15 integrally connected to this rotates by a cylinder 17 about an attachment portion to the base 16 as an axis, and the tip end portion thereof moves in the approaching / retreating direction. Further, a geared motor 18 is installed at a lower portion of the column 13, and is connected to a rotating shaft 20 of sprockets 19 and 19 provided at the lower portions of the rails 14, 14. Sprocket 2 on both ends of rotary shaft 21
2,22 are installed. The chain 23 is installed over the sprockets 19 and 22, and both ends of the chain 23 are the base 1
It is fixed at 6. As shown in FIG. 3, the rail 4 in the station C located at the upper part is divided and the space R between the both ends 4a and the opposite shore 4b has a width through which the arm 15 of the lifting device 12 and the wheels 11 and 11a pass. Have. Auxiliary rails 4c that extend and contract by a drive unit (not shown) are provided inside the rails 4 at both ends 4a, and wheels 11a are engaged with the rails 4c. 4d is a stopper when the rail 4c is extended.

Further, the linear motor 24 is fixed in place along the lower rail 2 of the present apparatus, and the moving devices 25, 25 'of the linear motor 24 are arranged facing the stations C, D on the upper rail 4.

The moving devices 25, 25 'are provided on bases 26, 26' supported by the support member 5 and the columns 6, 6 '. Since the moving device 25 and the moving device 25 'have the same function, the moving device 25 will be described.

1 and 3, the station C of the base 26
A pair of brackets 27, 27 are erected on the side, and a pair of brackets 28, 28 are located inside the pair of brackets 27, 27.
It is erected. Four rollers 29 are rotatably attached to the inside of the upper portion of the bracket 27, and a rotating shaft 31 is provided on the lower portion of the bracket 27 via a bearing 30, and a pair of sprockets 32, 32 are fixed to the rotating shaft 31. Rotating shafts 33 and 34 are attached to the top and bottom of the bracket 28, and sprockets 35 and 36 are provided at both ends thereof, respectively.

A base plate 37 that slides above the base 26 has support members 38 standing on both sides, and a guide rail 3 is formed on top of the support members 38 so as to form a T shape.
Provide 9,39, and bracket the outside of this guide rail 39.
It is inserted between the rollers 29 of 27 and slid in parallel with the rail 4. Both ends of the guide rail 39 are stoppers 40
Is provided. The board 37 is provided with a notch 37a in the rear portion, and the board 42 is attached to a low position via a support member 41. Further, a cutout 43 is formed at the rear end so as not to contact the bracket 28.

In addition, the substrate 37 has a rotary shaft 45 inserted through a pair of bearings 44, 44 in the front part and sprocket 46, 46 is provided at both ends thereof, and the substrate 42 is also provided with a pair of bearings 47, 47. It has a rotating shaft 48 inserted therethrough, and sprockets 49, 49 are provided at both ends thereof.

Between the guide rails 39, 39, a downwardly opening U-shaped substrate 51 having four rollers 50 on both sides is located. The four rollers 50 sandwich the T-shaped inner portion of the guide rail 39. And is slidably provided. Further, the linear motor 24 is mounted on the upper surface with the front end of the board 51 aligned, and the sprocket 32, 35, 36, 4 is mounted on the lower surface of the board 51.
A chain stay 53 of the chain 52 to be hung on 6,49 is provided,
Both ends of the chain 52 are connected to the chain retainer 53. Incidentally, 54 is a geared motor, which is connected to the rotary shaft 31.

Station A is a manual loading position, and station B is an automatic loading position. A welding robot is installed in the station C to perform welding work. The station D is a carry-out position and a carry-out device is provided. Stations E and F are standby positions.

Next, the operation will be described.

At the station A, the workpiece is placed on the dolly 7 and is moved to the station B by the linear motor 24. At the station B, another workpiece is automatically placed.

Simultaneously with the mounting, the cylinder 17 of the lifting device 12 is activated to rotate the arm 15 in front of the rail 2 and the station B
Hold the trolley 7 stopped from both sides. Then, the geared motor 18 is rotated to move the chain 14 to raise the base 16. The arm 15 of the base 16 and the wheels 11, 11a of the carriage 7 pass through the gap R of the rail 4. When the base 16 stops at the rising end, the rail 4c is extended by a cylinder (not shown), fills the gap R, contacts the stopper 4d, and stops. Then, by operating the cylinder 17 to rotate the arm 15 in the retreat direction and release the carriage 7, the carriage 7 moves to the wheels 11a.
Is mounted on the rail 4c. The elevating device 12 descends with the arm 15 left open laterally and stops at the original position.

A lifting device 12 is provided in the station D on the upper rail 4. Similarly, when the trolley 8 is held by the arm 15 in order to mount the trolley 8 on the lower rail 2, the rail 4c is moved to the station. A gap R is created by being pulled toward the D side. Then, the geared motor 18 is operated to lower the carriage 8 onto the lower rail 2. Base during descent
When 16 passes through the gap R, the rail 4c extends and closes the gap R. When the arm 15 is loosened at the descending end and the carriage 8 is placed on the rail 2, the base 16 rises again and stops at the ascending end.

In the welding station C, the welding robot performs a predetermined work. After that, the moving device 25 of the linear motor 24 is operated to move the carriage 7 to the station D.

When the geared motor 54 of the moving device 25 is driven, the chain
The sprockets 32, 35, 36, 46, 49 rotate via 52, and at this time, since the chain 52 is connected to the chain retainer 53, the boards 37, 51 are interlocked to advance along the guide rail 39. To do. The roller 29 rotating on the guide rail contacts the stopper 40 at the rear end to stop the substrate 37, and the roller 50 contacts the stopper 40 at the front end to stop the substrate 51. At this time, the linear motor 24 mounted on the substrate 51 is the station C.
Position (see FIG. 3). Then, when the welding work is completed, the linear motor is operated to generate a thrust on the secondary conductor to drive it to the station D side.

When trolley 7 approaches station D, station D
The linear motor 24 is also on standby at this time, and a reverse thrust is applied by the linear motor 24 to decelerate the carriage 7. The carriage whose speed has decreased becomes contact with the stopper of the station D and is stopped and positioned at a predetermined position.

When the carriage 7 is fixed, the workpiece is removed from the carriage 7 by a carry-out device (not shown), the carriage 7 is moved to the station A by the same procedure as that of the carriage 8 described above, and one cycle is completed. The dolly 8 that has been moved to the station A is operated in the same manner as the dolly 7.

In the welding station C, after the trolley | bogie 7 runs, the geared motor 54 is operated, the chain 52 is reversely rotated, the linear motor 24 is returned to an original position, and the rail 4c is retracted. The same operation can be appropriately performed in the station D.

As described above, since the linear motor is housed in the bases 26, 26 'facing the station, it is in the standby state when the lifting device 12 operates and the arm 15 crosses the rail 4. Also, when running the dolly, the geared motor 54
Can work to set the linear motor to the position of the station, so that thrust can be applied to the secondary conductor of the truck and the truck can be run. Further, since the moving device of the linear motor has a double structure in which the substrates 37 and 51 are slid, there is an advantage that the mounting space is small and it does not affect other devices.

(Effect of the Invention) Since the present invention is configured as described above, the linear motor can be stopped in the processing station or taken out from the processing station by the moving means, and the carriage can be held by the gripping means. Since the floating carriage can be moved up and down in the processing station, the processing station can be provided above or below and the installation of the three-dimensional transport device can be facilitated.

[Brief description of drawings]

FIG. 1 is a side view of a linear motor moving device according to an embodiment of the present invention, FIG. 2 is a side view of a three-dimensional transfer device according to the embodiment, and FIG. 3 is a linear motor moving device through a substrate 51. FIG. 4 is a cross-sectional view of the linear motor moving device of FIG. 2 taken in the direction of arrow IV, and FIG. 5 is a side view of the linear motor moving device when contracted. 2, 4, 4c ...... Rail 7, 8 ...... Cart 8a ...... Secondary conductor 24 ...... Linear motor 25, 25 '...... Moving means A, B, C, D ...... Station

Claims (1)

[Scope of utility model registration request] 1. A secondary conductor is provided on a carriage that is movably mounted on a pair of rails laid between processing stations, and a linear motor for generating thrust on the secondary conductor of the carriage is provided between the rails of each processing station. In the drive device for the traveling carriage disposed at the processing station, the rail for supporting the wheels of the stopped carriage is detachably provided at the processing station, the gripping means for the carriage is provided, and the moving means installed facing the processing station is moved. A drive device for a traveling carriage, wherein a linear motor is fixed to a possible substrate, and the linear motor can be stopped at a position where the linear motor is installed in the processing station.