JPH06345380A - Handling mechanism lift device for conveyer - Google Patents

Abstract

PURPOSE:To stably lift a handling mechanism by connecting a plurality of running carriages, further driving a hoist mechanism for lifting the handling mechanism by a motor provided in each running carriage, and in this case, surely synchronizing action of the hoist mechanism. CONSTITUTION:A plurality of running carriages 3A, 3B are connected to each other through a frame 4, and a plurality of hoist mechanisms 26A, 26A', 26B, 26B', connected respectively through a transmission mechanism and a clutch means to motors of these running carriages 3A, 3B, are arranged in the frame 4. By these hoist mechanisms 26A, 26A', 26B, 26B', a handling mechanism 5 is hoisted, and also drums 27 of the hoist mechanism, driven by the respectively different motor, are connected by a shaft 45.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transporting device having a plurality of traveling carriages and a handling mechanism supported by a frame connecting the traveling carriages so as to be able to move up and down in a suspended state. It is a thing.

[0002]

2. Description of the Related Art Conventionally, in an assembly line of a factory or the like, it is generally performed to carry various articles by a carrying device which moves along a monorail. As the above-mentioned transfer device, for example, as disclosed in Japanese Patent Laid-Open No. 2-200561, a traveling carriage having drive wheels rolling on a monorail, and a traveling carriage supported in a suspended state so as to be lifted and lowered. There is known one provided with a handling mechanism and a hoisting mechanism for raising and lowering the handling mechanism.

The traveling drive of the traveling carriage and the raising / lowering drive of the handling mechanism by operating the hoisting mechanism are
The motor is used as a drive source. In the device disclosed in the above-mentioned publication, in order to rationalize and downsize the drive system, one motor equipped on the traveling carriage is used for both the traveling drive and the raising / lowering drive of the handling mechanism, and the motor is provided via the clutch means or the like. It is possible to switch between a state in which the driving force of (1) is transmitted to the driving wheels and a state in which it is transmitted to the hoisting mechanism.

[0004]

By the way, as a carrying device for carrying a large load, a plurality of traveling carriages are connected via a frame, and a plurality of hoisting mechanisms arranged on the frame make it relatively large. There is a thing that suspends the handling mechanism. In such a transfer device, it is general to provide a motor for traveling and a motor for raising and lowering the handling mechanism separately, but for the sake of rationalization, the motor provided in each traveling carriage is used for traveling. It is also preferable to use both for raising and lowering the handling mechanism.

As a structure for doing so, a plurality of hoisting mechanisms are respectively connected to the motors of the traveling carriages via a transmission mechanism and a clutch means, and the clutch means are engaged when the handling mechanism is moved up and down so that each motor is It is conceivable to transmit the motive power of (1) to a plurality of hoisting mechanisms and control each motor to drive them synchronously. However, even if each motor is controlled in this way, the operation of each hoisting mechanism may not be correctly synchronized due to the delay in control response or control error when a speed difference occurs due to variations in the load of each hoisting mechanism. There is a nature. If the synchronism of the operation of each hoisting mechanism is impaired, there is a problem that the handling mechanism tilts during the ascent and descent.

In view of the above circumstances, the present invention reliably synchronizes the hoisting mechanism when driving the hoisting mechanism elevating mechanism for raising and lowering the handling mechanism by the motors provided on a plurality of traveling carriages, and stabilizes the elevating and lowering of the handling mechanism. It is an object of the present invention to provide a handling mechanism elevating / lowering device of a transfer device that can be performed well.

[0007]

In order to achieve the above object, the present invention provides a plurality of traveling carriages connected to each other through a frame, and a handling supported by the frame so as to be lifted and lowered. A transporting device provided with a drive wheel that rolls on a rail and a motor that rotationally drives the drive wheel, in each of the traveling carriages, and each of the motors is provided with a transmission mechanism and a clutch means. A plurality of hoisting mechanisms connected to each other are provided, and the handling mechanism is hung by these hoisting mechanisms, and the drums of the hoisting mechanisms driven by different motors are connected by shafts, and these drums are integrated. It is configured to rotate.

[0008]

According to the above construction, when the handling mechanism is moved up and down, the clutch means is engaged and the power of each motor is transmitted to the hoisting mechanism through the transmission mechanism.
In this case, the drums are interlocked by the shafts, and the mechanical interlocking ensures the synchronism of the hoisting mechanisms.

[0009]

Embodiments of the present invention will be described with reference to the drawings.

FIG. 1 and FIG. 2 show an embodiment of a carrying device provided with a lifting mechanism for a handling mechanism according to the present invention. In these drawings, 1 is a rail (monorail), and a support arm 2 is used to connect a factory It is suspended on the ceiling of the assembly line. The transporting device that moves along the monorail 1 includes a plurality of traveling carriages, and in the illustrated example, includes two main traveling carriages 3A and 3B.

The traveling vehicles 3A and 3B are connected to each other below the monorail 1 through a frame 4 for supporting a handling mechanism, that is, to a frame 4 formed by connecting crosspieces in the front-rear direction and the left-right direction. The traveling vehicles 3A, 3
Each lower end of B is connected. The frame 4 includes
The handling mechanism 5 is supported in a suspended state so as to be able to move up and down through an elevating device including a plurality of hoisting mechanisms, which will be described later in detail.

The handling mechanism 5 performs processing such as holding, loading, and unloading of cargo, and its specific structure is not limited to the present invention, but in the illustrated example, the frame 4 is used. Upper frame 6 positioned below the upper frame 6, a pair of left and right movable frames 8 having upper ends attached to the upper frame 6 via guide members 7, and a luggage holding unit attached to the lower ends of both movable frames 8. 9 and 9. Then, the pair of movable frames 8 are driving means (not shown) such as a motor.
By being driven by, and moving over a state where they are separated from each other at the maximum distance and a state where they are close to a predetermined distance,
It is possible to perform processing such as holding luggage.

3 to 5 show a concrete structure of a main part. In these figures, each of the traveling carriages 3A, 3B
Are equipped with motors 11A and 11B that also serve as a drive source for traveling and a drive source for raising and lowering the handling mechanism, and drive wheels 12 that are driven by the motors 11A and 11B to roll on the monorail 1. Is provided. Further, the traveling carriages 3A and 3B include a lower roller 13 and a guide roller 14 that are in contact with the monorail 1 from below and on both sides, and a control unit 15 that controls a drive system.
A, 15B, etc. are provided.

In each of the traveling carriages 3A and 3B, an output shaft 17 protrudes from the motors 11A and 11B, and the drive wheels 12 are rotatably supported on the output shaft 17, and the traveling is composed of an electromagnetic clutch. A traveling brake 19 including a clutch 18 and an electromagnetic brake is arranged on both sides of the drive wheel 12. The power of the motors 11A and 11B is transmitted to the drive wheels 12 when the traveling clutch 18 is on and the traveling brake 19 is off. A timing pulley 21 is provided on the output shaft 17 at the side of the traveling clutch 18 for transmission to the lifting device, and laterally pivoted at the connection between the lower portions of the traveling carriages 3A and 3B and the frame 4. A timing pulley 23 is provided on the shaft 24, and a timing belt 22 is stretched around these timing pulleys 21 and 23.

The frame 4 for supporting the handling mechanism has a motor 11 for the main traveling carriage 3A on one side thereof.
A pair of hoisting mechanisms 26A, 26A ′ driven by the power transmitted from A are provided, and at the other side portion,
A pair of hoisting mechanisms 26B, 26B 'driven by the power transmitted from the motor 11B of the sub traveling vehicle 3B is provided. Each of the winding mechanisms 26A, 26A ', 26
Each of B and 26B ′ has a drum 27, a belt 28 led out from the drum 27, and a guide roller 29, and each of the drums 27 is arranged at an intermediate portion in the front-rear direction on both side portions of the frame 4. And each guide roller 2
9 are arranged on both front and rear sides of both side portions of the frame 4, and belts 28 led out from the respective drums 27 are attached to the respective guide rollers 2
The leading end of each belt 28 is coupled to the upper frame 6 of the handling mechanism 5 in a state of extending downward via 9 The pair of hoisting mechanisms 26A and 26A 'on the one side portion includes the timing gears 31 provided at the shaft ends of the respective drums 27,
32 is configured to rotate synchronously when meshed with each other, and the pair of winding mechanisms 26B and 26B ′ on the other side portions are also configured to rotate synchronously when timing gears 31 and 32 at the drum shaft ends are meshed with each other. Has been done.

The transmission mechanism for transmitting the power from the motor 11A of the main traveling vehicle 3A to the hoisting mechanisms 26A, 26A 'is provided with the horizontal shaft 24 via the bevel gears 33, 34, the vertical axis 35 and the bevel gears 36, 37. Input shaft 3 connected
8, a sprocket 39 rotatably supported on the input shaft 38, a sprocket 40 mounted on the shaft of one of the two drums 27 interlocking via timing gears 31 and 32, and And a chain 41 hung on a sprocket 39.40. Further, on both sides of the sprocket 39 on the input shaft 38,
An elevation clutch 42 formed of an electromagnetic clutch and an elevation brake 43 formed of an electromagnetic brake are provided. A mechanism 26 for hoisting the power from the motor 11B of the auxiliary traveling vehicle 3B.
The transmission mechanism transmitting to B and 26B 'is also similarly configured, and both transmission mechanisms are arranged point-symmetrically. And
When the raising / lowering clutch 42 in both transmission mechanisms is ON and the raising / lowering brake 43 is OFF, the power of the motors 11A, 11B is the hoisting mechanism 26A, 26A ', 26B, 26B'.
To be transmitted to.

Further, one drum 27 of the hoisting mechanism 26A, 26A 'to which power from the motor 11A of the main traveling vehicle 3A is transmitted, and a hoisting mechanism 26B to which power from the motor 11B of the sub traveling vehicle 3B is transmitted. One drum 27 of 26B 'is connected by a shaft 45. The shaft 45 has a shaft body 45 a connected to the shaft part of one drum 27 on one side of the frame 4, and a shaft body 45 b connected to the shaft part of one drum 27 on the other side.
And are located on a straight line, and are coupled via a coupling 46.

FIG. 6 schematically shows a drive system for traveling and for raising and lowering. Explaining the drive system described above with reference to this figure, the drive system includes a first drive system 47A having a motor 11A of the main traveling vehicle 3A as a drive source and a first drive system 47A having a motor 11B of the sub traveling vehicle 3B as a drive source. 2 drive system 4
It is roughly divided into 7B. In each of the drive systems 47A and 47B, the drive wheels 12 are connected to the output shafts 17 of the motors 11A and 11B via the traveling clutch 18, and the output shafts 17 have a pulley 21, a timing belt 22, and a pulley 23. Horizontal axis 24, bevel gears 33, 34,
The vertical axis 35, the bevel gears 36 and 37, the input shaft 38, the lifting clutch 42, the sprocket 39, the chain 41, the sprocket 40, the timing gears 31 and 32, and the like, and the drum 27 and the winding mechanism 26B of the winding mechanisms 26A and 26A '. , 26B 'of the drum 27 are connected. Then, the winding mechanisms 26A and 26A 'in the first drive system 47A and the winding mechanisms 26B and 26B' in the second drive system 47B are respectively connected to the drums 27.
Shafts 45 connecting the two are linked so as to be synchronized with each other.

The control system for the motors 11A and 11B is constructed as shown in FIG. In the figure, each of the motors 11A and 11B is provided with pulse generators 49A and 49B for detecting the drive position thereof. The main control unit 15A that controls the motor 11A on the main traveling vehicle side includes a CPU 50 and a position control unit 5.
1, D / A converter 52, speed control unit 53, current control unit 5
4 and an amplifier 55 are connected and provided in this order, and an F / V connected to a pulse generator 49A.
A converter 56 is provided. The position detection signal provided from the pulse generator 49A is input to the position control unit 51, and the driving speed is detected by converting the frequency of this signal into a voltage by the F / V converter 56. Is input to the speed control unit 53. Then, the position control unit 51 obtains the deviation between the target position given by the CPU 50 and the actual position by the position detection signal, sets the target speed according to the deviation, and further, by the speed control unit 53, The deviation between the target speed and the actual speed based on the speed detection signal is obtained, and a control signal corresponding to the deviation is output, and the current control unit 5
4 and the amplifier 55 control the drive current of the motor 11A according to the control signal.

Further, the sub-control unit 15B for controlling the motor 11B on the sub-traveling vehicle side has a deviation counter 61 for receiving signals from both pulse generators 49A, 49B.
A speed controller 63 connected thereto via a D / A converter 62, a current controller 64 and an amplifier 65 for controlling the drive current of the motor 11B, and a pulse generator 49.
An F / V converter 66 that gives a speed detection signal obtained by converting the signal from B to the speed control unit 63 is provided, and a changeover switch 67 is provided. This change-over switch 67 connects the current control section 64 to the main control unit 15
It is possible to switch between a first connection state in which the speed control unit 53 of A is connected and a second connection state in which the current control unit 64 is connected to the speed control unit 63 of the sub control unit 15B.
Switching operation is performed by a signal from the PU 50.

When the carriage is driven to travel, the changeover switch 67 is set to the first connection state. In this state, the main control unit is also included in the current controller 64 for controlling the drive current of the motor 11B on the side of the auxiliary carriage. A control signal from the speed control unit 53 of 15A is given. That is, both motors 11 are driven by a common control signal from the speed control unit 53.
The drive currents of A and 11B are controlled so that the torque is evenly shared by both motors 11A and 11B during traveling.

Further, the changeover switch 67 is set to the second connection state during the raising / lowering drive for raising / lowering the handling mechanism. In this state, the deviation counter 61 causes the motor 11A on the main traveling carriage side and the motor 11B on the sub traveling carriage side.
The deviation of the driving position is calculated, the target speed corresponding to the deviation is set, and a control signal corresponding to the deviation between the target speed and the actual speed is output from the speed controller 63 to the current controller 64. As a result, both motors 11A,
It is controlled so that there is no difference in the drive position of 11B, that is, there is no difference in the operation amount of the hoisting mechanism driven by each motor 11A, 11B.

According to the apparatus of this embodiment as described above, when both traveling carriages 3A, 3B travel along the rail 1, the traveling clutch 18 of each traveling carriage 3A, 3B is turned on and the traveling brake 19 is turned off. In this state, by driving the motors 11A and 11B of the traveling vehicles 3A and 3B, the power thereof is transmitted to the drive wheels 12. In this case, the lifting clutch 42 is turned off and the lifting brake 43 is
Is turned on, the handling mechanism 5 is maintained at a constant height position (for example, a rising end position).

When the traveling vehicles 3A and 3B reach a predetermined position where work such as loading and unloading should be performed, the traveling clutch 18
Is turned off and the traveling brake 19 is turned on to stop traveling, and the lifting clutch 42 is turned on.
By switching the lift brake 43 to OFF,
The power of both motors 11A and 11B is generated by each winding mechanism 26.
A, 26A ', 26B, 26B' are transmitted to the lifting / lowering operation of the handling mechanism 5. In this case, the handling mechanism 5 inclines when the operating amounts of the hoisting mechanisms 26A, 26A ', 26B, and 26B' deviate,
Both the motors 11A and 11B are electrically controlled to be synchronized with each other, and the hoisting mechanisms 26A and 26B are mechanically controlled.
Since A ', 26B, and 26B' are interlocked with each other, the deviation of the operation amount of the hoisting mechanisms 26A, 26A ', 26B, and 26B' is reliably prevented.

In other words, electrically, both motors 11A, 1
The drive currents are controlled so that there is no difference between the drive positions of 1B (see FIG. 7). Furthermore, each motor 11
In each of the winding mechanisms 26A, 26A ', 26B, 26B' that are respectively driven by a pair by A and 11B, the drums 27 are interlocked by the timing gears 31 and 32 for each pair and driven by one motor 11A. Since the drums 27 that are driven by the other motor 11B are connected by the shaft 45, the drums 27 reliably rotate in synchronization. Therefore, the motors 11A and 11B
Even if there is a control error or a malfunction in the drive of No. 3, the working amount of the hoisting mechanism 26A, 26A ', 26B, 26B' does not deviate, and the inclination of the handling mechanism 5 is prevented.

Incidentally, in each of the traveling vehicles 3A and 3B, the structure of the portion for rotatably supporting the output shaft 17 of the motors 11A and 11B is shown in FIG. It is preferable to set as follows.

That is, in this type of motor, the output shaft and the rotating portion connected to the output shaft are rotatably supported by the housing at a plurality of points via bearings. For example, one cross roller bearing and the other two are provided. A structure supported by three points by a bearing is generally known in the related art. However, in such a support structure, an unreasonable force is apt to act on the bearing portion when the traveling carriage moves on a rail having a slope, which tends to reduce durability. Therefore, in order to absorb and disperse the force acting in the thrust direction and the like, it is conceivable to provide a coupling having elasticity by a leaf spring or the like on the output shaft. However, if the above-mentioned coupling is incorporated in the portion that protrudes outward of the motor, the amount of protrusion of the output shaft from the motor becomes longer,
Since the distance between the motor and the driving wheels becomes large, the rails deviate from the supporting points and the center of gravity, resulting in poor balance and an increase in size.

Therefore, in the example shown in FIG. 8, the amount of protrusion of the output shaft 17 from the motors 11A and 11B is increased while absorbing the force in the thrust direction and the like to prevent the force from acting on the bearing portion. In order to avoid this and to achieve compactness, a coupling 78 using a leaf spring 79 is arranged inside the motors 11A and 11B. More specifically, each of the motors 11A and 11B is provided with a field coil 71 on the inner peripheral portion of its body, and an armature 72 and an output shaft 17 are disposed inside thereof. The output shaft 17 has one end located at the center of the inside of the motors 11A and 11B and the other end located at the motors 11A and 11B.
Of the output shaft 17, and the pulley 21, the traveling clutch 18, and the drive wheels 12 are provided around the protruding portion of the output shaft 17.
A travel brake 19 is also provided.

The output shaft 17 and the armature 72 are rotatably supported by a housing 75 at two points via a cross roller bearing 73 and a bearing 74. Further, inside the armature 72, between the flange portion 76 provided at the end of the output shaft 17 and the auxiliary member 77 fixed to the armature 72, a cup made elastic by a leaf spring 79 is provided. The ring 78 is interposed.

In this way, the coupling 78 using the leaf spring 79 absorbs and disperses the force acting on the output shaft 17 between the output shaft 17 and the auxiliary member 77, so that the cross roller bearing 73 and the like cannot be forced. It is possible to avoid the application of various forces. Moreover, since the space existing inside the armature 72 inside the motors 11A and 11B is used and the coupling 78 is incorporated therein, the increase in the axial length can be avoided.

The specific structures of the motors 11A and 11B and the portion around the output shaft are not limited to this example. Further, the specific structures of the traveling vehicles 3A and 3B, the handling mechanism 5 and the like may be variously modified without departing from the scope of the present invention.

[0032]

As described above, the present invention is provided with a plurality of hoisting mechanisms connected to the respective motors of a plurality of traveling carriages connected to each other through the transmission mechanism and the clutch means. Since the handling mechanism is suspended and the drums of the hoisting mechanism that are driven by different motors are linked by the shaft, the motor of each traveling carriage is used to raise and lower the handling mechanism to rationalize the structure of the drive system. can do. Moreover, since the hoisting mechanism that is driven by each of the plurality of motors is mechanically linked through the shaft, the operation of each hoisting mechanism can be reliably synchronized,
It is possible to prevent the handling mechanism from tilting during ascending and descending and to improve the stability of the ascending and descending operation.

[Brief description of drawings]

FIG. 1 is a front view of a carrying device including a handling mechanism lifting device according to an embodiment of the present invention.

FIG. 2 is a side view of the transfer device.

FIG. 3 is an enlarged cross-sectional view taken along the line III-III in FIG.

FIG. 4 is a partially cutaway enlarged cross-sectional view taken along the line IV-IV in FIG.

5 is a sectional view taken along line VV of FIG.

FIG. 6 is a skeleton diagram showing a drive system.

FIG. 7 is a block diagram showing a control system.

FIG. 8 is an enlarged cross-sectional view showing an example of a specific structure of an output shaft mounting portion of a motor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 rail 3A, 3B traveling carriage 4 frame 5 handling mechanism 11A, 11B motor 12 driving wheel 17 output shaft 26A, 26A ', 26B, 26B' winding mechanism 27 drum 45 shaft

Claims (1)

[Claims] 1. A plurality of traveling carriages connected to each other via a frame, and a handling mechanism supported by the frame so as to be able to move up and down in a suspended state, each of the traveling carriages rolling on a rail. In a conveying device provided with a driving wheel that moves and a motor that rotationally drives the driving wheel, a plurality of hoisting mechanisms connected to the respective motors via a transmission mechanism and clutch means are provided, respectively. A handling mechanism for a conveyor, characterized in that the handling mechanism is suspended, and drums of a hoisting mechanism driven by different motors are connected by a shaft so that the drums rotate integrally. lift device.