JPH0674063B2 - Transport device using self-propelled body - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a carrier device using a self-propelled body, which is used for supporting and carrying a body or the like in an automobile assembly line, for example.

2. Description of the Related Art Conventionally, as a transfer device of this type, for example, Japanese Patent Laid-Open No. 61-1
The transport facility found in the 83010 publication is provided. This conventional type has a self-propelled body supported and guided by rails,
A hanger device for the transported object is provided below the self-propelled body. Then, the self-propelled body travels on a fixed route to carry the transported object.

In the above conventional type, since the hanger device is arranged on both sides with respect to the self-propelled body and the hanger device is supported from both sides with respect to the transported object, for example, painting work and unloading work by the robot device. Can not be done from the side. Also, it is difficult to stop the self-propelled body accurately, and the hanger device will shift slightly in the front-back direction, and even if the upper part of the hanger device is clamped after stopping the self-propelled body, the lower part of this hanger device will This causes a slight deviation in the front-back direction, and these deviations reduce the working accuracy of the robot device and the like.

As for the problem that the painting and unloading work cannot be performed from the side as described above, for example, as seen in Japanese Utility Model Laid-Open No. 57-123314, a frame located in the front and rear of the transported object is attached to the trolley. On the other hand, it is possible to swingably attach via trunnion pins, etc., and the lower frame is continuously provided in the opposite direction from the lower end of these frames, and by adopting a transfer hanger in which a positioning member is provided on these lower frames. You can deal with it.

However, in the above-mentioned configuration of the transport hanger, when the trolley side is stopped at the work place by the robot device, the frame swings in the front-back direction at the trunnion pin portion, and the desired automatic work is performed. Cannot be performed quickly and accurately, and when the stop position of the trolley in the front-rear direction is deviated, the work accuracy of the robot device or the like is deteriorated.

When a structure is adopted in which the hook lever is engaged with the lower side rod on one side of the hanger device from the outside as shown in Japanese Patent Laid-Open No. 62-163854, the swing of the hanger device to one side is prevented. However, in this case, the hook lever receives the lifting reaction force of the lifting device and cannot deal with the swaying to the other side (reverse direction) or the swaying in the front-rear direction, and it also extends from the side up and down. It interferes with the loading and unloading work.

The object of the present invention is to have a simple structure, but it is possible to quickly deal with disturbances and sway of the stop position, thereby easily and quickly performing various operations from the side and up and down by a robot device or the like. The purpose of the present invention is to provide a carrier device using a self-propelled body that can be expected and can always expect sufficient working accuracy.

Means for Solving the Problems In order to achieve the above object, a carrier device using a self-propelled body in the present invention is provided with a self-propelled body with a traveling drive device supported and guided by rails, and front and rear portions of the self-propelled body are respectively provided. From the lower part of these arms, a pedestal for receiving the object to be conveyed is provided. In addition, while forming a vertically fitted portion, the positioning body is continuously provided from the pedestal, and at a predetermined place in the traveling path of the self-propelled body, from below with respect to the fitting portion. A movable first positioning device is provided, and a second positioning device that is laterally operable with respect to the object to be positioned is provided at another predetermined location in the traveling route.

Effect According to the configuration of the present invention, the self-propelled body moves while being supported by the rail while supporting the object to be conveyed between the receivers or in an empty state, and painting, unloading, etc. It may be stopped at a predetermined work place.

That is, for example, after stopping at the coating work place, the position of the lower end of the arm supporting the transported object is corrected by operating the first positioning device on the ground side and fitting the engaged portion from below. At the same time, they can be locked, so that the transported object is in the correct position, and the painting work by the robot device or the like can be performed quickly and accurately. At this time, the arm is located outside the front and rear of the transferred object, and the first positioning device can also be located outside the front and rear of the transferred object. Easy to do.

Further, for example, after stopping at the unloading work place, the pedestal can be locked and fixed by operating the second positioning device on the ground side to act on the object to be positioned from the side. At that time, since the side and the bottom between the receiving trays can be opened, the work of loading and unloading the conveyed objects acting from the side in the vertical direction can be performed easily and accurately.

Embodiment One embodiment of the present invention will be described below with reference to the drawings.

Reference numeral 1 denotes a rail formed in an I-shaped cross section, which is supported by a flange 2 from the ceiling beam side through a mounting bracket 3, and a side surface opposite to the side surface to which the mounting bracket 3 is coupled is for signal / power supply. The rail device 4 is arranged over the entire length.

The self-propelled body 5, which is supported and guided by the rail 1 and can travel on a fixed traveling path 38, includes a plurality of trolley bodies 6 (two in the embodiment) in the traveling direction and bearings on the trolley body 6 above. 7, a pair of front and rear shafts 8 in the left-right direction, a wheel 9 mounted on the shafts 8 and mountable on the upper surface of the rail 1, and each trolley body 6
Between the trolley body 6 and the lateral shake prevention roller 10 which is attached to the rail 1 and can be brought into contact with both upper and lower ends of the rail 1.
A front and rear connecting rod 12 connected via a connecting pin 11, a traveling drive device 13 with a brake which is attached to one trolley body 6 of the trolley body 6 group and which is interlocked with a shaft 8 thereof. It is composed of a current collector 14 attached to the specified trolley body 6 and slidably in contact with the signal / power supply rail device 4, and a control panel 15 attached to the connecting rod 12.

A pair of left and right anti-vibration rollers 16 are provided on the front and rear parts of the connecting rod 12, respectively.
16 can freely come into contact with the lower surface of an anti-vibration rail (not shown) arranged at a predetermined place such as each work place. In addition, the connecting rod 12
A pair of left and right front arms 17 and a rear arm 18 are vertically provided from the front and rear portions of the. These arms 17 and 18 are separately mounted via left and right pins 19 and 20 so as to be able to swing left and right, and operating rods 21 and 22 are provided laterally outwardly at the upper ends thereof. Each of the arms 17 and 18 has a pipe shape, and cylindrical members 23 and 24 are attached to the lower ends thereof, and the through holes of the cylindrical members 23 and 24 form fitting portions 25 and 26 in the vertical direction. There is.

The pedestals 2 are provided on the lower sides of the arms 17 and 18 and on the side surfaces facing each other in the front-rear direction via brackets 27 and 28, respectively.
9, 30 are arranged in series in the front-rear direction so as to face each other, and a plurality of receiving members 31, 32 are erected on the upper portions of these receiving stands 29, 30, respectively. A body 33, which is an example of an object to be conveyed, is supported by selecting and using these receiving members 31, 32. Rod-shaped objects to be positioned 34, 35 are vertically provided from the lower surface at a position near the free ends of the pedestals 29, 30. A license plate 36 is attached to the outer surface of the front bracket 27. Further, a detector 37 for preventing a rear-end collision including an ultrasonic switch, an optoelectronic switch or the like is attached to the front end of the connecting rod 12.

At a predetermined work place in the traveling route 38, for example, a painting work place 41 by a robot device, a push-up type first positioning device that acts on the fitted parts 25 and 26 from below is provided. This first positioning device comprises a front first positioning device 42 and a rear first positioning device 43, and these first positioning devices 42, 43 are configured identically (substantially the same). That is, a pair of left and right holding frames 46 is provided on the upper part of a pedestal 45 arranged via a jack base 44 for vertical adjustment, and a positioning pin 48 is arranged on the holding frame 46 via a guide member 47 so as to be vertically movable. With this positioning pin
A cylinder device 49 interlocked with the lower part of 48 is attached to the holding frame 46.

At another predetermined place in the traveling route 38, for example, at the unloading work place 51, a second positioning device of a clamp type is provided which acts laterally on the objects to be positioned 34, 35. This second positioning device comprises a front second positioning device 52
And a rear second positioning device 53, and these second positioning devices 52, 53 are configured to be the same (almost the same). That is, a movable base 55, which can be moved back and forth, and a cylinder device 56 for moving the support back and forth are provided on the support member 54.
A pair of left and right clamp members 57 are provided on 55, and a cylinder device 58 for performing the clamp operation is provided.

Next, the carrying work in the above embodiment will be described.

The self-propelled body 5 is supported on the rail 1 by the plurality of wheel bodies 9 by operating the traveling drive device 13 to forcibly rotate the wheel body 9, and laterally vibrated by the plural lateral vibration prevention rollers 10. Drive in a protected condition. The power supply to the self-propelled body 5 is performed by the current collector 14 slidingly contacting the signal / power supply rail device 4, and at that time, signals are exchanged between the ground control unit and the control panel 16. Then, stop, drive control and seat confirmation are performed.

The self-propelled body 5 which has been run as described above has the receiving member 3
It is stopped at the painting work place 41 while the body 33 is supported between 1 and 32. The stop position is selected based on the vehicle type signal, for example, by reading the license plate 36. Then, the cylinder device 49 of both the first positioning devices 42 and 43 is extended, and thereby the positioning pin 48 is raised. Then, the positioning pin 48, which rises, causes each arm 17,1
By fitting the fitted parts 25 and 26 provided at the lower end of 8 from below, the lower ends of these arms 17 and 18 are positionally corrected and simultaneously locked. Therefore, the body 33 is in the correct position, and the painting work by the robot device or the like can be performed quickly and accurately. Further, the arms 17 and 18 are located outside the front and rear of the body 33, and both the first positioning devices 42 and 43 can also be located outside the front and rear of the body 33.
Work from the side of 33 is easy.

In this way, the self-propelled body 5 supporting the body 33 which has completed the desired work or the empty self-propelled body 5 runs and is stopped at the loading / unloading work place 51. Here, first, the cylinder device
The movable table 55 is moved forward from the side by the operation of 56, and the opened clamp tool 57 faces the objects 34, 35 to be positioned.
Then, the clamps 57 are closed by the cylinder device 49 to clamp the objects 34, 35 to be positioned, so that the pedestals 29, 30 can be locked. Therefore, the pedestals 29 and 30 can be fixed, and the sides and the lower portions between the pedestals 29 and 30 can be opened, so that the loading and unloading of the body 33 can be easily performed by vertically acting from the side. Can be done accurately.

In the above-mentioned embodiment, rod-shaped objects to be positioned 34, 35 are provided vertically from the positions near the free ends of the pedestals 29, 30, but these are connected laterally outward or forward from the pedestals 29, 30. It may be provided. In this case too, the clamp is acted on from the side.

EFFECTS OF THE INVENTION According to the present invention having the above-described configuration, for example, after stopping the self-propelled body at the coating work place, the first positioning device on the ground side is operated to fit the portion to be fitted into the portion to be conveyed from below. The lower end of the arm supporting an object can be positionally corrected and at the same time locked. Therefore, when the self-propelled body is stopped, even if the stop position is disturbed or shakes occur, the transported object can be accurately positioned, and the coating work by the robot device or the like can be performed quickly and accurately. It can be carried out. At this time, the arm is located outside the front and rear of the transferred object, and the first positioning device is also located outside the front and rear of the transferred object, so that the coating work by the robot device can be easily performed from the side of the transferred object. Can be done.

Further, for example, after stopping at the unloading work place, the pedestal can be locked and fixed by operating the second positioning device on the ground side to act on the object to be positioned from the side. At that time, since the side and the bottom between the receiving pedestals are opened, the work of loading and unloading the conveyed objects can be easily and accurately performed by acting vertically from the side.

[Brief description of drawings]

The drawings show one embodiment of the present invention, in which FIG. 1 is a side view and FIG.
The figure is a rear view, FIG. 3 is a front view of the positioning device portion, and FIG. 4 is a side view of the same. 1 ... Rail, 4 ... Rail device, 5 ... Self-propelled body, 6 ...
… Trolley body, 13 …… Travel drive, 14 …… Current collector,
15 …… control panel, 17 …… front arm, 18 …… rear arm,
25,26 …… Matched part, 29,30 …… Cage, 31,32 …… Receptor, 33 …… Body (transported object), 34,35 …… Located body, 36 …… Number plate , 38 …… Traveling route, 41 ……
Painting work place, 42 …… front first positioning device, 43 …… rear first positioning device, 48 …… positioning pin, 51 …… unloading work place, 52 …… front second positioning device, 53 …… Rear second positioning device, 57 ... Clamping tool.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tomoyuki Sasaki 3-2-11 Minejima, Nishiyodogawa-ku, Osaka City, Osaka Prefecture Daifuku Co., Ltd.

Claims (1)

[Claims] 1. A self-propelled body with a traveling drive device supported and guided by rails is provided, and left and right swingable arms are vertically provided from front and rear portions of the self-propelled body, respectively. And a receiving member for an object to be conveyed is provided on the upper part of these receiving bases, a vertically fitted portion is formed at a lower end of the arm, and a receiving body is positioned from the receiving base. And a first positioning device that is operable from below with respect to the fitted portion at a predetermined location in the travel route of the self-propelled body, and the first positioning device is provided at another predetermined location in the travel route. A transfer device using a self-propelled body, characterized in that a second positioning device is provided which is capable of acting laterally on the body to be positioned.