JPH0723142Y2 - Body transport and carriage return device in automobile assembly line - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a body conveying / carriage returning device which is suitable for use in conveying a body (vehicle body) in a conveyor type assembly line of an automobile.

[Conventional technology]

As seen in the example of attaching window glass to the car body (body) in an automobile assembly line, parts with complicated shapes and structures are automatically processed by using robots in the manufacturing process of products. It is essential to position the work with respect to the robot with high accuracy in order to assemble the work.

As a technique for carrying and accurately positioning a work in such a manufacturing process, there is a technique described in JP-A-60-179376. This is Fig. 59 (process conceptual diagram)
As shown in, the work W is received from the slat conveyor at the position P ₀ before the position P _{0 to be} positioned and the work position P ₀ is received.
The workpiece is transported to the work position P ₀ and stopped to perform positioning. In this stopped state, the angular deviation θ of the workpiece with respect to the reference axis line BL is first corrected, then the lateral deviation Z is corrected, and finally the front-rear direction. The positional deviation between the work W and the work robot is made constant by correcting the deviation X in the direction.
Then, after the assembly of the parts by the robot at that position, the work W is sent a predetermined distance forward P ₁ and placed on the next slat conveyor.

The work positioning device 01 is configured as shown in FIGS. 60 and 61 (side view and front view), and is located outside the slat conveyor 02 and the position adjusting device 03 disposed between the pair of slat conveyors 02. It is equipped with a first length measuring device 04 and a second length measuring device 05 installed in the. The position adjusting device 03 is configured to be able to reciprocate along the slat conveyor 02 by the chain conveyor 08 installed in the pit 07 dug down from the floor 06, and as shown in FIG. 62 (side view), A base 011 that is driven in the front-rear direction by a chain conveyor 08 via a roller 010 along a rail 09, and a front-rear moving base that is placed on the base 011 and is slidable in the front-rear direction with respect to the base 011. 012, an elevating table 013 placed on the front-rear moving table 012 and movable up and down with respect to the same table, a left and right moving table 014 placed on the elevating table 013 and movable left and right with respect to the same table, and It has a rotating table 015 which is placed on the moving table 014 and is rotatable with respect to the same table. A work receiver 016 that supports the work W is provided on the rotary table 015, and a flexible supply line that supplies power to the position adjusting device 03 from a fixed point in the pit 07 on the front-rear moving table 012. 017 is provided.

[Problems to be solved by the device]

By the way, the conventional positioning device as described above has the following problems.

(1) If such a device is to be applied to a multi-stage manufacturing process, it is necessary to install the same position adjusting device 03 and length measuring devices 04 and 05 for each process, which makes the line larger. As a result, the cost of the equipment is increased, and it is difficult to improve the productivity due to the increased need for maintenance, resulting in an increase in the cost of the product.

(2) Since the positioning device 01 is movable, a long flexible supply line 017 is required for supplying electric power and hydraulic pressure to the device, but the hydraulic device supply line having high rigidity is used as the positioning device 01.
It is difficult to configure so as to cope with the reciprocating motion of the device without resistance.

(3) Since the large and heavy positioning device 01 must be reciprocally moved along the line and securely stopped at a certain position and firmly locked, a highly rigid support track that can withstand heavy weight It requires a large-scale stopping device that can absorb a large inertial force and a locking device that excels in fastening force. Considering the causes of these problems, it can be understood that the problems are that the posture of the work once established is destroyed each time it is conveyed and that the positioning device is movable. Therefore, these problems should be solved if a measure is taken in which a fixed type positioning device and a conveyer capable of carrying the workpiece while keeping the positioning posture of the device are combined.

The present invention is intended to solve these problems,
A dolly is interposed between a car body as a workpiece and a conveyer to convey the dolly, and by controlling the carriage of the dolly to each assembly station, it becomes unnecessary to measure and correct the posture of the body at each assembly station for assembly. An object of the present invention is to provide a body transporting / carriage returning device in an automobile assembly line, which simplifies the structure of the line and improves efficiency.

[Means for Solving the Problems] In order to achieve the above-mentioned object, the body transporting / carriage returning device in the automobile assembly line of the present invention is provided in the automobile assembly line at each assembly station position along the assembly line. Shuttle conveyor (61) as a body transport device for sequentially stopping the automobile body as a workpiece placed on the carriage (5) and stepwise transporting it to the position corresponding to the next assembly station, and ending the step transporting Chain conveyor (62) as a returning device for returning the bogie separated from the body, a bogie returning lifting device (7b) arranged near the end of the shuttle conveyor, and a working robot at each of the assembling stations. With a trolley positioning device that automatically positions the trolley in a predetermined positional relationship with The shuttle conveyer and the chain conveyer are assembled in upper and lower two stages in a main body frame assembly (63) to which the rails (633) of the truck are attached, and the shuttle conveyer has a shuttle beam (67) and each of the above A plurality of transport pins (674) that can be engaged with the pin engagement holes (561) of the carriage are attached to the shuttle beam so as to be retractable and retractable, and a pin roller guide (65 provided along the rail (633). ) Is configured to prevent engagement and disengagement of the transport pin from the pin engagement hole while the shuttle beam is being transported by the shuttle beam.
The left and right guide rollers (55) mounted on the carriage are constrained in the left and right direction by the inner surface of the rail (633), and the wheels (54) mounted on the carriage are configured to be movable only in the front-rear direction. , The carriage return lifting device (7b) lowers the carriage (5) from the track of the shuttle conveyor (61) to the same level as the upper guide track (623) as the return path of the chain conveyor (62), Stand (71b)
And a dolly lifter (72b) mounted on the same pedestal (71b) so as to be able to move up and down by a hydraulic cylinder 713b, and a dolly frame (51) of the dolly (5) sandwiched between the dolly lifter (72b). And a stopper arm (731b) that is mounted on the trolley lifter when the trolley lifter descends and reaches a level that is aligned with the upper guide track (623) of the chain conveyor (62). A carriage returning mechanism for releasing the stopper arm that holds the carriage and moving the carriage to the chain conveyor (62), wherein the carriage positioning device corresponds to each of the assembling stations. 63) Air cylinders mounted respectively on the top and a truck lock (64) vertically driven by the respective air cylinders, and a clamp for the truck (5). Notches wedge provided in the pawl engagement block (57) engages (571) with a stopper for restricting the Kuranbu position of the carriage (646, 647)
Is provided on each of the above truck locks.

[Action]

In the above-described vehicle carrier / carriage returning device in the automobile assembly line of the present invention, the carriage on which the body as the workpiece is placed is step-carried by the carrier device and stopped at each assembling station position. At this time, the trolley positioning device provided on the transport path is operated, and the position of the stopped trolley is restricted to a predetermined position corresponding to each station position. Such an operation is performed in parallel at each assembly station position.

In addition, the body that has completed the step conveyance is separated from the carriage, and the separated carriage is returned by the chain conveyor.

〔Example〕

Next, an embodiment of the present invention will be described. FIG. 1 is a procedure explanatory view conceptually showing an operation in the embodiment, FIG. 2 is a block diagram showing an embodiment of the device of the present invention, and FIG.
The figure is an overall plan view showing the device including the line configuration.
4 is a right side view, FIG. 5 is a left side view showing an embodiment of the device of the present invention, FIG. 6 is a plan view thereof, FIG. 7 is a rear view thereof, and FIG. 8 is a front view thereof. Is.

Prior to explaining the embodiment of the apparatus of the present invention, the operation procedure therefor will be described. As shown in FIGS. 1 (a) to 1 (c), the apparatus is first carried on a carrying conveyor in the previous step. An operation is performed in which the body W, which is a workpiece, is brought into a temporary support state in the same posture. At that time, the body W is the first
As shown in FIG. 10A, the angle deviation θ and the lateral deviation Z are maintained with respect to the reference axis BL of the pallet C, and the longitudinal deviation X is maintained with respect to the reference position line TL. Therefore, these deviation amounts are measured and, as shown in FIG. 1B, the pallet C is aligned with the combined position according to the measurement result. After this alignment is completed, the pallet C is then combined with the body W. Further, as shown in FIG. 1 (c), the posture of the body mounting pallet C combined with the body W is corrected again so as to be aligned with the reference axis line BL and the reference position line TL. When this posture correction is completed, the pallet C is step-transported in the direction of the arrow by the conveyor serving as a workpiece transport / pallet returning device, and the reference position line TL of each processing station position is used.
Transport to a position that matches.

When such step conveyance is repeated and the body mounting pallet C reaches the final station, this time, the body mounting pallet C is lowered and only the body W is supported in the middle of lowering to separate the body W from the pallet C. . Then, the separated body W is placed on the conveyor for the post-process,
Empty pallet C is sent back.

According to the above-mentioned operation, once the pallet C is joined to the body W, the positional relationship between the pallet C and the body W is fixed, so that the pallet C is conveyed to each processing work position by the conveyor.
When the body W and the body W are conveyed, the angular deviation θ and the lateral deviation X of the body W do not occur. Therefore, only by positioning the pallet C on the reference position line TL at each processing work position by the conveyor, the relative positioning with the robot or the like arranged on the line is automatically established. .

Next, as shown in FIGS. 2 to 8, one embodiment of the apparatus of the present invention is that a body W as a workpiece to be carried on a hanger 11 of an overhead conveyor 1 as a conveyor for the previous process. The table lifter 2 which supports the table lifter 2 in a temporary support state according to the attitude received and conveyed, and the angular deviation θ, the lateral deviation Z, and the longitudinal deviation as the attitude of the body W supported by the fork 21 of the table lifter 2. It has a vehicle body position measuring device 3 for measuring X.

Further, this apparatus is configured such that the pallet C as a pallet C, which is carried on a conveyor 6 along a component assembly line as a processing line, and the dolly 5 have an angular deviation θ of the body W, a lateral deviation Z, and a longitudinal deviation. The positioning device 4 is provided to adjust the position to a united position to be aligned with X and a transport position to be aligned with the transport orientation of the conveyor 6 along the component assembly line.

The conveyor 6 along the parts assembling line has a shuttle as a step carrying means for carrying while restricting only the flow direction position of the carriage 5 on the parts assembling line for each parts assembling work position as each processing station position. Form a body transport device.

As a matter of course, as shown in FIG. 2, each of these devices is provided with a control unit for controlling each operation, and is provided with an overall control system for making each control unit perform an associated operation. In FIGS. 2 to 6 and 8, reference numeral 7 indicates a wholesaler, the structure and operation of which will be described later.

In the above-described apparatus according to the embodiment of the present invention, the body W conveyed on the hanger 11 of the overhead conveyor 1 is conveyed.
Is temporarily supported by the fork 21 of the table lifter 2 in a posture corresponding to the transporting posture, and the vehicle body position measuring device 3 causes an angular deviation θ with respect to the reference axis line BL of the component assembly line, a lateral deviation Z, and a front-back direction with respect to the reference position line TL. The function of measuring the displacement X is performed. On the other hand, the positioning device 4 moves the carriage 5 on the basis of the above-mentioned measurement results to obtain the respective deviations θ, Z, X of the body W.
The position of the body 5 is controlled so that the vehicle W is joined to the body W, and the carriage 5 is integrated with the body W.
The dolly 5 combined with the conveyor 6 along the parts assembly line
The operation for returning to the transport position is performed so that the angular deviation θ and the lateral deviation Z with respect to the reference axis BL are set to 0 and the longitudinal deviation X with respect to the reference position line TL is set to 0 so as to match the conveyance posture of. Thus, when the trolley 5 is in the transporting posture, the conveyor 6 along the component assembly line carries the action of transporting the trolley 5 to each assembly work position 1ST to 7ST so as to secure each flow direction position TL in the component assembly line. .

As shown in FIGS. 3 and 4, with respect to the body W stepwise conveyed to each of the assembling work positions 1ST to 7ST, the spare tire loading device is installed at the first station 1ST where the positioning device is disposed. 91 is provided, and hereinafter, the second station 2ST has a left tire assembling device 92 and a right tire assembling device 9
3、3rd station 3ST body primer application device
94, radiator grill assembly, battery assembly device 95, 4th station 4ST filled with power steering oil, engine mount tightening device 96, 5th station 5ST rear bumper assembly device 97, strut tightening device 98, 6th The station 6ST is provided with a quarter window glass assembling device 99, a front bumper assembling device 100, a brake fluid filling clutch fluid filling device 101, and the final seventh station 7ST is the disposing position of the wholesaler.

Further, each device in the above embodiment of the present invention will be described in detail. FIGS. 9 to 13 show a table lifter, FIG. 9 is a front view thereof, and FIG. 10 is a left side view thereof.
FIG. 11 is a plan view thereof, FIG. 12 is a partially enlarged rear view thereof, and FIG.
13 is a sectional view taken along the line XIII-XIII in FIG.

As shown in FIGS. 9 to 11, the table lifter 2 is provided with a pair of left and right hollow cylindrical posts 22 and their upper ends are connected by a lateral beam 23. A guide rail 221 is provided extending vertically, and a lifter 212 is provided which is moved up and down by being guided by a guide roller set 211 having three rollers sandwiching each guide rail 221.

Each of the lifters 212 is provided with a pair of front and rear body supporting forks 21 that are horizontally arranged and are guided by the guide roller set 211 to move in the left and right directions.
Further, one end of the lifter 212 is pivotally attached to the front side of the lifter 212, and the air cylinder 214 is configured to be pivotable.
A fall prevention arm 24 for supporting the front part of the body W is attached. A pair of left and right hanger guides 231 and a hanger opening device 25 are hung below the lateral beam 23, and a lifting drive device 26 for the lifter 212 is placed above the lateral beam 23.

The hanger release device 25 includes an open arm 251 and an air cylinder 2.
52 and a link 253 connecting them, the hanger guide 231 has a guide rail 232 that also serves as a horizontal guide and a horizontal guide for the hanger 11 of the overhead conveyor 1, and the lifting drive device 26 is shown in FIGS. As shown in the details thereof, a motor 261, a speed reducer 262, a pair of chain sprockets 263 arranged immediately above the post 22, and a connecting shaft 267 connecting the chain sprockets 263 via a flexible coupling 264 are provided. As shown in FIG. 10, a post 22 has a counterweight 268 which is guided up and down along the inner circumference thereof. And two chains 269 for each chain sprocket 2
63 is meshed in the vicinity of its central portion, one end is hung down along the outside of the post 22, the end is fixed to the upper part of the lifter 212, and the other end is hung along the inside of the post 22 and the end is counted. It is fixed to the upper end of the weight 268.

It should be noted that stoppers 222, 223 for restricting the vertical movement of the lifter 212 are attached to the insides of the lower ends and the front sides of the upper ends of both posts 22. An inspection deck 233 for inspecting and supplementing the elevating drive device 26 is provided on the left and right front of the lateral beam 23, and a ladder 234 enables the elevating and lowering of personnel.

In the table lifter 2 configured as described above, the tenth
As shown in the figure, the body W has an overhead conveyor 1
When it is placed on the hanger 11 and sent in, the hanger 11
Is guided by the guide rails 232 in the front-rear direction and the left-right direction and is placed at a predetermined position with respect to the table lifter 2. here,
The air cylinder 252 is operated, the opening arm is swung via the link 253, the upper end of the hanger 11 is pushed up, and the lower end thereof is opened left and right, so that the body W is placed on the fork 21 of the lifter 212 in the raised position. Supported. The lifter 212 supporting the body W descends until it comes into contact with the stopper 223 by the winding operation of the chain 269 of the motor 261. At this time, the fall prevention arm 24 is pushed out by the air cylinder 214 in front of the body W supported by the four points in the central portion, and functions to prevent the body W from falling. The fork 21 that has reached the lowered position is then subjected to position measurement by the vehicle body position measurement device 3, and the position is maintained until the positioning device 4 operates and lifts the body W. Then, when the body W is lifted by the positioning device 4, the fork 21 retracts to the left and right, the fall prevention arm 24 also retracts, and then at a position where the lifting drive device 26 raises the lifter 212 until it abuts the stopper 222. Moving forward again, we are ready to support the next Body W.

According to the table lifter 2, the chain sprocket 263, which constitutes the lifting drive device 26 for moving the left and right lifters 212 up and down, is configured to be bilaterally symmetric, and further, the coupling shaft 267 is configured to rotate in perfect left-right synchronization. Since the left-right synchronization deviation due to the change in the chain length over time is unlikely to occur, the effect that the chain length does not need to be adjusted is obtained.

Next, FIGS. 14 to 16 show a vehicle body position measuring device.
14 is its plan view, FIG. 15 is its right side view, and FIG. 16 is its rear view.

The vehicle body position measuring device 3 measures the posture of the body W supported on the fork 21 of the table lifter 2.
As shown in FIGS. 14 to 16, it is composed of a lateral position (BL) measuring device 3a and a longitudinal position (TL) measuring device 3b, and the BL measuring device 3a is inside the post 22 of the table lifter 2 on the left side of the line. Further, the TL measuring device 3b is obliquely installed on the right side of the line behind the post 22 of the table lifter 2.

The BL measuring device 3a is disposed laterally on the pedestal 31a, and has a pair of front and rear magnetic scales 32a. The tip of these magnetic scales 32a has a tactile force arm 33a that contacts the body W.
And a magnetic scale 32a on its side.
An air cylinder 34a that is arranged in parallel with and drives the magnetic scale 32a is provided, and the piston rod end of the air cylinder 34a is attached to the tip of the magnetic scale 32a.

A detection head 35a that detects the amount of movement of the magnetic scale 32a is provided at an appropriate position on the pedestal 31a.

On the other hand, the TL measuring device 3b is slidably supported in the horizontal direction on the upper part of the pedestal 31b, and is attached to the tip of a slide fitting 33b which is extendable between the measurement position and the retracted position with respect to the pedestal 31b by the air cylinder 32b. The measurement arm 35b is provided and is pivotally attached at one end to the slide fitting 33b, and is slidably supported on the lower surface of the measurement arm 35b and the measurement arm 35b which is driven up and down by an air cylinder 34b installed upright on the slide fitting 33b. The magnetic scale 36b, the detection head 37b also attached to the lower surface of the measuring arm 35b, the air cylinder built into the measuring arm 35b, the rod end of the air cylinder and the tip of the magnetic scale 36b, and the lower end is touched. It is composed of a jaw 39b having a pressure plate 38b.

In the vehicle body position measuring device 3 configured as described above, the BL
In the measuring device 3a, the magnetic scale 32a is pushed to the right by the air cylinder 34a and the touching arm 33a is pushed to the body in order to measure the deviation from the reference position at two positions on the left and right of the body W supported on the fork 21. The deviation of the magnetic scale 32a with respect to the reference feeding amount when abutting on W is detected by the detection head 35a, and the angular deviation θ and the lateral deviation Z are measured. On the other hand, in the HL measuring device 3b, the slide fitting 33b is pushed out by the air cylinder 32b in order to measure the deviation of the position of one point on the upper surface of the body W from the reference position, and then the measuring arm 35b is lowered to the horizontal position by the air cylinder 34b. Then, when the magnetic scale 36b is retracted and the pressure plate 38b is brought into contact with the body W, a deviation of the magnetic scale 36b from the reference feeding amount is detected by the detection head 37b, and the deviation X in the front-rear direction is measured. Then, these measured values are used to control the positioning device 4 via the control system. When the measurement is completed, the air cylinder 34a, the slide fitting 33b, and the magnetic scale 36b are returned to the initial positions and are in a retracted state for the transfer of the body W.

Next, FIGS. 17 to 19 show a positioning device. FIG. 17 is a left side view thereof, FIG. 18 is a rear view thereof, and FIG. 19 is a plan view thereof.

The positioning device 4 supports the body W via the carriage 5, and as shown in FIGS. 17 to 19, the base frame 41 and the lateral movement frame are used.
42, a forward / backward movement table 43, a lifting table 44, and a rotary table 45.

The base frame 41 is configured as a rectangular frame that is long in the front-rear direction, is supported by the jack base of the pit through the screw jacks 411, and is provided with guide grooves facing the left and right directions near the four corners of the upper surface thereof. Linear guide 41
It has 2. A drive device 413 is provided on the right side of the base frame 41 to drive the lateral movement frame 42 in the left-right direction. The drive device 413 is configured to rotate the servo motor 414 via a toothed pulley and a toothed belt. A belt transmission mechanism that transmits to a toothed pulley attached to the ball feed screw shaft 415,
The ball feed screw shaft 415 includes a slide block 417 that is guided by a guide 416 to move in the axial direction by the rotation of the ball feed screw shaft 415, and a link 418 that transmits the movement of the slide block 417 to a bracket 426 of the lateral movement frame 42.

Like the base frame 41, the lateral movement frame 42 is configured as a rectangular frame that is long in the front-rear direction, and the rails 42 that extend in the left-right direction near the four corners of the lower surface thereof and fit into the above-described guide groove.
The linear guide 42 which has 1 and has guide grooves extending in the front-rear direction slightly inside the four corners of the upper surface.
It has 2. A drive device 423 that drives the forward-backward movement table 43 in the front-rear direction is provided behind the lateral movement frame 42, and the drive device 423 has the same configuration as the drive device 413 provided in the base frame 41 described above. And slide block 424
It has a link 425 that transmits the movement of the to the bracket of the front-back movement table 43.

The forward / backward moving table 43 is configured as a rectangular table having a width slightly narrower than that of the base frame 41 or the horizontal moving frame 42, and fits in the guide groove of the linear guide 422 of the horizontal moving frame 42 near the four corners of the lower surface thereof. A rail 431 extending in the front-rear direction is provided. A slide guide 432 vertically penetrating the table 43 is attached to the front side and the rear side of the forward / backward movement table 43, and a hydraulic cylinder 433 is fixed to the center of the table 43.

An elevating table 44 is placed on the forward / backward moving table 43, and a tip of the rod of the hydraulic cylinder 433 is attached to a joint 441 attached to the lower surface of the central portion of the elevating table 44. Guide rods 442, whose upper ends are fixed to the table 44 and extend vertically downward, are provided on the front side and the rear side of the elevating table 44, and these guide rods 442 are fitted to the slide guides 432. And is vertically slidably supported by a bearing arranged on the inner surface thereof. A shaft 443, which stands upright at the center thereof, is fixed to the upper surface of the lifting table 44, and is arranged near four corners of the table 44 on a concentric circle centered on the shaft 443 to support the lower surface of the rotary table 45. Rollers 444 are provided. Further, a drive device 445 for rotating the rotary table 45 is provided on the rear portion of the upper surface of the elevating table 44, and the drive device 445 has the same configuration as the above-mentioned drive device, but is designed to give the table 45 a rotational movement. Unlike the above, the disposing direction is parallel to the table 45, and of course, the slide block 446 is the rotary table 45.
It is attached to the bracket of a via a link 447 that rotates in a horizontal plane.

The rotary table 45 is mounted by being supported by rollers 444 provided on the upper surface of the lifting table 44, and a pair of upper and lower roller bearings into which a shaft 443 standing upright at the center of the lifting table 44 is fitted at the center thereof. It has 451.

A carriage support device, a shuttle beam guide device, a pin roller guide extension, and a carriage clamp device are installed on the upper surface of the rotary table 45. The trolley support device includes rails 452 provided along the left and right edges of the rotary table 45 and extending in the front-rear direction, a front-rear beam 453 supporting the rail 452, and a vertical beam 454 supporting the rail 453 at three positions. A bracket 455 is provided so as to project from the innermost front portion of the front-rear beam 453, and a carriage introduction roller 456 mounted so as to rotate around the horizontal axis is arranged at the inner end of the bracket 455.

The shuttle beam guide device is arranged in the front part inside the carriage support device, and is vertically and horizontally attached to the upper surface and the inner surface of four brackets 457 in total in the front, rear, left, and right, which are provided upright on the upper surface of the rotary table 45. A shuttle beam guide roller group 458 that rotates by being supported by a rotation shaft provided is provided.

A pair of carriage clamp devices is attached to the right side of the rotary table 45, and includes a bracket 459, a clamp pawl 460 pivotally attached to the upper end of the bracket 459 around the longitudinal axis, and a clamp pawl 460.
It is provided with a clamp pawl operating cylinder 461 for rocking. It should be noted that the further detailed structure and operation of this trolley clamp device will be replaced by the following description of the trolley clamp provided on the conveyor device 6a of the conveyor 6 having the same structure and action.

The pin roller guide extension portion 462 is provided inside the shuttle beam guide device, and is configured by attaching one outer surface of the L-shaped section member in the horizontal front-rear direction. A bracket 463 that extends outward and downward beyond the front end of the rotary table 45 is integrally provided at the front end of the extension portion 462, and an air cylinder 464 is pivotally attached to the tip of the bracket 463. A guide plate 465 is attached to the upper end of the bracket 463.
The rod end of the air cylinder 464 is pivotally attached to the lower part of the. The pin roller guide extension is provided with a knuckle 466 that moves up and down. Regarding the configuration and operation of this knuckle 466, the knuckle of the transport device 6a having the same configuration and operation will be described later. The description replaces the description.

In the body positioning device configured as described above, the carriage 5 is mounted on the roller bearing 451 and the clamp pawl 460
While being clamped by, the fork 21 of the table lifter 2 is supported immediately above it and the lateral movement frame 42, the longitudinal movement table 43, and the rotary table 45 are operated so as to match the posture of the body W. Alignment is performed. When the alignment is completed, the elevating table 44 is guided by the guide rod 442 by the extension operation of the hydraulic cylinder 433 and is raised while maintaining the respective positions, and eventually the carriage 5
Is united with the body W as a processed product, and is further lifted. Here, the fork 21 of the table lifter 2 is retracted to the left and right, and escapes to a position that does not hinder the lowering of the body W as a workpiece. Therefore, this time, the horizontal moving frame 42, the forward / backward moving table 43, and the rotary table 45 are simultaneously operated to return the carriage 5 to the transporting posture. Following this, the hydraulic cylinder 433 is contracted and the lift table 44 is lowered to the transport position. The delivery of the carriage 5 to the conveyor 6 and the reception thereof will be described later in the description of the operation of the conveyor 6.

Since the positioning device 4 is configured as described above, by driving the three driving devices 413, 423, 445 at the same time, the carriage 5 can be positioned in an arbitrary posture in the horizontal plane, and the rotary table 45 is positioned at the uppermost stage. And the center of rotation is aligned with the center of the carriage 5,
It is possible to obtain the effect that the calculation for moving is simplified. Further, since this positioning device is mounted on the fixed base frame 41, there is also an advantage that power can be supplied by an extremely simple means.

Next, FIGS. 20 to 22 show a truck as a pallet. FIG. 20 is a left side view thereof, FIG. 21 is a plan view thereof, and FIG.
The figure is its rear view.

The trolley | bogie 5 carries the body W, and is conveyed by the conveyor 6. As shown in FIGS. 20-22, the frame is mainly U-shaped material, and a pair of front-back direction frames 511 have four horizontal frames. The directional frame 512 is connected to each other in a ladder shape to form a bogie frame 51.

On the upper surface of the bogie frame 51, front arms are provided in front of and behind the bogie frame 51 and extend in the left-right direction beyond the width of the bogie frame 51.
513 and a rear arm 514 are provided, a pair of body receivers 52a are attached to the uppermost outermost ends of the front arm 513, and a pair of front and rear body receivers 52b and 52c are attached to the uppermost outermost ends of the rear arm 514. Is installed. A standing wall 521 that engages with the inner surface of the body W is attached to the inner surface of the rearmost body receiver 52c. A pair of left and right positioning pin brackets 515 are provided at the foremost portion of the front arm 513 near the outer end, and a positioning pin 53 that stands upright at the uppermost end thereof and that engages with the positioning hole of the body W is projected.

Under the front arm 513 and the rear arm 514 of the bogie frame 51, all supporting shafts are supported, and wheels 54 constituted by outer races of ball bearings are supported at both ends of these supporting shafts.

On the lower surface of the bogie frame 51, three left and right guide rollers 55 are provided, the outer circumference of which is slightly projected from the frame width.

Also, the first and second lateral frames 512 of the bogie frame 51.
A pin-engaging bush 56 for transportation is attached between the bushes 56. The bush 56 is formed by chamfering the lower edge of the pin-engaging hole 561 in a conical shape so as to facilitate engagement and disengagement of the pin. There is.

Further, on the right side surface of the bogie frame 51, a pair of front and rear clamp pawl engagement blocks 57 are attached.
A wedge-shaped notch 571 is formed on the outer surface of 57. In addition, a pair of front and rear frames are arranged parallel to the inside of the bogie frame 51.
516 is provided, and a support plate 517 for the chain conveyor is attached along the lower surface thereof. Further, a pressing rod 58 is provided so as to project forward from the foremost lateral frame 512.

A stopper 518 that absorbs the impact of a collision is provided at the rear end of the bogie frame 51.

In the dolly 5 configured as described above, the positioning holes of the body W and the positioning pins 53 of the dolly 5 are engaged at the time of merging to position the body W with respect to the dolly 5 in the horizontal plane, and the six body Vertical positioning is performed by the receivers 52a to 52c.

Next, FIGS. 23 to 45 show a conveyor as a workpiece conveying / pallet returning device. FIG. 23 is a rear view of the main body frame assembly, FIG. 24 is a rear view of a part thereof, and FIG. Figure is its plan view and Figure 26 is a rear view of some other parts.
Fig. 27 is a rear view of the shuttle lock of the shuttle conveyor, Fig. 28 is its plan view, Fig. 29 is its left side view, Fig. 30 is its left side view of its shuttle beam guide, and Fig. 31 is its plan view. Fig. 32 is its rear view, Fig. 33 is a plan view of the shuttle beam, Fig. 34 is its rear view, Fig. 35 is a plan view of other parts, Fig. 36 is its rear view, 37 is a side view thereof, FIG. 38 is a rear view of the shuttle beam driving device, FIG. 39 is a rear view of the positioning pin shift mechanism, FIG. 40 is a plan view thereof, and FIG. 41 is a left side thereof. FIG. 42 is a left side view of the carriage return drive device, FIG. 43 is a plan view thereof, FIG. 44 is a sectional view taken along the line XLIV-XLIV of FIG. 43, and FIG. 45 is a rear view thereof. Is.

The conveyor 6 is composed of a shuttle conveyor 61 as a carrier device 6a of the carriage 5 and a chain conveyor 62 as a return device 6b. The shuttle conveyor 61 and the chain conveyor 62 are vertically arranged in the main body frame assembly 63.
It is integrated in the step.

First, as shown in FIGS. 23 to 26, the main body frame assembly 63 has the return path of the carriage 5 at the floor level, the chain conveyor 62 is built in below the floor level, and the information is the shuttle conveyor.
It is a two-story truss structure with 61 mounted.

A pair of left and right beams 632 are disposed on the horizontal frame 631 above the main body frame assembly 63 so that the height of the beams 632 can be adjusted by bolts via floor plates, and rails 633 are bolted onto the beams 632. The rail 633 is slightly above the entire length of the main body frame assembly 63 so as to form a carriage track whose upper surface serves as a traveling surface of the wheels 54 of the carriage 5 and whose inner surface serves as a guide surface for the left and right guide rollers 55. It has been extended.

On the right outside of each process position of the beam 632, the 27th to 29th
As shown in the figure, a pair of trolley locks 64 are attached, and these trolley locks 64 include a main body 64a having a mounting bracket 641 attached to the beam 632 and a main body 64a.
a cylinder bracket 642 mounted on the lower outer side of a,
An air cylinder 643 having a trunnion axially supported by a cylinder bracket 642, and a pivotally supported upper portion of a main body 64a, a clamp pawl 644 at its inner end, and an outer end attached to the rod tip of the air cylinder 643. It has a clamp 64b pivotally supported by a knuckle 645. Then, the clamp 64b and the main body 64a are provided with stoppers 646 and 647 that regulate the clamp position, respectively. Also clamp
The clamp pawl 644 attached to the tip of the 64b has a wedge shape whose width is narrowed toward the tip,
On the lower surface side of the wedge, the clamp pawl engagement block 57 of the carriage 5 is provided.
A tapered portion 648 is formed to guide engagement with a wedge-shaped notch 571 provided in the.

In the trolley lock 64 configured in this way, when the trolley 5 that has been conveyed stops at each process position, the air cylinder 643 of the trolley lock 64 moves to the notch 571 of the clamp pawl engagement block 57 of the clamp pawl 644. When biting in,
The wedge shape of the clamp pawl 644 causes the carriage 5 to automatically position the left guide roller 55 with respect to the left rail 633, so that the carriage 5 is accurately positioned at each process position. Further, since the clamp pawl 644 is pressed into the notch 571, it is restricted by the engagement of the stopper 646 and the stopper 647, so that the left and right guide rollers 55 are not excessively pressed. Thus, according to the carriage lock 64, the carriage 5 can be accurately positioned in the front-rear direction and the left-right direction of the line only by the operation in the single direction. In addition, since there is no excessive stress load on the left and right guide rollers 55 and the rails 633 in this trolley lock 64, the effect of preventing their wear and deformation can be obtained.

Further, a pin roller guide 65 is provided between the beams 632 as shown in FIG. 23.
Reference numeral 65 is formed of an L-shaped cross-section, is attached to and supported by an angle member provided upright on the horizontal frame 631, and the guide surface extends over the entire length of the main body frame assembly 63. And
As shown in FIG. 25, a chevron-shaped notch 651 is provided at each process position of the pin roller guide 65 (corresponding to the clamp claw position on the front side of the carriage lock 64).

Similarly, at some positions between the beams 632, guide devices 66 for the shuttle beams 67 mounted on the horizontal frame 631 are provided. As shown in FIGS. 30 to 32, these guide devices 66 are provided between the beams 632 at substantially constant intervals over substantially the entire length of the main body frame assembly 63, and are of the type shown in FIG. Is mainly disposed in the front portion and the rear portion of the main body frame assembly 63,
The type shown in (b) is arranged in the central portion of the main body frame assembly 63, and the type shown in (c) is arranged in a pair in the front and back with the drive device 68 of the shuttle beam 67 interposed therebetween. Each guide device 66 includes rollers 661 and 662 that support and guide both lower surfaces and both side surfaces of the shuttle beam 67, and in the type shown in (a), a roller 663 that guides the upper surface of the shuttle beam 67 is additionally provided. In the type shown in c), a roller 664 for guiding the upper surface is further provided. Each of these rollers is supported by the horizontal frame 631 of the main body frame assembly 63 via a bracket. A slight distance is provided between the roller 661 and the shuttle beam 67 sandwiched between the rollers 663 and 664.

A shuttle beam 67 extending over the entire length of the main body frame assembly 63 is placed on the guide device configured as described above. As shown by the imaginary line in FIG. 23, the shuttle beam 67 has a ladder shape in which a pair of box-shaped beams 671 are connected at regular intervals by a box-shaped horizontal bar 672, and As shown in FIG. 34, a rack 673 having rack teeth on the lower surface is attached to the lower surface of the intermediate portion in the length direction over a fixed length via an attachment frame.
As shown in FIGS. 35 to 37, the shuttle beam 67 is further provided with a support block 675 that supports a pin 674 for carrying the carriage so as to be vertically movable at a pitch corresponding to an interval between process steps on the line. . A sliding guide bush 676 is fitted in the pin up-and-down moving hole 675a of the support block 675, while a rotation stop notch 674a is formed on the left and right peripheral surfaces of the pin 674 fitted in the bush 676. Cutout 674a
A detent 675b engaging with is fixed to the support block 675. A pin roller 674c that rolls on the pin roller guide 65 is attached to the right end of the lower end of the transport pin 674, and is cut away from the peripheral surface beyond the center position.

The drive device 68 for the shuttle beam 67 is arranged at the lower left floor level at the center of the main body frame assembly 63 in the longitudinal direction, and as shown in FIG. 38, is keyed to the right end side of its drive shaft 681. The pinion gear 682 is engaged with the rack teeth of the rack 673 of the shuttle beam 67 described above. This drive device 68 has a motor 68 as shown in FIGS. 6 and 38.
The output of 3 is transmitted to the drive shaft 681 through the speed reducer 684, and the brake device 685 is attached to both sides of the speed reducer 684.

In the above-mentioned chevron notch 651 of the pin roller guide 65,
As shown in FIG. 41 to FIG. 41, a pin shift mechanism 69 for positioning the carrying pin 674 at each process position is provided. This pin shift mechanism 69 is formed in a mountain shape in a plan view that engages with the cutout portion, a knuckle 691 formed in a U shape with a groove on a side portion in a front view, and an air cylinder 692 for operating the knuckle 691. The air cylinder 692 is mounted upright on the horizontal frame 631 of the main body frame assembly 63 via the bracket 693, and its rod is knuckle 691.
It is fixed to. The lower surface of the groove of the knuckle 691 functions as a supporting surface of the pin roller 674c of the transport pin 674.

In the transport pin shift mechanism 69 configured as described above, when the carriage 5 is transported, the pin 674 engaged with the pin engagement hole 561 of the carriage 5 travels with its pin roller 674c placed on the upper surface of the pin roller guide 65. Come on. When the knuckle 691 is lowered by the operation of the air cylinder 692 when the pin 674 stops at the above-mentioned cutout 651, the pin 674 separates from the pin engagement hole 561 and the shuttle beam 67 and the carriage 5 are separated. The engagement is released. Then, when the shuttle beam 67 is retracted in this state, the pin 674 moves backward without returning to the pin roller guide 65 and returns to the process position one station before. When the carriage 5 is conveyed, the air cylinder 692 of the pin shift mechanism 69 is operated to be raised, and at that time, the pin 674 on the groove surface of the knuckle 691 is moved up as the knuckle 691 is lifted, and the pin roller guide 6 is moved.
It is lifted to the same level as the guide surface of 5, so as to be ready for the next transfer operation of the shuttle beam 67.

According to such a pin shift mechanism 69, the carriage 5 and the shuttle beam 67 can be firmly connected only by the operation of the air cylinder 692 provided in the fixed portion, and the shuttle beam 67 that operates at high speed can be engaged and disengaged. Drive source, wiring,
Since no piping or the like is required at all, a strong and reliable engagement / disengagement mechanism is realized with a simple structure.

As shown in FIG. 23, the carriage return path is provided below the carriage conveyance path. Then, the carriage returning device 6b in this carriage returning path is constituted by the chain conveyor 62,
The chain conveyor 62 is driven by a chain conveyor drive device 621 as shown in FIGS. 42 to 44 provided at the rearmost part of the main body frame assembly 63. The chain conveyor drive device will be described later together with the carriage return drive unit assembly.

FIG. 26 shows a general cross section of the chain conveyor 62, and guide rails of the chain conveyor are provided above and below a horizontal frame 634 located at the floor level of the main body frame assembly 63. The upper guide track is a chain sprocket provided at the front end of the body frame assembly 63.
622a and a pair of plate-shaped chain rails 623 extending between the chain sprockets 622b provided at the rear end of the main body frame assembly 63, and guide rollers of the carriage 5 that extend parallel to the outer sides of the pair of plate rails 623. L that contacts the outer surface of 55
It has a roller rail 624 made of shaped material. On the other hand, the lower guide track has a chain sprocket 622a also provided at the front end of the body frame assembly 63 and a chain sprocket 62 provided at the rear end of the body frame.
Horizontal frame 63 extending between 2b and at floor level
Chain receiving gutter 636, which is supported by a frame 635 suspended from 4 at regular intervals and is made of a U-shaped material with an open top.
And a chain rail 63 with a rectangular cross section arranged in the center
It has seven. Chain 625 with such a guide track
Is supported by an upper chain rail 623, is sent in the returning direction while mounting the cart 5 thereon, and is returned in the carrying direction while being supported by the lower chain rail 633.

A carriage return drive assembly 60 is provided at the rearmost end of the main body frame assembly 63. The carriage return drive assembly 60 is
As shown in FIG. 45, it is provided with a drive device 621 for the chain conveyor 62 for returning the carriage 5, an pushing device 60a for pushing the carriage 5 to the positioning device 4, and a stopper device 60b for restricting the movement of the carriage 5. . The drive device 621 of the chain conveyor 62 has a motor 626 installed in the main body frame assembly 63, a drive shaft 627 that transmits the rotation of the motor 626 via a chain and a sprocket, and is attached to the drive shaft. It has a pair of left and right drive sprockets 622b, and this pair of drive sprockets 622b is positioned on the extension line of the rear end of the chain rail 623 so that the uppermost end position of its outer circumference is aligned with the upper side of the chain rail 623. . Further, a guide sprocket 628 is installed so as to be adapted to the rear end of the lower chain rail 637, and a pulling device 629 equipped with a tension roller for giving a constant tension to the conveyor chain 625 is provided with the drive sprocket 622.
The pit is further dug between the b and the guide sprocket 628.

The pushing device 60a for pushing the carriage to the position adjusting device is composed of a pushing block 601a and a guide mechanism and a driving mechanism thereof. The extrusion block 601a is formed in a gate shape as shown in FIG. 45, and has a pair of guide fittings 602a with a U-shaped cross section open to the right on its right side.
602a is fitted to a guide rail 603a described later. The pushing block 601a is formed with a fork portion 604a that extends rearward from the rear end portion and opens downward.
The raising and lowering hook 605a is sandwiched between. Falling hook 605a
Has a horizontal arm 606a whose rear end is rotatably supported by a fork 604a, has a mass balance 607a at its front end, and has a standing portion 608a at the rear end of the horizontal arm portion 606a. The front side of the fork part 604a of the extrusion block 601a
Although it is configured to keep the standing state of the raising and lowering hook 605a by contacting the rear end face, when the raising portion 608a is pressed backward, it is possible to move backward against the gravity of the mass balance 607a. .

The guide mechanism has a guide rail 603a to which the guide metal fitting 602a of the extrusion block fits. The guide rail 603a extends parallel to the length direction of the main body frame assembly 63, and the outside thereof is supported by the beam 609a. The beam 609a is supported by the base of the main body frame assembly 63 at two front positions thereof via the posts 601c, and at the rear two positions of the sub-base 602c.
Similarly, it is supported via a post 603c, and stoppers 604c and 605c formed of adjusting bolts are provided at the front and rear ends thereof.

The drive mechanism 60d is provided with a pair of chain sprockets 601d in the front and rear of the main body frame assembly 63 so as to sandwich the drive device 621 of the chain conveyor 61.
1d is rotatably supported by a support fork 603d that is attached to a post 602a provided upright on the base of the main body frame assembly 63 so as to be movable back and forth. The rear sprocket 601d is supported on a sub-base 602c attached to the rearmost end of the main body frame assembly 63 via a radial bearing 604d. And these front and rear chain sprockets 60
An endless chain 605d is hung on 1d. A part of the upper side of the endless chain 605d is fixed to the lower surface of the gate-shaped portion of the pushing block 601a, and the pushing block 601a slides back and forth along the guide rail 603a as the chain 605d moves back and forth.

The stopper device 60b for restricting the movement of the dolly 5 is installed in the main body frame assembly 63 at a front-rear interval for one dolly 5. The stopper device 60b includes an L-shaped hook 601b in a side view that can be retracted and retracted in the carriage track, and its front base end is pivotally attached to the upper end of a post 602b that is erected from the base of the main body frame assembly 63. Has been done. An air cylinder 603b for inserting and retracting the hook 601b is interposed between the middle portion of the hook 601b and the lower portion of the post 602b, the cylinder end of the air cylinder 603b is pivotally attached to the lower portion of the post 602b, and the rod end of the hook 601b. It is pivotally attached to the middle part.
The stopper device 60b configured in this manner functions to stop the carriage 5 that has returned through the return path against the driving force of the chain conveyor 62.

As an additional means, the carriage return drive assembly is provided with four support blocks 60e for supporting the carriage 5 that is no longer supported by the chain conveyor 62. These support blocks 60e are posts 6 standing upright on the sub-base 602c.
It is mounted by bolting to the outermost part of 01e.

In the cart return drive assembly constructed in this way,
As shown in the figure, the carriage 5 supported by the support plate 517 on the chain 625 and returned from the return path has the lateral frame 51.
2 is pressed by the hook 601b of the front stopper device 60b and the hook 601b of the rear stopper device 60b, respectively, and their return traveling is blocked. In such a state, the hook 601b of the rear stopper device 60b is lowered and at the same time the drive mechanism 60d is activated. Then, the push-out block of the push-out device 60a is driven backward, and the push rod 58 of the rearmost truck 5 is pushed by the raising and lowering hook 605a thereof, and the truck 5 supports its supporting plate 517 on the support block 60e, The left and right guide rollers 55 are guided by a pair of left and right guide beams 605c attached to the sub-base 602c via posts 604c and pushed out into the positioning device 4. When the rearmost cart 5 has been pushed out in this way, the hook 601b of the rear stopper device 60b.
Is erected and the hook 601b of the front stopper device 60b is tilted. Then, the pushing block of the pushing device 60a is returned to the front, and when this returning operation is completed, the front stopper device
The hook 601b of 60b is erected. During the forward movement of this extrusion block, the next truck
Is driven to reach the rearmost position and is stopped by the hook 601b that has been erected in advance.

On the other hand, in the positioning device 4 that receives the carriage 5 thus pushed out, the rail of the rotary table 45 in the lowered position is used.
The trolley 5 is introduced with the support plate 517 supported by the trolley introduction roller 456 on the 452. The trolley 5 introduced this time is the wheel
The vehicle travels while being supported by the rail 452 on the rail 452, stopped by a stopper provided upright on the rear end of the front-rear beam 453, and completely placed on the positioning device 4. Then, next, the clamp pawl 460 is operated to engage with the notch 571 of the clamp pawl engagement block 57 of the carriage 5, and the positioning of the carriage 5 is completed.

When the body W is united and conveyed to the carriage 5 thus positioned, the pin roller guide plate 465 is extended to the horizontal position from the rotary table lowered to the conveyance position, and the shuttle beam 67 is fed. The rear end of this shuttle beam 67 is next set 45 of shuttle beam guide rollers.
Introduced in 8, the transport pin 674 reaches the position of the knuckle 466. Next, when the knuckle 466 is lifted, the transport pin 6
74 is engaged with the pin engagement hole 561 of the carriage 5.

Then, when the shuttle beam 67 starts to move forward for transportation, the pin roller 674c of the transportation pin 674 rolls on the pin roller guide extension portion 462, crosses the guide plate 465, and the pin roller guide 65 of the main body frame assembly 63. Transfer to.

In this way, in the conveyor 6, the shuttle conveyor 61
The high-speed transport of the body W by the chain conveyor 62
Since the carriage 5 is smoothly returned by the work, the work efficiency can be improved by significantly shortening the time required to transfer the body W to each work position, and the shuttle conveyor 61 and the chain conveyor 62 can be arranged in two upper and lower stages. The overlapping arrangement also has an effect of reducing the space required for transportation and returning.

Next, FIGS. 46 to 57 show a workpiece unloading device.
FIG. 47 is its left side view, FIG. 47 is its plan view, FIG. 48 is its front view, FIG. 49 is its left side view of its body receiving and elevating device, FIG. 50 is its front view, and FIG. FIG. 52 is a plan view thereof, FIG. 52 is a left side view of the cart returning and lifting device, FIG. 53 is its plan view, FIG. 54 is its rear view, FIG. 55 is its front view, and FIG. Is a left side view of a modified example thereof, and FIG. 57 is a front view thereof.

As shown in FIGS. 46 to 48, the unloading device 7 is composed of a body receiving lifting device 7a and a carriage returning lifting device 7b.

First, the carriage return lifting device 7b is for lowering the carriage 5 from the track of the shuttle conveyor 61 for transportation to the return path of the chain conveyor 62. As shown in FIGS.
It is composed of a dolly lifter 72b mounted on the top so that it can be raised and lowered.

The pedestal 71b is a conveyor 4 along the line as shown in FIG.
It is installed in the most advanced pit, and is configured by connecting upper and lower rectangular frames 711b having almost the same width as the conveyor 4 with vertical frames 712b. In the center of the upper frame 711b, a hydraulic cylinder that raises and lowers the frame assembly 721b of the truck lifter.
A vertical guide bush 714b for guiding a vertical guide rod 722b is attached to the lower surface of the frame assembly 721b.

The trolley lifter 72b has a structure in which the two-story trolley transport path and the trolley return path of the main body frame assembly 63 are gathered on the first floor, and a ladder-shaped frame having the same width as the main body frame assembly 63. A pair of left and right truck rails 725b are mounted on a large number of vertical frames 724b that are erected from the 723b. Between the pair of carriage rails 725b, a pin roller guide 726b is attached to a frame standing upright from a ladder-shaped frame 723b and extends at the front end thereof, similar to the above-mentioned chevron notch 451. A cutout 727b is provided. And this cutout
The portion 727b is provided with a pin shift mechanism 728b having the same structure as the pin shift mechanism 69 described above and having the same operation. Further, between the carriage rails 725b, four pairs of shuttle beam guide rollers 729b mounted on the ladder-shaped frame 723b via brackets are provided. Further, a pair of front and rear stopper devices 730b are provided in the vicinity of the left truck rail 725b, and the stopper devices 730b are rotatable around a bracket attached to a ladder frame 723b and can be raised and lowered by a stopper arm 731b. And an air cylinder that raises and lowers it
It is equipped with 732b. Of these stopper arms 731b, the front one is configured so that its arm tip is tilted forward from the standing position, and the rear one is also configured so that its arm tip is tilted backward from the standing position. When both stopper arms 731b stand upright, the bogie frame 51 of the bogie 5 is sandwiched between them. Further, inside the ladder-shaped frame 723b, a chain sprocket 733b is provided at the front end and the rear end of the ladder rail 725b on the right side thereof, and an endless chain mechanism having a chain drive mechanism 734b at the bottom lower surface of the frame. Is provided. And the chain 735b passed over these
A pusher 736b for moving the bogie 5 backward is attached to this. In the figure, reference numeral 737b is a stopper rubber attached to the frame, and 738b is a guide roller for guiding the support plate 518 of the carriage when it is returned.

FIGS. 56 and 57 show a modification in which a lifting synchronizing means is provided for preventing tilting of the truck lifter 72b in the front-rear direction when the truck lifts up and down. This means is hung from the ladder frame 723b 'from the front part and the rear part. Rack 739b (only the rear one is shown in the figure),
It is configured by meshing pinion gears 741b attached to both ends of a synchronous shaft 740b that is rotatably supported by a frame 71b. In this way, when the ascending / descending synchronization means is provided, the ascending / descending of the rack 739b due to the ascending / descending of the carriage lifter 72b is synchronized via the pinion gear 741b and the synchronization shaft 740b, so that the ascending / descending direction of the carriage lifter 72b during ascending / descending Prevent tilting,
It will be possible to smoothly move up and down.

Next, the body receiving and elevating device 7a includes a traveling table 72a that travels along a rail 71a installed in the pit, and a body support table 73a that elevates and lowers by a hydraulic cylinder 721a installed upright on the table 72a, The table is provided with a pair of left and right support forks 741a which are slidably supported in the left and right directions. The pair of support forks 741a is attached to the body receiving slide 74a and slidable along the guide of the body supporting table 73a, and its operation is performed by the air cylinder 731a attached to the body supporting table 73a.
Done by.

A pair of front and rear guide rods 732a hung from the body support table 73a are provided.
Is fitted into guide bushes 722a provided before and after a hydraulic cylinder 721a provided upright on the traveling table 72a. Rack teeth 734a are provided on the rear sides of the respective left and right guide rods 732a, and pinion gears 723a meshing with these rack teeth are connected to each other by a tuning shaft 725a supported by a bearing 724a on the table. There is. The frame that supports the rail 71a in the pit is provided with a power unit 711a for driving the traveling table 72a, which has a motor 712a, a brake 713a, a speed reducer 714a, and a pinion gear 715a. The pinion gear 715a is engaged with the teeth of a rack 726a which is attached to a bracket hanging from the traveling table 72a and extends horizontally in the front-rear direction. The traveling table 72a is surrounded by four frames, and a stopper 716a for restricting the forward and backward movement of the traveling table is attached to the frame.

In the unloading device 7 configured as described above, the carriage returning lifting device 7b and the body receiving lifting device 7a are arranged in combination as shown in FIG. 46, and the traveling path 81 of the slat conveyor 8 is further arranged on the unloading device 7. Combined as shown in Figure 48.
Then, when the carriage 5 is sent out together with the shuttle beam 67 from the positioning device 4 when the carriage returning lifting device 7b is in the raised position, the carriage returning lifting device 7b of the carriage returning rail 633 of the main body frame assembly 63 is aligned. Trolley rail 725b
Receives the dolly 5, the shuttle beam 67 is guided by the pair of shuttle beam guide rollers 729b, enters the dolly returning lifting device 7b, and the pin of the shuttle beam 67 engaged with the dolly 5
The pin roller 674c of 674 rolls on the pin roller guide 726b and reaches the chevron notch 727b. Here, the pin 674 descends, the engagement with the dolly 5 is released, and the pair of stopper arms 731b are erected so that the dolly 5 is clamped by the dolly returning lifting device 7b.

Next, the body support table 73a is raised while the body receiving slide 74a of the body receiving / lowering device 7a is slid inward and the distance between the support forks 741a is narrowed. Therefore, the truck lifter 72 of the truck return lifting device 7b
b is lowered, and in the middle of the lowering, the carriage 5 is separated from the carriage 5 in which only the body W is supported by the support fork 741a while being clamped to the carriage rail 725b. On the other hand, the dolly lifter 72b continues to descend, and eventually reaches a level that matches the return path of the main body frame assembly 63. Then, this time, the trolley 5 is unclamped by the stopper arm 731b, the chain drive mechanism 734b operates, and the pusher 736b moves backward while pushing the trolley 5. By this backward movement, the carriage 5 is moved from the carriage rail 725b of the carriage lifter 72b onto the chain conveyor track of the main body frame assembly 63, the supporting plate 517 thereof is supported by the chain, and the left and right guide rollers 55 are guided to the roller rail 624. And go back on the return route.

On the other hand, the body receiving lifting device 7a that has received the body W travels forward while maintaining the position of the body support table 73a as it is, and moves to a position where it does not interfere with the carriage returning lifting device 7b. There, the body support table 73a is lowered,
As the body W was supported by the slat conveyor 8 through the tires that had already been attached as it descended, its fork 74
1a is opened to the left and right to escape from the position where the body W moving on the slat conveyor 8 interferes with the tire. When such a series of operations is completed, the unloading device 7 is returned to the original position again.

Finally, regarding each device in the embodiment of the present invention, in order to clarify the related accurate operation timing of each device, FIG. 58 shows an operation cycle diagram of the whole device, and an operation explanation of the series of devices. Instead of.

[Effect of device]

As described above in detail, the following effects and advantages can be obtained by the body transporting / carriage returning device in the automobile assembly line of the present invention.

(1) A dolly on which a body is placed is automatically positioned by a dolly positioning device at each assembly station so that the positional relationship with a work robot or the like is in a predetermined state.
Since it is restrained at that position, it is not necessary to provide a body position measuring means for each assembly station, and the structure of the assembly line can be simplified. Further, since the trolley lock is attached to the main assembly frame, the trolley can be securely clamped, and the displacement of the body due to vibration during the work can be prevented.

(2) Since the carriage is configured to be transported along the rail surface, the structure can be simplified and the driving power can be reduced as compared with a transport device that moves the carriage and the body up and down during step transport of the body.

(3) Since the guide rollers for transporting the carriage are provided on the carriage side, the number of guide rollers can be reduced as compared with the case where the guide rollers are provided on the fixed side.

(4) Since the transport pin provided on the shuttle beam is guided by the pin roller guide during transport of the carriage, there is no risk that the transport pin will be inserted or removed from the pin engagement hole of the carriage during transport of the carriage.

(5) Since the shuttle conveyor for transporting the dolly on which the body is placed and the chain conveyor for returning the dolly are assembled in the upper and lower two stages in the main body frame assembly to which the rail of the dolly is attached, It is possible to simplify the assembly line.

(6) By the bogie return lifting device provided near the end of the shuttle conveyor, the body can be separated from the bogie that has finished the step transfer, and only the bogie can be returned to the upstream end of the assembly line by the chain conveyor. At this time, the body can be easily separated from the carriage.

[Brief description of drawings]

FIG. 1 is an explanatory view of a procedure conceptually showing an operation by the device of the present invention, FIG. 2 is a block diagram showing an embodiment of the device of the present invention, and FIG. 3 shows the device including a line configuration. An overall plan view, FIG. 4 is a right side view thereof, FIG. 5 is a left side view showing an embodiment of the device of the present invention, and FIG. 6 is a plan view thereof.
Fig. 8 is its rear view and Fig. 8 is its front view.
FIG. 9 shows a table lifter, FIG. 9 is its front view, FIG. 10 is its left side view, FIG. 11 is its plan view, and FIG.
Figure is a partially enlarged rear view, and Figure 13 is XIII-XIII in Figure 12.
FIG. 14 is a sectional view taken in the direction of the arrow, and FIGS. 14 to 16 show a vehicle body position measuring device as a workpiece posture measuring device. FIG. 14 is its plan view, FIG. 15 is its right side view, and FIG. 16 is 17 to 19 show a positioning device as a pallet position correcting device, FIG. 17 is its left side view, FIG. 18 is its rear view, and FIG. 19 is its plan view. 20 to 22 show a truck as a pallet, FIG. 20 is its left side view, FIG. 21 is its plan view, FIG. 22 is its rear view, and FIGS. 23 to 45 are FIG. 23 shows a conveyor as a work piece conveying and pallet returning device. FIG. 23 is a rear view of the main body frame assembly, FIG. 24 is a partial rear view thereof, FIG. 25 is a plan view thereof, and FIG. 27 is a rear view of a part of the other part,
Figure is a rear view of the shuttle lock of the shuttle conveyor, Figure 28 is its plan view, Figure 29 is its left side view, Figure 30 is its left side view of its shuttle beam guide, and Figure 31 is its plan view. FIG. 32 is its rear view, FIG. 33 is a plan view of its shuttle beam, FIG. 34 is its rear view, FIG. 35 is a plan view of other parts, FIG. 36 is its rear view, and FIG. 38 is a rear view of the shuttle beam drive device, FIG. 39 is a rear view of the positioning pin shift mechanism, FIG. 40 is a plan view thereof, and FIG. 41 is a left side view thereof. FIG. 42 is a left side view of the carriage returning drive device, FIG. 43 is a plan view thereof, FIG. 44 is a sectional view taken along the line XLIV-XLIV of FIG. 43, and FIG. 45 is its rear view. 46 to 57 show a wholesaler, FIG. 46 is a left side view thereof, FIG. 47 is a plan view thereof, FIG. 48 is a front view thereof, and FIG. 49 is a view thereof. The left side view of the body receiving and elevating device, FIG. 50 is its front view, FIG. 51 is its plan view, FIG. 52 is the left side view of its bogie returning and elevating device, FIG. 53 is its front view, Figure 54 is its rear view,
55 is a front view thereof, FIG. 56 is a left side view of a modified example thereof, FIG. 57 is a front view thereof, FIG. 58 is an operation cycle diagram of an embodiment of the present invention, and FIG. ~ Fig. 62 shows a conventional work transfer device, Fig. 59 is a conceptual drawing of the process according to it, Fig. 60 is its side view, Fig. 61 is its front view, and Fig. 62 is its partially enlarged side view. It is a figure. 1 ... Overhead conveyor, 2 ... Table lifter, 3 ... Vehicle position measuring device, 3a ... BL measuring device, 3b ...
... HL measuring device, 4 ... Positioning device, 5 ... Pallet carrier, 6 ... Conveyor as workpiece transfer and pallet returning device, 7 ... Wholesaling device, 7a ... Body receiving lifting device, 7b ... Truck return lifting device, 8 …… slat conveyor, 11 …… hanger, 21 …… fork, 22 …… post,
23 ... Lateral beam, 24 ... Fall prevention arm, 25 ... Hanger release device, 26 ... Lifting drive device, 32a, 32b ... Magnetic scale, 41 ... Base frame, 42 ... Lateral movement frame, 43 ... … Front-back movement table, 44 …… Lift table, 45 …… Rotary table,
51 ... Bogie frame, 52a to 52c ... Body receiving, 53 ... Positioning pin, 54 ... Wheel, 55 ... Guide roller, 56 ... Conveying pin engaging bush, 57 ... Clamp pawl engaging block,
58 …… Pressing rod, 60 …… Bogie return drive assembly, 60a ……
Extrusion device, 60b ... Stopper device, 60d ... Drive mechanism,
60e …… Support block, 61 …… Shuttle conveyor, 62…
… Chain conveyor, 63… Main frame assembly, 64…
… Truck lock, 64a …… Main body, 64b …… Clamp, 65 ……
Pin roller guide, 66 ... Guide device, 67 ... Shuttle beam, 68 ... Driving device, 69 ... Pin shift mechanism, 71b ...
… Frame, 72a …… Travel table, 72b …… Cart lifter, 73
a: Body support table, 74a: Body receiving slide, W: Body as a workpiece, C: Pallet.

Claims (1)

[Scope of utility model registration request] 1. In an automobile assembly line, corresponding to each assembly station position along the above assembly line, the automobile body as a workpiece placed on the carriage (5) is sequentially stopped to correspond to the next assembly station. Shuttle conveyor (61) as a body transporting device for step-transporting to the specified position, a chain conveyor (62) as a returning device for returning the carriage separated from the body after step-transporting, and the end of the shuttle conveyor. A carriage returning / lifting device (7b) arranged in the vicinity of the section, and a carriage positioning device for automatically positioning the carriage in a predetermined positional relationship with the work robot or the like in each of the assembly stations. The main body frame assembly in which the chain conveyor has the rails (633) of the dolly attached. 63) is assembled in two stages, upper and lower, the shuttle conveyor has a shuttle beam (67), and a plurality of transfer pins (674) engageable with the pin engagement holes (561) of each trolley. While being mounted in the shuttle beam so as to be retractable, the pin roller guide (65) provided along the rail (633) allows the shuttle beam to move from the pin engagement hole of the transport pin during transport of the carriage. The carriage (5) is configured such that the carriage (5) is restrained in the left-right direction by the inner side surface of the rail (633) by the left and right guide rollers (55) attached to the carriage. Wheels (54) attached to the vehicle are configured to be movable only in the front-rear direction, and the bogie returning / lifting device (7b) moves the bogie (5) from the track of the shuttle conveyor (61) to the chain conveyor. In order to lower it to the same level as the upper guide track (623) as a return path for the mubea (62), a pedestal (71b) and a dolly lifter (72b) mounted on the pedestal (71b) so that it can be moved up and down by a hydraulic cylinder 713b. And a stopper arm (731b) provided on the dolly lifter (72b) for holding the dolly frame (51) of the dolly (5), and the dolly lifter descends to provide the chain conveyor (62). When it reaches a level that is aligned with the upper guide track (623), the stopper arm that holds the truck mounted on the truck lifter is released and the truck is moved to the chain conveyor (6).
2) a bogie returning mechanism for moving the bogie positioning device, and the bogie positioning device includes an air cylinder mounted on the body assembly frame (63) corresponding to each of the assembly stations, and a vertical direction by the air cylinder. A trolley lock (64) driven by the trolley, and a claw claw engagement block (57) of the trolley (5).
A body in an automobile assembly line, characterized in that stoppers (646, 647) that engage with wedge-shaped notches (571) provided in the carriage and restrict the clamping position of the truck are provided in the truck locks. Carrier and carriage return device.