JPH08188236A - Carrying vehicle - Google Patents

Abstract

PURPOSE: To reduce the price and the weight of a carrying vehicle to carry a work by composing a compressed air source of an air tank to store the compressed air capable of being supplemented from the outside of the carrying vehicle. CONSTITUTION: A compressed air source 48 to feed the compressed air to each air cylinder is provided. The compressed air source 48 consists of an air tank 49 to store the compressed air capable of being supplemented from the outside of a carrying vehicle 8, and this air tank 49 is loaded on a base table 24. The compressed air is fed to the air tank 40 through an opening/closing valve, etc., after the original pressure is increased. The compressed air from the air tank 49 is adjusted in pressure by a pressure adjuster 51, and fed to the respective air cylinders 33, 40, 43, 45 through an air control valve 52. No power is needed to be fed to the compressed air source 48 from a battery 26, and the capacity of the battery 26 can be reduced, and its weight can be reduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer vehicle for transferring a work such as an engine assembly part to a desired position.

[0002]

2. Description of the Related Art Conventionally, there are some of the above-mentioned transport vehicles which are constructed as follows.

That is, the above-mentioned transport vehicle places a work on which a work can be placed and travels on the floor surface, a drive means for driving the work, and an electric-motor-driven work movement for moving the work on the carriage. And a battery for supplying electric power to drive the driving means and the work moving means.

[0004]

By the way, according to the above-mentioned conventional configuration, the battery supplies the electric power to both the driving means and the work moving means, and therefore the capacity of the battery becomes large. However, the weight of the carrier becomes heavy and the carrier becomes expensive, and the weight of the carrier may become excessive.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and it is an object of the present invention to make a transport vehicle for transporting a work inexpensive and lightweight.

[0006]

In order to achieve the above object, a carrier vehicle of the present invention is a carriage 18 on which a work 7 is placed and which can travel on a floor surface 5, and a drive for driving the carriage 18 to travel. When the means 25 and the battery 26 for supplying electric power to the driving means 25 are provided, an air cylinder for moving the work 7 on the carriage 18, and a compressed air source 48 for supplying compressed air to the air cylinder. Is provided, and the compressed air source 48 is configured by an air tank 49 that is capable of supplying compressed air from the outside of the transport vehicle 8 and stores the compressed air.

[0007]

[Operation] The operation of the above configuration is as follows.

A compressed air source 48 for supplying compressed air is supplied to the air cylinder for moving the work 7 out of the carrier 8 and the like, and compressed air can be supplied from the outside of the carrier 8. It is composed of an air tank 49 for storing compressed air.

Therefore, it is not necessary to supply electric power from the battery 26 to the compressed air source 48, and
The capacity of the battery 26 can be reduced.

[0010]

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

In FIG. 2, reference numeral 1 is a carrier device, and the carrier device 1 is used in an assembly process of an engine which is an example of equipment.

The carrying device 1 has a main line 3 for carrying one component 2 of the engine in one direction. A station 4 is arranged near one side of the main line 3. A transport vehicle 8 is provided for transporting the work 7 from the supply source position 6 toward the station 4 on the flat floor surface 5. The forward passage 9 of the transport vehicle 8 moving from the supply source position 6 toward the station 4 and the return passage 10 of the transport vehicle 8 returning from the station 4 toward the supply source position 6.
Are predetermined at predetermined positions on the floor surface 5.

The station 4 is provided with a plurality (three) of receiving stands 13 along the outward path 9, the same number (three) of elevators 14 and a robot 15. A plurality of (three) supply bases 16 are provided at the supply source position 6 along the return passage 10.

First, referring to FIGS. 1 and 3 to 5,
The transport vehicle 8 will be described.

The carrier 8 has a carriage 18 on which the work 7 is placed and which can travel on the floor surface 5. The carriage 18 is composed of a framed body frame 19 and four front and rear wheels 20 supported on the lower end of the body frame 19. The wheels 20 allow the body frame 19 to be placed on the floor surface 5. It is supported.

For convenience of explanation, the forward direction of the transport vehicle 8 is indicated by an arrow Fr in each figure, and the left and right described below are the front view of the transport vehicle 8 as shown in FIGS. 1 and 5. The width direction of the vehicle.

The body frame 19 is provided with an upper stage 22, a lower stage 23, and a base 24 from the top to the bottom, and the base 24 constitutes the lower end of the body frame 19.
On the base 24, the carriage 18 is provided with the forward passage 9 and the backward passage 1.
A drive unit 25, which is an electric motor that drives the vehicle forward along 0, and a battery 26 that supplies electric power to the drive unit 25 to enable driving are supported.

The upper stage 22 and the lower stage 23 have a large number of rollers 27 each having an axis extending in the front-rear direction and freely rotatable around the axis. The upper end surfaces of the rollers 27 are located on substantially horizontal virtual surfaces 28, and the work 7 placed on the rollers 27 can be smoothly moved in the left-right direction as the rollers 27 roll. Has been done. The work 7 includes a box body 29 opened upward and the box body 2
9 and a plurality of other components 30 of the engine which can be inserted into and removed from the component 9 and are assembled to the one component 2.

In the upper stage 22, an upper stage stopper 32 is provided which can prevent the work 7 placed on each roller 27 from moving further to the right (arrow A), which is one of the left and right directions. Has been. This upper stopper 32
Is operable by an upper stopper cylinder 33 which is an air cylinder. That is, the operation of the upper stopper cylinder 33 causes the upper stopper 32 to block the movement of the work 7 (hereinafter, referred to as "blocking operation") or release it (hereinafter, this is referred to as "blocking release operation"). ).

The upper upper stage 22 is provided with an upper stage feeding means 34 capable of feeding the work 7 placed on each roller 27 toward the outer side to the right of the upper stage 22 (arrow A). The upper delivery means 34 includes a movable body 35 that is movable in the left-right direction, and a pivot shaft 36 attached to the movable body 35.
A locking body 37 that is pivotally supported in a vertically rotatable manner by the above, a spring 39 that is a biasing means that biases the rotating end 38 of the locking body 37 upward, and the moving body 35 that locks the moving body 35. 37 and an upper stage delivery cylinder 40 that moves in the left-right direction together with 37, and the upper stage delivery cylinder 40 is composed of an air cylinder.

In particular, as shown by the solid line in FIG. 4, when the locking body 37 is urged by the spring 39 and the pivot end 38 is pivoted upward, the pivot end 38 is rotated.
Is located above the virtual surface 28.
In this state, when the upper delivery cylinder 40 is operated to move the locking body 37 to the right (arrow A) together with the moving body 35, the locking body 37 causes the workpiece 7 on the roller 27 to move.
Is pressed, this work 7 is on the right side of the upper stage 22 (arrow A)
Is sent out to the outside (hereinafter, this is referred to as "upper sending operation").

On the other hand, as shown by the solid line in FIG. 4 above, in the state where the pivot end 38 of the locking body 37 is located above the virtual surface 28, the rollers 2 of the upper stage 22 are arranged from the left side of the upper stage 22.
It is assumed that the work 7 is sent onto the top 7. Then, as shown by the phantom line in FIG. 4 above, the rotation end 38 of the locking body 37 is shown.
Is pushed by the work 7 and pivots downward to the lower side of the virtual surface 28, and the work 7 is moved onto each roller 27 of the upper stage 22.
Is allowed to be sent (this is the "upper feed allowable operation")
That).

In FIG. 1 and FIGS. 3 to 5, the lower stage 23 has the same structure as the upper stage 22 with the right and left completely reversed, and has components corresponding to the respective components of the upper stage 22. That is, the lower stage 23 includes a lower stage stopper 42, a lower stage stopper cylinder 43, and a lower stage delivery means 44,
Further, the lower stage delivery means 44 includes a lower stage delivery cylinder 45 corresponding to the upper stage delivery cylinder 40. And
In this case, the operation of the lower stopper cylinder 43 allows the lower stopper 42 to prevent the work 7 from moving to the left (arrow B) which is the other direction in the left-right direction, that is,
The "blocking action" and the "blocking release action" to release it
It is supposed to be done.

Further, the lower stage sending means 44 performs the "lower stage sending operation" in the same manner as the "upper stage sending operation" in the upper stage 22, although the direction thereof is to the left (arrow B).
In addition, the "lower stage feed permitting operation" is performed similarly to the "upper stage feed permitting operation" in the upper stage 22.

A compressed air source 48 for supplying compressed air to each of the above air cylinders is provided. This compressed air source 48
Is composed of an air tank 49 which can be supplied with compressed air from the outside of the transport vehicle 8 and stores the compressed air. The air tank 49 is mounted on the base 24.

The compressed air is supplied to the air tank 49 through an opening / closing valve or the like and after the original pressure is doubled. On the other hand, the compressed air from the air tank 49 is regulated to a predetermined pressure by a pressure regulator 51, which is appropriately supplied to each of the air cylinders 33, 40, 43 and 45 through a solenoid valve type air control valve 52. To be done.

1 and 5, the receiving tray 13 is fixed on the floor surface 5 and includes an upper shelf 54 and a lower shelf 55. The upper shelf 54 is inclined obliquely downward from the virtual surface 28 side of the upper stage 22 of the carrier 8 located on the side of the receiving table 13 toward the upper surface side of the lift table 14 which is raised as shown by the solid line in each figure. are doing. Further, the lower shelf 55, from the upper surface side of the lifting table 14 lowered as shown by the phantom line in FIG.
It is inclined obliquely downward toward the virtual surface 28 side of the lower stage 23. A plurality of rollers are provided respectively on the upper surfaces of the upper shelf 54 and the lower shelf 55, and the work 7 placed on these rollers is downwardly inclined by its own weight due to the rolling of the rollers. You can slide it down.

When the work 7 does not slide on the upper shelf 54, the work 7 is stopped on the lower shelf 55. On the other hand, when the work 7 slides on the upper shelf 54, the work 7 on the lower shelf 55 is First slide-down restricting means 57 for sliding down along the lower shelf 55 is provided. More specifically, this first
The slip-down restricting means 57 includes an arm 58 rotatably supported by the upper shelf 54, a stopper 59 that can be retracted and retracted on the upper surface side of the lower shelf 55, and the stopper 59 that connects the stopper 59 to the lower shelf 5.
5, a spring 60 that is a biasing means that biases the arm 58 to project toward the upper surface side, and an interlocking body 61 configured by a wire, a pulley, or the like that interlocks the arm 58 and the stopper 59.

As shown in FIG. 1, when the work 7 does not slide on the upper shelf 54, the stopper 59 causes the lower shelf 55 to move.
The work 7 is stopped from sliding down on the lower shelf 55 (hereinafter referred to as “sliding stop operation”).

As shown in FIG. 5, when the work 7 slides on the upper shelf 54, the arm 58 is rotated by the work 7, and the stopper 59 is interlocked with the arm 58 via the interlocking body 61, so that the spring 60. Against the above, the stopper 59 is attached to the lower shelf 55.
Immerse downward from the upper surface side of. Then, the work 7 on the lower shelf 55 is allowed to slide down (hereinafter, this is referred to as "slide-permitting operation").

In FIGS. 6 and 7, the supply table 16 is fixed on the floor surface 5 and has an upper shelf 64 and a lower shelf 65. The upper shelf 64 is inclined obliquely downward toward the virtual surface 28 side of the upper stage 22 of the transport vehicle 8 located on the side of the supply table 16. Further, the lower shelf 65 is inclined obliquely downward from the virtual surface 28 side of the lower stage 23 toward the outside of the upper and lower stages 23. A plurality of rollers are provided on the upper surfaces of the upper shelf 64 and the lower shelf 65, respectively, and the work 7 placed on these rollers is downwardly inclined by its own weight due to the rolling of the rollers. You can slide it down.

When the work 7 does not slide on the lower shelf 65, the work 7 is stopped on the upper shelf 64, while when the work 7 slides on the upper and lower shelves 65, the work 7 on the upper shelf 64 is A second slide-down restricting means 67 that slides down along the upper shelf 64 is provided. More specifically, this second
The slip-down restricting means 67 includes an arm 68 pivotally supported by the lower shelf 65, a stopper 69 that can be retracted and retracted on the upper surface side of the upper shelf 64, and a stopper 69 that connects the stopper 69 to the upper shelf 6.
4 is provided with a spring 70 which is an urging means for urging it to project to the upper surface side of 4, and an interlocking body 71 composed of a wire, a pulley or the like for interlocking the arm 68 and the stopper 69.

As shown in FIG. 6, when the work 7 does not slide on the lower shelf 65, the stopper 69 causes the upper shelf 64 to move.
The work 7 is stopped from sliding down on the upper shelf 64 (hereinafter referred to as “sliding stop operation”).

As shown in FIG. 7, when the work 7 slides on the lower shelf 65, the arm 68 is rotated by the work 7, and the stopper 69 is interlocked with the arm 68 via the interlocking body 71 to cause the spring. Against 70, the stopper 69 is the upper shelf 64.
Immerse downward from the upper surface side of. Then, slipping of the work 7 on the upper shelf 64 is allowed (hereinafter, referred to as "sliding-allowing operation").

Further, the worker 72 places the work 7 on the upper shelf 64 of the supply table 16 and the second slip-down restricting means 67.
The work 7 is stopped on the upper shelf 64 by the "sliding stop operation". Further, when the second slide-down restricting means 67 performs the “slip-permitting operation”, the lower shelf 6
It is supposed that the worker 72 receives and processes the work 7 sliding down on the work 5. In addition, the worker 72
May be a robot.

1 and 5 to 7, an upper stage presence detection sensor 74 for detecting the presence or absence of the work 7 on the upper stage 22 of the transport vehicle 8 is provided.
Further, a lower stage presence detection sensor 75 for detecting the presence or absence of the work 7 on the lower stage 23 of the transport vehicle 8 is provided. Further, a receiving stand position detecting sensor 76 is provided for detecting that the carrier 8 is located at a side of the receiving stand 13 which is a predetermined position corresponding to the receiving stand 13. Further, a supply table position detection sensor 77 is provided which detects that the transport vehicle 8 is on the side of the supply table 16 which is a predetermined position corresponding to the supply table 16. All of the sensors 74 to 77 are attached to the transport vehicle 8.

A control device 79 is provided for electrically connecting the drive means 25, the battery 26, the air control valves 52, and the sensors 74 to 77 to electronically control them.

8 and 9 are flowcharts of the control device 79, and (P-1) to (P-11) show respective steps of the program. Note that a and a and b and b in the flowcharts in each figure are connected to each other.

The operation of the transfer device 1 is controlled by the control device 7
It will be described together with the flowchart of FIG.

As shown by the solid line in FIG. 1, the work 7 is placed on the lifted platform 14 and the other component 30 in the box 29 of the work 7 is one component 2 on the main line 3.
The robots 15 are assembled one after another.

When the box body 29 of the work 7 is emptied by the above assembly, the elevating table 14 descends to the height of the lower shelf 55 of the receiving table 13 as shown by the alternate long and short dash line in FIG. To do. Then, the robot 15 guides the work 7 onto the lower shelf 55 and slides it down. On this occasion,
Since the work 7 does not slide down on the upper shelf 54 of the receiving tray 13, the first slide-down regulating means 57 performs the “slide-stop operation”,
As shown by the chain double-dashed line in FIG. 1, the work 7 is stopped on the lower shelf 55 of the receiving table 13. Then, the elevator 14
Is raised again to a standby state as shown by the solid line in FIG.

On the other hand, when the drive means 25 is turned on, the transport vehicle 8 is caused to travel along the forward path 9 toward the receiving table 13 (P-2).

In FIG. 1, if the carriage 8 reaches the station 4 during the traveling, and the carriage position detection sensor 76 detects that the carriage 8 is at a predetermined position corresponding to the carriage 13 ( P-3), the driving means 25 is turned off and the carrier 8 is stopped there (P-4). In this state, the presence of the work 7 on the upper stage 22 of the transport vehicle 8 is detected by the upper stage presence detection sensor 74 (P-
5) Further, it is assumed that the lower stage presence detection sensor 75 detects that the work 7 does not exist on the lower stage 23 of the transport vehicle 8 (P-6).

Then, as shown in FIG. 5, the "upper delivery operation" is performed by the upper delivery means 34 (P-7), whereby the work 7 slides down on the upper shelf 54 of the receiving table 13.
Along with this, the first slip-down restricting means 57 of the receiving table 13 performs a “sliding-allowing operation”, whereby the work 7 on the upper shelf 54 of the receiving table 13 is sent to the elevating table 14. The work 7 stopped on the lower shelf 55 of the receiving tray 13 is sent to the lower stage 23 of the carrier 8. Then, the other component 30 in the box 29 of the work 7 on the elevating table 14 is assembled to the one component 2 by the robot 15 as described above.

In the above state in FIG.
The upper stage presence detection sensor 74 detects that the work 7 does not exist on the upper stage 22 (P-8), and the lower stage presence detection sensor 75 indicates that the work 7 exists on the lower stage 23 of the carrier vehicle 8. If it is detected (P-9), the counter provided in the control unit 79 increments by one and stores it. When the added value reaches the target value (P-10), the control device 79 is reset and the assembling work is once ended (P-11).

If the target value is not reached in (P-11), the process returns to (P-2). Then, when the driving means 25 is turned on, the transport vehicle 8 is caused to travel along the return path 10 from the receiving stand 13 side toward the supply stand 16.

For the operation of the transport vehicle 8 below, refer to FIGS. 6 and 7 and (P-3) through FIG. 8 and FIG.
The steps of (P-11) may be read as follows.

That is, in (P-3), it is judged whether the transport vehicle 8 is at the supply source position 6 (FIG. 6).

At (P-5), the upper stage 22 of the transport vehicle 8
It is determined whether or not there is a work 7 in (FIG. 6).

At (P-6), the lower stage 23 of the transport vehicle 8
It is determined whether or not there is a workpiece 7 (FIG. 6).

In (P-7), the "lower-stage feeding operation" is executed by the lower-stage feeding means 44, and the "sliding-permitting operation" is performed by the second slip-down regulating means 67 accordingly (FIG. 7).

At (P-8), the upper stage 22 of the transport vehicle 8
It is judged whether or not there is a work 7 (Fig. 7).

At (P-9), the lower stage 23 of the transport vehicle 8
It is determined whether or not there is a work 7 in (FIG. 7).

In the above state, if the counter does not reach the target value (P-10), the process returns to (P-2), and the operation of the transport vehicle 8 is shown in FIGS. 1 and 5 again. It's done in the street, and this is repeated.

Although not an embodiment of the present invention, it is conceivable that the compressed air source is an air compressor driven by an electric motor or an internal combustion engine.

[0056]

According to the present invention, a compressed air source for supplying compressed air can be supplied to the air cylinder for moving the work such as sending out the work from the transport vehicle, and the compressed air can be replenished from the outside of the transport vehicle. The air tank is configured to store the compressed air.

Therefore, it is not necessary to supply electric power from the battery to the compressed air source, and accordingly, the capacity of the battery can be reduced and the weight can be reduced, so that the carrier vehicle can be inexpensive and Can be lightweight.

[Brief description of drawings]

FIG. 1 is a front view taken along the line 1-1 of FIG.

FIG. 2 is an overall plan view of a carrying device.

FIG. 3 is a perspective view of a carrier vehicle.

FIG. 4 is a partial enlarged cross-sectional operation explanatory view of FIG.

FIG. 5 is an operation explanatory view corresponding to FIG.

6 is a front view taken along the line 6-6 of FIG.

FIG. 7 is an operation explanatory view corresponding to FIG.

FIG. 8 is a diagram showing a flowchart of a control device.

FIG. 9 is a diagram showing a flowchart of a control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Conveying device 5 Floor surface 7 Work 8 Conveying vehicle 13 Receiving stand 16 Supplying stand 18 Carriage 19 Body frame 20 Wheel 22 Upper stage 23 Lower stage 24 Base 25 Driving means 26 Battery 27 Roller 28 Virtual surface 33 Upper stage Stopper cylinder (air cylinder) 40 Upper delivery cylinder (air cylinder) 43 Lower stopper cylinder (air cylinder) 45 Lower delivery cylinder (air cylinder) 48 Compressed air source 49 Air tank 79 Controller

Claims (1)

[Claims] 1. A carrier vehicle comprising a carriage on which a work is placed and can travel on a floor surface, driving means for driving the carriage to travel, and a battery for supplying electric power to the driving means. An air cylinder for moving the work above and a compressed air source for supplying compressed air to the air cylinder are provided, and the compressed air source can be replenished with compressed air from the outside of the carrier vehicle. A transport vehicle that is composed of an air tank that stores it.