JPH10182088A - Conveying vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic guided conveying vehicle provided with a workpiece transferring device by which a workpiece can be transferred efficiently. SOLUTION: A ball spline shaft 4 is horizontally arranged rotationally between front and back box type frames 3 raised on a vehicle body 1 of an automatic guided conveying vehicle, and in the ball spline shaft 4, a pair of front and rear transfer arms 6, each of which is provided with a gripping tool 8 for a raw machine W (workpiece), are installed rotationally around an axial line and movably (openably) in the axial line direction. By means of a chucking cylinder, the transfer arms 6 are opened/closed so as to grip/release the raw machine W, and by means of an arm rotating cylinder, the transfer arms 6 are rotated so as to be moved to a workpiece convey-in position on the vehicle body 1 or to a workpiece convey-out position protruded on the vehicle body side, and as a result, the workpiece W can be conveyed in/out.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer apparatus for transferring a roll-shaped article such as a greige machine (a woven fabric wound around a cross roller) or a strip coil (a strip wound in a coil shape). The present invention relates to a transport vehicle having functions.

[0002]

2. Description of the Related Art Conventionally, in a weaving factory, for example, in a weaving factory, a transfer operation for transporting a greige machine removed from a loom and placed on a pallet to a next process is performed by using a transfer cart such as a hand pallet or a transfer hoist. We use a crane.

[0003]

However, the transfer operation using a transfer trolley, a transfer hoist crane, or the like is difficult.
There was a problem in that it was inefficient because there were many parts that depended on human labor.

[0004] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a transport vehicle equipped with a work transfer device capable of efficiently transferring a work. It is in.

[0005]

Means for Solving the Problems In order to solve the above problems, the present invention is configured as follows. That is, the invention according to claim 1 is a transporting vehicle for transferring a work, wherein a work transfer device is provided on a vehicle body, and the work transfer device is openable and closable having a gripper for gripping a work at a tip end. A pair of transfer arms, the transfer arms being provided movably between a work carry-in position on the vehicle body and a work carry-out position protruding from the side of the vehicle body.

According to the first aspect of the present invention, in the station, the transfer arm includes an opening / closing operation for gripping or releasing a workpiece by a gripper.
By performing the moving operation for loading or unloading the work gripped by the gripper, for example, the work can be transferred between the previous and next processes in a production factory.

According to a second aspect of the present invention, in the transport vehicle according to the first aspect, the transfer arm is moved between a work loading position and a work unloading position by rotating about an axis. It is characterized by the following. With this configuration, it is possible to provide a work transfer device having a simple configuration.

According to a third aspect of the present invention, in the transport vehicle according to the first or second aspect, the transfer arm is configured to be extendable and contractible. When configured in this manner, at the work unloading position, the work can be loaded or unloaded by extending and retracting the transfer arm,
The range of loading and unloading of the work is expanded.

According to a fourth aspect of the present invention, in the transport vehicle according to any one of the first to third aspects, a work receiving table for mounting a work carried in by the transfer arm is provided on the vehicle body. It is characterized by. With such a configuration, the work carried into the vehicle body can be transferred while being held in a stable state by the work receiving table.

According to a fifth aspect of the present invention, in the transport vehicle according to any one of the first to fourth aspects, the vehicle body is provided with an outrigger for preventing overturning. With such a configuration, the work transfer operation can be stably performed while the vehicle body is supported by the outrigger. In this case, the outrigger can also be used for positioning for fixing the transport vehicle stopped at the station to a normal position.

[0011]

Next, embodiments of the present invention will be specifically described with reference to the drawings. FIG. 1 is a side view of an automatic guided vehicle provided with a work transfer device, FIG.
4 is a plan view, FIG. 4 is a sectional view taken along line AA of FIG. 1, and FIG. 5 is an explanatory view of an outrigger. 1 to 3
As shown in (1), a work transfer for transferring a work W (hereinafter, described as a greige machine in the present embodiment) is mounted on a vehicle body 1 of an unmanned guided vehicle that runs unmannedly guided along a guide provided on a traveling path. An apparatus 2 is provided. Note that safety bumpers 1a are provided on the front and rear surfaces of the vehicle body 1, respectively.

Hereinafter, the work transfer device 2 will be described. At the front and rear of the vehicle body 1, vertically long box-shaped frames 3 also serving as a control panel are erected and opposed to each other.
A ball spline shaft 4 as a horizontal shaft is horizontally mounted on the upper part of the space, and both ends are rotatably supported by bearings 5.

The ball spline shaft 4 is provided with a pair of front and rear transfer arms 6 facing each other. As shown in FIG. 4, the transfer arm 6 includes a swing arm 6a and a telescopic arm 6b.
It is composed of The turning arm 6a has a base end (upper end) attached to the ball spline shaft 4 via a receiving member 4a having a spline hole so as to be movable in the axial direction, and the telescopic arm 6b is connected to the turning arm 6a by a linear movement guide (shown in the figure). (Omitted) and is extended and retracted by a hydraulic arm extension / contraction cylinder 7. The arm expansion / contraction cylinder 7 is arranged in parallel along the transfer arm 6, and its main body side is a turning arm 6.
a, and the piston rod 7a is fixed to the telescopic arm 6b.

A gripper 8 for gripping the greige machine W is provided at the tip of the telescopic arm 6b. The gripper 8 according to the present embodiment is inserted into the axial holes Wo at both axial ends of the greige machine W. And a pin for gripping the greige machine W.
As shown in FIG. 1, a block 9 is fixed to the center of the ball spline shaft 4 in the axial direction.
Has a transfer arm 6 along the axial direction of the ball spline shaft 4.
Is mounted parallel to the ball spline shaft 4.

Ball spline shaft 4 and guide rod 10
A pair of front and rear hydraulic chuck cylinders 11 for gripping and releasing (removing) the greige machine W by the gripper 8 by moving the transfer arms 6 closer to or away from each other, that is, by opening and closing the transfer arms 6, are provided. The chuck cylinder 11 is fixed to the block 9 on the main body side, and the piston rod 11 a is fixed to the transfer arm 6.

An arm turning device for rotating the transfer arm 6 together with the ball spline shaft 4 for loading or unloading the work W is housed in one of the front and rear box-shaped frames 3. Have been. The arm turning device is constituted by a rack and pinion mechanism using a hydraulic arm turning cylinder 12 as a drive source. The arm turning cylinder 12 is disposed vertically in the box-shaped frame 3, and a rack 13 meshing with an intermediate gear 15 rotatably mounted on the box-shaped frame 3 has a connecting plate 14 on its piston rod 12 a. The intermediate gear 15 is connected to a turning gear 16 provided at one end of the ball spline shaft 4.
Is engaged. The rack 13 is vertically movably attached to the frame 3 via a linear movement guide 20, as shown in FIG.

That is, the transfer arm 6 is rotated via a gear train by the expansion and contraction operation of the arm turning cylinder 12, and as shown in FIG.
It is moved to a work unloading position that projects to the side of the vehicle body 1. Further, the transfer arm 6 is configured such that the rotation operation to the work unloading position is restricted by the stroke end or the stopper of the arm turning cylinder 12 in the downwardly inclined position.

A pair of front and rear work receiving tables 17 for receiving the greige machine W loaded on the vehicle body 1 are provided on the vehicle body 1, and the upper surface of the work pedestal 17 stabilizes both end shafts of the green machine W. Is formed in an arc shape or a V-shape so as to be held.
Outriggers 18 are provided on the left, right, front and rear of the lower surface of the vehicle body 1. As shown in FIG. 5, the outrigger 18 has a hydraulic cylinder portion 18a and its hydraulic cylinder portion 18a.
The leg 18b is moved up and down by a to stabilize the vehicle body 1 by landing the leg 18b on the road surface when transferring the greige machine W. In addition,
In this embodiment, a conical concave portion is provided on the lower surface of the leg 18b, and the conical concave portion is provided on the traveling path.
9, the automatic guided vehicle stopped at the station is positioned.

Next, the transfer operation of the greige machine W by the automatic guided vehicle equipped with the work transfer device 2 configured as described above will be described. During the travel of the automatic guided vehicle, the transfer arm 6 stands by at the work loading position in a downward posture as shown by the solid line in FIG. Then, when the automatic transfer vehicle is stopped at the station where the greige machine W to be transferred is placed and is positioned and fixed by the outrigger 18, the greige machine W is carried in by the work transfer device 2.

First, the front and rear transfer arms 6 are moved to the ball spline shaft 4 by the contraction operation of the arm turning cylinder 12.
At the same time, it is rotated to the work unloading position on the side of the vehicle body 1 and stopped in a downwardly inclined state as shown by a virtual line in FIG. Subsequently, the transfer arm 6 is extended toward both sides in the axial direction of the greige machine W placed on the work place by the extension operation of the arm extension / contraction cylinder 7, and the gripping tool 8 is opposed to the shaft hole WO of the greige machine W. Stopped at

Subsequently, the chuck cylinder 11 is contracted and the front and rear transfer arms 6 are moved to the ball spline shaft 4.
Are moved in a direction approaching each other, that is, a closing direction. As a result, the grasping tool 8 is inserted into the shaft hole WO of the greige machine W, and the greige machine W is grasped. When the greige machine W is gripped, the transfer arm 6 is reduced by the contraction operation of the arm extension / contraction cylinder 7, and then the arm rotation cylinder 12 is moved.
The transfer arm 6 is rotated to the work loading position by the extension operation of the, so that the greige machine W is loaded onto the vehicle body 1. Thereafter, the transfer arm 6 is extended by a predetermined amount, and the greige machine W is moved to the work receiving table 1.
7. Drop it on and wait.

When the greige machine W is loaded in this way, the automatic guided vehicle pulls up the leg 18b of the outrigger 18, travels to the next station and stops, and thereafter, moves the outrigger 18 in the same manner as when loading. After lowering the legs 18b and positioning and fixing the vehicle body 1, the transfer operation of the greige machine W by the transfer arm 6, that is, lifting of the greige machine W from the work receiving table 17 → unloading the greige machine W to the side of the vehicle body 1 (work) The unloading of the greige machine W by the gripper 8 is performed sequentially, and then the transfer arm 6 returns to the arm carry-in position and waits.

As described above, according to the automatic guided vehicle according to the present embodiment, the transfer operation between the stations of the greige machine W in the weaving factory is efficiently performed by the work transfer device 2 provided on the vehicle body 1. be able to. In the present embodiment, since the transfer arm 6 rotated to the work unloading position expands and contracts in the forward-downward inclined posture, the transfer or unloading operation of the greige machine W is performed. It is not necessary to separately set the lifting and lowering operations, and the cycle time of the transfer operation can be shortened.

Further, during the transfer operation of the greige machine W, the outrigger 18 can stabilize the vehicle body 1 to prevent it from overturning, and the outrigger 18 also serves as a positioning mechanism, so that the number of parts can be reduced. Further, when the automatic guided vehicle is traveling, the green machine W can be held by the work receiving pedestal 17 and movement during traveling can be regulated, so that stable transportation is possible.

It should be noted that the above-described embodiment can be appropriately modified. For example, the arm turning device for turning the transfer arm 6 may use a motor instead of a cylinder as a driving device, or use a transmission mechanism using a chain or a rope instead of the rack and pinion mechanism. Is the transfer arm 6 or ball spline shaft 4
Can be rotated directly by a cylinder.

As the opening / closing device for opening / closing the transfer arm 6, an apparatus using a motor as a drive source can be used instead of the chuck cylinder 11 shown in the figure. Also,
The transfer arm 6 may be a non-telescopic type. The gripping tool 8 is not limited to a pin, and an optimal tool corresponding to a work to be handled is selected regardless of the type. In the present embodiment, the transfer of the greige machine W has been described, but the present invention can be applied to a work other than a roll-like article such as a greige machine or a strip coil. Furthermore, although the embodiment has been described in the case of an unmanned carrier, a manned carrier may be used.

[0027]

As described in detail above, according to the present invention,
A transport vehicle equipped with a work transfer device capable of efficiently transferring a work can be provided.

[Brief description of the drawings]

FIG. 1 is a side view of an automatic guided vehicle provided with a work transfer device.

FIG. 2 is a front view of the same.

FIG. 3 is a plan view of the same.

FIG. 4 is a cross-sectional view taken along line AA of FIG. 1, showing a work transfer operation mode.

FIG. 5 is an explanatory view of an outrigger.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Vehicle body 2 ... Work transfer device 3 ... Ball spline shaft 6 ... Transfer arm 7 ... Arm expansion / contraction cylinder 8 ... Grasping tool 11 ... Chuck cylinder 12 ... Arm turning cylinder 17 ... Work cradle 18 ... Outrigger

Claims (5)

[Claims] 1. A transfer vehicle for transferring a work, wherein a work transfer device is provided on a vehicle body, and the work transfer device includes a pair of openable and closable transfer devices each having a gripper for gripping the work at a tip end. A transport vehicle having a mounting arm, wherein the transfer arm is movably provided between a work loading position on the vehicle body and a work unloading position protruding from the side of the vehicle body. 2. The transport vehicle according to claim 1, wherein the transfer arm is moved between a workpiece loading position and a workpiece unloading position by rotating about an axis. 3. The carrier according to claim 1, wherein
The transfer arm is configured to be extendable and retractable. 4. The transport vehicle according to claim 1, wherein a work receiving table on which the workpiece carried by the transfer arm is placed is provided on the vehicle body. 5. The carrier according to claim 1, wherein the vehicle has an outrigger for preventing the vehicle from tipping over.