JPH1149331A - Carriage positioning device, and carriage carrying and guiding method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently position small lot multi-production works to specified positions. SOLUTION: A carriage 116 can be freely carried, and when it is carried to a robot welder, it is guided by a guide rail 166 and a guide roller 164, and positioned by a shock absorber 178, so plural carriages 116 for different sorts of works can be univocally positioned to specified positioned. By changing the carriages 116, need of positioning the works different positions each time for small lot multi-production is eliminated, and they can be positioned by unified positioning work.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bogie positioning device for positioning a bogie transportable on a road surface at a predetermined position, and a transport guide for the bogie for transporting the bogie in a predetermined transport direction. About the method.

[0002]

2. Description of the Related Art For example, a robot welding machine is constituted by a combination of a robot arm having a welding torch at the tip and a working table provided within a working range of the robot arm.

[0003] Each position of the working table corresponds to a welding position instructed by a computer of the robot arm, and the robot arm makes use of a plurality of joints to accurately place the welding torch at a desired welding position. Feeding and welding.

On the other hand, when a workpiece is placed on a working table, in a small-scale production, the workpiece placed on a cart is transported to the working table and the workpiece is reloaded. . In mass production, a plurality of processing work tables are arranged on a belt conveyor, and the belt conveyor is driven to sequentially position the work tables.

[0005]

However, when one kind or a small number of kinds are to be produced in small quantities, when positioning them on the working table, it is sufficient to position them based on predetermined marks or the like. In the case of performing production, there are many positions to be positioned, and it is not possible to make a mark or the like for each arrangement state, and preparation work before processing for mounting on a processing work table becomes complicated.

The present invention has been made in consideration of the above-described circumstances, and has as its object to provide a bogie positioning device capable of efficiently positioning a large variety of small workpieces at predetermined positions.

[0007]

According to a first aspect of the present invention, there is provided a bogie positioning apparatus for positioning a bogie transportable on a road surface at a predetermined position, wherein the bogie positioning device guides the bogie in a transport direction. 1 guide means, a stop means for determining a stop position in the transport direction of the carriage when transported in a state guided by the first guide means, and is arranged in advance at a stop position of the carriage by the stop means, The vehicle includes lifting means for moving the carriage up and down with respect to the road surface, and relative positioning means for determining a relative position between the lifting means and the carriage in accordance with the elevation of the lifting means.

According to the first aspect of the present invention, a member to be processed is placed on the cart, and the workpiece is transported on a road surface. Here, the first guide unit guides the sheet in the width direction with respect to the transport direction. As a result, the carriage is guided by the guide means, and is transported, for example, linearly.

During transportation while being guided by the first guide means, the carriage is stopped by the butting stop means. The stopped position is a predetermined position, and the lift is moved up and down by operating the lifting / lowering means. Thereby, the bogie is separated from the road surface and held. At this time, since the relative position between the lifting means and the carriage is determined by the relative positioning means, for example, an automatic processing machine in which the relative position with respect to the lifting means is determined, and the carriage positioned at the position raised and lowered by the lifting means Support table (table on which workpieces are placed)
Since the relative positional relationship between them is uniquely determined, they can also be used as a work table of an automatic processing machine.

According to a second aspect of the present invention, in the first aspect of the present invention, after the work in a state where the bogie is separated from the road surface is completed by the elevating means, the bogie is again moved to the road surface. It is grounded and is transported along the first guide means in a direction opposite to the transport direction.

According to the second aspect of the present invention, since it is a so-called batch type transport mode, the configuration of the first guide means and the like is simple (for example, in the case of linear transport, a linear guide member is laid. And the installation space is small. According to a third aspect of the present invention, in the first or second aspect of the present invention, the first guide means is provided on a guide roller mounted in a width direction with respect to a transport direction of the bogie, and on the road surface. And a guide rail provided on a side surface thereof for guiding the guide roller and guiding the carriage in a predetermined direction.

According to the third aspect of the present invention, a guide rail is provided near the positioning position as the first guide means at a predetermined position on the road surface (outer ends of guide rollers provided at both ends in the width direction of the bogie). By laying,
In normal times, it can be freely conveyed on the road surface, and only when positioned at a predetermined position, the conveyance can be restricted and guided to a predetermined position reliably.

According to a fourth aspect of the present invention, there is provided a bogie positioning device for positioning a bogie, which can be conveyed on a road surface and whose conveying direction is specified in one direction, to a predetermined position, wherein the bogie is provided. First guide means for guiding the carriage when transported along the first transport direction; and a stop position of the carriage in the first transport direction when guided and transported by the first guide means. Stopping means, a lifting / lowering means which is arranged in advance at a stop position of the bogie by the stopping means, and which raises / lowers the bogie with respect to a road surface; A relative positioning means for determining, and a second position in which the carriage is different from the first transfer direction.
Second guide means for guiding the carriage when the carriage is transported along the transportation direction of the carriage, and
And a pressing means for pressing, along the second guide means, the bogie, which is oriented in the direction described above and has been lifted by the elevating means.

According to the fourth aspect of the present invention, the carriage is transported in the first transport direction by the first guide means, and is similar to the first aspect until it is positioned.

After the above positioning, the bogie is separated from the road surface by the elevating means until a predetermined operation is completed.
After the completion of the predetermined work, the vehicle is again grounded on the road surface. Second
A second guiding means is provided along the direction of conveyance of the carriage, and the bogie moves to the second direction by the pressing force of the pressing means.
, And moves along the second transport direction.

That is, since the carriage can be carried out of the positioning position without interfering with the next carriage carried in from the first carrying direction, a plurality of carriages can be sequentially fed.

According to a fifth aspect of the present invention, in the fourth aspect of the present invention, the carriage is lifted with respect to a road surface by the elevating means, and the second carriage is different from the first transport direction. It is characterized by further comprising a bogie direction changing means for changing the direction of the bogie so that the bogie can be conveyed in the conveying direction.

According to the fifth aspect of the present invention, when the direction is changed from the first transport direction to the second transport direction, the change is performed in a state where the carriage is lifted with respect to the road surface by the lifting means. The direction change is smooth and the first on the road surface
And the second guide means and the like.

According to a sixth aspect of the present invention, in the fourth aspect of the present invention, the first transport direction and the second transport direction are orthogonal to each other. I have.

According to the sixth aspect of the present invention, the first transport direction and the second transport direction are orthogonal to each other, and as a result, the first transport direction and the second transport direction are lateral to the transport direction to the positioning position. The cart will be removed. Since the transport directions are orthogonal to each other, the carts do not move wastefully, a plurality of carts can be arranged neatly, and handling of the carts becomes easy.

According to a seventh aspect of the present invention, in the invention according to any one of the fourth to sixth aspects, when the carriage is transported by the first guide means, the second carriage which interferes with the carriage is provided. And a part of the first guiding means that interferes with the carriage when the carriage is transported by the second guiding means, respectively.

According to the seventh aspect of the present invention, since the first guiding means and the second guiding means have different guiding directions (orthogonal in claim 2), there are portions which interfere with each other. I do. Since the interfering portions have a retractable structure, there is no structural limitation of the first guide means and the second guide means, and smooth transport can be performed in each of them.

[0023] According to an eighth aspect of the present invention, in the first aspect of the present invention, there is provided the first aspect of the present invention.
A part of the guide means and a part of the second guide means are a common movable part, and the movable part can take two positions,
A first position is a proper position as the first guide means and a retracted position as the second guide means, and a second position is a proper position as the second guide means and the first guide. It is a retreat position as a means.

According to the present invention, a part of the first guide means and a part of the second guide means are constituted by a common movable part. This moving part, for example,
It is possible to reciprocate between the first position and the second position by rotational movement or the like (or to move in one direction to repeat a predetermined route, which may be a so-called rotary movement). ing. Here, the first position is an appropriate position as the first guide means, the retreat position as the second guide means, and the second position is the second position.
The movable member can be disposed at each of the proper position and the retracted position by a single movement since the proper position as the guiding means and the retracted position as the first guiding means.

According to a ninth aspect of the present invention, in the invention according to any one of the first to eighth aspects, at least until the positioning by the relative positioning means is completed after the stopping by the stopping means. And holding means for holding the carriage at the predetermined position.

According to the ninth aspect of the invention, when the ascending / descending means starts ascending, the ascending / descending means and the bogie are separated from each other. For this reason, since the carriage may move from the position where it was initially positioned, the bogie is held by the holding means from the time when the abutment stop means is stopped until at least the positioning by the relative positioning means is completed. Accordingly, the initial positioning state can be maintained, and the accuracy of the position at which the lifting / lowering means reaches (contacts) the bogie can be improved.

According to a tenth aspect of the present invention, in the first aspect,
10. The invention according to any one of claims 9 to 9, further comprising a discriminating means for discriminating a type of the truck or a processing member mounted on the truck when the stopping means stops.

According to the tenth aspect of the present invention, it is premised that a small number of various types of workpieces are placed on the cart, and the positioning of different workpieces is performed as in the present invention. The positioning workability is improved by positioning with a unified positioning device. Here, the type of the positioned cart or the processing member placed on the cart is determined at the time of positioning (at the time of stopping by the stopping means). For example, information can be easily recognized by attaching a machine-readable code such as a bar code to a frame of a cart and facing the bar code reader in a positioning state.

If a plurality of on / off sensors are arranged regardless of contact (for example, a proximity sensor or a photoelectric sensor) or contact (for example, a limit switch), the number of the on / off sensors (n ), A plurality of types of information (2 ⁿ types of information) can be determined.

The invention according to claim 11 is the invention according to claim 1.
The invention according to any one of claims 10 to 10, wherein the carriage is a working table for working and a supporting table for transporting the workpiece.

According to the eleventh aspect of the present invention, in the processing operation, a processing machine (for example, a welding machine or the like) and a working table on which a workpiece is placed are set. In the present invention, the working table is also used as a carriage as a support for conveying the workpiece, so that even if the workpieces on the carriage are of different types, positioning is performed by a single unified positioning device. can do.

According to a twelfth aspect of the present invention, there is provided the fourth aspect of the present invention.
The invention according to any one of claims 11 to 11, wherein the second guide means is disposed on the road surface and a guide roller mounted in a width direction with respect to a transport direction of the carriage, and a side surface of the guide roller is provided. And a guide rail for guiding the carriage in a predetermined direction.

According to the twelfth aspect of the present invention, a guide rail is provided near the positioning position as the second guide means at a predetermined position on the road surface (outer ends of guide rollers provided at both ends in the width direction of the bogie). By laying, the cart can be freely transported on the road surface in normal times, and only when positioning at a predetermined position, the transport can be limited and guided to the predetermined position reliably. .

According to a thirteenth aspect, in the first aspect,
The invention according to any one of claims 12 to 12, wherein the stopping means is provided so as to face the transport direction in which the bogie is guided by the first guide means, and abuts a part of the bogie.
In addition, it is characterized in that it is a stopper with a damper that reduces the impact at the time of abutment and prevents the conveyance.

According to the thirteenth aspect of the present invention, the stop means, that is, a stopper for stopping the bogie in the abutting state, expands and contracts in the abutting direction in order to prevent a displacement of the workpiece on the bogie. A flexible stopper with a damper is applied. Accordingly, when the bogie is conveyed strongly and quickly, the damper function absorbs the impact at the time of abutment, and when the conveying force is released (for example, the pressing operation of the bogie of the operator is released), the damper is released. Since the attached stopper returns to the predetermined position, the carriage can be reliably positioned at the predetermined position.

The invention according to claim 14 is the invention according to claim 1.
The invention according to any one of claims 13 to 13, wherein the relative positioning means comprises a pin provided on one of the elevating means or the bogie, and a pin provided on the other of the elevating means or the bogie. A hole that fits with a dimensional tolerance, the tip of the pin is tapered, and the positional relationship between the lifting means and the bogie is finely adjusted according to the elevation of the lifting means. .

According to the fourteenth aspect of the present invention, the relative positioning means composed of the pin and the hole is disposed between the elevating means and the bogie. That is, although the stop position by the stop means has a certain degree of accuracy, in order to further improve the positioning accuracy, the pin is inserted into the hole when the carriage is raised by the elevating means. At this time, if the base of the pin does not rattle with the diameter of the hole and has a predetermined fitting tolerance that does not generate resistance to insertion and removal, the positioning accuracy should be within the range of this tolerance. Can be. In addition, if the tip of the pin is tapered, even if there is a slight displacement at the time of insertion, the displacement is gradually eliminated in accordance with the lifting operation of the lifting / lowering means, and the pin can be reliably inserted into the hole.

According to a fifteenth aspect of the present invention, there is provided a method of transporting a truck until the truck is positioned at a predetermined position and until the truck is sent from the predetermined position to another predetermined position. As described above, after being guided while guided by the first guide means, and positioned at the predetermined position, the carriage is raised with respect to a road surface, and the direction of the carriage is
The transport is changed to a second transport direction different from the first transport direction, and the carriage is again grounded on the road surface, and then transported while being guided by the second guide means along the second transport direction. It is characterized by

According to the fifteenth aspect of the present invention, the carriage is transported to the predetermined position in the transport direction (the first direction).
Is different from the transport direction (second transport direction) for sending from the predetermined position to another predetermined position, so that there is no interference between the feeding and the feeding of the bogie, and the plurality of bogies can be smoothly moved. Can be sequentially sent to a predetermined position.

[0040]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) FIGS. 1 to 4 show a work area mainly including a robot welding machine 100 according to a first embodiment.

The robot welding machine 100 includes a robot arm 102 and a turntable 104.
The robot arm 102 is mounted on a column 108 having a lower end fixed to a road surface 106, and has an arm movable section 112 having a plurality of joints on a main body 110 on which driving and control devices are mounted. Is installed. By performing operations such as rotation, extension, contraction, and refraction of the joint of the arm movable portion 112 according to a predetermined instruction signal, it is possible to correspond to a predetermined position on the turntable 104. . A welding part 114 is attached to the tip of the arm movable part 112, and moves based on a predetermined coordinate plane (three-dimensional space).
In the first embodiment, welding of a predetermined position of the workpiece 152 mounted on the carriage 116 positioned at the mounting position of the turntable 104 is performed.

The turntable 104 has a rectangular main body 11.
A columnar rotating body 122 is supported on the rotating shaft 8 via a rotating shaft 120. This rotating body 122 is rotatable about a rotating shaft 120.

An elevating table 126 is provided on the rotating body 122 via a disk-shaped support plate 124.
As shown in FIG. 3 and FIG.
Is a substantially Y-shaped plate shape in which the arm portion 130 extends radially in three directions, and the support plate 12
4 is supported via a cylinder 128. That is, the main body of the cylinder 128 is attached to the support plate 124, and the elevating table 126 is supported at the tip of the telescopic rod 128A. Note that the arm portions 130 extending in three directions are equally spaced around the axis of the cylinder 128 (120 ° intervals).

As shown in FIGS. 3 and 5, a circular hole 132 is provided in the vicinity of the longitudinal center of the arm portion 130 of the elevating table 126, and the lower surface of the arm portion 130 (the surface facing the support plate 124). The cylindrical member 134 is attached around the circular hole 132 in ()). The diameter of the inner peripheral circle of the cylindrical member 134 matches the diameter of the circular hole 132.

Correspondingly, a guide shaft 136 is provided upright on the upper surface of the support plate 124 (the surface facing the elevating table 126) via a flange 138. The guide shaft 136 is inserted through the cylindrical member 134 and has a function of guiding the elevating table 126 in the elevating direction.

The tip of the arm 130 is provided with a pin 1
40 are attached. The pin 140 is provided in a circular hole 14 provided in a work table 142 of a cart 116 described later.
4 and the carriage 11 by the lifting table 126
The pins 140 are inserted into the circular holes 144 at the time of ascending, so that the relative position between the elevating table 126 and the carriage 116 can be determined.

The tip of the pin 140 is formed in a tapered shape, so that even if the axis of the pin 140 is slightly displaced from the circular hole 144, this displacement is automatically eliminated during the ascent. . The outer diameter of the base of the pin 140 is
It is formed with a predetermined dimensional tolerance such that there is no play between the inner diameter of the inner ring 44 and the friction coefficient at the time of insertion. Therefore, in a state where the pin 140 is inserted into the circular hole 144, in the movement area of the robot arm 102,
The carriage 116 is positioned with extremely high accuracy, and the work table 142 of the carriage 116 can be used as a coordinate plane for processing.

As shown in FIG. 3 and FIG.
Has a structure in which the work table 142 is supported by a frame 146 formed by assembling square pipes, and casters 150 are attached to the lower ends of four legs 146A, respectively.

Therefore, the work table 142 can freely travel on the road surface 106 by the pressing force of the worker. On the work table 142, the workpiece 152
Is to be placed.

In three directions between the legs 146A,
A reinforcing bar 146B is stretched. Here, the surface of the work table 142 where the reinforcing bar 146B does not exist is forward in the traveling direction.

Further, a reinforcing bar 14 is further provided above the reinforcing bar 146B corresponding to both sides in the table running direction.
6C is spanned.

A flange 156 having a substantially L-shaped cross section perpendicular to the longitudinal direction is attached to the inner surface of the reinforcing bar 146C via a plate 154. This flange 156
Has a role as an upper limit stopper when the carriage 116 is raised by the lifting table 126 (described later).

As shown in FIG. 6, a thin plate 158 is interposed between each of the legs 146A and the casters 150 on the front side (two) in the running direction, and the upper surface (the legs 146A) is provided. One position of a flange 160 bent in a crank shape is fixed to a position deviated rearward from the rear side. For this reason, a surface substantially parallel to the fixed surface protrudes outward from the leg 146A. A guide roller 164 is attached to this protruding surface via a shaft 162.

The guide roller 164 constitutes a part of guide means for guiding the traveling direction of the carriage 116 together with a guide rail 166 described later.

As shown in FIGS. 3 and 4, a pair of guide rails 166 are provided so as to sandwich the turntable 104, and are fixed to the road surface 106 in parallel with each other.

The inner width of the pair of guide rails 166 substantially coincides with the distance between the outermost points of the guide rollers 164 of the bogie 116, and the bogie 116 enters the pair of guide rails 166. And the guide roller 16
4 comes into contact with the side surface of the guide rail 166 and rolls. In addition, the entrance side of the guide rail 166 is
The inner peripheral surface is gradually cut in an arc shape, and the bogie 1
16 easily enters the guide rail 166.

Here, in one direction of the carriage 116, since the reinforcing bar 146 B (reinforcing bar 146 C) does not exist, the turntable 104 and the carriage 116 can move without interfering with each other. 1
04 can be arranged (see FIG. 4).

Here, as shown in FIG. 7, a stopper 170 is provided on the front surface in the running direction of the two legs 146A (front side in the running direction) to which the guide roller 164 is attached via a thin plate 168. Have been. The stopper 170 is a nut 17 welded to the thin plate 168.
2 and a bolt 174 that is screwed into the nut 172, and the head of the bolt 174 is an abutting surface. On the other hand, the road surface 1 near the guide rail 166
A substantially L-shaped flange 176 is attached to the reference numeral 06, and is guided (guided) by the guide rail 166.
A shock absorber 178 is attached to the moving carriage 116 at a position coaxial with the axis of the stopper 170. The distal end of the telescopic rod 178A of the shock absorber 178 comes into contact with the head of the bolt 174.

The shock absorber 178 has a role as a positioning stopper. When the pushing force of the carriage 116 is less than a predetermined value, the telescopic rod is held in an extended state. When the pushing force of the cart 116 exceeds a predetermined value, the pushing force is reduced in proportion to the pushing force, and the impact force is absorbed. After that, it returns to the predetermined extended state again. When the shock absorber 178 is extended, the bolt 17 is attached to the telescopic rod 178A.
The state where the head of No. 4 is abutted is the predetermined position of the carriage 116.

The transmitting / receiving section of the proximity sensor 180 is coaxially mounted on the shock absorber 178 and faces the reflecting section 181 provided above the stopper 170. The state can be recognized by an output signal from the proximity sensor 180.

As shown in FIG. 8, the turntable 10
4, a rotary actuator 182 is provided on the road surface 106 near the left front leg 146A in the traveling direction in a state where the bogie 116 is positioned at a predetermined position. This rotary actuator 182
Actuator body 185 provided on flange 183
The arm portion 184 is attached to the rotation shaft of. For this reason, when the actuator body 185 is driven, the arm 184 reciprocates approximately 90 °. At the tip of the arm 184, an arm 184
Stopper member 1 whose axis is in a direction perpendicular to the direction in which it extends
86 is attached. The arm portion 184 is normally stopped at a position (standby position) indicated by a chain line in FIG. 8 closest to the turntable 104, and when the carriage 116 is positioned at a predetermined position (when the proximity sensor 180 recognizes the carriage 116). ), The rotary actuator 182 operates,
The arm portion 184 is configured to rotate approximately 90 ° (see the position indicated by the solid line in FIG. 8). In this rotation position (holding position), the stopper portion 186 contacts the rear surface of the leg portion 146A in the traveling direction. Therefore, the shock absorber 178 and the stopper member 186 are used to
6A is sandwiched, so that the carriage 116 can be reliably held at a predetermined position.

Here, as shown in FIG.
Is positioned at a predetermined position, the support plate 124 of the turntable 104 and the flange 156 attached to the reinforcing plate 146C of the carriage 116 overlap with each other in plan view (support plate 1).
24 is the upper side). Here, a height adjustment pin 188 is provided on a surface of the support plate 124 facing the flange 156, and the amount of elevation of the carriage 116 by the turntable 104 is determined by the amount of protrusion of the height adjustment pin 188. Can be restricted. Note that the lift amount of the carriage 116 is about 40 mm.

A plurality of detection dogs 190 are provided on the right leg 146A in the traveling direction.
The detection dog 190 is connected to the cart 116 or the cart 116.
Corresponds to an identification code for specifying the workpiece 152 mounted on the carriage 116, and the combination of the expansion and contraction state (binary) of the detection dog 190 is used to determine whether the workpiece 152 mounted on the carriage 116 Can be identified. That is, if there are three detection dogs 190, 2 ³ = 8 types can be identified, and if there are four detection dogs 190, 2 ⁴ = 16 types of identification can be made.

Each of the detection dogs 19 corresponds to this detection dog 190 in a state where the detection dog 190 is positioned at a predetermined position of the carriage 116.
A photoelectric sensor 192 is provided corresponding to 0. The photoelectric sensor 192 is connected to the road surface 106 via the flange 195.
It is fixed to. The signal is switched when the detection dog 190 expands and contracts.
The state of expansion and contraction of 0 can be electrically recognized.

The operation of the first embodiment will be described below.

The carriage 116 can freely travel on the road surface 106, and assembles workpieces at a predetermined work position. This assembling work covers a wide variety of small lots, and the assembling work is performed by different works, and finally, the welding work is performed by the robot welding machine 100.

The carriage 116 is transported to the robot welding machine 100 in the order in which the assembling work is completed, that is, at random. A pair of guide rails 166 is provided near the robot welding machine 100, and the operation is performed by the worker's intention until the carriage 116 is inserted between the pair of guide rails 166.

When the carriage 116 enters the pair of guide rails 166, the guide rollers 164 are moved by the guide rails 166.
Then, the carriage 116 may be pushed forward without worrying about the direction.

When the carriage 116 is pushed forward, the carriage 11
The stopper 170 provided on the side 6 contacts the shock absorber 178. At this time, even if the pushing force is too strong, the telescopic rod 178A of the shock absorber 178 contracts, so that the impact force is reduced and the work table 142
The upper workpiece 152 does not shift or fall off. When the pushing force is released, the bogie 116 is pushed back until the telescopic rod 178A returns to the original extended state.

At the same time, the contact between the stopper 170 and the shock absorber 178 is detected by the proximity sensor 180, and the rotary actuator 182 starts operating by this detection. By this operation, the arm 184 positioned at the standby position is rotated by approximately 90 °, and the stopper 186 at the distal end is moved to the leg 146.
A comes into contact with the rear surface, and as a result, the shock absorber 1
Since the leg portion 146A is sandwiched between the 78 and the stopper portion 186, the carriage 116 is securely held at a predetermined position.

At this predetermined position, the photoelectric sensor 192 recognizes the expansion / contraction state of the detection dog 190. Thus, the type of the cart 116 or the workpiece 152 placed on the cart 116 can be recognized. That is, even if the carriage 116 is set in the robot welding machine 100 at random, information such as the welding position can be read out by recognition of the detection dog 190.

When the welding information is read, the turntable 104 operates the cylinder 128 to raise the elevating table 126. At this time, the leg portion 146A is held between the shock absorber 178 and the stopper portion 186, but the pin 140 provided on the arm portion 130 is provided.
However, the holding is continued until insertion into the circular hole 144 provided on the work table 142 of the cart 116 is started. As a result, it slides between the legs 146A,
Since it is acceptable to some extent, priority is given to retention.

This holding may be performed for 1 to 2 seconds after the start of the ascent, during which time the tip of the pin 140 is securely inserted into the circular hole 14.
Step into 4.

The rising amount is determined by the cylinder 128, but in order to further increase the accuracy, the height adjusting pin 1 is used.
88 is adjusted and brought into contact with the support plate 124;
This abutment limits the rise.

As described above, the carriage 116 is freely transportable, and when transported to the robot welding machine 100, is guided by the guide rails 166 and the guide rollers 164 and positioned by the shock absorber 178. Dolly 1 of different type of workpiece 152
16 can be uniquely positioned at a predetermined position.

Further, the carriage 116 is moved by a predetermined amount (about 40 mm).
By raising, the pin 140 provided on the turntable 104 side (actually, the arm portion 130) and the circular hole 1 provided on the bogie 116 side (actually, the work table 142)
The position of the work table 142 can be sufficiently exhibited as a welding coordinate plane by the robot welding machine 100 in order to more accurately position the work table 44.

As described above, by exchanging every truck 116, it is not necessary to position the workpiece at a different position each time during the production of a small number of products, so that the positioning can be performed by a unified positioning operation. Moreover, since the positioned cart 116 or the workpiece 152 placed on the cart 116 can be identified, the complexity of the preparation operation can be eliminated.

In the embodiment of the present invention, the guide rail 1
66 are provided so as to sandwich the guide roller 164 of the carriage 116, but the shape of the guide rail 166 is concave, and only one guide rail 166 is provided.
The guide can also be inserted into the groove 4.

In the embodiment of the present invention, the embodiment of the robot welding machine 100 has been described. However, the present invention can be applied to the positioning of a machining machine, an assembling machine, and the like. (Second Embodiment) Hereinafter, a second embodiment of the present invention (mainly according to claims 4 and 13) will be described. In addition, about the same component as the said 1st Embodiment, some figures are simplified and the same code | symbol is attached | subjected and description of the structure is abbreviate | omitted.

The feature of the second embodiment lies in the transport direction of the bogie 116. In addition to the two parallel guide rails 166 applied to the first embodiment, the guide direction of the guide rail 166 Is the cart 116 in the direction orthogonal to
In that a pair of guide rails 200 (see FIG. 9 to FIG. 13) for guiding the vehicle are added. Hereinafter, FIGS. 9 to 1
5, the details of the second embodiment will be described.
In the second embodiment, the existing guide rails 166 of the first embodiment are replaced with the first guide rails 16.
6 and the added guide rail 200 is referred to as a second guide rail 200.

As shown in FIG. 9 to FIG.
Of the pair of second guide rails 200 arranged at an angle of 90 ° (right angle) with respect to the first guide rail 166 for transporting the robot 6 to the positioning position, that is, the robot welding machine 100 side Guide rail 200A is the first
Of the guide rail 166 and the robot welding machine 100
Are arranged in a space between the first guide rail 166 and the first guide rail 166.

On the other hand, the other of the pair of second guide rails 200 located on the lower side of FIGS. 9 to 13, that is, the guide rail 200 B on the carriage carrying side, interferes with the first guide rail 166. It is laid in the position to be. Here, at the left end of the guide rail 200B in FIG. 9, the guide roller 164 provided on the carriage 116 between the guide rail 166 and the first guide rail 166 is connected to the first guide rail 1
9 to 13 by providing a gap G corresponding to the space when passing by being guided by the first guide rail 66 (the guide rail 166).
A) and avoid interference.

On the other hand, the other of the first guide rails (guide rail 166B) located on the right side of FIGS.
The other one of the second guide rails 200 (the guide rail 200
B) is a configuration in which each intersects at the middle part in the longitudinal direction.

Therefore, the first and second guide rails 16
6 and 200, a portion that interferes with each other is eliminated, and a movable guide rail 202 is provided instead.

As shown in FIG. 14, one end of the movable guide rail 202 is a cross point, and is rotatably supported on the road surface 106 via a shaft 204.

Further, a gear 206 is attached to the shaft 204. The gear 206 meshes with a gear 212 provided on a rotating shaft 210 of a rotary actuator 208 disposed adjacently. The rotary actuator 208 has its main body 208A mounted above a flat portion (a surface parallel to the road surface 106) of a crank-shaped flange 214 with the rotating shaft 210 facing downward.
That is, a through-hole penetrating through the rotating shaft 210 is provided in the flat portion, and the rotating shaft 210 is located in a space between the flat portion and the road surface 106.

Here, the rotary actuator 208 has the sensors 216 and 21 at two positions where the included angle is a predetermined angle.
The rotating shaft 210 can be rotated back and forth by a predetermined angle by energization and non-energization. The predetermined angle is determined by a gear ratio caused by the engagement of the gears 206 and 212, and an angle for rotating the movable guide rail 202 by 90 ° is set. For example, the movable guide rail side gear 20
If the number of teeth of 6: the number of teeth of the rotary actuator-side gear 212 = 1: 2, the predetermined angle is set to 45 °. This setting can be easily changed by changing the positions of the sensors 216 and 218.

The movable guide rail 202 holds the first guide rail 1 when the rotary actuator 208 is not energized.
66, that is, the first guide rail 16
6 and a second guide rail 2
00 (the first position of the movable guide rail 202).

On the other hand, when the rotary actuator 208 is energized, the movable guide rail 202 rotates 90 ° and is parallel to the second guide rail 200, that is, functions as a part of the second guide rail 200. ,
The first guide rail 166 avoids the carriage 116 from being transported (the movable guide rail 2).
02 second position).

In the second embodiment having the above-described structure, the first guide rail 166 is used to carry in the positioning position.
After a predetermined operation (see the first embodiment) is performed by the robot welding machine 100 while being separated from the road surface 106 by the turntable 104, the bogie 116 is again moved to the road surface 1.
At the time of grounding to 06, the following steps are added.

When the carriage 116 is lifted by the turntable 104 and separated from the road surface 106 (the state shown in FIG. 10), the movable guide rail 202 is moved from the first position to the second position (energization of the rotary actuator 208). The turntable 104 is rotated 90 ° to the left (counterclockwise) in FIG.
The reference surface of the trolley 116, which was considered to be forward when transported by
The direction is changed along the second guide rail 200 (the state of FIG. 11).

An automatic carriage unloading device 220 is disposed between the robot welding machine 100 and the guide rail 200A of the second guide rail 200 on the robot welding machine 100 side. The automatic carriage unloading device 220 includes a support 222 extending in the left-right direction in FIGS. 9 to 13 in parallel with the second guide rail 200.
A pair of parallel guide rails 224 is attached to the upper surface of the. In addition, the support stand 222 and the guide rail 2
24 may be integral or separate.

As shown in FIG. 15, this guide rail 2
A moving body 226 is mounted on 24. When the moving body 226 is placed on the guide rail 224, a frictional force reducing member may be interposed. As the frictional force reducing member, a wheel rolling on the guide rail 224 may be attached to the moving body 226 or the moving body 2 of the guide rail 224 may be used.
For example, a tape having a low coefficient of friction may be attached to the surface in contact with 26, oil may be injected, or a commercially available component such as a slide bearing may be interposed.

Thus, the moving body 226 is connected to the guide rail 2
9 to 13, that is, in parallel with the laying direction of the second guide rail 200.

A rodless cylinder 228 is attached to the upper surface of the support base 222 in parallel with the guide rail 224, and a moving part (not shown) of the rodless cylinder 228 is connected to a moving body 226. Thus, the moving body 226 can move as the moving part of the rodless cylinder 228 moves.

On the upper surface of the moving body 226, a pair of flange portions 230 which are parallel to each other are erected and coaxially form a circular hole 232.
Is provided. The shaft 234 is extended around the circular hole 232. One end of a pressing plate 236 is attached to the shaft 234.
Is rotatable about a shaft 234.

The pressing plate 236 is an elongated member,
The tip portion is slightly tilted toward the positioning position with respect to an upright state (a slightly inclined state as shown in FIG. 11 and a first position) (as shown in FIG. 12). , In a greatly inclined state, which is the second position.)
FIG. 12 shows the carriage 116 positioned at the positioning position.
Is located in the vicinity of the left side surface.

The shaft 23 is provided at an intermediate portion of the pressing plate 236.
4 is projected, and the shaft 234 has a cylinder 23
The distal end of the eighth telescopic rod 238A is pivotally supported.

The cylinder 238 has a substantially U-shaped flange 2.
40 is attached via a shaft 242, and a flange 240 is mounted on a bracket 244 erected from the moving body 226.
It is stuck to.

Here, the telescopic rod 23 of the cylinder 238
8A, the pressing plate 336 is retracted.
Is held substantially upright on the moving body 226 (first position), and when the telescopic rod 238A is extended, the pressing plate 236 is tilted (second position). .

Therefore, when the bogie 116 is at the positioning position and the above steps and steps are completed, the pressing plate 236 is moved from the first position to the second position, and the moving body 226 of the rodless cylinder 228 is moved. As a result, the pressing plate 236 presses the carriage 116,
Along the guide rail 200 (see FIG. 13).

In the vicinity of both ends in the longitudinal direction between the guide rails 224, limit switches 246 and 248 are provided on the locus of movement of the moving body 226, respectively.
26, the stop positions near both ends.

That is, in the above configuration, the carriage 116 is guided by the first guide rail 166 to be carried in to the positioning position, and guided by the second guide rail 200 to be carried out of the positioning position. Rail 166
A plurality of trolleys 116 are arranged along and the work of sequentially sending out the trolleys to the positioning position becomes possible, and even the trolleys 116 carried out from the positioning position are made to stand by in a state where they are arranged neatly along the second guide rail 200. It becomes possible.

The operation of the second embodiment will be described below.

First, the carriage 116 is carried into the positioning position. This procedure is the same as that of the first embodiment, so that the description is omitted (the operation from FIG. 9 to FIG. 10). However, as a precondition, the movable plate guide rail 202
In the first position and the pressing plate 236 in the first position.

When the carriage 116 has risen from the road surface 106, first, the movable guide rail 202 is moved from the first position to the second position (the rotary actuator 208 is energized) (see FIG. 11).

Next, when a predetermined operation by the robot welding machine 100 is completed, the turntable 104 is rotated 90 ° to the left (counterclockwise) in FIG. Trolley 11
The orientation of the reference plane 6 is changed along the second guide rail 200.

In this state, the turntable 104 is lowered, and the truck 116 is brought into contact with the road surface 106. As a result, the guide roller 164 is connected to the second guide rail 200.
Is in contact with the inside of the side surface of the second guide rail 200, and is guided by the second guide rail 200.

Next, the cylinder 238 is driven to extend the telescopic rod 238A. As a result, the pressing plate 236 moves from the first position, which is almost in the upright state, to the second position, which is in the inclined state.
Is located near the left side surface. In the present state, the cart 11
6 is the rear side in the transport direction.

After the movement of the pressing plate 236 to the second position is completed, the rodless cylinder 228 is driven,
The moving body 226 is moved from left to right in FIG. This movement causes the pressing plate 23 mounted on the support base 222 to move.
6 is in contact with the trolley 116, and the trolley 116 can be moved along the second guide rail 200 (FIG. 1).
3))).

The direction change of the bogie 116 and the angle change of the movable guide rail 202 due to the rotation of the turntable 104 are performed in any order and may be performed simultaneously. For example, in the state of FIG. 16A, the direction of the bogie 116 has already been changed, and then the movable guide rail 202 is set to the second position as shown in FIG. As shown, the pressing plate 236 is in the second position,
The carriage 116 may be pressed (see FIG. 17B).

When the carriage 116 moves to a predetermined position on the second guide rail 200 or a position off the second guide rail 200, the pressing plate 236 returns the moving portion of the rodless cylinder 228 to the original position. Thereby, the pressing plate 236 is returned to the original position. Thereafter, the pressing plate 236 is set to the first position and the movable guide rail 202 is set to the first position, so that the carriage 116 can be brought into a standby state of being carried in from the first guide rail 166. .

In the second embodiment, the carriage 11
6 was rotated by 90 ° in a counterclockwise direction, which is a direction in which it can be transported in a second transport direction different from the first transport direction, when it was lifted by the turntable 104, but was rotated 90 ° in a clockwise direction. Then, it is possible to convey also in the direction opposite to the second conveyance direction.

In the second embodiment, the cart 11
6 in the second transport direction, the turntable 1
04, the direction of the trolley 116 is rotated counterclockwise by 90 °, but the auxiliary bars 16B, 116C of the trolley 116 are rotated.
By adding the guide rotor 164, the necessity of rotation is eliminated.

As described above, according to the second embodiment,
Instead of a so-called batch method of loading and unloading the carts 116 from a single position, a sequential feeding method is used, so that the operation of sequentially feeding a plurality of carts 116 to the positioning position becomes easy, and the work efficiency is improved. Can be. Also,
Since the discharged carts 116 can be arranged in order along the second guide rail 200 and made to stand by, the transport operation to the next step can also be performed efficiently.

[0116]

As described above, the first aspect of the present invention has an excellent effect that it is possible to efficiently position a large variety of small-sized workpieces at predetermined positions.

According to the second aspect of the invention, the structure of the first guide means and the like can be simplified.

According to the third aspect of the present invention, the carriage can be freely conveyed on the road surface in normal times, and the conveyance is restricted only when the bogie is positioned at a predetermined position, and the bogie is reliably guided to the predetermined position. can do.

According to the fourth aspect of the present invention, the carriage can be carried out of the positioning position without interfering with the next carriage carried in from the first conveyance direction. it can.

According to the fifth aspect of the present invention, the second transport direction can be selected in any direction (for example, the horizontal direction in FIG. 11), and a plurality of directions can be set and selected as the second direction. Becomes

According to the sixth aspect of the present invention, since the transport directions are orthogonal to each other, the bogies do not move unnecessarily, a plurality of bogies can be arranged neatly, and the bogies can be easily handled.

According to the seventh aspect of the invention, the first guide means and the second guide means are not structurally limited, and can be smoothly transported in each case.

According to the eighth aspect of the present invention, the movable member can be disposed at each of the proper position and the retracted position by a single movement.

According to the ninth aspect of the present invention, the initial positioning state can be maintained, and the accuracy of the position where the lifting / lowering means reaches (contacts) the bogie can be improved.

According to the tenth aspect of the present invention, it is possible to determine the type of the trolley or the workpiece to be mounted on the trolley at the time of positioning (at the time of stopping by the abutting means).

According to the eleventh aspect of the present invention, even if the members to be processed on the bogie are of different types, they can be positioned by a single unified positioning device.

According to the twelfth aspect, the structure of the second guide means and the like can be simplified.

According to the thirteenth aspect of the present invention, when the impact at the time of abutment is absorbed by the damper function and the conveying force is released (for example, the pressing operation of the worker by the worker is released), the carriage is securely moved. It can be positioned at a predetermined position.

According to the fourteenth aspect of the present invention, if the base of the pin does not rattle with respect to the diameter of the hole and has a predetermined fitting tolerance that does not generate resistance to insertion and removal, The positioning accuracy can be kept within the range of the tolerance. Further, if the tip of the pin is tapered, even if there is a slight displacement at the time of insertion, the displacement is gradually eliminated in accordance with the elevating operation of the elevating means, and the pin can be reliably inserted into the hole.

According to the fifteenth aspect of the present invention, it is possible to smoothly send out a plurality of bogies to a predetermined position without interference between the feeding and the feeding of the bogie.

[Brief description of the drawings]

FIG. 1 is a side view of a robot welding machine according to a first embodiment.

FIG. 2 is a front view of the robot welding machine according to the first embodiment.

FIG. 3 is a perspective view (before positioning) of the robot welding machine according to the first embodiment.

FIG. 4 is a perspective view (after positioning) of the robot welding machine according to the first embodiment.

FIG. 5 is an enlarged view showing a positioning state between the upper portion of the turntable and the bogie.

FIG. 6 is an enlarged view showing a guide state by a road surface and a guide rail at a lower portion of a leg portion.

FIG. 7 is a side view showing a stopper at a lower part of a leg.

FIG. 8 is a plan view of the rotary actuator.

FIG. 9 is a plan view showing a carriage transportation procedure according to the second embodiment.

FIG. 10 is a plan view showing a carriage transportation procedure according to the second embodiment.

FIG. 11 is a plan view showing a carriage transportation procedure according to the second embodiment.

FIG. 12 is a plan view showing a carriage transportation procedure according to the second embodiment.

FIG. 13 is a plan view showing a carriage transport procedure according to the second embodiment.

FIG. 14 is an exploded perspective view showing a configuration of a movable guide rail.

FIG. 15 is a perspective view of the automatic trolley transport device.

FIG. 16 is a perspective view showing a modified example of the transportation procedure of the cart.

FIG. 17 is a perspective view showing a modified example of the transportation procedure of the cart.

[Explanation of symbols]

REFERENCE SIGNS LIST 100 robot welding machine 104 turntable (elevating means, bogie direction changing means) 106 road surface 116 trolley 126 elevating table 128 cylinder 140 pin (relative positioning means) 142 work table 144 circular hole (relative positioning means) 150 caster 166 "first" Guide rail (first guide means) 170 Stopper (stop means) 178 Shock absorber 180 Proximity sensor 182 Rotary actuator 184 Arm section 188 Height adjusting pin 190 Plate 192 Photoelectric sensor 200 Second guide rail (Second guide) Means) 202 Movable guide rail (movable parts) 208 Rotary actuator 220 Automatic bogie transporter (pressing means)

Claims (15)

[Claims] 1. A bogie positioning device for positioning a bogie transportable on a road surface at a predetermined position, comprising: a first guide means for guiding a transport direction of the bogie; and a first guide means. A stopping means for determining a stop position of the carriage in the carrying direction when the carriage is guided in a guided state; an elevating means which is arranged in advance at a stop position of the carriage by the stopping means and raises and lowers the carriage with respect to a road surface; A bogie positioning device, comprising: a relative positioning unit that determines a relative position between the lifting unit and the bogie according to the lifting of the lifting unit. 2. After the work in a state where the bogie is separated from the road surface is completed by the elevating means, the bogie is grounded again on the road surface, and is moved in the transport direction along the first guide means. 2. The bogie positioning device according to claim 1, wherein the carriage is transported in an opposite direction. 3. The vehicle according to claim 1, wherein the first guide means is disposed on the road surface and a guide roller mounted in a width direction with respect to a transport direction of the carriage, and a side surface guides the guide roller to fix the carriage. 3. The bogie positioning device according to claim 1, comprising a guide rail for guiding in a direction. 4. A bogie positioning device for positioning a bogie, which can be conveyed on a road surface and whose conveying direction is specified in one direction, to a predetermined position, wherein the bogie is arranged along a first conveying direction. First guiding means for guiding the carriage when the carriage is transported, stopping means for determining a stop position of the carriage in the first transportation direction when guided by the first guiding means, and the stopping means. Lifting and lowering means arranged in advance at a stop position of the bogie to raise and lower the bogie with respect to a road surface, relative positioning means for determining a relative position between the lifting and lowering means and the bogie in response to the raising of the lifting and lowering means, Second guide means for guiding the carriage when the carriage is transported along a second transport direction different from the first transport direction; and the cart is oriented in the second direction by the carriage orientation changing means. And the lifting means And a pressing means for pressing the carriage released from the raised state along the second guide means. 5. In a state where the carriage is raised with respect to a road surface by the lifting / lowering means, a second direction different from the first transport direction is set.
The bogie positioning device according to claim 4, further comprising a bogie direction changing means for changing the direction of the bogie so that the bogie can be conveyed in the conveying direction. 6. The apparatus according to claim 4, wherein the first transport direction and the second transport direction are orthogonal to each other.
Or the bogie positioning device according to claim 5. 7. A part of the second guide means which interferes with the carriage when the carriage is transported by the first guide means, and a part of the second guide means which interferes with the carriage when the carriage is transported by the second guide means. The bogie positioning device according to any one of claims 4 to 6, wherein a part of the first guide means is retractable. 8. A part of said first guiding means and said second guiding means.
A part of the guide means is a common movable part, the movable part can take two positions, a first position is an appropriate position as the first guide means, and a retreat position as the second guide means 8. The apparatus according to claim 4, wherein the second position is a proper position as the second guide means and a retracted position as the first guide means.
4. The bogie positioning device according to claim 1. 9. The vehicle according to claim 1, wherein the carriage is moved to the predetermined position during a period from a stop by the stopping unit to a completion of positioning by at least the relative positioning unit. A bogie positioning device, further comprising a holding means for holding by: 10. The method according to claim 1, wherein
The truck positioning device according to the invention described in the paragraph, further comprising a discriminating unit that discriminates a type of the truck or a work component placed on the truck when the stopping unit stops. 11. The bogie positioning apparatus according to claim 1, wherein the bogie is a working table for processing and a support for transporting a workpiece in a processing operation. 12. A guide roller, wherein the second guide means is mounted in a width direction with respect to a transport direction of the cart,
12. A guide rail provided on the road surface, and a guide rail configured to guide the guide roller in a predetermined direction by guiding a side surface of the guide roller.
The bogie positioning device according to any one of claims 1 to 4. 13. The stopping means is provided to face the carriage in a conveying direction in which the carriage is guided by the first guide means, abuts a part of the carriage, and reduces a shock at the time of contact. 13. The bogie positioning device according to claim 1, wherein the bogie positioning stopper is a stopper with a damper for preventing the conveyance. 14. The relative positioning means comprises a pin provided on one of the elevating means or the bogie, and a hole provided on the other of the elevating means or the bogie to fit the pin with a predetermined dimensional tolerance. The tip of the pin is tapered, and the positional relationship between the lifting means and the bogie is finely adjusted according to the elevation of the lifting means.
The bogie positioning device according to any one of claims 13 to 13. 15. Until the carriage is positioned at a predetermined position,
And a transportation guide method of the bogie from the predetermined position to sending it to another predetermined position, wherein the carriage is guided while being guided by a first guide means so as to be along a first transportation direction, and is positioned at the predetermined position. Raising the cart with respect to the road surface, changing the direction of the cart so that the cart can be conveyed in a second conveying direction different from the first conveying direction, and after contacting the cart with the road surface again, 2. A transport guide method for a bogie, wherein the transport is performed while being guided by the second guide means along the transport direction of (2).