JPS58223574A - Conveyor truck - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a transport vehicle, and an object of the present invention is to automatically bring the upper surface of the transport vehicle positioned at a predetermined position into a horizontal state so that reliable work can be performed.

In an unmanned system for processing and assembling workpieces, a self-propelled conveyance vehicle with a robot arm attached to the conveyance vehicle to transport workpieces or tools, etc. is equipped with a proximity switch installed on the conveyance vehicle that is connected to the floor surface. Since the transport cart is positioned at the position corresponding to each machine tool when the metal plate placed on the There are also variations in each machine, making it difficult to properly position the transport vehicle relative to the machine tool. For this reason, conventionally, a plurality of conical positioning rods 7 are installed on the floor surface where the transport vehicle is to be stopped, and the transport vehicle is raised from the floor by engaging the positioning rows 7 to lift the transport vehicle from the floor. A positioning member for positioning the vehicle at a fixed position with respect to the vehicle and a cylinder for raising and lowering the positioning member are provided.

However, if large chips or foreign matter adhere to the top surface of the positioning cone, the transport vehicle will be positioned in an inclined position, which will displace the position of the gripping claw at the end of the robot arm and prevent the workpiece or tool from being received. There was a problem in that it was not possible to reliably receive delivery. Furthermore, when pallets are transported not only by a robot arm but also by a transport vehicle, the pallets cannot be smoothly transferred to and from the machine tool.

The present invention solves the above-mentioned conventional problems, and its feature is that when the transport vehicle is tilted and positioned, the present invention detects this inclination and automatically adjusts the upper surface of the transport vehicle to a horizontal state based on the detection signal. This is because a correction mechanism is provided.

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

In FIGS. 1M to 3, 1 is a carrier body, which has free wheels 2 and drive wheels 3, and is self-propelled on the floor 4 using a guide cable 5 laid under the floor as a reference for the movement route. do. In addition, the proximity switch 7 and the lifting cylinder 12
It has a plurality of support legs 9 that move up and down. When the proximity switch 7 detects the metal plate 6 placed on the floor in front of the installation position of the machine tool 10, it stops the carrier body 1, moves the support legs 9 down, and installs it on the floor. The conveyor body 1 is raised from the floor 4 and positioned at a fixed position with respect to the machine tool 10.

In the present invention, a support base 11 is tiltably supported on the upper part of the carrier body 1, and can be corrected to a horizontal state by tilt adjustment mechanisms 1.3K provided at a plurality of locations. This inclination adjustment mechanism 13 has a screw shaft 16 in the vertical axis direction screwed onto a fixed block 5 fixed to the carrier body 1, its upper end is brought into contact with the lower surface of the support base 11, and its lower end is adjusted for inclination. This structure is connected to a servo motor 14 for use. 17
is a tension spring for bringing the lower surface of the support base 11 into pressure contact with the upper end of the screw shaft 16.

Furthermore, the support base 11 is provided with a tilt detector. That is, the left-right tilt detector 18a and the front-back tilt detector 18b. These tilt detectors 18a, 18b
The structure of the longitudinal direction tilt detector 1 is shown in FIGS. 4 and 5.
8b will be representatively explained. A light-shielding colored liquid 20 is sealed in a glass tube 19 bent into a gentle arc shape. Inside the glass tube 19.

The liquid 20 sealed in the glass tube 19 is distributed to both ends of the glass tube 19 bent into an arc shape in a horizontal state, and a large bubble is formed in the middle of the tube. In other words, it is the same principle as a liquid level. A light emitter 21 and a light receiver 22 are provided at positions distributed at both ends of the glass tube 19, sandwiching the glass tube 19 therebetween. This floodlight 2
1 and photoreceiver 22 are arranged at least two at the required interval, and those placed on the outside are used for detecting large inclinations in the longitudinal direction FK.
BM (large left/right tilt detection RM, LM), and those placed inside are called front/back small tilt detection FS, BS (left/right small tilt detection R3, LS). The tilt adjustment mechanism 13 is controlled according to the outputs of the tilt detectors 18 & 18b.

For example, a robot 23 shown in FIG. 1 is mounted on the support base 11 of the carrier body 1 having the above-described structure.

Reference numeral 24 denotes a fixed base, on which an intermediate arm 25 is provided so as to be pivotable in the direction of the arrow by a β-axis servo motor 28, and the intermediate arm 25 is pivoted in the direction of the arrow by a β-axis servo motor 29. A support arm 26 is pivotally mounted. A gripping claw 27 is attached to the tip of the support arm 26 so as to be openable and closable.

Note that the gripping claws 27 are always controlled to be in a vertical state regardless of the pivoting movements of the intermediate arm 25 and the support arm 26.

30 is a height position detection head fixed to the support base 11. This height position detection head 30 is in contact with a height reference magnetic body 31 provided on the machine tool side, detects the amount of vertical deviation of the carrier body 1 using an output voltage, and detects the amount of vertical deviation of the carrier body 1 by using an output voltage. The motor 28 and the β-axis servo motor 29 are controlled to correct the position of the gripping claw 27 to an appropriate height position with respect to the machine tool 10 via the intermediate arm 25 and the support arm 26.

Note that the tilt adjustment mechanism 13 can be controlled by the detection signal from the height position detection head 30, and the height can be adjusted by the support base 11.

The operation of the above device of the present invention will be explained. The self-propelled carrier body L is guided by a command signal from the induction cable 5, and the metal plate 6 is located at a position corresponding to the machine tool 10.
is detected by the proximity switch 7 and the traveling is stopped, and the supporting legs 9 are lowered and brought into contact with the positioning rods 78 to lift the carrier body 1 by a predetermined amount from the floor surface 4 and position it.

After positioning the carrier body 1, the tilt detector 18a
, 18bK detects the inclination of the support base 11 in the left-right and front-back directions. When the support base 11 is in a horizontal state, the colored liquid 20 blocks light between all the emitters 21 and the light receivers 22, it is detected that the support base 11 is horizontal, and the tilt adjustment mechanism 1
3 does not work. If the support base 11 is tilted, the liquid 20 is not present between one or two sets of the emitter 21 and the light receiver 22 on the upward tilted side, and light is passed through to detect the required tilt, and the tilt adjustment mechanism is activated. 13 to correct the horizontal position of the support base 11. Additionally, front/rear, left/right small inclination detection FS%
Correction may be possible for BS and R8%LS, but correction may be disabled for longitudinal, left and right large tilt detection FM, BM, RM, and LM and the operation may be stopped.

When the support base 11 is corrected to a horizontal state by the operation of the tilt adjustment mechanism 13, the liquid 20 blocks light between the light projector 21 and the light receiver 22, and the operation of the tilt adjustment mechanism 13 is stopped.

In the horizontal state after the tilt of the support base 11 has been corrected, the height position detection head 30 detects the height of the carrier body relative to the machine tool 10K, and if the height is inappropriate, all the tilt adjustment mechanisms 13 are activated. They operate equally to move the support stand 11 up and down in a horizontal state to correct it to an appropriate height. At this time, if a tilt occurs in the support base 11, the height can be corrected while simultaneously correcting this tilt.

The above control will be explained using the circuit diagram shown in FIG. 32 is a computer installed in the carrier body 1; 33;
is input into the memo user 32 in which the program is installed, and the computer 40 controls the traveling motor of the transport vehicle body 1 and the robot 23) in the example shown in FIG. In addition, the tilt detectors 18a and 18b detect the tilt of the support base 11 in the front and back and left and right directions, and when the support base 11 is tilted, the detection output is input to the computer 32, and the computer 32 calculates the tilt correction amount. The correction palace is manually applied to the drive unit 37 of the NRG inclination adjustment servo motor 14 of the inclination adjustment mechanism 13, and the support base 11 is corrected horizontally by the inclination adjustment mechanism 13. The position detection head 30 detects the vertical displacement of the carrier body 1 and inputs the detection signal to the computer 32 via the AD converter 34 .

Based on the signal ``Zi'' inputted to the computer 32,
When the robot 23 is mounted as shown in the example in the figure, the correction movement amount of the robot 23 is calculated and the correction pulse is output to the drive unit 36 of the J-axis single servo motor 28 and the 7-axis servo motor 29, and the intermediate arm 25, support arm 26
is operated to correct the position of the yuzu holding claw 27 to an appropriate position relative to the machine tool 10. As described above, the detection signal from the height position detection head 30 is input to the drive unit 37 of the tilt adjustment servo motor 14, and the tilt adjustment mechanism 1
3, it is also possible to correct the vertical direction of the support base 11, that is, the exposed position in the horizontal state.

As described above, according to the present invention, a support is tiltably supported on the upper part of the carrier body, and a tilt adjustment mechanism is provided, the support is equipped with a tilt detector, and the output from the tilt detector is used to determine the tilt. Since the adjustment mechanism is activated to correct the support base to a horizontal state, after the main body of the transport vehicle is positioned at a predetermined position, the support base is automatically corrected correctly, and the receiver of the transported object can be transferred without any work. It can be done smoothly and thoroughly.

[Brief explanation of the drawing]

FIG. 1 is a front view of a transport vehicle according to the present invention, and FIG.
Fig. 11 is a view in the direction of arrows, Fig. 3 is a sectional view taken along the line III-1 in Fig. 2,
4 and 5 are sectional views of essential parts of the tilt detector, and the sixth frame is a control circuit diagram of the present invention. 1...Transportation truck body, 2...Swivel wheels, 3...
Drive wheel, 6... Metal plate 7... Proximity switch, 8... Positioning cone, 9... Support leg, 1().
...Machine tool, 11...-Support stand, 1:3...Tilt adjustment mechanism % 18a% 18b...Tilt detector.

Claims (1)

[Claims] A support stand is tiltably supported on the upper part of the carrier body, a tilt detector is provided on the support stand, and a tilt adjustment mechanism is provided to correct the support stand horizontally according to the output of the tilt detector. Characteristic transport vehicle.