JPS5947175A - Travelling device - 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 self-propelled traveling device driven by a prime mover.

Recently, industrial robots have been introduced into production processes. One of these industrial robots is called a transfer robot, which grasps parts and transports them from one predetermined location to another in order to move the parts that have been processed in the previous process to the next process. Traveling equipment is used.

Generally, the transfer of objects to and from such a transport robot is carried out via a predetermined position point where the object is to be placed.

Figures 1 and 2 show the above-mentioned transfer robot as a conventional traveling device. In the figures, (1) is the floor of a building, (
la) is a fixed plate fixed on this floor (1).

(2) is a pair of rails fixed on this fixed plate (1a), (3) is the above-mentioned floor (1), fixed plate (1a) and rail (
2) is a running path, (4) is a main body that runs entirely on this running path (3), and (5) is a shaft (5a) protruding from the upper part of this main body (4), which is vertically pivotable and rotatable. The arm (6) is a hand installed at the end of the arm (6), and when the arm (6) is lowered, the stand (7)
Grasp the part (8) placed in a predetermined position on the arm (
The part (8) is lifted by the rise of part (6).

(9) is a prime mover consisting of an electric motor provided at the bottom of the main body (4), and (11 is a brake provided coaxially with this electric motor (9) to completely stop the main body (4).

(11) is a reducer that decelerates the rotation of the electric motor (9) and transmits it to the first wheel shaft (I side). A4 rolls on the top with a coefficient of friction μl (usually 0.2) to support the load ``MW'' applied to the wheel shaft 2.A4 supports the main body +41'f- and rolls on the rail (2) A pair of moving driven wheels, Q, are provided at the bottom of the main body (4),
A pair of guide wheels rolling on opposite sides of a pair of rails (2), aS is a guide wheel whose bottom part is fixed to the bottom plate (1a) and stands upright, and whose top part is cut out at predetermined intervals and has a serrated shape. plate, (171 is a position detection device fixed to the bottom of the main body (4), the top of the guide plate +l!9 is loosely inserted into the U-shaped recess, and the electric signal is sent to the sawtooth of the guide plate (le6). By converting it into a pulse signal and counting the pulses, the position of the main body (4) is detected, and the first position of the 9 parts (8) to be gripped and the part (8) transported to the target. It stores the number of pulses corresponding to each second position point to be placed.

In the transfer robot configured as described above, a case will be described in which the component (8) is gripped at the first position point and transported to the second position point 1.

First, the current position of the first main body (4) is detected as a pulse number by the 9 position detection device 0, and this pulse number is compared with the pulse number corresponding to the first position point, and based on the comparison result, The electric motor (9) is rotated in a predetermined direction to move the main body (4) to the first position. And the main body (
4) reaches the first position point, the electric motor (9) is deenergized and the brake 01 stops the actuator 21 body (4). When the main body (4) stops, the arm (5) descends to a predetermined position and stops L. Next, the hand (6)
operates and grabs part (8). When the arm (5) rises again and lifts the part (8) to a predetermined height, the brake θ is applied.
The value is released and the motor (9) is energized. Part 1~
The drive wheel (In is guided by the inner ring +11 and the rail (2
) and run on the main body (・I). When the position detection device 07) detects the second position point, the electric motor (9) is deenergized.

At the same time, the brake α1 is activated to stop the main body (4). When the main body (4) stops, the arm (5) descends to a predetermined position, and the hand (6) operates and the 2
and release part (8). The arm (5) then rises again and stops. (1, iz The transport robot transports the part (8) by repeating the above-mentioned series of operations.

By the way, such a transfer robot carries nine parts (8).
It is necessary to travel in a short time between the first position point where the gripped part (8) is held and the second position point where the gripped part (8) is carried, depending on the flow of the parts. Since transport robots generally travel close distances, rapid acceleration and deceleration are effective in shortening travel time. However, since the driving wheels +131 and the rails (2) are usually made of metal, they tend to slip. That is, rail (2) and drive wheel 0
Frictional force F with 3. The Fo angle W=0.2W. This frictional force F. is small, so the acceleration and deceleration were set low. For this reason, the transport robot has a low transport capacity, and in order to have a transport capacity commensurate with the flow of the process, it is necessary to install a plurality of robots, resulting in a problem that the robot becomes expensive.

This invention was made in view of the above-mentioned problems, and includes a main body (4) (f) which is driven by a prime mover and has a trochanter which is made to run, and a trochanter which rolls with a rigid relationship between it and the running path on which this trochanter runs. The first rolling part and the second rolling part that roll in an elastic relationship increase the friction coefficient between the trochanter and the running path and drive at high acceleration/deceleration. It is an object of the present invention to provide a traveling device capable of traveling a distance of 1,000 yen in a short time.

3 to 5 show an embodiment of the present invention. In the figure, the same symbols as in Figures 1 and 2 indicate the same parts; (
211 is a pair of driving wheels (1, 2) shown in FIGS. 1 and 2 that roll on a rail (2) with the same friction coefficient ll (usually 0.2) as 1, and have a recess formed on the outer peripheral surface. The first rolling part made of metal wheels supports half of the load W applied to the nine-wheel axle (12). e2 is fitted into the recess of the metal wheel QD and shaped and vulcanized to increase the coefficient of friction. μ, (usually 0
．． 6), the load W applied to one wheel axle (13) at the second rolling part consisting of a pair of elastic rings rolling on the rail (2)
The metal wheel (2υ) contacts the rail (2) at the same time with half of the support j~.(22a) is the metal wheel Q
B and an elastic ring (23), a trochanter that is driven by an electric motor (9) to move the main body (4), c!3 is a metal wheel (2υ side of the recess and an elastic ring (c)) This is the gap formed between the

In the transfer robot configured as described in Section 2, the electric motor (9) and brake Ql are controlled in the same manner as in the conventional example shown in FIGS. The main body (4) is driven through wheel axle a″IJ 7.
It moves the .

By the way, let us find the total frictional force FIf between the rail (2), the metal wheel (20), and the elastic ring (2 wheels).

Load on wheel axle 04: W Load on metal wheel QB: W/2 Load on elastic ring (G): W/2 Rail (2) and metal wheel ff,! 1) Friction coefficient with:
μm; 0.2 The coefficient of friction between the rail (2) and the elastic ring @2 μ'0.6 Therefore, the frictional force Fl for a is W F,? (μ, 10 μ,) T=Q, 8 ×y=Q, 4W・
・・・・・・・・・・・・(2) It becomes. The frictional force F1 according to equation (2) is twice the frictional force F according to equation 11, and by using the nine elastic rings (2), acceleration and deceleration can be doubled.

This allows for sudden starts and sudden decelerations.

It can also increase the carrying capacity of the transfer robot. Since the metal wheel 0D is in contact with the rail (2), if the arm (5) moves or if the hand (6) grips the part (8), the load on the wheel axle (I) will be reduced. It changed [
7, the main body (4) will not tilt.

Yet again. Assuming that a gap @ is formed.

When the elastic ring body z comes into contact with the top surface of the rail (2).

Since it is distorted in the direction of the gap (C), the metal back wheel @aO and the rail (2) K can be simultaneously contacted and support a considerable amount.

FIG. 6 shows another embodiment of the present invention, in which t2υ is a wheel having a stepped side surface with a cutout on the outer periphery and a protrusion (21b) provided over the entire circumference of the cutout. (21a) The first rolling part consists of two metal wheels fixed facing each other, and the second roller part consists of an elastic ring body with a T-shaped cross section.

It is attached to the protrusion (zxb) with a gap (c) formed between it and the metal wheel QD. (2) connects the two wheels (2) via the washer (to) and the nut (4).
This is a bolt that forms a trochanter (22a) by sandwiching the elastic body (2) at 1a) and tightening them together.

Even in this case, the purpose of XJI is achieved 17, and the elastic ring body e2 can be easily attached and detached by loosening the pole 041 and separating the two wheels (2ta). It is something that can be done.

FIG. 7 shows yet another embodiment of the invention.

00 is the upper surface of the rail (2), and a recess is formed in the center in the longitudinal direction, the recess being wide in the shallow part and narrow in the deep part. 02ha,
An elastic body fitted into the deep part over the entire longitudinal length of the recess, I33 is a first rolling part made of a metal body that rolls on the upper surface taD of the rail (2), and I33 is a first rolling part of the elastic body C3a. The second roller made of a metal body that rolls on the upper surface is the part C, (to) is the first rolling part (to), and the second roller is the υ part C (the trochanter consists of 4, (g) is the rail. (2) The trochanter (
Even with this famous item that enables horizontal expansion when the elastic body ((4) is distorted by being pressed by It can also be easily replaced.

Furthermore, even if a first rolling part that rolls with a rigid relationship and a second rolling part that rolls with an elastic relationship are configured between the guide wheel a9 and the rail (2) in FIG. 3, the intended purpose is not met. can be reached.

In addition to the above-described invention, the first roller that rolls a trochanter driven by a prime mover mounted on a traveling device with a distance and rigidity relationship with the running path on which the trochanter rolls is a system. Since the second rolling part rolls with a uniform elasticity, the frictional force between the trochanter and the running path can be increased. As a result, the traveling device can be rapidly accelerated and decelerated, which has the effect of shortening travel time and improving transportation capacity.

[Brief explanation of the drawing]

1 and 2 show a conventional traveling device. FIG. 1 is a front view of the traveling device, FIG. 2 is a side view of the traveling device, FIGS. 3 to 5 show an embodiment of the present invention, FIG. 3 is a view corresponding to FIG. 1, and FIG. is a side view showing the main parts, 5th
6 is a sectional view of the main part showing another embodiment of the present invention, and FIG. 7 is a sectional view of the main part showing still another embodiment of the invention. In the figure, (3) is the running path, (4) is the main body, and (9) is the prime mover. Qυ is the first rolling part, (the second rolling part is the second rolling part,
(22a) is the trochanter, (to) is the gap, (g) is the first rolling part, 04) is the second rolling part, (c) is the trochanter, and C (goods) is the gap. Note that the same reference numerals in FIG. 9 indicate the same parts. Agent Makoto Kuzuno - 111Figure 182 ffi, N Evil 3 Figure 1, Figure 4, Figure 5, Wke, WE r, Figure

Claims (4)

[Claims] (1) A main body that runs on a running path, a prime mover attached to this main body, and this prime mover i1j! + Driven by the rock,
The first roller that rolls in a rigid relationship with the running path has a part, and the second roller that rolls in an elastic relationship with the running path has a part, and these rolling parts run on the main body. A traveling device equipped with a trochanter that allows (2) The traveling device according to claim 1, wherein the trochanter has nine portions of the first roller made of a rigid body and a second rolling portion made of an elastic body. (3) The first roller of the trochanter is a metal wheel with a notch formed on the outer circumferential surface that rolls on the running path, and is attached to the notch and is pressed against the running path. 2. The traveling device according to claim 1, wherein a second rolling portion is an elastic ring that contacts the metal wheels and the traveling path at the same time. (4) What is claimed in item 3 of the claimed scope, characterized in that a gap is formed between the side surface of the notch part of the metal wheel and one elastic ring? E line device.