JPS60197461A - Unmanned cart for machining line - 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 provides an automatic machining line that has been rapidly progressing in recent years, in which workpieces (hereinafter referred to as "workpieces") are transported to respective processing machines by unmanned operation using electrical signals.
This relates to the configuration of an automatic guided vehicle that automatically transfers and receives workpieces.

Conventionally, the transport vehicle used for this purpose consists of a single vehicle that runs by itself on traveling rails installed between processing machines, and two sets of workpiece transfer rails (transfer rails) are installed in the front and rear of the vehicle. A and B) are provided. When such a transport vehicle is used, workpieces are generally transferred between the transport vehicle and the processing machine in the following order.

(1) Place the pallet with unprocessed products on one of the transfer rails A on the vehicle platform.

(2) Stop the transport vehicle facing the processing machine so that the other transfer rail B is aligned with the rail of the workpiece installation preparation board attached to the processing machine.

(3) After the lashing device provided at the bottom of the transport vehicle secures the transport vehicle to the ground, the vehicle platform rises to match the height of the transfer rail B and the rail of the workpiece mounting preparation board.

(4) The finished product is transferred from the processing machine onto the transfer rail B of the transport vehicle.

(5) The vehicle platform is lowered, the lashing device is unlashed, the transport vehicle is moved, and the transfer rail on which unprocessed items are loaded and nine pallets are placed. The position where the person matches the rail of the workpiece mounting preparation board. Stop at.

(6) In the same manner as in (3) above, the vehicle platform is raised, and after the heights of the transfer rail and the rail of the workpiece mounting preparation board are matched, the unprocessed items on the transfer rail A are processed. Transfer to machine.

By the way, in the above-mentioned transfer operation with the conventional transport vehicle, especially when the weight of the work and the floor space are large, there is a possibility that the following inconvenient situation may occur.

(1) The total weight of the ascending and descending chassis and work increases, making it difficult to strictly maintain the height accuracy of the transfer rail.

(2) The amount of deflection of the chassis also increases, which also affects the deflection and inclination of the transfer rail. In particular, when the area of the workpiece is large, the distance between the supporting points becomes large, and the amount of deflection and inclination are likely to become even larger.

(3) The floor area of the undercarriage is large, and the distance between the wheels is therefore large, and the contact between the four wheels of the undercarriage and the running rail is caused by slight warping with respect to the horizontal level of the running rail. easily come off.

The present invention aims to prevent the occurrence of the above-mentioned inconvenience when the weight of the workpiece and the floor area are large, and two sets of vehicle bodies are connected.

The present invention provides an efficient and economical transport vehicle in which either unprocessed workpieces or processed workpieces are loaded and transferred.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be explained below based on the drawings.

FIG. 1 shows a plan view, FIG. 2 shows a front view, and FIG. 3 shows a right side view. In FIG. 1, the left side is the direction of travel. In the figure, reference numerals 1 and 2 denote front and rear body units, and since the configuration of each body unit is almost the same, the configuration will be explained for the front body unit 1. Reference numeral 3 denotes a chassis, which is moved up and down by the expansion and contraction of hydraulic jacks 4 attached to the four corners of the lower part. Reference numeral 5 denotes a pallet transfer rail, which is installed on the upper surface of the vehicle platform 3 so as to be orthogonal to the traveling direction. 6 is the running wheel, 2 front wheels,
It consists of two rear wheels, and 7 is a wheel bearing.

The running wheels 6 run on running rails 9 laid on a pedestal 8. Reference numeral 10 denotes a drive motor with an electric braking device, which is attached to the rear wheel 6 of the chassis 3. Reference numeral 11 denotes a vehicle lashing device, which is installed (3) on the left and right sides under the floor of the vehicle chassis 3. As shown in FIG.
It consists of a set of hydraulic cylinders 12 and a lever 14 equipped with a roller 13 at the tip, and a striker bracket 1 is mounted on a pedestal 8.
A striker 16 is attached to the striker 16 by the row 213 by extending the hydraulic cylinder 12.
The front and rear surfaces of the chassis 6 are pressed against each other to position and secure the vehicle chassis 3. Regarding this lashing device, a patent application filed by the same applicant on February 9, 1982, and a patent application filed in 1982
It is described in detail in No. 020584 "Automatic Guided Vehicle Stop Positioning Device for Machining Line." Reference numeral 17 denotes a hydraulic jack cradle, which is disposed below each hydraulic jack 4 at the stop position of the vehicle body unit 1. Mounting frame 8
is glued to.

The configuration described above for the front body unit 1 is also the same for the rear body unit 2. The transport vehicle of the present invention is a combination of the front body unit 1 and the rear body unit 2. 19 is a parallel link connecting the front and rear body units 2; 20 is a link bracket; 21
are pins, and are provided at two locations on the front (4) and the left and right sides of the rear vehicle body unit 2. A control panel 22.2 for the entire transport vehicle is installed at the rear of the rear body unit 2.
3, the main piping is connected to the front body unit 1 by a connection unit 24, and various wirings are connected to the front body unit 1 by a connection unit 25. Reference numeral 26 denotes a shock absorber installed on the front and rear surfaces of the transport vehicle.

The workpiece is transported and supplied to the processing machine along with the loading pallet using the transport vehicle configured as above.

The operation for taking out will be explained.

(1) As shown in FIG. 2, the unprocessed workpiece and its mounting pallet 27 are mounted on the rear body unit 2, and the front body unit 1 is stopped at a position facing the processing machine.

This state is shown in FIG. 5(a). In the figure, 28 indicates a work mounting and preparation board of the processing machine.

(2) The front vehicle body unit 1 is positioned and secured using the striker 16 and the securing device 11, and the hydraulic jack 4 is extended to raise the vehicle platform 3. FIG. 2 shows this state. Then, the height of the rail 5 of the front body unit 1 is adjusted to the height of the rail 29 of the workpiece mounting preparation board 28. When extending the hydraulic jack 4.

The roller 13 at the end of the lever of the lashing device 11 is a striker 16
Since it rises while rotating on the front and back planes, the stopping position will not shift. In this case, the electric braking device of the front body unit 1 is locked and the rear body unit 2 is opened.

As a result, the link bracket 20 at the rear end of the chassis of the front body unit 1 rises, the link 19 is tilted very slightly with respect to the horizontal, and the length of the link 19 in the horizontal direction is shortened very slightly. , the rear body unit 2 is pulled forward via the link 12 and moves forward by this difference length. Set the length of the link to 1. If the rise value of the chassis of the front body unit 1 is a, the amount of movement S of the rear body unit 2 is 5-z-J[r. Although this value is extremely small, the rear body unit 2 always moves forward as described above.

Unless measures are taken to compensate for this value, it is difficult to ensure extremely precise stopping point accuracy.

(3) Transfer the processed workpiece 30f: the placed knotlet to the front vehicle body unit 1 from the workpiece installation preparation board 28.

FIG. 2 shows the transferred state.

(4) As in (3) above, after the processed workpiece 30 is transferred to the front body unit 1, the front body unit 1 contracts the hydraulic jack 4 and releases the lashing device 11. , move the transport vehicle forward.

(5) As shown in FIG. 5(b), the rear body unit 2 is stopped at a position facing the processing machine.

(6) In the same manner as when transferring the processed work 30 to the front car body unit 1 described in (2) and (3) above, transfer the rear car body unit 2 with the unprocessed work and the loading pallet 27 placed thereon. Rail surface and rail 29 of workpiece mounting preparation board 28
Match the height of the surfaces.

In this case, the electric braking device of the rear body unit 2 is locked and the front body unit 1 is opened.

In this case, similar to the case described in (2) above.

Since the chassis rises with the rear body unit 2 in its home position, the front body unit 1 is pulled very slightly rearward and retreats.

As mentioned above, according to the transport vehicle of the present invention, the total weight that rises or descends at one time when transferring a workpiece-loaded pallet is lower than that of a conventional transport vehicle with a single chassis structure. This corresponds to almost half of the total. Therefore, the rise,
No extra energy is required for lowering, less hydraulic pressure is required to raise and lower, and there are fewer failures due to the hydraulic system. Also, when transferring the work, the total weight applied to the hydraulic jack is 1
It is easy to secure a stopping point because it is only for the chassis of the vehicle.

Furthermore, since the total weight is small, the distance between the supporting points of the hydraulic jacks that support the chassis is short, and the vertical deflection of the chassis is far less than that of conventional transport vehicles with a single chassis structure.

The state of deflection of the vehicle chassis of the present invention and the deflection state of the conventional one-vehicle chassis will be explained with reference to FIG. Figures (a) and (b)
is the case of the conveyance vehicle of the present invention, (C) and (d) are the cases of the conventional conveyance vehicle, and as shown in (a), the conveyance vehicle of the present invention is:
A chassis with one set of rails is supported by hydraulic jacks with a distance of 1 between the supporting points, and if the weight of the workpiece is W, then the weight of W/20 is applied to each rail as shown in Figure (b). (8) The chassis flexes by X at the center. In contrast,
As shown in figure (c), a conventional transport vehicle has two sets of rails laid on the chassis, and the distance between the supporting points using hydraulic jacks is 1.
When a workpiece with a weight of W is placed on one rail of 9 which is supported by 21 which is twice as large as in the case of the transport vehicle of the present invention, a weight of W/2 is placed on each of the two rails on one side as shown in figure (d). As a result, the undercarriage is deflected by y between each rail, and this deflection y is greater than the above deflection X. In addition, a height difference of 2 is created between each rail on one side, and the pallet on the rail tilts inward together with the workpiece, making it undesirable for the workpiece mounting preparation board of the processing machine to move onto the rail. With the conveyance vehicle of the present invention, such a problem does not occur.

Since the conveyance vehicle of the present invention has a shorter distance between the wheels than conventional conveyance vehicles, the wheels of each truck and the traveling rail are in very good contact with each other, and do not come off.

As described above, an automatic guided vehicle for a machining line according to the present invention is constructed by arranging two sets of self-propelled vehicle body units one behind the other and connecting them by a link mechanism.

It is extremely effective as an unmanned guided vehicle for machining lines that require strict precision.

[Brief explanation of the drawing]

1 to 3 show an embodiment of the present invention,
Figure 1 is a plan view, Figure 2 is a front view, Figure 3 is a right side view,
Figure 4 is a front view of the lashing device, Figure 5 is a plan view showing the positional relationship between the transport vehicle and the processing machine, and (a) shows the front body unit stopped at a position facing the workpiece mounting preparation board. Figure 6 (a), (b), and (c) show that the rear body unit has stopped at a position facing the workpiece mounting preparation board and is in good condition.
(d) is an explanatory diagram illustrating the deflection state of the chassis. (a) and (b) are the cases of the conveyance vehicle of the present invention, and (c) and (d) are the cases of the conventional conveyance vehicle. 1: Front body unit. 2: Rear body unit, 3: Chassis. 4: Hydraulic jack, 11: Lashing device. 16: Striker, 19: Link. (11) E θ F1- 1 in JP-A-Sho GO-1974 (8) “14”

Claims (1)

[Claims] 1. Two self-propelled vehicle body units equipped with hydraulic jacks (4) at the lower four corners of the chassis (3) and lashing devices (11) for strikers (16) installed on the ground on the left and right sides of the center are arranged in front and behind. The front body unit (1) and the rear body unit (2)
) are connected by a left and right parallel link (19) mechanism.