JPS62218395A - Automatic guidance dolly - 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 (Industrial Application Field) The present invention is a factory automation (FA) system that automatically ii1! Automated guided transport vehicle (Automatic icG) used for transporting
Guided Vehicle:A. G. V. ), and particularly relates to improvements in lift mechanisms for AGVs.

(Conventional technology) In manufacturing factories for automobiles, home appliances, etc., products are assembled in assembly lines, so assembly and processing operations are added to the products as they move on a conveyor belt. However, in such a system,
The movement speed of the belt conveyor system that transports products is constant from the start point to the end point of work, and the line is designed with uniform working time in each part of the assembly process, so it is difficult to change the process. is not easy.

Furthermore, when assembling heavy objects such as vehicle engines and large general-purpose electric motors, it is necessary to turn the heavy objects over or to lift them to a predetermined height when the assembly position is on the bottom.

(Problem to be solved by the invention) Conventionally, in such cases, a lift or a robot was placed on the side of the belt conveyor, and these devices were used to lift or reverse the heavy object as appropriate. This requires precision alignment between the heavy objects on the belt conveyor, the lift, and the robot, which also increases the installation area of the conveyor system and surrounding robots and lifts, leading to problems such as reduced work efficiency. there were.

The present invention aims to improve the conventional problems as described above, and its purpose is to be able to move an object to be transported along a predetermined route while it is placed thereon, and to move the object along a predetermined route. To provide an automatically guided transport vehicle that can be freely lifted to a desired height.

(Means for Solving the Problems) In the present invention, an automatically guided transport vehicle capable of automatically guiding a workpiece on which a workpiece is placed includes a cart having a traveling mechanism, and a bottom rotatably supported by the cart. A lift mechanism consists of two pairs of upper and lower arms bent in opposite directions from a pivot that rotatably supports the upper arm at the tip of the arm, and a distance between the middle pivots. An automatically guided transport vehicle comprising: a lift drive mechanism that is changeably connected to the lift mechanism; and a mounting table that is pivotally supported at the tip of the upper arm of the lift mechanism and on which the workpiece is placed. provided.

(Function) That is, in the automatically guided transport vehicle of the present invention, the workpiece is placed on the platform of the guided cart, and this platform is raised and lowered by a telescoping lift drive mechanism connected to the lift mechanism, and The lift mechanism adjusts the position of the lifting platform by extending and contracting two pairs of upper and lower arms bent in a dogleg shape.

(Example) Next, an example of the present invention will be described in detail with reference to the drawings.

Figure 1 shows an automated guided vehicle (hereinafter referred to as AGV).
2 is a top view, and FIG. 3 is a front view.

In FIG. 2, the AGV has two drive wheels 1, 1 on the left and right sides of the central portion, and is divided into a bogie A and a bogie B on which these drive wheels 1 are pivotally supported. A and cart B are bent like a hinge. 2.2 is its connecting device.

Wheels 3.4 are rotatably provided at the bottom ends of the carts A and B, respectively. These wheels 3.4 are also used as direction changing wheels to change the running direction of the AGV, and the bogies A and H, which automatically guide these bogies using a predetermined guidance device, have a steel plate-like structure at the tip of each of them. A bumper 5.6 made of a plate-shaped body having a predetermined elastic force is provided, and a wire 7.6 for a collision sensor is installed inside the bumper 5.6.
8 is tensioned, and if another object collides with the bumper 5 or 6, the bumper 5.6 is dented and the wire 7.8 becomes loose.
A limit switch not shown in the diagram operates and
GVs are designed to stop suddenly.

Reference numeral 9 denotes a battery a21 located at the center in the left and right direction of the carts A and B, respectively.
It is used as a power source for 1.

Each motor 10.11 is connected to a servo amplifier 12 placed on the side of the truck B, receives a control signal generated from a controller 14 based on a command set by a strong electric fi 13, runs the AGV, and later The lift mechanism 15, which will be described in detail, is moved up and down.

FIG. 4 is a perspective view showing the lift mechanism of the AGV.

Dolly A and dolly B are connected by a coupling device 2, and on each frame 100, four support arms 201, 202, 203, 204 covered with bellows 17 support a mounting table 16 on which a workpiece is placed. I support it. That is, a pair of lower cross beams 20B are always held horizontally by horizontal rods 205 supported on the left and right sides of the frame 100 of truck A and a support mechanism (not shown) on truck B, and these lower cross beams 20 are parallel to each other.
Support arms 201, 202, 203, 20 have a pair of parallel arms bent in opposite directions at both ends of B.
4 and a pair of upper cross beams 20 on these four parallel arms. I'm an installed guy.

FIG. 5 shows the lower crossbeam 206 of one of these parallel arms.
It shows two sets of pivots.

Two pairs of arms 211, 212 and 213, 214, whose one ends are pivoted on both the left and right sides of the lower cross beam 20B, have the same length, and their other ends are supported by auxiliary arms 215, 218, one pair each. and each of these arms 211.
Similarly to 212, 213, and 214, one end of the arms 217, 218, 219, and 220 is connected to the upper cross beam 207, and the other ends of the arms 217, 218, and 219, 220 are respectively connected to each other, and are bent in opposite directions in a 〈 shape. Operating rods 221 and 222 parallel to each other are pivotally connected to the two intermediate pivot parts, and these rods 2
By increasing the gap between 21 and 222, the angle of bending of the lift mechanism is made small, and by making this gap small, the angle of bending of the lift mechanism is made large.

FIG. 6 shows an example of a lift drive mechanism that connects the operating rods 221 and 222 so that the distance between them can be changed.

In the figure, 301 is a deceleration mechanism that decelerates the power of the lift motor 11, and the pole screw 30 rotated by this deceleration mechanism.
The distance between the pole shaft bearing formed on the nut part 303 of No. 2 is rotationally controlled. Rotating plates 304 are pivotally attached to the left and right sides of the speed reduction mechanism 301 and the nut portion 303, respectively, and the rods 221 and 222 are rotated through holes 305 bored in the upper part of these rotating plates 304. A rotation support shaft of the rotary plate 304 is inserted into a hole 306 that is freely inserted through the hole 306 and is bored in the lower part thereof.

That is, as shown in FIG. 7, in order to always maintain a constant distance between the rotation support shaft 308a of the rotation plate 304 on the speed reduction mechanism 301 side and the rotation support shaft 306b of the rotation plate 304 on the nut portion 303 side, These pivot shafts 308a and 308b are pivotally supported at predetermined portions of the lower cross beam 20El.

Next, the operation of the lift mechanism in the embodiment of the present invention will be explained with reference to FIGS. 5 to 7.

When the lift motor 11 rotates in a predetermined direction according to a rotation command, the bar screw 302 is rotated, and as a result, when the distance between the deceleration mechanism 301 and the nut portion 303 increases, the rotation plate 304 pivotally connected thereto is rotated. Rotation shaft 308a, 30
8b in opposite directions. Therefore, the operating rods 221 and 222 inserted into the holes 305 of each rotating plate 304 are moved downward while increasing the distance between them, and the four supporting arms 201, 202,
The angle of the doglegged bends 203 and 204 is made smaller, and the mounting table 16 placed on the upper cross beam 207 is lowered. Further, when a rotation command in the opposite direction is given to the lift motor 11, the rotating plate 304 rotates between the operating rods 221 and 22.
Since the mounting table 16 is rotated in the direction in which the mounting table 2 approaches the mounting table 16, the mounting table 16 can be raised.

When the mounting table 16 is lowered, the four support arms 20
1, 202, 203, 204 are upper and lower cross beams 206
The upper and lower cross beams 2 are folded outward in the longitudinal direction of ゜207.
Since 0B and 207 are in contact with each other, the lift mechanism configured in this way requires a minimum space on the trolleys A and H, and since each of the arms that constitute it is a parallel arm, it can be mounted. It can withstand the weight of the workpiece to a considerable extent. In addition, support arms 201, 202, 2
The angle at which the poles 03 and 204 are bent can be precisely controlled by the pole screw 302 and the pole bearing 303, and the height of the workpiece can be reliably adjusted. Furthermore, the truck is divided into two parts, the front and the rear, and both molds A and B are connected by a connecting device, so that the lower cross beam 206 that pivots each parallel arm is always held horizontally. The object to be worked on can be placed on the storage table 16 in a stable state even when the running direction changes or the running surface is uneven.

In addition to the configuration of the AGV described in the above embodiment, the present invention also includes increasing or decreasing the number of arms of the lift mechanism.

It goes without saying that it is possible and effective to make design changes such as connecting the lift mechanism to the lift mechanism by means other than the pole screw of the lift drive mechanism, and the present invention is within the scope of the spirit thereof. Various modifications are possible and are not excluded from the scope of the invention.

(Effects of the Invention) As described above, according to the present invention, when an object to be transported is placed and moved along a predetermined route, the object can be freely lifted to a desired height, and the object can be kept at a constant height. It is possible to provide an automatically guided transport vehicle that can be held and driven.

[Brief explanation of drawings]

Fig. 1 is a side view showing an embodiment of the present invention, Fig. 2 is a top view thereof, Fig. 3 is a front view thereof, Fig. 4 is a perspective view of the embodiment, and Fig. 5 is a FIG. 6 is a perspective view showing only the lift mechanism of the same embodiment, FIG. 6 is a perspective view showing an example of the lift drive mechanism of the same embodiment, and FIG. 7 is a side view of the lift drive mechanism. A, B... Trolley, 10... Traveling motor, 11...
・Lift motor, 12...Servo amplifier, 15...
・Lift mechanism, 211-214, 217-220...
upper and lower arms. Patent applicant FANUC Co., Ltd. Agent Patent attorney Tsuji Makoto Proceedings (spontaneous) Commissioner of the Japan Patent Office Kuro 17th February 1962 1) Akio Tono 2 Name of the invention Automatically guided transport vehicle 3 Amended. Relationship with the patent applicant's name FANUC CORPORATION Inaba Seiuemon Representative Inaba Seiemon 4, agent 6 Column 1 of the scope of patent claims of the specification to be amended? "Detailed Description of the Invention" column, Drawing 7, Contents of Amendment as shown in the attached sheet (1) The scope of claims is corrected as shown in the attached sheet. (2) ' (Auto
matic Guided J.
Corrected to ed Guided J. (3) "Rod screw" on page 9, line 6 of the specification is corrected to "ball screw." (4) Figure 6 of the drawing will be corrected as shown in the attached sheet. 2. Claims (1) An automatically guided transportation vehicle capable of automatically guiding a workpiece by placing it thereon, including a cart having a traveling mechanism, and an upper arm at the tip of the lower arm rotatably supported on the cart. A lift mechanism consists of two sets of upper and lower arms bent in opposite directions from a rotatably pivoted pivot, and this lift mechanism is connected so that the distance between the intermediate pivots can be changed. 1. An automatically guided transport vehicle comprising: a lift drive mechanism; and a mounting table which is pivotally supported at the tip of the upper arm of the lift mechanism and on which the workpiece is placed. (2) The automatic device according to item 1 of the claimed scope, characterized in that each of the arms of the lift mechanism is composed of a pair of parallel arms, and an auxiliary arm that connects the pair of arms is provided on the pivot part. Guided transport vehicle. (3) The automatically guided transport vehicle according to claim 1, wherein the lift drive mechanism is constituted by a ball screw and a rotation mechanism that rotationally drives the lift drive mechanism. (4) According to claim 1, the truck is divided into two parts, a front truck and a rear truck, in the direction of travel, and the two trucks are connected to each other by a connecting device. Self-guided transport vehicle as described.゛＼

Claims (4)

[Claims] (1) In an automatically guided transport vehicle that can place a workpiece and automatically guide it, the upper arm is rotatably pivoted at the tip of the lower arm that is rotatably supported by a trolley having a traveling mechanism and the lower arm that is rotatably supported by the trolley. a lift mechanism comprising two sets of upper and lower arms bent in opposite directions from a pivot point, and a lift drive mechanism that connects this lift mechanism so that the distance between the intermediate pivot points can be changed; An automatically guided transport vehicle comprising: a mounting table that is pivotally supported at the tip of the upper arm of the lift mechanism and on which the workpiece is placed. (2) The arms of the lift mechanism each include a pair of parallel arms, and the pivot portion is provided with an auxiliary arm that connects the pair of arms. Automated guided transport vehicle. (3) The automatically guided transport vehicle according to claim 1, wherein the lift drive mechanism is constituted by a rod screw and a rotation mechanism that rotationally drives the rod screw. (4) According to claim 1, the truck is divided into two parts, a front truck and a rear truck, in the direction of travel, and the two trucks are connected to each other by a connecting device. Self-guided transport vehicle as described.