JPS62218396A - 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!?) The present invention is an automatic guided transport vehicle (Autoa+A CG Guided Vehicle) used for automatically transporting workpieces, etc. in a factory automation (FA) system.
Vehicle:A. G. V. ), especially AG
This invention relates to improvement of the V lift mechanism.

(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 moving on a conveyor belt. However, in such a system,
The moving speed of the belt conveyor system that transports products is constant from the start point to the end point, and the line is designed with uniform working time in each part of the assembly process, making it easy to change the process. It's 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. Accuracy in positioning heavy objects on the belt conveyor, lifts, and robots is required, and the installation area of the Shikamo conveyor system and its surrounding robots and lifts becomes large, leading to problems such as a decrease in efficiency per work. 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 freely lift up to a desired height and can also reliably lift even long-span objects such as trucks.

(Means for Solving the Problems) The present invention provides an automatically guided transport vehicle that can automatically guide a workpiece by placing it in a position, including a lower arm rotatably supported on a trolley having a traveling mechanism, and Three sets of doglegged parts formed by the upper arm which is bent in a dogleg shape and rotatably supported by the lower arm at the pivot point at the tip of the arm, and one of these three doglegged parts. a space-variable shift mechanism that connects the two sets to oppose each other so as to be able to change the distance between the pivot parts; a parallel movable lift mechanism that connects the remaining one set of doglegged parts placed side by side so that the spacing between the pivot parts is constant and that they can mutually move in parallel; and the tips of the upper arms of the three sets of doglegged parts. The problems of the prior art are solved by an automatically guided transport vehicle, which is characterized by comprising a mounting table which is pivotally supported by and on which the workpiece is placed.

(Function) That is, in the automatic guided transport vehicle of the present invention, only two of the three sets of doglegged parts are provided with a lift mechanism that connects the pivot parts so that the space between them can be changed. Connecting one of the two sets of doglegged parts and the remaining doglegged part by a parallel-translatable lift mechanism that connects the pivot parts so that the spacing between the pivot parts is constant and that they can move in parallel. The position of the cart on which the workpiece is placed is adjusted.

(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 both 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 the connecting device.

Wheels 3.4 are rotatably provided at the bottom ends of the carts A and B, respectively. In addition, these wheels 3.4 are also used as direction change wheels to change the running direction of the AGV, and each of the six bogies A and H, which automatically guide these bogies with a predetermined guidance neck, is equipped with a collision sensor at the tip. tactile mechanisms 5.6 are provided and at their base a limit switch 7.8 is provided, if the tactile mechanisms 5. Or if another object collides with the AGV 6, the limit switch 7.8 is activated and the AGV comes to a sudden stop.

Reference numeral 9 denotes a battery placed in the center of the carts A and H in the left and right direction, and is connected to a traveling motor 10 and a lift motor 11.
It is used as a power source.

Each motor to, ii is connected to '#1. It is connected to a servo amplifier 12 installed in the vehicle, receives a control signal generated by a controller 14 based on a command set by a power board 13, runs the AGV, and moves a lift mechanism 15, which will be described in detail later, up and down. make it move.

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

The cart A and the cart B are connected by a coupling device 2, and on each frame 100, six doglegged portions 201, 202, 203, 204, 250, and 251 covered with bellows 17 store work objects. It supports a storage stand 16. In other words, the horizontal rods 20 supported on the left and right sides of the frame 100 of one bogie A
5 and a support mechanism (not shown) on the trolley B, the pair of lower cross beams 20B are always held horizontally, and a pair of doglegged portions are provided at both ends of the mutually parallel lower crossbeams 20G. 201, 202, 203, 204.250
, 251, and a pair of upper cross beams 207 are attached to these six doglegged portions.

These <character-shaped parts 201, 202, 203, 204.2
Groups 201, 203 and 202.2 of 50,251
The sets 202 and 204 face each other in opposite directions, and form a variable-space lift mechanism 15 in which the space between the pivot parts can be changed by a rod screw and a rotation mechanism, that is, a lift motor, as will be described later. The sets 250 and 251 are arranged side by side to form a parallel movable lift 26 which is moved in parallel by a connecting rod 19 of a constant length so that the interval between the pivot parts is always constant.

Figure 5 shows one of the lower cross beams 2 of these doglegged parts.
06 and three sets of 20 pivoted to the upper cross beam 207
1,202,250 is shown.

<The character-shaped portion 201 has one end connected to the lower arm 21 by the lower arms 211 and 212 that are pivotally supported by the lower cross beam 206, and the auxiliary arm 230 located at the pivot point 215 at the tip of the lower arm 211 and 212.
1 and 212, and the other end of the upper arm 217 and 218 is pivotally supported on the upper cross beam 207. The doglegged portion 202 also includes lower arms 213 and 2 that are pivotally supported by the lower cross beam 206.
14 and an auxiliary arm 231 located at the pivot portion 216 at the tip of the lower arms 213, 214, one end of which connects to the lower arm 213, 214.
The upper arm 2 is pivotally connected to the upper arm 2 and the other end is pivotally supported to the upper cross beam 207.
It is equipped with 19,220. The doglegged portion 250 includes lower arms 223 and 224 that are pivotally supported on the lower cross beam 206 and lower arms 2
Auxiliary arm 2 located at the pivot point 227 at the tip of 23, 224
26, one end is pivotally connected to the lower arms 223 and 224, and the other end is pivotally supported to the upper cross beam 207, thereby providing arms 225 and 226.

Lower arm 211, 212, 213, 214, 223.224
have the same length, and the upper arms 217,
218, 219, 220, 225, and 226 all have the same length.

The doglegged portion 201 and the doglegged portion 202 face each other in opposite directions, and the two intermediate pivots 215 and 216
Operating rods 221 and 222 that are parallel to each other are pivotally attached to the rods 221 and 222, and by increasing the distance between these rods 221 and 222,
The bending angle of the lift mechanism is made small, and by making this interval small, the bending angle is increased.

Further, the L-shaped portion 202 and the L-shaped portion 250 are arranged parallel to each other, and are interlocked with each other by a connecting rod 19 of a certain length at the pivot parts 202 and 227, so that they move in parallel. The connecting rod may be made of an inexpensive material, such as a soft iron type.

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.

Note that the pole screw is easily worn out, so it is made of expensive steel. Rotating plates 304 are pivotally attached to the left and right sides of the speed reduction mechanism 301 and the nut portion 303, respectively.
21 and 222 are rotatably inserted thereinto, and a rotation support shaft of this rotary plate 304 is inserted into a hole 306 drilled 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 306a 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 306a and 306b are pivotally supported at predetermined portions of the lower cross beam 206.

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 306a, 30
They are rotated in opposite directions about 6b. Therefore, the actuating rods 221 and 222 inserted into the holes 305 of each rotating plate 304 increase the distance between them and move downward to form the four doglegged portions 201, 202.2.
The angles of the doglegged bends 03 and 204 are made smaller, and the a stand 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 222.
Since the storage table 16 is rotated in a direction in which the storage table 16 approaches the storage table 16, the storage table 16 can be raised.

When the mounting table 16 descends, the four doglegged portions 20
1, 202, 203, 204 are upper and lower cross beams 206
．． 207 is folded outward in the front-rear direction. At the same time, the remaining two doglegged parts 250 and 251 are also moved parallel to and in conjunction with the doglegged parts 202 and 204 by the connecting rod 19, so that they move outward in the longitudinal direction of the upper and lower cross beams 206 and 207. Folded.

In this way, the distance between the pivot parts is variable and the doglegged parts are the doglegged parts 201, 203 and doglegged parts 202, 204, and if the pole screw 302 is provided only between these doglegged parts, the work will be easier. The height of the object: Clause A can be performed reliably.

In addition to the configuration of the AGV explained in the above embodiments, the present invention also includes modifications such as increasing or decreasing the number of arms of the lift mechanism, or connecting the lift mechanism with a means other than the pole screw of the lift drive mechanism. Needless to say, it is possible to make changes in design, and the present invention can be modified in various ways within the scope of the present invention, and these modifications are not excluded from the scope of the present invention.

(Effects of the Invention) As described above, according to the present invention, rod screws made of expensive steel are provided only between two of the three sets of doglegged parts,
Since an inexpensive connecting rod is provided between the remaining one set of dogleg-shaped parts, an automatic guided transport vehicle that can lift long workpieces with an inexpensive and simple lifting mechanism can be created. can be provided.

[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...Dolly, lO... Traveling motor, 11...
・Lift motor, 12... Servo amplifier, 15...
- Lift mechanism with variable spacing, 26... Lift mechanism with variable parallel movement. Patent applicant Fanuc Co., Ltd. Agent Patent attorney Minoru Tsuji Figure 4 ↓ Figure 7 Procedural document (spontaneous) June 19, 1988 Commissioner of the Japan Patent Office Black 1) Mr. Akio 1, automatic display of cases Guided transportation vehicle 3, relationship with the case of the person making the amendment Patent applicant name: FANUC CORPORATION Inapa Seiwe Representative: Inaba Seiemon 4, agent 6, who is the subject of the amendment? Claim 1 column, details of the invention (1)
The scope of claims is amended as shown in the attached sheet. (2) r (Auto
matic Guided J.
Corrected to ed Guided J. (3) Specification page 8, line 8, page 11, line 18, 13
Correct "rod screw" in line 17 of the page to "ball screw." (4) "In the specification, page 10, line 20, page 11, line 1,"
Note that the ball screw is easily worn out, so it is made of expensive steel. ” to be deleted. (5) Delete "Made from expensive steel" on page 13, line 16 of the specification. (6) Figure 6 of the drawing will be corrected as shown in the attached sheet. 2. Scope of Claims (1) An automatically guided transportation vehicle capable of automatically guiding a workpiece on which a workpiece is placed, comprising a lower arm rotatably supported on a cart having a traveling mechanism, and a pivot at the tip of the lower arm. Three sets of dogleg-shaped parts formed by the upper arm that is bent in a dogleg shape and rotatably supported by the lower arm at the branch, and two of these three sets of doglegged parts are opposite to each other. a variable-spacing shift mechanism that opposes the directions and connects the pivot parts so that the spacing between them can be changed; a parallel eight-shift lift mechanism that connects one set of doglegged parts so that they can move in parallel with each other with a constant interval between the pivot parts; An automatically guided transport vehicle comprising: a mounting table on which the work object is mounted; (2) The scope of the patent as set forth in item 1 is characterized in that each of the arms of the doglegged portion consists of a pair of parallel arms, and an auxiliary arm connecting the pair of arms is provided on the pivot portion. Automated guided transport vehicle. (3) The automatically guided transport vehicle according to claim 1, wherein the lift mechanism that can freely change the interval is constituted by a ball screw and a rotation mechanism that rotationally drives the ball screw. (4) The automatically guided transport vehicle according to claim 1, wherein the parallel-transferable lift mechanism is constituted by a connecting rod having a constant length.

Claims (4)

[Claims] (1) In an automatically guided transport vehicle that can place a workpiece and automatically guide it, the lower arm is rotatably supported on a trolley with a traveling mechanism, and the pivot point at the tip of the lower arm is used to Three sets of dogleg-shaped parts formed by the upper arms bent in a dogleg shape and rotatably supported, two of these three sets of doglegged parts are opposed to each other, and the a variable interval shift mechanism that connects the pivot parts so that the interval between them can be changed; and a dogleg-shaped portion of one of the two pairs opposed in opposite directions, and a doglegged portion of the other pair juxtaposed therewith. a parallel movable lift mechanism that connects the parts with a constant interval between the pivot parts so as to be able to move in parallel to each other; An automatically guided transport vehicle characterized by comprising a mounting table on which the vehicle is placed. (2) The arms of the doglegged portion each consist of a pair of parallel arms, and the pivot portion is provided with an auxiliary arm that connects the pair of arms. The self-guided transport vehicle described in paragraph. (3) The automatically guided transport vehicle as set forth in claim (1), wherein the lift mechanism with variable spacing is comprised of a rod screw and a rotation mechanism that rotationally drives the rod screw. (4) The automatically guided transport vehicle according to claim (1), wherein the parallel movable lift mechanism is constituted by a connecting rod having a constant length.