JPS62218397A - 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 (Field of Industrial Application) The present invention relates to an automatic guided transport vehicle used for automatically transporting workpieces, etc. in a factory automation (FA) system.
Vehicle: A, G, V, ).

(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 invert the heavy objects or lift them to a predetermined height when the first 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. Accurate alignment between the heavy objects on belt conveyor E, the lift, and the robot was required, and there were also problems such as the installation area of the conveyor system and surrounding robots and lifts becoming large, reducing work efficiency. .

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) According to the present invention, there is provided a truck having a traveling device, two lift mechanisms disposed on the truck, and two lift mechanisms that operate by motivating the two lift mechanisms. An automatically guided transport vehicle is provided, comprising: a lift drive mechanism; and a storage stand supported by the upper ends of the two lift mechanisms and on which a workpiece is placed.

(Function) That is, the automatically guided transport vehicle of the present invention has two loading tables for storing workpieces placed on a guided traveling trolley.
It is supported by two lift mechanisms, and each of these two lift mechanisms is a lift drive! By operating the mechanism, the mounting table is raised and lowered to adjust the position of the mounting table a.

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

Figure 1 shows a front truck A that pivotally supports an automatic guided vehicle (hereinafter referred to as an AGV), and a coupling device 2, 2 attached to the rear end of the front truck A.
The rear truck B is connected in a hinge-like manner so that it can be bent.
have.

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 collision sensor wire 7.6 is provided 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 placed in the center of each of the carts A and B in the left-right direction, a traveling motor 10 placed in the cart A, and lift motors 11 and 11 placed in the carts A and B, respectively.
used as a power source. Each motor 1O111 is connected to a servo amplifier 12 placed on the side of the cart B, and is connected to the side of the cart A based on a command set by the power board 13.
In response to a control signal generated from a controller 14 placed in the vehicle, the AGV is driven, and two lift mechanisms 15 and 15, which will be described in detail later, are moved up and down.

The trolleys A and B are connected by the coupling device 2 as described above, and on each frame 100 there are two lift mechanisms 15 and 15 covered with bellows 17 and disposed one on each frame.
supports the Jut stand 16 on which the workpiece is placed.

The lift mechanism 15 includes two pairs of lower arms 153a, 154a and 153b, 15 which are rotatably supported by a support shaft 152 on a lower cross beam 101 supported by a frame lOO.
4b, a pair of upper arms 155a, 156a and 155b which are rotatably supported to each other by pins provided at both ends of connecting plates 159a and 159b at the upper ends of the lower arms;
156b, and the upper and lower arms are each bent in a dogleg shape in opposite directions. The upper arms 155a, 156a and 155b, 156b are rotatably connected by connecting rods 157a and 157b, respectively, and the connecting rods 157a and 157b are connected to the upper cross beam 1.
They are connected to each other by 58a and 158b. The lift mechanism 15 configured in this way has two pairs of lower arms 1.
By changing the distance between the pivot points between the upper arms 53a, 154a, 153b, 154b and the pair of upper arms 155a, 156a, 155b, 156b, that is, between the connecting plates 159a and 159b, the angle formed by the upper arms and lower arms can be changed. By increasing this angle, the tip of the upper arm can be placed in a higher position, and by decreasing this angle, the tip of the upper arm can be placed in a lower position.

The lift drive mechanism 16 that operates the lift mechanism 15 includes:
A rod screw 161 whose one end is rotatably supported by the connecting plate 159b and whose other end is screwed into a nut 162 provided on the connecting plate 159a, and a lift motor 11 which rotationally drives the chain line screw 161. , and a reduction mechanism 163 that transmits the driving torque of the motor 11 to the rod screw 161. The motor 11 is connected to the connecting plate 159b.
It is attached to a support bracket 164 fixed to. Note that the two motors 11, 11 are connected to the controller 1.
4 and are operated synchronously. The speed reduction mechanism 163 includes a drive sprocket) 163a attached to the rotating shaft of the motor 11, and a driven sprocket) 163b attached to the rod screw 161.
and a chain 163c stretched between both sprockets.
It is composed of.

The present embodiment is constructed as described above, and its operation will be described below.

By operating the traveling motor 10 mounted on the front truck A and driving the drive wheels 1.1, the transport vehicle can travel. During this traveling, the truck consists of a front truck A and a rear truck B, and both the trucks A and B are connected to the coupling device 2,
2, so that the workpieces placed on the storage stand 16 can be moved in a stable state, with good ability to follow changes in the running direction and irregularities on the running surface.

Next, when raising the mounting table 16, when the lift motors 11, 11 are rotated in one direction, the driving torque of the motors is transmitted to the bar screw 161 via the speed reduction mechanism 163, and the chain line screw 161 is rotated. rotate in one direction. chain line screw 1
61 rotates in one direction, the distance between the speed reduction mechanism 163 and the nut 162 screwed into the chain line screw 161, that is, the distance between the connecting plates 159b and 169a, decreases, and the lower arm 1
53a, 154a and 153b, 154b and upper arm 15
The angle formed by 5a, 156a and 155b, 156b becomes larger, and the position of the tip of the upper arm can be raised to raise the a stand 6 to a higher position.

In addition, when lowering the mounting table 16, the lift motor 1
1 and 11 in the other direction, the bar screw 161 rotates in the other direction, and the distance between the connecting plates 159b and 159a increases. Therefore, the angle formed between the lower arm and the upper arm becomes smaller, the position of the tip of the upper arm is lowered, and the mounting table 6 can be lowered to a lower position. At this time, the lower arm 153a,
154a and 153b, 154b and upper arm 155a,
156a, 155b, 156b are folded outward in the longitudinal direction, and the upper and lower cross beams 1.158 are in contact with each other, so that the lift mechanism 15 only requires a minimum space on the carriages A and B.

Note that since the mounting table 6 is supported by two lift mechanisms 15, 15, it is possible to place a heavy workpiece thereon. Also, the motors 11, 1 of the lift drive mechanisms 16.16 each operate the two lift mechanisms 15.15.
1 are synchronously controlled, the mounting table 6 is raised and lowered while always being held horizontally, and the workpiece to be placed thereon can be stabilized.

Although the present invention has been described above based on the illustrated embodiments, the present invention is not limited to only those shown in the embodiments, and various modifications can be made within the scope of the gist of the present invention.
These are not excluded from the scope of the present invention.

(Effects of the Invention) As described above, in the automatic guided transport vehicle according to the present invention, the loading platform placed on one vehicle is supported by two lift mechanisms, so that it is possible to place one heavy workpiece. becomes. Further, the present invention provides two lift mechanisms each operating two lift mechanisms.
Since the two lift drive mechanisms operate synchronously, the mounting table supported by the two lift mechanisms is always raised and lowered while being held horizontally, and the workpiece being placed thereon can be stabilized. It has the following effects:

[Brief explanation of drawings]

FIG. 1 is a perspective view of an automatically guided transport vehicle according to the present invention, and FIG.
The figure is a side view, and the third figure is a plan view. FIG. 4 is a front view thereof. A... Front truck, B... Rear truck, ■... Drive wheel, 2... Connection device, 3.4... Wheel, 5, 6...
Pamper, 7.8... Wire for collision sensor, 9...
Battery, 10... Traveling motor, 11.11...
Lift motor, 12... Servo amplifier, 13...
Powerful electrical panel, 14...Controller, 15.15...Lift mechanism, 16°16...Lift drive mechanism. Patent applicant: Representative of FANUC Co., Ltd. Patent attorney: Mr. Tsuji Sanete, Patent attorney (spontaneous) June 19, 1988 Commissioner of the Japan Patent Office Kuro 1) Akio Tono 2, Name of the invention Automatic speech guide 1 general Vehicle 3, Relationship with the case of the person making the amendment Patent applicant name: Fanuc Co., Ltd. Representative Seiemon Inaba 4, Agent 6: "Claims 1" column of the specification to be amended, "Details of the invention" Explanation 1 column, drawings (1) Claims are corrected as shown in the attached sheet. (2) r (Auto
"matic Guided"
Corrected to ed Guided J. (3) "Motive" on page 4, line 8 of the specification is corrected to "synchronization." (4) Specification page 8, lines 2-4, line 12, page 9, line 1
Correct "rod screw" in lines 0 to 12, first line of page 10 to "ball screw." (5) Insert the following sentence after "It can be achieved." on page 10, line 20 of the specification. "Also, in the above embodiment, two lift mechanisms are driven by two lift drive mechanisms, respectively.
These lift drive mechanisms may be connected by a drive shaft and driven by a single motor. (6) Figure 2 of the drawing is corrected as shown in the attached sheet. 2. Scope of Claims (1) A truck having a traveling device, and 2 disposed on the truck.
two lift mechanisms, two lift drive mechanisms that operate the two lift mechanisms synchronously, and a mounting table supported by the upper ends of the two lift mechanisms and on which the workpiece is placed. An automatically guided transport vehicle characterized by: (2) The vehicle according to claim (1) is characterized in that the truck is composed of a front truck and a rear truck with respect to the traveling direction, and the two trucks are connected to each other by a connecting device. ! lJ guided transport vehicle. (3) The automatically guided transport vehicle according to claim (2), wherein the lift mechanism is provided on each of the front truck and the rear truck. (4) The lift mechanism is composed of a pair of lower arms rotatably supported on the trolley, and a pair of upper arms rotatably supported on the upper ends of the pair of lower arms. The arms are bent in opposite directions in a dogleg shape, and the lift drive mechanism is a mechanism capable of changing the distance between the pivot points of the upper and lower arms. 1)
Automated guided transport vehicle as described in Section 1. (5) The automatic 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 R screw.

Claims (5)

[Claims] (1) A trolley with a traveling device, and two wheels installed on the trolley.
two lift mechanisms, two lift drive mechanisms that operate the two lift mechanisms synchronously, and a mounting table supported by the upper ends of the two lift mechanisms and on which the workpiece is placed. An automatically guided transport vehicle characterized by: (2) The automatic vehicle according to claim (1), characterized in that the truck includes a front truck and a rear truck with respect to the traveling direction, and the two trucks are connected to each other by a coupling device. Guided transport vehicle. (3) The automatically guided transport vehicle according to claim (2), wherein the lift mechanism is provided on each of the front truck and the rear truck. (4) The lift mechanism is composed of a pair of lower arms rotatably supported on the trolley, and a pair of upper arms rotatably supported on the upper ends of the pair of lower arms. The arms are bent in opposite directions in a dogleg shape, and the lift drive mechanism is a mechanism capable of changing the distance between the pivot points of the upper and lower arms. 1)
Automated guided transport vehicle as described in Section 1. (5) The automatically guided transport vehicle according to claim (5), wherein the lift drive mechanism is constituted by a rod screw and a rotation mechanism that rotationally drives the rod screw.