JPS6223682B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in a method for detecting a transported object.

Conventionally, limit switches have been installed to accurately detect the position of car bodies on automobile assembly lines, especially in the outfitting process, but the limit switches are difficult to install because workers walk around the car bodies placed on a moving conveyor. There was a risk of being stepped on, which was a problem. Further, when a phototube was used to solve this problem, the vehicle body detection device was activated every time a worker passed in front of the phototube, causing a problem.

The present invention solves the above-mentioned problem, and the first conveyed object detector closes the first switch when it detects the conveyed object conveyed by the conveying device for a certain period of time, and the conveying device operates. The second switch is closed, and the second transported object detector detects the transported object after a certain period of time has passed after both switches are closed, and the transported object is transported to a predetermined position. The present invention relates to a method for detecting an object to be transported, which is characterized by detecting that the object has been transported.

Therefore, even if the first transported object detector detects an object other than the transported object, for example, a worker or an article other than the regular transported object placed on the transport device,
It is unlikely that the detection time will be a constant time, and even if the object is detected for a certain period of time, it is extremely unlikely that the second conveyed object detector will detect the worker or the like after a certain period of time has passed. Therefore, an erroneous signal indicating that the object has been transported to a predetermined position by someone other than the official object, such as a worker, is not sent. In addition, if the conveyance device temporarily stops for some reason, and the conveyed object stops at a position where it is detected by the first conveyed object detector, the first switch is closed, and after a certain period of time, the second conveyed object detector is activated. Even if a worker, etc. is detected, the second switch is open, so it does not generate a false signal indicating that the transported object has reached the specified position, and it will not malfunction even in the event of an unexpected accident in which the transport device temporarily stops. It is something.

Hereinafter, one embodiment of the present invention will be specifically described.

In Figures 1 to 4, the slat conveyor 1
is provided extending to the assembly line for automobile bodies 2, and transports the above-mentioned vehicle bodies 2.

The first conveying device 3 includes a first rail 4 and a first moving device 5. The first rail 4 is suspended from a ceiling (not shown) and extends in a direction perpendicular to the conveying direction of the slat conveyor 1. First moving device 5
A vehicle body 7 moves on the first rail 4 driven by a motor 6, a support stand 9 supported by the main body 7 so as to be movable up and down by a hydraulic cylinder 8 provided on the main body 7, and a motor 10 on the support stand 9. The arm 11 is rotatable by 180 degrees. The arm 11 is formed in a U-shape, and has vacuum cups 12 at both left and right ends. This vacuum cup 12 is connected to a vacuum source (not shown). A rod 111 is provided on the support base 9 and prevents the support base 9 from rotating.

The turntable 13 is rotatably supported on the floor, and has a support rod 1 for placing a window glass on the top surface.
I have four plants planted.

The second transport device 15 includes a second rail 16, a second moving device 17, and a pedestal 18. The second rail 16 extends above the slat conveyor 1 along the same conveyor 1 from a position opposite to the first rail 4 toward the rear in the conveyance direction of the slat conveyor 1. The second moving device 17 has a main body 19 movably supported on the second rail 16, and a state in which the main body 19 is moved in synchronization with the conveyance speed of the slat conveyor 1, and a state in which the main body 19 is moved in synchronization with the conveyance speed of the slat conveyor 1. The above body 19
A motor 20 forming a conveying means capable of moving the main body 19, a support stand 22 mounted on the main body 19 so as to be vertically movable by a hydraulic cylinder 21, and a support stand 22 provided on the support stand 22 so as to rotate the support stand 22. The shaft 25 has a guide rod 23 that prevents this from occurring, and a shaft 25 whose intermediate portion is pivotally supported by a column 24 extending downward from the support base 22. A sprocket 26 is provided on the shaft 25, and a chain 29 is wound between the sprocket 26 and a sprocket 28 of a motor 27 provided on the pillar 24. At both ends of the shaft 25, there are cylinders 30,
30 are provided respectively, as shown in FIG.
A pneumatic cylinder 31 is provided at the upper end of the cylinder 30, and a wire 32 is provided at the tip of the operating rod of the pneumatic cylinder 31.
0, and a support 33 is attached to the end of the wire 32. As shown in FIG. 2, this support 33 has a top portion 34 having two inclined surfaces, a vacuum cup 35 connected to a vacuum source (not shown), and a hand grip 36. The top portion 34
is provided at the lower end of the cylinder 30 in FIG. 2 and is formed to be able to fit and lock into a socket 37 having two internally inclined surfaces. The wire 32 has an annular tip, and a pin 38 provided on a support 33 is rotatably inserted into the annular portion. Further, a notch 39 is formed in the support 33 to facilitate tilting of the support 33 with respect to the wire 32.
As shown in FIG. 1, the left and right supports 33 are connected by a flexible core wire 40. The pedestal 18 is provided at the left end of the second rail 16. Note that a balance weight 311 is provided at the upper end of the pneumatic cylinder 31 in FIG.

The third transport device 41 is configured similarly to the second transport device 15, and includes a third rail 42, a third moving device 43,
It extends from the pedestal 59. The third rail 42 extends above the slat conveyor 1 in parallel with the same conveyor 1, has one end facing the first rail 4, and has the other end located in the conveyance direction of the slat conveyor 1 (left side in FIG. 1). It is suspended from the ceiling (not shown). The third moving device 43 is moved up and down by a main body 44 that moves on the third rail 42, a motor 45 that enables the main body 44 to move in synchronization with the slat conveyor 1, and a hydraulic cylinder 46 provided on the main body 44. The support stand 47 and the support stand 47 provided on the support stand 47
a guide rod 48 for preventing rotation of the slat conveyor 1; a shaft 49 extending in the horizontal direction perpendicular to the conveyance direction of the slat conveyor 1 whose middle part is pivotally supported by a pillar hanging from the support base 47; a sprocket 50, a chain 52 wound between the sprocket of the motor 51 mounted on the pillar and the sprocket 50, and the shaft 4.
cylinders 53, 53 fixed to the ends of 9, respectively;
Pneumatic cylinders 54, 54 fixed to the upper ends of the cylinders 53, 53, respectively;
It has supports 55, 55 which are tiltably attached to the actuating rod of No. 4 via a wire (not shown) which is inserted into the cylinder 53. The support base 55 has a socket 56 provided at the tip of the cylinder 53.
A vacuum cup 57 connected to a vacuum source (not shown) and a hand grip 58 are provided. The pedestal 59 is the third rail 4
It is provided at the front part of Figure 1 of 2. Further, a balance weight (not shown) is provided at the upper end of the pneumatic cylinder 54.

The vehicle body position detection devices 60, 60' are composed of three phototubes forming a plurality of first conveyed object detectors shown in FIG.
It consists of PH1 to PH3, a phototube PH4 forming a second conveyed object detector, and a timer circuit 61 shown in FIG. The photocells PH1 to PH4 are provided on the side of the slat conveyor 1, and the first photocell PH1 is provided on the side of the car body 2.
The second phototube PH2 is horizontally installed at an intermediate height of the door panel, and the second phototube PH2 is horizontally installed closer to the transport direction of the conveyor 1 than the first phototube PH1 and somewhat higher than the first phototube PH1. Further, the third phototube PH3 is provided on the conveying direction side of the conveyor 1 from the second phototube PH2 and at a height that is obstructed only by the wheels 62 attached to the vehicle body 2, and the fourth phototube PH4
It is provided on the conveying direction side of the slat conveyor 1 from the third phototube PH3 and at approximately the same height as the third phototube PH3. The vehicle body position detection device 60 is a second
The vehicle body position detecting device 60' is provided on the side of the slat conveyor 1 slightly to the right end of the middle part of the rail 16 in FIG. It is being

The operation will be explained below according to the above structure.

First, a worker manually lifts up the rear window glass 70 from a window glass storage area (not shown) and places it on the support rod 14 of the turntable 13. Here, while rotating the turntable 13, the worker applies adhesive around the top surface of the rear window glass 70 in FIG. 1 (the side surface of the vehicle interior).

After application, when the operator presses the operation switch, the arm 11 of the first moving device 5 is inserted into the space between the rear window glass 70 and the turntable 13, and when this is automatically detected, the hydraulic The support stand 9 is raised by the cylinder 8. Then, the vacuum cup 12 at the tip of the arm 11 comes into contact with the lower surface of the rear window glass 70 in FIG. . Furthermore, the hydraulic cylinder 8 is contracted to raise the rear window glass 70 to the top dead center higher than the vehicle body 2. This is automatically detected and the support stand 9
The upper motor 10 operates to rotate the arm 11 90 degrees counterclockwise. Subsequently, the motor 6 is activated to move the main body 7 to a position facing the pedestal 18 of the second conveyance device 15, and then automatically stops. At this time, the rear window glass 70 is located above the pedestal 18. Then, this is automatically detected, the hydraulic cylinder 8 is extended, the supply of vacuum to the vacuum cup 12 is stopped, and the rear window glass 70 is placed on the pedestal 18.
The hydraulic cylinder 8 detecting this stops the vacuum cup 12 at a position lower than the pedestal 18, and the first moving device 5 returns to the position shown in FIG.

When the rear window glass 70 is placed on the pedestal 18, this is automatically detected and the second moving device 1
The motor 20 of No. 7 operates to stop the second moving device 17 in proximity to the pedestal 18. At this time, the cylinders 30, 30 of the second moving device 17 are located in a horizontal state, with the vacuum cup 35 facing upward, and the supports 33, 33 are located in the sockets 37, 33, as shown in FIG.
37 is fitted and locked. Then, the hydraulic cylinder 21 automatically contracts and the supports 33, 33
The vacuum cups 35, 35 are brought into contact with the lower surface of the rear window glass 70, and the hydraulic cylinder 21 is further contracted to push the rear window glass 70 up from the pedestal 18. At this time, vacuum is supplied to both vacuum cups 35 from the vacuum source,
Rear window glass 70 is vacuum cup 3
5 is suction-locked. Subsequently, the motor 20 is automatically activated to move the second moving device 17 to the left in FIG. 21 extends and lowers the support stand 22, positioning the rear window glass 70 below the support stand 18. Then, the limit switch detects this and operates the motor 20 to position the second moving device 17 at the right end of the second rail 16. Note that at this time, the rear window glass 70 is supported horizontally by the support 33 by the balance weight 311.

Next, the vehicle body 2 is conveyed by the slat conveyor 1, and the first photocell PH1 of the vehicle body position detection device 60
while passing in front of the first photocell in Fig. 4.
PH1 is closed. When the phototube PH1 is closed for a certain period of time because the light beam is blocked by the passage of the vehicle body 2, the timer TR1 is activated and the switch tr1 is closed. Also, connect the front of the second photocell PH2 to the vehicle body 2.
passes, the second photocell PH2 closes, and if the light beam is blocked by the passing of the vehicle body 2 and remains closed for a certain period of time, timer TR2 is activated and the switch PH2 is closed.
Close 2. Further, when the wheel 62 passes in front of the third phototube PH3, the third phototube PH3 is closed, and when the wheel 62 closes the third phototube PH3 for a certain period of time, the timer TR3 is activated and the switch tr3 is closed.
is closed. Here, timers TR1, TR2,
TR3 is operated and switches tr1 to tr3 are closed so that the time for closing switches tr1 to tr3 is the same when the car body 2 is at the normal conveyance speed of the slat conveyor 1.
Positions of phototubes PH1 to PH3 and timers TR1 to TR3
and the time it takes for switches tr1 to tr3 to close, respectively, are selected as appropriate. And tr1~tr3
are closed at the same time, relay CR1 is activated to close switch CR1, and at the same time, slat conveyor 1 is closed.
The switch is activated in response to a signal that the vehicle is in operation.
CRX closes, relay CR2 operates, and switch CR2
Close. The latch timer RT is the switch CR above.
1. It is activated by closing CR2, and closes the switch RT after a certain period of time. At this time, the wheel 6
2 blocks the fourth phototube PH4 and closes it, thereby activating the relay CR3.

Due to the operation of this relay CR3, the second moving device 1
7, the motor 27 rotates to rotate the shaft 25, positioning the cylinders 30, 30 vertically as shown in FIG. 1, and then extending the hydraulic cylinder 21 to lower the support base 22.

Then, the rear window glass 70 supported by the vacuum cup 35 of the support base 22 is located near the rear of the rear window 71 of the vehicle body 2, and at the same time, the motor 20 is activated to move the rear window glass 70
are conveyed in synchronization with the slat conveyor 1. Next, the worker grasps the hand clip 36 and holds the cylinder 3.
The pneumatic cylinders 31, 31 attached to the rods 0, 30 are operated to lower the actuating rod, and the support 33 connected to this actuating rod via a wire 32 is lowered and lowered by the pneumatic cylinders 31, 31. It is held in position and the top 34 is removed from the socket 37. Here, the worker installs the rear window glass 70.
at the specified position of the rear window 71, that is, around the rear window glass 70.
Press it against the window frame of 1. Then, the rear window glass 70 is fixed to the vehicle body 2 by the action of the adhesive applied around the rear window glass 70. Here, when the worker cuts off the supply of vacuum to the vacuum cup 35, the vacuum cup 35 separates from the rear window glass 70. Then, this is automatically detected and the pneumatic cylinder 31 is actuated to raise it, the top part 34 of the support 33 is fitted and locked in the socket 37, and then the hydraulic cylinder 21 contracts and the support base 22 is moved up. is raised, and then the motor 27 is operated to raise the cylinders 30, 30.
is placed in a horizontal state, and the operation of the motor 20 is stopped and the second moving device 17 returns to the initial position.

At the same time, the one cycle completion switch S shown in FIG. 4 is closed, and the latch timer RT is reset. Now, the front window glass 80 is installed on the turntable 1 by a worker from a storage area (not shown).
It is carried onto the support rod 14 of No. 3, and the turntable 13
Apply adhesive around the interior side of the front window glass 80 using a gun while rotating the .

When this work is completed, the worker moves to the first moving device 5.
, the hydraulic cylinder 8 is extended to lower the arm 11, and the motor 6 is then driven to move the main body 7 diagonally downward to the left in FIG.
is inserted between the turntable 13 and the front window glass 80, and then the hydraulic cylinder 8 is contracted to bring the vacuum cup 12 of the arm 11 into contact with the front window glass 80, and the vacuum cup 12 is connected to the vacuum source. Therefore, the vacuum cup 12 attracts the front window glass 80, and when the hydraulic cylinder 8 further contracts, the front window glass 80 is lifted from the turntable 13 by the arm 11 and reaches above the vehicle body 2. When the hydraulic cylinder 8 stops at the top dead center, the motor 10 rotates the arm 11 by 90 degrees clockwise in FIG. Move to the right end of Figure 1 and stop. At this time, the front window glass 80 is located above the pedestal 59. When the above-mentioned stop is automatically detected, the hydraulic cylinder 8 extends and places the front window glass 80 on the pedestal 59, and at the same time disconnects the vacuum cup 12 from the vacuum source, so that the front window glass 80 is placed on the vacuum cup. 12 and placed on the pedestal 59, and when the arm 11 reaches below the pedestal 59, the first moving device 5 automatically returns to the position shown in FIG.

The front window glass 8 is placed on the pedestal 59.
When it is automatically detected that 0 is placed, the motor 45 of the third moving device 41 rotates and moves the main body 44 to the right in FIG.
The vacuum cup 57 provided at the support base 59 is positioned below the pedestal 59, and then the hydraulic cylinder 46 automatically contracts to raise the support base 47. As a result, the vacuum cup 57 comes into contact with the front window glass 80, and since the vacuum cup 57 is connected to a vacuum source, the front window glass 80 is attracted to the vacuum cup 57. Then, as the hydraulic cylinder 46 further contracts, the front window glass 80 is pushed up from the pedestal 59, and when the hydraulic cylinder 46 reaches the top dead center and stops, the motor 45 rotates and moves the main body 44 toward the right in FIG. to move the front window glass 80 from the pedestal 59 to the right in FIG. Subsequently, the hydraulic cylinder 46 automatically extends to place the front window glass 80 on the pedestal 5.
9 and stops, the motor 45 is rotated to move the main body 44 (front window glass 80) slightly to the left in FIG. 1 (to the position shown in FIG. 1), and then stops. At this time, the balance weight provided at the head of the pneumatic cylinder 54 causes the cylinder 53 to
is held horizontally.

Next, the vehicle body 2 with the rear window glass 70 pasted thereon is conveyed by the slat conveyor 1, and when it passes in front of the first phototube 1 of the vehicle body position detection device 60', the first phototube PH1 is When the closed state exceeds a certain period of time, the timer TR1 turns ON and closes the switch tr1. Furthermore, the vehicle body 2 is transported and the second photocell
When the second phototube PH2 passes through the front surface of PH2, the second phototube PH2 is closed during the passage, and when the second phototube PH2 starts closing and a certain period of time has elapsed, the timer TR2 closes the switch tr2. Subsequently, the wheel 62 of the vehicle body 2 blocks the front surface of the third photocell PH3, and when the blocking time reaches a predetermined value, the timer TR3 turns on the switch tr.
3 is closed, and as a result, switches tr1 to tr3 are closed at the same time, so that relay CR1 is operated to close switch CR1. In addition, the slat conveyor 1
When is operating, switch CRX is closed, activating relay CR2 and closing switch CR2,
When the switches CR1 and CR2 are closed and a certain period of time has elapsed, the latch timer RT closes the switches RT. At this time, the wheels 62 of the vehicle body 2 are connected to the fourth photocell PH.
4, the fourth photocell PH4 is closed and relay CR3 is activated.

Then, due to the operation of this relay CR3, the motor 51 of the third actuating device 41 rotates, and the cylinders 53, 5
3 is positioned vertically, and the hydraulic cylinder 46 is further extended to lower the support base 47, so that the front window glass 80 attached to the lower end of the cylinder 53 faces near the front surface of the front window 81 of the vehicle body 2. At the same time, the motor 45 is rotated to move the car body 44 in synchronization with the slat conveyor 1. As a result, the front window glass 80
moves while remaining near the front of the front window 81.

Next, when the operator grasps the handgrip 58 and extends the pneumatic cylinder 54, the support 55 separates from the socket 56, hangs down, and is supported by the pneumatic cylinder 54 in the lowered position. Here, the worker presses the front window glass 80 against the frame of the front window 81 using the hand grip 58 to attach the front window glass 80 to the front window 81, and then attaches the front window glass 80 to the front window 81.
The supply of vacuum is cut off, the support 55 is separated from the windshield 80, and the pneumatic cylinder 54 is automatically actuated to raise the support 55 into engagement with the socket 56. Next, the hydraulic cylinder 46 is contracted to raise the support base 47, the motor 51 is rotated to level the cylinder 53, and the motor 45 is activated to move the third moving device 43 to the initial position shown in FIG. make them go back.

The work of attaching the rear window glass 70 and the front window glass 80 to the vehicle body 2 is repeated in sequence, and both glasses 70 and 80 are attached to the vehicle body 2 that is being transported one after another.

Therefore, the vehicle body position detection devices 60, 60' detect that the vehicle body 2 is in the fourth position only when the vehicle body 2 passes in front of the fourth phototube PH4 when the slat conveyor 1 is conveying the vehicle body 2 at the regular conveyance speed. Phototube PH4
The relay CR3 generates a signal indicating that the position has been reached. That is, the fourth photocell PH
4, the relay CR3 will not operate, and in order to operate the first to third photocells PH1 to PH3, the first to third photocells must be operated for a certain period of time.
Workers must stop in front of PH1 to PH3, but workers do not stop in front of the three phototubes one after another for a certain period of time while the line is running.
Therefore, the vehicle body position detection device 60, 6 is operated by the worker.
0' will not generate an erroneous signal. Furthermore, after the slat conveyor 1 temporarily stops for some reason and the car body 2 stops in front of the first to third photocells PH1 to PH3, the worker moves to the fourth photocell after a specified time.
Even if it passes in front of PH4, the slut conveyor 1
Since switch CRX is not activated, relay CR3 is activated and no false signal is generated.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing one embodiment of the present invention, and FIG.
The figure is an enlarged view of the main part of the second moving device 17 of the above embodiment, FIG. 3 is a front view of the vehicle body detection device 60 of the above embodiment, and FIG. 4 is a circuit diagram of the vehicle body position detection device 60. . 1: Slat conveyor, 2: Vehicle body, 3: First conveyance device, 15: Second conveyance device, 21: Hydraulic cylinder, 31: Pneumatic cylinder, 33: Support, 41:
Third conveyance device, 46: hydraulic cylinder, 54: pneumatic cylinder, 55: support, 70: rear window glass, 80: front window glass.

Claims (1)

[Claims] 1. When a plurality of first conveyed object detectors arranged at appropriate intervals along the side of the automobile assembly line along the line detect the conveyed objects conveyed by the conveying device for a certain period of time. A plurality of first switches provided corresponding to the plurality of first transported object detectors are closed respectively, and a second switch is closed by the operation of the transporting device, and a plurality of first switches are closed. After the switch and the second switch are closed, the second transported object detector detects the transported object after a certain period of time has elapsed, thereby indicating that the transported object has been transported to a predetermined position. A method for detecting a conveyed object, the method comprising: detecting a conveyed object;