JPS63120090A - Running gear - 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 relates to a traveling device, and more specifically, for example, a traveling device for transporting a robot or the like that performs various processing on a transported workpiece in a predetermined direction. A device,
A base stand, a traveling table movable along the conveyance direction of the workpiece, and a driving means for the traveling table are disposed inside the bit formed under the floor surface, while a floor is provided on the upper surface of the traveling table. A mounting base for attaching a robot, etc. is provided so as to extend above the plane, thereby expanding the work area of the robot, etc. at once and making it possible to make effective use of a narrow space. Regarding equipment.

2. Description of the Related Art Conventionally, assembly lines have been widely used in which assembly devices such as robots are disposed on a line to perform various assembly operations on a work to be transported, such as the body of an automobile. For example, when assembling seats to car bodies on a passenger car assembly line, a robot device is used to attach parts such as seats to the car body being conveyed, and a robot device is attached to the tip of the robot device to hold the parts to be attached to the car body. A jig stocker is provided in which a plurality of jigs are stored in advance, and a work stocker is provided in which a plurality of parts such as the seats are arranged and stored.

In such a configuration, the robot device is generally movable in a predetermined direction in order to hold the parts stored in advance in the work stocker and attach them to a predetermined part of the vehicle body being transported. It is configured. Therefore, a traveling device is provided for transporting the robot device in a predetermined direction in synchronization with the parts.

Various types of traveling devices have been devised for transporting the above-mentioned robot device in a predetermined direction.
The device described in No. 0-085284 can be said to be a good example. That is, in the above-mentioned Japanese Patent Laid-Open No. 58-033579, a traveling device is provided to transport a device for automatically mounting a spare tire onto a vehicle body in a predetermined direction.

Furthermore, in Utility Model No. 60-085284, a traveling device is provided for transporting a door assembly device to an automobile in a predetermined direction.

However, the above-mentioned devices for automatically mounting a spare tire or automatically assembling a door are both disposed on the floor. As a result, the traveling device itself occupies a large amount of space, and as a result, the space around the work station where the device is installed cannot be effectively utilized. Furthermore, at such work stations, if, for example, a device that mounts a spare tire, etc. to the vehicle body breaks down, the repair work becomes complicated because the traveling device itself is exposed on the floor. However, since the station itself has a fairly complex configuration, it is very difficult to immediately replace the failed device manually. Therefore, it is necessary to set up a backup station or the like in the automobile assembly line in advance to take over the malfunctioning equipment, which not only increases the space occupied by the automobile assembly line as a whole but also requires excessive capital investment. It shows the inconvenience of being exposed.

The present invention has been made in order to overcome the above-mentioned disadvantages, and is a traveling device for transporting a robot device or the like in a predetermined direction relative to a workpiece to perform work, in which a bit is defined below the floor surface. A base pedestal constituting a traveling device, a guide rail disposed on the base pedestal, and a traveling table movable in a predetermined direction guided by the guide rail are provided in this pit, and furthermore, the said traveling device By arranging the robot device on the table, it is possible to effectively utilize the narrow space on the floor of the work station where the traveling device is installed, and also to make it possible to effectively utilize the narrow space on the floor of the work station where the traveling device is installed. It is an object of the present invention to provide a traveling device that allows adjustment and repair work of various mechanisms constituting the device to be easily performed, and as a result, production efficiency can be further improved.

In order to achieve the above object, the present invention provides a traveling device for displacing in a predetermined direction a device for assembling parts to a workpiece conveyed on a line, the traveling device comprising at least a base and a displaceable traveling table. and a driving means for driving the traveling table, and a mounting member for attaching a device for assembling the parts on the traveling table, and the base table, the traveling table, and the driving means are placed below the floor surface. It is characterized in that it is configured to be disposed within a pit to be formed.

Next, preferred embodiments of the traveling device according to the present invention will be described in detail with reference to the accompanying drawings.

In FIG. 1, reference numeral 10 indicates a work station including a traveling device according to the present invention. This is for assembling the rear seat 18.

On the floor surface 11 of the work station 100, there is a workpiece cover 20 on which a plurality of the rear seats 18 are arranged, a robot device 22 for assembling the rear seats 18 aligned on the workpiece cover 20 to the vehicle body 1G; A jig stock includes a robot controller 22a for controlling the robot device 22, and a plurality of jigs 24 attached to the tip of the robot device 22 to hold the rear seat 18 as a workpiece. 7k26
and is provided. The robot device 22 is configured to be movable in the directions of arrows A to F, and in this case, a traveling device 30 according to the present invention is provided to transport the robot device 22 in the direction of arrow A.

Therefore, the traveling device 30 for transporting the robot device 22 in the direction of arrow A will be described below.

As shown in FIGS. 2 and 3, the traveling device 30 includes a base 36 disposed within a bit 11a defined below from the floor 11. As shown in FIGS. Plate bodies 38a to 38d are integrally fixed to the side surface of the base 36 and extend in the horizontal direction, while plate bodies 38a to 38d are integrally fixed to the other side surface of the base 36, similarly to the plate bodies 38a to 38d. Plate bodies 38e to 38h
extends horizontally and is fixed integrally. in this case,
Each of the plates 38a to 38h is provided with a screw hole (not shown) and a hole in parallel thereto, and leveler bolts 40a to 40h for horizontally supporting the base 36 are screwed into the screw hole, On the other hand, the base pedestal 36 is located in the hole.
Anchor bolts 42a to 42h for fixing are fitted. In this case, the tip ends of the leveler bolts 40a to 40h are engaged with the receiving plates 44a to 44h, respectively, placed on the bottom of the pin 11a, and the anchor poles 42a to 42b are engaged with the receiving plates 44a to 44h, respectively. It is screwed together with the plates 44a to 44h to maintain the base 36 horizontally and at a predetermined height. That is, the leveler bolt 40a
NAND members 46a to 46h and NAND members 48a to 48h are screwed to the anchor bolts 42a to 42h, respectively, and these NAND members 46a to 46h are screwed together.
, 48a to 48h, the leveler bolts 40a to 40h are caused by vibrations generated in the traveling device 30 by
In addition, unnecessary rotational movement of the anchor bolts 42a to 42h is prevented.

Next, a rack 52 is installed at the upper part of one side of the base 36 via a rack mounting member 50.
extends in the direction of arrow A and meshes with a pinion, which will be described later. Further, a limit switch 54 is attached to one end of the base 36. The limit switch 54 is for detecting displacement of the traveling table, which will be described later.

On the other hand, a pair of guide rails 56a and 56 are provided on the upper surface of the base 36 and extend substantially parallel to each other in the direction of arrow A.
b is arranged. Angle members 58a to 58d are fixed near both ends of the guide rails 56a to 56b, respectively. In this case, the angle members 58a to 58
Stopper blocks 60a to 60d are attached to d, respectively.

Among the guide rails 56a and 56b, sliding members 62a to 62c are engaged with one guide rail 56a at a predetermined interval, and a first traveling table 64 is disposed on the upper surface of the sliding members 62a to 62c. is fixed. Further, the other guide rail 56b is provided with the one guide rail 56b.
As in the case a, the sliding members 66a to 66c are engaged with each other at a predetermined distance, and a second traveling table 68 is fixed to the upper surface of the sliding members 66a to 66c. Said first
The stopper blocks 6 are provided on both end surfaces of the traveling table 64.
Plate bodies 70a and 70b that abut against the stopper blocks 60C and 60b are attached to both end faces of the second traveling table 6B, and plate bodies 70c and 7 that abut the stopper block 60C160d are attached.
0d is attached.

Further, a motor mounting plate 72 is integrally fixed to the substantially central portion of the side surface of the first traveling table 64.

In this case, the motor mounting plate 72 extends downward from the side surface of the first traveling table 64, and has a relatively large-diameter hole 72a formed approximately in the center thereof. On one side of the motor mounting plate 72, the respective traveling tables 64 are provided.
．． A hydraulic motor 74 constituting the drive means 71 of 68 is attached, and the rotational drive shaft of the hydraulic motor 74 passes through the hole 72a of the motor mounting plate 72 and is attached to the motor mounting plate 72.
The pinion 76 protrudes from the pinion 76 and engages with the pinion 76. In this case, the nion 76 meshes with the rack 52. Further, a tightening member 78 for operating the limit switch 54 disposed on the base 36 is attached to the upper part of the motor mounting plate 72.

On the other hand, the first traveling table 64 and the second traveling table 6
Support plates 80 and 82 are attached to substantially central portions of the upper surfaces of 8, extending in the direction of arrow A, respectively. The support plates 80, 82 extend from the first and second traveling tables 64 and 68 to the floor surface 1.
1, and a support plate 84 for supporting the robot equipment R22 is bridged at its upper end. As a result, the first traveling table 64 and the second traveling table 68 are connected to the support plate 80.82 and the support plate 84.
through which they become integrated.

In this case, in the present invention, as can be easily understood from FIG.
, 56b - first traveling table 64, second traveling table 6
It should be noted that the drive means 8 and the drive means 71 are arranged inside the pit lla formed in the floor 11.

Further, a connecting plate 86 is provided to close the upper part of the pimple. In this case, the continuous board 86 is disposed at approximately the same height as the floor surface 11, and the support plate 80.
When displacing in the direction of arrow A together with the traveling tables 64 and 68, the notches 86a and 86 are provided so as not to impede the displacement.
b is formed.

The traveling device according to the present invention and the work station arranged in connection therewith are basically constructed as described above, and the operation and effects thereof will be explained next.

First, the robot device 22 is driven and displaced toward the jig stocker 26 in the direction of arrow C, and a desired jig 24, which has been previously placed on the jig stocker 26, is attached to the tip of the robot device 22. Next, the jig 24 is moved toward the work stocker 20 to hold the rear seat 18 as a work aligned on the work stocker 20.

In order to attach the rear seat 18 held at the tip of the robot device 22 to the vehicle body 16 as described above, the robot device R22 is moved along the arrow A by the traveling device 30 according to the present invention.
Displace it in the direction of the force.

That is, the hydraulic motor 74 that constitutes the traveling device 30
and a pinion 7 that engages with the rotational drive shaft 74a of the hydraulic motor 74 under the driving action of the hydraulic motor 74.
Rotate 6. The pinion 76 meshes with a relatively long rack 52 fixed to the base 36, so that the pinion 76 moves along the rack 52 in the direction of arrow A.
, start moving in the direction. As the rack moves, the first traveling table 64, second traveling table 68, support plates 80, 82, and support plate 84 are moved to the guide rails via the motor mounting plate 72 to which the hydraulic motor 74 is attached. 5
6a and 56b and are integrally displaced in the direction of arrow A1. The robot device 22 is fixed to the support plate 84, and therefore, the robot device 22 is also displaced in the direction of arrow A1.

In this way, when the robot device 22 is displaced by a predetermined amount in the direction of arrow A toward the vehicle body 16 via the traveling device 30, the limit switch 54 is pressed to activate the limit switch 54. Said limit switch 5
The hydraulic motor 74 is stopped by the operation signal No. 4, and the plates 70b and 70d attached to one end of the first traveling table 64 and the second traveling table 68, respectively, come into contact with the stopper blocks 60b and 60d, and the robot device is stopped. 22 stops at a predetermined location. After the rear seat 18 is attached to the vehicle body 16 in this state, the robot device 22 is displaced in the direction of arrow A2. That is, the hydraulic motor 74
drive in the opposite direction.

This causes the pinion 76 to move along the rack 52 as indicated by the arrow A.
Displaced in two directions. When the robot device 22 returns to the predetermined position, the hydraulic motor 74 stops and the plates 70a and 70C attached to the first traveling table 64 and the second traveling table 68 move to the stopper block 5Q.
a, 60C to stop the robot device 22. Next, the robot device 22 is driven to hold a new rear seat 18 aligned in the work stocker 20 and perform the next stage of work.

As described above, according to the present embodiment, the base table 36, the traveling table 64.68, and the drive for driving the traveling table 64.68, which constitute the traveling device 30 for transporting the robot device 22 in the direction of the arrow A. The means 71 is disposed inside the pin (11H) formed on the floor surface 11. Furthermore, the pit lla is usually configured so that most of it can be closed off by a continuous plate 86. Therefore, it becomes possible to effectively utilize the narrow space of the work station run 10 having the traveling device 30.

According to the present invention, as described above, the main body of the traveling device for displacing the robot device is disposed in a pit dug from the floor surface, thereby substantially avoiding exposure to the outside. Therefore, in addition to achieving effective use of space within the work station, adjustment and repair work of other devices within the work station, such as robot devices, etc., can be performed more easily, and when assembling products. This has the effect of improving work efficiency.

Although the present invention has been described above with reference to preferred embodiments, the present invention is not limited to these embodiments, and various improvements and changes in design can be made without departing from the gist of the present invention. Of course.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of a work station equipped with a traveling device according to the present invention, FIG. 2 is a front view of the traveling device according to the present invention, and FIG. 3 is a side view of the traveling device according to the present invention.

Claims (4)

[Claims] (1) A traveling device for displacing in a predetermined direction a device for assembling parts to a workpiece being transported on a line, which includes at least a base, a movable traveling table, and a device for driving this traveling table. and a mounting member for attaching a device for assembling the parts on the traveling table, and the base, the traveling table, and the driving means are disposed in a pit formed under a floor surface. A traveling device characterized by comprising: (2) The traveling device according to claim 1, wherein a guide rail is provided on the base table and extends in a predetermined direction, and the traveling table is movable along the guide rail. (3) In the apparatus set forth in claim 2, the upper part of the pit in which the base stand, guide rail, traveling table, and drive means are arranged is closed off to approximately the same height as the floor surface by a blocking member. A traveling device consisting of. (4) In the device according to any one of claims 1 to 3, the driving means includes a motor provided on one side of the base and a pinion that engages with the rotational drive shaft of the motor. and a rack that is fixed to the base and meshes with the pinion.