KR0170431B1 - Carrier apparatus by self-propelled type motor bogie - Google Patents

Abstract

The conveying apparatus includes a first conveying zone A1, a bogie end stop zone A, a bogie catching zone C, and a conveyed article 30 in which the self-propelled electric trolley 1 conveying the conveyed article 30 runs at a high speed VH. The work zone B that travels at the required low speed V while the work is performed on the vehicle, the truck separating zone D, and the bogie 1 again have a second transport zone A2 that travels at the high speed VH. In each zone, it is comprised so that the trolley | bogie 1 may run or stop at a predetermined speed by the zone signal from a control station.

Description

Carrier by self-propelled electric bogie

1 is a schematic plan view of an entire automobile production line showing an embodiment of the present invention.

2 is a curve diagram showing a graph of speed as the truck passes through each zone in turn.

3 is a curve diagram showing a speed graph when the truck once passes through each zone after stopping once in the bogie stop zone.

4 is a time chart showing two output signals of a reference alternating current signal and a transmission circuit by the signal transmitting and receiving device included in the carrier of the present invention.

5 is a time chart showing an example of a zone signal sent from the control station on the ground side to the bogie in the high-speed transfer zone and bogie once stop zone.

FIG. 6 is a time chart showing a transmission signal carrying a transmission signal from the balance station to the control station and a transmission signal from the balance station to the balance side in the same zone.

7 is a time chart showing an example of a zone signal sent from the control station on the ground side to the bogie in a work zone, bogie sticking zone and bogie separation zone.

8 is a time chart showing a transmission signal carrying a transmission signal from a control station to a control station in a bogie side in a same area.

9 is a partial cut back view of the self-propelled electric trolley.

10 is a partial cutaway plan view of a self propellered electric cart.

11 is an enlarged cross-sectional view showing in detail a distance control apparatus for driving carts.

FIG. 12 is an enlarged sectional view taken along the P-P line of FIG.

13 is a schematic plan view of the entire automobile production line showing a conventional example.

* Explanation of symbols for main parts of the drawings

A0: Bogie once stop area A1: 1st return area

A2: Second Return Zone A3: Third Return Zone

B: Work Area B1: First Work Area

B2: second work area C: truck catching area

D: bogie separation zone 1: self-propelled electric bogie

2: balance body 3: electric wheels

4 driving mechanism 10 rotary encoder

13: Approach distance control device of the driving cart

25: long distance automatic stop device 26: beam light reflector

30: Return of the car assembly

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a conveying system, i.e., a conveying apparatus, by self-propelled electric trolleys, for example, in conveyors such as automobile production lines.

Conventionally, in the automobile production line, for example, as shown in FIG. 13, the self-propelled electric trolley 51 which runs by loading the conveyed object 50, such as an automobile assembly intermediate product, is arranged one after another and the attachment work of various parts is performed. Two high-speed conveying conveyors Y1 and Y2 having a staging function for moving and time adjustment of the trolley | bogie 51 between processes are arrange | positioned with respect to the 1st working conveyor X1 which runs at low speed. In addition, a bottom slat conveyor is conventionally used for the first work conveyor (X1), and an overhead conveyor is used for two high-speed reaction conveyors (Y1, Y2). Moreover, an unloader 52 which lowers the trolley | bogie 51 from the former conveyor Y1 to the latter conveyor X1 between the 1st high speed conveyance overhead conveyor Y1 and the 1st working slat conveyor X1. Is placed and a loader 53 for placing the trolley 51 from the former conveyor X1 to the latter conveyor Y2 between the first working slat conveyor and the second high speed conveying overhead conveyor Y2. It is.

Moreover, in the prior art example shown, the 2nd high speed conveyance conveyor Y2 is arrange | positioned behind the 2nd high speed conveyance conveyor Y2, The 3rd high speed conveyance conveyor Y3 is arrange | positioned following this 2nd high speed conveyance conveyor Y2, and the 1st In the work conveyor X1, the mounting work of the various parts is carried out on both the left and right sides of the conveyed goods 50 carried by the trolley | bogie 51, and in the 2nd working conveyor X2, the mounting of the various parts with respect to the conveyed goods 50 is carried out. The work was supposed to be done this time around.

However, in the conventional conveyance system of the trolley | bogie 5, there existed a problem that an apparatus enlarged and the installation cost became very high.

The object of the present invention is to solve the above-mentioned problems of the prior art and by using a self propellered electric trolley for a conveyor such as an automobile production line, the apparatus is not scaled up, and the conveyance by the self propellered trolley can be reliably carried out. In addition to improving productivity, it is an object of the present invention to provide a transportation device having a very low cost.

In order to achieve the above object, the present invention provides a first transport zone in which a self-propelled electric trolley carrying a transport object such as an automobile assembly and a remote automatic stop device travels at a high speed VH, and a bogie end stop region at the end of the first transport zone; It has a work zone that runs at a predetermined low speed V while the trucks are lined up one after another, and a second transport zone where the truck travels at a high speed VH again, and a bogie stop zone at the end of the first transport zone. A truck catching zone is installed between the work zones and a bogie separating zone is installed between the work zone and the second conveying zone. In each zone, the truck is driven or stopped at a predetermined speed by means of zone signals from the control station. It is controlled, once the bogie is in the stop zone, when there is a preceding bogie in the first catch up zone. When the trailing bogie is stopped once and the preceding bogie passes through the catching zone, the trailing bogie is released once and the trailing bogie is controlled to enter the catching zone from the stop zone. Conveyed by self-propelled electric trolleys, which are controlled to travel in accordance with the preceding trolley at the beginning of the work zone, and in the separation zone, the trolleys in the work zone are driven to maintain the average speed V until the trolley exits the separation zone. The main point is the device.

The conveying apparatus by the self propellered electric trolley is provided with a plurality of self propellered electric trolleys frequently driven along a traveling rail and a first transmission / reception device (first apparatus) installed at a ground control station for controlling the ground for controlling them, and the electric carts. A signal transmitting / receiving device comprising a second transmitting / receiving device (second device) is provided.

Two transmitting and receiving devices of the signal transmitting and receiving device are connected by a signal transmission line, and according to the signal transmitting and receiving device, one signal transmission line can simultaneously transmit and receive a zone signal at a control station and a signal at an electric vehicle.

In the above zone, the trolley is driven or stopped at a predetermined speed by the zone signal from the control station, and from the electric trolley side, various types of signals for confirming the presence of a seat signal and the presence or absence of the fixed equipment ( Fault signal) is to be transmitted to the control station. This signal transmission / reception apparatus is described in detail in Japanese Patent Application Laid-Open No. 2-193890 proposed by the present applicant.

It is also preferable that the bogie sticking zone has a length that is approximately longer than the length of one bogie. The predetermined low speed V in the work zone can also be adjusted to meet changing daily production targets.

In the conveying apparatus by the self propellered electric trolley, first, when the self propellered electric trolley is in the first conveying zone, the zone signal from the control station is received and the trolley travels at a high speed VH. At the end of the first transport zone, a stop zone is provided at one end of the bogie.

On the other hand, since the presence signal and the fault signal are always transmitted to the control station from each electric cart side, when the absence of the preceding bogie is confirmed at the control station in the previous catch-up zone, the bogie coming out of the first conveying zone is sent to the zone signal. It enters into the catching area as it is without stopping in the stopping area.

On the other hand, when it is confirmed at the control station that the preceding truck is present in the previous catch-up zone, the trailing bogie is once stopped at the stop zone by the zone signal.

Further, when a subsequent self-propelled electric trolley approaches the preceding bogie once stopped, for example, a light-transmitting unit provided in the trailing trolley itself, for example, irradiating beam light, a reflecting plate reflecting the beam light irradiated from the light-producing unit, The trailing bogie stops and accumulates by the operation of a remote automatic stop device comprising a light receiving unit that detects the beam light returned by the reflection.

Next, when the preceding bogie in the catch-up zone passes through the same zone, the stop of the trailing bogie is released once by the zone signal from the control station so that the trailing bogie once enters the catch-up zone from the stop zone.

In the catch-up zone, the bogie receives zone signals from the control station and travels at the set speed KV (here, K = 1.3-2.0) and sticks to the preceding bogie at the start of the work zone. Where the constant K is a constant determined by the distance of the catch zone.

Within the work zone, the bogie receives zone signals from the control station and travels at a relatively slow average speed V set for work on the conveyed product. In this work zone, the speed V is adjusted to the appropriate speed to meet changing daily production targets. In addition, each low-trolling cart is automatically adjusted so that the distance between the trolleys is seamless by the access distance adjusting device between the traveling trolleys provided therein. '

And in the separation zone following the work zone, the bogie receives zone signals from the control station, and the average speed V equals to the work zone until the bogie exiting the separation zone past this separation zone completely exits the separation zone. Keep running. This is to prevent the trolley leaving the work zone end (and thus the work is not completely finished) from suddenly starting and driving at high speed due to the absence of the preceding trolley.

Finally, when the self propellered trolley passes through the separation zone and is in the second conveyance zone, it receives a zone signal from the control station and the trolley again runs at high speed VH.

EXAMPLE

Next, embodiments of the present invention will be described with reference to the drawings.

Moreover, the figure shows the case where the conveyance apparatus by the self-propelled electric bogie of this invention was applied to the production line of a motor vehicle.

In this specification, the front means the advancing direction of a trolley | bogie, and the back direction means the opposite direction, and the left and right shall refer to the direction determined based on the front side.

1 shows a schematic plan view of the entire automobile production line.

In FIG. 1, the conveying apparatus of this invention consists of the 1st conveyance area A1 and 1 which the self-propelled electric trolley | bogie 1 which conveys the conveyed goods 30, such as a motor vehicle assembly, runs at high speed VH (about 60 m / min), and FIG. The bogie at the end of the conveyance zone A1, once the stop zone A0 and the electric trolley 1 are arranged side by side, traveling at a predetermined low speed V (6.0 to 1.5 m / min) while working on the conveyed material 30. The work zone B and the trolley 1 are again provided with a second transport zone A2 that travels at a high speed VH (about 60 m / min).

Then, at the same time, a catching zone C having a space for accommodating one bogie between the bogie end stop zone A0 and the first working zone B1 of the end portion of the first conveying zone A1 is installed. A separation zone D is installed between the first work zone B1 and the second transport zone A2 to accommodate one truck.

In particular, in this embodiment, after the second transport zone A2, the bogie once again the stop zone A0 and the second work zone B2 are arranged and the second transport zone B2 follows the third transport zone. A3) is arranged.

Similarly, for the second work zone B2, one bogie 1 can be accommodated between the bogie end stop zone A0 and the second work zone B2 at the end of the second transport zone A2. A catch-up zone (C) with an open space is installed, and a separation zone (D) for accommodating one bogie (1) is installed between the second working zone (B2) and the third transport zone (A3). have.

In each catching zone (C), the trolley 1 is carried out at a preset speed KV (here, K = 1.3 to 2.0), and the trolley is caught up to the preceding trolley at the beginning of the working zone (B), and in the separating zone (D) The vehicle runs while maintaining the average speed V of the trolley of the work zone B until (1) passes through the separation zone D. FIG.

9 to 12 show the self-propelled electric trolley 1 in detail.

Referring to the same figure, the self-propelled electric trolley 1 traveling along the guide lane 20 laid on the floor F is viewed in a plan view, and the intermediate parts such as automobile assembly parts are placed on the upper surface of the quadrilateral bogie body 2. The conveying object platform 31 which burns the conveyed object 30 is provided, and the wide work space 32 is provided in the periphery of the platform 31. As shown in FIG. In addition, each self-propelled electric trolley 1 includes, for example, a light transmitting portion for irradiating beam light, a reflecting plate 26 for reflecting beam light irradiated from the light transmitting portion of a trailing bogie, and a light receiving portion for detecting the light beam returned by the reflection. A remote automatic stop device 25 is provided. A pair of front and rear wheels 3 for rolling on the guide rails 20 are attached to the center of the lower surface of the trolley body 2, and the driving mechanism 4 is provided on one front wheel 3. The drive mechanism 4 includes a transmission motor, a speed reducer, and a brake.

In addition, the power supply lane 46 is provided on the left side of the guide rail 20 on the bottom surface F at a predetermined interval, and moves along the power supply lane 46 on the left side of the rear end of the trolley body 2. The current collector 47 for supplying electricity to the motor of the drive mechanism 4 is attached.

The day lane 46 is approximately cross-sectional. It consists of the feed rail main body 46a of the type | mold, and the feed part 48 which is mounted in the inside and has a distribution line.

In addition, the power supply unit 48 is usually provided with three AC power supply lines, two signal transmission lines, and one ground line. The transmission line is divided into a plurality of insulating sections by a plurality of insulators.

In addition, the front and rear ends of the trolley main body 2 of the self-propelled electric trolley 1 are buffered synthetic resins or synthetic rubbers so as to prevent the worker's feet from interfering with the adjacent trolleys 1 back and forth in the work zone b. ) Is attached. A total of four casters 36 are rotatably attached to the left and right sides of the front and rear wheels 3 on the lower surface of the trolley body 2 in a horizontal plane.

Returning to FIG. 1, the conveying method by the trolley | bogie 1 before and after the 1st working area B1 and the 2nd working area B2 in the said conveying apparatus is referred to as both area | regions B1 and B2. Since it is completely the same, the conveyance method in the 1st working area B1 and its 1st and 2nd conveyance areas A1 and A2 is demonstrated below.

In addition, detailed illustration was abbreviate | omitted. And a signal transmitting and receiving device comprising a first transmitting and receiving device (first device) installed in a control station on the ground for controlling the self-propelled electric truck 1 and a second transmitting and receiving device (second device) installed in the electric truck 1. These two transmitting and receiving devices are connected by a signal transmission line so that one signal transmission line can simultaneously transmit and receive a signal provided from the control station and a signal provided from the electric cart 1.

In each of the above zones, the self-propelled electric trolley 1 is driven or stopped at a predetermined speed by the zone signal from the control station, and the electric trolley 1 side has various signals for confirming the presence signal and the presence of failure of the onboard equipment. A kind of fault signal is transmitted to the control station, but the signal transmitting and receiving device and the zone signal will be described in detail later.

In the above, when the self-propelled electric trolley 1 is in the first transport zone A1, the zone signal from the control station is transmitted by the presence signal from the trolley 1 side, and the trolley 1 side is this zone signal. A high speed VH is read and the cart 1 runs at a high speed VH (about 60 m / min). The bogie 1 advances to the bogie once stop zone A0 at the end of the first conveyance zone A1.

In the case of the preceding trolley 1, once the trolley 1 has moved into the stop zone A0, the presence signal is transmitted to the control station on the side of the trolley 1 while on the control station side of the preceding trolley 1 The member is confirmed, and the trolley | bogie 1 enters into the catching-up zone C as it is, without stopping in the stop zone A0 by the zone signal at a control station.

On the other hand, in the case of the following trolley 1, when the trolley 1 once enters the stop zone A0, the presence signal is transmitted to the control station on the side of the trolley 1 while the first catching zone ( When it is confirmed that the preceding trolley | bogie 1 exists in C), the trailing trolley | bogie 1 is stopped once in the stop area | region A0. Then, when the trolley 1 does not exist in the catching-up zone C by the passage of the preceding trolley 1, once the stop of the trailing trolley 1 is released, and therefore, once the stop of the stop zone A0 is released. The trailing bogie 1 enters the catch-up zone C once in the stop zone A0.

When the trailing self-propelled electric trolley 1 approaches the preceding bogie 1 once stopped, the trailing trolley 1 stops and accumulates by the remote automatic stop device of the trailing trolley 1 itself. .

When the self-propelled electric trolley 1 is in the catch-up zone C, the zone signal is transmitted from the control station by the presence signal from the trolley 1 side so that the trolley 1 side receives the zone signal and sets the set speed KV. The trolley 1 runs at reduced speed KV. Where K = 1.3-2.0 and thus the speed KV is considerably decreasing than the speed VH of the first conveying zone A1 but faster than the first working zone speed V. Then, when the trailing bogie 1 enters the range of the predetermined bogie distance, the speed correction amount α is calculated so that the trailing bogie 1 travels at a further reduced speed KV-α and the preceding bogie of the first work zone B1 start end ( Stick to 1).

The zone signal is then transmitted at the control station by the presence signal from the bogie 1 side when the bogie 1 is in the first work zone B1, and the bogie 1 side receives this zone signal and sets it. The speed V (6.0-1.5 m / min) is read out and the trolley 1 runs at a relatively slow speed V for work on the conveyed material 30. The speed V in this 1st working area B1 is a speed controllable in accordance with a daily production goal which changes.

Moreover, since the distance between trolley | bogies between running trolleys is automatically adjusted so that the trolley | bogie distance between traveling trolleys is provided by the traveling trolley mutually provided with each trolley | bogie 1, the trolley | bogie 1 is speed V ± (beta), and is substantially an average speed. The vehicle travels in V and moves while working on the conveyed object 30.

In addition, the detailed structure of the access gap adjustment apparatus between running carts is mentioned later.

In addition, when the self-propelled electric trolley 1 is in the separation zone D leading to the first working zone B1, the zone signal is transmitted from the control station by the presence signal on the trolley 1 side and the trolley 1 side is the zone. The same low speed V as the first working zone B1 until the trolley 1 receiving the signal and exiting this separation zone D to the second conveying zone A2 completely exits the separation zone D. 6.0 ~ 1.5m / min).

2 and 3 show two speed graphs as the trolley 1 passes through each zone.

The speed graph of the trolley | bogie 1 of FIG. 2 is the case of the first trolley | bogie 1, for example, The self-propelled electric trolley | bogie 1 which traveled at the high speed of 60 m / min, for example in the 1st conveyance zone A1 is the 1st conveyance zone At the end of A1, the trolleys once enter the stop zone A0. When the trolley | bogie 1 is once in the stop zone A0, when the absence of the trolley | bogie 1 in the catch-up zone C earlier than this is confirmed, the trolley | bogie 1 will follow as it is without stopping once. Enter into the sticking zone C and drive at the decelerated speed KV. In the first working zone B1, drive at the average speed V, pass the separation zone D to the second conveying zone A2 and again 60 m / Drive at high speed in minutes.

On the other hand, the speed graph of the trolley | bogie 1 of FIG. 3 is the case of the following trolley | bogie 1, for example, the trolley | bogie 1 which traveled at the high speed of 60 m / min in the 1st conveyance area A1 is the 1st conveyance area, for example. At the end of (A1) the bogie once enters the stopping zone A0, where the preceding bogie 1 is present in the catch-up zone C earlier than this when the bogie 1 is once inside the stopping zone A0. The trailing bogie 1 is stopped once in the stop area A0 once. Then, when the preceding bogie 1 passes through the catch-up zone C, the stop of the trailing bogie 1 is released once and the trailing bogie 1 once enters the catch-up zone C from the stop zone A0. The vehicle enters and travels at the speed KV, and then travels at the average speed V, passes through the separation zone D, reaches the second transport zone A2, and travels at a high speed of 60 m / min.

Next, a signal transmission and reception device and a zone signal provided in the carrier device will be described.

Although not shown, the signal transmission line indicates which of the plurality of AC signals having a different phase difference with respect to the reference AC signal at a predetermined communication time in the first transmission / reception device on the ground control station side in the signal transmission / reception device provided in the carrier device. And a second receiving means for determining a phase difference with respect to a reference AC signal of an AC signal of the signal transmission line at each communication time in the second transmission / reception apparatus on the side of the electric vehicle 1, provided at the same time as the first transmission means for outputting the same. The first transmission / reception apparatus is provided with a second transmission means for changing a combination of positive and negative amplitudes of the AC signal of the signal transmission line to either of a plurality of types at each communication time. First reception means for determining a combination of positive and negative amplitudes of the AC signal of the signal transmission line at each communication time; It can control.

The signal is transmitted from the first transmission / reception apparatus to the signal transmission line by outputting, to the signal transmission line, any one of a plurality of types of AC signals having different phase differences with respect to the reference AC signal to the first transmission means at a predetermined communication time. The signal transmitted from the first transmission / reception device is received by the second transmission / reception device by determining the phase difference with respect to the reference AC signal of the AC signal of the signal transmission line for each communication time by the fishery means. That is, a signal is transmitted from the first transceiver to the second transceiver every communication time.

By changing the combination of positive and negative amplitudes of the AC signal of the signal transmission line to each of the communication times to any one of a plurality of types, the signal is transmitted from the second transmission / reception apparatus to the signal transmission line by the second transmission means, and the communication time is transmitted to the first reception means. The signal transmitted from the second transceiver is received by the first transceiver by determining the combination of positive and negative amplitudes of the AC signal of the signal transmission line each time. That is, a signal is transmitted from the second transceiver to the first transceiver every communication time.

Since the second receiving means discriminates the signal by the phase difference and the first receiving means by the amplitude, the transmission from the first transceiver to the second transceiver and the first transceiver from the second transceiver are performed on one signal transmission line. It is possible to carry out the transmission to the furnace, that is, the transmission and reception in both directions at the same time.

In the above zone, the self-propelled electric trolley 1 is configured to travel or stop at a predetermined speed by a zone signal from the control station, and from the electric trolley 1 side, various signals for checking the presence signal and the presence of a failure of the onboard equipment are various. A kind of fault signal is configured to be sent to the control station.

In the feed section 48 of the feed rail 6, three lines of AC power lines, two lines of signal transmission lines, and one line of ground lines are provided as described above. The transmission line is divided into a plurality of insulating sections by a plurality of insulators.

All the apparatuses are provided with a first signal transmission line (first transmission line) and a first ground line fixedly connected to the transmission line and the ground line of the power supply rail 46, respectively. Moreover, the 1st apparatus is equipped with the 1st transmission circuit and the 1st reception circuit.

The control station is provided with a power supply line fixedly connected to the power supply line of the power supply rail 46 or a signal transmission line fixedly connected to another signal transmission line of the power supply rail 46.

The first apparatus is provided for each of the insulated sections of the transmission line of the power supply rail 46, and is capable of transmitting and receiving different zone signals for each section.

The electric trolley | bogie 1 is provided with the electrical power collector 47 which contact | connects the transmission line and the ground line of the feeder rail 46, respectively, and the 2nd apparatus has the 2nd signal transmission line connected to the electrical power collector 47 of a transmission line. A second ground line connected to the second transmission line and the current collector 47 of the ground line is provided. Moreover, the 2nd apparatus is equipped with the 2nd transmission circuit and the 2nd reception circuit.

Signal transmission line connected to the electric power source 1 by inserting the collector 47 into the power supply line of the power supply rail 46 or by inserting the current collector 47 into another signal transmission line of the power supply rail 46. Also installed.

The first device and the second device use a zero cross point from one negative of the common commercial three-phase AC power supplied to the power supply line of the feed rail 46 to the positive. A plurality of synchronous pulses S1 are generated at a constant communication time T in one cycle To, and the first transmission circuit, the first receiving circuit, the second transmitting circuit, and the second receiving circuit are operated in synchronization with the pulse S1 for one communication time. It is configured to transmit and receive a signal by one bit in T.

In this embodiment, the period To is 1/60 second, the communication time T is 1/720 second, and therefore, the number of synchronization pulses S1 between 1 period To is 12, and a 12-bit signal is generated between 1 period To. Transmission and reception are carried out. In addition, it is possible to know how many bits are being transmitted / received by either of the two devices.

The first transmission circuit inserts and outputs the first transmission line to the transmission line using any one of a plurality of types of AC signals having different phase differences with respect to the reference AC signal for each communication time T as the output signal S2, and constitutes the first transmission means. have. In this example, two types of signals indicating ones and zeros are output. An example of these is shown in FIG.

Here, FIG. 4 (a) shows a synchronous pulse S1, FIG. 4 (b) shows a reference AC signal H, and FIG. 4 (c) shows an AC signal H1 having a phase difference of 0 degrees with respect to the reference AC signal H. ) And this is supposed to be 1. In FIG. 4 (d), an AC signal H0 having a phase difference of 180 degrees with respect to the reference AC signal H is displayed, which is displayed as zero.

5 to 8 show specific examples of the zone signal from the control station side and the signal from the electric cart 1 side in each zone.

In this embodiment, as described above, the number of sync pulses S1 between the periods To is 12, and transmission / reception is performed on a 12-bit signal between one period To.

First, FIG. 5 shows the transmission signal F1 from the control station side of the ground in the first conveyance zone a and the bogie end stop zone A0, that is, the A and A0 zones, to the self-propelled electric trolley 1. .

Here, the first communication time t1-t2 at the time point t1-t2 and the second communication time t2-t3 at the time point t2-t3 are signals indicating the speed command of each zone. Zones A and A0: Preset speed, 0-1 is zone B: speed V ± β, 1-0 is zone C: speed KV, 1-1 is zone D: speed V.

Further, the third communication time t3-t4 at the time point t3-t4 is a signal indicating backward or forward of the trolley 1, with 1 indicating backward and 0 indicating forward.

The fourth communication time t4-t5 at the time point t4-t5 and the fifth communication time t5-t6 at the time point t5-t6 are previously determined by a combination of 0-0,0-1,1-0,1-1. It is a signal which displays the set four speed steps, for example, 0-0 displays an emergency stop.

The sixth communication time t6-t7 at the time point t6-t7 is a signal indicating a "clamp" command to the body clamp device (not shown) of the transported object 30 mounted on the trolley | bogie 1, and 1 is the said apparatus. "Body clamp" indicates a command.

On the contrary, the seventh communication time t7-t8 at the time points t7-t8 is a signal indicating a command of the "unclamp" to the body clamp device (not shown), and 1 is "body clamp" for the device. The instruction is displayed.

7th communication time t7-t8 is a signal which shows the confirmation of "unclamping" of the said body clamp device, and 1 has shown the confirmation signal of "body clamping."

The eighth communication time t8-t9 of the time points t8-t9 and the thirteenth communication time t12-t13 of the time points t12-t13 are not used here.

6 shows a transmission signal F2 from the self-propelled electric trolley 1 side in the zone and a transmission signal F2 from the self-propelled electric trolley 1 side in the transmission signal F1 on the ground control station side. Indicates a transmission signal F3 loaded on the?

That is, from the electric trolley | bogie 1 side, it is comprised so that the signal of the presence of the trolley | bogie 1 itself and various types of signals (failure signal) for confirming the presence or absence of the failure of a mounting apparatus are transmitted to a control station.

First, in the transmission signal F2 from the self-propelled electric trolley | bogie 1 side to the ground control station, the 1st communication time (t1-t2) is a signal which shows presence, and 1 shows "existence".

The second communication time t2-t3 to the fifth communication time t5-t6 indicate a failure signal.

The sixth communication time (t6-t7) is a signal indicating the confirmation of "clamp" of the body clamp device, and 1 indicates a confirmation signal of "body clamping".

The eighth communication time t8-t9 to the twelfth communication time t12-t13 are not used from the self-propelled electric trolley | bogie 1 side.

6 shows a waveform of the transmission signal F3 carrying the transmission signal F1 from the self-propelled electric trolley 1 side to the self-propelled electric trolley 1 from the control station side. .

7 shows the transmission signal G1 from the ground control station side in the first conveyance zone A and the bogie end stop zone A0, that is, the B, C, and D zones, to the self-propelled electric powered trolley 1. To display.

Here, the first communication time t1-t2 at the time point t1-t2 and the second communication time t2-t3 at the time point t2-t3 are signals indicating the speed command of each zone. For example, 0-0 is A. , A0: Preset speed, 0-1 is B: Speed B ± β, 1-0 is C: Speed KV, 1-1 D: Speed V Displays the speed command.

Moreover, the 3rd communication time t3-t4 of the time point t3-t4 is a signal which shows the backward or forward of the trolley | bogie 1, 1 is backward, and 0 is forward.

The fourth communication time (t4-t5) to the tenth communication time (t10-t11) are signals indicating a linearly proportional variable speed command of 7 bits, for example, 0 indicates stop.

The eleventh communication time t11-t12 is a signal indicating a "lift" command to the scissor lift apparatus mounted on the trolley | bogie 1, and 1 has shown the signal "raise a scissor lift".

The 12th communication time t12-t13 is a signal which displays the "lift" instruction with respect to the said scissor lift apparatus, and 1 has displayed the signal "raise a scissor lift".

The 12th communication time (t12-t13) is a signal which displays the "lift" instruction with respect to the said scissor lift apparatus, and 1 has displayed the signal "lower a scissor lift".

8 shows a transmission signal G2 from the self-propelled electric trolley 1 side in the zone and a transmission signal G2 from the self-propelled electric trolley 1 side in the transmission signal G1 on the ground control station side. Indicates a transmission signal G3 loaded on the back of the display.

That is, from the electric trolley | bogie 1 side, like the transmission signal F2 from the self-propelled electric trolley | bogie 1 side in the said A, A0 area, the presence signal of the trolley | bogie 1 itself and the presence or absence of the failure of a loading apparatus are confirmed. It is configured to transmit various kinds of signals (fault signals) to the control station.

First, in the transmission signal G2 from the self-propelled electric trolley 11 side to the ground control station, the first communication time t1-t2 is a signal indicating presence, and 1 indicates "existence".

The second communication time t2-t3 to the fifth communication time t5-t6 indicate a failure signal.

The sixth communication time (t6-t7) to the tenth communication time (t10-t11) are not used from the side of the self propulsion truck (1).

The 11th communication time t11-t12 is a signal which shows the confirmation of "rise" of the said scissor lift apparatus, and 1 has shown the confirmation signal of "the scissor lift upper limit position."

The 12th communication period t11-t13 is a signal which shows the confirmation of "falling" of the said scissor lift apparatus, and 1 has shown the confirmation signal of "the scissor lift lower limit position."

The waveform of the transmission signal G3 in which the transmission signal G1 from this self-propelled electric trolley 1 side was carried to the transmission signal G1 from the ground control station side to the self-propelled electric trolley 1 is shown in FIG. do.

As described above, since the second receiving means on the electric trolley | bogie 1 side discriminates a signal by phase difference, and the 1st receiving means on the ground control station side by amplitude, each 1st transmission / reception apparatus is carried out by one signal transmission line. Transmission from the second transceiver to the second transceiver and transmission from the second transceiver to the first transceiver, that is, bidirectional transmission and reception, can be performed simultaneously.

This signal transmission and reception apparatus is described in detail in Japanese Patent Application Laid-Open No. 2-19389.

Next, referring to FIGS. 9 to 12 again, the structure of the electric light bogie 1 itself, the approach gap control device 13 of the traveling bogies provided in each bogie 1, or the adjacent bogie connecting mechanism 43 This will be described in detail.

On the upper surface of the main body 2 of the self-propelled electric trolley | bogie 1, the conveying object platform 31 which carries conveyance objects 30, such as an automobile assembly intermediate | middle component, moves up and down by drive means, such as a hydraulic cylinder of a scissor lift. A wide working space 32 is provided at the periphery of the platform 31, and each self-propelled electric trolley 25 is provided.

The front and rear pair of wheels 3 of the lower surface center portion of the trolley main body 2 are mounted on the trolley main body 2 by inserting the rotary plate 33 and the bracket 34, and one side of the wheel main body 2 is driven. The mechanism 4 includes a shift motor, a speed reducer, and a brake as described above. In addition, horizontal vibration preventing rollers 35 are attached to the lower ends of the left and right pairs of brackets 34 that support the wheels 3, and are attached to the left and right sides of the guide rail 20. .

The detail of the approach distance control apparatus 13 between the traveling trolleys provided in the front end of each self-propelled electric trolley 1 is first attached to the front end of the trolley 1 as shown in FIG. 9 and FIG. A forward-balanced advance trolley detection rod 5 configured to protrude at the front end of the trolley 1 and to be pulled in when it is in contact with the preceding trolley 1, and the detection rod 5, which is normally pushed forward. In accordance with the rotary encoder 10 having a conversion mechanism for changing the forward and backward motion of the rotational motion, an input rotational axis 11 to which the rotational motion is transmitted in association with the conversion mechanism, and a detection signal from the rotary encoder 10. The control mechanism which adjusts the rotational speed of the electric wheel 3 by operating the drive mechanism 4 is provided.

That is, as shown in FIG. 11 and FIG. 12, the mounting plate 14 is inserted into the drooping wall 2a below the front end of the trolley main body 2 of the self-propelled electric trolley 1 so that the three brackets 15a, 15b and 15c are mounted on the left side, and the preceding trolley detecting rod 5 is freely slid and supported in the penetrating shape. A stopper 16 having a cushioning material 23 is provided between the middle and lower brackets 15b and the rear brackets 15c on the rod 5 portion front, and between the stoppers 16 and the rear brackets 15c. The coil spring 12 is inserted into the rod 5 in a shape immersed in the shape, and the rod 5 is forced forward by the coil spring 12 and freely retracted. It is composed.

In addition, an endless rotational motion belt 6 having a straight portion 6a parallel to this is disposed below the preceding balance detecting rod 5 between the bracket 15a and the bracket 15b at the center portion. . On the inner side of the endless rotational belt 6, a plurality of protruding pieces 6c are provided at predetermined intervals, and both front and rear return ends 6b of the endless rotational belt 6 are protruding pieces 6c. It is wound around a pulley 8 having a tooth that meshes with. Both front and rear pulleys 8 are supported by inserting bearings into bearing brackets 17, respectively, and are freely rotatable on a pivot shaft 9.

Two horizontal arms 19 are inserted into the mounting plate 14, and a vertical tube 21 for mounting a rotary encoder is provided, and the rotary encoder 10 pulls the input rotary shaft 11 on the vertical plate 21. (8) It is mounted toward the axis. The main shaft 9 of the pulley 8 and the pressure rotating shaft 11 of the rotary encoder 10 are coaxial, and both of them are connected to each other by inserting the coupling mechanism 22.

In addition, all the predetermined portions of the portion of the preceding trolley detecting rod 5 and the linear portion 6a of the endless rotary motion belt 6 are connected between the bracket 15a and the bracket 15b of the center portion. Are inserted together.

In addition, as shown in FIG. 9, the self-propelled electric trolley 1 is provided with a scissor lift 39, and the conveyance lifting platform 31 of the trolley 1 is connected to the X phase by a connecting pin 40. Supported by a pair of links 41 and 42 which are freely opened and closed, the left and right links 41 and 42 are opened and closed about the connecting pins by the piston rod of the hydraulic cylinder (not shown). ) Is configured to be elevated.

Moreover, adjacent trolley | bogie coupling mechanism 43 is provided in the front and back both ends of the trolley | bogie main body 2, respectively. This adjacent trolley | bogie coupling mechanism 43 is pulled so that it may horizontally swing freely to the lower end surface of the trolley | bogie main body 2, and the hook 44 which has a hook-shaped tip part, and inserts this hook 44 into a link mechanism to operate | move The engaging pin 45 which is comprised by the hydraulic cylinder and engages with the hook-shaped front end of the hook 44 at the rear end of the adjacent adjacent trolley | bogie 1 is provided. Accordingly, the hooked end of the hook 44 is projected by protruding the piston rod of the hydraulic cylinder of the coupling mechanism 43 of the trailing bogie 1 while the rear end of the preceding bogie 1 and the front end of the trailing bogie 1 abut. By engaging the engaging pieces 45 of the preceding trolley 1, both the front and rear trolleys 1 can be interconnected. Moreover, the coupling mechanism 43 of such an adjacent trolley | bogie 1 may abbreviate | omit the attachment in some cases.

The self-propelled electric trolley | bogie 1 provided with the said conveyance platform 31 can drive at the predetermined speed independently by the drive of the electric wheel 3, respectively.

Then, for example, the trailing trolley 1 approaches the preceding trolley 1 running slowly in the work zone B of the conveyor line, and the rod for detecting the preceding trolley installed at the front end of the rear trolley 1, for example. When (5) abuts the preceding trolley | bogie 1, the rod 5 repulses against the resilience of the coil spring 12, and at the same time, the linear part of the endless rotary motion belt 6 under the rod 5 ( 6a) inserts the connecting means 7 so that the predetermined length is retracted. In this embodiment, the rotary encoder 10 is a so-called absolute type and uses a digital signal to display the amount of movement at the zero position of the object to be measured by a change in the rotation angle of the input rotary shaft 11. Since the rotary encoder 10 is installed in the apparatus, the zero position of the input rotation shaft 11 is determined, and the rotation angle at which the zero position is the coordinate origin is always displayed as a digital signal.

In the rotary encoder 10, a light emitting diode and a photo transistor are disposed through a disk (rotating plate) on which a pattern is written, and when the disk rotates, some light passes through the slit according to the pattern and some is blocked. The transmitted light is converted into a current in a photo transistor, and composed of a complete digital signal by a waveform shaping circuit.

The main shaft 9 and the coupling mechanism 22 of the pulley 8 in which the rear return end 6b of the belt 6 is wound by the retraction of the belt straight portion 6a of the endless rotational movement belt 6 are wound. The input rotary shaft 11 of the rotary encoder 10 inserted and connected is rotated by a predetermined angle, and the amount of conversion of the retraction distance of the belt straight portion 6a is changed again by the input rotary shaft 11 of the rotary encoder 10. This is indicated as a digital signal as a detection signal of the preceding trolley 1 and sent directly to a central sequence control device (not shown) mounted on the trolley. In the central sequence control device, a control signal to the trolley drive device (motor) 4 is output in accordance with this digital signal to give a speed command to the motor.

In this way, regardless of the speed of the trailing bogie 1, a constant amount of retraction of the rod 5 can be inspected with the rotary encoder 10 to give a speed command to the motor, and the motor rotates in proportion to the distance between the bogies. This is controlled, and the state stuck to the preceding trolley | bogie 1 can be maintained.

The accuracy of the distance between the balances of the preceding trolleys 1 depends on the resolution of the rotary encoder 10, but in this embodiment, one having a precision of ± 1 ° (± 1 mm) is used.

Therefore, for example, if the stroke of the preceding trolley detecting rod 5 is 40 mm, and the rod 5 has a correction value when the length of 38 mm has entered, 0, the collision will not occur even if it approaches the tracking, and the error is ± 1 mm. Precision can be expected and delicate bogie approach distances can be adjusted. Moreover, when detecting the preceding trolley | bogie 1, a detection digital signal can be sent directly to a central sequence control apparatus, and a control signal can be output. Therefore, from the detection of the preceding trolley | bogie 1 to outputting a control signal to a wheel drive motor. The time required may be extremely short.

As a mechanism for changing the forward and backward motion of the preceding trolley detecting rod 5 into a rotary motion, a combination of other racks and pinions can be used, and a wire or the like can be used instead of the endless rotary motion belt 6.

In the first embodiment, a case in which three conveying zones A1, A2 and A3 are combined with respect to two working zones B1 and B2 is shown, but the self-propelled electric trolley 1 according to the present invention is shown. The conveying apparatus should just combine two conveyance zones A1 and A2 with respect to at least 1 working area B.

The conveying apparatus by the self-propelled electric trolley of this invention conveys conveyances, such as an automobile assembly, as described above, and the 1st conveyance zone which the self-propelled electric trolley which has a remote automatic stop device runs at high speed VH, and a 1st conveyance zone And a second zone in which the trolley is driven at a predetermined low speed V while the trolleys are energized one by one in order to work on the cargo, and a second zone in which the trolley runs at a high speed VH again. A trolley separating zone is installed between the bogie end stop zone and the second conveyance zone at the end of the zone, and in each zone, the bogie is controlled to travel or stop at a predetermined speed by zone signals from the control station. The trailing bogie stops once the preceding bogie is in the previous catch zone, When the preceding bogie passes through the station, the stop of the trailing bogie is released so that the trailing bogie once enters the catch-up zone from the stop zone, and in the catch-up zone, each bogie runs at a predetermined speed KV, It is controlled to catch up with the linear bogie, and in the separation zone is controlled to run while maintaining the average speed V of the working zone until the bogie exits the separation zone, according to the invention self-propelled for conveyors such as automobile production lines By using an electric trolley, it is possible to prevent the size of the apparatus from being enlarged and to carry the conveyance by the self-propelled bogie securely, and to improve the productivity of automobiles and the like, as well as the low-speed conveying slat conveyor and conveyor of the conventional floor type. Many devices, such as unloaders and loaders, There is an effect that can significantly reduce the rub.

In addition, the travel control of the transport trolley which has recently divided the traveling route of the transport trolley into a plurality of sections having different travel control methods, and has arranged a code plate or the like for instructing the travel control system by type near the entrance of each section. Although a device has been developed (see, for example, Japanese Patent Application Laid-Open No. 3-48503), according to the present invention, a conveying line by a self-propelled electric bogie is divided into several zones. There is no need to provide a code plate or the like that commands the driving control method for each type, and the equipment cost can be reduced.

Claims (1)

And a signal transmitting / receiving device comprising a plurality of self-propelled electric trolleys frequently run along the running rail, a ground control station controlling the self-propelled electric trolley, and a first transmission / reception unit installed in the control station and a second transmission / reception unit provided in the electric trolley. The end of the first conveyance zone A10 and the first conveyance zone A1, in which the traveling rail carries conveyances 30 such as an automobile assembly and the self-propelled electric trolley 1 having a remote automatic stop device travels at a high speed VH. The negative trolley once stop zone A0, the trolleys are lined up one after another, the work zone B for traveling at a predetermined low speed V while working on the conveyed material 30, and the second transfer zone A2 for the trolley traveling at high speed VH again. And a bogie sticking zone C between the bogie end stop zone A0 of the end of the first conveying zone A1 and the work zone B with the stop zone A0, and at the same time, the work zone B. A trolley | bogie separation zone D is provided between 2nd conveyance zone A2, and each said zone is controlled so that the said electric trolley | bogie 1 may run or stop at a predetermined speed by the zone signal from a control station, Once in the stop zone A0, the trailing bogie 1 is once stopped when the preceding bogie is present in the preceding catch-up zone C and once the preceding bogie has passed through the catch-up zone C. When the stop is released, the trailing bogie is controlled to enter the catch-up zone C once from the stop zone A0, and in the catch-up zone C0, each bogie 1 travels at a predetermined speed KV so that the work zone B ) Controlled to catch up with the preceding bogie 1 at the start end, and controlled to travel with the average speed V in the work zone B until the bogie 1 exits the separation zone D, Self-propelled electric trolleys (1) The electric wheel 3 operated by the drive mechanism 4, mounted on the front end of the trolley 1 and pressed forward, usually protrudes from the front end of the trolley 1 and pulls in when it reaches the preceding trolley. And a conversion mechanism for converting the forward and backward movement of the detection rod 5 into a rotational motion, and an input rotation shaft 11 through which the rotational motion is transmitted in relation to the conversion mechanism. Self-propelled electric motor comprising a rotary encoder 10 and a control mechanism for adjusting the rotational speed of the electric wheel 3 by operating the drive mechanism 4 according to the detection signal from the rotary encoder 10. Carrying device by cart.