WO2003086832A1 - Systeme de transport d'ouvrage, palette de transport d'ouvrage utilisee avec ledit systeme, et procede de connexion sur rails dans un systeme susmentionne - Google Patents

Systeme de transport d'ouvrage, palette de transport d'ouvrage utilisee avec ledit systeme, et procede de connexion sur rails dans un systeme susmentionne Download PDF

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Publication number
WO2003086832A1
WO2003086832A1 PCT/JP2003/004848 JP0304848W WO03086832A1 WO 2003086832 A1 WO2003086832 A1 WO 2003086832A1 JP 0304848 W JP0304848 W JP 0304848W WO 03086832 A1 WO03086832 A1 WO 03086832A1
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WO
WIPO (PCT)
Prior art keywords
work
self
pallet
work transfer
propelled
Prior art date
Application number
PCT/JP2003/004848
Other languages
English (en)
Japanese (ja)
Inventor
Haruhiro Tsuneta
Hideyuki Odagiri
Hirokazu Watanabe
Kazuhide Koike
Yoshiki Shimura
Shiro Sato
Kazuyoshi Yasukawa
Original Assignee
Kabushiki Kaisha Sankyo Seiki Seisakusho
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2002113660A external-priority patent/JP2003306144A/ja
Priority claimed from JP2002150750A external-priority patent/JP4323758B2/ja
Priority claimed from JP2002165726A external-priority patent/JP2004009200A/ja
Application filed by Kabushiki Kaisha Sankyo Seiki Seisakusho filed Critical Kabushiki Kaisha Sankyo Seiki Seisakusho
Priority to AU2003235197A priority Critical patent/AU2003235197A1/en
Publication of WO2003086832A1 publication Critical patent/WO2003086832A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
    • B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
    • B23Q7/1436—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices using self-propelled work holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • work refers to an article such as a product or a part conveyed on a production line.
  • the “self-propelled work transfer pallet” is the entire small self-propelled device with a carrier that moves between work stations along the track in the work transfer system and transfers the work. It consists of a table and a main unit on which a drive source is mounted.
  • Work station refers to a booth that is set up for each process of assembling, processing, and cleaning the work, but in this specification, if only physical work such as assembly to the work is performed, However, the self-propelled work transport pallet simply passes through and does not perform any physical assembly.However, it transmits and receives operation signals when passing, allowing monitoring and control of the self-propelled workpiece transport pallet. Shall be included.
  • “Rail” refers to a rail for work transfer pallets, that is, a rail laid between work stations to guide a self-propelled work transfer pallet.
  • parallel means not only the case where two rails form a straight line while keeping a constant interval, but also the case where two rails keep a constant interval and ) Is included.
  • the present invention relates to a work transfer system, a work transfer pallet used for the work transfer system, and a rail connection method in the work transfer system. More specifically, the present invention is an improvement in the structure or connection method of a work transfer pallet and a rail in a work transfer system for automatically transferring a work between work stations where processes such as assembly, processing, and cleaning are performed. About.
  • a system using a work transfer pallet that runs on rails is used.
  • rails are laid between work stations where work such as assembly, processing, and cleaning are performed on the work, and the work transfer pallets are guided by the rails to each work station. Are loaded or unloaded from each work station.
  • Examples of such a work transfer system include a system configured to form an annular transfer path such that a self-propelled work transfer pallet travels in a negative direction on a rail, and US Pat. No. 5,626,080.
  • a monorail is used as a rail, along which a work transport pallet runs by itself. When driving these self-propelled work transfer pallets, it is necessary to constantly supply the drive source of the self-propelled work transfer pallet.Therefore, there is also a system that uses rails to supply power to the self-propelled work transfer pallet. Used.
  • an object of the present invention is to provide a work transfer system that can be reduced in weight and size easily and can transfer a work in a stable state.
  • a further object of the present invention is to provide a work transfer system that can maintain the cleanness of the work working environment and can supply power to a self-propelled work transfer pallet with a simple configuration.
  • another object of the present invention is to provide a rail connection method capable of shortening the time required for installing a rail in a work transfer system.
  • a self-propelled work transfer system as described above, conventionally, for example, centralized processing that monitors the movement of each self-propelled work transfer pallet and includes centralized processing, for example, equipped with a host device that can perform arithmetic processing in the center of the system Some have adopted the method.
  • Such a work transfer system has the advantage that the movement of the self-propelled work transfer pallet can be centrally controlled, and that the host device is located at the center.
  • an object of the present invention is to provide a work transfer system that can easily cope with a change in the system such as a change in a track layout or a large scale.
  • the background art of the work transfer pallet will be described below.
  • the work is often moved by placing it on a rectangular plate-shaped pallet (hereinafter referred to as “work placement table”). At this time, the work is positioned with respect to the work placement table.
  • work placement table a rectangular plate-shaped pallet
  • Fig. 47 shows a work placement table that uses the template-based work positioning method.
  • a hole 202 and a locking portion 203 of a predetermined shape and a predetermined size are provided on the work mounting table 201 to form a template, and the hole is formed in the hole 202 and the locking portion 203.
  • the work 204 is fixed at a predetermined position by inserting the work 204 into the work, or is positioned at that position even when the work 204 is in a somewhat rough state.
  • a certain gap between the peripheral wall of the hole 202 or the locking portion 203 and the workpiece 204 (this gap is sometimes referred to as “pallet clearance” in this specification). ) Occurs, and it is difficult to completely fix the position of the work 204, but even if the position is shifted, it can be kept within the range of the clearance.
  • Fig. 48 shows a work table that uses the clamp-type work positioning method.
  • a clamp 205 is provided on the work mounting table 201, and the work 204 is positioned using the clamp 205.
  • the opening and closing drive of the clamp 205 is performed by, for example, an actuator 206 such as a cylinder device or a solenoid provided at a predetermined position in the production line.
  • the template method has the following problems.
  • a processing device for example, an assembling device
  • the positioning is high. Does not require precision, or rather difficult to position with high precision
  • a process that uses a processing device for example, a cleaning device
  • a separate process was required to provide a separate process from the main body of the processing machine, and a pre-process was required to perform high-precision positioning with that device.
  • the processing device that recognizes the position and orientation of the work in the work table 201 by image processing or the like and operates a processing device that requires high-precision positioning based on the recognized work position information has been operated. For these reasons, it is necessary to modify the production line or add new equipment, which increases the cost of the production equipment, increases the number of extra steps, and reduces the production cost and the time required for production. Increased.
  • the structure of the work mounting table 201 becomes more complicated, which further increases the manufacturing cost.
  • the actuator 206 can be a source of contamination.
  • the present invention is suitable for use in a manufacturing line in which a processing device that requires high-precision positioning and a processing device that requires a somewhat rough positioning are mixed, and a work transfer that can suppress an increase in manufacturing cost. It also aims to provide pallets. Disclosure of the invention
  • the present invention relates to a method in which a work is carried in by a self-propelled work transport pallet which travels along a track to each work station where each step of assembling, processing, and cleaning is performed on the work, or
  • a work transfer system that unloads a work from a work station
  • the track has two parallel rails
  • the self-propelled work transfer pallet rotates the wheels on both sides rotating on the rail
  • the wheels The self-propelled work transfer pallet is provided with a motor
  • the self-propelled work transfer pallet is composed of a work mounting portion on which the work is mounted and a main body having wheels and a motor. Is located between the two rails and below the track plane.
  • the wheels provided on both sides of the self-propelled work transfer pallet rotate on two parallel rails of the track, so that the wheels and the drive source that sandwich the rail as in a monorail track are used. Not required (see Figure 6).
  • the wheels come into contact with the rails by the weight of the self-propelled work transfer pallet, there is no need to secure the torque transmission by pinching the rails with the transfer path rollers as in the monorail track. For this reason, the self-propelled work transfer pallet in the work transfer system of the present invention is advantageous for miniaturization.
  • the main body fits between the two rails, and at least part of the body is located below the track surface, that is, below the two rails.
  • High stability of the transfer pallet see Fig. 6).
  • the self-propelled work transport pallet is not required to be as rigid as the monorail system, which is more advantageous in terms of weight and size reduction.
  • high stability is ensured even when the motor / battery is built into the main unit, which is further advantageous for weight reduction and size reduction.
  • the outer shape of the wheels can be smaller than the outer shape of the motor (See Figure 6). That is, the track is a monorail
  • the diameter of the transport roller must be larger than the outer shape of the motor, and it is difficult to achieve both sufficient torque and miniaturization. According to this, even when the wheels are directly driven by the motor, a necessary and sufficient conveying force can be obtained, and the size can be reduced.
  • the present invention provides a method in which a work is carried in or taken out of a work station by a self-propelled work transfer pallet which travels along a track to each work station where each process such as assembly, processing, and cleaning is performed on the work.
  • the track has two parallel rails
  • the self-propelled work transfer pallet has wheels on both sides that rotate on the rails of the track, and a motor that rotates the wheels.
  • a battery capable of storing electric power for driving the motor.
  • the rail is provided with a non-contact power supply device on the rail side
  • the self-propelled work transfer pallet has a built-in non-contact power supply device on the main body side facing the non-contact power supply device on the rail. It is preferable that power be supplied to the battery in a non-contact manner when the self-propelled work transfer pallet stops or passes.
  • a battery is provided on the self-propelled work transfer pallet and the self-propelled work transfer pallet itself can be charged, so there is no need for constant power supply.
  • the contactless power supply also eliminates the problem of brush abrasion and reduces dust generation.
  • power can be supplied in a stable state because it does not depend on the contact state.
  • the non-contact power supply device is a power supply transformer that receives power by being electromagnetically coupled to the rail-side non-contact power supply device. In this case, it is possible to supply power in a non-contact manner when electromagnetically coupled.
  • a power supply transformer is provided between the self-propelled work transfer pallet and the rail. As a result, the transformer gap is less likely to fluctuate.
  • the power supply transformer is provided at a position symmetrical with respect to the center of the self-propelled work transfer pallet. In this case, the direction of the front and rear of the self-propelled work transfer pallet is canceled, and it is possible to use the pallet without changing the front and rear. It is also possible to save space on the board and reduce the number of sensors.
  • the non-contact power supply devices are provided separately for each work station.
  • the power supply device is located at multiple points in the system, so it is possible to supply power to the self-propelled work transfer pallet over a wide range, not limited to the location of the work or the shift. it can.
  • the operation of the self-propelled work transfer pallet can be resumed in a short power supply time without waiting for the completion of power supply, resulting in less time loss for power supply.
  • the wheels are directly driven by the rotor of the motor.
  • energy is reduced due to regenerative absorption because the motor is driven directly without a reduction gear.
  • miniaturization and noise reduction can be achieved.
  • the work mounting portion is vertically detachable from the main body.
  • the work placement portion and the main body are separated from each other below the work placement surface, so that dust hardly falls on the work.
  • the mechanism for separation is relatively simple.
  • the main body of the self-propelled work transport pallet, in which the work placement part is separated does not need to wait below the work placement part. It is also possible to leave the vehicle as it is.
  • the work transfer system includes positioning means for positioning the work placement part on which the work is placed at the work station.
  • the work placement unit since the work placement unit itself is directly positioned at the work station, the work on the work placement unit is positioned with high accuracy at a position where predetermined work or the like is performed.
  • an inter-vehicle sensor for preventing rear-end collision is provided on at least one of the front and rear sides of the main body of the self-propelled work transfer pallet.
  • the inter-vehicle sensor automatically stops or restarts each self-propelled work transfer pallet to assist the traveling of each self-propelled work transfer pallet. It is no longer limited to the number of work stations, and the required number of self-propelled work transport pallets can run simultaneously in accordance with the tact time, that is, the work time at each work station.
  • the inter-vehicle sensor is preferably provided at a position symmetrical with respect to the center of the main body. In this case, the function of the inter-vehicle sensor becomes the same regardless of whether the self-propelled work transfer pallet moves forward or backward.
  • the rail is formed of an integral structure having a channel shape or an H-shaped cross section.
  • the left and right plates constituting the track are integrated with the bottom (or near the center) plate, and the parallelization of both rails (keeping the left and right parallel) is easy and accuracy is obtained.
  • Cheap In addition, strength is easily obtained due to the integrated structure.
  • the rail is divided into plate members on both sides constituting the track and connection members connecting these plate members, and these are combined and integrated.
  • each member can be formed separately, so that it is easier to manufacture at a lower cost than in the case of an integral structure. Also, it becomes easier to transport.
  • the non-passage region of the main body portion formed between the main body portion and the rail of the self-propelled work transfer pallet is suctioned to have a negative pressure. In such a case, even if dust is generated when passing through a self-propelled work transport pallet traveling on the rail, the dust can be sucked and removed from the non-passing area of the main body.
  • a suction port for suctioning the non-passage area is provided on the rail, and a negative pressure source is connected to the suction port. It is one of the forms. In such a case, the main body non-passing area A negative pressure is created by suction of air from the inlet.
  • the flow of air in the non-passage area is downflowed and that the work is placed at the top of the self-propelled work transfer pallet. In such a case, it is easy to prevent dust from dropping and adhering to the work.
  • a track for guiding the self-propelled work transfer pallet can be formed by cutting out a plate-like member along the traveling locus of the self-propelled work transfer pallet.
  • a curved traveling path can be formed. Also, freer and more precise processing using laser light, NC milling, etc., becomes possible.
  • the present invention provides a method for automatically moving along a track to each work station where each step of assembling, processing, and cleaning the work is performed.
  • a pair of channel-shaped connecting members should span the gap between the rail ends. Is used to connect adjacent rails. In this case, the horizontal and vertical errors of both rails can be absorbed. In addition, it is possible to shorten the time required for installing or changing rails.
  • the work is carried into or out of each work station where each step of assembling, processing, and cleaning is performed on the work by a self-propelled work transfer pallet traveling along a track.
  • adjacent rails are connected by straddling a pair of connecting members having an L-shaped cross section in the gap between the ends of the rails.
  • it is possible to reduce the time required for installing or changing the rails.
  • it is possible to prevent the connection member from protruding inside the rail, so that it is possible to suppress the generation of dust from the stopper when the wheel passes over the connection member.
  • the running torque can be reduced.
  • the present invention provides a work transfer system for transferring a workpiece by a self-propelled work transfer pallet which runs on a track in order to perform various processes such as assembling, processing, and cleaning on the work.
  • the work transport system comprises a work station on a track having means for instructing the self-propelled work transport pallet to stop, a station controller provided corresponding to the work station, and a self-propelled work transport pallet.
  • the transfer pallet is provided with communication means for communicating with the station controller via the work station, and the work station is interposed between the self-propelled work transfer pallet and the station controller to secure communication therebetween.
  • This work transfer system can be controlled in a distributed manner by station controllers provided for each work station, and does not employ a centralized processing system.
  • a program may be created for each station controller in accordance with each condition such as the position of the work work place, the number of works and the self-propelled work transfer pallet, or the layout of the track.
  • the program needs to be changed in the corresponding station controller, and all programs need not be changed. Therefore, even if there is a change such as enlargement of the transport system, the scale of the station controller does not need to be so large, and it is easy to respond to design changes and specification changes.
  • the work transfer system includes a higher-level device that is connected to the station controller via a network and has a transmission unit that transmits the processing procedure program to the station controller, and the station controller has a receiving unit that receives the processing procedure program from the higher-level device.
  • a processing procedure program is transmitted to each station controller from a host device connected to the station controller via a network. It is.
  • the host device is not required to operate the work transfer system, so that the host device can be disconnected from the network.
  • the station controller and the host device have a data transfer means for transferring data between the station controller and the host device. This allows the host device to recognize the status of each station controller while the work transfer system is operating. In addition, as a result of the recognition, it is possible to track the self-propelled workpiece transport pallet (to grasp the current position of the self-propelled work transport pallet).
  • the self-propelled work transport pallet has storage means for storing communication information with the station controller.
  • a plurality of routes can be set on the work transfer system, and an arbitrary route can be selected and run according to the storage of the self-propelled work transfer pallet.
  • the host device has input means for inputting a processing procedure program.
  • this input means it is possible to continuously perform from the creation of the processing procedure program to the transmission of the program.
  • the host device has a simulation means capable of simulating the movement of the transport pallet by the processing procedure program transmitted to the station controller.
  • the simulation means By using this simulation means, the validity of the processing procedure program in the station controller can be examined off-line.
  • the tact balance (the composition ratio of the operation time in each work area and the work completion waiting time in the next work area) can be considered in advance, it is easy to find an effective layout.
  • the host device is provided so as to execute or interrupt the processing procedure program transmitted to the station controller.
  • the host device instructs the station controller to execute or interrupt the processing procedure program, and the station controller executes or interrupts the processing procedure program according to this instruction.
  • the work transfer system can be operated collectively by the host device, such as stopping and restarting.
  • a work station is provided at the entrance to the junction or intersection of the track.
  • the self-propelled work transport pallet that enters or exits a branch or an intersection, and the self-propelled work transport pallet located inside the intersection or the like is monitored and controlled at the intersection or the like. Collision can be prevented and smooth peak transport can be ensured.
  • the present invention provides a work transfer pallet which travels along a track between work stations where each process of assembling, processing, washing and the like is performed on a work and transfers the work. It has a clamp mechanism composed of a clamp mechanism that clamps the force and an operating mechanism that operates the clamp mechanism in a clamped state or an unclamped state.
  • the work transfer pallet according to the present invention is particularly suitable for use in a production line in which a processing device that requires high-precision positioning and a processing device that requires relatively rough positioning are mixed.
  • the clamp mechanism is made of an elastic member and maintains the clamped state of the peak when the operating mechanism is not operated.
  • a clamp mechanism clamps a work by using the elastic force of an elastic member.
  • the operating mechanism does not act on the elastic member of the clamp mechanism when not operating, but elastically deforms the elastic member in a direction away from the work when operating.
  • the work can be clamped without using energy such as electric power, thereby saving energy.
  • the clamp mechanism is unclamped. Since the operating mechanism is operated only when the operating state is set, it is possible to prevent an excessive force from acting on the operating mechanism in the clamped state, thereby preventing the operating mechanism from being damaged.
  • the work transport pallet has a gap between the work and the work clamp portion of the clamp mechanism when the clamp mechanism is in a clamp state. In such a case, it is possible to transport the work without directly tightening the work so that the work does not deviate from a predetermined mounting position. Further, even in the clamped state, the work is not tightened, so that a minute deformation of the work can be prevented.
  • the operating mechanism is preferably a mechanism that operates the clamp mechanism using a shape memory alloy.
  • the clamp mechanism can be operated by heating or cooling the shape memory alloy (including the case where heat is naturally released).
  • the shape memory alloy is made to generate heat by passing an electric current through the shape memory alloy, no special electrical parts other than the shape memory alloy are required, so the structure should be made even simpler.
  • heating control of the shape memory alloy is facilitated. Furthermore, it is possible to clean the work mounting table of the work transfer pallet with or without removing the shape memory alloy.
  • This shape memory alloy is preferably in the form of a wire.
  • Wire-shaped shape memory alloys have a large amount of expansion and contraction deformation and are suitable for use as actuators for operating clamp mechanisms. Further, by making the shape memory alloy into a wire shape, heating and cooling can be performed in a short time, so that the response is improved.
  • a clamp device comprising a clamp mechanism for clamping a work and an operating mechanism for operating the clamp mechanism in a clamped state or an unclamped state. it can.
  • FIG. 1 is a cross-sectional view showing an embodiment of a rail and a self-propelled work transfer pallet constituting a work transfer system of the present invention.
  • FIG. 2 is a plan view schematically showing an embodiment of the work transfer system of the present invention.
  • FIG. 3 is a side view showing an example of the arrangement of the sensors and the like in the self-propelled work transport pallet and the work station.
  • Figure 4 is a front view of the self-propelled work transfer pallet.
  • Figure 5 shows the light shielding plate and the stop position detection sensor. It is a perspective view showing an example.
  • FIG. 6 is a schematic view showing a structure of a self-propelled work transfer pallet and the like in the work transfer system according to the present invention.
  • FIG. 7 is a plan view showing an example of the arrangement of each sensor and the like in the work station.
  • FIG. 8 is a perspective view showing a pair of coils as a non-contact power supply device.
  • FIG. 9 is a schematic diagram showing an example of a command between each sensor such as an inter-vehicle sensor and a control circuit, a signal corresponding thereto, and the like.
  • FIG. 10 is a perspective view showing an example of the structure of the connection portion between the rail and the turnable rail and the surrounding structure.
  • FIG. 11 is a view showing another embodiment of the present invention, and is a perspective view showing an example of a dividable rail.
  • FIG. 12 is a schematic perspective view showing a rail formed by cutting out a plate-like member along a traveling locus of a self-propelled work transfer pallet.
  • FIG. 13 is a schematic perspective view showing a rail formed by cutting a plate-shaped member along a traveling locus of a self-propelled work transfer pallet.
  • FIG. 14 is a perspective view of a self-propelled park transport pallet in which a concave portion is provided on a side portion of the main body.
  • FIG. 15 is a plan view of a self-propelled work transfer pallet provided with a concave portion on the side of the main body.
  • FIG. 16 is a perspective view showing a track slide device that slides over a self-propelled work transfer pallet.
  • FIG. 17 is a perspective view showing a track elevating device that moves up and down with a self-propelled work transfer pallet.
  • FIG. 18 is a partial perspective view showing a state where a channel-shaped connecting member is put on connecting portions between rails.
  • FIG. 19 is a partial perspective view showing a state where a connecting member having a U-shaped cross section is covered on a connecting portion between the rails.
  • FIG. 20 is a view showing one embodiment of the work transfer system according to the present invention, showing an example of connection of a work station, a station controller and the like.
  • FIG. 21 is a diagram showing an example of the arrangement of work stations.
  • FIG. 22 is a flowchart showing the flow of processing for the self-propelled work transfer pallet.
  • FIG. 22 is a flowchart showing the flow of processing for the self-propelled work transfer pallet.
  • FIG. 23 is a diagram showing another embodiment of the work transfer system, showing the relationship between each work station and the process.
  • FIG. 24 is a diagram showing a state where a deadlock has occurred.
  • FIG. 25 is a diagram showing a state in which the preceding self-propelled work transfer pallet moves from step 2 to step 3.
  • FIG. 26 is a diagram showing a state in which the preceding self-propelled work transfer pallet moves from step 3 to step 4.
  • FIG. 27 is a diagram showing a state in which the self-propelled work transfer pallet after step 4 passes through the work station 5C.
  • FIG. 28 is a flowchart showing the flow of processing in one embodiment of the present invention.
  • Figure 29 shows the work stations provided at the intersection on the track and at the entrance of this intersection.
  • FIG. 30 is a perspective view of a work mounting table schematically showing one embodiment of a self-propelled work transfer pallet to which the present invention is applied.
  • FIG. 31 is a plan view of a work placing table of the self-propelled work transport pallet.
  • FIG. 32 is an enlarged view showing a mode of attaching the elastic member to the leaf spring fixing block.
  • FIG. 33 is a side view showing a first lever of a work clamp section of the self-propelled work transfer pallet.
  • FIG. 34 is a perspective view conceptually showing a positioning mechanism of the self-propelled work carrier pallet.
  • FIG. 35 is a perspective view conceptually showing how a shape memory alloy is heated by a far-infrared heater.
  • FIG. 36 is a perspective view conceptually showing how the shape memory alloy is heated by the heater plate.
  • FIG. 37 is a perspective view showing an embodiment in which the control of the palette clearance C is performed in multiple stages.
  • FIG. 38 is a conceptual diagram showing the shape memory alloy shown in FIG. Fig. 39 is a conceptual diagram showing an actuator using a wire-shaped shape memory alloy.
  • FIG. 40 is a conceptual diagram showing a voltage application pattern of the shape memory alloy shown in FIG.
  • FIG. 41 is a graph showing the relationship between the length of the shape memory alloy shown in FIG. 39 and the command value.
  • FIG. 42 is a diagram showing a conversion algorithm for deriving a voltage application pattern from a binary representation of a command value.
  • FIG. 43 is a perspective view when an actuator using a shape memory alloy is applied to the operation of an XY table.
  • FIG. 44 is a perspective view when an actuator using a shape memory alloy is applied to the operation of a table movable in one direction.
  • FIG. 45 is a schematic view showing the structure of a self-propelled work transfer pallet in a conventional work transfer system.
  • Fig. 46 is a schematic diagram showing the structure of a self-propelled work transfer pallet with gears in a conventional work transfer system.
  • FIG. 47 is a perspective view showing an example of a work mounting portion in a conventional self-propelled work transfer pallet.
  • FIG. 48 is a perspective view showing another example of the work mounting portion in the conventional self-propelled work transfer pallet.
  • the work 4 is automatically loaded into or out of each work station 5 by the self-propelled work transfer pallet 2, and the work 4 is automatically transferred from each work station 5. Perform necessary assembly, processing, washing, etc. It is a system for.
  • the work station 5 is, for example, a rectangular parallelepiped booth provided for each process such as assembling, processing, and washing, and the process assigned to each work station 5 is performed on the work 4 at each booth. .
  • Each work station 5 is connected by a rail 3a.
  • the self-propelled work transfer pallet 2 is guided by the track 3 formed by the rail 3a and travels from the work station 5 to another work station 5 by itself.
  • the rail 3a includes a pallet collection rail that guides the self-propelled work transfer pallet 2 that has completed the last process to the work station 5 at the beginning.
  • the area in each work station 5 and the area required for the self-propelled work transfer pallet 2 to travel with the work 4 placed thereon are covered with, for example, an outer wall made of a transparent material.
  • the air may be isolated from the outside air, and a clean environment of the air in the isolated space may be maintained.
  • a device for sending high-purity air into such a clean space for example, a blower provided with a clean filter is preferably connected.
  • FIG. 2 shows an example of the work transfer system 1 of the present embodiment.
  • three work stations 5a, 5b, 5c are arranged in series, and a straight rail 3a passing through them is laid.
  • the three work stations 5a to 5c are booths corresponding to processes sequentially performed on the work 4, for example, assembling, processing, and washing processes (hereinafter also referred to as first, second, and third processes). It is.
  • the work transfer system 1 includes a rail 3a for connecting the work stations 5a to 5c as described above, and a detour rail for bypassing the second work station 5b (hereinafter, rail 3). a is attached with a symbol 3 'to distinguish it from a).
  • the third step is performed on the work 4 conveyed through the bypass rail 3 ′ without passing through the second step.
  • a branching device 15 is provided at the branch point of the detour rail 3 from the rail 3a.
  • a direction change device 16a, 16b and a detour rail 3' are provided at the rail 3a.
  • a merging device 17 is provided at each of the merging points. The branching device 15, the direction changing devices 16a and 16b, and the merging device 1 ⁇ all rotate the self-propelled work transfer pallet 2 by 90 degrees.
  • the track 3 of the present embodiment has a flat bottom 3f and this bottom 3f as shown in FIG. It is formed by a channel 3 (a U-shaped cross section) rail 3a consisting of a side portion 3g provided on both sides of 3f.
  • the wheels 6 of the self-propelled park transport pallet 2 run on the left and right rails 3a.
  • the bottom 3f and the side 3g form a groove 3b in which the lower part of the main body 2a of the self-propelled work transfer pallet 2 is accommodated.
  • the track 3 thus formed supports the wheels 6 by the rails 3a on both sides, and allows the self-propelled work transport pallet 2 to move by itself while the main body 2a is fitted into the groove 3b. be able to.
  • a part of the main body 2a of the self-propelled work transfer pallet 2 is located between the two rails 3a and below the track surface. Since the center of gravity of the movable work transfer pallet 2 is lower than the upper surface of the left and right rails 3a, the self-propelled work transfer pallet 2 has a lower center of gravity, and the stability during traveling is easily improved. In this case, the self-propelled work transfer pallet 2 can incorporate a motor 7 having a relatively large outer shape. Since a is located between the rails, there is an advantage that the total height of the self-propelled work transfer pallet 2 from the bottom of the rail 3a can be easily suppressed, and miniaturization can be achieved while ensuring stability.
  • the left and right plate members constituting the rail 3a and the bottom plate member have an integrated structure, so that the two rails 3a can be easily parallelized and accuracy can be obtained. It is also preferable in that it is easy to obtain and that it is easy to obtain strength by being integrated.
  • an extruded material or a drawn material can be used as the channel-shaped rail material, the cost can be reduced in this case.
  • a specific example of a case where the self-propelled work transfer pallet 2 is reduced in size is, for example, a total length of 85 mm, a total width of 55 mm, and a total height of 50 mm.
  • the groove 3b formed by the bottom 3f and the side 3g is provided with a suction port 3c for sucking dust when the self-propelled work transport pallet 2 travels and generates dust.
  • a negative pressure source (not shown) is connected to the suction port 3c, and the air in the groove 3b is sucked through the suction port 3c.
  • a self-propelled work transfer pallet 2 force S rail 3a Dust that may be generated when traveling on the upper surface is caused to flow down from the upper side to the lower side as indicated by the arrow in Fig. 1, and the cleanness of the work 4 and the cleanliness in the area of the work stations 5a to 5c are reduced. Keep the degree It has become possible.
  • the non-passage area of the main body 2a formed between the main body 2a and the renole 3a that is, the gap between the main body 2a and the rail 3a is defined by the suction port 3c.
  • the suction ports 3c are provided at both lower corners of the channel-shaped rail so as to suck out dust from both sides. May be provided only on one of the corners, or may be provided at the center of the bottom, etc. If possible.
  • the suction port 3c is provided in many places as long as the apparatus is not too complicated in order to keep the degree of tallness in each of the work stations 5a to 5c and the groove 3b.
  • the grooves 3b are installed as evenly as possible without unevenness.
  • the self-propelled work transfer pallet 2 is a small transfer vehicle for transferring the work 4 and has a motor 7, a knowledge 8, a control circuit 21, etc. inside, a wheel 6, and a work place 9. And transports the work 4 based on an instruction signal according to an operation signal transmitted from the work stations 5a to 5c.
  • the work 4 is conveyed while being mounted on the upper part of the work mounting part 9 as shown in FIG.
  • the self-propelled work transfer pallet 2 is provided with four wheels 6 to form a four-wheeled vehicle, and the self-propelled work transfer pallet 2 is driven by driving the drive wheels among these wheels 6. I am trying to do it. Wheels 6 are provided on each side, two wheels in front and back, as shown in Fig. 1, Fig. 3, and Fig. 4, and rotate on rail 3a of track 3. (In Fig. 3, the self-propelled work The transport pallet 2 is shown separated from the devices in the work station 5). In this case, it is preferable to provide a stopper 6a for preventing the wheel 6 from falling off the force of the rail 3a.
  • the inside of the wheel 6 has a large-diameter flange shape, and this flange portion contacts the inner edge of the rail 3a to function as a fall-off stopper 6a (see FIG. 1). ).
  • the wheels 6 used for the self-propelled work transfer pallet 2 of the work transfer system 1 For example, a rubber tire is preferable, for example, a tire that generates less noise and dust and is less likely to slip between the rail 3a.
  • One of the front wheels and the rear wheels is a drive wheel driven by the motor 7.
  • the motor 7 is a drive source for running the self-propelled work transfer pallet 2 by rotating the wheels 6, and is built in the main body 2 a of the self-propelled work transfer pallet 2. Further, the motor 7 is provided coaxially with the wheel 6 so that the wheel (in this case, the driving wheel) 6 is directly driven by the rotor without any reduction gear such as a reduction gear. In this case, it is advantageous in that the size and noise can be reduced and energy loss can be reduced by regenerative absorption.
  • the battery 8 is a secondary battery that stores power required to drive the motor ⁇ , and is supplied with power by the non-contact power supply device 11 to supply power to the motor 7.
  • the battery 8 of the present embodiment is preferably formed of a capacitor having a short time until the start of charging, and more preferably has a large capacity so as to be advantageous in weight and size reduction. For example, when a polyacene capacitor is used, the time required for the battery to start up is short, rapid charging is possible, and the self-propelled work transfer pallet 2 is advantageous in terms of weight and size.
  • the work placement unit 9 is, for example, a rectangular member in a plan view that serves as a pedestal for placing and transporting the work 4 and has a sufficient size for placing the work 4 and performing operations such as processing. are doing.
  • the work mounting portion 9 in the present embodiment is a rectangle larger than the main body portion 2a (see FIG. 1 and the like), but the size and shape are determined by the type and size of the work 4 and the self-propelled work. It can be changed as appropriate according to the size of the transport pallet 2 and the contents of work such as processing.
  • the work mounting portion 9 is detachable from the main body 2a of the self-propelled work transfer pallet 2, and the work mounting portion 9 itself can be removed from the main body 2a to be cleaned.
  • the work mounting portion 9 of the present embodiment can be separated from the main body portion 2a by moving the work mounting portion 9 upward. Is difficult to fall on work 4. Also, the mechanism for separation is relatively easy.
  • the work placement unit 9 is placed at a predetermined position on the body 2a between the work placement unit 9 and the body 2a side of the self-propelled work transfer pallet 2.
  • Positioning means is provided for positioning and preventing displacement during traveling.
  • the positioning means includes, for example, an engagement hole (not shown) provided on the back surface of the work placement portion 9, and an engagement projection 12 provided on the upper surface of the main body 2 a so as to fit into the engagement hole. (See Figure 1).
  • the work mounting section 9 holds the main body of the self-propelled work transfer pallet 2. It is detached from the part 2a so that it can be directly positioned at a predetermined position of each of the work stations 5a to 5c. In this way, the work transfer system 1 that directly positions the work placement unit 9 has much higher accuracy than the case where the self-propelled work transfer pallet 2 is stopped at a predetermined position and the work placement unit 9 is positioned. Positioning becomes possible.
  • the positioning means 13 of the work mounting part 9 includes, for example, a lifter 14 that lifts the work mounting part 9 from below, and a downward pointing provided on a frame or the like of each of the work stations 5 a to 5 c. And a positioning recess 13b provided on the upper surface of the work mounting portion 9 so that the positioning pin 13a is engaged with the positioning pin 13a (see FIG. 1).
  • the lifter 14 is a device that lifts the work placement portion 9 placed on the main body portion 2a of the self-propelled work transfer pallet 2 while keeping the work horizontally, and engages with the positioning pins 13a.
  • the positioning recess 13 b be a conical recess and the positioning pin 13 a be tapered. In this case, even if a slight error occurs in the stop position of the self-propelled work transfer pallet 2, the error can be absorbed and positioned accurately within the opening range of the conical recess 13b. Thus, the stopping accuracy of the self-propelled work transfer pallet 2 can be rough. According to this, the cost of the work transfer system 1 is reduced.
  • the work placement unit 9 has an identification signal for each work placement unit 9 or for each type of the work 4 and the work placement unit 9.
  • the type of transport target can be identified, and work, transport route selection, and instructions can be performed according to the type.
  • different types of works 4 can be grouped and mixed together. In this case, it is possible to backtrace the defects and variations of the transport target, investigate the cause and reason, and find out.
  • the individual signals given to the work placement unit 9 include: ⁇ ⁇ ⁇ a work placement unit type number that differs for each type of the work placement unit 9 and unique information (ID number) that is different for each work placement unit 9; ), And it is also possible to assign and identify all of them.
  • the self-propelled work transport pallet 2 be provided with an ID number, similarly to the work placement section 9. In such a case, it is possible to perform a pack trace of product defects and variations, and it is also possible to manage the failure and life of the self-propelled work transfer pallet 2 itself.
  • the work transfer system 1 is configured to supply power to the battery 8 of the self-propelled work transfer pallet 2 from the rail 3a in a non-contact manner when the self-propelled work transfer pallet 2 stops or passes.
  • a pair of non-contact power supply devices 11 are provided.
  • the non-contact power supply device 11 a device capable of supplying power in a non-contact manner when both are within a certain interval, for example, a pair of coils 11 1 ′ and 11 1 ”that can be supplied by electromagnetic action is applied. (See Fig. 8)
  • the pair of non-contact power supply devices 11 the one provided on the rail 3a side (referred to as the "power supply transformer 1 1b") is provided, for example, at the bottom of the groove 3b. (See Figures 1 and 3).
  • the power supply transformer lib is preferably installed at many points in the work transfer system 1 within a range that does not make the system too complicated, in that the power supply points can be dispersed.
  • Self-propelled work The work pallet 2 is preferably installed inside the work stations 5 a to 5 c, which often stop, rather than outside the work stations 5 a to 5 c where the pallet 2 often moves. Les ,. When installed at work stations 5a to 5c, the work work stop position and the power supply position will be aligned, so there is no need for a separate stop time for power supply, improving work efficiency. It is suitable in this respect. It is also preferable in that the process layout in the work transfer system 1 can be made useless and space can be saved.
  • the non-contact power supply device (referred to as “power supply transformer 11a”) provided on the side of the self-propelled work transfer pallet 2 is used when the self-propelled work transfer pallet 2 stops or passes through. It is installed on the back of the self-propelled work transfer pallet 2 so that it can receive power by electromagnetically coupling to the power supply transformer lib (see Fig. 3).
  • the channel-shaped rails 3a and wheels 6 are used to make the self-propelled work transport pallet 2 easy to travel while maintaining a horizontal position, and the non-contact power supply device 11 is moved up and down.
  • the transformer gap between the pair of power supply transformers 11a and 11b is less likely to fluctuate, and stable power supply is possible.
  • a contact-type power supply device is provided in addition to the contactless power supply device 11, the contact-type power supply device 11 can be used only in an emergency such as when the contactless power supply device 11 does not function. The device can be operated and charged quickly.
  • the control circuit 21 built in the self-propelled work transfer pallet 2 is a device for regulating the operation of the self-propelled work transfer pallet 2, for example, a CPU. Performs various controls such as management, communication management, power management (including power saving management), and storage of parameters in accordance with programs not shown but previously stored in ROM or RAM or downloaded as needed. .
  • the “parameters” used here refer to differences in the performance and specifications of the self-propelled work transfer pallet 2, such as defects that may occur due to differences due to variations that may occur during manufacturing, or the self-propelled work transfer pallet 2 or work. Numerical values related to dynamic changes in the process of step 4 that are necessary for correction, and include the above-mentioned unique information (ID number).
  • the numerical value relating to the dynamic change of the self-propelled work transfer pallet 2 or the work 4 in the process is, for example, dynamically determined according to ⁇ K or NG of the work result at the work station 5.
  • This is the destination process number when the destination process number is stored in the self-propelled work transfer pallet 2 to switch the destination process.
  • the control circuit 21 can transmit parameters to each of the work stations 5a to 5c so that the work content and the transport route can be appropriately determined and changed if necessary. Further, the control circuit 21 can rewrite the parameters stored by the parameter storage function.
  • power management when the power supply of the battery 8 is insufficient, the work stations 5a to 5c are notified and the self-propelled work transport pallet 2 is operated even when the work on the work 4 is completed. Control to prevent starting is mentioned. ⁇
  • the work stations 5 a to 5 c are used for processes sequentially performed on the work 4, for example, Booths for assembly, processing and cleaning.
  • those having intelligence for controlling the self-propelled work transfer pallet 2 can be used, but the work stations 5a to 5c of the present embodiment have such intelligence. It is provided between the self-propelled work transfer pallet 2 stopped at a predetermined position and the station controller 10 so as to secure communication between them.
  • Each of the work stations 5a to 5c has a station controller (for example, an electronic computer such as a personal computer) that transmits an operation signal of the self-propelled work transfer pallet 2 to each of the work stations 5a to 5c. Is connected (see Fig. 9).
  • the station controller 10 in the present embodiment can detect the work placement portion ID / presence detection sensor 22, the inter-vehicle sensor 23, the stop position detection sensor 2. 4, stop position reflector 25, communication device 26, deceleration prohibitionDeparture command sensor 27, deceleration prohibitiondeparture command LED 28, vehicle speed sensor 29, entry prohibition LED 30, passing direction detection sensor 3 1 Detects and controls the transport pallet presence / absence detection sensor 32, etc.
  • the station controller 10 is a control means that communicates with the self-propelled work transfer pallet 2 through the work stations 5 a to 5 c and controls the self-propelled work transfer pallet 2.
  • An operation signal based on the processing procedure program is transmitted to Palette 2 to instruct forward or backward movement.
  • the operation signal transmitted here is such that a different operation is performed for each self-propelled work transfer pallet 2 based on the unique information in the memory of the control circuit 21.
  • the station controller 10 of the present embodiment can be separated from the work transfer system 1 after transmitting the operation signal, and is separated when not necessary.
  • the station controller 10 communicates with each of the work stations 5a to 5c, and the presence or absence of the self-propelled work transfer pallet 2 in the work stations 5a to 5c or in the work stations 5a to 5c.
  • the operating status of a plurality of self-propelled work transfer pallets 2 can be monitored simultaneously.
  • the operating states of the plurality of self-propelled work transport pallets 2 at each of the work stations 5a to 5c can be simultaneously monitored.
  • the station controller 10 is capable of transporting self-propelled workpieces on the work stations 5a to 5c.
  • the unique information of the sending pallet 2 can be read out via the work stations 5a to 5c.
  • the station controller 10 can store and retain the transfer histories of the plurality of self-propelled work transfer pallets 2 at the plurality of work stations 5a to 5c, and perform an appropriate operation based on the transfer histories. It is possible to transmit signals.
  • the processing procedure program stored in the station controller 10 is transmitted by a higher-level device connected to the station controller 10 via a network (the higher-level device is indicated by reference numeral 47 in FIG. 20). .
  • the host device does not need to be connected to the station controller 10 at all times, but only needs to be connected when necessary, for example, to transmit a processing procedure program.
  • the higher-level device has data transfer means such as a cable and an interface for transferring data with the station controller 10.
  • the supply form of the processing procedure program is not limited to this as long as the desired processing procedure program can be installed in each station controller 10.
  • the processing procedure is sent from the server to each station controller 10 as a client.
  • the form which transmits a program may be sufficient.
  • a server on the Internet for example, a network server that downloads a processing procedure program to each station controller 10 corresponds to the server.
  • the processing procedure program stored in a recording medium such as a CD_ROM may be directly installed in each station controller 10 without going through such a server at all.
  • the work placement part ID / presence detection sensor 22 detects whether the work placement part 9 on the self-propelled work transfer pallet 2 is present and the work placement part 9 when the work placement part 9 is placed.
  • the sensor attached to 9 can detect the ID, and is composed of, for example, an optical sensor provided above the main body 2a of the self-propelled work transport pallet 2.
  • the work transfer system 1 of the present embodiment automatically determines which route and timing the self-propelled work transfer pallet 2 should travel based on a signal from the work placement part ID and the presence / absence detection sensor 22. For example, when a departure command is issued to the self-propelled work transport pallet 2 without the work mounting part 9, it is possible to make a decision such as moving to a station where the work mounting part 9 is inserted. .
  • This work receiver ID The ID of the work placement unit 9 detected by the presence / absence detection sensor 22 is notified to the station controller 10 via the communication device 26. Therefore, in the work transfer system 1 of the present embodiment, there is no need to directly exchange signals between the work placement unit 9 and the work stations 5a to 5c.
  • the work placement part ID and presence / absence detection sensor 22 it is possible to detect a poor positioning of the work placement part 9, and to half-float the work placement part 9 (the work placement part 9 is located above the main body part 2 a). It is also possible to detect a transport failure caused by a situation such as being not completely settled in a predetermined position and slightly floating or tilting).
  • the work placement unit ID and presence / absence detection sensor 22 are composed of a photo interrupter (not shown) installed on the self-propelled workpiece transfer pallet 2 and a light shielding plate (not shown) provided on the work placement unit 9.
  • the inter-vehicle sensor 23 is a sensor for preventing the self-propelled work transfer pallets 2 from colliding with each other and preventing damage, vibration, and dust generation that may occur at the time of collision.
  • the traveling work transfer pallet 2 is stopped or restarted on the rail 3a (and the detour rail 3 ') outside the work stations 5a to 5c.
  • the rail 3a (and the detour rail 3 ') functions as a buffer area for preventing collision and interference of the self-propelled work transport pallet 2.
  • the number of self-propelled work transfer pallets 2 that can be operated in the system is not limited to the number of work stations 5 by the operation of the inter-vehicle sensor 23.
  • the required number of self-propelled work transport pallets 2 can be run simultaneously according to the tact time, that is, the length of work time at each work station 5.
  • the inter-vehicle sensor 23 of the present embodiment receives the entry prohibition signal emitted from the entry prohibition LED 30 to prohibit the self-propelled work transport pallet 2 from entering the predetermined work stations 5a to 5c.
  • the inter-vehicle sensors 23 are provided on at least one of the front and rear sides of the main body 2a of the self-propelled work transfer pallet 2, and preferably on both the front and rear sides.
  • the self-propelled work transport pallet 2 when it is installed on both the front and rear sides substantially moves forward and backward. Is possible.
  • the front and rear inter-vehicle sensors 23, various sensors, and external interfaces such as the power supply transformer 11a are point-symmetric with respect to the center of the main body 2a before and after the self-propelled work transfer pallet 2. It is preferable that they are arranged as follows. In this case, the direction of the self-propelled work transfer pallet 2 is negated, that is, the vehicle can travel in the same direction in both the front and rear directions, and is used without any change in the external interface even if the front and rear are switched. can do. In such a case, it is preferable in that the space of the substrate can be saved and the number of sensors can be reduced.
  • the external interface of the self-propelled work transfer pallet 2 is arranged point-symmetrically, the interfaces of the work stations 5a to 5c are also arranged point-symmetrically.
  • the stop position detection sensor 24 is a sensor for stopping the self-propelled work transfer pallet 2 at a set position (for example, a position where work on the work 4 is performed in the work stations 5a to 5c).
  • a set position for example, a position where work on the work 4 is performed in the work stations 5a to 5c.
  • two optical sensors are used as the stop position detection sensors 24 as shown in FIGS. 3 and 4 on the back surface of the main body 2a of the self-propelled work transfer pallet 2 in the vertical direction (this position).
  • the vertical direction is a direction that coincides with the traveling direction of the self-propelled work transport pallet 2).
  • a stop position reflecting plate 25 is provided at the bottom of the rail 3a and opposite to the stop position detection sensor 24 as a marker for indicating the stop position of the self-propelled work transfer pallet 2.
  • the stop position reflecting plate 25 is formed slightly longer than the interval between the two stop position detecting sensors 24 described above, and both of the two stop position detecting sensors 24 are provided with the stop position reflecting plate 25.
  • the self-propelled peak transport pallet 2 is stopped when it is located in the area of the above.
  • the surface of the band-shaped marker including the stop position reflection plate 25 is painted, for example, in a black portion and a white portion, and the stop position detection sensor 24 is informed of the stop position by the presence or absence of reflected light.
  • the white portion functions as the stop position reflection plate 25.
  • the stop position of the self-propelled work transfer pallet 2 can be easily adjusted only by finely adjusting the position and length of the reflector.
  • a light shielding plate 39 is used in place of the band-shaped marker, and the stop position detection sensor 24 is a transmission type sensor. (See Figures 4 and 5).
  • the communication device 26 includes a communication sensor 26 a provided on the back surface of the main body 2 a and a communication sensor 26 b provided in the work stations 5 a to 5 c so as to face the communication sensor 26 a.
  • Various types of information are exchanged between the control circuit 21 of the self-propelled work transfer pallet 2 and the station controller 10 connected to each of the work stations 5a to 5c. , Departure command, notification of status (state or status) such as charge amount, parameter transfer, etc.
  • the communication sensors 26 a and 26 b are sensors that perform non-contact communication, for example, infrared communication sensors, which are prevented from interfering with a nearby self-propelled work transport pallet 2 having the same function. .
  • Deceleration prohibition ⁇ Departure command sensor 27 is a sensor that detects a pass command and departure command issued to the self-propelled work transfer pallet 2, and as shown in Fig. 3, front of the back of the main body 2a. It consists of a total of two sensors provided on each side.
  • deceleration prohibition means for example, two deceleration prohibitions that issue commands by emitting light '' A departure command LED 28 is provided (see Fig. 7).
  • deceleration prohibition ⁇ Departure command sensor 27 and deceleration prohibition ⁇ Departure command LED 28 are used to prevent the self-propelled work transfer pallet 2 from stopping in the work station 5 that does not need to be stopped. Improve or maintain the work time in 5.
  • the vehicle speed sensor 29 is a sensor for detecting the vehicle speed of the self-propelled work transfer pallet 2 or both the vehicle speed and the position.
  • the non-driving wheel 6 is used. It is configured by a sensor such as an encoder provided inside the self-propelled work transfer pallet 2 to detect the rotation of the work (see Fig. 3).
  • the entry prohibited LED 30 emits an entry prohibited signal when it is necessary to prevent the self-propelled work transport pallet 2 from entering the work stations 5a to 5c.
  • the transport system 1 is installed at the front and rear sides of the work stations 5a to 5c, respectively, as shown in FIGS. 3 and 7, so that light can be emitted toward the front and rear of the work stations 5a to 5c, respectively. I have to.
  • the case where it is necessary to prevent the self-propelled work transport pallet 2 from entering the work stations 5a to 5c is, for example, the case where the work stations 5a to 5c are not ready for receiving. And so on.
  • the passing direction detecting sensor 31 detects a line malfunction by detecting the passing direction or the approaching direction of the self-propelled work transfer pallet 2, and is opposed to the stop position detecting sensor 24 as shown in FIG. 3, for example. It is provided in the work stations 5a to 5c so that The passing direction detection sensor 31 of the present embodiment is composed of a pair of sensors arranged in the front-rear direction as shown in the figure, and detects a signal when the stop position detection sensor 24 passes, and detects a self-propelled workpiece. Read the passing direction or approach direction of the transport pallet 2.
  • detection of line malfunction means detecting the approach direction of the self-propelled work transfer pallet 2 and checking whether the work 4 is transferred as expected, that is, whether the line is flowing normally. It means that.
  • the transport pallet presence / absence detection sensor 32 is a sensor for detecting the presence / absence of the self-propelled work transport pallet 2 in the work stations 5a to 5c. 2 Turn on / off the communication in 6.
  • the transport pallet presence / absence detection sensor 32 of this embodiment is a self-propelled workpiece transport sensor.
  • the work pallets 2 are provided in the work stations 5a to 5c so that the bottom surface of the pallet 2 is detected by reflection of infrared rays.
  • a reflection plate for reflecting infrared rays may be provided at a position of the self-propelled work transport pallet 2 facing the transport pallet presence / absence detection sensor 32.
  • a circuit block is shown in FIG. 9 as an example of a connection form between the sensors such as the headway sensor 23 and the control circuit 21.
  • the control circuit 21 communicates with each element as follows. That is, an LED lighting command is issued to the inter-vehicle sensor 23, and the sensor signal is input. Infrared communication is performed with the communication device 26. Deceleration prohibited ⁇ Receives signal input from departure command sensor 27. Sends the LED lighting command to the stop position detection sensor 24 and receives the stop position detection signal. Workpiece placement section ID An LED lighting command is issued to the presence / absence detection sensor 22 to input the workpiece placement section ID and the work placement section ID output by the presence / absence detection sensor 22 or the presence / absence detection result of the work placement section 9 Receive.
  • a drive signal is transmitted to the motor driver 33 to drive the motor 7 and monitor the motor current.
  • a LED lighting command is issued to the vehicle speed sensor 29, and a QEP (Quadrature Encoder Pulse) is received.
  • the timer 34 generates an interrupt signal to operate the control circuit 21 that has been in the low current consumption state (stop state) again.
  • the interrupt can be disabled by the interrupt disable signal from the control circuit 21. That is, when an interrupt is unnecessary, for example, when the self-propelled work transport pallet 2 is running, an interrupt disable signal can be issued from the control circuit 21 to the timer 34 to disable the interrupt.
  • a power supply stop command signal is sent to the power supply control circuit 35, and the battery voltage of the battery 8 is monitored.
  • an operation mode switching signal is output to the DC / DC converter 36, and the DC / DC converter 36 is operated in an optimum state with respect to current consumption. Further, it transmits and receives signals to and from the EP 37 and ROM 38.
  • the self-propelled work transfer pallet 2 in the present embodiment has a wheel cover (skirt) 19 provided so as to cover the wheels 6 as shown in FIG.
  • the wheel force bar 19 prevents the dust generated by the contact between the wheels 6 and the rails 3a from traveling on the self-propelled work transfer pallet 2 to the surface on which the work 4 is placed and adheres. prevent.
  • the direction changing devices 16a and 16b and the merging device 17 have the following structures. That is, at the branch point, direction change point, and merging point, as shown in Fig. 10, a rail is cut and a turnable portion (hereinafter referred to as “turnable rail 3r”) is provided. This turnable rail 3r is turned 90 degrees. ''
  • the revolvable rail 3 r is longer than the wheel base of the front and rear wheels 6 of the self-propelled work transfer pallet 2 and the total length of the main body 2 a. It is possible to turn while stopped (without stopping in some cases).
  • the gap between the rotatable rail 3r and the rail 3a (or the detour rail 3 ') is made as small as possible, and It is preferable to allow passage.
  • the work transfer system 1 of the present embodiment has a structure in which a transfer path is formed by combining the rail 3a or the detour rail 3 'with the branching device 15, the direction change device 16 and the junction device 17. Therefore, there is an advantage that the transfer route can be easily changed even after the connection is once laid. Furthermore, the pitch between processes (between each work station) can be changed by appropriately changing the length of the rail 3a, so that it is possible to flexibly respond to changes in design and specifications. It is also easy to set points such as branching, merging, and dead ends.
  • each self-propelled work transfer pallet 2 can run asynchronously without being synchronized between each pallet, it is possible to perform one-shot machining (synchronization of each work transfer pallet). This eliminates the need for large-scale equipment, such as a device that synchronously feeds each workpiece 4 used in the process of running while running), which is advantageous both in space and cost.
  • the self-propelled work transport pallet 2 even if the tact balance is poor, for example, the work time (tact time) at any one of the work stations 5 is long, other processes can be performed without being affected by the tact balance.
  • the work transfer system can be stopped even if the operation is stopped in any process. Therefore, it is suitable for improving the operation rate of the work transfer system 1.
  • a self-propelled work transfer Since no power is supplied to the unit 2 except by the non-contact power supply device 11, dust generation due to power supply (power supply) does not occur.
  • power supply power supply
  • the present invention is not limited to this, and various modifications can be made without departing from the gist of the present invention.
  • the rail shape or structure is not particularly limited to such an integrated structure. That is, in this embodiment, the rails 3a are provided on the left and right of the traveling path of the self-propelled work transfer pallet 2, and the center of gravity of the self-propelled work transfer pallet 2 is positioned below the track surface of the rail 3a.
  • the cross-sectional shape can be H-shaped or the like (not shown).
  • the rails 3a are divided into plate members 3d on both sides constituting the rails 3a and connection members 3e for connecting these plate members 3d to secure the width dimensional accuracy between the rails.
  • a dividable structure that is combined and integrated can also be used. In the case of such a structure that can be divided, each member can be formed separately, which is advantageous in that it is easy to manufacture at a low cost and easy to transport as compared with the case of an integral structure.
  • the track 3 formed by the rails 3a described so far is all linear, and the self-propelled work transfer pallet 2 is configured to be turned using the turning device 18; It is also possible to provide a force-like trajectory 3 in the system 1 so that the direction is gradually changed.
  • the curved orbit 3 will be described with reference to FIGS.
  • the plate-shaped member 40 is cut out along the traveling locus of the self-propelled work transfer pallet 2 as shown in the figure to form a track 3 for guiding the self-propelled work transfer pallet 2. I have.
  • the cut-out plate members 40 are supported by the support rods 41, respectively. Like this board
  • the track 3 is formed by cutting out the shape member 40, freer and more precise processing can be performed by using laser light, NC milling, or the like.
  • such a curve of the track 3 may suppress the sudden change of the acceleration, thereby minimizing the danger of the workpiece 4 dropping and the self-propelled work transport pallet 2 coming off the wheel.
  • a curve shape for example, a clothoid curve (a spiral curve called a spiral of Cornu) is preferable.
  • an appropriate concave portion is provided on a side portion of the main body 2a of the self-propelled work transfer pallet 2 which may interfere with the rail 3a during the curve.
  • the track 3 is curved as shown in FIGS. 12 and 13, as shown in FIG. 14, each corner of the main body 2a and the side near the center of the main body 2a A concave portion 42 is provided in each part. In this case, the main body 2a can be prevented from interfering with the rail 3a during the curve (see Fig. 15).
  • the self-propelled work transfer pallet 2 is separated from the rail 3 a by another rail 3 a (or by-pass rail 3 ′). ), The self-propelled work transport pallet 2 is turned using the turning device 18 and then moved, but the device for the movement is not limited to this.
  • the device for the movement is not limited to this.
  • a track slide device 43 for placing the self-propelled work transfer pallet 2 and selectively sliding between the two rails 3a can be used.
  • the track slide device 43 is, for example, a slide that slides on the guides 43 a while being provided with a plurality of rails 3 a and guides 43 a provided vertically and a self-propelled work transfer pallet 2.
  • the rail 43 b and a drive source (not shown) that slides the slide rail 43 b can be used.
  • a plurality of rails 3a are arranged vertically and branch from one rail 3a to the upper or lower rail 3a, or vice versa.
  • the self-propelled work transport pallet 2 is placed on the rail to selectively move up and down between these upper and lower rails 3a.
  • Road lifting devices 4 4 can be used.
  • the track lifting device 44 includes a vertically provided guide 44 a, a lifting rail 44 b that moves up and down along the guide 44 a while attaching the self-propelled work transfer pallet 2, and A drive source (not shown) that raises and lowers the lift rail 44 b can be used.
  • a certain gap is left formed between the connecting portions of the rails, but another member for connecting the ends of the rails may be provided.
  • a channel-shaped connecting member 45 can be connected so as to straddle both ends of the rails 3a. In this case, horizontal and vertical errors of both rails 3a can be absorbed. In addition, the time for installing the rail 3a can be reduced.
  • the rail 3a may be connected by a connecting member 45 having an L-shaped cross section as shown in FIG.
  • the connecting member 45 can be attached to the rail 3a so as to be directed obliquely from above, so that the rail installation time can be further reduced.
  • Eliminating the rails from protruding into the inside of the rails reduces the generation of dust caused by friction between the wheels 6 and the stoppers 6a, and reduces friction to reduce running torque.
  • Reference numeral 46 in FIG. 19 denotes punching metal.
  • the track 3 is not limited to a rail type for physically guiding the self-propelled work transfer pallet 2 as described above, and may be an optically guided or magnetic type using light. It is also possible to provide guidance by using.
  • the work transfer system 1 transfers a work 4 to, for example, a work station 5 by a self-propelled work transfer pallet 2 that runs on a track 3.
  • the work transfer system 1 of the present embodiment includes a station controller 10 provided corresponding to the work station 5.
  • the work station 5 shown below has means for indicating the stop of the self-propelled work transfer pallet 2 and performs assembly, processing, washing, etc. on the work 4. There is a case where it is installed in the work area, a case where it is installed at the intersection on track 3 (see Fig. 15), etc., but it is not limited to these, and it can be installed at any position if it is on track 3. ⁇
  • the work station 5 has means for instructing the stop of the self-propelled work transfer pallet 2 as described above.
  • reference numerals 5A, 5B, and 5C are used. The three shown are arranged in series (see Figure 21).
  • the rails 3a passing through the work stations 5A to 5C are laid in a track shape so as to go around.
  • a work station equipped with intelligence for controlling the self-propelled work transfer pallet 2 can be used, but the work station 5 of the present embodiment does not have such intelligence, and It is provided between the stopped self-propelled work transport pallet 2 and the station controller 10 so as to secure communication between them.
  • FIG. 21 it is assumed that the station controller 10 is included in each work station 5.
  • Each work station 5 is connected to the network by a line 49 in FIG.
  • Each work station 5 is provided with a stop position reflector 25 as a means for instructing the self-propelled work transfer pallet 2 to stop. Further, each work station 5 is connected to a station controller 10 for transmitting an operation signal of the self-propelled work transfer pallet 2 to the work station 5 (see FIG. 20).
  • the station controller 10 according to the present embodiment, alone or in cooperation with the above-described control circuit 21, performs the work placement section ID / presence detection sensor 22, the inter-vehicle sensor 23, and the stop position detection sensor 24.
  • Stop position reflector 25 communication device 26, deceleration prohibitionDeparture command sensor 27, deceleration prohibitionDeparture command LED 28, vehicle speed sensor 29, entry prohibition LED 30, passing direction detection sensor 31, Detects and controls the transport pallet presence detection sensor 32, etc.
  • the work station 5 is provided with a port 48 which is connected to another work station 5 and forms an entrance / exit of the self-propelled peak transport pallet 2.
  • a second port indicated in the work stearyl Shiyon 5 If A code A, the first port and the code A 2 shown by, as shown in Table 1, the first port A 'work stations 5 second B Poe And preparative B 2, the second port A 2 is (are indicated as simply "stearyl one Deployment J the working station in the table) the work station 5 the first port C and C, and are connected by rails 3 a, respectively. '
  • the work station 5B is as shown in Table 2 and the work station 5C is as shown in Table 3.
  • connection modes in Tables 1 to 3 are stored in each station controller 10 as connection information.
  • the station controller 10 communicates with the self-propelled work transport pallet 2 passing through the work station 5 or stopped at the work station 5 via the work station 5 and communicates with the self-propelled work transport pallet 2. It is a control means for controlling. As shown in FIG. 20, in this embodiment, three station controllers denoted by reference numerals 10 A, 10 B, and 10 C correspond to the work stations 5 A, 5 B, and 5 C, respectively. The station controllers 10A to 10C correspond to the work stations 5A to 5C, respectively, so that distributed control can be performed. The station controller 10 of the present embodiment forms a so-called bus-type network connected to the other station controllers 10 and the host device 47.
  • the station controller 10 is a storage device for storing the processing procedure program.
  • a step and an execution means for executing the processing procedure program are provided, and an operation signal based on the processing procedure program is transmitted to the self-propelled work carrier pallet 2 to instruct an operation such as forward or backward movement.
  • the operation signal is transmitted based on the unique information stored in the storage means of the self-propelled work transfer pallet 2 so that the self-propelled work transfer pallet 2 performs a different operation.
  • the station controller 10 is a communication device that communicates with the self-propelled work transfer pallet 2 via the work station 5, and the data that exchanges data with the self-propelled work transfer pallet 2 and the host device 47.
  • a detection device for detecting the presence or absence of the self-propelled work transfer pallet 2 in the corresponding work stations 5A to 5C.
  • the station controllers 10A to 10C read the unique information of the self-propelled work transfer pallet 2 on the corresponding work stations 5A to 5C via the work stations 5A to 5C, An appropriate operation signal is transmitted based on the unique information of the self-propelled work transfer pallet 2. Further, the station controller 10 receives a predetermined processing procedure program from the host device 47. ''
  • the host device 47 is a device that is connected to the station controller 10 via a network and has a transmission means as a server that transmits a processing procedure program to each station controller 10.
  • each of the station controllers 10 is connected to the host device 10. They are connected as shown in Fig. 20 to form a bus-type network.
  • the host device 47 does not need to be always connected to the station controller 10 and only needs to be connected when necessary, such as when transmitting a processing procedure program.
  • the host device 47 has a data exchange device for exchanging data with the station controller 10. It is preferable that the host device 47 has an input means for inputting the processing procedure program to the station controller 10 in that the program can be directly input.
  • the host device 47 has simulation means capable of simulating the movement of the self-propelled work transfer pallet 2 based on the processing procedure program transmitted to the station controller 10, the self-propelled work transfer pallet 2 can be actually used. It is preferable that the running state can be simulated before the vehicle is driven. Furthermore, the host device 47 is configured to execute or interrupt the processing procedure program transmitted to the station controller 10. If this is not the case, the program can be executed or interrupted not only from the station controller 10 but also from the host device 47, which is preferable.
  • Each station controller 10 executes a processing procedure program based on the flowchart shown in FIG.
  • the processing procedure program is common to each station controller 10.
  • the station controller 10 waits until the self-propelled work transfer pallet 2 arrives at the work station 5 (step 1).
  • the station controller 10 confirms the arrival of the self-propelled work transport pallet 2 by the transport pallet presence / absence detection sensor 32 provided in the work station 5.
  • the work mounting portion 9 is removed from the main body 2 a of the self-propelled work transfer pallet 2 and positioned at a predetermined position in the work station 5. Is done.
  • the positioning of the work placement unit 9 is completed, this is notified to the operator (step 2).
  • the workers in this case are those who actually assemble the work 4 and include not only humans but also mouth pots.
  • the operation waits until the operation completion notification is issued from the operator (step 3).
  • the station controller 10 (for example, the station controller 1 OA), which has been notified of the completion of the work, releases the positioning of the work placement unit 9 and, based on the connection information held, the next station controller 10 (for example, the station controller 1 OA). 10B) can be occupied by the work station 5B (that is, when the work station 5B is empty and the self-propelled work transfer pallet 2 currently waiting at the work station 5A is the second work station). Inquire about the force that can advance to 5B (Step 4)
  • the station controller 10 (for example, the station controller 10B) that has received the inquiry sends the work station 5B a self-propelled work transport pallet 2 to the work station 5B.
  • the station controller 1 OA that has been approved is a self-propelled work transfer pallet.
  • the start instruction is issued to Step 2 (Step 5), and the vehicle is started toward the connection destination station 5 (Work station 5B) At this time, the occupation state of the current work station 5A is released, and the next self-propelled work transfer palette is released. 2 can be entered, and the self-propelled work transfer The system enters a standby state waiting for the arrival of the packet 2 (step 1).
  • the same processing procedure program is executed in each of the station controllers 10 and the data (connection information) in Tables 1 to 3 is transmitted to the respective station controllers.
  • Holding at 10 allows multiple self-propelled work transport pallets 2 to be transported as if they were synchronized.
  • Conventional single feed machining Synchronous transport as used in the process of running while running.
  • the station controllers 10 exchange inquiry and permission data on whether or not the work station is occupied, (2) store the read-in information sent from the host device (47), and (3) process based on the connection information.
  • the self-propelled work transfer pallet 2 can be moved and the work 4 can be transferred.
  • the self-propelled work transfer pallet 2 can be started without waiting for the permission of the next station controller 10 so that free flow in the conveyor transfer can be performed.
  • Operation equivalent to transfer (a type of asynchronous transfer method in which only the work is hooked at a predetermined position and stopped when the work is individually transferred by the conveyor) can be performed. In this case, the operation is the same as step 4 in the flowchart shown in FIG.
  • the work transfer system 1 in this embodiment is similar to the first embodiment in that work stations 5A to 5C are connected in series. After completing step 3, another step (step 4) is performed again at the central work station 5B. Therefore, in the second embodiment, the self-propelled work transfer pallet 2 that has advanced to the work station 5C returns to the work station 5B at once, passes through the recycle work station 5C after the end of the process 4, and ends. To move on. In this case, if the self-propelled work transfer pallet 2 enters the work station 5B before the self-propelled work transfer pallet 2 completes the process 3 at the work station 5C (see FIG. 24).
  • the self-propelled work transport pallet 2 is operated as follows to avoid deadlock.
  • the preceding self-propelled work transfer pallet 2 occupies one of the work station 5B and the work station 5C, or is located on the rail 3a between the work stations 5B and 5C.
  • the subsequent self-propelled work transfer pallet 2 waiting at the work station 5A should not be launched from this work station 5A.
  • the self-propelled work transfer pallet 2 goes to work station 5C after completing step 2 at work station 5B, and then empties work station 5B, but ends step 3. And returns to work station 5B again, as shown in Figure 26.
  • the process definition table consists of items of “process number”, “route to own process”, “station occupied at departure”, “opening station at departure” and “next process number”. “Step number” corresponds to steps 1 to 4 shown in FIG. Although not shown, the fourth work station is designated as 5D, and the number of the process performed here is designated as 5.
  • the “path to own process” means that when the self-propelled work transport pallet 2 advances from the previous process to the current process (own process), it passes through which port 4 8 of which work station 5 to the current work station 5 Indicate if you ’ve moved I have.
  • the “occupation station at the time of departure” indicates a work station that is occupied by the self-propelled work transfer pallet 2 departed from the current work station 5 (including a case where the work pallet 2 simply passes through).
  • the “opening station at departure” refers to the work station 5 currently occupied by the self-propelled work transport pallet 2, which is opened (vacant) by leaving.
  • Each of the station controllers 10A to 10C stores, in addition to the connection information shown in the first embodiment, the contents of a process definition table relating to the work stations 5A to 5C. Further, the self-propelled work transfer pallet 2 stores the current process number of the self-propelled work transfer pallet 2 by a built-in storage means.
  • Each station controller 10 in the present embodiment executes a program based on the flowchart shown in FIG. That is, wait for the self-propelled work transfer pallet 2 to arrive at the corresponding work station 5 (for example, the work station 5A for the station controller 10A) (step 11). When arrives, the current process number is obtained from the self-propelled work transfer pallet 2 (step 12). Then, it is determined whether the corresponding work station 5 is a work station corresponding to the obtained process number (step 13). If the corresponding work station 5 is not applicable, the process immediately proceeds to step 18 to obtain the departure port 48 and start the departure operation.
  • the third work station 5C in which the self-propelled work transfer pallet 2 merely passes through when completing the step 4 and proceeding to the step 5, is a self-propelled work transfer pallet. No work such as assembling is performed for 2 and this corresponds to “when the corresponding work station 5 is not applicable”.
  • step 14 The worker is notified that the work transport pallet 2 has arrived (step 14), and waits until the work such as assembling and working on the work 4 is completed (step 15).
  • step 15 the information of the above-mentioned "station at departure” and "opening station at departure” is obtained based on the process number (step 16).
  • step 17 the process number stored in the self-propelled work transfer pallet 2 is rewritten and updated to the next process number (step 17).
  • the departure port 48 is obtained (determined) from the updated “route to own process” data of the process number (step 18). After obtaining the departure port, determine the next work station 5 based on the connection information. Further, it is checked whether the “occupied station at departure” obtained in step 16 and the next work station 5 determined based on step 18 can be occupied (step 19). When it is confirmed that the departure occupation station and the next work station 5 can be occupied, a departure instruction is issued to the self-propelled work transfer pallet 2 (step 20). The work station 5 is opened when the self-propelled work transfer pallet 2 starts. Thereafter, the station controller 10 returns to the state of waiting for the arrival of the self-propelled work transfer pallet 2 again (step 11).
  • the same program is stored in each station controller 10 and the connection information shown in the first embodiment and the process definition table shown in Table 4 are used.
  • the data for each station controller 10 it is possible to cope with a complicated transport operation including the return operation as described above, for example.
  • the processing procedure program is transmitted from the host device 47 connected to the network to each of the station controllers 10, but a desired program can be installed in each of the station controllers 10.
  • the supply form of the program is not limited to this.
  • a form in which the program is transmitted from the server to each station controller 10 as a client may be used.
  • a server on the Internet for example, A network server or the like that downloads the processing procedure program to the station controller 10 corresponds to this.
  • the processing procedure program stored in a recording medium such as a CD-ROM may be directly installed in each station controller 10 without going through such a server at all.
  • the approach to the four sides of the intersection The opening (exit) and the provision of a work station 5 at each intersection also require a self-propelled work transport pallet 2 entering or exiting the intersection, or a self-propelled work transport pallet 2 located within the intersection.
  • Monitoring and controlling are preferable in that collisions at intersections are prevented and smooth work transfer is ensured.
  • the station controllers 10 are provided in a one-to-one correspondence with the respective work stations 5, but this is a preferable example, and the station controllers 10 are not necessarily one-to-one.
  • the station controllers 10 are not necessarily one-to-one.
  • a plurality of work stations 5 can be controlled by one station controller 10, and the correspondence can be changed as appropriate according to the number and form of the work stations 5.
  • the completed work transfer pallet 2 will be described.
  • a case where the work transfer pallet 2 is a self-propelled type will be described as in the above-described embodiment, but this does not mean that the applicable range is limited to such a self-propelled type.
  • the self-propelled work transport pallet 2 shown in the present embodiment is a clamping device 5 comprising a work mechanism 50 and an operating mechanism 51 for operating the clamp mechanism 50 in a clamped state or an unlocked state. Has 2 are doing.
  • the clamp mechanism 50 clamps the workpiece 4 by using the elastic force of the elastic member 53.
  • the operation mechanism 51 does not receive any action
  • this state is referred to as a “clamp state”
  • the work 4 receives the action from the operating mechanism 5, it is moved or deformed and clamped.
  • the state in which the clamp is released is referred to as an “unclamped state”.
  • the elastic member 53 is a member for applying elastic force for clamping the work 4.
  • two leaf spring fixing blocks 5 4 fixed on the work placing portion 9 are provided.
  • leaf spring 53 A leaf spring spanned between them is used as the elastic member 53 (hereinafter, referred to as “leaf spring 53”).
  • the leaf spring has two leaf springs with one surface facing the work 4 and when the operating mechanism 51 is not operated (that is, when it is not being acted upon externally but is in a free state).
  • the fixed block 54 is mounted so that it elastically deforms on the opposite side of the work 4 and generates an elastic force in the direction of the work 4 in a slightly curved state (see Fig. 32).
  • a work clamp portion 55 for clamping the workpiece 4 directly or indirectly via another member is attached to a slightly curved central portion of the leaf spring 53.
  • the leaf spring 53 is attached to the elastic member mounting surface 54a of the leaf spring fixing block 54 at both ends, the central portion thereof is perpendicular to the elastic member mounting surface 54a. (In this case, the direction in which the work 4 approaches or moves away from the position to be clamped, and is indicated by an arrow A in FIGS. 30 and 31). Therefore, the work clamp portion 55 attached to the central portion of the leaf spring 53 has a direction in which the work 4 is clamped as the leaf spring 53 is deformed so as to bend and a direction in which the work 4 is unclamped conversely. Moving.
  • one side of a pair of mounting screws 54 b for mounting the leaf spring 53 to the leaf spring fixing block 54 has a slight gap, for example, about 0.5 mm with respect to the leaf spring 53. It is preferable that they are provided in a floating state so as to be formed (see FIG. 32). In the present embodiment, a state where the leaf spring 53 is easily deformed and plastic deformation is prevented is ensured by floating one of the mounting screws 54 b in this manner.
  • the self-propelled work transfer pallet 2 of this embodiment places two works 4, 4 at a time. (See Fig. 30).
  • the work clamp part 55 is provided with two press-contacts 56, 57 arranged in an L-shape so that they can be pressed against each of the works 4, 4 and clamp these two works 4, 4 at the same time. Is provided.
  • the work clamp 55 moves until it hits a stop block 58 attached to the work placement unit 9.
  • the abutment block 58 is screwed to the work mounting part 9 by two screws 58b inserted into the elongated hole 58a, and the abutment block 58 is loosened by loosening the screw 58b. Can be adjusted in the direction of arrow A in the figure.
  • the clamped state referred to in this specification includes not only the state in which the press contacts 56 and 57 are brought into contact with the work 4 to actually clamp the work 4 but also the press contact 5 which has moved to the innermost position. This includes the state where a slight pallet clearance C is formed between 6, 57 and work 4 (see Fig. 33). If a slight palette clearance C is formed between the pressure welders 56 and 57 and the work 4 as in the latter case (see FIG. 33), the work 4 is transferred by the self-propelled work transfer pallet 2. Although the work 4 is not directly tightened, the work 4 can be transported so as not to deviate from a predetermined mounting position.
  • the two works 4, 4 are mounted on a mounting block 59 fixed on the work mounting section 9 (see FIG. 30 and the like).
  • the mounting block 59 has a first groove 59 a that dives below the first work (the smaller work in the figure) 1 and a second work (the larger work in the figure) 1 And two parallel grooves with the second groove 59b that dives below.
  • the work transfer plate 60 can be sunk under the two works 4 and 4.
  • the transfer plate 60 is provided with transfer step portions 60a, 60b corresponding to the sizes and shapes of the works 4, 4 (see FIG. 30).
  • the work transfer plate 60 is attached to the tip of a robot arm (not shown).
  • the work transfer plate 60 only mounts the work 4 by hooking, and requires a horizontal clearance. That is, the processing apparatus having the mouth pot arm is difficult to perform, for example, high-precision positioning, and requires a relatively rough positioning. Place.
  • FIG. 33 shows the first press contactor 56 of the work clamp portion 55.
  • a portion 56a of the first pressure contact 56 facing the second groove 59b is bent downward in a crank shape to avoid interference with the work transfer plate 60.
  • the operating mechanism 51 is a mechanism that operates the clamp mechanism 50 using thermal deformation of the shape memory alloy 61.
  • the shape memory alloy 61 is, for example, a wire-shaped shape memory alloy (SMA).
  • SMA wire-shaped shape memory alloy
  • the shape memory alloy 61 employed in the present embodiment contracts when the temperature rises above a predetermined temperature, and returns to the original length when the temperature falls below the predetermined temperature.
  • the shape memory alloy 61 is energized, it generates heat and its temperature rises above a predetermined temperature.
  • the shape memory alloy 61 penetrates the leaf spring 53 and is stretched between the mounting pin 62 and the work clamp part 55 (see FIGS. 30 and 31).
  • a plurality of input holes 63 for changing the mounting position of the mounting pins 62 are provided on the work mounting portion 9, for example, five straight holes at equal intervals, and another input hole 63 is provided.
  • the position of the mounting pin 62 can be changed.
  • the insertion holes 63 are arranged, for example, at a pitch of 3 mm.
  • One end of the shape memory alloy 6 1 is connected to the first electrode 66 by an energizing wire 64, and the other end is connected to the second electrode 67 by an energizing wire 65 (FIGS. 30 and 31). See).
  • Each of the electrodes 66, 67 is, for example, a gold-plated copper electrode, and has a shape such as a channel shape as shown in the drawing, which allows current to flow between the upper surface and the lower surface of the work mounting portion 9. It is provided at the corner of the work mounting portion 9 with the connecting portions 66a and 67a positioned on the upper surface.
  • the work placement section 9 is positioned by the positioning mechanism 68, and the electrodes 66, 67 are also energized by the positioning mechanism 68.
  • This positioning mechanism 68 is shown in FIG. In Fig. 34, the work The clamping device 52 on part 9 is schematically illustrated. In FIG. 34, the electrodes 66, 67 and the positioning pins 70 to 73 are shown inside the actual positions so as not to be hidden behind the columns 69.
  • the four positioning pins 70 to 73 lift the work placement unit 9. At this time, of the four positioning pins 70 to 73, two positioning pins 70 and 71 facing the electrodes 66 and 67 come into contact with the electrodes 66 and 67. Two positioning pins 70, 71 that are in contact with the electrodes 66, 67 are connected to a power source 74. Therefore, when the positioning pins 70 to 73 lift the workpiece mounting portion 9, the shape memory alloy 61 is energized via the two positioning pins 70, 71 and the energizing wires 64, 65. Can be. That is, it is possible to energize the shape memory alloy 61 using the positioning mechanism 68.
  • the four positioning pins 70 to 73 are attached to a lifting device (not shown) via an insulating plate 75.
  • conical or hemispherical positioning recesses 13 b are provided at the four corners on the upper surface of the work placement unit 9.
  • the positioning recesses 13 b are For example, it can be aligned with a positioning pin 13a of, for example, a hemispherical shape provided on the column 22 of the book, whereby the work placement section 9 can be accurately positioned.
  • the shape memory alloy 61 When the shape memory alloy 61 is not energized, it does not shrink because the shape memory alloy 61 is at room temperature. For this reason, the leaf spring 53 is slightly curved, and the workpiece clamp portion 55 abuts against the abutment block 58 (FIG. 33). That is, the clamp mechanism 50 is in the clamp state.
  • the shape memory alloy 61 In this state, when the shape memory alloy 61 is energized, the shape memory alloy 61 generates heat and contracts, and draws the work clamp portion 55 of the clamp mechanism 50. For this reason, the work clamp part 55 moves in a direction away from the work 4 while elastically deforming the curved leaf spring 53, and the clamp mechanism 50 enters the unclamped state.
  • the shape memory alloy 61 gradually releases heat and extends to its original length. Then, The work clamp portion 55 moves again until it abuts against the abutment block 58 by the ⁇ 1 "live action of the leaf spring 53, and the clamp mechanism 50 enters the re-clamp state.
  • the pallet clearance C between the work 4 on the work mounting portion 9 and the clamp mechanism 50 decreases, and by setting the clamp mechanism 50 to the unclamped state, the pallet clearance C increases.
  • machining equipment that requires high-precision positioning for example, assembling equipment
  • a processing device eg, a cleaning device
  • a processing device can be handled by setting the clamp mechanism 50 to an unclamped state. In other words, it can handle both processing equipment that requires high-precision positioning and processing equipment that does not require very high positioning accuracy (that is, positioning accuracy is somewhat rough).
  • a suitable self-propelled work transfer pallet 2 can be provided.
  • high-precision (that is, small horizontal clearance) positioning and low-precision (that is, large horizontal clearance) positioning on the self-propelled work transfer pallet 2 are possible, and the processing equipment of the production line can be used. It can be used properly depending on the handling method.
  • the self-propelled work transport pallet 2 since the self-propelled work transport pallet 2 has a clamping device including the clamp mechanism 50 and the operating mechanism 51, there is no need to provide an actuator on the production line side. Can be reduced in size.
  • the shape memory alloy 61 is used as a drive source of the operating mechanism 51, a simple structure can be achieved. Further, in this case, it is possible to clean the work mounting table 9 of the self-propelled work transfer pallet 2 with or without removing the shape memory alloy 61.
  • the shape memory alloy 61 is heated by the current flowing through the shape memory alloy 61, no electric parts other than the shape memory alloy 61 are required, so that the structure can be simplified and the control can be performed. Can be simplified.
  • energization is performed by positioning pins 70 and 71 that position the self-propelled work transfer pallet 2, and by attaching the positioning pins 70 to 73 to the insulating plate 28, large changes and control of the mechanism are achieved. Clamping mechanism without major changes in method 5 Control of 0 ⁇ Pallet clearance C can be controlled.
  • the driving force for the clamping of the clamp mechanism 50 is obtained by the spring force of the leaf spring 53, and only when the clamp is released, the shape memory alloy 61 is energized to release the clamping force. Energy saving.
  • self-destruction (cutting) of the shape memory alloy 61 can be prevented.
  • the contraction force of the shape memory alloy 6 1 is a force large enough to cut itself, but in the case of the configuration in which the shape memory alloy 6 1 is contracted and clamped, the work clamp 5 5 5 Despite hitting the butting block 58, the shape memory alloy 61 tries to shrink further. For this reason, the shape memory alloy 61 may be broken.
  • the self-destruction of the shape memory alloy 61 can be reliably prevented by contracting the shape memory alloy 61 when releasing the clamp as in the above-described embodiment.
  • the clamp may be performed by the contraction of the shape memory alloy 61 and the unclamping may be performed by the spring force of the leaf spring 53.
  • the shape memory alloy 61 is energized to generate heat and deform the shape memory alloy 61, but the means for deforming the shape memory alloy 61 is limited to energization. is not.
  • a shape memory alloy 61 is attached to cover, for example, an infrared absorber 76 such as a black metal plate, and a far infrared heater 770 is provided.
  • the infrared ray absorber 76 may be heated by the heater 77 to heat and deform the shape memory alloy 61.
  • a heater plate 78 is provided below the self-propelled work transfer pallet 2, and the shape memory alloy 61 is heated and deformed by the heater plate 78. You can do it.
  • the shape memory alloy 61 may be heated and deformed by blowing hot air.
  • an actuator other than the shape memory alloy 61 such as a piezoelectric element actuator and a small air cylinder, may be used.
  • the wire-shaped shape memory alloy 61 is used, but a shape memory alloy 61 other than the wire shape, for example, a band-shaped shape memory alloy 61, a plate-shaped shape memory alloy 61 Etc. may be used. Further, in order to enhance the response by heating and cooling, a bundle of a plurality of thinner wire-shaped shape memory alloys 61 may be used.
  • a leaf spring is used as the elastic member 53 of the clamp mechanism 50, but it is a matter of course that the present invention is not limited to the leaf spring.
  • control of the pallet clearance C may be performed in multiple stages. For example, by controlling a plurality of shape memory alloys 61 in series and changing the selection of one shape memory alloy 61 to be energized, or changing the number of energized tubes, controlling the pallet clearance C in multiple stages. Can be. Examples are shown in FIGS. 37 and 38. For example, three shape memory alloys 6 la, 61 b, and 61 c are connected in series, and four electrodes 66, 67, 79, 80 are provided near the four corners of the work mounting part 9. I have.
  • the point 82 is connected to the fourth electrode 80 with the conducting wire 85
  • the connecting point 83 of the second shape memory alloy 61b and the third shape memory alloy 61c is connected to the fourth electrode 80 with the conducting wire 86.
  • the tip 84 of the third shape memory alloy 61c is connected to the third electrode 79 via the conducting wire 65 to the second electrode 67.
  • the positioning pin 71 is on the second electrode 67
  • the positioning pin 72 is on the third electrode 79
  • the positioning pin 73 is on the Electricity is passed by contacting the electrode 80 of 4.
  • three shape memories Alloys 61a-61c can be shrunk by heating (see Figure 38).
  • the two shape memory alloys 61a and 61b can be heated and contracted.
  • one shape memory alloy 61a can be heated and contracted.
  • three shape memory alloys 61 a to 61 c are connected in series.For example, one shape memory alloy 61 is divided into three, and the dividing points and the shapes are divided. Both ends of the memory alloy 61 may be connected to the electrodes 66, 67, 79, 80.
  • Fig. 39 shows the concept and Fig. 40 shows the voltage application pattern.
  • one shape memory alloy 61 is divided into four sections having different lengths.
  • the length of the section D 1 between the first terminal 87 and the second terminal 88 is 1/2 (1/2 L) of L
  • the length of the section D2 between the terminal 88 and the third terminal 89 is L 1Z4 (1/4 L)
  • the length of the section D3 between the third terminal 89 and the fourth terminal 90 Is 1/8 of L (1/8 L)
  • the length of the section D 4 between the fourth terminal 90 and the fifth terminal 91 is 1Z16 of L (1/16 L).
  • the first terminal 87 is on the power supply electrode 92
  • the second terminal 88 is on the first electrode 93
  • the third terminal 89 is on the second electrode 94
  • the fourth terminal 90 is on the third electrode 95.
  • the fifth terminal 67 is connected to the fourth electrode 96.
  • the terminals 87 to 91 to which a voltage is applied are denoted by reference numeral 1 and those to which no voltage is applied are denoted by reference numeral 0. Since the terminal 87 is connected to the power supply electrode 92, the reference numeral 1 is used in all of the voltage application patterns.
  • the sections D1 to D4 in which current flows and generate heat are blacked out.
  • the electrodes 93-96 to which a voltage is applied the pattern applied to each of the terminals 88-91 can be changed, thereby changing the combination of the sections D1-D4 where heat is generated.
  • the amount of shrinkage deformation as a whole can be controlled in multiple stages, for example, 16 stages in this embodiment.
  • Figure 41 shows the relationship between the command value of the voltage application pattern and the length of the shape memory alloy 61.
  • the length of each section D 1 to D4 is set to 1/2, 1/4, 1/8, 1/16 of L, that is, 1/2 geometric series
  • the length of shape memory alloy 61 is set to ( 1/1 6) It can be changed linearly by X ⁇ L. That is, the shape memory alloy 61 can be used as an actuator whose displacement amount changes linearly.
  • AL is the maximum value of the displacement amount with respect to the length L.
  • Such linear length control is suitable for control by a computer.
  • the command values are 0, 1, 2,..., 15 in order from the voltage application pattern in which the length of the shape memory alloy 61 becomes shorter.
  • bits B3 to B0 of a 4-bit signal (B3B2B1B0) used for control are assigned to terminals 88 to 91 as shown in FIG.
  • the voltage application pattern corresponding to the command value can be converted into a 4-bit signal (B3B2B1B0) indicating the control of each terminal 88 to 91 using the conversion algorithm shown in FIG. . That is, the binary conversion value of the command value can be converted into a 4-bit signal of the voltage application pattern.
  • the voltage application pattern when the command value is 6 is that only the terminal 91 is applied, and the 4-bit signal is (0001).
  • each terminal 88-91 can be easily converted into a signal.
  • each terminal 88-91 can be represented by a binary number assigned to each bit.
  • an actuator using the wire-shaped shape memory alloy 61 of the present invention can perform multi-stage positioning control (displacement amount control) without forming a feedback loop.
  • multi-stage positioning control displacement amount control
  • the advantage of the actuator when a shape memory alloy is used as in the present embodiment is that the actuator itself is a single material itself, and the displacement per volume can be very large. This means that the actuator can be configured simply and compactly. However, a complex and large-sized detection system such as a feedback loop is required. If it had to be incorporated into an actuator, the original shape memory alloy adpantage would be greatly reduced. In contrast, an actuator using the wire-shaped shape memory alloy 61 of the present invention does not require the above-described detection system, and can make the most of the shape bandage of the shape memory alloy.
  • four sections D1 to D4 are provided to linearly change the length of the actuator in 16 steps. May be changed. By increasing the number of bits of the signal used for processing, it is possible to cope with an increase in the number of sections.
  • a command value from a binary conversion value to a command value signal indicating a voltage application pattern when converting a command value from a binary conversion value to a command value signal indicating a voltage application pattern, if the signal is about 4 bits, create a correspondence table in advance and use the correspondence table. The conversion may be performed. In such a case, the command value signal can be obtained without performing the procedure as shown in FIG. However, when the number of bits of the signal increases, it is effective to convert the binary conversion value to the command value signal of the voltage application pattern using the procedure shown in Fig. 42.
  • FIG. 42 shows a case of processing a 4-bit signal, when processing a signal having a large number of bits (for example, n bits), it is determined whether or not the n-th bit data is 0. If it is 0, the n-th bit data is inverted.
  • n-th bit data is 0.
  • the process is repeated as n ⁇ 3, n ⁇ 4,... ', And finally, it is determined whether the data of the second bit is 0 or not. What is necessary is just to perform the process which inverts data.
  • the relationship between the lengths of the sections D1 to D4 is not limited to the 1Z2 geometric series, but may be other length relationships.
  • the number of sections to be divided is not limited to four, and may be divided into three or less or five or more.
  • the present invention is not limited to the case where one shape memory alloy 61 is divided into sections D1 to D4, but a plurality of shape memory alloys are connected in series to make one shape memory alloy into one section. May be.
  • the actuator shown in FIG. 39 is not limited to the application to the clamping mechanism 50 of the self-propelled work transfer pallet 2, but may be applied to an actuator for operating other devices and mechanisms.
  • it can be used as an actuator 98 for operating the XY table 97.
  • the actuator 98 By using the actuator 98, the intermediate position of the XY table 97 can be positioned.
  • the XY table 97 is provided with an actuator 98 for moving in the X direction and an actuator 98 for moving in the Y direction, but one of the actuators 98 is omitted in FIG. 43. I have.
  • FIG. 44 it may be used as an actuator 98 of a table 99 movable only in one direction.
  • the factor 4 may be moved on the self-propelled work transfer pallet 2 using the actuator 98. That is, the position of the work 4 may be corrected according to the processing device of the production line, or the position of the work 4 may be corrected according to the size and shape of the work 4.

Abstract

L'invention concerne un système de transport d'ouvrage capable de diminuer un poids, une taille et un temps requis pour l'installation dudit système et de gérer facilement une modification du système, telle que la modification et l'augmentation d'une disposition des voies, et une palette (2) de transport à autopropulsion (2) utilisée avec le système. Ledit système de transport comporte une voie (3) dotée de deux rails parallèles (3a) et la palette de transport à autopropulsion (2) possède deux roues latérales (6) tournant sur le rail (3a), un moteur faisant tourner les roues (6), une batterie chargeable servant à entraîner le moteur, une partie de placement de l'ouvrage (9) installée de manière détachable sur la palette de transport à autopropulsion (2) et y permettant la disposition d'un ouvrage, et un circuit de commande servant à commander le fonctionnement de la palette de transport à autopropulsion (2). Ladite palette de transport à autopropulsion (2) comprend la partie de placement de l'ouvrage (9) et une partie de corps (2a), et une partie de la partie du corps (2a), cette partie de la partie du corps (2a) étant positionnée sur le côté inférieur d'une surface du rail entre deux rails (3a).
PCT/JP2003/004848 2002-04-16 2003-04-16 Systeme de transport d'ouvrage, palette de transport d'ouvrage utilisee avec ledit systeme, et procede de connexion sur rails dans un systeme susmentionne WO2003086832A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003235197A AU2003235197A1 (en) 2002-04-16 2003-04-16 Work conveying system, work conveying pallet used for the system, and rail connection method in work conveying system

Applications Claiming Priority (6)

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JP2002-113660 2002-04-16
JP2002113660A JP2003306144A (ja) 2002-04-16 2002-04-16 ワーク搬送システムおよびこのワーク搬送システムにおけるワーク搬送パレット用レールの接続方法
JP2002150750A JP4323758B2 (ja) 2002-05-24 2002-05-24 ワーク搬送システム
JP2002-150750 2002-05-24
JP2002-165726 2002-06-06
JP2002165726A JP2004009200A (ja) 2002-06-06 2002-06-06 ワーク搬送パレット

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EP2874480B1 (fr) * 2012-07-13 2021-01-27 FUJI Corporation Système de montage de composants

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