WO2009031379A1 - ワーク搭載装置 - Google Patents
ワーク搭載装置 Download PDFInfo
- Publication number
- WO2009031379A1 WO2009031379A1 PCT/JP2008/064077 JP2008064077W WO2009031379A1 WO 2009031379 A1 WO2009031379 A1 WO 2009031379A1 JP 2008064077 W JP2008064077 W JP 2008064077W WO 2009031379 A1 WO2009031379 A1 WO 2009031379A1
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- WO
- WIPO (PCT)
- Prior art keywords
- lift
- hanger
- self
- propelled
- carriage
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/10—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being engines, clutches or transmissions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/12—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being suspensions, brakes or wheel units
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- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
- Y10T29/53061—Responsive to work or work-related machine element
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- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53539—Means to assemble or disassemble including work conveyor
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53539—Means to assemble or disassemble including work conveyor
- Y10T29/53543—Means to assemble or disassemble including work conveyor including transporting track
- Y10T29/53548—Means to assemble or disassemble including work conveyor including transporting track and work carrying vehicle
Definitions
- the present invention relates to a workpiece mounting device for mounting a workpiece at a predetermined position of a workpiece mounting object which is lifted up and transported while being suspended by a hanger.
- a mounting device for mounting a mounted object such as an engine or suspension member (hereinafter referred to as “work”) on a vehicle has been used in an automobile assembly line.
- This mounting device has an elevating carriage that runs parallel to a vehicle body that moves while being suspended on a hanger. Then, for example, an engine is placed on the lifting carriage, and the engine is lifted up from below the vehicle body to insert the engine into the engine room of the vehicle body and to fix the engine to the vehicle body.
- this mounting device there is a type in which one lifting carriage reciprocates in parallel with the movement path of the hanger, and a type in which a plurality of lifting carriages move in a looped traveling path (for example, , See Patent Document 1).
- Patent Document 1 Japanese Patent Application Laid-Open No. Hei 6_1960 6 2 ([0 0 0 5], [0 0 0 7], [0 0 1 0], FIGS. 2 to 4).
- a mechanical synchronization method or an electrical synchronization method has been conventionally used as a method for synchronizing the lifting carriage with the moving hanger.
- the machine synchronization method does not require fine control to synchronize the hanger and the lifting carriage, but it requires a clamp unit to synchronize the hanger and the lifting carriage without any slight displacement.
- the machine structure will be complicated, and the lift truck will become larger and the weight will increase.
- the clamp unit detects overload in order to prevent damage to the equipment caused by the foreign material that falls on the traveling surface. It is necessary to install a device, and further of the lifting carriage This leads to an increase in size and weight.
- the present invention has been made in view of the above problems, and an object of the present invention is to easily and reliably synchronize the hanger and the lift carriage in the work mounting apparatus.
- a hanger that suspends and conveys a workpiece mounting object, and a travel path that is set to be at least partially parallel to the movement path of the hanger, together with the hanger with the work placed.
- a self-propelled lift carriage that moves, the self-propelled lift carriage includes a riff box that can move within a certain range in parallel with the movement path of the hanger, and the lift is opposite to the movement direction of the hanger.
- Urging means for urging in the direction is provided, and the riff bar includes a synchronization bar that freely expands and contracts in the vertical direction and abuts against the front surface in the moving direction of the hanger, and at least predetermined from the start of the rise of the riff bar
- a workpiece mounting device provided with a lifting guide that receives the biasing force of the biasing means and moves the lift in a direction opposite to the moving direction of the hanger until the height reaches the height of the hanger. ) .
- the lift receiving the urging force of the urging means from the start of the lift to at least a predetermined height is transferred by the lifting guide. It moves in the direction opposite to the moving direction. Therefore, if the lift synchronization bar is extended and can be brought into contact with the front surface of the hanger in the moving direction, the lift synchronization bar can be used regardless of the relative speed between the hanger and the self-propelled lift carriage. The hanger and the self-propelled lift truck will be synchronized with each other.
- the elevating guide is attached to the lift along a guide member that is fixed on the self-propelled elevating carriage and has an upward inclined surface in a direction opposite to the moving direction of the hanger.
- a workpiece mounting device having a mechanical structure in which the driven follower moves (Claim 2).
- the lifting guide is fixed on the self-propelled lifting carriage, and is lifted along a guide member having at least an upward inclined surface in a direction opposite to the moving direction of the hanger. Since the attached follower has a mechanical structure that moves, the lift receives the urging force of the urging means, and from the start of ascent to at least a predetermined height, the lift guides the movement direction of the hanger. Moves in the opposite direction. Therefore, as long as the lift synchronization bar extends and can contact the front surface of the hanger in the direction of movement, the lift synchronization bar is independent of the relative speed between the hanger and the self-propelled lift carriage. Approaches the hanger and comes into contact with the front surface of the hanger in the moving direction with soft touch, and the hanger and the self-propelled lift truck are synchronized.
- the guide member is a V-shaped bevel having an inclined surface extending in a direction parallel to the moving direction of the hanger, and the follower is a roller that can contact the inclined surface of the V-shaped bevel.
- a workpiece mounting device (Claim 3).
- the workpiece mounting device described in this section is a V-shaped bevel having an inclined surface in which the guide member extends in a direction parallel to the moving direction of the hanger, and the follower can contact the inclined surface of the V-shaped bevel. Therefore, when the lift receives the biasing force of the biasing means, the roller attached to the lift rises along the inclined surface of the V-jagen. Therefore, the lift moves in the direction opposite to the hanger movement direction from the start of ascent to the predetermined height.
- the lift synchronization bar is extended and can contact the front surface of the hanger in the direction of movement, regardless of the relative speed between the hanger and the self-propelled lift truck, The synchronization bar of the riff is approaching the hanger and securely touches the front surface of the hanger in the direction of movement, and the hanger and the self-propelled lift truck are synchronized.
- the self-propelled lift carriage is provided with a slide table for supporting the lift so as to be movable in parallel with the movement path of the hanger, and the synchronization bar is fixed to the slide table.
- the workpiece mounting device (Claim 4).
- the self-propelled lift carriage is provided with a slide table for supporting the lift so as to be movable in parallel with the movement path of the hanger. Therefore, independent of the lifting operation of the lift, the synchronization bar fixed to the slide table should be extended to a position where it can contact the front surface of the hanger in the moving direction. Can do. That is, the synchronization bar is extended before the lift is raised, and the lift synchronization bar is extended to a position where it can contact the front surface of the hanger in the moving direction. Regardless of the relative speed, the elevating guide and urging means allow the synchronization bar fixed to the slide table to approach the hanger and securely contact the front surface of the hanger in the soft touch. To do.
- the slide table is mounted on the self-propelled lift carriage via a slide rail and a slide guide.
- the slide table is placed on the self-propelled lift carriage via the slide rail and the slide guide, the slide table is a self-propelled lift carriage. It is possible to move on with very little force.
- the urging means is a work placing device which is a spring balancer, rubber or other elastic body.
- the workpiece mounting apparatus described in this section urges the lift in a direction opposite to the movement direction of the hanger by the elastic force generated by a spring balancer, rubber, or other elastic body.
- the slide table can be moved with a very small force, so that the lift can be attached without adjusting the urging force largely regardless of the weight of the workpiece placed on the lift.
- the spring balancer is a device that scrapes the wire by the elastic force of the spring, and can arbitrarily adjust the tension of the wire.
- the self-propelled lift carriage includes a sensor that detects a displacement amount of the lift in a direction parallel to the movement path of the hanger, and a travel of the self-propelled lift carriage based on a detection result of the sensor.
- a workpiece placing device comprising a control means for changing the speed (Claim 5).
- the workpiece mounting device described in this section detects the amount of displacement of the lift in a direction parallel to the movement path of the hanger by means of a sensor provided on the self-propelled lift truck. And according to the said detection result, the moving speed of a hanger and the traveling speed of a self-propelled lift truck are synchronized by changing the traveling speed of a self-propelled lift truck by a control means.
- the lift when the hanger travel speed exceeds the travel speed of the self-propelled lift truck, the lift is pushed by the hanger because the synchronization bar is in contact with the front surface in the hanger travel direction. It piles on the urging force of the urging means and moves toward the front of the self-propelled lift truck.
- the amount of forward displacement exceeds a predetermined amount the relative displacement of the lift is reduced by accelerating the traveling speed of the self-propelled lift truck.
- the relative displacement amount becomes less than the predetermined amount, the relative displacement amount between the hanger and the lift can be kept within a certain range by returning the traveling speed of the self-propelled traveling carriage to the original speed.
- the hanger when the movement speed of the hanger is lower than the traveling speed of the self-propelled lifting carriage, the hanger is moved backward relative to the lift, and the synchronization bar is turned on by receiving the urging force of the urging means.
- the lift moves toward the rear of the self-propelled lift truck while maintaining the state of contact with the front surface in the moving direction. If the amount of force or rearward displacement exceeds a predetermined amount, the relative displacement of the lift is reduced by reducing the traveling speed of the self-propelled lift truck.
- the relative displacement amount becomes less than the predetermined amount, the relative displacement amount between the hanger and the lift can be kept within a certain range by returning the traveling speed of the self-propelled traveling carriage to the original speed.
- the control means is configured to stop the self-propelled lift carriage when the sensor detects that the displacement of the lift in a direction parallel to the movement path of the hanger is rapidly increased.
- Work mounting device with logic.
- the workpiece mounting device described in this section causes a rapid change in speed when the self-propelled traveling carriage decelerates suddenly, such as when a self-propelled lifting carriage inserts a foreign object that has fallen onto its running surface.
- the difference between the movement speed of the hanger and the traveling speed of the self-propelled lift truck suddenly increases, the lift is pushed by the hanger, and it moves closer to the front of the self-propelled lift truck against the biasing force of the biasing means. Displaces greatly to. When such a large relative displacement occurs, the self-propelled lift truck is stopped immediately to prevent the self-propelled lift truck from being damaged.
- control means detects the lift when the sensor detects that the amount of displacement of the lift in a direction parallel to the movement path of the hanger increases rapidly.
- a workpiece mounting device having a control logic to be stopped (Claim 6).
- the workpiece mounting device described in this section receives the emergency stop of the self-propelled lift truck and the emergency stop of the hanger, causing damage to the synchronization bar and the hanger, and the workpiece and workpiece mounting object. This is to prevent damage.
- the control means receives the approach of the hanger to the self-propelled lift carriage in a stopped state, and starts extension of the synchronization bar, travel of the self-propelled lift carriage, and lift of the lift
- a workpiece mounting device provided with control logic to perform the above (claim 7).
- the workpiece loading device described in this section is in a stopped state in order to synchronize the movement speed of the hanger and the traveling speed of the self-propelled lifting carriage in order to start the work of loading the workpiece onto the workpiece loading object.
- the self-propelled lift truck In response to the hanger's approach to the self-propelled lift truck, it begins to extend the synchronization bar, run the self-propelled lift truck, and lift the lift.
- the lift guide receives the urging force of the urging means from the start of the lift up to at least a predetermined height, and the riff box moves in the direction opposite to the movement direction of the hanger. Regardless of the relative speed, the lift synchronization bar approaches the hanger and securely contacts the front surface of the hanger in the direction of movement.
- the sensor includes three proximity sensors provided on the self-propelled lifting carriage side in parallel with the movement path of the hanger, and the three proximity sensors provided on the lift side.
- a workpiece mounting device consisting of a dog with a length that spans the entire sensor.
- the synchronization bar is in contact with the front surface in the hanger movement direction. Is pushed by the hanger and moves toward the front of the self-propelled lift truck. When the amount of forward displacement exceeds a predetermined amount, the hanger moves out of the three proximity sensors. When the dog is disengaged from the proximity sensor located at the end of the direction, it is detected that the moving speed of the hanger exceeds the traveling speed of the self-propelled lift truck.
- the hanger On the other hand, if the movement speed of the hanger is lower than the traveling speed of the self-propelled lift truck, the hanger will move backward relative to the riff and the lift will move toward the rear of the self-propelled lift truck. . When the backward displacement exceeds a predetermined amount, the dog moves away from the proximity sensor located at the forefront of the hanger's movement direction among the three proximity sensors. Detects that the traveling speed of the lift truck is below.
- the hanger and the lift carriage can be easily and reliably synchronized.
- FIG. 1 is a side view of a workpiece mounting apparatus according to an embodiment of the present invention.
- FIG. 2 is a front view of the work mounting apparatus according to the embodiment of the present invention.
- FIG. 3 is a side view of a self-propelled elevating carriage of the workpiece mounting device according to the embodiment of the present invention.
- FIG. 4 is a front view of a self-propelled elevating carriage of the workpiece mounting device according to the embodiment of the present invention.
- FIG. 5 is a side view showing a procedure of mounting work by the work mounting apparatus according to the embodiment of the present invention.
- FIG. 6 is a side view showing the procedure of the mounting operation subsequent to FIG. 5 by the workpiece mounting apparatus according to the embodiment of the present invention.
- the workpiece mounting apparatus 10 includes a hanger 12 that suspends and conveys a vehicle body B that is a mounting target of the workpiece W, and a workpiece W. And a self-propelled lifting carriage 14 that moves with the hanger 1 2 in a mounted state.
- the travel path of the self-propelled lift truck 1 4 is set to be at least partially parallel to the movement path of the hanger 1 2, and one self-propelled lift truck 1 4 is connected to the hanger 1. It may be of a type that reciprocates in parallel with the movement path of 2, or may be of a type in which a plurality of self-propelled lifting carts 14 move along a loop-shaped traveling path.
- the self-propelled lifting cart 14 has a lift 1 6 that can move in parallel with the movement path of the hanger 1 2 and the movement direction of the lift 1 6 to the hanger 1 2 (Fig. 1.
- a biasing means 18 for biasing in the direction opposite to the arrow A) in FIG.
- the lift 16 is installed on a slide table 20 that can slide within a certain range in parallel with the movement path of the hanger 1 2, so that the lift 1 6 is parallel to the movement path of the hanger 1 2. It has become freely movable.
- the slide table 20 is mounted on the self-propelled lift carriage 14 via the slide rail 22 and the slide guide 24. Note that the slide range of the slide table 20 is the maximum range in which the slide table 20 does not protrude from the self-propelled lift carriage 14.
- the synchronization bar 2 6 force that freely expands and contracts in the vertical direction and contacts the front surface (synchronization part) 1 2 a of the hanger 12 2 in the moving direction is fixed to the slide table 20 in the illustrated example.
- the synchronization bar 26 is automatically or electrically operated by an electric or air actuator (or manually if necessary) so that the position of the tip 26 a can contact the synchronizing part 12 a of the hanger 12 2. Can be extended to a position where it can be reduced, or can be reduced to a position where it does not interfere with hanger 1 2
- a pantograph-shaped jack is used. The force shown as a key is not limited to this.
- An electric or hydraulic actuator is suitable as a power source for the lift 16.
- a spring balancer is used as the biasing means 18.
- the spring balancer 18 is a device that winds up the wire 18 a connected to the slide table 20 by the elastic force of the spring, and can arbitrarily adjust the tension of the wire 18 a.
- the self-propelled lift truck 14 has a lift from the bottom dead center (FIGS. 1 to 5) to at least a predetermined height (necessary for work). There is no need for the height.) Elevating guide 28 is provided to move the lift 16 in the direction opposite to the movement direction A of the hanger 1 2 under the urging force of the urging means 1 8. .
- the lift guide 28 is lifted along the guide member 30 having an upward inclined surface 30 a which is fixed on the self-propelled lift truck 14 and fixed at least in the direction opposite to the moving direction of the hanger 12 2.
- the follower 3 2 attached to the machine has a mechanical structure that moves.
- the guide member 30 is a V-shaped bevel having inclined surfaces 30 a and 30 b extending in a direction parallel to the movement direction of the hanger.
- the follower 3 2 is a roller, which is fixed to the lift 16 via the bracket 3 4 and can contact the inclined surfaces 30 a and 30 b of the V-shaped bevel (separate upward). It has become.
- the self-propelled lift carriage 14 includes a sensor 36 that detects the displacement of the lift 16 in the direction A parallel to the movement path of the hanger.
- the sensor 3 6 has three proximity sensors 3 6 a, 3 6 b, 3 6 c arranged in parallel with the movement path of the hanger on the self-propelled ascending / descending cart 14 side, It is composed of dogs 3 8 provided on the lift 16 side (slide table 2 0) and having a length extending over all three proximity sensors 3 6 a, 3 6 b, 3 6 c.
- the self-propelled lift carriage 14 includes control means 40 (shown schematically only in FIG. 3) for changing the traveling speed of the self-propelled lift carriage 14 based on the detection result of the sensor 36.
- the control means 40 is constituted by an electronic computer such as a microcomputer.
- Stop traveling carriage 1 and 4 and stop lift 1 2 (Specifically, request to stop lift 1 2 is output to lift 1 2 control means.) It is equipped with a hook.
- the control means 40 receives the approach of the hanger 12 to the stopped self-propelled lift truck 14 when the work W is loaded on the vehicle body B, and the synchronization bar 2 6 Control logic to start the extension of the vehicle, travel of the self-propelled lift truck 14, and lift of the lift 16.
- the self-propelled lift truck 14 includes wheels 4 2, a motor 4 4, and traveling wheels 4 6 driven by the motor 4 4. In addition, by projecting 48 guide pins from the lower surface of the self-propelled lift carriage 14 and engaging with the guide groove 50 laid on the running surface (working surface) FL of the self-propelled lift carriage 14, The self-propelled lift truck 14 runs parallel to the hanger travel path.
- a sub slide table 52 for placing the workpiece W is installed via a slider 54 configured to be slidable in two horizontal axes.
- the operation of the workpiece mounting apparatus 10 according to the embodiment of the present invention when the workpiece W is mounted on the vehicle body B will be described.
- the lift 16 is lowered to the bottom dead center of the lifting range.
- the roller 3 2 is positioned at the bottom of the inclined surface 30 0a, 3 Ob of the V-shaped guide member 30 of the lift guide 28, so that the self-propelled traveling cart 1
- the position of lift 1 6 on 4 in the direction parallel to the movement path of hanger 1 2 is set to the original position.
- the slide table 20 is given a tension in the direction opposite to the movement direction A of the hanger by the spring balancer 18.
- the hanger 12 that transports the vehicle body B is moving at a constant speed, and the self-propelled lifting cart 14 is stopped at a predetermined standby position. Then, when the approach of the hanger 1 2 to the self-propelled elevating carriage 14 is detected by an appropriate sensor such as a limit switch, the synchronization bar 26 is controlled by a command from the control means 40 as shown in FIG. The tip end portion 26 a is extended to a height at which it abuts the synchronizing portion 12 a of the hanger 1 1 2. Then, as shown in FIG.
- the motor 4 4 is rotated by the control means 40, and the traveling wheel 4 6
- the self-propelled lift truck 14 starts running at the set speed (same speed as the movement speed of hanger 1 2). Also this At the same time, the lift 16 starts to be lifted by the command of the control means 40.
- the lift of the lift 1 6 stops but the lift 1 6 continues to rise, as shown in FIG.
- the roller 32 provided on the lift 16 side is separated from the inclined surface 30 a of the guide member 30. Then, when the lift 16 is raised to a height suitable for the work W mounting work on the vehicle body B, the lift 16 is stopped by a command from the control means 40.
- the lift 16 starts to descend according to the command of the control means 40.
- the roller 3 2 provided on the lift 1 6 side abuts again the inclined surface 3 0 a guide member (3)
- the roller 3 2 move article is al descends along the inclined surface 3 0 a
- the slide table 20 supporting the lift 16 moves forward against the tension of the spring balancer 18 (moving in the movement direction A of the hanger 12), and the lift 16 also moves forward with the slide table.
- the lift 16 descends to the bottom dead center of the raising / lowering range, and as shown in FIGS. 1 and 2, the lift guide 28 has a guide member 30 on the inclined surface 30a, 3Ob at the bottom.
- the moving speed of the hanger 12 2 and the traveling speed of the self-propelled lift truck 14 do not match, and the lift 16 is pushed by the hanger 12 2 and is self-propelled. If you are moving toward the front of the lift truck 1 2, install it on the lift 1 6 side.
- the roller 3 2 is in contact with the upward inclined surface 30 b of the guide member 30 in the moving direction of the hanger 12 2, and the roller 3 2 is lowered while moving along the inclined surface 30 b.
- the lift 16 is lowered to the bottom dead center of the lifting range, the position of the lift 16 in the direction parallel to the movement path of the non-nunger 1 2 is returned to the original position again.
- the lengths of the inclined surfaces 30a, 30b of the guide member 30 are such that when the lift 16 is lifted, the roller 3 2 is moved through the entire stroke of the inclined surfaces 30a, 30b of the guide member 30 It is not necessary to move along the inclined surfaces 3 0 a and 3 0 b, but even if the lift 16 is displaced to the maximum in the front-rear direction when the lift 16 is lowered, the roller 3 2 It is desirable to decide in consideration of the fact that there is no deviation.
- the workpiece mounting device 10 operates as follows.
- the synchronization bar 26 is brought into contact with the front surface of the hanger 1 2 in the moving direction (synchronizing part 1 2 a).
- the lift 1 6 is pushed by the hanger 1 2 and moves toward the front of the self-propelled lift truck 1 2.
- the amount of forward displacement of the lift 16 exceeds a predetermined amount (for example, the allowable slide amount of the slide table 20)
- the three proximity sensors 3 6 a, 3 6 b, 3 6 c located at the end of the hanger movement direction disengages the dog 3 8 (see Fig. 3 and Fig. 4). It can be detected that the speed is exceeded.
- the relative displacement of the lift 16 is reduced by accelerating the traveling speed of the self-propelled lifting carriage 14 according to a command from the control means 40. Then, when the relative displacement amount of the lift 16 becomes less than the predetermined amount, the travel speed of the self-propelled traveling carriage 14 4 is restored (decelerated), so that the relative displacement amount between the hanger and the lift is reduced. Keep within a certain range.
- the hanger 1 2 moves backward relative to the lift 1 6, and the lift 1 6 is the spring balancer 1. Due to the tension of 8, the self-propelled lifting carriage 14 moves toward the rear. Take this backward If the displacement of the sensor exceeds the specified amount, one of the three proximity sensors 3 6 a, 3 6 b, 3 6 c and the proximity sensor 3 6 a located at the forefront of the hanger's moving direction will be replaced with the dog 3 8 (see Fig. 3 and Fig. 4), it can be detected that the moving speed of the hanger 12 2 is lower than the traveling speed of the self-propelled lift truck 14.
- the relative displacement of the lift 16 is reduced by decelerating the traveling speed of the self-propelled lifting carriage 14 according to a command from the control means 40.
- the traveling speed of the self-propelled traveling cart 14 4 is restored (accelerated), so that the hanger 1 2 and the lift 16 can Keep the relative displacement within a certain range.
- the self-propelled traveling cart 14 4 suddenly decelerates due to a foreign object falling on its running surface FL, etc.
- the self-propelled lift truck 14 is urgently stopped by a command from the control means 40 to prevent the self-propelled lift truck 14 from being damaged.
- the hanger 1 2 also stops urgently according to a command from the control means 40, causing damage to the synchronization bar 26 and hanger 12, Prevents the workpiece W and body B from being damaged.
- the work mounting apparatus 10 is configured so that the urging force of the urging means 18 is increased by the elevating guide 28 during the period from when the lift 16 starts to rise to at least a predetermined height.
- the lift 16 moves in the direction opposite to the movement direction A of the hanger 1 2. Therefore, the synchronization bar of lift 1 6 2 6 force Hanger 1 2 movement direction Front surface 1 2 If it is extended to a position where it can contact a (Fig.
- hanger 1 2 and self-propelled lifting carriage 1 Regardless of the relative speed with 4, lift 1 6 synchronization bar 2 6
- the hanger 1 2 approaches and the front surface 1 2 a of the hanger 1 2 in the moving direction surely touches with a soft touch, and the hanger 1 2 and the self-propelled lift truck 14 are synchronized ( Figure 6).
- the workpiece mounting apparatus 10 has an ascending / descending guide 26 that is fixed on the self-propelled elevating carriage 14 at least in the direction opposite to the movement direction A of the hanger. Since the follower (roller) 3 2 attached to the lift 16 is moved along the guide member (V-shaped bevel) 30 having the inclined surface 30 a, the lift 16 is Upon receiving the urging force of the urging means 1 8, the elevating guide 2 8 moves in the direction opposite to the moving direction A of the hanger 1 2 from the start of ascent to the predetermined height.
- the hanger 1 2 and the self-propelled lifting cart 14 Regardless of the relative speed, the synchronization bar 2 6 of the lift 1 6 approaches the hanger 1 2 and makes a firm contact with the front surface of the hanger 1 2 in the moving direction. Dolly 14 will be synchronized.
- the self-propelled lift truck 14 is provided with a slide table 20 for movably supporting the lift 16 in parallel with the movement path of the hanger 12 2.
- the synchronization bar 26 Since the synchronization bar 26 is fixed to 0, the synchronization bar 26 fixed to the slide table 20 is extended and the hanger 1 2 is moved forward independently of the lifting and lowering movement of the lift 16 It can be in a state of being extended to a position where it can contact the direction 1 2 a (FIG. 5). In other words, before lifting the lift 1 6, the synchronization bar 2 6 is extended, and the synchronization bar 2 6
- the slide table 20 Since the slide table 20 is mounted on the self-propelled lift carriage 14 via the slide rail 22 and the slide guide 24, the slide table 20 is self-propelled. It is possible to move on the trolley 14 with extremely little force.
- the lift 16 is urged in the direction opposite to the movement direction A of the hanger 12 2 by the elastic force generated by the spring balancer, rubber and other elastic bodies, but the slide table 20 has a very small force. Therefore, regardless of the weight of the workpiece W on the lift 16, the lift 16 receives the urging force of these urging means 1 8 without greatly adjusting the urging force, From the start of ascent to at least a predetermined height, the elevating guide 2 8 smoothly moves in the direction opposite to the moving direction A of the hanger 1 2.
- the workpiece mounting apparatus 10 is configured such that the lift 16 is displaced in a direction parallel to the movement path of the hanger 12 by a sensor 36 provided on the self-propelled lift carriage 14.
- the control means 40 By detecting the amount and changing the traveling speed of the self-propelled elevator 14 according to the control means 40, the moving speed of the hanger 1 2 and the traveling speed of the self-propelled elevator 14 Synchronize with the degree.
- the synchronization bar 2 6 comes into contact with the front surface 1 2 a of the hanger 1 2 moving direction.
- the lift 16 is pushed by the hanger 12 2 and moves toward the front of the self-propelled lift carriage 14 against the biasing force of the biasing means 18.
- the traveling speed of the self-propelled lift truck 14 is accelerated, thereby reducing the relative displacement of the lift 16.
- the relative displacement becomes less than the predetermined amount, the relative displacement between the hanger 1 2 and the lift 16 is kept within a certain range by returning the traveling speed of the self-propelled traveling carriage 14 to the original speed. be able to.
- the hanger 1 2 In response to the emergency stop of the self-propelled lift truck 14, the hanger 1 2 also stops urgently, causing damage to the synchronization bar 26 and hanger 1 2, as well as workpiece W and workpiece mounting object B Can be prevented from being damaged.
- the workpiece mounting apparatus 10 is configured to start the operation of mounting the workpiece W on the workpiece B to be mounted, and the moving speed of the hanger 12 2 and the self-propelled lifting carriage 1.
- the hanger 1 2 approached to the stopped self-propelled lifting cart 1 4 and the synchronization bar 2 6 extended, the self-propelled lifting cart 1 4 traveling, And start lift 1 6 lift.
- the lift 16 receives the urging force of the urging means 18 by the elevating guide 28, and the lift 16 is in the direction opposite to the movement direction A of the hanger. Move to.
- the synchronization bar 26 of the lift 1 6 approaches the hanger 1 2, and the hanger 1 2 moving direction front surface 1 2 a It will surely come into contact with the soft touch, and the hanger 12 and the self-propelled lift truck 14 will be synchronized.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2008800179122A CN101678517B (zh) | 2007-09-07 | 2008-07-30 | 工件搭载装置 |
US12/514,559 US8166634B2 (en) | 2007-09-07 | 2008-07-30 | Workpiece mounting device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007233091A JP4221619B1 (ja) | 2007-09-07 | 2007-09-07 | ワーク搭載装置 |
JP2007-233091 | 2007-09-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2009031379A1 true WO2009031379A1 (ja) | 2009-03-12 |
Family
ID=40403882
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2008/064077 WO2009031379A1 (ja) | 2007-09-07 | 2008-07-30 | ワーク搭載装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8166634B2 (ja) |
JP (1) | JP4221619B1 (ja) |
CN (1) | CN101678517B (ja) |
WO (1) | WO2009031379A1 (ja) |
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US20120131779A1 (en) * | 2009-05-29 | 2012-05-31 | Airbus Operations Gmbh | Transport device for use when mounting interior component modules in an aircraft |
US10053345B2 (en) | 2014-07-25 | 2018-08-21 | Hyundai Motor Company | Rise prevention device for vehicle body and vehicle assembly system including the same |
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ES2343832B1 (es) | 2010-04-05 | 2011-06-28 | Seat S.A. | Carro auxiliar para lineas de produccion. |
FR2988358B1 (fr) * | 2012-03-20 | 2014-04-18 | Peugeot Citroen Automobiles Sa | Dispositif d'assistance pour le montage d'un ensemble de roue sur une traverse de train roulant d'un vehicule automobile |
CN102873673B (zh) * | 2012-05-23 | 2014-12-17 | 上海华普汽车有限公司 | 一种同步作业车 |
CN103624758B (zh) * | 2013-11-13 | 2015-07-08 | 芜湖华强文化科技产业有限公司 | 一种有轨式工具柜 |
JP6237493B2 (ja) * | 2014-06-25 | 2017-11-29 | マツダ株式会社 | 部品組付け装置 |
US11192595B2 (en) * | 2018-01-09 | 2021-12-07 | Faurecia Emissions Control Technologies, Usa, Llc | Overmolded brackets for composite shock tower |
CN110667320B (zh) * | 2019-10-12 | 2021-09-21 | 燕山大学 | 双托辊式重型矿用自卸车车轮安装机 |
US11401146B2 (en) | 2019-12-16 | 2022-08-02 | Toyota Motor Engineering & Manufacturing North America, Inc. | Air cylinder driven mobile assembly support unit |
JP7364535B2 (ja) | 2020-06-29 | 2023-10-18 | トヨタ自動車株式会社 | ワーク搬送システム |
WO2022070350A1 (ja) * | 2020-09-30 | 2022-04-07 | 株式会社牧野フライス製作所 | 加工システム |
US20230356961A1 (en) * | 2022-05-04 | 2023-11-09 | Toyota Motor Engineering & Manufacturing North America, Inc. | Dolly apparatuses including synchronization arms |
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Also Published As
Publication number | Publication date |
---|---|
JP4221619B1 (ja) | 2009-02-12 |
CN101678517B (zh) | 2012-05-23 |
US20100028113A1 (en) | 2010-02-04 |
JP2009061562A (ja) | 2009-03-26 |
US8166634B2 (en) | 2012-05-01 |
CN101678517A (zh) | 2010-03-24 |
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