WO2015060053A1 - Dispositif de support de pièce à travailler - Google Patents

Dispositif de support de pièce à travailler Download PDF

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Publication number
WO2015060053A1
WO2015060053A1 PCT/JP2014/075297 JP2014075297W WO2015060053A1 WO 2015060053 A1 WO2015060053 A1 WO 2015060053A1 JP 2014075297 W JP2014075297 W JP 2014075297W WO 2015060053 A1 WO2015060053 A1 WO 2015060053A1
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WIPO (PCT)
Prior art keywords
support
workpiece
link
parallel
posture
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PCT/JP2014/075297
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English (en)
Japanese (ja)
Inventor
正浩 大江
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株式会社ダイフク
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Publication of WO2015060053A1 publication Critical patent/WO2015060053A1/fr

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/0641—Single levers, e.g. parallel links

Definitions

  • the present invention supports a workpiece support device that can be installed and utilized on a workpiece conveyance carriage that conveys an automobile body in an automobile assembly line, and in particular, supports a workpiece at a high position where an operator can enter under the workpiece.
  • the workpiece support device relates to a workpiece support device that is supported by two half-fold parallel link mechanisms that are not provided with a lifting drive means.
  • the work support height of the work support base is set at a low position where the work approaches the base and an operator below the work.
  • a workpiece support device that can be switched between a high position where the robot can enter is known from Patent Document 1 and the like in a state where the workpiece support device is installed on a workpiece carriage.
  • the base and the work support are connected by two “broken parallel link mechanisms that do not include lifting drive means” arranged in parallel.
  • Each intermediate folding parallel link mechanism is configured to stand up and up as it is lifted by an external lifter, and when the workpiece support is lifted to the workpiece high position support height by the lifter, the workpiece high position support posture that stands upright.
  • a lifter that raises and lowers the workpiece support base that is, a large lifter that lifts and lowers a large lift while supporting the workpiece load, can be used as a single unit for a plurality of workpiece support devices. I can do it.
  • the two parallel link mechanisms that are provided in each workpiece support device and support the workpiece at a high position are locked in a undulating manner in the workpiece high position support posture, thereby stably supporting the workpiece support (work).
  • any work support device can be used as long as it can move up and down as the work support base moves up and down.
  • the work support device is installed on a large number of work transport carriages used in an automobile assembly line, the weight of each transport cart including the work support devices can be reduced and the cost can be significantly reduced.
  • each of the two folded parallel link mechanisms that connect the workpiece support base and the base (conveying carriage) is positioned in the undulating direction of the folded parallel link mechanism.
  • the workpiece load is supported by two double links whose positions are shifted in the undulation direction of the parallel folding link mechanism.
  • the workpiece is supported at one central position between the upper support shafts of the two double links so that an average load is applied to the two double links whose positions are shifted in the undulation direction of the folded parallel link mechanism.
  • the strength required for all link members and spindles is increased. Large and large.
  • the present invention proposes a workpiece support device that can solve the conventional problems as described above, and the workpiece support device according to the present invention makes it easy to understand the relationship with embodiments described later. Therefore, when the reference numerals used in the description of the embodiment are shown in parentheses, the work support base (4) and the base (conveying carriage (2)) are connected in parallel with each other. A folding parallel link mechanism (3L, 3R) is provided, and the work support base (4) is moved up and down in parallel by an external lifter (53L, 53R).
  • each of the folded parallel link mechanisms (3L, 3R) is concentric with each support shaft.
  • the pair of first double links (9a, 9b) are arranged so that the upper link member (13) is formed when the parallel folding link mechanism (3L, 3R) is locked by the locking means (34) in the workpiece high position support posture. )
  • the upper end of the lower link member (14) are in contact with each other on the side of the intermediate support shaft (21) so as to be continuous in the vertical direction.
  • each link member of the pair of first duplex links is configured as a thick columnar link member having a large bending strength, and the load on the work support base side is a pair of first duplex links of each of the two bent parallel link mechanisms.
  • the middle-fold parallel link mechanism in the workpiece high position support posture is not only locked so as not to be bent by the locking means, but both the middle-fold parallel link mechanisms do not swing in parallel in the parallel direction without the undulation motion.
  • the contact surface (12d) is attached to the lower end of the lower link member (14) of the pair of first duplex links (9a, 9b).
  • the locking means (34) includes the contact surface (12d), but is not limited to the configuration in which the contact surface (12d) is provided at the lower end of the lower link member (14).
  • the contact surface provided on the upper link member (13) of the pair of first double links (9a, 9b) is the workpiece support base. (4) You may comprise so that it may contact
  • the workpiece high position support posture of the parallel folding link mechanism (3L, 3R) stands up from the workpiece low position support posture by the parallel lift of the work support base (4) by the lifter (53L, 53R).
  • the expanding parallel link mechanism (3L, 3R) bends to the opposite side beyond the vertical standing posture, and the intermediate support shaft (21) of the first double link (9a, 9b) becomes the first double link. It is desirable that the vertical line connecting the upper end support shaft (19) and the lower end support shaft (18a, 18b) of the link (9a, 9b) is set at a position beyond the opposite side.
  • the work support (4) can be configured as follows. That is, a pair of bar-like horizontal members (5, 6) provided with work support seats (7a to 8b) at both ends are provided in parallel with the respective support shafts of the folded parallel link mechanism (3L, 3R). On the horizontal member (5, 6), a pair of bearing plates (20a, 20b) for individually supporting the upper end support shafts (19) of the pair of first duplex links (9a, 9b), and a second duplex link ( One intermediate bearing plate (24) supporting the upper end support shaft (25) of 10) is attached, and each bar-like horizontal member (5, 6) is connected to the upper end support of the pair of first double links (9a, 9b).
  • the parallel folding link mechanism (3L, 3R) is disposed on the opposite side to the direction in which the workpiece is folded from the workpiece high position support posture toward the workpiece low position support posture, and the pair of bearing plates (20a 20b) abuts against the upper end side surface of the upper link member (13) of the first double link (9a, 9b) when the folded parallel link mechanism (3L, 3R) is in the workpiece high position support posture.
  • the workpiece support base when viewed from the axial direction of each support shaft of the parallel folding link mechanism, the workpiece support base is folded in parallel from the upper end of the parallel folding link mechanism when in the workpiece high position support posture.
  • the link mechanism does not overhang in the direction of undulation movement and the entire structure can be made compact, the load on the work support base side is not substantially received by the second double link. , Can be received by the first duplex link.
  • the intermediate bearing plate (24) is not completely fixed to the upper end support shaft (19) of the first double link (9a, 9b), but the upper end support shaft (19) in the vertical direction.
  • the intermediate bearing plate (24) is attached to the upper end support shaft (19) of the first double link (9a, 9b) and the rod-like horizontal member (5, 6) of the work support base (4) so that a certain amount of play can be obtained. It is desirable to build between the two.
  • each spindle (25,26,23) of the 2nd double link (10) of a folding parallel link mechanism (3L, 3R) is a pair of 1st double links ( It is desirable to arrange at a lower position than the corresponding spindles (19, 21, 18a / 18b) of 9a, 9b). According to this configuration, it is possible to minimize the extent to which the workpiece support base is raised with respect to the upper end support shaft of the first duplex link that is the upper end of the folded parallel link mechanism.
  • the upper and lower link members (13, 14) of the first duplex link (9a, 9b) are columnar link members having bearing members (11a-12b) fixed to both ends of the columnar body (11, 12),
  • the upper and lower link members (15, 16) of the second duplex link (10) are plate-like in which the end portions supported by the intermediate support shaft (26) are overlapped in the axial direction of the intermediate support shaft (26).
  • a link member can be used.
  • FIG. 1 is a side view showing a device for changing the work support height between each area in the transport carriage travel route.
  • FIG. 2A is a front view showing a pair of middle-fold parallel link mechanisms in a workpiece high position support posture
  • FIG. 2B is an enlarged partially cut-away front view showing a main part of the one-side middle-fold parallel link mechanism.
  • FIG. 3 is a plan view showing a pair of middle-fold parallel link mechanisms in a workpiece low position support posture.
  • FIG. 4 is a developed view showing link-related components of one half-fold parallel link mechanism, and an enlarged view of a part thereof is also shown.
  • FIG. 5 is a development view showing three double links of one half-fold parallel link mechanism.
  • FIG. 5 is a development view showing three double links of one half-fold parallel link mechanism.
  • FIG. 6 is a side view showing one half-fold parallel link mechanism in a workpiece high position support posture, and an enlarged view of a part thereof is also shown.
  • FIG. 7 is a plan view showing the first work support height changing device and the transport carriage for switching the work support table to the work height position support height.
  • FIG. 8 is an enlarged plan view showing one side portion of the first workpiece support height changing device.
  • FIG. 9 is a rear view showing the first workpiece support height changing device and the transport carriage.
  • FIG. 10A is an enlarged rear view of the main part showing a state immediately after the start of the operation of the first work support height changing device
  • FIG. 10B is an enlarged partially cutaway rear view of the main part.
  • FIG. 11A is a rear view of the main part showing a state in which the first work support height changing device has switched the folded parallel link mechanism to the vertical standing posture
  • FIG. 11B is an enlarged partially cutaway rear view of the main part. is there.
  • FIG. 12 is a rear view of the main part showing a state in which the first work support height changing device has switched the folded parallel link mechanism to the work high position support posture.
  • FIG. 13 is a rear view showing the second work support height changing device and the transport carriage for switching the work support base from the work high position support height to the work low position support height.
  • FIG. 14 is a rear view of the main part showing a state immediately after the operation start of the second workpiece support height changing device.
  • FIG. 15 is an enlarged cross-sectional plan view of the main part of FIG.
  • FIG. 16A is a rear view of a main part showing a state at the end of the first stage of operation of the second workpiece support height changing device
  • FIG. 16B is an enlarged vertical rear view of the main part of FIG.
  • FIG. 17 is a rear view of the main part showing the state of the second stage of operation of the second workpiece support height changing device.
  • FIG. 18 is a rear view showing a pair of middle-fold parallel link mechanisms in a state where the workpiece is switched to an intermediate height position between a high position and a low position.
  • 19A and 19B are rear views of the main part showing a state when the work is lowered to the low position by the second work support height changing device.
  • the base of the workpiece support device is a transport cart.
  • a transport carriage 2 that travels on a fixed travel path constituted by guide rails 1 laid along a travel path supports a work support base 4 by a pair of middle-folded parallel link mechanisms 3L and 3R.
  • the traveling path of the transport carriage 2 is an area A1 for supporting and transporting a work (car body or the like) W loaded on the work support base 4 at a low position, and supporting and transporting the work W at a high position.
  • Area A2 and area A3 that supports and conveys the workpiece W at an intermediate height position.
  • a second work support height changing device M2 for lowering the support height of the work W is disposed between the areas A2 and A3 and between the areas A3 and A1.
  • the path length of each of the areas A1 to A3 is shown to be as short as one workpiece, but in reality, the path length necessary for work in each area is secured.
  • the work support 4 supported by the pair of middle-folded parallel link mechanisms 3L and 3R includes a pair of rod-like horizontal members 5 and 6 using steel pipes that are long in the front-rear direction and symmetrically arranged.
  • the pair of middle-fold parallel link mechanisms 3L and 3R that support the work support 4 support the pair of bar-like horizontal members 5 and 6 of the work support 4 separately, and the structure itself is symmetrical. However, as shown in FIG. 3, the position is shifted in the front-rear direction by a distance slightly wider than the width in the front-rear direction of the half-fold parallel link mechanisms 3L, 3R.
  • the right horizontal folding parallel link mechanism 3R supports the position adjacent to the rear end side work support seat 8b of the right bar-shaped horizontal member 6. is doing.
  • FIGS. 4 to 6 show only the right folded parallel link mechanism 3R.
  • the first double link and the second double link are used as the inner double link and the second double link as the second double link. It is said.
  • the inner first double links 9a, 9b are arranged in parallel in the front-rear direction of the carriage traveling direction F, and are arranged in parallel as viewed from the side of the carriage 2 and the outer second duplex links 10 are arranged on the carriage 2 is disposed substantially at the center between the pair of first duplex links 9a and 9b as viewed from the lateral side.
  • the pair of first double links 9a and 9b are for load support, and two upper and lower columnar link members having bearing members 11a and 11b and 12a and 12b fixed to both ends of the columnar bodies 11 and 12 made of thick square steel pipes.
  • the second double link 10 is composed of two upper and lower plate-like link members 15 and 16 whose plate surfaces extend in the undulating direction.
  • the lower columnar link members 14 of the pair of first duplex links 9a and 9b are respectively connected to bearings 17a and 17b attached on the transport carriage 2 with concentric lower end support shafts via a lower end bearing member 12b.
  • the upper columnar link members 13 are supported at both ends of a common long upper support shaft 19 via upper end bearing members 11a.
  • the long upper end support shaft 19 is disposed in parallel to the inside of the bar-shaped horizontal members 5 and 6 of the work support base 4, and the bearing plates 20 a and 20 b projecting inward from the bar-shaped horizontal members 5 and 6.
  • the two upper and lower columnar link members 13 and 14 of the first double link 9a and 9b are supported on both ends of the common long intermediate support shaft 21 via the upper and lower bearing members 11b and 12a, and are relatively rocked. It is connected freely. As shown in FIG. 6, the two upper and lower columnar link members 13, 14 of the first double link 9 a, 9 b do not deviate in the axial direction of the long intermediate support shaft 21, so that one continuous columnar body. As can be seen, the bearing portion through which the long intermediate support shaft 21 of the bearing members 11b and 12a passes is the center line of the width of the columnar bodies 11 and 12 when viewed from the swinging direction of the first double links 9a and 9b.
  • the bearing portions of the respective bearing members 11b and 12a are substantially at the corners on the side where the second double links 10 of the columnar link members 13 and 14 are located. It protrudes so that about 1/4 arc part bites in.
  • the lower plate link member 16 of the second double link 10 is pivotally supported by a bearing 22 attached on the transport carriage 2 by a lower end support shaft 23, and the upper plate link of the second double link 10.
  • the member 15 is swung by the upper support shaft 25 on an intermediate bearing plate 24 which is installed between the bar-shaped horizontal members 5 and 6 of the work support 4 and the long upper support shaft 19 of the first two-link 9a and 9b. It is supported freely.
  • the upper end support shaft 25 is located directly below the bar-like horizontal members 5 and 6 of the work support 4.
  • both ends of the long intermediate support shaft 26 that connects the overlapping end portions of the upper and lower plate-like link members 15 and 16 of the second double link 10 so as to be capable of relative swinging are connected to the pair of first double links 9a and 9b.
  • the long intermediate support shaft 21 is connected by a pair of intermediate link members 27a and 27b.
  • the intermediate bearing plate 24 that pivotally supports the upper end of the upper plate-like link member 15 of the second double link 10 is not completely fixed to the long upper end support shaft 19 of the first double link 9a, 9b. Rather, the long upper end support shaft 19 is loosely locked so that a slight play in the vertical direction can be obtained.
  • the longitudinal distances between the support shafts 26 and 23 are equal to each other, and the support shafts 21 and 26 between the support shafts 19 and 25 adjacent to each other on the inner and outer sides (left and right direction) are supported by the support shafts supporting the upper and lower ends of each link.
  • the lateral distance between the support shafts 18a / 18b, 22 is sufficiently shorter than and equal to the longitudinal distance. Accordingly, when the half-fold parallel link mechanisms 3L, 3R are viewed from the cart traveling direction F (front-rear direction), the support shafts 19, 21, 26, 25 are located at the vertices of the vertically long upper parallelograms.
  • 21, 18 a / 18 b, 23, and 26 are positioned at the vertices of the vertically long lower parallelogram having the same upper side as the lower side of the upper parallelogram. It should be noted that the three short sides of the vertically long parallelogram are the inner supports such that the outer vertex on the second duplex link 10 side is lower than the inner vertex on the first duplex link 9a, 9b side.
  • the support shafts 25, 26, 23 outside the shafts 19, 21, 18a / 18b are configured to be lower in height.
  • the lower columnar link member 14 of the pair of first duplex links 9a and 9b is inwardly folded around the lower end support shaft 18a / 18b on the transport carriage 2 side, and the lower side
  • the bearing member 12a at the upper end of the columnar link member 14 is received by the floor surface 2a of the conveyance carriage 2 (hereinafter referred to as the carriage floor surface 2a)
  • the side surface of the bearing member 12b at the lower end of the lower columnar link member 14 is conveyed.
  • the lower columnar link member 14 is received by the horizontal surfaces of the bearings 17 a and 17 b on the cart 2 side, and the lower columnar link member 14 is in a horizontal posture substantially parallel to the cart floor surface 2 a, and the upper columnar link member 13 with respect to the lower columnar link member 14. Is pivoted outward around the long intermediate support shaft 21 and stacked on the lower columnar link member 14, the bearing member 11 a at the upper end of the upper columnar link member 13 is connected to the lower columnar link member 14. Is received on the end of the bearing member 12b, it is configured to be substantially horizontal posture the upper columnar link member 13.
  • One second double link 10 has its upper and lower plate-like link members 15 and 16 folded in a V shape between the pair of first double links 9a and 9b with the long intermediate support shaft 26 as a vertex.
  • the work support 4 (the work support seats 7a to 8b) is formed by the long upper support shaft 19 at the upper end of the pair of first double links 9a and 9b and the upper support shaft 25 of the second second double link 10 outside. It will be supported almost horizontally. At this time, the folding postures of the half-fold parallel link mechanisms 3L and 3R become the workpiece low-position support posture.
  • Each of the work support seats 7a to 8b of the work support base 4 is fitted with a positioning hole provided at the bottom of the work W to be supported to prevent horizontal relative slip with the work W. Supporting tools 28a, 28b and 29a, 29b provided with pins and the like are projected.
  • Each of the workpiece support seats 7a to 8b is located on or near the extension axis of the long upper support shaft 19 of the first double link 9a, 9b in plan view, as shown in FIG. When viewed from the axial direction of each support shaft of the parallel link mechanisms 3L and 3R, as shown in FIGS.
  • the long upper end support shaft 19 of the first double link 9a, 9b and The rod-like horizontal members 5 and 6 are projected in a cantilevered manner inward so as to overlap or be located at a height in the vicinity thereof. Therefore, the load of the workpiece W supported by the workpiece support 4 (work support seats 7a to 8b) when the half-fold parallel link mechanisms 3L and 3R are in the workpiece low position support posture folded on the surface 2a folded by the carriage. From the work support seats 7a to 8b through the rod-like horizontal members 5 and 6, the bearing plates 20a and 20b, the long upper support shaft 19, the bearing members 11a and 12b, and the bearings 17a and 17b.
  • the intermediate folding parallel link mechanisms 3L, 3R are in the workpiece low position support posture shown in FIG. 10, when the supporting workpiece support 4 is moved upward in parallel, the intermediate folding parallel link mechanisms 3L, 3R is pulled up in parallel with the upper end link member integral with the workpiece support base 4, that is, the bearing plates 20a, 20b, and 24, and the lower columnar link members of the pair of first double links 9a and 9b. 14 pivots around the lower end support shafts 18a and 18b and the lower plate link member 16 of the second double link 10 around the lower end support shaft 23.
  • the upper columnar link members 13 of the continuous links 9a and 9b are arranged around the long intermediate support shaft 21, and the upper plate-shaped link members 15 of the second double link 10 are arranged around the long intermediate support shaft 26, respectively.
  • the center bending parallel link mechanism 3L, 3R is slide into change in the standing posture.
  • the change to the standing posture of the above-mentioned parallel folding link mechanisms 3L and 3R is performed by the center-turning parallel link mechanisms 3L and 3R using the support shafts 19 and 21 of the first double links 9a and 9b.
  • 18a / 18b and the support shafts 25, 26, 23 of the second double link 10 are up to the standing limit, that is, up to the vertical standing posture. Therefore, when the parallel folding link mechanisms 3L and 3R reach the vertical standing posture, the lifting operation with respect to the work support base 4 is stopped, and then the parallel folding link mechanisms 3L and 3L in the vertical standing posture (or the posture immediately before) are stopped.
  • the middle folded parallel link mechanisms 3L and 3R include a pair of middle links as operated parts for changing the posture of the middle folded parallel link mechanisms 3L and 3R to a reverse bending posture exceeding the standing limit to the opposite side.
  • a piece protruding downward from the outer end of the intermediate link member 27b on the rear side in the cart traveling direction F, that is, the outer end of the long intermediate support shaft 26 on the second duplex link 10 side. 30 is integrally projected. Further, as described above, when the folded parallel link mechanisms 3L and 3R are bent at a predetermined angle beyond the vertical standing posture, that is, when they reach the workpiece high position supporting posture shown in FIG. As shown in FIG. 5 and FIG.
  • the contact surface 12d provided on the bearing member 12b at the lower end of the lower columnar link member 14 in the first double link 9a, 9b is received by the horizontal surface of the bearings 17a, 17b, and the lower columnar link beyond that. To the outside of member 14 It is configured to prevent swinging. Further, as shown in FIG.
  • the long upper end support shaft 19 of the first double link 9a, 9b is supported on the side surface of the upper end bearing member 11a of the upper columnar link member 13 in the first double link 9a, 9b.
  • the receiving members 31a and 31b attached to the inner side surfaces of the bearing plates 20a and 20b come into contact with each other, and the rod-like horizontal members 5 and 6 of the work support 4 are connected to the long upper end support shaft 19 of the first double link 9a and 9b. It is prevented from rotating downward around the periphery, and a load is prevented from acting on the upper and lower plate-like link members 15 and 16 of the second double link 10 in the compression direction.
  • the locking mechanisms 34L and 3R are provided with locking means 34 for disabling the bending motion of the folding center link mechanisms 3L and 3R in the workpiece high position support posture shown in FIGS.
  • the locking unit 34 is continuously provided at the end of the upper and lower plate-like link members 15, 16 of the second double link 10 on the side of the intermediate long support shaft 26.
  • the middle long support shaft 21 is swingably supported between the two locking plates 35 and 36 and a pair of mutually adjacent first double links 9a and 9b and intermediate link members 27a and 27b.
  • the coil springs 41a and 41b are energized.
  • Each locking plate 35, 36 has peripheral surfaces 35 a, 36 a concentric with the intermediate long support shaft 26, and the engaged recesses 35 b, into which the engaging portions 40 are fitted, are fitted to these peripheral surfaces 35 a, 36 a. 36b is formed.
  • the two locking plates 35 and 36 in the lock means 34 having the above-described configuration are the long lengths of the upper and lower plate-like link members 15 and 16 of the second double link 10 accompanying the undulation motion of the folded parallel link mechanisms 3L and 3R.
  • the upper and lower plate-like link members 15 and 16 rotate together around the long intermediate support shaft 26, but the folded parallel link mechanism 3L.
  • the engaged recesses 35b, 36b of the two locking plates 35, 36 are aligned with respect to the circumferential direction only when the workpiece 3R is in the workpiece high position support posture shown in FIG.
  • a tension coil spring is provided on the peripheral surfaces 35a, 36a of the two locking plates 35, 36.
  • Movable arm that was in pressure contact with the urging force of 41a and 41b 7a, 37b of the front end of the engaging portion 40 (cylindrical body 39) is fitted, the center bending parallel link mechanism 3L, and is configured to prevent undulating movement of 3R.
  • the intermediate position support means 42 for supporting at a height between the low position supported by the intermediate position and the high position supported by the intermediate folding parallel link mechanisms 3L and 3R shown in FIG. Has been.
  • the intermediate position support means 42 is a pair of belt-like struts that are suspended by both ends of the long upper support shaft 19 on both sides of the pair of first duplex links 9a and 9b and maintain a vertical hanging posture by gravity.
  • the members 43a and 43b and holding members 44a and 44b for receiving the tension members 43a and 43b in a vertical posture are constituted.
  • Long holes 45a and 45b that are long in the length direction of the tension members 43a and 43b are provided at the upper ends of the pair of belt-shaped tension members 43a and 43b, and the length of the pair of first double links 9a and 9b.
  • Small-diameter shaft portions 19a and 19b that protrude concentrically outwardly from bearing plates 20a and 20b that support both ends of the long upper end support shaft 19 are integrally formed at both ends of the upper end support shaft 19.
  • the long holes 45a and 45b are fitted to the small-diameter shaft portions 19a and 19b so as to be movable up and down, so that the tension members 43a and 43b are suspended from both ends of the long upper end support shaft 19.
  • fitting shaft portions 46a and 46b which are narrower than the tension members 43a and 43b and whose lower ends are obliquely cut are integrally formed in the extending direction of the tension members 43a and 43b.
  • the bearing plate portions 47a and 47b that are provided so as to extend from the outer surfaces of the lower end portions of the tension members 43a and 43b to the outer positions of the sharp ends of the fitting shaft portions 46a and 46b are provided.
  • Rollers 48a and 48b that are rotatable around a horizontal axis are pivotally supported on the sides of the tips of 47a and 47b.
  • the holding members 44a and 44b for receiving the tension members 43a and 43b in a vertical posture are attached to the outer surfaces of the bearings 17a and 17b that individually support the lower end support shafts 18a and 18b of the first double links 9a and 9b, respectively.
  • the holding members 44a and 44b are supported by the surface 2a, and are provided with vertical groove portions 49a and 49b into which the fitting shaft portions 46a and 46b of the tension members 43a and 43b descending vertically are inserted.
  • the bearing plate portions 47a and 47b and the rollers 48a and 48b simply descend on the outside of the holding members 44a and 44b, and the holding member 44a. 44b.
  • the work support base 4 is suspended from the long upper end support shaft 19 of the parallel folding link mechanisms 3L, 3R.
  • the tension members 43a and 43b are lowered in a vertically suspended posture, and the fitting shaft portions 46a and 46b at the lower ends of the tension members 43a and 43b are inserted into the vertical groove portions 49a and 49b of the holding members 44a and 44b.
  • the tension members 43a and 43b are held vertically with the lower ends of the tension members 43a and 43b supported by the upper end surfaces of the holding members 44a and 44b.
  • the small diameter shaft portions 19a and 19b at both ends of the long upper support shaft 19 are lowered with respect to the long holes 45a and 45b at the upper ends of the tension members 43a and 43b.
  • the receiving members 50a and 50b for receiving the lower side of the bearing plates 20a and 20b on the work support base 4 side at the position directly below the long upper support shaft 19 are stretched. It is attached to the inner surface of member 43a, 43b.
  • the load on the work support 4 side is received by the transport carriage 2 from the bar-shaped horizontal members 5 and 6 through the bearing plates 20a and 20b, the receiving members 50a and 50b, the tension members 43a and 43b, and the holding members 44a and 44b. Therefore, it does not act directly on the link members of the folded parallel link mechanisms 3L and 3R.
  • the upper columnar link members 13 of the first two-links 9a and 9b adjacent to the stretching members 43a and 43b extend from the inner side to the lateral side and support members 51a and 51b that receive the stretching members 43a and 43b. Is attached.
  • the support members 51a and 51b are configured such that when the folded parallel link mechanisms 3L and 3R are in the workpiece high position support posture shown in FIG. 2, the tension members 43a and 43b are the upper columnar link members 13 of the first double links 9a and 9b. It is hung down in the state which separated from the inner side, and it rocks
  • supported portions 52a and 52b are provided below the workpiece support seats 7a to 8b of the workpiece support base 4.
  • Each of these supported portions 52a and 52b is constituted by a square-shaped member that is attached to a position adjacent to the base of the work support seats 7a to 8b attached to the rod-like horizontal members 5 and 6 and that is long in the traveling direction of the transport carriage 2. is doing.
  • the first work support height changing device M1 is as follows.
  • the lifter 53L and 53R for lifting and lowering the workpiece and the auxiliary means 54L and 54R for changing the posture are provided on the left and right sides of the fixed stop position of the transport carriage 2.
  • the lifters 53L and 53R for lifting and lowering the workpieces have a symmetrical structure with each other, and extend in the traveling path of the transport carriage 2 and move up and down in conjunction with each other. Elevating arms 55a, 55b and revolving arms 56a, 56b provided at the tips of these elevating arms 55a, 55b are provided so as to be able to turn horizontally. Support portions 57a and 57b for supporting the supported portions 52a and 52b provided in the seats 7a to 8b are provided.
  • the pair of elevating arms 55a and 55b are attached to a common elevating body 58 in a cantilevered manner, and the elevating body 58 is installed on a vertical frame 60 installed on a base 59 installed on the floor surface.
  • the raising / lowering drive means of the raising / lowering body 58 can move the raising / lowering body 58 up and down between the lower limit position and the upper limit position, and can freely stop at the set intermediate stop position.
  • Any configuration may be used.
  • an arbitrary configuration such as a suspension rope system that lifts and extends a suspension cable such as a chain that suspends the lifting body 58, a rack and pinion gear system, a screw shaft system, and a fluid pressure cylinder system can be used.
  • the swivel arms 56a and 56b are fixedly projected from rotary boss portions 63a and 63b rotatably supported around the vertical support shafts 62a and 62b on the upper ends of the lift arms 55a and 55b.
  • the support plate 64 is attached to the tip side surface of the swivel arms 56a and 56b, and extends in the horizontal front direction after hanging down to the lower side height of 55a and 55b.
  • the support portions 57a and 57b are constituted by the formed groove portion.
  • the driving means 65a and 65b of the swing arms 56a and 56b are configured such that the swing arms 56a and 56b are retracted in a right-angled lateral direction from the tips of the lift arms 55a and 55b, and a support action posture is an extension direction of the lift arms 55a and 55b.
  • the driving means 65a and 65b of this embodiment are attached to the vicinity of the tip ends of the lifting arms 55a and 55b.
  • the posture switching auxiliary means 54L and 54R are disposed between the pair of lift arms 55a and 55b, and pass through the space between the lift path of the lift body 58 and the travel path of the transport carriage 2.
  • a vertical column 69 projecting from the base 59 so as to stand upright, a horizontal frame 70 supported by the vertical column 69 and extending in a cantilevered manner toward the traveling path side of the transport carriage 2, and the horizontal frame 70
  • a reciprocating body 73 supported so as to be reciprocally movable in a horizontal direction perpendicular to the traveling direction of the transport carriage 2 via a slide guide rail 71 attached thereto and a slide block 72 fitted thereto.
  • the driving means 74 for reciprocating the reciprocating body 73 may have any configuration as long as it can reciprocate the reciprocating body 73 between the forward limit and the backward limit.
  • An example driving means 74 includes a rack gear 76 attached to the side of the reciprocating body 73 in parallel with the moving direction of the reciprocating body 73, and a motor 77 with a speed reducer attached to the side of the horizontal frame 70.
  • a pinion gear 78 that is attached to the vertical output shaft of the motor 77 with speed reducer and meshes with the rack gear 76, and the pinion gear 78 is driven to rotate forward and backward by the motor 77 with speed reducer via the rack gear 76.
  • the reciprocating body 73 can be moved forward or backward.
  • the second workpiece support height changing device M2 is configured by the transport cart. 2 lifters 79L and 79R for lifting and lowering workpieces disposed on the left and right sides of the fixed stop position 2, pushers 80L and 80R attached to the lifters 79L and 79R, and unlocking means attached to the pushers 80L and 80R. 81L, 81R and operation means 82L, 82R for operating the intermediate position support means 42 are configured.
  • the workpiece lifting / lowering operation lifters 79L and 79R of the second workpiece support height changing device M2 are exactly the same as the workpiece lifting / lowering operation lifters 53L and 53R of the first workpiece supporting height changing device M1 described above. Therefore, the same reference numerals are given and description thereof is omitted.
  • the pushers 80L and 80R are provided at the front end of the reciprocating body 73 of the posture change auxiliary means 54L and 54R provided in the first work support height changing device M1 described above, instead of the check piece 75, and a pressing plate 83.
  • the pressing plate 83 is projected to the outside of the parallel folding link mechanisms 3L and 3R in the workpiece high position supporting posture, that is, both the upper and lower sides of the second double link 10 Of the curved outer surfaces of the plate-like link members 15 and 16 and the intermediate link members 27a and 27b that are supported by the long intermediate support shaft 26, the curved outer surface of at least one link member is horizontally inward. It is comprised so that it may be pressed and moved.
  • the pressing plate 83 shown in the illustrated embodiment has a size capable of simultaneously pressing and moving the curved outer surface of the portion supported by the long intermediate support shaft 26 of the upper and lower plate-like link members 15 and 16. It is made of an elastic material.
  • the unlocking means 81L and 81R are formed of two pieces against the urging force of the tension coil springs 41a and 41b with respect to the engaging portion 40 of the locking means 34 provided in the half-fold parallel link mechanisms 3L and 3R in the workpiece high position support posture.
  • the movable operation plate 84 is configured to be disengaged from the engaged recesses 35b and 36b of the locking plates 35 and 36.
  • the movable operation plate 84 is located on the upper end side of the reciprocating body 73 provided with the pressing plate 83 of the pushers 80L and 80R at the front end, behind the pressing plate 83 in the cart traveling direction F, and forward of the reciprocating body 73.
  • the projecting piece 30 is provided by the forward movement of the reciprocating moving body 73 at the front end of the plate material which is attached so as to protrude in the direction and is parallel to the moving direction of the reciprocating moving body 73.
  • the movable operation plate 84 enters between the intermediate link member 27b and the movable arm 37b, and the action surface 84a at the tip of the movable operation plate 84 presses and moves the engaging portion 40 (cylindrical body 39). Is.
  • the engaging portion 40 (cylindrical body 39) of the locking means 34 that locks the parallel folding link mechanisms 3 ⁇ / b> L and 3 ⁇ / b> R in the workpiece high position support posture includes two locking plates 35 and 36.
  • the engagement portion 40 (cylindrical body 39) in this state is fitted into the engaged recesses 35b and 36b, and the pair of movable arms 37a and 37b that support the engagement portion 40 are swung. Since it is located above the central axis of the long intermediate support shaft 21 that is the center, theoretically, the engaging portion 40 (cylindrical body 39) is located inside by the action surface 84 a at the tip of the movable operation plate 84.
  • the upward rotating force around the long intermediate support shaft 21 will resist the biasing force of the tension coil springs 41a and 41b on the movable arms 37a and 37b.
  • the movable arms 37a and 37b swing upward and engage.
  • 40 (cylindrical body 39) is being separated engaged concave portion 35b, from 36b above.
  • the action surface 84a at the tip of the movable operation plate 84 is moved upward while the engaging portion 40 (cylindrical body 39) is lifted upward. It can be formed in a cam shape that presses toward.
  • the movable operation plate 84 is not directly applied to the engaging portion 40 (cylindrical body 39), but is operated above the engaging portion 40 and interlocked with the movable arms 37a and 37b.
  • a separate portion is provided, and the operated portion is pressed and moved inward horizontally by the action surface 84a at the tip of the movable operation plate 84, so that the engaging portion 40 (cylindrical body 39) is covered by the movable arms 37a and 37b. It is also possible to configure to be disengaged upward from the engaging recesses 35b, 36b.
  • the operation means 82L and 82R of the intermediate position support means 42 are disposed below the pushers 80L and 80R, and the posture switching auxiliary provided in the first work support height changing device M1 described above.
  • the bar 85 is parallel to the parallel direction of the pair of tension members 43a and 43b (cart traveling direction F), and has a length that allows the pair of tension members 43a and 43b to be simultaneously pressed.
  • the reciprocating body 73 of the operating means 82L and 82R and the horizontal frame 70 that supports the driving means 74 may be installed by using the vertical support 69 that supports the pushers 80L and 80R (horizontal frame 70).
  • the vertical columns 69 dedicated to the operating means 82L and 82R may be used.
  • the region from the long intermediate support shaft 21 located at the inner end to the substantially central portion in the length direction of the upper columnar link member 13 of the first double link 9a, 9b is overlapped with the traveling direction of the transport carriage 2. Adjacent. At this time, the stretching members 43a and 43b of the intermediate position support means 42 included in the parallel folding link mechanisms 3L and 3R are moved in a direction from the long upper support shaft 19 to the long intermediate support shaft 21, as shown in FIG. In the extended state, the tip end side is in a state of being supported by the carriage floor surface 2a via the rollers 48a and 48b in contact with the carriage floor surface 2a.
  • the workpiece support seats 7a to 8b of the workpiece support base 4 are folded up and overlapped up and down at about the maximum height of the first double links 9a and 9b, at positions away from the carriage floor 2a.
  • the workpiece is supported horizontally by the parallel folding link mechanisms 3L and 3R in the workpiece low position support posture.
  • a workpiece W such as an automobile body is placed on the four workpiece support seats 7a to 8b of the workpiece support base 4 in a direction in which the length direction thereof is parallel to the carriage traveling direction F and two front and rear sides. Is done.
  • the support tools 28a, 28b and 29a, 29b of the workpiece support seats 7a to 8b are engaged with predetermined positions on the workpiece W side, so that the horizontal relative slip between the workpiece W and the workpiece support table 4 occurs.
  • the right portion of the work support 4 supported by the bar (the bar-like horizontal member 6 and the work support seats 8a and 8b at the front and rear ends thereof) are integrated by the work W to be supported.
  • the left and right rod-like horizontal members 5 and 6 may be connected and integrated with an appropriate connecting member in a state that does not interfere with the workpiece W to be loaded and does not interfere with the work on the bottom of the workpiece W.
  • the illustrated conveyance carriage 2 has a horizontally-long rectangular shape whose width in the left-right direction is larger than the front-rear length in the carriage traveling direction F. Accordingly, the left and right sides of the transport carriage 2 projecting greatly to the left and right sides of the loaded work W can secure work floors for the left and right sides of the central area of the loaded work W. Both front and rear ends project greatly before and after the carriage traveling direction F of the transport carriage 2. In this state, the transport carriage 2 can travel in the left-right width direction, so that the ground-side floor surface adjacent to both sides of the travel path of the transport carriage 2 can greatly enter below the front and rear end portions of the workpiece W.
  • parts carts and the like can be inserted under the front and rear ends of the work W, which is suitable for mounting the engine and the front and rear axle units.
  • FIG. 1 when traveling in the length direction of the loaded workpiece W (width direction in which the length of the transport carriage 2 is short), as shown in phantom lines in FIG.
  • the front and rear auxiliary carts 2B and 2C that can be used can be combined as necessary.
  • the transport carriage 2 is arranged in the length direction of the loaded work W (of the transport carriage 2).
  • the vehicle travels in the bogie travel direction F, which is the short width direction.
  • the transport carriage 2 that travels in the area A1 that supports and transports a workpiece (such as an automobile body) W in FIG. 1 at a low position is stopped at a fixed position relative to the first workpiece support height changing device M1.
  • the lifting bodies 58 (lifting arms 55a and 55b) of the lifters 53L and 53R for lifting and lowering the workpiece are in the lower limit position, and the swing arms 56a and 56b are as shown in FIG. 8 is in a retreat posture in the right-and-left direction indicated by the phantom line, and the reciprocating body 73 of the posture switching auxiliary means 54L and 54R is in the retreat limit position.
  • the driving means 65a and 65b are operated with respect to the lifting arms 55a and 55b at the lower limit position of the work lifting and lowering lifters 53L and 53R, and the swing arms 56a and 56b are lifted and lowered.
  • the arm 55a, 55b is horizontally rotated 90 degrees to the supporting action posture that is an extension direction of the arms 55a, 55b.
  • the support portions 57a and 57b at the tips of the swing arms 56a and 56b are bent parallel link mechanisms 3L and 3R in the workpiece low position support posture on the transport carriage 2.
  • the workpiece support base 4 is supported so as to rotate horizontally into the space between the four workpiece support seats 7a to 8b of the supported workpiece support base 4 and the carriage floor 2a, and the supported portions 52a of the workpiece support seats 7a to 8b, It is configured to stop at a position directly below 52b.
  • the lifting bodies 58 (lifting arms 55a and 55b) of the lifters 53L and 53R for lifting and lowering the workpiece are raised from the lower limit position, and the support portions 57a and 57b at the tips of the swivel arms 56a and 56b are moved to the work support 4 side.
  • the workpiece support base 4 is lifted together with the workpiece W loaded thereon. In this way, when the work support 4 is lifted in parallel with the work W by the lifting movement of the lifting body 58 (lifting arms 55a and 55b), a pair of left and right half-fold parallel link mechanisms connected to the work support 4 are provided.
  • the reciprocating moving body 73 is moved forward until it reaches the advance limit entered inside.
  • the check piece 75 passes under the protruding piece 30 inwardly, the check piece 75 is tilted around the support shaft 75a by the protruding piece 30 and passes through the original action by gravity or spring force. Stand up in posture.
  • the reciprocating body 73 is moved backward by the driving means 74, the check piece 75 standing in the acting posture pushes the protruding piece 30 outward from the inside, so that the vertical standing posture (standing limit)
  • the half-bending parallel link mechanisms 3L and 3R that were in the posture immediately before that are deformed into a reverse bending posture in which an intermediate portion with the long intermediate support shafts 21 and 26 bends outward. .
  • the parallel folding link mechanisms 3L and 3R are deformed from the vertical standing posture to the reverse bending posture in which the intermediate portion protrudes outward, so that the parallel bending mechanism is obtained.
  • the link mechanisms 3L and 3R reach the workpiece high position support posture shown in FIG. 12, and as described above, the bending motions of the intermediate folding parallel link mechanisms 3L and 3R accompanied by further lowering of the workpiece support base 4 are prevented.
  • the locking means 34 works to fix the folded parallel link mechanisms 3L and 3R to the workpiece high position support posture.
  • the reciprocating body 73 of the posture switching auxiliary means 54L, 54R is stopped to move backward slightly before the parallel folding mechanism 3L, 3R reaches the workpiece high position support posture, as shown in FIG.
  • the check piece 75 is stopped at a position slightly away from the stopped protruding piece 30 inside.
  • the lift bodies 58 of the workpiece lift operation lifters 53L and 53R are lowered by an appropriate distance.
  • the support portions 57a and 57b at the tips of the swing arms 56a and 56b are detached downward from the supported portions 52a and 52b on the work support seats 7a to 8b side.
  • the left and right sides (both left and right bar-like horizontal members 5 and 6) of the work support 4 integrated by the loaded work W are fixed in a work high position support posture in a middle-folded parallel link.
  • the swing arms 56a and 56b of the lifter 53L and 53R for lifting and lowering the workpiece lowered to an appropriate height operate the motor 66 with a speed reducer to return the support action posture to the right-angled and horizontal retraction posture, thereby supporting the workpiece high position. Since the retracted outward from the half-fold parallel link mechanisms 3L and 3R in the posture, the forward traveling of the transport carriage 2 can be started toward the area A2 of the next stage.
  • the check pieces 75 of the posture switching auxiliary means 54L and 54R are located slightly inward from the protruding pieces 30 of the half-fold parallel link mechanisms 3L and 3R in the workpiece high position support posture.
  • the lift body 58 (lifting / lowering) in a state where the swing arms 56a, 56b of the work lifting / lowering operation lifters 53L, 53R are returned to the retracted posture.
  • the arms 55a, 55b) are lowered to the original lower limit position, and the reciprocating body 73 of the posture switching auxiliary means 54L, 54R is moved back to the original backward limit position together with the check piece 75 to prepare for the next operation. Just do it.
  • the transport carriage 2 that travels in the area A2 while supporting the workpiece W at a high position is stopped at a fixed position with respect to the next second workpiece support height changing device M2.
  • the second workpiece support height changing device M2 is configured such that the lifting body 58 (lifting arms 55a and 55b) of the lifters 79L and 79R for lifting and lowering the workpiece is at an intermediate predetermined height slightly lower than the ascending limit position and the swing arm 56a. , 56b are in a retreating posture at a right angle and a lateral orientation, and the reciprocating bodies 73 of the pushers 80L, 80R and the operating means 82L, 82R are in the retreat limit position.
  • the reciprocating bodies 73 of the pushers 80L and 80R are moved forward to operate the movable operation plates 84 of the lock release means 81L and 81R. That is, when the reciprocating body 73 of the pushers 80L and 80R advances and moves, the action surface 84 at the tip of the movable operation plate 84 that moves together with the pressing plate 83 moves before the pressing plate 83, and the locking means 34. Acting on the engaging portion 40 (cylindrical body 39) of the second engaging link 40, as described above, the engaging portion 40 is engaged with the engaged recesses 35b of the two locking plates 35, 36 on the second double link 10 side.
  • the lifting operation of the workpiece support table 4 by the workpiece lifting / lowering lifters 79L and 79R is stopped, and subsequently the lifting / lowering body 58 of the workpiece lifting / lowering operation lifters 79L and 79R is switched to the lowering.
  • the pressing plates 83 of the pushers 80L and 80R press and move the intermediate bent portions of the parallel folding link mechanisms 3L and 3R inward as described above, so that as shown in FIG. Along with the descent, the folded parallel link mechanisms 3L, 3R change from a vertical standing posture to a posture bending inward.
  • the pair of tension members 43a and 43b of the intermediate position support means 42 included in the folded parallel link mechanisms 3L and 3R are suspended from the long upper end support shaft 19 of the first double links 9a and 9b and vertically. Descent in a hanging position.
  • the vertical concave grooves 49a and 49b of the holding members 44a and 44b on the carriage floor surface 2a are located directly below the tension members 43a and 43b. Therefore, when the work support base 4 is lowered to a predetermined height, the tension member The fitting shaft portions 46a and 46b at the lower ends of 43a and 43b are inserted into the vertical concave groove portions 49a and 49b of the holding members 44a and 44b, and finally each workpiece support of the workpiece support base 4 is supported as described above.
  • the seats 7a to 8b are stabilized at intermediate height positions supported by the tension members 43a and 43b, respectively.
  • the folded parallel link mechanisms 3L and 3R are in an inward bending posture determined by the height of the work support 4 and are supported by the tension members 43a and 43b at an intermediate height position. This is useful for preventing the workpiece support seats 7a to 8b from shaking in the cart traveling direction F and stabilizing the posture.
  • the lifting and lowering bodies 58 of the workpiece lifting and lowering lifters 79L and 79R are further lowered to turn the swing arms 56a, After the support portions 57a and 57b at the tip of 56b are separated downward from the supported portions 52a and 52b of the work support seats 7a to 8b, the swivel arms 56a and 56b are switched to the retracted posture to change the second work support height. After the transport carriage 2 moves forward and away from the position of the apparatus M2, the lifting bodies 58 of the work lifting / lowering operation lifters 79L and 79R may be moved up and down to the original standby height.
  • the second workpiece support height changing device M2 installed between the areas A3 and A1 is the same as the second workpiece support height changing device M2 installed between the areas A2 and A3 described above.
  • the lifting and lowering bodies 58 lifting arms 55a and 55b) of the lifters 79L and 79R for lifting and lowering the workpieces move the workpiece W at the intermediate height position.
  • the swivel arms 56a and 56b are in a retracted posture in a right-angled lateral direction.
  • the reciprocating bodies 73 of the pushers 80L and 80R and the operating means 82L and 82R are in the retreat limit position.
  • the turning arms 56a and 56b are turned 90 degrees horizontally to the supporting action posture with respect to the lifting arms 55a and 55b of the work lifting operation lifters 79L and 79R.
  • the lifting and lowering bodies 58 of the workpiece lifting and lowering operation lifters 79L and 79R are moved up, and the four workpiece support seats 7a to 8b of the workpiece support base 4 supported at the intermediate height position by the tension members 43a and 43b are moved.
  • the second work support height changing device M2 installed between the areas A2 and A3, it is supported by the swing arms 56a and 56b and lifted and raised in parallel.
  • the parallel folding link mechanisms 3L and 3R are pulled up while changing the bending posture in the upright direction, and the vertical grooves 49a of the holding members 44a and 44b on the carriage floor surface 2a side. , 49b, the projecting members 43a, 43b are integrated with the work support 4 by the contact between the upper ends of the long holes 45a, 45b at the upper ends and the small-diameter shaft portions 19a, 19b of the long upper support shaft 19. It is pulled up by the long upper end support shaft 19 that rises.
  • the bar 85 of the operating means 82L, 82R provided in the second workpiece support height changing device M2 is pulled out from the vertical concave groove portions 49a, 49b of the holding members 44a, 44b as described above, and the parallel link mechanism is bent. Since it stands by at the intermediate height position of the tension members 43a and 43b suspended from the long upper end support shaft 19 of 3L and 3R, the reciprocating body 73 of the operation means 82L and 82R is driven by the drive means. As shown in FIG. 19A, the intermediate height portions of the tension members 43a and 43b are pushed inward at both ends of the bar 85, as shown in FIG. 19A.
  • the tension members 43a and 43b are bent and tilted inwardly around the long upper end support shaft 19 of the parallel link mechanisms 3L and 3R, and the rollers 48a and 48b and the like at the lower ends thereof are the holding members on the side of the carriage floor 2a. If the lifter is lifted inwardly from 44a, 44b, the lifting body 58 of the lifter 79L, 79R for lifting and lowering the workpiece that has been stopped at a predetermined height is lowered, and the swing arm 56a of the lifter 79L, 79R for lifting the workpiece is lifted. The work support 4 supported by 56b is lowered in parallel.
  • the reciprocating body 73 of the operation means 82L and 82R is moved to the drive means 74.
  • the bar 85 is moved backward from the tension members 43a and 43b and moved back to the standby position.
  • the lifting / lowering body 58 of the workpiece lifting / lowering operation lifters 79L and 79R is further lowered to the lower limit position, and the workpiece support base 4 is lowered to the lower position in parallel.
  • the tension members 43a and 43b As the table 4 descends, the lower end rollers 48a and 48b roll inward on the cart floor surface 2a, so that the tension members 43a and 43b fall so as to approach the cart floor surface 2a. Then, as shown in FIG. 10, the collapsible parallel link mechanisms 3L and 3R are completely folded by the descending work support 4 and fall on the carriage floor 2a, and the work support 4 is as described above. It reaches a low position supported by the carriage floor surface 2a via the bearing members 11a and 12b of the middle-folded parallel link mechanisms 3L and 3R.
  • the swing arms 56a and 56b which are stopped slightly away from the work support table 4 supported at the low position, are horizontally rotated to the retracted position, thereby moving the work support table 4 to the intermediate height. Since the operation for switching from the position to the low position is completed, the transport carriage 2 is moved forward, and the work W supported at the low position by the work support base 4 on the folded parallel link mechanisms 3L and 3R is moved to the next stage. Can be sent to area A1.
  • the intermediate position support means 42 The operating means 82L and 82R are unnecessary and can be eliminated.
  • the second workpiece support height changing device M2 installed between the areas A3 and A1 is used as a dedicated device for lowering the workpiece W from the intermediate height position to the low position, the pushers 80L and 80R and The unlocking means 81L and 81R are unnecessary and can be eliminated.
  • the second work support height changing device M2 between the areas A2 and A3 provided with the operation means 82L and 82R of the intermediate position support means 42 is also used as a device for directly lowering the work W from the high position to the low position. I can do it.
  • the workpiece support 4 is lowered to a low position by the workpiece lifting / lowering lifters 79L and 79R.
  • the operation means 82L and the second workpiece support height changing device M2 installed between the areas A3 and A1.
  • the bar 85 of the operating means 82L and 82R is advanced and moved at the same timing as the advance movement of the bar 85 of 82R, and the lower end of the tension members 43a and 43b, which are the intermediate position support means 42 on the side of the folded parallel link mechanisms 3L and 3R,
  • the fitting shaft portions 46a and 46b may be tilted inward before being inserted into the vertical concave groove portions 49a and 49b of the holding members 44a and 44b, and the work support base 4 may be lowered to the low position as it is.
  • the second workpiece support height changing device M2 between the areas A3 and A1 including the pushers 80L and 80R and the lock release means 81L and 81R conveys the workpiece W while supporting the workpiece W at a high position up to the end of the area A3. Since the half-fold parallel link mechanisms 3L and 3R on the carriage 2 can be switched from the workpiece high position support posture to the workpiece low position support posture, it can also be used as means for switching the workpiece W to the low position.
  • the workpiece support 4 for supporting the workpiece W at the low position is raised to the intermediate height position shown in FIG.
  • the position support means 42 can be supported by the tension members 43a and 43b and the holding members 44a and 44b.
  • the first work support height changing device M1 or the second work support height changing device M2 is also used as a means for moving the work support table 4 that supports the work W at a low position to an intermediate height position. I can do it.
  • the pushers 80L and 80R of the second workpiece support height changing device M2 are locked to the first workpiece support height changing device M1. If all of the operation means 82L and 82R of the release means 81L and 81R and the intermediate position support means 42 can be incorporated, the change point of the support height of the work support base 4 set in the travel route of the transport carriage 2
  • the workpiece support height changing device having the same configuration can be installed in all of the above, and the movement of the workpiece support table 4 between arbitrary support heights can be realized.
  • the intermediate position support means 42 and its operation means 82L and 82R for supporting the work W at the intermediate height position are adopted.
  • the work W is placed between the low position and the high position. These are not necessary if they are moved only between them.
  • the present invention provides a work support device on the transport carriage 2 in the above embodiment, that is, two half-fold parallel link mechanisms 3L and 3R, and a work support table 4 that is moved up and down in parallel by an external lifter,
  • This work support base 4 and a base are related to a work support device comprising two half-folded parallel link mechanisms 3L, 3R. It is not limited to the workpiece support apparatus installed.
  • a plurality of work support bases are provided side by side and can be implemented in combination with a lifter that can travel like a forklift truck.
  • the workpiece support device has a support height of the vehicle body in the transport path of the vehicle body in the vehicle assembly line, a high position that allows an operator to enter under the vehicle body, and a low position that approaches the carriage floor surface. It can be used as a work support device on a transport carriage that can be switched freely.

Abstract

L'invention concerne un dispositif de support de pièce à travailler destiné à soutenir une pièce à travailler en position élevée par l'intermédiaire de deux mécanismes de liaison parallèles pliants (3L,3R) couplant une table de support de pièce à travailler et une base. Les mécanismes parallèles pliants comprennent : une paire de premières liaisons doubles (9a,9b) qui sont disposées en parallèle de sorte que des bras de support soient disposés concentriques ; et un élément de liaison intermédiaire (27a,27b) qui relie mutuellement une deuxième liaison double (10) qui est disposée dans une position correspondant au milieu de la paire de premières liaisons doubles et des bras de support intermédiaires (21,26) des liaisons doubles ; la paire de premières liaisons doubles comportant une face d'aboutement (12d) qui couple, lorsque les mécanismes de liaison parallèles pliants sont verrouillés par un moyen de verrouillage (34) et que la pièce à travailler se trouve en position élevée, la partie inférieure de l'élément de liaison supérieur (13) et la partie supérieure de l'élément de liaison inférieur (14), par contact mutuel, verticalement, et empêche les deux mécanismes de liaison parallèles pliants de se balancer parallèlement à une base (2a), sans causer de mouvement ondulatoire.
PCT/JP2014/075297 2013-10-21 2014-09-24 Dispositif de support de pièce à travailler WO2015060053A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2013218411A JP2015081153A (ja) 2013-10-21 2013-10-21 ワーク支持装置
JP2013-218411 2013-10-21

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CN110329917A (zh) * 2019-05-30 2019-10-15 郭显宏 一种折叠式移载升降设备及其折叠架
WO2021078540A1 (fr) * 2019-10-24 2021-04-29 Sew-Eurodrive Gmbh & Co. Kg Procédé de fonctionnement d'une installation et installation
CN115924787A (zh) * 2022-12-05 2023-04-07 湖南中联重科履带起重机有限公司 顶升机构和桁架臂流水线

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KR101715808B1 (ko) * 2015-11-27 2017-03-15 주식회사 에스엠티 리프트 조립체

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JP2011088697A (ja) * 2009-10-21 2011-05-06 Daifuku Co Ltd ワーク昇降支持装置
JP2012001333A (ja) * 2010-06-17 2012-01-05 Toyota Motor Corp 昇降装置および昇降装置を用いた車両の組立ライン

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JP2011088697A (ja) * 2009-10-21 2011-05-06 Daifuku Co Ltd ワーク昇降支持装置
JP2012001333A (ja) * 2010-06-17 2012-01-05 Toyota Motor Corp 昇降装置および昇降装置を用いた車両の組立ライン

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110329917A (zh) * 2019-05-30 2019-10-15 郭显宏 一种折叠式移载升降设备及其折叠架
WO2021078540A1 (fr) * 2019-10-24 2021-04-29 Sew-Eurodrive Gmbh & Co. Kg Procédé de fonctionnement d'une installation et installation
CN115924787A (zh) * 2022-12-05 2023-04-07 湖南中联重科履带起重机有限公司 顶升机构和桁架臂流水线

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