JP3544867B2 - Transport equipment using moving objects - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a transfer facility using a moving body, which is used to convey a non-driving moving body that can travel on a floor side on a fixed route, for example.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as a device for moving a non-driving type moving body on a fixed route, for example, a configuration shown in Japanese Patent Application Laid-Open No. 2-209309 has been provided.
[0003]
In this conventional configuration, a movable body transport device is provided above a fixed path along which a movable body can travel, and a brake device is provided below. The movable body transport device includes a pair of left and right feed rollers that can freely contact the side surface of the movable body, and a rotation driving device that works in conjunction with the feed rollers. The brake device is composed of a pair of left and right brake rollers that can freely contact the side surface of the movable body, and a torque motor that applies a reverse rotation force to these brake rollers.
[0004]
According to such a conventional configuration, a large propulsive force is given to the movable body by forcibly rotating the two feed rollers that are in contact with both side surfaces of the movable body by the rotation driving device, and thus the movable body is It can move on a fixed route. At that time, the movable body pushes and moves the movable body group that has stopped before.
[0005]
On the lower side of the fixed path, since the reversely rotating brake roller is in contact with both side surfaces of the movable body, a thrust in the reverse transport direction acts on the movable body, and the feed rotational force is reversed here. Since it is larger than the feed rotation force, the brake roller is rotated to the feed rotation side in accordance with the difference. As a result, the lower movable body is moved under the braking action, and therefore, the movable body group is moved in a densely pushed state without creating a gap between the front and rear ends.
[0006]
[Problems to be solved by the invention]
According to the above-described conventional configuration, when performing various operations by an operator on an object to be conveyed by the movable body, the operator must perform the operation on the object to be moved from the floor side. And various operations cannot be performed easily. In order to cope with this, it is conceivable to increase the shape of the main body with respect to the transported object, and to allow the operator to step on the main body to perform various operations on the transported object. However, in this case, the overall length of the movable body becomes longer, the path lengths of various work paths and empty storage paths that do not depend on the operator become longer, and the installation space of the entire equipment becomes wider. A point will result.
[0007]
It is an object of the present invention to provide a moving body group that can be moved in a tightly pushed state without creating a gap between the front and rear ends, while the moving body is a long form that an operator can get on. Another object of the present invention is to provide a transfer facility using a movable body that can be switched to a short form in which boarding is unnecessary.
[0008]
[Means for Solving the Problems]
In order to achieve the above-mentioned object, the present invention provides a transport facility using a moving body, wherein a plurality of moving bodies supported and guided by rails and movable on a fixed path are provided. The body is provided with a device for supporting an object to be transported at an upper portion, and a platform is provided on at least one of the front and rear ends of the device so as to be vertically swingable, and the platform is moved by swinging horizontally. The free end is configured to be able to abut on the supporting device side of the adjacent moving body, and the platform is vertically swung so that the supporting devices of the front and rear moving bodies can be brought into contact with the space equivalent to the platform. In a plurality of locations along the fixed path, a plurality of pushing paths for moving bodies are formed, and the pushing paths are provided with a feeder for applying a moving force to the moving body on the upper side thereof. A braking device for applying a braking force to the moving body is provided on the lower side, and a cam rail for horizontally swinging the platform is provided in at least one push-back path portion. It is what it was.
[0009]
Therefore, according to the first aspect of the present invention, by moving the platform horizontally by the action of the cam rail, the moving body group is formed into a long form in which an operator can get on without generating a gap between the front and rear ends. It can move with a tight boost. In addition, the platform is swung vertically, and the front and rear moving bodies are brought into contact with each other by filling the space equivalent to the space of the platform. It can move in a tightly pushed state without creating a gap.
[0010]
According to a second aspect of the present invention, there is provided a transporting apparatus using a moving body, wherein the feeding device has a driving wheel body, and the driving wheel body acts on a support device and a platform. In this case, a passive portion is formed.
[0011]
Therefore, according to the second aspect of the present invention, the movement in the densely pushed state can be performed by sequentially applying the drive wheels of the feed device to the support device and the passive portion formed on the platform.
[0012]
According to a third aspect of the present invention, there is provided the transfer facility using a moving body according to the first or second aspect, wherein the moving body is provided with a passive body, and a path excluding a boosting path portion in the fixed path. At least a part of the portion is provided with a feed drive device having a transmission body that can be engaged with the passive body.
[0013]
Therefore, according to the third aspect of the present invention, in at least a part of the path section except the push path section, by engaging the transmission with the passive body, the moving body group can be moved at a desired pitch and at a desired pitch by the feed driving device. Can move at speed.
[0014]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of the present invention will be described below with reference to the drawings.
In FIG. 10, the fixed path 1 on which a large number of moving bodies 20 can move is composed of a first boosting path section 1A, a first pulling path section 1B, a second boosting path section 1C, a second pulling path section 1D, It is composed of a storage path section 1E and the like. At the start end of the storage path section 1E, there is formed a wholesaler 2 for unloading the conveyed object on the moving body 20 side, and at the end side of the storage path section 1E, loading of the conveyed object on the moving body 20 side. A loading section 3 is formed.
[0015]
The first pushing path portion 1A is provided with a feeding device 4 for applying a moving force to the moving body 20 on the upper side thereof, and a braking device 5 for applying a braking force to the moving body 20 on the lower side thereof. Similarly, the feeder 6 is provided on the upper side and the braking device 7 is provided on the lower side of the second booster path section 1C. A first feed driving device 8 is provided along the first pulling path portion 1B, and a second feed driving device 9 is provided along the second drawing path portion 1D and the storage path portion 1E.
[0016]
1 to 9, a channel-shaped moving body guide rail 12 is disposed on a machine frame (including a yoke or the like) 11 from the floor 10 side, and a pair of left and right moving parts are disposed with their open portions facing each other. A rectangular bar-shaped guide member 13 is fixed to the upper and lower surfaces of the edge of the movable body guide rail 12 on the open side. The fixed path 1 to which the moving body 20 can move is formed endlessly by the moving body guide rail 12 and the like.
[0017]
The moving body 20 is supported and guided by the two moving body guide rails 12 and is configured to be movable on the fixed path 1. That is, the moving body 20 has a main body 21 formed of a square tubular body (square rod-shaped body) that is long in the front-back direction, and the pair of guided devices 22 and 23 provided at the front and rear ends of the main body 21. It is supported and guided by the movable body guide rail 12.
[0018]
The two guided devices 22 and 23 have the same configuration, and include a trolley body 25 connected to the main body 21 via a left-right pin 24 so as to be relatively rotatable. A supported roller 26 mounted on the movable body guide rail 12 and supported and guided by the movable body guide rail; and a guided roller mounted on and under the trolley body 25 in a front-rear pair and guided by the guide member 13. 27 to form a trolley.
[0019]
On the trolley body 25 of the front guided device 22, a passive body (passive projection) 28 which is detachable with respect to the transmission body (transmission projection) from the feed driving devices 8, 9 is located in the middle. In addition, it is provided so as to be able to swing up and down via left and right direction pins 29. Further, a cam body 30 for moving the passive body 28 upward to the non-engagement position is extended rearward from the trolley body 25 of the rear guided device 22. In addition, a contact structure is formed between the passive body 28 and the cam body 30 so as to be in contact with each other in the storage path section 1E.
[0020]
Anti-vibration rollers 31 are provided on both sides of the main body 21 and at a plurality of positions in the front-rear direction, and anti-vibration rails 14 for supporting and guiding the anti-vibration rollers 31 are arranged along the fixed path 1. Note that the runout prevention rail 14 is provided on the machine frame 11 side.
[0021]
On the upper part of the main body 21, a support device 32 for the transferred object 70 is provided. The support device 32 includes a pair of front and rear vertical members 33 erected from the main body 21, a rectangular plate-like (square plate) push-acting body 34 provided between upper ends of the vertical members 33, It is provided with a transferred object support member 37 provided on a body 34 via a turning support portion 35 and capable of turning around a longitudinal axis 36. The front and rear surfaces of the support device 32, that is, the front and rear surfaces of the push body 34 are formed in contact portions 38 and 39 which can freely contact each other.
[0022]
A platform 40 is provided at the rear end (at least one of the front and rear ends) of the support device 32 so as to be vertically swingable. The platform 40 has a long plate shape that is long in the left-right direction, and is connected to the rear end of the push body 34 via a plurality of hinges 41 so as to be vertically swingable. The front and rear surfaces of the platform 40 are formed in contact portions 42 and 43. At this time, the platform 40 is swung horizontally so that the front contact portion 42 is brought into contact with the rear surface of the push body 34. The contact portion 39 is configured to be freely contactable, and the contact portion 43 on the rear surface, which is the free end thereof, is opposed to the support device 32 side of the adjacent moving body 20, that is, the contact portion on the front surface of the push body 34. 38 is configured to be freely contactable.
[0023]
Further, when the platform 40 is swung in the vertical direction, the support device 32 of the front and rear moving body 20, that is, the contact of the front surface of the subsequent push body 34 with the contact part 39 of the rear face of the preceding push body 34. The portion 38 is configured to be capable of abutting on the space equivalent to the space of the platform 40.
[0024]
The pair of left and right side surfaces of the push body 34 and the pair of left and right side surfaces of the platform 40 are formed on passive surfaces (an example of a passive portion) 44 and 45, respectively. A cam rail 15 for horizontally swinging the platform 40 is provided in at least one of the pushing paths, that is, the first pushing path 1A. The cam rail 15 is laid on the machine frame 11 side, and is configured to support and guide a cam roller 46 provided at a lower portion on the rear end side of the platform 40 from below.
[0025]
For example, as shown in FIG. 3, the feeding devices 4 and 6 that apply a moving force to the moving body 20 include a support member 50 provided on the machine frame 11 and a vertical axis 51 on the support member 50 side. The arm 52 is provided so as to be able to swing freely, a driving device 53 provided at a free end of the arm 52, a driving wheel 55 provided on a driving shaft 54 from the driving device 53, and the like. ing. The arm 52 is rocked by a rocking device (not shown), and the drive wheel 55 forcibly driven by the drive device 53 is brought into contact with the passive surfaces 44 and 45, thereby moving the arm 52. It is configured to apply a moving force to the body 20.
[0026]
The braking devices 5 and 7 for applying a braking force to the moving body 20 have the same configuration as the feeding devices 4 and 6, and for example, as shown in FIG. 60, an arm 62 provided on the support member 60 side so as to be swingable via a longitudinal axis 61, a driving device 63 provided at a free end of the arm 62, and a drive from the driving device 63. It is composed of a braking wheel 65 provided on the shaft 64 and the like. The arm 62 is rocked by a rocking device (not shown), and the braking wheel 55 forcibly driven by the driving device 63 is brought into contact with the passive surfaces 44 and 45 to move the arm. It is configured to apply a braking force to the body 20.
[0027]
The braking devices 5 and 7 are configured to apply a braking force by applying a rotational force in the same direction as the feed devices 4 and 6 to the feed devices 4 and 6 at a low speed. 5 and 7 may be configured to apply a rotational force in the opposite direction.
[0028]
The feed drive devices 8 and 9 provided in the pulling path portions 1B and 1D are driven by a drive chain (drive) that is supported and guided by a drive member guide rail 16 disposed below the moving body guide rail 12 and on the machine frame 11 side. A transmission 19 provided at a predetermined pitch of the drive chain 18 is configured to be engageable with a passive body 28 provided on the moving body 20 side. In addition, the passive body 28 is disengaged from the transmission body 19, but this may be reversed.
[0029]
The operation of the above embodiment will be described below.
In the storage path section 1E, the empty moving body 20 group moves its platform 40 vertically to the supporting device 32 of the front and rear moving body 20, that is, the contact portion 39 on the rear surface of the preceding push body 34. The contact portion 38 on the front surface of the subsequent push body 34 is brought into contact with a space corresponding to the space of the platform 40. That is, in the storage path unit 1E, the mobile units 20 are efficiently stored in a short form that does not require boarding.
[0030]
The empty moving body 20 located at the end of the storage path section 1E is fed into the loading section 3 by a suitable feeding device (not shown), and is loaded on the transported object support 37 in the loading section 3. The conveyed article 70 is loaded. Then, the moving body 20 is moved from the loading unit 3 to the feeding device 4 provided at the start end of the first push-pull path unit 1A by the above-described feeding device or a separately provided feeding device. Before and after this movement, the cam roller 46 rides on the cam rail 15, so that the platform 40 is horizontally swung upward through the hinge 41 group.
[0031]
The driving wheel 55 of the feed device 4 is in the non-operating position as shown by the imaginary line in FIG. 2 at the time of feeding by the feeding device, and after the feeding, moves to the working position as shown by the solid line in FIG. 2 and FIG. It swings and contacts (presses) the passive surface 44. As a result, the pushing action body 34 is held between the two driving wheels 55, and the driving wheels 55 are rotationally driven by the driving device 53 at this time.
[0032]
Therefore, by bringing the drive wheel body 55 that has been forcibly rotated into contact with the passive surface 44, a moving force is given to the moving body 20 by the feed rotating force. The sheet is fed and moved at a desired speed on the first pushing path section 1A.
[0033]
At this time, of the group of the moving bodies 20 located in a dense train shape on the first boosting route section 1A, the feeding is performed to the contact portion 43 of the rear end of the platform 40 in the rearmost moving body 20. The contact portion 38 at the front end of the pusher 34 in the moving body 20 is brought into contact with the moving body 20, and the feed force of the feeder 4 causes the first pusher path 1A to move in a dense train shape. The body 20 group will be pushed and moved.
[0034]
That is, the feeding force of the feeding device 4 is changed from the contact portion 38 at the front end of the push-acting member 34 to the contact portion 43 at the rear end of the platform 40, the contact portion 42 at the front end of the platform 40, and the push-acting member. It is sequentially transmitted to the abutting portion 39 on the rear surface of the moving body 34, thereby pushing the moving body 20 group back.
[0035]
In such a movement, the guided devices 22 and 23 are supported and guided by the moving body guide rail 12 via the supported rollers 26, and the guided rollers 27 are guided by the guide member 13, and Since the shake prevention roller 31 is supported and guided by the shake prevention rail 14, the moving body 20 is moved without rattling and in a state in which the movable body 20 is prevented from falling down.
[0036]
In this manner, the braking force is applied by the braking device 5 to the moving body 20 located at the end of the first pushing path section 1A among the moving bodies 20 moving on the first pushing path section 1A. Has been granted. That is, when the moving operation of the moving body 20 by the feed device 4 is stopped, the braking wheel 65 in the braking device 5 is in the non-operating position as shown by the phantom line in FIG. Then, in conjunction with the feed movement of the feed device 4, the brake wheel 65 swings to the operating position and abuts (presses) on the passive surface 44 as shown by the solid line in FIG. 2 and FIG.
[0037]
As a result, the pushing action body 34 is sandwiched between the two braking wheels 65. At this time, the braking wheels 65 are driven to rotate. That is, the braking wheel 65 is forcibly rotated at a low speed by the driving of the driving device 63. Therefore, when the braking wheel 65 that is being forcibly rotated is pressed against the passive surface 44, a propulsive force in the moving direction acts on the moving body 20 by the braking rotational force. Here, the feed rotational force is larger than the braking rotational force. As a result, the slippage occurs in the portion of the braking wheel 65 corresponding to the difference, and the load at that time is absorbed by the torque motor.
[0038]
As a result, the moving bodies 20 corresponding to the inferior braking device 7 are moved under a braking action, and therefore, between the feed device 4 and the braking device 5, a plurality of moving bodies 20 They are aligned in a tightly pushed state without any gap between the front and rear ends. The braking action of the braking wheel 65 of the braking device 5 and the feeding action of the driving wheel 55 of the feeding device 4 are performed from the passive surface 44 of the pushing action body 34 to the passive face 45 of the platform 40, and the pushing action again. This is done by sequentially acting on the passive surface 44 of the body 34.
[0039]
As described above, while the moving body 20 is intermittently moving or stopped in the first push-pull path section 1A, various operations can be performed on the transferred object 70 by the operator. At that time, the moving body 20 is in a long form that the operator can get on by the horizontal platform 40, so that the operator can get on the platform 40 at any time and for any time, and Work can be easily performed.
[0040]
The moving body 20 ejected from the braking device 5 by the above-described pushing moves from the end of the first pushing path 1A to the beginning of the first pulling path 1B. At this time, the cam roller 46 is disengaged from the cam rail 15, and the platform 40 is vertically swung downward by the dead weight via the hinge 41 group as shown in FIGS.
[0041]
At this time, in the first pulling path section 1B, the drive chain 18 of the first feed driving device 8 is driven, and therefore, the transmission 19 that has moved with the drive of the drive chain 18 is engaged with the passive body 28. Thus, the moving body 20 is pulled and moved by the first pulling path unit 1B. In the first pulling path section 1B, the moving bodies 20 are moved at intervals of the arrangement pitch of the transmission bodies 19, and thus the interval between the front and rear moving bodies 20 can be arbitrarily set according to the arrangement pitch. During the movement in the first pulling path section 1B, a work different from that in the first pushing path section 1A is performed on the transferred object 70 by a robot or manually.
[0042]
Then, the moving body 20 that has reached the end of the first pulling path unit 1B is moved to the feeding device 6 provided at the start end of the second pushing path unit 1C. The feeder 6 is operated in the same manner as the feeder 4 described above, so that a moving force is applied to the moving body 20 by the feed rotational force of the driving wheel body 55, and the moving body 20 is moved by the second boosting path 1C. It is fed and moved at a desired speed above. Further, a braking force is applied to the moving body 20 located at the end of the second pushing path section 1C by the braking device 7 that acts in the same manner as the braking device 5 described above.
[0043]
As a result, the moving body 20 corresponding to the poor braking device 7 is moved under the braking action, and therefore, between the feed device 6 and the braking device 7, a plurality of moving bodies 20 are moved. They are aligned in a tightly pushed state without any gap between the front and rear ends. At this time, since the platform 40 is swung in the vertical direction, the moving body 20 has a contact portion 38 on the front surface of the subsequent push body 34 with respect to a contact portion 39 on the rear surface of the preceding push body 34. The space corresponding to the space of the platform 40 is packed and abutted.
[0044]
As a result, the moving body 20 is moved in a tightly pushed state without a gap between its front and rear ends in a short form that does not require the boarding, and thus the second pushing path portion 1C is Efficient movement with a reduced path length can be enabled, and the installation space of the entire equipment can be reduced. During the movement in the second pushing route section 1C, a work different from that in the first pushing route section 1A or the first pulling route section 1B is performed on the transferred object 70 by a robot or manually. Done.
[0045]
The moving body 20 released from the braking device 7 by the above-described push moves from the end of the second push path 1C to the start of the second pull path 1D. Then, while being moved in the same manner as the above-described first pulling path section 1B, another work different from that of the first pushing path section 1A, the first pulling path section 1B, and the second pushing path section 1C is performed by a robot or manually. Is performed by
[0046]
The moving body that has reached the end of the second pulling path section 1D is sent to the wholesaler 2 by an appropriate feeding device, and the article 70 on the article support 37 is unloaded in the wholesaler 2. Then, the empty moving object 20 is sent to the storage path section 1E, and is efficiently stored in the storage path section 1E in a short form that does not require boarding, as described above.
[0047]
In the above-described embodiment, a friction roller type is adopted as the feeding devices 4 and 6 and the braking devices 5 and 7. However, the passive unit is formed by a rack, and the feeding devices 4 and 6 and the braking devices 5 and 7 are used. May be a rack and pinion type using a pinion.
[0048]
In the above-described embodiment, the platform 40 is provided only at the rear end of the support device 32 so as to be able to swing up and down. However, this is a type in which the platform 40 is provided only at the front end of the support device 32 so as to be able to swing up and down. Alternatively, the platform 40 may be provided at each of the front and rear ends of the support device 32 so as to be vertically swingable.
[0049]
In the above-described embodiment, the two driving wheels 55 are used for the feed devices 4 and 6, and the two braking wheels 65 are used for the braking devices 5 and 7. The braking wheel 65 may be of a forced drive type, and the other may be of a stationary idle type.
[0050]
In the above-described embodiment, rails and the like are provided on the machine frame 11 from the floor 10, but this may be a configuration in which rails and the like are provided in a pit below the floor surface. According to this, the entire height including the moving body 20 can be formed low.
[0051]
【The invention's effect】
According to the first aspect of the present invention, by moving the platform horizontally by the action of the cam rail, the moving body group is formed into a long form that can be loaded by an operator, and a gap is formed between the front and rear ends. It is possible to move in a densely pushed state without any effort, and it is possible for the operator to easily perform various operations while getting on. In addition, the platform is swung vertically, and the front and rear moving bodies are brought into contact with each other by filling the space equivalent to the space of the platform. It is possible to move in a tightly pushed state without creating a gap, to shorten the length of various work paths and empty storage paths that are not dependent on the operator, and to reduce the installation space of the entire equipment.
[0052]
According to the above-described second aspect of the present invention, the movement in the densely pushed state is performed smoothly and reliably by causing the drive wheel of the feed device to sequentially act on the support device and the passive portion formed on the platform. Can be done.
[0053]
According to the third aspect of the present invention, at least a part of the path portion excluding the boosting path portion engages the transmitting body with the passive body, thereby moving the moving body group at a desired pitch by the feed driving device. And it can be moved at a desired speed.
[Brief description of the drawings]
FIG. 1 shows an example of an embodiment of the present invention, and is a partially cutaway side view of a first pushing path section in a transport facility using a moving body.
FIG. 2 is a partially cutaway plan view of a first boosting path in the transfer facility using the moving body.
FIG. 3 is a front view of a first pushing route in the transfer facility using the moving body.
FIG. 4 is a partially cutaway side view of a pulling path section in the transport facility using the moving body.
FIG. 5 is a partially cutaway plan view of a pulling path in the transfer facility using the moving body.
FIG. 6 is a front view of a pulling route section in the transport equipment using the moving body.
FIG. 7 is a partially cutaway side view of a second pushing path in the transfer facility using the moving body.
FIG. 8 is a partially cutaway plan view of a second pushing path in the transfer facility using the moving body.
FIG. 9 is a front view of a second pushing route section in the transfer facility using the moving body.
FIG. 10 is a schematic plan view of a transfer facility using the moving body.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Constant path 1A 1st pushing path part 1B 1st pulling path part 1C 2nd pushing path part 1D 2nd pulling path part 1E Storage path part 4 Feeding device 5 Braking device 6 Feeding device 7 Braking device 8 First feeding driving device 9 Second feed drive device 12 Moving body guide rail 15 Cam rail 16 Drive body guide rail 18 Drive chain (drive body)
Reference Signs List 19 Transmission body 20 Moving body 21 Main body 22 Guided device 23 Guided device 28 Passive body 32 Supporting device 34 Pushing action body 37 Conveyed object support 38 Contact portion 39 Contact portion 40 Platform 42 Contact portion 43 Contact portion 44 Passive surface (passive part)
45 Passive surface (passive part)
46 cam roller 53 drive device 55 drive wheel 63 drive device 65 braking wheel 70 transported object

Claims (3)

A plurality of movable bodies supported and guided by rails and movable on a fixed path are provided, and these movable bodies are provided with a support device for a transferred object at an upper portion, and at least one of front and rear ends of the support device is provided at The platform is provided so as to be swingable up and down, and the free end of the platform is configured to be able to abut on the support device side of the adjacent moving body by swinging horizontally, and the platform is vertically swung. Due to the swinging, the supporting devices for the front and rear moving bodies are configured so as to be able to abut the space equivalent to the space of the platform so as to be freely contactable. The part is provided on its upper side with a feeding device that applies a moving force to the moving body, and on the lower side, a braking device that applies a braking force to the moving body is provided. The boost path portion of one place, the mobile use of the transport equipment, wherein the cam rail to swing the platform horizontally is arranged. The transport equipment according to claim 1, wherein the feeder has a driving wheel, and a passive unit on which the driving wheel is applied is formed on the support device and the platform. A moving body is provided with a passive body, and a feed drive device having a transmission body engageable with the passive body is provided on at least a part of the path portion of the fixed path excluding the boosting path portion. 3. The transport equipment according to claim 1, wherein the transport equipment uses a moving body.

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