JP4712748B2 - Conveyor cart with outrigger mechanism - Google Patents

Description

  The present invention relates to a transport carriage provided with an outrigger mechanism, and more particularly to a transport carriage suitable for transferring a raw roll between a film coater machine and a laminator machine.

  In order to supply a raw roll to a production machine (hereinafter referred to as a production machine) such as a film coater or a laminator, an unmanned transporting carriage is used. The conveyance carriage receives the original roll from the storage location of the original roll, travels on a track or a non-track transfer path, and transfers it to the chucking device of the production machine. At the time of transfer, it is necessary to accurately position the core of the original roll on the chucking device of the production machine.

  As an example of a positioning method, a method of guiding and positioning a transport carriage by a track such as a rail or an LM guide (see Patent Document 1) is provided.

  On the other hand, as another example of the positioning method, an AGV (Automated Guided Vehicle), that is, a method using a trackless transport cart is also provided. In this case, the positioning is usually performed using three conical cones (for example, a conical shape) installed at predetermined positions on the floor, which is a transfer place of the original fabric roll. This example will be described with reference to FIG.

  In FIG. 6, four conical cones (only two of 100A and 100B are shown) are installed on the floor where the AGV 200 is to be positioned. On the other hand, in the AGV 200, four support blocks extending downward are provided below the frame 210 constituting a part of the vehicle body. Needless to say, the four support blocks are installed so as to correspond to the four conical cones. Here, since only two of the support blocks 220A and 220B corresponding to the conical cones 100A and 100B are illustrated, these two will be described below.

  The support blocks 220A and 220B are provided with hydraulic cylinders 230A and 230B with their output shafts 230-1A and 230-1B facing downward. Receiving portions 230-2A and 230-2B that can be closely fitted to the cone cones 100A and 100B are provided at the ends of the output shafts 230-1A and 230-1B. A hydraulic unit 240 that drives the output shafts 230-1A and 230-1B by putting hydraulic oil in and out of the hydraulic cylinders 230A and 230B is also provided below the frame 210. In FIG. 6, the wheels of the AGV 200 are not shown.

  AGV200 has a positioning function with a certain range of accuracy that stops at a position where four receiving parts including 230-2A and 230-2B almost fit to four conical cones including 100A and 100B. After stopping at this position, the hydraulic unit 240 lowers the four receiving parts. Here, even if the stop position of the AGV 200 is within a certain range, for example, about 1 cm away from the target position, the position of the receiving portion is corrected by the cone cone when the receiving portion is lowered. Then, after the receiving portion comes into close contact with the cone cone, the entire AGV 200 is lifted, and when the wheels are separated from the floor surface and are in a ground cutting state, the lowering of the receiving portion is stopped. In this state, the roll is transferred to and from the production machine by a chucking mechanism (not shown) mounted on the AGV 200.

  As can be understood from the above description, the mechanism including the hydraulic unit 240, the hydraulic cylinder, the output shaft, and the receiving portion acts as a position correcting device for the AGV 200 by the outrigger mechanism, and the AGV 200 is set to a predetermined target defined by the cone cone. Can be stopped in position.

JP 2002-66631 A

  By the way, the site of a production machine to which this type of carriage is applied is often required to be clean. When there is such a request, the hydraulic outrigger mechanism is unsuitable, and an electric outrigger mechanism is used. However, the conventional electric outrigger mechanism has a problem in that it is increased in size in order to obtain the same driving force as that of the hydraulic type, and the installation space is increased.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a transport carriage provided with an outrigger mechanism that can achieve a driving force comparable to that of a hydraulic type without requiring a large installation space.

  The transport cart according to the present invention includes a plurality of outrigger mechanisms for holding the transport cart in a state where the entire transport cart is floated from the travel surface in the transport cart traveling on the travel surface, and the outrigger mechanism includes a motor And a second mechanism for converting the reciprocating rectilinear movement into a lifting / lowering movement of the leg portion of the outrigger mechanism by the action of a wedge and a spring. .

  In the transport cart according to the present invention, the first mechanism includes an eccentric cam that is rotationally driven by the motor provided on the frame of the transport cart, and an outer periphery of the eccentric cam. It is preferable to include two rollers that reciprocate in a straight line by the eccentric rotational movement, and a slide plate to which the two rollers are attached and supported to be slidable on the frame.

  In the transport carriage according to the present invention, the second mechanism includes a wedge-shaped taper block provided on the slide plate and having a tapered surface inclined with respect to a slide direction of the slide plate, and the leg portion includes The upper part is assembled to the taper surface of the taper block directly or via a roller, and the leg portion is also guided by a guide block provided on the frame so as to extend downward in parallel with the leg portion. In addition, it is preferable that the spring member is biased upward by a spring member provided in the guide block.

  In particular, the present invention is an AGV that has an automatic traveling function and travels on a trackless traveling surface, and the lower surface side of the leg portion is substantially aligned with a cone-shaped cone that is previously installed on the traveling surface. It is suitable for a transport carriage having a positioning function that stops in a state, and is characterized in that a conical concave portion that can be fitted to the conical cone is formed on the lower surface of the leg portion. In this case, it is preferable that the conical recess is provided with a plurality of rollers for reducing friction when fitted into the conical cone. Moreover, it is preferable that the taper surface of the taper block has a cross-sectional arc shape convex outward.

  Since the outrigger mechanism according to the present invention converts the reciprocating linear motion into the lifting motion by the action of the wedge, a large lifting force (lifting force) can be obtained with a small pushing force. Therefore, a motor having a small output can be used as a lifting drive source, and the entire outrigger mechanism can be made compact.

  Since the outrigger mechanism according to the present invention does not use a hydraulic mechanism, the outrigger mechanism is suitable for use on a production site where cleanliness is required.

With reference to FIGS. 1-3, preferable embodiment of the conveyance trolley | bogie by this invention is described. Below, the case where this invention is applied to AGV which supplies a raw fabric roll automatically to production machines, such as a film coater machine and a laminator machine, is demonstrated. Since the automatic running function of the AGV and the positioning function with a certain range of accuracy are the same as those of the conventional AGV, description thereof will be omitted. AGV also has a grasping mechanism and position adjustment mechanism original fabric roll for delivering the original fabric roll between the production machine side of the chucking device, which is not a gist of the present invention also describes Is omitted.

  FIG. 2 is a schematic view of the AGV 10 as viewed from below. The AGV 10 is provided with two drive wheels 50-1 and 50-2 having a steering function and driven wheels 51 having no steering function on a frame 20 constituting a part of a vehicle body, and automatically travels in an arbitrary direction. can do. The frame 20 is also provided with a total of four outrigger mechanisms OR-1 to OR-4, one pair at positions near the outer periphery of both sides.

  FIG. 1 is a schematic view of one pair of outrigger mechanisms OR-1 and OR-2 provided on the AGV 10 as viewed from the side, and one lifting drive source for the two outrigger mechanisms OR-1 and OR-2 is shown as one. An example in which a motor (not shown) can be used together is shown. The other pair of outrigger mechanisms OR-3, OR-4 is also realized with exactly the same configuration.

  In FIG. 1, a guide rail 21 is provided on the lower surface side near the outer periphery of the frame 20. A plurality of slide guides 22 such as an LM (Linear Guide) guide that can move along the guide rail 21 are mounted on the guide rail 21. A slide plate 23 is attached to the plurality of slide guides 22 so that the slide plate 23 can slide along the guide rails 21 together with the slide guides 22.

  The slide drive of the slide plate 23 is performed as follows. On the frame 20 side, a circular eccentric cam 24 that performs eccentric rotational movement about the eccentric shaft 24-1 is provided. The eccentric shaft 24-1 is rotationally driven by a motor (not shown). On the other hand, two rollers 25-1 and 25-2 are pivotally supported on the slide plate 23 at intervals so as to contact two points in the diameter direction of the eccentric cam 24. As a result, when the eccentric cam 24 rotates, the slide plate 23 performs a reciprocating slide motion in the direction indicated by the arrow. That is, the eccentric cam 24, the two rollers 25-1, 25-2, and the slide plate 23 function as a first mechanism that converts the rotational motion by the motor into the reciprocating linear motion. The eccentric cam 24 may be replaced with an electric cylinder, but the eccentric cam is preferable in that a small space is required.

  FIG. 1 shows a state where the roller 25-1 is urged by the eccentric cam 24 and the slide plate 23 is slid to the leftmost position in the drawing. When the eccentric cam 24 rotates 180 degrees clockwise or counterclockwise from this state, the roller 25-2 is urged by the eccentric cam 24 and the slide plate 23 slides to the rightmost position in the figure.

  On the lower surface of the slide plate 23, two wedge-shaped taper blocks 26-1 and 26-2 each having a tapered surface inclined in the sliding direction on the lower surface side are provided at intervals. Here, it is a tapered surface that falls from the left side to the right side in FIG. The taper blocks 26-1 and 26-2 constitute part of the outrigger mechanisms OR-1 and OR-2, and the elevating blocks 30-1 and 30-2 that act as the legs of the outrigger mechanism on the respective tapered surfaces. Combined. The elevating blocks 30-1 and 30-2 have conical portions, for example, conical recesses 30-11 and 30-21 at the lower end surfaces thereof, and the intervals between the centers are conical holes installed on the floor surface. For example, the distance between the centers of the conical cones 60-1 and 60-2 is set to be the same. The elevating blocks 30-1 and 30-2 are connected by a connecting plate 31.

  The receiving parts 30-11 and 30-21 and the conical cones 60-1 and 60-2 are made of stainless steel subjected to nitriding treatment for rust prevention treatment and hardening in order to eliminate generation of dust due to friction between them ( It is desirable to use a metal material such as SUS.

  Rollers 30-12 and 30-22 that are in contact with the tapered surfaces of the taper blocks 26-1 and 26-2 are pivotally supported on the upper surfaces of the elevating blocks 30-1 and 30-2, respectively. The elevating blocks 30-1 and 30-2 are supported by an elevating guide block (described later) on the back side of FIG. As a result, when the slide plate 23 slides in the left direction in the figure, the elevating blocks 30-1 and 30-2 are initial heights through the rollers 30-12 and 30-22 by the taper blocks 26-1 and 26-2. It is pushed down from the position in the figure. On the other hand, when the slide plate 23 slides in the right direction in the figure, the lifting blocks 30-1 and 30-2 are gradually released from the pressing force by the taper blocks 26-1 and 26-2 and lifted upward by a spring mechanism described later. Returned to the initial height position before descent.

  With reference to FIG. 3, the raising / lowering guide block of the raising / lowering block 30-2 is demonstrated. On the lower surface of the frame 20, an elevating guide block 40-2 extending downward in parallel with the elevating block 30-2 is provided. The elevating guide block 40-2 has a guide groove (not shown) extending in the vertical direction on the side surface facing the elevating block 30-2, and the elevating plate 30 extending in the horizontal direction from the elevating block 30-2 in this guide groove. The up-and-down movement of the up-and-down block 30-2 is guided by fitting -23. A mounting plate 40-21 is provided at the lower end of the elevating guide block 40-2, and a guide pin 40-22 extending upward is fixed to the mounting plate 40-21. The guide pin 40-22 penetrates the lifting plate 30-23 in the vertical direction, and a compression coil spring 40-23 is provided between the lifting plate 30-23 and the mounting plate 40-21.

  The compression coil spring 40-23 is for urging the lifting plate 30-23 upward. That is, the compression coil spring 40-23 is in a compressed state when the lifting block 30-2 is pushed down by the taper block 26-2 moving in the left direction in FIG. 1 (FIG. 3b), and the receiving portion 30-21 is conical cone. After closely fitting to 60-2, the AGV 10 is lifted to such an extent that the wheel slightly lifts off the floor. That is, the weight of the entire AGV 10 is supported by the four outrigger mechanisms OR-1 to OR-4. When the receiving portion 30-21 and the conical cone 60-2 are fitted to each other, even if the center position of the receiving portion 30-12 is deviated around 1 cm from the center position of the conical cone 60-2, it is substantially aligned. In this state, the position of the elevating block 30-2 is corrected as the receiving portion 30-21 is lowered, as in the outrigger mechanism described in FIG.

  On the other hand, when the taper block 26-2 moves to the right in FIG. 1 and the pressing force from the taper block 26-2 is gradually released, the wheels land on the floor surface, and the lifting block 30-2 is compressed. By the restoring force of the coil spring 40-23, it rises to the initial height position via the lifting plate 30-23 (FIG. 3a).

  From the above, the taper block 26-2 (26-1), the roller 30-22 (30-12), the lifting block 30-2 (30-1) and the compression coil spring 40-23, which act as a wedge, It acts as a second mechanism that converts the reciprocating linear motion into the lifting motion of the lifting block 30-2 (30-1).

  A similar lifting guide block is also provided on the lifting block 30-1 side, and the lifting blocks 30-1 and 30-2 move up and down integrally. The outrigger mechanisms OR-3 and OR-4 have the same configuration and operate in the same manner. From this, the motor as a raising / lowering drive source can also be shared by the four outrigger mechanisms OR-1 to OR-4.

  As can be understood from the above description, the outrigger mechanism according to the present embodiment converts the pushing force by the slide plate into the lifting force through the taper block, in other words, the wedge, so that the large lifting force (lifting force) with a small pushing force. And a holding force for maintaining the raised state). Therefore, a motor having a small output can be used as a lifting drive source, and the entire outrigger mechanism can be made compact. Since the AGV according to the present embodiment does not use a hydraulic mechanism, it is suitable for use on a production site where cleanliness is required.

  When the raw roll is transferred to or from the chucking device on the production machine side using the holding or gripping mechanism provided in the AGV, the entire AGV is lifted from the floor surface by the outrigger mechanism. Once positioning is performed, the wheel may be lowered to the floor.

  FIG. 4 is a view of another example of the lifting block 30-2 shown in FIG. 3 as viewed from the lower surface side. In this example, by providing four rollers 30-25 at equiangular intervals to the receiving portion 30-21 by the conical recess, the frictional force at the time of fitting to the conical cone 60-2 is reduced. I am doing so. When the number of rollers 30-25 is four, the concave portions of the receiving portion 30-21 and the shapes of the conical cones 60-2 may be quadrangular pyramids.

  FIG. 5 shows another example of the taper block 26-1 shown in FIG. In this example, the cross-sectional shape of the taper surface of the taper block 26-1 is an outwardly convex arc shape. Thereby, not only can the raising / lowering force when raising / lowering the raising / lowering block 30-1 be increased, but the movement at the time of raising / lowering also becomes smooth. The taper block and the lifting block may be in surface contact without a roller, but it is preferable to interpose a roller to reduce the frictional force.

  The above-described embodiment is an AGV having an outrigger mechanism that realizes a position correction function of AGV in combination with a cone cone installed on the floor surface. However, it is a simple trolley with no cone cone on the running surface. It can also be applied to an outrigger mechanism.

FIG. 1 is a schematic view of an outrigger mechanism provided in an AGV according to the present invention as seen from the side. FIG. 2 is a schematic view of the AGV according to the present invention as seen from below. FIG. 3 is a front view showing the lifting block and the lifting guide block in the outrigger mechanism shown in FIG. 1 in a raised state (FIG. A) and a lowered state (FIG. B). FIG. 4 is a view of another example of the lifting block in the outrigger mechanism shown in FIG. 1 as viewed from the lower surface side. FIG. 5 is a side view for explaining another example of the tapered block in the outrigger mechanism shown in FIG. 1. FIG. 6 is a schematic view of an outrigger mechanism provided in a conventional AGV as viewed from the side.

Explanation of symbols

10 AGV
20 Frame 21 Guide rail 22 Slide guide 23 Slide plate 24 Eccentric cam 26-1, 26-2 Taper block 25-1, 25-2, 30-12, 30-22 Roller 30-1, 30-2 Lift block OR -1, OR-2 Outrigger mechanism 60-1, 60-2 Cone cone

Claims (6)

In the transport cart that runs on the running surface,
A plurality of outrigger mechanisms are provided to hold the transfer carriage in a state where the entire transfer carriage is lifted from the traveling surface,
The outrigger mechanism includes a first mechanism that converts rotational movement by a motor into reciprocating rectilinear movement, and a second mechanism that converts the reciprocating rectilinear movement into lifting and lowering movements of legs in the outrigger mechanism by the action of a wedge and a spring. A transport cart characterized by having.   The first mechanism includes an eccentric cam that is rotationally driven by the motor provided on a frame of the transport carriage, and an abutting outer periphery of the eccentric cam, and reciprocating linearly by the eccentric rotational movement of the eccentric cam. The transport carriage according to claim 1, comprising two rollers that move, and a slide plate that is attached to the two rollers and that is slidably supported on the frame.   The second mechanism includes a wedge-shaped taper block provided on the slide plate and having a tapered surface inclined with respect to the slide direction of the slide plate, and the upper portion of the leg portion is directly or via a roller. The leg portion is also mounted on the guide block, and the leg portion is also guided by the guide block provided on the frame so as to extend downward in parallel with the leg portion. The conveying cart according to claim 2, wherein the conveying cart is urged upward by a spring member formed.   The transport cart is an AGV that has an automatic traveling function and travels on a trackless traveling surface, and the lower surface side of the leg portion is substantially aligned with a cone-shaped cone that is installed in advance on the traveling surface. 4. The conveyance according to claim 2, further comprising a positioning function of stopping in a state, wherein a conical concave portion that can be fitted to the conical cone is formed on a lower surface of the leg portion. Trolley.   The conveyance cart according to claim 4, wherein the conical recess is provided with a plurality of rollers for reducing friction when fitted into the conical cone.   4. The transport carriage according to claim 3, wherein the taper surface of the taper block has an arcuate cross-section that is convex outward.

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