JP5276580B2 - Automatic transfer device and plating processing device using the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem wherein conveying machines cannot be easily removed from travel rails since the conveying machines are installed per travel rail as line exclusive, and to solve a problem wherein the conveying machine is weak in versatility since a traveling mechanism and a lifting mechanism are combined therein. <P>SOLUTION: The automatic conveying device comprises the travel rail 1 and the conveying robot 2. The travel rail is attached in its side surface with a feeder 12 along the travel rail such that rail both end vicinities become non-powered parts 13. The conveying robot can be separated into an upper unit 21 and a lower unit 22. The upper unit is provided with the traveling mechanism comprising a power receiver 217 pressed and contacting the feeder, a motor 211 for traveling, and drive wheels 214, and the lower unit is provided with the lifting mechanism vertically moving work. A control unit 24 controlling the traveling mechanism and driving of the lifting mechanism carries out exchange of a signal with a control machine 3 by radio. The conveying robot can be detached from an end of the travel rail without using tools. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

This invention is an automatic feeder transport robot having a travel function is to allow transfer along the running rails, and plating equipment that by utilizing the automatic conveying device to perform the plating process automatically it relates to.

In a general plating processing apparatus, a plurality of plating processing tanks are installed continuously or in parallel at a predetermined interval, and a workpiece to be plated (work) is held by a holding material of a transport device, Since plating is performed by sequentially immersing the plating processing tank at one end from the plating processing tank at the other end for a predetermined time, a rail-type transport device having an overhead crane structure having a hoisting device is used.
As such a rail-type transfer device, a drive wheel that has a side frame that is connected in a state of being sandwiched from both sides of the rail so as to be able to travel, and that rolls the rail upper surface at two locations in the travel direction of the vehicle frame. The vehicle frame is provided with a holding roll that is pressed against the lower surface of the rail with a predetermined elasticity to make rolling contact, and an anti-swaying roll that is pressed against both sides of the vertical body of the rail to make rolling contact. Is known in which the above is effectively prevented (see Patent Document 1).

In addition, since the work conditions differ for each type of workpiece (work) in plating work, program data such as transport conditions, hoisting / lowering positions, speed and time can be transmitted from the control circuit via multiple signals. Also known is an automatic plating device that automatically operates by sending it to a conveyor to constantly stabilize the plating quality and allows data editing of new work conditions to be easily performed from a personal computer (Patent Literature). 2).
This Patent Document 2 only describes one annular traveling rail provided along the treatment tank and one transport machine that moves on the traveling rail. When plating a workpiece (workpiece), an automatic transfer device having a traveling rail and a transfer device is used for each processing line.

JP-A-2001-206220 JP-A-6-115688

  In a plating factory that has multiple plating lines, a line that has a traveling rail installed for each line, a mechanism that moves forward and backward on the traveling rail, and a mechanism that moves the workpiece (workpiece) up and down. When dedicated conveyors are installed, the number of conveyors must be set according to the number of processing lines, especially in factories that have many processing lines with low operation rates. It was too large and a major obstacle to promoting automation.

  In addition, the rail-type transport device as in Patent Document 1 generally has a structure in which a strong stopper is fixed at both ends of the travel rail in order to forcibly stop when the transporter runs away on the travel rail. In addition, since the signal line and the power supply line from the controller are connected to the transport machine in a wired manner, the transport machine cannot be easily removed from the traveling rail. In addition, the transporter is an integrated mechanism that moves forward and backward on the travel rail and a mechanism that moves the workpiece (workpiece) up and down. -The mechanism to move down (elevating mechanism) cannot be used separately, and it is a dedicated transporter for plating, which is inferior in versatility that can be used for purposes other than plating.

In order to solve such a conventional problem, the present invention enables a transporter (transport robot) to be easily detached from the traveling rail, and allows the transport robot to detachably mount the traveling mechanism and the lifting mechanism. automatic transport apparatus with versatility Te, and is intended to provide a plating equipment using this automatic conveying device.

The automatic transfer device according to the present invention includes a travel rail and a transport robot that travels along the travel rail. A power supply line is mounted on the side of the travel rail along the travel rail. The length of the transfer robot is regulated so that the vicinity of both ends is a non-electric part, and the transfer robot has an upper unit and a lower unit that can be attached and detached with a coupling member at the lower part of the upper unit. Receiving power received by pressure contact with a power supply line provided on the vehicle, a traveling motor driven by receiving power from the power supply line via the received power, and traveling on the traveling rail by the traveling motor The lower unit is provided with an elevating mechanism having a vertical movement motor that moves the work up and down by receiving power from the power supply line via the received electrons. A control unit for controlling the driving of the traveling motor and the vertical movement motor is provided in at least one of the center unit and the lower unit, and the traveling rail on the end side corresponding to the non-powered portion of the feeder line mounted on the traveling rail a hole provided in the upper, provided with a pluggable stopper into the hole, the transfer robot by removing the stopper from the hole is obtained by allowing an end or et desorption of the running rail.

  The plating apparatus according to the present invention includes the above-described automatic conveyance apparatus and a plurality of plating tanks provided along the traveling rail below the traveling rail of the automatic conveyance apparatus.

According to the present invention, the power receiving range is set so that power is received by the transport robot body via the pressure contact type received electrons from the power supply line mounted on the side surface of the traveling rail, and the vicinity of both ends of the traveling rail is a non-electric part. Control of the motor that controls and controls the transfer robot is controlled by a control unit provided in the transfer robot, for example, a program incorporated in the control unit itself or a radio signal from a controller other than the transfer robot. By receiving, all of the electrical wiring is eliminated from the transfer robot, so that the transfer robot can be detached from the running rail without using a tool.
Therefore, by removing the transfer robot from the traveling rail of one processing line and changing to the traveling rail of another processing line, it is possible to arrange the transfer robot according to the operation rate of the processing line (for example, for three processing lines) One transfer robot is installed), and an automatic transfer device can be realized with minimal equipment costs.

It is a whole block diagram of the automatic conveyance apparatus in Embodiment 1 of this invention and the plating processing apparatus using the same. It is the figure when the raising / lowering mechanism of a conveyance robot is lowered | hung with the automatic conveyance apparatus in Embodiment 1 of this invention, and the front view and side view of a conveyance robot which are used therefor. It is the figure when the raising / lowering mechanism of a conveyance robot is raised with the front view and side view of an automatic conveyance apparatus in Embodiment 1 of this invention and a conveyance robot used for it. It is the front view and side view of the upper unit of the conveyance robot in Embodiment 1 of this invention. It is the front view and side view of the lower unit of the conveyance robot in Embodiment 1 of this invention. It is the front view of the rotating shaft conversion part in the lower unit of the conveyance robot in Embodiment 1 of this invention, a top view, and a side view. It is a schematic perspective view which shows a part of lower part unit of the conveyance robot in Embodiment 1 of this invention. It is the front view and bottom view which show the attachment condition of the position confirmation board provided in the traveling rail of the automatic conveyance apparatus in Embodiment 1 of this invention. It is a perspective view of the position confirmation board provided in the traveling rail of the automatic conveyance apparatus in Embodiment 1 of this invention. It is an expanded sectional view of the sensor provided in the position confirmation board provided in the traveling rail of the automatic conveyance apparatus in Embodiment 1 of this invention, and the conveyance robot. It is a perspective view of the stopper and carrying handle used for the automatic conveyance apparatus in Embodiment 1 of this invention. It is a perspective view at the time of using a part of traveling rail and stopper of the automatic conveyance apparatus in Embodiment 1 of this invention. It is a front view which shows the state which inserted the stopper in the conveyance robot of the automatic conveyance apparatus in Embodiment 1 of this invention, and the state extracted. It is a whole block diagram of the automatic conveyance apparatus in Embodiment 2 of this invention and the plating processing apparatus using the same.

Embodiment 1 FIG.
Hereinafter, an automatic transfer apparatus according to Embodiment 1 of the present invention, a plating processing apparatus using the automatic transfer apparatus, and a transfer robot used in the automatic transfer apparatus will be described with reference to FIGS.
FIG. 1 shows an overall configuration diagram of an automatic conveyance device and a plating apparatus using the automatic conveyance device according to Embodiment 1 of the present invention. The automatic conveyance device is traveling along the traveling rail 1 and along the traveling rail 1. It is composed of a transfer robot 2 that moves forward or backward to transfer a workpiece (workpiece), moves the workpiece up and down, and moves up and down, and a controller 3 that controls the self-running and lifting of the transfer robot 2. .

Since FIG. 1 shows an example in which the automatic conveyance device is used for a plating apparatus, the traveling rail 1 shows an example in which three rails are provided according to the number of plating lines. The number is not limited to this.
A plurality of plating tanks 4 are provided below each of the three traveling rails 1 along the traveling rails. The transport robot 2 is provided only on the front travel rail 1 of the three travel rails 1, but this allows the transport robot 2 to be easily detached from the end of the travel rail 1 without using a tool. This is because the transfer robot 2 can be shared between different plating processing lines.

  The three plating lines are lines for processing different platings. The front plating line is a line for electroplating, and the plating tank 4 from the left is a degreasing tank 41, a water washing tank 42, an acid wash. The tank 43, the plating tank 44, and the hot water washing tank 45 are installed so as to be arranged in parallel or at a predetermined interval. The middle plating line is a line for degreasing, and the plating tank 4 is installed from the left so that the degreasing tank 41, the water washing tank 42, and the hot water washing tank 45 are arranged in parallel or at predetermined intervals. The rear plating treatment line is a chemical conversion coating treatment line, and the plating treatment tank 4 is installed from the left so that the degreasing tank 41, the water washing tank 42, the pickling tank 43, and the chemical conversion coating tank 46 are arranged in parallel or at predetermined intervals. . The above-described plating process line is an example, and the present invention is not limited to this.

The traveling rail 1 is suspended so as not to move in a horizontal state by a support material 11 suspended from a ceiling (not shown), or is placed on a pedestal provided on the floor and fixed in a horizontal state. Yes. If the traveling rail 1 is attached to a gantry as in the latter case, it can be used by moving between the lines together with the traveling rail.
On one side surface of the traveling rail 1, a power supply line 12 that supplies electric power for driving the transfer robot 2 is attached along the traveling rail 1 via an insulating power supply line holder, and the power supply line 12 is connected to the traveling rail 1. The installation position, that is, the feeder line length, is defined so that the vicinity of both ends becomes the non-electric part 13. By providing the non-electric part 13 in this way and limiting the power receiving range, when the transfer robot 2 comes to this position, the power supply to the transfer robot 2 is automatically cut off and the transfer robot 2 is physically stopped. It is.
Therefore, in this automatic transfer apparatus, a stopper for preventing the transfer robot 2 from overrunning and dropping off from the traveling rail 1 is not necessary in principle, and the transfer robot 2 can be easily detached from the end of the traveling rail 1. it can.

In addition, since the power supply line 12 is mounted on the side surface of the traveling rail 1 in this way, connection of the power supply line that is directly connected to the transfer robot 2 by wire becomes unnecessary, and wiring and piping work can be reduced. In FIG. 1, two feeder lines 12 are shown, but actually, the feeder line 12 is constituted by three lines including one spare line.
In addition, since the power supply line 12 is exposed, when the automatic conveyance device is used for a plating processing apparatus, it is easily corroded by a plating processing solution or the like. For this reason, the power supply line 12 is plated with nickel so as to improve wear resistance and corrosion resistance. In addition, the power supply line 12 is preferably rectangular so that the contact area, which will be described later, provided in the transport robot 2 is in pressure contact to supply power, so that the contact area is widened.

Furthermore, on the upper surface of the traveling rail 1 on the end side corresponding to the non-powered portion 13 of the traveling rail 1, the transport robot 2 prevents the natural falling from the traveling rail 1 due to its own weight, or the runaway run on the traveling rail 1 by mistake. In this case, a hole 15 for inserting a stopper 14 for forcibly stopping is provided. When the transport robot 2 is on the travel rail 1, stoppers 14 are inserted into the holes 15 at both ends of the travel rail 1 to prevent the transport robot 2 from falling off the travel rail 1 due to natural fall or runaway. ing.
The stopper 14 is merely inserted into the hole 15 provided in the traveling rail 1, and can be easily pulled out from the hole 15 by hand without using a tool, and can be inserted into and removed from the hole 15. Therefore, even if the stopper 14 is provided, the transfer robot 2 can be easily detached from the end of the traveling rail 1.

The stopper 14 is a stopper / carrying handle that can be used as a handle for carrying the transport robot 2 by being inserted into a hole provided in the transport robot 2 when the stopper 14 is removed from the hole 15. These will be described in detail later.
Further, on the other side surface of the traveling rail 1 (the side surface opposite to the mounting surface of the power supply line 12), a stop position confirmation plate and a start point for stopping the transfer robot 2 at the center position of each plating treatment tank 4 are provided. An origin detection plate is attached. Note that the position where the transfer robot 2 is stopped is not limited to the center of the plating tank 4, and may be an arbitrary position such as a position slightly deviated from the center. The stop position confirmation plate and the origin detection plate will be described in detail later.

  The transfer robot 2 includes a power receiving electron 217 that receives power by making pressure contact with the power feeding line 12, a traveling motor 211 that is driven by receiving power from the power feeding line 12 through the power receiving electron 217, and the traveling motor 211. Elevating mechanism 22 for moving the processing basket 5 on which an object to be processed (workpiece) is moved up and down by receiving power from the power supply line 12 via the driving wheel 214 traveling on the traveling rail 1 and the electron receiving 217, and the traveling motor 211. And a control unit 24 for controlling driving of the elevating mechanism 22. A specific configuration of the transfer robot 2 will be described in detail with reference to FIGS.

The controller 3 wirelessly transmits a signal between a power supply device that supplies direct-current or alternating-current power to the power supply line 12 installed on the traveling rail 1 through the electric cord 31 and a control unit 23 provided in the transport robot 2. It comprises a control device that exchanges and controls the driving of the transfer robot 2 with a processing program that has been set in advance, and a control box that houses these devices. The control box 32 receives power from the controller-side radio 33 that performs wireless communication with the control unit 24 of the transport robot 2, a touch panel display 34, and the power supply line 12 of each traveling rail 1 from the power supply device. A power switch 35 to be turned on, a plurality of operation buttons 36 such as automatic / manual, operation preparation, start, stop, and emergency stop in the control device, and a selection button 37 for selecting a processing program corresponding to the processing line are provided. . The processing program contains program data such as traveling conditions, deceleration, stop, descent, hold, ascent speed and time of the transfer robot 2.
The display unit 34 displays a screen for changing the setting of the processing program and the operation state of the transfer robot 2.

As described above, the method of supplying power to the transport robot 2 is performed by the power supply line 12 mounted on the traveling rail 1 and the pressure contact type electron receiving 211 provided on the transport robot 2, and the transport robot 2 is driven. Transmission of control signals between the controller 3 to be controlled and the control unit 24 of the transport robot 2 is a wireless system. For this reason, since all the electric lines of the power line and the signal line directly connected to the transfer robot 2 are eliminated, the transfer robot 2 can be easily detached from the traveling rail 1 without a tool, and a plurality of transfer robots 2 can be connected. Can be used in common on the processing line.
In addition, when using an automatic transfer device in a plating factory with a corrosive gas atmosphere, the necessity or simplification of the wiring equipment also leads to a reduction in contact failure due to corrosion of the electric wires and the connection parts of the electric wires. It is effective for improvement and also reduces maintenance costs.

  Next, a specific configuration of the transfer robot 2 will be described in detail with reference to FIGS. FIGS. 2A and 2B are a front view and a side view of the transfer robot mounted on the traveling rail 1, and are views when the lifting mechanism of the transfer robot is lowered. FIGS. 3A and 3B are a front view and a side view of the transfer robot mounted on the traveling rail 1, and are diagrams when the lifting mechanism of the transfer robot is raised. 4A and 4B are a front view and a side view of the upper unit of the transfer robot, and FIGS. 5A and 5B are a front view and a side view of the lower unit of the transfer robot. FIGS. 6A, 6B, and 6C are a front view, a plan view, and a side view of the rotation axis conversion unit in the lower unit of the transport robot. FIG. 7 is a schematic perspective view showing a part of the lower unit of the transfer robot. In addition, in the figure when the raising / lowering mechanism of Fig.3 (a) (b) is raised, the structure of a part of workpiece | work suspension hook 226 is abbreviate | omitted. Also, in FIG. 4 and FIG. 5, a part of the configuration is omitted.

The transport robot 2 is divided into two parts, that is, an upper unit 21 and a lower unit 22 according to function, as shown in FIGS. 4 and 5 in FIGS. 2 to 5, and the upper unit 21 travels on the travel rail 1. The XY travel mechanism and the lower unit 22 are an elevating mechanism that moves a workpiece (workpiece) up and down. The lower unit 22 is detachably attached to the lower portion of the upper unit 21 with a connecting member 23 such as four bolts. In addition to bolts, for example, two L-shaped metal fittings are provided in parallel on the back of the support plate of the upper unit 21 as the coupling member 23, and the support plate of the lower unit 22 is provided in a groove formed by the two L-shaped metal fittings. May be inserted and both support plates may be secured with screws.
The purpose of dividing the transfer robot 2 in this way is to replace the lower unit 22 according to the application, and not only for plating, but also for versatility. For example, a transfer basket is provided in the lower unit. If attached, it has expandability such that it can be used as a transfer robot.

  The control unit 24 that controls the XY traveling mechanism and the lifting mechanism described above is provided by being fixed to a mounting plate (not shown) provided between the upper unit 21 and the lower unit 22. However, the attachment position of the control unit 24 is not limited to the above, and may be provided in at least one of the upper unit 21 and the lower unit 22. The control unit 24 is provided with a robot-side radio that performs transmission and reception of control signals to and from the controller 3 by radio communication, and a control device that controls the motors of the traveling mechanism and the lifting mechanism.

  As shown in FIGS. 2 and 4, the upper unit 21 includes a traveling motor 211 fixed below the upper unit support plate 210 and a bevel gear that converts the direction of the rotation axis of the traveling motor 211 by 90 degrees. A shaft conversion unit 212 composed of, for example, a drive wheel 214 pivotally supported by a first mounting plate 213a fixed perpendicularly to the upper unit support plate 210, and a gear wheel mounted on the rotation shaft of the shaft conversion unit 212. A chain 215 stretched between gear wheels attached to the drive wheel 214 and a second attachment plate 213b fixed to the upper unit support plate 210 so as to face the first attachment plate 213a. The two driven wheels 216, the electron receiving member 217 that is in pressure contact with the power supply line 12 mounted on the traveling rail 1, and a stop provided on the side surface of the traveling rail 1 are attached to the first mounting plate 213a. A deceleration sensor 218a and a stop sensor 218b that detect the position confirmation plate 16 and a fixed handle 219 that is fixed to the first mounting plate 213a and lifts the transfer robot 2 when the transfer robot 2 is detached from the traveling rail 1 are provided. Yes.

The driving wheel 214 is disposed on one end side orthogonal to the traveling direction of the upper portion of the traveling rail 1, and the two driven wheels 216 are disposed on the other end side orthogonal to the traveling direction. Further, when the transport robot 2 travels on the travel rail 1, the lower presser roller 25 that supports the lower surface of the travel rail 1 is placed on the upper unit support plate 210 so that the transport robot 2 does not generate lateral vibration and vertical vibration. It is fixed to. The lower pressing roller 25 is a roller with a spring that is movable in consideration of the operability when the transport robot 2 is attached and detached, and is pressed against the lower surface of the traveling rail 1 by a predetermined spring bias so as to be in rolling contact. It is attached so that it can rotate freely.
The lower pressing roller 25, the driving wheel 214, and the driven wheel 216 sandwich the traveling rail 1, and when the transfer robot 2 receives an external force from below, each wheel is lifted and derailed from the traveling rail 1. In addition, the horizontal and vertical vibrations of the transfer robot 2 are also prevented. The lower pressing roller 25 is provided on the lower surface of the center of the traveling rail 1 in the drawing, but may be provided below the traveling rail 1 corresponding to the driving wheel 214 and the driven wheel 216, respectively.

  The traveling motor 211 is rotationally driven by receiving power from the power supply line 12 via the power receiving 217, and the rotation of the traveling motor 211 is transmitted to the driving wheel 214 via the shaft conversion unit 212 and the chain 215. The driving wheel 214 is self-propelled on the traveling rail 1. The traveling motor 211 rotates forward and backward under the control of the control unit 24, and the drive wheel 214 moves forward or backward on the traveling rail. The two driven wheels 216 roll in the same manner on the traveling rail as the drive wheel 214 moves forward or backward.

  As shown in FIGS. 2, 5, and 6, the lower unit (elevating mechanism) 22 includes a vertical movement motor 221 with a reduction gear fixed on the lower unit support plate 220, and the vertical movement motor. A conversion unit 223 such as a worm gear that converts the vertical rotation of 221 into a horizontal rotation of the two shafts 222a and 222b, winding rollers 224a and 224b provided at both ends of the two shafts 222a and 222b, and the winding rollers 224a, 224b and support plates 225a and 225b that support the two shafts 222a and 222b, a work suspension hook 226 that suspends a processing basket 5 on which a workpiece (workpiece) is placed, and upper ends of the work suspension hook 226, respectively. Four horizontal rollers 227 and two winding rollers provided at one end of two shafts 222a and 222b 24a and 224b, one end is fixed, and the other end is fixed to the support plate 225a via four horizontal rollers 227 provided at one end of the work hanging hook 226. One end is fixed to one winding belt 228 (228a, 228b) and two winding rollers 224a, 224b provided at the other ends of the two shafts 222a, 222b, and the other end is provided at the other end of the work suspension hook 226. Two U-shaped second winding belts 229 (229a, 229b) fixed and stretched to the support plate 225b via the four horizontal rollers 227 are provided.

The work hanging hook 226 is provided with a hook hanging portion 226a for hanging the processing basket 5 or the like on which a workpiece (work) is placed. The workpiece hanging hook 226 also has a variety of objects to be treated, such as hanging the treatment basket 5, hooking a single hook, grasping a plate, fixing directly according to the shape of the workpiece, and fixing a barrel plating treatment basket. In order to make it easy to deal with an object (work), a plurality of jig fixing holes 226b are provided.
Further, the lifting mechanism reduces the torque of the hoisting rollers 224a and 224b provided at both ends of two shafts 222a and 222b arranged in parallel at a predetermined interval and the motor for vertical movement, and reduces the frictional resistance of the hoisting belt. The workpiece (work) is moved up and down by each of the four horizontal rollers 227 and the four U-shaped first and second hoist belts 228 and 229 in total. Therefore, the workpiece suspension hook 226 is kept horizontal, and the shaking of the processing basket 5 is also reduced.

The vertical movement motor 221 is rotationally driven by receiving power from the power supply line 12 via the electron receiver 217, and the vertical movement motor 221 is rotated by two axes via the axis conversion unit 223 as shown in FIG. It is transmitted to 222a and 222b. If the vertical movement motor 221 rotates as indicated by the solid line arrow, the winding rollers 224a and 224b rotate as indicated by the solid line arrow, the first and second winding belts 228 and 229 are wound up, and the workpiece hanging hook 226 is rotated. Moves up and rises. On the other hand, if the vertical movement motor 221 rotates as indicated by the broken arrow, the winding rollers 224a and 224b rotate as indicated by the broken arrow, and the first and second winding belts 228 and 229 are wound down, The hanging hook 226 moves downward and descends.
FIG. 2 shows a view when the lifting mechanism of the transfer robot is lowered, and FIG. 3 shows a view when the lift mechanism of the transfer robot is raised.

Therefore, if the treatment basket 5 is suspended from the hook suspension 226 a of the workpiece suspension hook 226, the workpiece (work) placed on the treatment basket 5 is immersed in the plating treatment tank 4 or the plating treatment tank 4. Can be raised from.
As an overall image of the lower unit (elevating mechanism) 22 of the transfer robot, a part thereof is shown in a schematic perspective view as shown in FIG.

Next, a position check plate 16 for stopping the transfer robot 2 at the center position of each plating tank 4, an origin detection plate 18 for resetting a signal as a start point of the transfer robot 2, and a position check plate 16 / origin detection A sensor for detecting the plate 18 will be described with reference to FIGS.
The position at which the transfer robot 2 is stopped is not limited to the center of the plating tank 4 and may be an arbitrary position such as a position slightly deviated from the center.
FIGS. 8A and 8B are a front view and a bottom view showing a mounting state of a position confirmation plate 16 provided on the other side surface (the side surface opposite to the mounting surface of the feeder 12) of the traveling rail 1 of the automatic conveyance device. FIG. 9 is a perspective view of the position confirmation plate 16. FIG. 10 is an enlarged cross-sectional view showing the relationship between the position confirmation plate 16 provided on the traveling rail 1 and the sensor provided on the transport robot 2.

As shown in FIG. 9, the position confirmation plate 16 has a substantially rectangular shape, and has a protruding portion 16b protruding upward at the center of the long side. Each of the sensors 218a and 218b detects the protrusion 16b as a stop position for stopping the transport robot 2, and the longitudinal end 16a of the position confirmation plate 16 as a position for decelerating the transport robot 2. Used for.
As shown in FIG. 8, the position check plate 16 is slidable on a position check plate holding metal fitting 17 having a U-shaped cross section provided along the traveling rail 1, and the arrangement of the processing tanks in the processing line. The mounting position can be easily changed in response to the change. The position confirmation plate 16 is attached to a position corresponding to the center of the processing tank, for example. When the position confirmation plate 16 is attached, the position confirmation plate 16 is fixed to the position confirmation plate holding bracket 17 with screws.

  On the other hand, as shown in FIG. 10, the transport robot 2 is provided with a deceleration sensor 218 a that detects the end 16 a of the position confirmation plate 16 and a stop sensor 218 b that detects the protrusion 16 b of the position confirmation plate 16. These position detection sensors 218a and 218b are proximity switches having an electromagnetic contactless relay structure. When the deceleration sensor 218a detects the end 16a of the position confirmation plate 16, the control unit 24 wirelessly transmits the signal to the controller 3 and decelerates the traveling motor 211 based on the signal from the controller 3. When the stop sensor 218b detects the protrusion 16b of the position confirmation plate 16, the control unit 24 wirelessly transmits the signal to the controller 3 and stops the traveling motor 211 based on the signal from the controller 3. .

Further, as shown in FIG. 10, an origin detection plate 18 that is a starting point for the movement of the transfer robot 2 is provided at a position corresponding to the end of the feed line 12 of the traveling rail 1. The traveling rail 1 is fixed with screws under the position check plate holding bracket 17. The transfer robot 2 is provided with an origin detection limit switch 218c for detecting the origin detection plate 18.
When the origin detection limit switch 218c detects the origin detection plate 18, the signals in the controller 3 and the control unit 24 are reset.

Next, the stopper 14 that can be inserted into and removed from the traveling rail 1 will be described with reference to FIGS. FIG. 11 is a perspective view showing a stopper and a fixed handle attached to the transfer robot side by side. FIGS. 12A and 12B are a state where the stopper is not inserted into the traveling rail and a case where the stopper is inserted into the traveling rail. FIG. 13 is a front view showing a state in which a stopper is inserted into and pulled out from the transport robot.
11, the fixed handle 219 is fixed to the first mounting plate 213a of the transfer robot 2 as shown in FIG. 13, and the stopper 14 is fixed to the traveling rail 1 as shown in FIG. A stopper and portable handle that can be inserted into and removed from a hole 15 provided on the upper surface, and has a U-shape.

  When the stopper / carrying handle 14 is inserted into the traveling rail 1 as shown in FIG. 12B, the stopper / carrying handle 14 is pulled out from the transfer robot 2 as shown in FIG. The handle 14 is not attached. When the stopper / carrying handle 14 is inserted into the traveling rail 1, the two legs have a length penetrating the traveling rail 1 as shown in FIG. 13 (b) so as to sufficiently function as a stopper. On the other hand, when the stopper / carrying handle 14 is pulled out of the traveling rail 1 as shown in FIG. 12A to carry the transport robot 2, the stopper / carrying handle 14 is moved as shown in FIG. 13A. 2 is inserted into a hole 213c provided in the second mounting plate 213b. When the stopper / carrying handle 14 is inserted into the transport robot 2, the two legs reach the vicinity of the fixed handle 219 as shown in FIG.

Therefore, when the transport robot 2 is detached from the traveling rail 1, as shown in FIG. 13A, the stopper / carrying handle 14 is inserted into the hole 213c of the second mounting plate 213b of the transport robot 2 and fixed with both hands. The transport robot 2 is lifted by holding the handle 219 and the stopper carrying handle 14, and the transport robot 2 is detached from the end of the traveling rail 1. In this case, the shape of the traveling rail 1 is simply a square, and the driving wheel 214 and the driven wheel 216 are only on the traveling rail 1 and are arranged so as not to interfere with each other. It can be easily detached from the rail 1.
As described above, the transfer robot 2 can be attached / detached manually, but can be attached / detached more easily and quickly if used in combination with a dedicated carriage not shown.

Next, the operation of the above-described automatic conveyance apparatus and plating apparatus will be described.
First, the transfer robot 2 is inserted from the end of the traveling rail 1, the driving wheel 214 and the driven wheel 216 are placed on the traveling rail 1, and the spring bias of the lower pressing roller 25 is released by hand to travel the rail 1. Insert it into the bottom surface. Next, the received electron 217 of the transfer robot 2 is moved by hand to a position where it contacts the power supply line 12, and the processing basket 5 on which the workpiece (workpiece) is placed is hung on the hanging portion 226 a of the workpiece hanging hook 226.

  Next, the power switch 35 of the controller 1 corresponding to the traveling rail 1 on which the transfer robot 2 is placed is turned on to turn on the power supply line 12 of the traveling rail 1 on which the transfer robot 2 is placed. Next, the operation button 36 of the controller 1 is used to select automatic or manual. When automatic, the processing program selection button 37 corresponding to the processing line is pressed to select the processing program. Next, the operation preparation of the operation button 36 and the start button are pushed, and the transfer robot 2 is started. If the origin detection limit switch 218c detects the origin detection plate 18 immediately after the transfer robot 2 is started, the signals in the control device of the controller 3 and the control unit 24 are reset.

  Next, when the transport robot 2 travels on the travel rail 1 and the deceleration sensor 218a detects the end 16a (position information of the processing tank) of the position check plate 16 attached to the travel rail 1, the information is transmitted to the transport robot 2. Is transmitted from the control unit 24 to the controller 3 wirelessly. The controller 3 receives the information and transmits a control signal according to the processing program to the control unit 24 of the transport robot 2 wirelessly. The control unit 24 that has received the control signal from the controller 3 decelerates the traveling motor 211.

Next, when the stop sensor 218b detects the protrusion 16b (processing tank center position information) of the position confirmation plate 16 in the transfer robot 2, the information is wirelessly transmitted from the control unit 24 of the transfer robot 2 to the controller 3. . The controller 3 receives the information and transmits a control signal according to the processing program to the control unit 24 of the transport robot 2 wirelessly. The control unit 24 that has received the control signal from the controller 3 stops the traveling motor 211, and the transfer robot 2 stops.
Next, in accordance with the received control signal processing program, the control unit 24 drives the vertical movement motor 221 to lower the work suspension hook 226 to place the processing basket 5 on which the workpiece (workpiece) is placed on the plating tank 4. Immerse in. This descending speed and immersion time are also determined by the processing program.

After a predetermined time, the processing basket 5 on which the workpiece (workpiece) immersed in the plating tank 4 is placed is raised by driving the vertical movement motor 221 according to the processing program and pulled up from the plating tank 4. The transfer robot 2 travels again on the traveling rail 1 toward the next plating tank 4. When the deceleration sensor 218a detects the end 16a (position information of the processing tank) of the next position check plate 16 attached to the traveling rail 1, the same operation as described above is repeated. When the processes in all the plating tanks 4 are completed in this way, the processing basket 5 on which the workpiece (work) is placed is removed from the work hanging hook 226, and the plating process is completed.
Note that the transfer robot 2 may not only move forward on the traveling rail 1 but also perform plating treatment by repeatedly moving forward and backward.

  In this way, the position information detected by the deceleration sensor 218a and the stop sensor 218b provided in the transfer robot 2 is wirelessly transmitted to the controller 3 in sequence, so that the controller 3 can execute a predetermined processing program (sequence program). It can be automated by collating the position information, transmitting a control signal for a required operation to the control unit 24 of the transfer robot 2 wirelessly, and causing the transfer robot 2 to operate (process work).

Embodiment 2. FIG.
Next, an automatic transfer apparatus according to Embodiment 2 of the present invention will be described with reference to FIG. In the invention of the first embodiment, the processing program is set in the controller 3 in advance and the operation of the transfer robot 2 is controlled. However, in the invention of the second embodiment, the processing program is controlled by using the IC tag. 3 and the operation of the transfer robot 2 is controlled based on this.
In FIG. 14, an IC tag 7 in which a processing program specific to the line is written in advance is mounted near the origin position (program start position) of the traveling rail 1 corresponding to the processing line. Further, on the side of the transfer robot 2, a reading device 8 such as an IC tag reader / writer that reads a processing program from the IC tag 7 is provided before the processing is started, and the read program information is transmitted to the controller 3 wirelessly. Based on the processing program, the controller 3 controls the operation of the transfer robot 2 as in the first embodiment. Other configurations are the same as those in FIG. 1 of the first embodiment, and the same or corresponding reference numerals are given and description thereof is omitted.

Therefore, the processing program (transfer robot operation program) that is different for each processing line can be switched to the processing program of the processing line by simply transferring the transfer robot 2 to the traveling rail 1 and using the processing program. And processing program mismatch can be prevented.
The processing program of the processing line before switching is deleted when the transfer robot 2 is turned off when the transfer robot 2 is removed from the traveling rail 1.

Embodiment 3 FIG.
Next, an automatic transfer apparatus according to Embodiment 3 of the present invention will be described. In the invention of the second embodiment, the processing program is read by the controller 3 using the IC tag 7. However, in the invention of the third embodiment, the controller 3 is abolished and processed by the control unit 24 of the transport robot 2. The program is loaded.
That is, as in the second embodiment, an IC tag 7 in which a processing program unique to the line is written in advance is mounted near the origin position (program start position) of the traveling rail 1 corresponding to the processing line, and is transported. A reading device 8 such as an IC tag reader / writer that reads a processing program from the IC tag 7 is provided on the robot 2 side, and the read program information is written in the control unit 24 of the transport robot 2. Based on the processing program, the control unit 24 controls the operation of the transfer robot 2 as in the first embodiment.

  Therefore, as in the second embodiment, the processing program (transfer robot operation program) that is different for each processing line is switched to the processing program for the processing line by simply transferring the transfer robot 2 to the traveling rail 1. As a result, a mismatch between the processing line used and the processing program can be prevented. In the case of the third embodiment, since there is no controller 3, there is a disadvantage that the operation state of the transfer robot cannot be confirmed on the display unit 34 of the controller 3, but the controller 3 can be omitted, so that it can be configured at low cost.

  In the above description, the case where the automatic conveying apparatus is used for the plating apparatus has been described. However, the automatic conveying apparatus according to the present invention can be used other than the plating apparatus. For example, it can be used for an automatic warehouse device for transporting and storing luggage in a warehouse or a parts conveying device in a production line.

1: traveling rail 2: transfer robot 3: controller 4: plating tank 5: treatment basket
7: IC tag 8: Reading device 11: Support material 12: Feeding line 13: Non-electric part 14: Stopper (also carrying handle)
15: Rail hole 16: Position check plate 17: Position check plate holding bracket 18: Origin detection plate 21: Upper unit 22: Lower unit (lifting mechanism)
23: coupling member 24: control unit 25: lower pressing roller 210: upper unit support plate 211: travel motor 212: shaft conversion unit 213a, 213b: mounting plate 214: driving wheel 215: chain 216: driven wheel 217: electron receiving 218a: Deceleration sensor 218b: Stop sensor 218c: Origin detection limit switch 219: Fixed handle 220: Lower unit support plate 221: Vertical movement motors 222a, 222b: Horizontal shaft 223: Conversion units 224a, 224b: Winding rollers 225a, 225b: Support plate 226: Work hanging hook 226b: Fixing hole 227: Horizontal roller 228, 229: Winding belt 31: Electrical cord 32: Control box 33: Controller-side radio 34: Display unit 35: Power switch 36: Operation Button 37: Selection button.

Claims (10)

  The traveling rail includes a traveling robot and a transport robot that self-travels along the traveling rail. A power supply line is attached to the traveling rail along a side surface of the traveling rail. The transfer robot is provided with an upper unit and a lower unit that is detachable by a coupling member at the lower part of the upper unit, and the upper unit is provided on a side surface of the traveling rail. An electron receiving device that receives power by being brought into pressure contact with the provided power supply line, a traveling motor that is driven by receiving power from the power supply line via the received electron, and traveling on the traveling rail by the traveling motor. A driving wheel that moves up and down, and the lower unit has a vertical movement motor that moves the workpiece up and down by receiving power from the power supply line via the received electrons. A mechanism is provided, and at least one of the upper unit and the lower unit is provided with a control unit for controlling driving of the traveling motor and the vertical movement motor, and further, a non-electric part of the feeder line mounted on the traveling rail A hole is provided on the traveling rail on the end side corresponding to the above, and a stopper that can be inserted into and removed from this hole is provided. By removing the stopper from the hole, the transfer robot can be detached from the end of the traveling rail. Automatic transfer device.   The raising / lowering mechanism provided in the lower unit of the transfer robot is provided with a vertical movement motor, a conversion unit that converts rotation of the vertical movement motor into rotation of two axes, and both ends of the two axes. At one end of the two shafts via a winding roller, four horizontal rollers provided at both ends of a work hanging hook for hanging the work, and four horizontal rollers provided at one end of the work hanging hook Other than the two shafts through a first winding belt stretched between two provided winding rollers and a fixed end, and four horizontal rollers provided at the other end of the work hanging hook. The automatic conveying apparatus according to claim 1, further comprising: a second winding belt stretched between two winding rollers provided at the end and a fixed end.   The automatic transfer according to claim 1 or 2, wherein a workpiece hanging hook for hanging a workpiece is provided in the lower unit of the transfer robot, and a plurality of jig fixing holes corresponding to various workpieces are provided in the workpiece hanging hook. apparatus.   4. The stopper according to claim 1, wherein the stopper can be used as a handle for carrying the transfer robot by removing the stopper from the hole of the traveling rail and inserting the stopper into a hole provided in the transfer robot. The automatic conveyance apparatus as described in a term.   A position check plate for decelerating and stopping the transport robot is provided on a side surface of the travel rail, the position check plate is slidable so as to move along the travel rail, and the position check plate is provided by a sensor provided on the transport robot. The automatic conveyance apparatus according to any one of claims 1 to 4, wherein the traveling motor is controlled by detecting the motor. Said controller for transmitting and receiving signals wirelessly to and from the control unit provided in the transfer robot is provided, according to claim 1 which is adapted to control the driving of the traction motor or motor for vertical movement by the controller Automatic transfer device.   An IC tag in which a processing program peculiar to the line is written is attached to the origin position corresponding to the end portion of the traveling rail, and the reading robot is provided with a reading device for reading the IC tag. The processing program is wirelessly transmitted to the controller, and signals are transmitted and received wirelessly between the controller and the control unit provided in the transfer robot, thereby controlling the driving of the traveling motor or the vertical movement motor. The automatic transfer apparatus according to claim 6, which is configured to do so.   An IC tag in which a processing program peculiar to the line is written is attached to the origin position corresponding to the end portion of the traveling rail, and the reading robot is provided with a reading device for reading the IC tag. The automatic transfer apparatus according to claim 1, wherein the processing program is sent to a control unit provided in the transfer robot, and the drive of the traveling motor or the vertical movement motor is controlled by the control unit.   9. A plating apparatus comprising: the automatic conveyance apparatus according to claim 1; and a plurality of plating treatment tanks provided along the traveling rail below the traveling rail of the automatic conveyance apparatus.   A plurality of traveling rails, a plurality of plating tanks provided along the traveling rails of the plurality of traveling rails, and a transfer robot provided on one traveling rail of the plurality of traveling rails. The plating apparatus according to claim 9, wherein the transfer robot can be shared between different lines.

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