JP6535182B2 - Bogie device and work system - Google Patents

Description

  The present invention relates to a carriage apparatus and a work system.

  As a system for performing processing on a work, there is known a system in which functional units can be replaced with respect to a work device.

  As this type of system, for example, there has been proposed a system including a working device for mounting a component on a workpiece and a functional unit for supplying a component to the main device. It is necessary to prepare a large number of parts to be assembled in order to convey a large number of workpieces sequentially and sequentially to the work position and efficiently perform the assembling work, but there is a limit to the number of parts prepared at one time. Therefore, the parts are dividedly supplied plural times by replacing functional units. As a working apparatus of such a system, for example, an electronic component mounting apparatus (also referred to as a mounter) is known.

  In addition, as a system of this type, a system provided with a functional unit that performs an auxiliary work that assists the work of the work apparatus has also been proposed. By replacing the functional units, different work can be performed on the work.

  In this type of system, it has been proposed to use a carriage apparatus on which a functional unit is mounted in order to efficiently replace functional units. Patent Document 1 discloses a system for transferring and mounting a functional unit from a carriage device to a working device. Patent Document 2 discloses a system for supporting a carriage device on a working device while mounting a functional unit. Patent Document 3 discloses a system in which a bogie device is stopped on a floor.

Patent No. 3552810 Patent No. 4013655 Patent No. 5059566

  At the time of replacement of functional units, positioning of the functional units with respect to the work device is required. In the case of a configuration in which the carriage device is not supported by the work device as in Patent Document 3, the positional relationship between the functional unit and the work device is easily influenced by the state of the floor surface. In this respect, as in Patent Document 1 and Patent Document 2, a configuration in which the functional unit is detachably attachable to the working device is advantageous. However, in the case of separating the functional unit from the carriage device as in Patent Document 1, the storage location of the carriage device after separation of the functional unit becomes necessary and the moving operation to the storage location becomes necessary. In the case of the configuration in which the carriage device is supported by the working device as in Patent Document 2, the storage location of the carriage device is not necessary, but the working device needs to have rigidity capable of bearing the weight of the carriage device.

  An object of the present invention is to further reduce the load on the working device when the functional unit is mounted on the working device with a configuration in which the functional unit is detachably attachable to the working device.

  According to the present invention, there is provided a carriage apparatus comprising a functional unit removably mounted on a working apparatus, comprising: a traveling unit capable of traveling on a traveling surface; a support unit for supporting the functional unit; And a lifting mechanism for supporting the supporting unit so as to be able to move up and down with respect to the traveling unit, the supporting unit being engaged with a mounting portion provided on the working device, and being relative to the mounting portion At least one first engaging portion for rotatably supporting the support unit in the vertical direction, and the first engaging portion disposed below the first engaging portion and engaged with the mounting portion And at least one second engagement portion for restricting rotation of the support unit around the support portion, the elevating mechanism is fixed to one of the support unit or the traveling unit, and the other to the other Can be displaced relative Te, carriage device is provided, characterized in that.

  Further, according to the present invention, there is provided a work system comprising: a work apparatus; and a carriage apparatus comprising a functional unit detachably mounted on the work apparatus, wherein the work apparatus includes a work unit, and the carriage apparatus. And the carriage unit is supported by the traveling unit capable of traveling freely on the traveling surface, a support unit for supporting the functional unit, and the traveling unit, and the carriage unit is mounted on the traveling unit. A lifting mechanism supporting the support unit so as to be able to move up and down, the support unit being engaged with the mounting portion, and at least one of a position in a lifting direction and a horizontal position being in contact One engaging portion, and at least one second engaging portion disposed below the first engaging portion and regulating rotation of the support unit about the first engaging portion , The lifting mechanism, the one to be fixed in the supporting unit or the traveling unit, which can be displaced relative to the other, provided the work system, characterized in that.

  According to the present invention, it is possible to further reduce the load on the working device when the functional unit is mounted on the working device by a configuration in which the functional unit is detachably attachable to the working device.

BRIEF DESCRIPTION OF THE DRAWINGS The schematic of the working system which concerns on one Embodiment of this invention. FIG. 2 is a block diagram of a control system of the work system of FIG. 1; The perspective view of the trolley | bogie apparatus which comprises the working system of FIG. The disassembled perspective view of the trolley | bogie apparatus of FIG. The disassembled perspective view of the trolley | bogie apparatus of FIG. The figure which shows the mounting aspect of the trolley | bogie apparatus of FIG. 3 with respect to a working apparatus. Explanatory drawing of the mounting part of a working apparatus. The figure which shows the mounting aspect of the trolley | bogie apparatus of FIG. 3 with respect to a working apparatus. The perspective view of the raising / lowering mechanism with which the trolley | bogie apparatus of FIG. 3 is provided. The partially broken perspective view of the raising / lowering mechanism with which the trolley | bogie apparatus of FIG. 3 is provided. The partially broken perspective view of the control mechanism with which the trolley | bogie apparatus of FIG. 3 is provided. The partially broken perspective view of the control mechanism with which the trolley | bogie apparatus of FIG. 3 is provided. Explanatory drawing of the control mechanism with which the trolley | bogie apparatus of FIG. 3 is equipped. The figure which shows the mounting | wearing procedure of the trolley | bogie apparatus of FIG. 3 with respect to a working apparatus. The figure which shows the mounting | wearing procedure of the trolley | bogie apparatus of FIG. 3 with respect to a working apparatus. The figure which shows the mounting | wearing procedure of the trolley | bogie apparatus of FIG. 3 with respect to a working apparatus.

<Work system>
FIG. 1 is a schematic view of a working system A according to an embodiment of the present invention. The work system A includes one work device 1 and a plurality of carriage devices 2. The work system A may include a plurality of work devices 1 and one carriage device 2. Further, the work system A may be provided with a plurality of work devices 1 and a plurality of carriage devices 2.

  The work apparatus 1 includes a work unit 10 a, a transport mechanism 10 b, and a gantry 11. The gantry 11 is a structure that supports the work unit 10a and the transport mechanism 10b, and in the case of this embodiment, the gantry 11 is a frame. The transport mechanism 10 b is a mechanism that transports a work to be worked, and is, for example, a conveyor such as a roller conveyor or a belt conveyor. The work unit 10a is a unit that performs a predetermined work on a work transported by the transport mechanism 10b. The predetermined work includes, for example, assembly of parts to a work, processing of the work (for example, drilling, cutting, welding, etc.), inspection of the work, and the like.

  The mount 11 is provided with a plurality of mounting units 12. The carriage device 2 is detachably mounted on each mounting portion 12. Each carriage device 2 includes a functional unit 20. The functional unit 20 is detachably attached to the working device 1 via the carriage device 2.

  The functional unit 20 is a unit that complements the function of the work device 1. Examples of the functional unit 20 include a component supply device and a device that assists the work performed by the work unit 10a (for example, assembly of parts, processing of a workpiece, inspection of a workpiece, etc.). By replacing the functional unit 20 to be attached to the work apparatus 1, it is possible to continuously supply parts or to more easily construct the work system A having different functions. In the case of the present embodiment, the functional unit 20 assumes a configuration in which the position is fixed with respect to the carriage device 2, but in the state where the carriage device 2 is attached to the work device 1, the functional unit 20 is The configuration may be such that it can move back and forth with respect to the work unit 10a.

<Control unit>
FIG. 2 is a block diagram of a control system of the working system A. The work system A includes a control device 13 and a control device 26. The control device 13 controls the entire work system A in accordance with the instruction of the host computer 3.

  The control device 13 includes a processing unit 131 such as a CPU, a storage unit 132 such as a RAM and a ROM, and an interface unit 133 which is an interface between an input device 134 and an output device 135 constituting an external device and the processing unit 131. Including. The interface unit 133 also includes a communication interface that communicates with the host computer 3 and the control device 26. Further, the control device 13 is provided with connectors 136 as many as the bogie device 2 can be mounted. The connector 136 is connected to a connector 263 such as a wire connected to the control device 26 mounted on the carriage device 2. The host computer 3 is, for example, a computer that controls the entire manufacturing facility in which the work system A is disposed.

  The processing unit 131 executes the program stored in the storage unit 132 and controls the output device 135 based on information input from the input device 134 and an instruction of the host computer 3. The input device 134 includes, for example, sensors provided in the work unit 10a and the transport mechanism 10b. The output device 135 includes, for example, an actuator such as a motor or a valve provided in the work unit 10 a or the transport mechanism 10 b. The processing unit 131 also outputs a control command of the functional unit 20 to the control device 26 through the connector 136 and the connector 263, and controls the operation of the functional unit 20. In addition, the control device 13 also supplies a drive source (power supply or control air) of the functional unit 20 configured in the carriage device 2 via the connector 136 and the connector 263.

  The control device 26 is provided for each carriage device 2. The controller 26 includes an identification unit 261 and a drive circuit 262. The drive circuit 262 is a circuit for driving the functional unit 20, and drives the functional unit 20 in accordance with a control instruction from the processing unit 131. Further, a drive source (a power source or the like) of the control device 26 is supplied by connecting the connector 263 to the connector 136 provided in the working device 1.

  The identification unit 261 is a unit for the processing unit 131 of the work device 1 to determine the type of the functional unit 20. The identification unit 261 is, for example, a memory accessible by the processing unit 131, and stores identification information indicating the type of the functional unit 20. The processing unit 131 can read identification information from the identification unit 261 and determine the type of the functional unit 20 of the carriage device 2 attached to the work device 1. The processing unit 131 can determine whether or not the appropriate functional unit 20 is attached, and can prevent an attachment error of the carriage device 2. Also, by assigning an identifier that individually identifies the plurality of functional units 20 of the same type, the plurality of functional units 20 of the same type can be distinguished. Instead of assigning the identifiers, the identification information may include information for individually identifying the functional units 20.

  In the work system A of the present embodiment, when the carriage device 2 is attached to the work device 1, the worker connects the connector 263 provided on the carriage device 2 to the connector 136 provided on the work device 1, and the control device 13. By electrically connecting the control device 26 and the control device 26, electric power is supplied to the carriage device 2. When the power of the control device 26 is turned on, the connection completion signal is output from the control device 26 to the processing unit 131, and the processing unit 131 reads the identification information from the identification unit 261 in response to the reception of the connection completion signal. It is also good. As another configuration example, when the power of the control device 26 is turned on, the identification unit 261 may transmit identification information to the processing unit 131. As still another configuration example, the processing unit 131 periodically outputs an acquisition request for identification information, and the identification unit 261 transmits identification information to the processing unit 131 in response to the acquisition request when the power is turned on. It may be.

  The identification unit 261 may be a wireless ID tag, and the processing unit 131 may be configured to acquire identification information from the identification unit 261 by wireless communication. Further, the identification unit 261 may be a switch such as a rotary switch or a DIP switch. The operator manually sets the type of the functional unit 20 by switching the contact of the switch, and the processing unit 131 can determine the type of the functional unit 20 from the selected contact.

<Carriage equipment>
The detail of the trolley | bogie apparatus 2 is demonstrated with reference to FIGS. In each drawing, X and Y indicate horizontal directions orthogonal to each other, and Z indicates the vertical direction. In the case of the present embodiment, the Y direction is set to a direction in which the carriage device 2 approaches and separates from the mounting portion 12 (in other words, a direction in which the carriage device 2 is mounted and separated). In the following description, in the configuration extending in the Y direction, a portion on the side of the mounting portion 12 may be referred to as a front end, and a portion on the opposite side may be referred to as a rear end. First, the outline of the carriage device 2 will be described with reference to FIGS. 3 to 5. FIG. 3 is a perspective view of the carriage device 2, and FIGS. 4 and 5 are exploded perspective views of the carriage device 2.

  The carriage device 2 includes a functional unit 20, a traveling unit 21, a support unit 22, an elevation mechanism 23 (see FIG. 5), a regulation mechanism 24 (see FIGS. 11 and 12), and a side frame 28. Prepare. The functional units 20 are as described above.

<Support unit>
The support unit 22 is a unit that supports the functional unit 20. The support unit 22 includes a support portion 220, an arm portion 221, engaging portions 222 to 224, and a side frame 225.

  The support portion 220 has a rectangular plate shape, and constitutes the base of the support unit 22. The functional unit 20 is mounted on and supported by the support 220. The configuration of a part of the elevating mechanism 23 described later and the configuration of a part of the regulating mechanism 24 are supported by the lower surface of the support portion 220.

  The arm portion 221 is fixed to one side portion of the support portion 220 (side portion on the mounting portion 12 side). The arm portion 221 includes a plurality of arm members 221a and one arm member 221b.

  A pair of base portions 221 a ′ extending in the vertical direction is provided on one side of the support portion 220 at a distance in the X direction. At the upper end of each base 221a ', an arm member 221a is provided which protrudes toward the mounting portion 12 respectively. In other words, the two arm members 221a are each formed of a rod member extending in the Y direction. The arm member 221a and the base portion 221a 'are integrally provided, for example, and have an L shape as a whole. An engaging portion 222 is supported on the surface (surface on the outer side in the X direction) opposite to the facing surface of the pair of arm members 221a. In the case of this embodiment, the number of arm members 221a is two, but may be three or more. Also, the number of arm members 221a may be one. The cross-sectional shape of the rod member constituting the arm member 221a may be either circular or polygonal.

  The bases 221a ′ of the two arm members 221a are connected by a connecting member 221c extending in the horizontal direction (X direction), and the two bases 221a ′ are connected by a connecting member 221d extending in the horizontal direction (X direction) ing. The connecting members 221c and 221d are rod members, and improve the rigidity of the arm portion 221. The connecting member 221c supports the engaging portion 224, and the connecting member 221d supports the pair of base portions 221a 'and the arm members 221b.

  In the case of this embodiment, although there is one arm member 221b, there may be a plurality. The arm member 221 b is a rod member extending in the Z direction. The upper end of the arm member 221b is fixed to the central portion of the connecting member 221d in the X direction, and the engaging portion 223 is supported by the lower end of the arm member 221b.

  The engaging portions 222 and 223 are rollers in the case of the present embodiment, but may have another configuration capable of engaging with the mounting portion 12. In the case of the present embodiment, two engaging portions 222 are provided, but may be one or three or more. Further, in the case of the present embodiment, one engaging portion 223 is provided, but there may be a plurality.

  The engagement portion 222 is rotatably supported by each of the arm members 221 a one by one. In the case of this embodiment, the engagement portion 222 is supported on the outer side of the arm member 221a. The rotation axis of the two engaging portions 222 is an axis in the X direction. The two engaging portions 222 are spaced apart in the X direction and located on a common axis, and the support unit 22 as a whole is rotatable around the common axis of the two engaging portions 222. The engagement portion 223 is rotatably supported at the lower end of the arm member 221 b. The rotation axis of the engaging portion 223 is an axis in the X direction. The engaging portion 223 is located closer to the support portion 220 (rear end side) in the Y direction than the vertical plane including the rotation axis of the engaging portion 222, and the engaging portion 223 is a rotation of the engaging portion 222. It is located below the horizontal plane including the axis.

  In the case of the present embodiment, the engaging portion 224 is a U-shaped member in plan view in which a groove 224a opened to the mounting portion 12 side (tip end side) is formed. The configuration of In the case of this embodiment, although one engaging portion 224 is provided, a plurality of engaging portions may be provided. The engaging portion 224 is fixed to the central portion of the connecting member 221c in the X direction.

  Here, the configuration of the mounting portion 12 and the engagement aspect of the engaging portions 222 to 224 with the mounting portion 12 will be described with reference to FIGS. 7 and 8. FIG. 7 is an explanatory view of the mounting unit 12. FIG. 8 is a view showing how the carriage device 2 is attached to the work device 1.

  The mounting unit 12 is configured using a part of the gantry 11. The mounting unit 12 includes a table 12 a in a horizontal attitude. An engaging portion 120 corresponding to the engaging portion 222 and a guide member 122 corresponding to the engaging portion 224 are fixed to the upper surface of the table 12 a.

  In the case of the present embodiment, as described above, since two engagement portions 222 are provided, two engagement portions 120 are also provided. Similarly, since one engaging portion 224 is provided, one guide member 122 is also provided.

  In the case of the present embodiment, the engaging portion 120 is a U-shaped member in a side view in which a groove 120a opened upward is formed, but has another configuration capable of engaging with the engaging portion 222. It is also good. The groove 120 a of the engaging portion 120 has a semicircular shape corresponding to the outer shape of the engaging portion 222. In the engaged state between the engaging portion 120 and the engaging portion 222, as shown in FIG. 8, the circumferential surface of the engaging portion 222 abuts on the inner circumferential surface of the groove 120a of the engaging portion 120, and the engaging portion Positioning in the Z and Y directions of 222 is made. In other words, the engagement between the engaging portion 120 and the engaging portion 222 defines the position of the support unit 22 in the Z direction and the Y direction. However, the position (position in the rotational direction) of the support unit 22 around the rotation axis of the engagement portion 222 is not defined, and the support unit 22 is supported rotatably around the axis in the X direction (in other words, in the Z direction) In a state of

  In the present embodiment, the guide member 122 is an axial member extending in the Z direction, and the diameter thereof is slightly smaller than the width of the groove 224 a of the engagement portion 224. Therefore, as shown in FIG. 8, the groove 224 a of the engaging portion 224 can be moved in the Y direction to be engaged with the guide member 122. Then, in the engaged state of the engaging portion 224 and the guide member 122, the inner peripheral surface of the groove 224a abuts on the outer peripheral surface of the guide member 122, and the engaging portion 224 is positioned in the X direction. That is, the engagement between the engaging portion 224 and the guide member 122 defines the position of the support unit 22 in the X direction. However, the positions of the support unit 22 around the Y direction, the Z direction and the axis centering on the guide member 122 are not defined.

  As shown in FIG. 7, on the side surface of the table 12a, an engaging portion 123 with which a restricting mechanism 24 described later engages is formed. In the case of the present embodiment, two engaging portions 123 are provided, but may be one or three or more. In the case of the present embodiment, the engaging portion 123 is a hole extending in the Y direction, but may have another configuration capable of engaging with the regulating mechanism 24.

  As shown in FIG. 7, the mounting unit 12 includes a base member BM provided with a vertical surface 121 below the table 12 a. The engaging portion 223 engages with the vertical surface 121. These engagements are lateral (Y-direction) abutments of the engaging portion 223 with the vertical surface 121. By the engagement of the vertical surface 121 and the engagement portion 223, the rotation of the support unit 22 around the rotation axis of the engagement portion 222 is restricted. That is, the position in the rotational direction of the support unit 22 around the rotation axis of the engagement portion 222 is defined, and the support unit 22 can not rotate around the X axis (in other words, in the Z direction).

  As shown in FIG. 7, the mounting unit 12 includes a connection unit 14. The connection part 27 which the trolley | bogie apparatus 2 is equipped with, and is mentioned later is connected to the connection part 14. FIG. In the case of the present embodiment, the connection portion 14 is provided on the vertical surface 121 of the base member BM. The connection portion 14 is formed by forming a plurality of engagement portions 141 in a plate-like member. In the case of the present embodiment, the engaging portion 141 is a hole extending in the Y direction. Of the engaging portions 141, the engaging portion 141 to which the connection portion 27 of the carriage 2 is connected is opened, and the engaging portion 141 not connected is closed by inserting a pin or the like (not shown). The engaging portion 141 to be opened is selected according to the type of the functional unit 20 attached to the work device 1. By changing the engagement portion 141 to be released, the manner of connection with the connection portion 27 (here, connection portion) can be changed.

  On the floor in front of the mounting portion 12, a pair of guiding devices 5 are provided separately in the X direction. Each guiding device 5 comprises a plurality of rollers 50 arranged in the Y direction. The rotation axis of the roller 50 is an axis in the Z direction. The distance between the pair of guiding devices 5 is slightly longer than the width of the carriage device 2. When the carriage device 2 is attached to the attachment unit 12, the carriage device 2 is guided to an appropriate attachment position (X direction) and posture by allowing the carriage device 2 to enter between the pair of guide devices 5. Become.

  Referring back to FIGS. 3 to 5, the side frame 225 is attached to the support 220 and forms three sides of the support unit 22 except for the side on the arm 221 side. The side frame 225 functions as a cover that prevents the lower mechanism of the support 220 from being exposed to the outside.

<Traveling unit>
The traveling unit 21 is a unit capable of traveling on the traveling surface. The traveling surface is, for example, a floor surface of a factory where the work system A is installed. In the case of the present embodiment, the traveling unit 21 is a push-type truck, and includes a housing portion 210, a pair of forks 211, and traveling wheels 212 and 213.

  The housing portion 210 is a hollow box. The top of the housing portion 210 is open, but the opening is closed by a base 230 of the lifting mechanism 23 described later (an opening OP through which the control cable of the functional unit 20 passes is formed in part). . The control device 26 can be housed in the housing portion 210. By using the control device 26 as the storage space in the storage unit 210, the installation space of the control device 26 may not be secured outside the carriage device 2. Further, the control device 26 can be moved together with the carriage device 2, and it becomes easy to manage the functional unit 20 and the control device 26 in association with each other.

  A handle 2 a is attached to the housing portion 210. The operator can move the carriage device 2 by gripping the handle 2a. The handle 2a is mounted on a rear end surface of the storage unit 210 on a pivoting mechanism 2b rotatable about the X axis, and the moving position at which the carriage 2 is moved, and the mounting unit for the carriage 2 It is configured to be pivotable to a storage position at which it is mounted at 12. The rotation mechanism 2 b is configured to be restricted in rotation by a rotation restriction member (not shown), and at least maintains the state of the handle 2 a in the movement position. By configuring the handle 2 a to be movable between the movement position and the storage position, the work of the operator on the functional unit 20 of the carriage device 2 mounted on the mounting unit 12 is facilitated.

  The side frame 28 is attached to the traveling unit 21 and functions as a cover that prevents the lifting mechanism 23 from being exposed to the outside.

  The pair of forks 211 is fixed to the bottom of the housing portion 210. The forks 211 extend in the Y direction and are spaced apart in the X direction. When the carriage device 2 is made to enter between the guide devices 5 and 5 described above, the X-direction outer side surface of each fork 211 abuts on the roller 50. Thus, the entire bogie device 2 is guided by the guiding device 5.

  A traveling wheel 212 is provided on the tip end side of each fork 211. In addition, a traveling wheel 213 is provided on the rear end side of the housing portion 210. Two traveling wheels 212 are provided, and two traveling wheels 213 are also spaced apart in the X direction. A total of four traveling wheels 212 and 213 are brought into contact with the traveling surface, and the bogie device 2 travels.

  The connection portion 27 connected to the connection portion 14 described above is provided on the front surface (surface facing the mounting portion 12) of the housing portion 210. In the case of the present embodiment, the two connection portions 27 are provided, but may be three or more or one. Each connection portion 27 includes a plate-shaped main body portion 271 and a shaft-like connection member 272 which protrudes from the main body portion 271 to the mounting portion 12 side. A plurality of holes 273 (here, three in the Z direction) are formed in the main body portion 271, and the connection member 272 is fitted in any of the holes 273. By changing the hole 273 in which the connection member 272 is fitted, it is possible to change the manner of connection (here, connection portion) to the connection portion 14.

  The hole 273 in which the connection member 272 is fitted is selected according to the type of the functional unit 20. As described above, the engagement portion 141 to be released among the plurality of engagement portions 141 of the attachment portion 12 is also selected according to the type of the functional unit 20 attached to the work device 1. The respective engaging portions 141 and the holes 273 are in a relationship in which the positions correspond to each other. When the selection of the engaging portion 141 and the hole 273 is properly performed according to the type of the functional unit 20, the connection member 272 is engaged when the carriage device 2 is mounted at an appropriate position with respect to the mounting portion 12 It is inserted into the part 141. On the contrary, if it is attempted to mount the carriage device 2 having the wrong type of functional unit 20 (different from the setting) to the mounting portion 12, the connection member 272 is abutted against the closed engaging portion 141. The device 2 can not be mounted.

  As described above, in the present embodiment, incorrect attachment of the bogie device 2 can be mechanically prevented by the connection portion 14 and the connection portion 27. Therefore, erroneous mounting can be prevented even in the state where power is not supplied. In particular, the bogie device 2 is determined by the determination of the type of the electrical functional unit 20 by the identification unit 26 described with reference to FIG. It is possible to prevent the erroneous attachment of the device more reliably.

  In addition, in the case of the present embodiment, the connection portion 27 side is inserted into the connection portion 14 side, but may be reversed. In addition, as long as the mounting mode can be changed, a configuration other than the shaft and the hole (for example, matching with a shape such as a triangle, a square, a circle, or the like) may be employed.

  Further, in the case of the present embodiment, the engagement portion 141 not connected is closed, but may not be closed. In this case, a sensor for identifying the engaging portion 141 in which the connecting member 272 is fitted is provided, and the engaging portion 141 in which the connecting member 272 is fitted corresponds to the type of the functional unit 20 according to the detection result of the sensor. It may be determined whether or not it is the engaged portion 141. The sensor may be a switch disposed in each engaging portion 141.

  Furthermore, in the present embodiment, although the case where the carriage device 2 is a hand-push type carriage has been described as an example, the carriage may be an AGV. In this case, the bogie device 2 automatically runs unmanned near the work device 1 and stops there. Thereafter, for example, a worker connects the carriage device 2 and the work device 1 with each other. Alternatively, the connection itself between the carriage device 2 and the working device 1 may be performed by automatic control by the carriage device 2.

Lifting mechanism
Next, the elevating mechanism 23 will be described with reference to FIGS. 5, 9 and 10. FIG. 9 is a perspective view (excluding a part of the configuration) of the lifting and lowering mechanism 23, and FIG. 10 is a partially broken perspective view of the lifting and lowering mechanism 23.

  The lifting and lowering mechanism 23 includes a base 230, a connecting portion 231, and a driving mechanism 232. The base 230 constitutes a fixing portion fixed to the traveling unit 21. The base 230 is a plate-like member, and is fixed to the housing portion 210 and functions as a top plate for closing the top of the housing portion 210. A pair of rails 2301 extending in the Y direction is fixed on the base 230. The pair of rails 2301 are disposed apart in the X direction. Further, the base 230 is formed with an opening through which a control cable connected to the control unit 26 accommodated in the accommodation unit 210 and connected to the functional unit 20 supported by the support unit 220 is inserted.

  A total of four connecting portions 231 are provided, one at each of the four corners of the base 230. Each connecting portion 231 includes a link 2311 on the base 230 side and a link 2312 on the support unit 22 side. The link 2311 includes a bracket 2311 a and an engaging portion 2311 b. The bracket 2311 a is an L-shaped member, and has a portion fixed to the base 230 and extended upward. The engaging portion 2311 b is a roller rotatably supported by the bracket 2311 a. The rotation axis of the engaging portion 2311 b is an axis in the X direction.

  The link 2312 includes a bracket 2312 a and an engagement portion 2312 b. The bracket 2311 a is a plate-like member, and has a portion fixed to the support portion 220 and extended downward. The engaging portion 2312 b is a long hole formed in the bracket 2312 a and extends in the Z direction. The elongated holes are through holes, but may be grooves.

  The link 2311 and the link 2312 are connected to each other by inserting the engagement portion 2311 b into the engagement portion 2312 b. The length (hole length) of the engaging portion 2312b in the Z direction is longer than the diameter of the engaging portion 2311b. That is, the engaging portion 2311 b and the engaging portion 2312 b can be relatively displaced in the Z direction within the range of the length of the engaging portion 2312 b in the Z direction. Further, in the case of the present embodiment, the hole width (length in the Y direction) of the engaging portion 2312 b is longer than the diameter of the engaging portion 2311 b. That is, the engaging portion 2311 b and the engaging portion 2312 b can be relatively displaced in the Y direction within the range of the width of the engaging portion 2312 b. However, the amount of relative displacement in the Y direction is small, and is considered to be about "play" in the connection between the support unit 22 and the elevating mechanism 23. A configuration in which relative displacement does not occur in the Y direction may also be employed.

  Since the engaging portions 2311 b and 2312 b are relatively displaceable, the elevating mechanism 23 is coupled to the support unit 22 so as to be capable of relative displacement in the Z direction and the Y direction. More strictly speaking, the base 230 of the elevating mechanism 23 and the support unit 22 are mutually connected in a relative displacement in the Z direction and in the Y direction.

  In addition, the structure of the connection part 231 is not restricted to this, The other structure which accept | permits the relative displacement of at least any one of a Z direction or a Y direction is also employable. For example, a slide rail including a rail fixed to the base 230 and a rail fixed to the support unit 22 may be used as a configuration example that allows relative displacement in the Z direction. Further, the elongated hole formed as the engaging portion 2312 b may be formed in a tapered shape in which the separation distance of the facing linear portions gradually spreads downward. By forming the lower-bent tapered shape, the swing range in the XY plane at the position above the support unit 22 is increased, and the positioning of the mounting portion 12 to the mounting position is facilitated.

  The drive mechanism 232 includes an input shaft 2320, a ball screw mechanism 2321, a moving body 2322, a conversion mechanism 2323, and a handle 2324.

  The input shaft 2320 is an axis in the Y direction. A handle 2324 can be attached to the input shaft 2320. The operator can operate the handle 2324 to rotate the input shaft 2320 about its axis.

  The ball screw mechanism 2321 includes a ball screw shaft 2321 a, a ball nut unit 2321 b, and a pair of support members 2321 c fixed to the base 230. The ball screw shaft 2321a extends in the Y direction, and its both ends are rotatably supported by a pair of support members 2321c. An input shaft 2320 is coaxially connected to one end of the ball screw shaft 2321a, and when the input shaft 2320 rotates, the ball screw shaft 2321a also rotates. The ball nut unit 2321b includes a ball nut engaged with the ball screw shaft 2321a, and moves in the Y direction by rotation of the ball screw shaft 2321a.

  The moving body 2322 includes a plurality of shafts 2322a, a pair of support plates 2322b, and a plurality of small diameter rollers 2322c and a large diameter roller 2322d. The pair of support plates 2322b is a strip-shaped member extending in the Y direction, and the front end side (left side in FIG. 9) and the rear end side (right side in FIG. 9) are connected via a shaft 2322a. The shaft 2322a on the rear end side is provided by being fitted into the ball and nut unit 2321b. The shaft 2322a is provided along the X direction, and a small diameter roller 2322c and a large diameter roller 2322d are rotatably attached to both ends of each shaft 2322a in this order from the outside.

  The roller portion of the small diameter roller 2322c rolls on the rail 2301. The large diameter roller 2322d is a cam roller as described later, but the large diameter roller 2322d on one side in the X direction abuts the inner surface of one rail 2301 so that the small diameter roller 2322c on the other side in the X direction is the other rail It also doubles as a guide that prevents you from leaving the wheel.

  With the above configuration, when the operator operates the handle 2324, the movable body 2322 can be moved in the Y direction on the rail 2301. The movement stroke of the moving body 2322 is defined by the separation distance in the Y direction between the pair of support members 2321 c.

  The conversion mechanism 2323 is a mechanism that converts the moving force of the moving body 2322 in the Y direction into the moving force of the support unit 22 in the vertical direction (Z direction). In the case of this embodiment, the conversion mechanism 2323 is a plate cam fixed to the lower surface of the support portion 220, and four conversion mechanisms are provided, one at each of the four corners of the support portion 220. The lower surface of the conversion mechanism 2323 constitutes a cam surface. The cam surface includes a horizontal surface and an inclined surface continuous with the horizontal surface. This slope is inclined upward from one side (tip side) to the other side (rear side) in the Y direction. The roller portion of the large diameter roller 2322d abuts on the cam surface. The example of FIG. 10 shows a state in which the large diameter roller 2322c is in contact with the horizontal surface portion of the cam surface. In other words, the mobile unit 2322 is advanced to the tip side, and this state is the maximum lift position.

  When the operator operates the handle 2324, the movable body 2322 moves in the Y direction, and the contact position between the large diameter roller 2322 d and the cam surface changes. When the large diameter roller 2322d abuts on the slope of the cam surface, the support unit 22 moves up and down with respect to the traveling unit 21 according to the contact position.

  The support unit 22 is in a state of being “mounted only” on the movable body 2322 via the conversion mechanism 2323, and the support unit 22 is basically in the X direction and the Y direction with respect to the traveling unit 21. It is in the state in which relative displacement is possible in any of the and Z directions. However, the relative displacement in the X direction is restricted by the connecting portion 231, and the relative displacement in the Y direction and the Z direction is allowed only within the range of the width and length of the engaging portion 2312b. It is prevented that it falls off carelessly.

  In the present embodiment, the elevating mechanism 23 (more strictly, the base 230) is fixed to the traveling unit 21, but may be fixed to the support unit 22.

<Regulatory mechanism>
Next, the regulating mechanism 24 will be described with reference to FIGS. 5 and 11 to 13. 11 and 12 are partially cutaway perspective views of the restricting mechanism 24, and FIG. 13 is an explanatory view of locking and unlocking of the restricting mechanism 24. As shown in FIG.

  The restriction mechanism 24 is provided in the support unit 22 and is a mechanism capable of restricting the elevation of the support unit 22 with respect to the mounting portion 12. In the case of this embodiment, although two sets of control mechanisms 24 are provided, they may be one set. Each restriction mechanism 24 includes a restriction member 240, a plurality of support portions 241, an engagement portion 242, and an engagement portion 243.

  The restriction member 240 is a rod-like member extending in the Y direction, and in the case of the present embodiment, is a round shaft-like member. The restriction member 240 is configured in the support unit 22 so as to penetrate the support unit 22 in the Y direction. An engaging portion 240 a is provided at the tip of the regulating member 240, and an operation portion 240 b is provided at the rear end. The engaging portion 240a has a tapered conical shape, and is accommodated in the through hole H in the Y direction formed in the connecting member 221d. The operation unit 240 b constitutes a knob that can be operated by the operator, and facilitates the operation of pushing or pulling the restricting member 240 in the Y direction by the operator, and the operation of rotating the restricting member 240 about its axis. .

  The plurality of support members 241 are spaced apart in the Y direction, and are provided with holes for supporting the restriction member 240. The restriction member 240 is axially movably supported and rotatably supported by the plurality of support members 241.

  The engaging portion 242 is a rectangular plate-like member having different lengths in the vertical and horizontal directions and fixed to the regulating member 240 adjacent to the operation portion 240 b, and is attached to be orthogonal to the axial direction of the regulating member 240 It is done. The engagement portion 243 is fixed to the side frame 225, and the engagement portion 242 has a slit 243a which can pass by the posture.

  The operation of the restriction mechanism 24 will be described. FIG. 11 shows a non-regulating state in which the elevation of the support unit 22 is not regulated. The engaging portion 240 a is located in the through hole H and does not protrude from the connecting member 221 d. The engagement portion 242 is located outside the engagement portion 243 (at the operation portion 240 b side).

  When restricting the elevation of the support unit 22, the operator moves the restriction member 240 to one side in the Y direction (tip side). FIG. 12 shows a regulation state in which the elevation of the support unit 22 is regulated. The engaging portion 240 a is in a state of protruding from the connecting member 221 d to the mounting portion 12 side. The engaging portion 240 a engages with the engaging portion 123 shown in FIG. 7 to restrict the elevation of the support unit 22. In order to release the restriction, the state of FIG. 11 may be restored.

  When moving the regulating member 240 from the non-regulating state shown in FIG. 11 to the regulating state shown in FIG. 12, the engaging portion 242 passes through the slit 243a of the engaging portion 243, as shown in state ST1 of FIG. In the side frame 225 side of the slit 243 a of the engaging portion 243. When the operator grips the operation portion 240 b and rotates the regulating member 240 by 90 degrees (rotation in one direction), the engagement portion 242 can not pass through the slit 243 a of the engagement portion 243 as shown in state ST 2. It becomes locked. That is, it is prevented that the regulated state is inadvertently returned to the non-regulated state. In order to release the locked state, the restricting member 240 may be rotated 90 degrees in the opposite direction (rotation in the other direction) to release the engaged state between the engaging portion 242 and the engaging portion 243.

<Installation procedure>
The mounting procedure of the carriage device 2 to the mounting unit 12 will be described with reference to FIGS. 14 to 16. FIG. 14 is a schematic view of each state of the mounting portion 12 and the carriage device 2 as viewed from above, and FIG. 15 is a schematic view of each state of the mounting portion 12 and the carriage device 2 as viewed from the side corresponding to FIG. It is. FIG. 16 is a schematic view of the mounting unit 12 and the carriage device 2 viewed from the side, following the condition of FIG.

  The state ST11 of FIGS. 14 and 15 indicates the preparation state. In the preparation state, the carriage device 2 is separated from the mounting portion 12 in the Y direction. The carriage device 2 is in a position facing the mounting unit 12 by the guides of the pair of guide devices 5 shown in FIG. 7. The engagement portion 222 is at a higher position than the engagement portion 120. The regulatory mechanism 24 is in a non-regulated state.

  Then move on to the installation work. The operator pushes the carriage device 2 toward the mounting portion 12 with the engagement of the engaging portion 224 with the guide member 122 as a guide. As shown in the state ST12, the connection member 272 of the connection unit 27 set according to the type of the functional unit 20 is engaged with the connection unit 14 set according to the carriage device 2 set to be attachable by the work device 1 It is connected to the joint portion 141, and it is checked whether the carriage device 2 is an appropriate carriage device 2 (whether or not a predetermined type of functional unit 20 is mounted). When the engaging portion 224 is engaged with the guide member 122, the approximate positioning of the carriage device 2 in the X and Y directions is performed, and the engaging portion 222 is positioned above the engaging portion 120. The engaging portion 223 is in contact with the vertical surface 121 or in a slightly spaced position. Up to this state, the weight of the support unit 22 and the functional unit 20 is loaded on the traveling unit 21.

  Next, the operator operates the handle 2324 to move the movable body 2322 in the direction indicated by the arrow Y2 as shown in the state ST13 of FIG. 16 and lowers the support unit 22 in the direction indicated by the arrow Y3. During the lowering, the engagement portion 222 engages with the engagement portion 120. As described above, the elevating mechanism 23 is coupled to the support unit 22 so as to be capable of relative displacement in the Z direction. For this reason, when the engagement portion 222 engages with the engagement portion 120, the support unit 22 does not descend further, and the weight of the support unit 22 and the functional unit 20 is loaded on the mounting portion 12.

  At the stage where the engagement portion 222 engages with the engagement portion 120, the positioning of the support unit 22 in the X, Y, and Z directions is completed. However, the support unit 22 is rotatable around the rotation axis (indicated by X1 in the state ST13) of the engagement portion 222 only by the engagement between the engagement portion 222 and the engagement portion 120. In the case of the present embodiment, in the state ST13, the support unit 22 tries to rotate the support unit 22 in the counterclockwise direction in FIG. However, when the engaging portion 223 abuts on the vertical surface 121 as indicated by the arrow Y1, the rotation is blocked. The support unit 22 is supported so as to stand on the mounting portion 12. In this state, the traveling unit 21 and the support unit 22 are physically separated (the support for supporting the weight of the support unit 21 is moved from the traveling unit 21 to the mounting unit 12 (working device 1)) Since the traveling unit 21 is in contact with the traveling surface, the weight of the traveling unit 21 is not loaded on the mounting portion 12.

  The load acting on the mounting portion 12 by the support unit 22 or the like is the vertical load on the engaging portion 120 and the horizontal load on the vertical surface 121. When the support unit 22 or the like is supported at one place (for example, only the engaging portion 120), stress is likely to be concentrated. In the case of the present embodiment, since the load is dispersed into the vertical load and the horizontal load, it is possible to prevent the concentration of stress in one place.

  Subsequently, the restricting mechanism 24 is operated to move the restricting member 240 in the direction indicated by the arrow Y4 in the state ST14 of FIG. This prevents the support unit 22 from moving up and down carelessly, and prevents the support unit 22 from falling off the mounting portion 12. Thereafter, the connector 263 is connected and the like, and the mounting of the carriage device 2 is completed. The handle 2a may be moved from the movement position to the storage position as needed, as shown in the state ST14 of FIG.

  As described above, in the present embodiment, the mounting unit 12 does not bear the weight of the traveling unit 21 when the mounting of the carriage device 2 to the mounting unit 12 is completed. Therefore, the load on the working device 1 when the bogie device 2 is attached to the working device 1 can be further reduced.

A Work system, 1 Work device, 2 Bogie device, 21 Travel unit, 22 Support unit, 23 Lifting mechanism, 222 Engagement part, 223 Engagement part

Claims (17)

A dolly apparatus comprising a functional unit removably mounted on a work device, comprising:
A traveling unit capable of traveling on the traveling surface,
A support unit for supporting the functional unit;
And an elevating mechanism supported by the traveling unit and supporting the support unit so as to be movable up and down with respect to the traveling unit.
The support unit is
At least one first engagement portion engaged with a mounting portion provided on the work device and rotatably supporting the support unit in the vertical direction with respect to the mounting portion;
At least one second engagement portion disposed below the first engagement portion and regulating rotation of the support unit about the first engagement portion by engaging with the mounting portion; , And
The elevating mechanism is fixed to one of the support unit or the traveling unit and is displaceable relative to the other.
Bogie device characterized by. It is the trolley | bogie apparatus of Claim 1, Comprising:
The elevating mechanism is fixed to one of the support unit or the traveling unit, and is capable of relative displacement at least in the vertical direction with respect to the other.
Bogie device characterized by. It is the trolley | bogie apparatus of Claim 2, Comprising:
The elevating mechanism is fixed to one of the support unit or the traveling unit and is at least horizontally displaceable with respect to the other.
Bogie device characterized by. It is the trolley | bogie apparatus of Claim 1, Comprising:
The support unit includes at least one third engagement portion engaged with a guide member provided in the mounting portion.
The first engagement portion defines a first horizontal direction of the support unit with respect to the mounting portion,
The third engagement portion defines a second horizontal direction orthogonal to the first horizontal direction of the support unit with respect to the mounting portion.
Bogie device characterized by. It is the trolley | bogie apparatus of Claim 1, Comprising:
The support unit is
A support unit for supporting the functional unit;
An arm portion provided on a side portion of the support portion on the mounting portion side,
The arm unit is
At least one first arm member extending horizontally;
And at least one second arm member extending vertically.
The first arm member comprises the first engagement portion,
The second arm member comprises the second engagement portion.
Bogie device characterized by. It is the trolley | bogie apparatus of Claim 5, Comprising:
The first engagement portion is two rollers supported by the first arm member so as to be rotatable about a horizontal axis and spaced apart in the horizontal axis direction.
Bogie device characterized by. It is the trolley | bogie apparatus of Claim 6, Comprising:
Comprising two of said first arm members,
The two first arm members being spaced apart in a direction parallel to the horizontal axis;
Each said first arm member comprises one of said two rollers,
Bogie device characterized by. It is the trolley | bogie apparatus of Claim 1, Comprising:
The mounting portion comprises a vertical surface,
The second engagement portion is a roller rotatably supported around a horizontal axis and laterally abutting on the vertical surface.
Bogie device characterized by. It is the trolley | bogie apparatus of Claim 3, Comprising:
The elevating mechanism is
A fixing part fixed to one of the support unit or the traveling unit;
A connecting portion connecting the other of the support unit or the traveling unit and the fixing portion;
And a drive mechanism for raising and lowering the other with respect to the fixed part,
The connecting portion permits the other relative displacement in the vertical direction within a predetermined range, and permits the relative displacement in the other horizontal direction within a predetermined range.
Bogie device characterized by. It is the trolley | bogie apparatus of Claim 9, Comprising:
The drive mechanism is
With the input axis
A movable body that moves horizontally by rotation of the input shaft;
And a conversion mechanism that engages with the moving body and converts the moving force of the moving body into the other moving force in the vertical direction with respect to the fixed portion.
Bogie device characterized by. It is the trolley | bogie apparatus of Claim 1, Comprising:
The support unit further includes a restriction mechanism capable of restricting the elevation of the support unit with respect to the mounting unit.
The regulation mechanism
A rod-shaped regulating member,
And a supporting portion that supports the restricting member so as to be movable back and forth in the horizontal direction,
One end of the regulating member includes an engaging portion that engages with the mounting portion;
The other end of the regulatory member is provided with an operation unit,
Bogie device characterized by. It is the trolley | bogie apparatus of Claim 1, Comprising:
The traveling unit is
An accommodating portion for accommodating the control device of the functional unit;
An identification unit for identifying the type of the functional unit by the work device;
Bogie device characterized by. It is the trolley | bogie apparatus of Claim 1, Comprising:
The carriage apparatus includes a connection unit connected to the mounting unit and capable of changing a connection mode according to a type of the functional unit.
Bogie device characterized by. A working system comprising: a working device; and a carriage device including a functional unit detachably mounted on the working device,
The working device is
A work unit,
And a mounting unit on which the carriage apparatus is mounted,
The carriage device is
A traveling unit capable of freely traveling on the traveling surface;
A support unit for supporting the functional unit;
And an elevating mechanism supported by the traveling unit and supporting the support unit so as to be movable up and down with respect to the traveling unit.
The support unit is
At least one first engaging portion engaged with the mounting portion and defining the position in the elevation direction and the position in the horizontal direction in abutment with each other;
And at least one second engagement portion disposed below the first engagement portion and regulating rotation of the support unit about the first engagement portion,
The elevating mechanism is fixed to one of the support unit or the traveling unit and is displaceable relative to the other.
A working system characterized by The work system according to claim 14, wherein
The carriage device is
The work device comprises an identification unit for determining the type of the functional unit;
The working device is
A controller for controlling the work unit;
The control device determines the type of the functional unit of the carriage device mounted on the work device based on identification information from the identification unit.
A working system characterized by The work system according to claim 14, wherein
The carriage apparatus includes a first connection portion capable of changing a connection mode according to a type of the functional unit,
The working device comprises a second connection connected with the first connection,
A working system characterized by The work system according to claim 14, wherein
The carriage device is
A first connection portion whose connection mode can be changed according to the type of the functional unit;
The work device comprises an identification unit for identifying the type of the functional unit;
The working device is
A second connection connected to the first connection;
A controller for controlling the work unit;
The control device determines the type of the functional unit of the carriage device mounted on the work device based on identification information from the identification unit.
A working system characterized by

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