JP6581004B2 - Transport device - Google Patents

Description

The present invention relates to a conveying apparatus that conveys a workpiece.

For conveying workpieces (parts for assembly, etc.), for example, a conveying device (a shelf lift) described in Patent Document 1, for example, provided with a mechanism for transferring a workpiece on a pallet is used. The conveyance device described in Patent Literature 1 includes a loading platform that travels along a column body, and detects whether or not a fork attached to the loading platform is at a target position.

JP 48-46069 A

However, the conveyance device described in Patent Document 1 cannot stably detect the positional relationship between the fork and the pallet supported by the fork because the detection target by the detection switch is the positional relationship between the column body and the loading platform. There was a problem.
This invention is made | formed in view of this situation, and it aims at providing the conveying apparatus which can detect stably whether the pallet is mounted in the predetermined place.

The conveying apparatus according to the first invention that meets the above-mentioned object is a conveying apparatus that conveys a work on a pallet having a concave portion formed on the lower side, and includes a base member and a protrusion that can be inserted into the concave portion. A pallet receiving member that moves forward and backward with respect to the base member, moves from a retracted position to a forward position on which the pallet is placed, and moves from the advanced position to the retracted position; and is attached to the base member. A first unit, a second unit attached to the pallet receiving member and capable of contacting the first unit, a sensor mechanism including a detection unit for detecting contact of the first and second units, and the pallet A control unit that controls the movement of the receiving member, and the pallet receiving member has a predetermined pallet target position at which the protrusion is inserted into the recess, and the second unit includes: In a state where the pallet is placed on the pallet target position, the pallet receiving member is disposed in said retracted position, in contact with the first unit.

In the transport device according to the first invention, it is preferable that there are a plurality of the recesses and the protrusions, and each protrusion is inserted into the corresponding recess.

In the transport device according to the first aspect, the pallet receiving member is horizontally arranged, and each of the protrusions is orthogonal to the coordinates of the advancing / retreating direction of the pallet receiving member and the advancing / retreating direction when the pallet receiving member is viewed in plan view. It is preferable to be provided on the upper side of the pallet receiving member at a position where the direction coordinates are different.

In the transport apparatus according to the first invention, it is preferable that there are a plurality of the first and second units, and that each of the second units contacts the corresponding first unit.

In the transport apparatus according to the first aspect, the second unit includes a movable piece that is pushed down from above the pallet disposed at the pallet target position, and the first unit is moved down. It is preferable that the detection unit detects that the pressed piece has been pressed down and detects that the movable piece has come into contact with the pressed piece. .

In the transport apparatus according to the first aspect, the control unit advances the pallet receiving member in a state where the pallet is placed from the retracted position, and the detection unit does not contact the first and second units. It is preferable that the detection unit prohibits the detection, and the detection unit permits the contact of the first and second units at the time of detection.

A transport device according to a second invention that meets the above-described object is a transport device that transports a workpiece on a pallet having a projecting body formed on the lower side, and includes a base member and a recess into which the projecting body can be inserted. A pallet receiving member provided to move forward and backward with respect to the base member, move from a retracted position to a forward position on which the pallet is placed, and move from the advanced position to the retracted position; and attached to the base member A sensor unit comprising a first unit, a second unit attached to the pallet receiving member and capable of contacting the first unit, and a detection unit for detecting contact of the first and second units; A control unit that controls movement of the pallet receiving member, and a pallet target position at which the projecting body is inserted into the recess is predetermined in the pallet receiving member, and the second unit In a state where the pallet is placed on the pallet target position, the pallet receiving member is disposed in said retracted position, in contact with the first unit.

In the conveying device according to the first and second inventions, the pallet receiving member is arranged at the retracted position with the pallet arranged at the pallet target position, and the second unit attached to the pallet receiving member serves as the base member. Since it contacts the attached 1st unit, it is possible to detect the positional relationship of a pallet, a pallet receiving member, and a base member stably.

(A), (B) is the side view and top view of a multistage fork mechanism in the state where the pallet receiving member of the conveying apparatus which concerns on one embodiment of this invention was distribute | arranged to the advance position, respectively. (A), (B) is the side view and top view of a multistage fork mechanism in the state where the pallet receiving member of the conveyance apparatus was arranged in the retreat position, respectively. (A), (B) is the side view and top view of a pallet which are respectively used for the conveyance apparatus. It is a block diagram which shows the connection of the control part of the same conveying apparatus. It is explanatory drawing of the 1st, 2nd unit of the conveyance apparatus. It is explanatory drawing which shows the state which the 1st, 2nd unit of the conveyance apparatus contacted.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
As shown in FIGS. 1A, 1B, 2A, and 2B, a transport apparatus 10 according to an embodiment of the present invention includes a base member 11, 11a, and a base member 11, respectively. 11 is a device that includes a pallet receiving member 12 and 12a on which the pallet P is placed, which advances and retreats with respect to the pallet P, and carries the workpiece W on the pallet P to convey it. Details will be described below.

As shown in FIGS. 2A, 2B, 3A, and 3B, the pallet P that is placed on the transfer device 10 and transported is a rectangular plate, and the workpiece W on the upper side. And a plurality of recesses 13p are formed on the lower side. In the present embodiment, the pallet P has two recesses 13p, and the two recesses 13p are formed in the vicinity of the two corners at the diagonal positions of the pallet P, respectively. Each concave portion 13p forms a circular opening on the lower surface of the pallet P, and is reduced in diameter toward the bottom of the concave portion 13p.

The transport device 10 is driven by the multi-stage fork mechanism 15 and the column and the multi-stage fork mechanism 15 on which the multi-stage fork mechanism 15 shown in FIGS. 1A, 1B, 2A, and 2B is mounted so as to be movable up and down. A drive source 17 shown in FIG. 4 that moves up and down with force is provided, and the work W placed on the pallet P is transported from a predetermined place to a predetermined place. Note that illustration of the support is omitted.
The multi-stage fork mechanism 15 includes base members 11 and 11a, intermediate members 16 and 16a connected to the base members 11 and 11a, and pallet receiving members 12 and 12a connected to the intermediate members 16 and 16a, respectively. have.
The conveying means A composed of the connected base member 11, the intermediate member 16, and the pallet receiving member 12, and the conveying means A 'composed of the connected base member 11a, the intermediate member 16a, and the pallet receiving member 12a include a pallet receiving member. 12 and the pallet receiving member 12a are arranged in parallel with an interval at which one pallet P can be placed and move synchronously.

As shown in FIGS. 1A and 1B, the base members 11 and 11a, the intermediate members 16 and 16a, and the pallet receiving members 12 and 12a are long members in the front-rear direction and are horizontally arranged. In the present embodiment, the base members 11 and 11a have a cross-sectional shape in which the groove shape is turned upside down, the intermediate members 16 and 16a have a rectangular parallelepiped shape, and the pallet receiving members 12 and 12a have a groove-shaped cross section. Needless to say, this is not a limitation.

On the upper surface side of the pallet receiving members 12 and 12a, projecting bodies 18 and 18a projecting upward are provided. That is, there are a plurality (two in this embodiment) of protrusions 18 and 18a corresponding to the plurality of recesses 13p of the pallet P, respectively. The protrusions 18 and 18a are provided on the rear side of the pallet receiving member 12 and the front side of the pallet receiving member 12a, as shown in FIG. Therefore, the protrusions 18 and 18a have a plan view of the pallet receiving members 12 and 12a, and the coordinates of the pallet receiving members 12 and 12a in the advancing / retreating direction (front / rear direction) and the coordinates orthogonal to the advancing / retreating direction (left / right direction) It can be said that they are provided on the upper side of the pallet receiving members 12 and 12a at different positions.

The distance between the protrusions 18 and 18a is equal to the distance between the two recesses 13p provided on the pallet P, and the protrusions 18 and 18a are reduced in diameter toward the upper end. The protrusions 18 and 18a have shapes that can be inserted into the respective recesses 13p, and are formed at positions that can be inserted into the respective recesses 13p.
The pallet receiving member 12 and the intermediate member 16 and the pallet receiving member 12a and the intermediate member 16a are connected via a power transmission mechanism (not shown) as shown in FIGS. 1 (A), 1 (B), 2 (A) and 2 (B). Then, power is applied from a drive source (motor in this embodiment) 19 shown in FIG. 4 to advance and retract with respect to the base members 11 and 11a, respectively.

The pallet receiving members 12 and 12a advance and retract horizontally with respect to the base members 11 and 11a, respectively, and the pallet P moves from the retracted position L1 shown in FIGS. 2A and 2B, which is a position immediately above the base members 11 and 11a. The movement to the forward position L2 shown in FIGS. 1A and 1B and the movement from the forward position L2 to the reverse position L1 are performed.
In the present embodiment, the pallet receiving members 12 and 12a are also movable in a direction opposite to the direction of moving from the retreat position L1 to the advance position L2, and on the opposite side of the advance position L2 with respect to the retreat position L1. There is a forward position L3 (not shown). The strut on which the multi-stage fork mechanism 15 is mounted is connected to a traveling unit (not shown) that can move in the left-right direction, and the multi-stage fork mechanism 15 moves in the left-right direction together with the strut and the traveling unit.

The pallet receiving members 12 and 12a move from the retreat position L1 to the advance position L2 (or advance position L3), place the pallet P on which the workpiece W is placed on the upper surface at the conveyance source, move to the retreat position L1, and then retreat. In a state of being arranged at the position L1, it moves to the left and right together with the support, and ascends or descends along the support, and then moves from the retreat position L1 to the advance position L2 (or the advance position L3) and places the workpiece W thereon. The pallet P is transferred to the transport destination. As shown in FIG. 2B, the pallet P is placed on the pallet receiving member 12 on the left side and placed on the pallet receiving member 12a.
Accordingly, the pallet P together with the workpiece W is placed on the pallet receiving members 12 and 12a at the forward positions L2 and L3, or is lowered from the pallet receiving members 12 and 12a.

In the pallet receiving members 12 and 12a, a pallet target position on which the pallet P is to be placed is determined in advance. The pallet target position is a specific three-dimensional coordinate position determined by the horizontal position and the height position with respect to the pallet receiving members 12 and 12a. In the present embodiment, the protrusions 18 and 18a are inserted into the two recesses 13p, respectively. The position of the pallet P at this time is the pallet target position. The conveying apparatus 10 can convey the pallet P and the workpiece W placed on the pallet P in a stable state by arranging the pallet P at the pallet target position.

As shown in FIGS. 1A and 1B, the first unit 20 is attached to the base member 11 on the right rear side (opposite to the base member 11a). The first unit 21 is attached to the side (opposite the base member 11). A second unit 22 is attached to the pallet receiving member 12 on the right rear side (opposite to the pallet receiving member 12a), and the pallet receiving member 12a is connected to the left front side (facing the pallet receiving member 12). Two units 23 are attached.
As shown in FIGS. 2 (A) and 2 (B), the first units 20 and 21 and the second units 22 and 23 are viewed in plan with the pallet receiving members 12 and 12a arranged at the retracted position L1. The second units 22 and 23 are arranged at positions overlapping the first units 20 and 21, respectively.

As shown in FIGS. 5 and 6, the first unit 20 (the same applies to the first unit 21) includes a base body 24 fixed to the side wall of the base member 11 (the base member 11 a for the first unit 21). The holding member 25 is supported by the base body 24, and the pressed piece 26 is mounted on the holding member 25 so as to be movable up and down. The pressed-down piece 26 is disposed between the vertically long bars 27 and 27a and the bars 27 and 27a, which are attached to the holding member 25 and spaced apart from each other, and moves up and down together with the bars 27 and 27a. The shape raising / lowering part 28 is provided. The elevating part 28 is rotatably supported by the bars 27 and 27a.

The second unit 22 (the same applies to the second unit 23) includes a bracket 29 and a bush block 30 fixed to the side wall of the pallet receiving member 12 (the pallet receiving member 12a for the second unit 23), and the bush block 30. A vertically movable movable piece 31 attached to be freely movable up and down, and a spring 32 for urging the movable piece 31 upward. The movable piece 31 includes a dog 33 that contacts the elevating part 28 of the first unit 20 on the lower side.
The spring 32 is covered with a spring cover 34. 5 and 6, a part of the spring cover 34 is omitted.

The pallet P is placed on the pallet receiving members 12 and 12a at the forward positions L2 and L3 with the two recesses 13p inserted into the projecting bodies 18 and 18a, respectively. As shown in FIG. , 23 are pushed down from above and lowered. That is, the movable pieces 31 of the second units 22 and 23 are pushed down from the pallet P arranged at the pallet target position and lowered.

As described above, each concave portion 13p is reduced in diameter toward the bottom, and the protrusions 18 and 18a are reduced in diameter toward the upper end. Therefore, when the pallet P is placed on the pallet receiving members 12 and 12a, the axial centers of the two recesses 13p do not coincide with the axial centers of the projecting bodies 18 and 18a, respectively, in plan view. Even if the amount of deviation between the axis of one recess 13p and the axis of the protrusion 18 and the amount of deviation between the axis of the other recess 13p and the axis of the protrusion 18a are within predetermined ranges, the protrusion The whole 18 and 18a will be in the state inserted in the two recessed parts 13p, respectively. As a result, the pallet P is arranged at the pallet target position.

Then, in a state where the movable pieces 31 of the second units 22 and 23 are lowered, the pallet receiving members 12 and 12a are arranged at the retracted position L1, whereby the second unit 22 is pushed down from the pallet P and lowered. , 23 respectively, the dog 33 contacts the elevating part 28 of the first unit 20, 21 from above and pushes down the pressed piece 26. That is, the second units 22 and 23 contact the corresponding first units 20 and 21 in a state where the pallet P is arranged at the pallet target position.

The dog 33 of the second unit 22 (the same applies to the dog 33 of the second unit 23), as shown in FIG. 5 and FIG. 12 is provided with an inclined portion 33a that is inclined to the other side of the forward / backward direction, and an inclined portion 33b that is inclined downward toward the other side of the forward / backward direction of the pallet receiving member 12 and toward the one side of the forward / backward direction of the pallet receiving member 12. Yes. Further, the rotating shaft of the elevating unit 28 of the first unit 20 (the same applies to the rotating shaft of the elevating unit 28 of the first unit 21) is horizontally arranged along a direction orthogonal to the advancing / retreating direction of the pallet receiving member 12.

When the pallet receiving members 12 and 12a are retracted from the advance position L2 to the retract position L1, the inclined parts 33b contact the lift parts 28 of the first units 20 and 21, respectively. Then, when the pallet receiving members 12 and 12a retreat from the advance position L3 to the retreat position L1, the inclined part 33a starts to contact the elevating part 28 of the first units 20 and 21, respectively.
Therefore, it is possible to reduce the frictional force generated between the dog 33 and the lifting / lowering portion 28 after the dog 33 starts to contact the lifting / lowering portion 28 until the pallet receiving members 12 and 12a are arranged at the retracted position L1.

The first unit 20 includes a detection unit 36 shown in FIG. 4 that detects contact between the elevating unit 28 of the first unit 20 and the dog 33 of the second unit 22, and the first unit 21 includes an elevating unit for the first unit 21. The detection part 37 shown in FIG. 4 which detects the contact of the part 33 and the dog 33 of the 2nd unit 23 is each connected.
The detection unit 36 detects that the pressed piece 26 of the first unit 20 is pushed down in the vertical direction, and detects contact between the lifting unit 28 of the first unit 20 and the dog 33 of the second unit 22. The detecting unit 37 detects that the pressed piece 26 of the first unit 21 is pressed in the vertical direction, and detects contact between the elevating unit 28 of the first unit 21 and the dog 33 of the second unit 23. To do.

As shown in FIG. 4, the detection units 36 and 37 are connected to a control unit 38 that transmits a command signal to the drive source 19 and controls movement of the pallet receiving members 12 and 12 a, respectively. The control unit 38 can also send a command signal to the drive source 19 to raise and lower the multistage fork mechanism 15 along the support column. The control part 38 can be comprised by ROM, for example.
In the present embodiment, a sensor mechanism including first units 20 and 21, second units 22 and 23, and detection units 36 and 37 is employed.

The control unit 38 can detect the state of whether or not the pallet P is placed on the pallet receiving members 12 and 12a by an external input, and the detection units 36 and 37 can detect the lifting unit 28 of the first unit 20. By detecting the contact of the dog 33 of the second unit 22 and the contact of the elevating part 28 of the first unit 21 and the dog 33 of the second unit 23, it is detected that the pallet P is arranged at the pallet target position. To do. Therefore, the control unit 38 detects whether or not the pallet P is disposed at the pallet target position when the pallet receiving members 12 and 12a are disposed at the retreat position L1.

As described above, whether or not the pallet P is arranged at the pallet target position is detected by the two units of the first and second units 20 and 22 (first and second units 21 and 23). Compared to a design in which the corresponding detection is performed by one unit, each unit can be made compact, and the degree of freedom of the installation position of the unit is large.
Then, the control unit 38 moves the pallet receiving members 12 and 12a with the pallet P placed thereon from the retreat position L1 to the advance positions L2 and L3, and the detection unit 36 contacts the first unit 20 and the second unit 22. Is not detected or the detection unit 37 prohibits the contact between the first unit 21 and the second unit 23 when not detected, and emits an alarm sound.

On the other hand, the control unit 38 places the pallet P when the detection units 36 and 37 detect the contact between the first unit 20 and the second unit 22 and the contact between the first unit 21 and the second unit 23, respectively. The forward movement of the pallet receiving parts 12 and 12a in the state from the backward position L1 to the forward positions L2 and L3 is permitted.
Accordingly, it is possible to avoid the movement of the pallet receiving members 12 and 12a from the retreat position L1 to the advance positions L2 and L3 in a state where the pallet P is not arranged at the pallet target position.

Further, after the pallet receiving members 12 and 12a obtain the pallet P on which the workpiece W is placed at the forward movement positions L2 and L3, the pallet receiving members 12 and 12a move to the backward movement position L1 at the speed S1 and the acceleration Q1 at the time of acceleration. , Detecting that the pallet P is arranged at the pallet target position. And the multistage fork 15 moves to the designated position by speed S2 and acceleration Q2 at the time of acceleration by the movement in the left-right direction by the traveling vehicle and the raising / lowering operation along the support column. Thereafter, the pallet receiving members 12 and 12a move from the retracted position L1 to the advanced positions L2 and L3 at the speed S3 and the acceleration Q3 during acceleration, and transfer the pallet P on which the workpiece W is placed to the conveyance destination. In the present embodiment, acceleration Q1 = acceleration Q3 <acceleration Q2 and speed S1 = speed S3 <speed S2. Note that acceleration Q1 <acceleration Q2, Q3, speed S1 <speed S2, S3 may be satisfied.

Therefore, when the pallet P carrying the workpiece W is transported, each value of the moving distance, speed, and acceleration of the pallet P that is moved until it is detected that the pallet P is arranged at the pallet target position Is smaller than the moving distance, speed, and acceleration values of the pallet P that moves after it is detected that the pallet is located at the pallet target position. Therefore, the pallet P on which the workpiece W is placed can be transported in a stable state.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and all changes in conditions and the like that do not depart from the gist are within the scope of the present invention.
For example, it is also possible to provide a concave portion on the upper side of the pallet receiving member instead of the projecting body. However, when a pallet receiving member provided with a recess is employed, it is necessary to use a pallet in which a protrusion inserted into the recess is formed on the lower side.
Further, the pallet may be arranged at the pallet target position, and the second unit may be pressed by the overhanging portion to bring the second unit into contact with the first unit. (It may be circular, polygonal, or the like), and there may be one concave portion or three or more concave portions. When the pallet has one or three or more recesses, the pallet receiving member may be provided with the same number of protrusions as the recesses.

Only one set of the first and second units may be provided. However, if there is only one recess and one protrusion, or if there is only one set of the first and second units, the second unit can be brought into contact with the first unit even when the pallet is not placed at the pallet target position. Increases sex. Therefore, from the viewpoint of detecting that the pallet is surely arranged at the pallet target position, it is preferable to provide a plurality of sets of recesses and protrusions, and it is preferable to provide a plurality of sets of first and second units.

Furthermore, even when a plurality of sets of recesses and protrusions are provided, in order to detect that the pallet is reliably placed at the pallet target position, the horizontal position of the pallet receiving member is It is preferable that the pallet receiving member be moved forward and backward, and the direction positions orthogonal to the forward and backward directions are different from each other. In this respect, the same can be said when a plurality of sets of first and second units are provided.
Further, the detection unit that detects contact between the first unit and the second unit may be provided in the second unit instead of the first unit. However, since the signal cable connecting the detection unit and the control unit is connected to the detection unit, when the detection unit is provided in the first unit attached to the base member, the second unit attached to the moving pallet receiving member As compared with the case where the detection unit is provided, the disconnection of the signal cable can be stably avoided, and the wiring design can be simplified.
In the present embodiment, a pair of base members 11 and 11a, a pair of intermediate members 16 and 16a, and a pair of pallet receiving members 12 and 12a are provided. The transport device is configured by the base member 11, the intermediate member 16, the pallet receiving member 12) and the transport means A ′ (the connected base member 11 a, the intermediate member 16 a, and the pallet receiving member 12 a). The conveying device can be configured by one base member, one intermediate member, and one pallet receiving member.

DESCRIPTION OF SYMBOLS 10: Conveyance apparatus 11, 11a: Base member, 12, 12a: Pallet receiving member, 13p: Recessed part, 15: Multistage fork mechanism, 16, 16a: Intermediate member, 17: Drive source, 18, 18a: Projection body, 19 : Drive source, 20, 21: first unit, 22, 23: second unit, 24: base body, 25: holding member, 26: pressed piece, 27, 27a: bar, 28: lifting unit, 29 : Bracket, 30: Bush block, 31: Movable piece, 32: Spring, 33: Dog, 33a, 33b: Inclined part, 34: Spring cover, 36, 37: Detection part, 38: Control part, P: Pallet, W : Workpiece, L1: Backward position, L2: Forward position

Claims (7)

A transport device that transports a work placed on a pallet having a recess formed on the lower side,
A base member;
A pallet provided with a protrusion that can be inserted into the recess, and moves forward and backward with respect to the base member to move from a retracted position to a forward position on which the pallet is placed and from the forward position to the retracted position. A receiving member;
A first unit attached to the base member; a second unit attached to the pallet receiving member and capable of contacting the first unit; and a detection unit for detecting contact between the first and second units. A sensor mechanism;
A control unit for controlling the movement of the pallet receiving member,
The pallet receiving member has a predetermined pallet target position where the projecting body is inserted into the recess, and the second unit has the pallet receiving member in a state where the pallet is arranged at the pallet target position. A transport device arranged in the retracted position and in contact with the first unit. The transport apparatus according to claim 1, wherein there are a plurality of the recesses and the protrusions, and the protrusions are inserted into the corresponding recesses. 3. The transport device according to claim 2, wherein the pallet receiving member is horizontally disposed, and each of the protrusions is orthogonal to the coordinates of the advancing / retreating direction of the pallet receiving member and the advancing / retreating direction when the pallet receiving member is viewed in plan. A conveying device, characterized in that the conveying device is provided on the upper side of the pallet receiving member at a position where the coordinate of the direction is different. The transport apparatus according to any one of claims 1 to 3, wherein there are a plurality of the first and second units, and each of the second units is in contact with the corresponding first unit. Conveying device. 5. The transport device according to claim 1, wherein the second unit includes a movable piece that is pushed down from above by the pallet disposed at the pallet target position, and moves downward. Has a pushed-down piece that is pushed down by the lowered movable piece, and the detection unit detects that the pushed-down piece is pushed down, and the movable piece comes into contact with the pushed-down piece. A conveying device characterized by detecting the above. 6. The transport device according to claim 1, wherein the control unit is configured to advance the pallet receiving member in a state where the pallet is placed from the retreat position, and the detection unit includes the first, A transport device, wherein contact of the second unit is prohibited when not detected, and the detection unit permits contact of the first and second units when detected. A transport device that transports workpieces on a pallet formed with a projecting body on the lower side,
A base member;
A pallet provided with a recess into which the protrusion can be inserted, and moves forward and backward with respect to the base member to move from the retracted position to the forward position on which the pallet is placed and from the forward position to the retracted position. A receiving member;
A first unit attached to the base member; a second unit attached to the pallet receiving member and capable of contacting the first unit; and a detection unit for detecting contact between the first and second units. A sensor mechanism;
A control unit for controlling the movement of the pallet receiving member,
The pallet receiving member has a predetermined pallet target position where the projecting body is inserted into the recess, and the second unit has the pallet receiving member in a state where the pallet is arranged at the pallet target position. A transport device arranged in the retracted position and in contact with the first unit.

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