JPH0123346B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a transport device that performs transport by reciprocating a self-propelled vehicle on a single-track track, and in particular, between a main station and a plurality of sub-stations, including the sub-stations. The present invention relates to a self-propelled vehicle transport device that performs.

Conventionally, when a self-propelled vehicle travels back and forth on a single-track track, a main station provided at one end of the single-track track and a plurality of sub-stations provided along the single-track track, or between sub-stations. 2. Description of the Related Art Self-propelled vehicle transport devices for transporting objects are known. However, the present invention provides a novel conveyance device that has not been seen before in this type of self-propelled vehicle conveyance device.

An object of the present invention is to send a plurality of objects to be transported from a main station to a single or plural sub-stations specified for each object, perform a predetermined work at each sub-station, and then To provide a single-track reciprocating self-propelled vehicle transport device that ultimately collects the material at a main station while automatically transferring the material between the self-propelled vehicle and each station. be.

A feature of the present invention is that a self-propelled vehicle equipped with a table on which an object to be transported is placed is used, and the object to be transported is placed in a magic hand at least one sub-station to be transported at a main station. The self-propelled vehicle is automatically placed on the loading table of the self-propelled vehicle using a known mechanism such as The self-propelled vehicle containing the transported object is automatically accommodated by the known mechanism as described above, while the self-propelled vehicle containing the transported object is kept on standby at the determined position.
After carrying out work such as component analysis and processing on the transported objects at the sub-station that accommodates the transported objects,
Depending on the standby position, a call is made to the self-propelled vehicle, and in response, the self-propelled vehicle travels toward the calling sub-station, stops the self-propelled vehicle at the called sub-station, and places the vehicle on the loading table. The transported object is automatically placed, the vehicle is driven again to another sub-station or the main station, and finally the self-propelled vehicle is returned to the main station, and then the self-propelled vehicle is placed at this main station. The device is configured to collect objects to be transported from the table.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments in which the present invention is applied to a sample analysis device will be described below in detail with reference to the accompanying drawings.

In FIG. 1, a distribution/recovery station 1 as a main station has a sample container inlet/outlet path ( (not shown). Further, one end of a horizontally extending single-wire reciprocating conveyance line 3 is connected to the distribution/recovery station 1. Along the single-wire reciprocating transport line 3, a plurality of analysis stations 4 serving as sub-stations for performing analysis work are arranged at intervals from each other. As is clear from FIG. 2, the single-wire reciprocating conveyance line 3 includes a conveyor frame 5, and guide portions 6a and 6b each having a U-shaped cross section on both sides, which are fixed to the inner bottom surface of the conveyor frame 5 and facing each other. A running rail 8 is provided and has a running surface 7.
It is composed of two power supply rails 9a, 9b and two signal rails 10a, 10b fixed to the running surface 7 of the running rail 8 in parallel with each other.

Self-propelled vehicle 1 running on the single-track reciprocating conveyance line 3
1, as shown in FIGS. 2 and 3, two pairs of guide wheels 1 are rotatably supported on the vehicle body 12.
3a, 13b and 13c (however, one piece is not shown) are guide parts 6a, 6b of the traveling rail 8.
are guided by. Drive wheels 14 attached to an output shaft (not shown) of a reducer (not shown) integrally provided with a drive motor (not shown) installed in the vehicle body 12 cause the traveling rail 8 to travel. It is pressed against the surface 7 by the elastic force of a spring (not shown). A sliding contact 15 is attached to the drive motor.
Power is supplied from power supply rails 9a, 9b via a, 15b, and control signals based on current changes are supplied from signal rails 10a, 10b via sliding contacts 15c, 15d. Thereby, the drive motor is driven and controlled, and its rotational driving force is transmitted to the drive wheels 14 via the reduction gear,
The self-propelled vehicle 11 travels on the traveling rail 8 while being guided by the guide portions 6a and 6b by the propulsive force of the drive wheels 14. Vehicle body 12 of the self-propelled vehicle 11
A support frame 16 is fixed to the upper surface of the support frame 1.
An index table 17 is supported at 6 so as to be slidable in the running direction. The index table 17 is urged in the forward travel direction, that is, in the left direction in FIG. By making contact, it is always stopped at a predetermined position. Furthermore, triangular prism-shaped engagement protrusions 18a and 18b are provided protruding from both end faces of the index table 16 in the running direction, respectively. A support shaft 19 is rotatably supported by the index table 16 so as to extend vertically. (not shown).
A rotary table 20 serving as a mounting table is fixed to the upper end of the support shaft 19.
is controlled by the Geneva mechanism to accurately rotate by a predetermined angle, that is, 45 degrees in this embodiment. At the upper peripheral edge of the rotary table 20,
8 container holders 2 concentrically spaced at equal intervals
1a, 21b, 21c, 21d, 21e, 21
f, 21g, and 21h are sequentially attached to the engagement protrusions 18a and 18b as the rotary table 20 rotates.
The positioning is fixed so that it moves to the corresponding position. Each of these container holders 21a,
21b, 21c, 21d, 21e, 21f, 21
g and 21h have a cylindrical block shape, and a circular hole 22 for holding the sample container 2 is bored in the center thereof.

Next, a mechanism for transporting and storing the sample container 2 whose destination has been determined to the target analysis station 4, and transporting and collecting it again to the distribution/recovery station 1 will be explained. On the circumferential side of the rotary table 20 mentioned above, each of the container holders 21a,
21b, 21c, 21d, 21e, 21f, 21
Three light emitting elements 23 are located at positions corresponding to g and 21h.
a, 23b, 23c provided light emitting element plate 24a,
21b, 24c, 24d, 24e, 24f, 24
g, 24h are hanging fixedly. Each of the light emitting element plates 24a, 24b, 24c, 24d, 24e,
Which light emitting element 2 at 24f, 24g, 24h?
Depending on whether 3a, 23b, 23c are emitted,
Each light emitting element plate 24e, 24f, 24g, 24h, 24a, 24 located opposite to these
Each container holder 21e, 21f, 21g, 21h, 21a, 2 located corresponding to b, 24c, 24d
The destination of the sample container 2 held in 1b, 21c, and 21d is memorized. For example, the destination of the sample container 2 held in the container holder 21a is
It is stored by the light emitting element plate 24e.

On the other hand, on the inner surface of the conveyor frame 5 facing the entrance/exit of each analysis station 4, there are light receiving elements 25a, 25 disposed at the same height as the light emitting elements 23a, 23b, 23c, respectively.
The L-shaped light receiving element plate 26 provided with b and 25c is
It is fixed via a mounting plate 27 and a fixing plate 28. When it is detected that the sample container 2 is to be transported to the corresponding analysis station 4 based on the state of light entering each of the light receiving plates 25a, 25b, and 25c, the sample container 2 is transported to the corresponding analysis station 4 using a magic hand (not shown). It is accommodated in the analysis station 4 by a known access mechanism. At this time, in the illustrated state, what is detected by the light emitting element plate 24c is the sample container 2 held by the container holder 21g, so the magic hand grasps the sample container 2 closest to the entrance/exit. When storing the sample container 2 in each analysis station 4, the rotary table 20 must be positioned so that the light emitting elements 23a, 23b, 23c and the light receiving elements 25a, 25b, 25c are positioned opposite each other. . To accomplish this, a stopper mechanism is provided. To explain this mechanism, as is clear from FIG. Arm 3 is attached to the output shaft of
2 is fixed, and the arm 32, which is horizontally rotated by the rotary cylinder 31, has a recess 33 (see FIG. 4) shaped like the engagement protrusions 18a and 18b of the self-propelled vehicle 12 at the free end of the arm 32. A stopper body 34 is fixed. The height position and length of the arm 32 are determined so that the stopper body 34 can engage with the engagement protrusions 18a, 18b. Further, a light emitting element 36 is fixed to the upper surface of the mounting base 35 of the arm 32, while a light emitting element 36 is fixed to the upper surface of the mounting base 35 of the arm 32.
When the light-receiving element 37 receives light from the light-emitting element 36 and the arm 32 is in the standby position (the position shown by the phantom line in FIGS. 2 to 4), the light-receiving element 37 receives light from the light-emitting element 36, and the arm 32 is in the stop operation position (the position shown by the solid line in FIGS. 2 to 4). The light-receiving element 37b, which receives light when it is in the state position), is fixed. Therefore, the position of the arm 32 is detected by each of the light receiving elements 37a, 37b and the light emitting element 36, and the engaging protrusion 18a always engages with the stopper body 36 at a predetermined position. That is,
Since there are variations in the transmission of stop signals and there is also inertia, it is not possible to accurately stop the self-propelled vehicle 11 at a predetermined position.
This is guaranteed through engagement with As mentioned above, the index table 17 is slidable in the traveling direction with respect to the vehicle body 12 and is elastically biased by the spring in the direction of returning to its original position, so that it can be positioned at a predetermined position on the traveling route of the self-propelled vehicle 11. Stopper body 34
By locating the index table 17, it is possible to absorb the impact when engaged with the vehicle body 12 and to always stop the index table 17 at a predetermined position, which is not affected by the stopping position of the self-propelled vehicle 11.
This means that the rotary table 20 can always be positioned at a predetermined position.

Also, in the dispensing/recovery station 1, similarly to each analysis station 4 described above, a magic hand (not shown) is used to move the sample container 2 to each container holder 21a, 21b, 21 of the rotary table 20.
Necessary mechanisms including a known in/out mechanism for taking in and out of the ports 21c, 21d, 21e, 21f, 21g, and 21h are provided. Further, although not shown, an appropriate mark indicating the destination analysis station 4 is provided on the outer peripheral surface of the sample container 2. By reading this mark, the sample container 2 of the desired destination is selected at the distribution/collection station 1, and the destination is determined by the container holder 21a, 21 containing the container.
b, 21c, 21d, 21e, 21f, 21g,
Each light emitting element plate 24e, 24f, corresponding to 21h.
24g, 24h, 24a, 24b, 24c, 24
d is stored in each of the light emitting elements 23a, 23b, and 23c.

Next, the operation of the above-mentioned self-propelled vehicle transport device will be explained. First, a call signal from an appropriate analysis station 4 is sent to the dispensing and collecting station 1.
Each sample container 2 containing a sample sent to the dispensing/retrieval mechanism and fed into the dispensing/recovery station 1 is read in response to a signal from the destination, and is sequentially transferred to the rotary table 2 by a magic hand.
0 container holders 21a, 21b, 21c, 2
It is inserted and held in 1d, 21e, 21f, 21g, and 21h. At this time, the rotary table 20 rotates each container holder 21a, 21b, 21c, 21d, and 21 by rotating the index table 17 by a predetermined angle of 45 degrees by the Geneva mechanism.
e, 21f, 21g, and 21h are positioned at predetermined working positions with respect to the magic hand, and a reliable insertion and holding operation is performed. At the same time, the destination analysis station 4 of each sample container 2 is moved to the container holder 21a, 21b, 21c, 21d, 21
Predetermined light emitting element plates 24e, 24f, 24g, 24h, 24 according to e, 21f, 21g, 21h
a, 24b, 24c, and 24d. In this case, the sample containers 2 are not always supported by all container holders. Subsequently, a travel command is issued to the self-propelled vehicle 11, and the self-propelled vehicle 11 is guided by the traveling rail 8 and travels. Each of the analytical stations 4 that made the call detects the arrival of the self-propelled vehicle 11 using a detection device (not shown) such as a micro switch, and when this detection is made,
While the rotary cylinder 31 of the corresponding stopper mechanism is driven, the signal rail 10a,
A stop current flows through 10b. As a result, the self-propelled vehicle 11 is stopped, and as shown in FIGS. 2 and 4, the arm 32 is rotated to stop the self-propelled vehicle 11.
The stopper body 34 engages with the first engaging protrusion 18a, and the rotary table 20 is accurately stopped at a predetermined position regardless of the stopping position of the self-propelled vehicle 11. Now, if the self-propelled vehicle 11 is stopped at a certain analysis station 4, the rotary table 20 is sequentially rotated by a predetermined angle of 45 degrees in response to a control signal, and the sample container whose destination is the analysis station 4 is rotated in response to a control signal. 2, for example, the light emitting element plate 24c
When the light-receiving element plate 26 and the light-receiving element plate 26 face each other, a stop signal is issued to the drive motor of the rotary table 20.
At the same time, the sample container 2 is placed into the analysis station 4 by the magic hand. Then, a predetermined analysis operation is performed on the sample contained in the sample container 2 in the analysis station 4. On the other hand, when a start command is issued to the self-propelled vehicle 11, the stopper body 34 moves to the standby position, and after the detection of the position of the arm 32 is confirmed, the self-propelled vehicle 11 returns to the next analysis station. Start running. In this way, when the predetermined sample containers 2 are stored in all of the called analysis stations 4, the self-propelled vehicle 11 runs in the opposite direction on the traveling rail 8 and returns to the distribution/collection station 1. Stops at the standby position shown in the figure,
It waits for a call command from each analysis station 4 after the analysis work is completed. When this call command is issued, the self-propelled vehicle 11 runs again and sequentially stops at each analysis station 4 that has received the call command. At this time, the rotary table 20 is positioned as described above, and its respective container holders 21a, 21
b, 21c, 21d, 21e, 21f, 21g,
At 21h, the sample container 2 in which the analysis work has been completed is inserted and held by the magic hand of the in/out mechanism. All the distributed sample containers 2 are placed in each container holder 21a, 21b, 2 of the rotary table 20.
1c, 21d, 21e, 21f, 21g, 21h
When the self-propelled vehicle 11 is held at the position, the self-propelled vehicle 11 runs in the opposite direction on the traveling rail 9 and returns to the distribution/recovery station 1. Then, at the distribution/collection station 1,
Each sample container 2 is collected by the magic hand of the entry/exit mechanism, and the self-propelled vehicle 11 waits until the next travel command is issued.

The above-mentioned operations are controlled by a known method using a control panel (not shown).
Further, regarding the running of the self-propelled vehicle 11, it is desirable to slowly start and slowly stop depending on the conditions of the transported object, but this can be done by changing the voltage on the power supply rails 9a and 9b.

Furthermore, in the above-described embodiment, a case has been described in which the sample container 2 after the work at the analysis station 4 is directly collected to the main station 1, but it is further transported to another analysis station 4 and the work is performed there. After that, they may be collected at the main station 1. In this case, in order to drive the self-propelled vehicle 11 carrying the sample container 2 on another analysis station 4, a new call signal may be issued,
A self-propelled vehicle 11 carries a sample container 2 at the main station 1.
It is also possible to store a plurality of analysis stations 4 to be transported when loading the analysis station 4 on the computer. moreover,
After storing the sample container 2 in another analysis station 4, the self-propelled vehicle 11 may return to the main station 1 or remain stopped at the analysis station 4, or wait at an appropriate position. Just let it happen.

Although the present invention has been described above with reference to preferred embodiments, the present invention is not limited to the above embodiments, and as shown in FIG. 5, a suspended self-propelled vehicle is adopted,
The rotary table can also be supported below the self-propelled vehicle. Further, as the mounting table, not only a rotary table but also a sliding table may be used. Furthermore, as a positioning mechanism for the rotary table, in addition to the Geneva mechanism, an electromagnetic brake may be used when the rotation speed is slow. Furthermore, the arm of the stopper mechanism may be pivoted vertically. Furthermore, the detection elements of the rotary table and the arm of the stopper mechanism provided on the single-wire reciprocating transport line facing each analysis station are not limited to optical sensors, but proximity switches may also be used.
Moreover, a motor with an electromagnetic brake can also be used as a drive source for the arm. In addition,
The above-mentioned slow speed control of a self-propelled vehicle can also be configured to reduce the speed of the vehicle compared to other speed zones by providing a rack in the slow speed zone and meshing it with a drive gear to obtain propulsive force. .

As is clear from the above explanation, according to the present invention, a self-propelled vehicle having a loading table is used to transport objects whose destination has been determined between a main station and a plurality of sub-stations. Reliably smooth,
It also has the effect of being able to be efficiently transported and recovered.

[Brief explanation of drawings]

The figures show preferred embodiments of the present invention, with Fig. 1 being a schematic plan view showing the entire device, Fig. 2 being a front view taken longitudinally through a single-track reciprocating transport line showing a self-propelled vehicle stopped at an analysis station, and Fig. 3 The figure is also a side view, the fourth
The figure is also a plan view, and FIG. 5 is a side view showing another embodiment of the self-propelled vehicle. DESCRIPTION OF SYMBOLS 1...Distribution/collection station, 2...Sample container, 3...Single-track reciprocating transport line, 4...Analysis station, 8...Traveling rail, 11...Self-propelled vehicle, 14...Drive wheel, 16...Support frame, 17...Index table , 18a, 18b...engaging protrusion, 20... rotary table, 21a, 21b, 21c, 21d, 21
e, 21f, 21g, 21h...container holder, 2
3a, 23b, 23c...Light emitting element, 24a, 24
b, 24c, 24d, 24e, 24f, 24g,
24h...Light emitting element plate, 25a, 25b, 25c...
Light receiving element, 26... Light receiving element plate, 32... Arm, 3
4...Stopper body, 36...Light emitting element, 37a, 3
7b...light receiving element.

Claims (1)

[Scope of Claims] 1. A plurality of sub-stations are provided along a single-track track extending from a main station, and by reciprocating a self-propelled vehicle on the single-track track, objects to be transported are transported between the stations by the self-propelled vehicle. In a single-line reciprocating self-propelled vehicle transport device that transports objects using The object to be transported whose location has been determined is automatically placed, the self-propelled vehicle is driven and stopped at the target sub-station, and this sub-station automatically places only the object to be transported to the self-propelled vehicle. When the work on the transported object is completed at the sub-station, the transported object is automatically placed on the loading table of the self-propelled vehicle;
A single-track reciprocating self-propelled vehicle transport device, characterized in that the self-propelled vehicle travels toward another station in order to automatically store the transported object at another station after the work has been completed. 2. The single-track reciprocating motor vehicle according to claim 1, characterized in that the main station is the station to which the self-propelled vehicle, on which the transported object is automatically placed after completing work at the sub-station, is the main station. Vehicle transport device. 3. The single-track reciprocating system according to claim 1, wherein the station to which the self-propelled vehicle, on which the transported object is automatically placed after completing work at the sub-station, heads is another sub-station. A type of self-propelled vehicle transport device.