JPH0436835B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a traveling device, and more specifically, for example, a traveling device for carrying a robot or the like that performs various processing on a transported workpiece and transporting it in a predetermined direction. A base table, a traveling table movable toward a workpiece processing line, and a driving means for the traveling table are disposed inside a pit formed under the floor surface, while the traveling table A support member for attaching a robot, etc. is provided on the upper surface portion so as to extend above the floor surface, and
By isolating the base, the traveling table, and the driving means from the outside with a lid member installed at approximately the same height as the floor surface, the work area for the robot and the worker can be expanded at once, and the narrow space can be used effectively. The present invention relates to a traveling device that makes it possible to do this.

BACKGROUND OF THE INVENTION Conventionally, assembly lines have been widely used in which assembly devices such as robots are disposed on the line to perform various assembly operations on conveyed workpieces, such as automobile bodies. For example, when assembling a seat to a car body on a passenger car assembly line, there is a robotic device that attaches parts such as a seat to the car body being conveyed, and a robot device that is attached to the tip of the robot device to hold the parts that are attached to the car body. A jig stocker is provided in which a plurality of jigs are stored in advance, and a work stocker is provided in which a plurality of parts such as the seats are arranged and stored.

In such a configuration, the robot device is generally movable in a predetermined direction in order to hold the parts stored in advance in the workpiece stocker and attach them to a predetermined part of the vehicle body being transported. It is configured. Therefore, a traveling device is provided for transporting the robot device in a predetermined direction in synchronization with the parts.

Various types of traveling devices have been devised for transporting the above-mentioned robot device in a predetermined direction. A good example of this would be the equipment that is used. That is, the above-mentioned Japanese Patent Application Publication No. 58-
In No. 033579, a traveling device is provided to transport a device for automatically mounting a spare tire onto a vehicle body in a predetermined direction. Also, Shodai Jitsukai
In No. 60-085284, a traveling device is provided for transporting a device for assembling a door onto a motor vehicle in a predetermined direction.

However, the apparatus for automatically mounting a spare tire or the apparatus for automatically assembling a door as described above are both disposed on the floor.
As a result, the traveling device itself occupies a large amount of space, and as a result, the space around the work station where the device is installed cannot be effectively utilized. Furthermore, in such a work station, if, for example, the device that mounts a spare tire, etc. to the vehicle body breaks down, the repair work becomes complicated because the traveling device itself is exposed on the floor. However, since the station itself has a fairly complicated structure, it is very difficult to immediately replace the failed device manually. Therefore, it is necessary to provide a backup station or the like in advance to replace the malfunctioning equipment within the automobile assembly line, which not only increases the space occupied by the automobile assembly line as a whole, but also requires unnecessary capital investment. The inconvenience of being forced to do so is exposed.

The present invention has been made in order to overcome the above-mentioned disadvantages, and is a traveling device for transporting a robot device or the like in a predetermined direction relative to a workpiece to perform work, in which a pit is defined below the floor surface. A base pedestal constituting a traveling device, a guide rail disposed on the base pedestal, and a traveling table movable in a predetermined direction guided by the guide rail are provided in this pit, and furthermore, the said traveling device By arranging the assembly device on the table and providing the lid member at approximately the same height as the floor surface for the pit, narrow spaces on the floor surface of the work station where the traveling device is installed can be installed. In addition, it is possible to make effective use of space, and also to easily perform adjustment and repair work on the various mechanisms that make up the work station where the traveling device is installed, and as a result, it is possible to further improve production efficiency. The purpose is to provide a traveling device.

In order to achieve the above object, the present invention provides a traveling device for displacing in a predetermined direction an assembling device for assembling parts to a workpiece being conveyed on a line, the traveling device comprising the following: a base pedestal provided in a pit formed in a pit; a pair of guide rails provided on the upper surface of the base and extending toward the line; a traveling table movable along the pair of guide rails; a moving means for moving the traveling table; a pair of support members supporting the assembly device on the traveling table; and a pair of support members that are at approximately the same height as the floor surface when supported by the base. The pit is provided with a slit through which the supporting member is inserted, and the base pedestal, the pair of guide rails, the traveling table, and the moving means are housed in the pit and are isolated from the outside. It is characterized by comprising a lid member;

Next, preferred embodiments of the traveling device according to the present invention will be described in detail with reference to the accompanying drawings.

In FIG. 1, reference numeral 10 indicates a work station including a traveling device according to the present invention, and this work station 10 is used to carry workpieces to a vehicle body 16 that is transported in a predetermined direction on an assembly line 12 by a transport device 14. The purpose of this work is to assemble the rear seat 18.

On the floor surface 11 of the work station 10, there is a work stocker 20 for arranging a plurality of the rear seats 18, a robot device 22 for assembling the rear seats 18 arranged in the work stocker 20 to the vehicle body 16, and this robot. Device 2
Robot controller 22a for controlling 2
and a jig stocker 26 which is attached to the tip of the robot device 22 and has a plurality of jigs 24 for holding the rear seat 18, which essentially serves as a workpiece. The robot device 22
is configured to be movable in the directions of arrows A to F. In this case, a traveling device 30 according to the present invention is provided to transport the robot device 22 in the direction of arrow A.

Therefore, the traveling device 30 for transporting the robot device 22 in the direction of arrow A will be explained below.

As shown in FIGS. 2 and 3, the traveling device 30 is located in a pit 1 defined below from the floor 11.
It includes a base 36 disposed within 1a. Boards 38a to 38d are integrally fixed to the side surface of the base 36 and extend horizontally, while the plate 38a is integrally fixed to the other side of the base 36.
Similarly to plates 38e to 38d, plate bodies 38e to 38h extend horizontally and are fixed integrally. in this case,
Each of the plates 38a to 38h is provided with a screw hole (not shown) and a hole in parallel thereto, and leveler bolts 40a to 40h for horizontally supporting the base 36 are screwed into the screw hole, On the other hand, anchor bolts 42a to 42h for fixing the base 36 are fitted into the holes. In this case, the tip ends of the leveler bolts 40a to 40h are engaged with the receiving plates 44a to 44h placed on the bottom surface of the pit 11a, respectively, and the anchor bolts 42a to 42b are engaged with the receiving plates 44a to 44h, respectively. 44h to 44h, and the base 3
6 is maintained horizontally and at a predetermined height. That is,
Nut members 46 are attached to the leveler bolts 40a to 40h and the anchor bolts 42a to 42h, respectively.
a to 46h are screwed together with nut members 48a to 48h, and these nut members 46a to 46h, 4
The leveler bolts 40a to 40h and anchor bolts 42a to 42h caused by vibrations generated in the traveling device 30 by 8a to 48h.
This prevents unnecessary rotational movement.

Next, a rack 52 is disposed at the upper part of one side of the base 36 via a rack mounting member 50,
This rack 52 extends in the direction of arrow A and meshes with a pinion, which will be described later. Further, a limit switch 54 is attached to one end of the base 36. The limit switch 54 is for detecting displacement of the traveling table, which will be described later.

On the other hand, a pair of guide rails 56a and 56b are provided on the upper surface of the base 36 and extend substantially parallel to each other in the direction of arrow A. Angle members 58a to 58d are fixed near both sides of the guide rails 56a and 56b, respectively. in this case,
Stopper blocks 60a to 60d are attached to the angle members 58a to 58d, respectively.

Among the guide rails 56a and 56b, one guide rail 56a has sliding members 62a to 62.
c are engaged with each other at a predetermined interval, and this sliding member 62
A to 62c have a first traveling table 6 on the upper surface.
4 is fixed. In addition, the other guide rail 56
Similarly to the one guide rail 56a, sliding members 66a to 66c are engaged with the sliding members 66a to 66c at a predetermined interval, and a second traveling table 68 is fixed to the upper surface of the sliding members 66a to 66c. There is. A plate body 70 is provided on both end surfaces of the first traveling table 64 and comes into contact with the stopper blocks 60a and 60b.
a, 70b are attached, and the stopper blocks 60 are also attached to both end surfaces of the second traveling table 68.
Plate bodies 70c and 70d that come into contact with c and 60d are attached.

Further, a motor mounting plate 72 is integrally fixed to the substantially central portion of the side surface of the first traveling table 64.
In this case, the motor mounting plate 72 extends downward from the side surface of the first traveling table 64,
A hole 72a having a relatively large diameter is bored approximately in the center thereof. Drive means 71 for the respective traveling tables 64 and 68 are provided on one side of the motor mounting plate 72.
A hydraulic motor 74 constituting the motor is mounted, and the rotational drive shaft of the hydraulic motor 74 is connected to the motor mounting plate 72.
It penetrates through the hole 72a, projects from the motor mounting plate 72, and engages with the pinion 76. in this case,
The pinion 76 meshes with the rack 52.
Further, a kicker member 78 for operating the limit switch 54 disposed on the base 36 is attached to the upper part of the motor mounting plate 72.

On the other hand, support plates 80 and 82 are attached to substantially central portions of the upper surfaces of the first traveling table 64 and the second traveling table 68, extending in the direction of arrow A, respectively. The support plates 80 and 82 protrude above the floor 11 from the first and second traveling tables 64 and 68, and a support plate 84 for supporting the robot device 22 is bridged at the upper end thereof. There is. As a result, the first traveling table 64 and the second traveling table 68 are integrated with each other via the support plates 80, 82 and the support plate 84.

In this case, in the present invention, as can be easily understood from FIG.
4. It should be noted that the second traveling table 68 and the driving means 71 are arranged inside the pit 11a formed in the floor surface 11.

Further, a shielding plate 86 is provided to close off the upper part of the pit 11a. In this case, the shielding plate 86 is disposed at approximately the same height as the floor surface 11, and the shielding plate 86 is provided with the supporting plate 8.
0,82 are the first and second traveling tables 64
Notches 86a and 86b are formed so as not to impede the displacement when displacing in the direction of arrow A together with 68 and 68.

The traveling device according to the present invention and the work station arranged in connection therewith are basically constructed as described above, and the operation and effects thereof will be explained next.

First, the robot device 22 is driven and displaced toward the jig stocker 26 in the direction of arrow C, and a desired jig 24, which has been previously placed on the jig stocker 26, is attached to the tip of the robot device 22. Then,
The jig 24 is displaced toward the workpiece stocker 20 to hold the rear seat 18 as a workpiece aligned with the workpiece stocker 20.

In order to attach the rear seat 18 held at the tip of the robot device 22 to the vehicle body 16 as described above, the robot device 22 is displaced in the direction of arrow _A1 by the traveling device 30 according to the present invention.
That is, the hydraulic motor 74 constituting the traveling device 30 is driven, and the pinion 76 that is engaged with the rotational drive shaft 74a of the hydraulic motor 74 is rotated under the driving action of the hydraulic motor 74. The pinion 76 meshes with a relatively elongated rack 52 fixed to the base 36, so that the pinion 76 begins to move along the rack 52 in the direction of arrow _A1 . As the pinion 76 moves, the first traveling table 64, second traveling table 68, support plates 80, 82, and support plate 84 are guided via the motor mounting plate 72 to which the hydraulic motor 74 is attached. It is integrally displaced along the rails 56a and 56b in the direction of arrow _A1 . The support plate 84
A robot device 22 is fixed to the robot device 22, so that the robot device 22 is also displaced in the direction of arrow _A1 .

In this way, when the robot device 22 is displaced by a predetermined amount in the direction of arrow A toward the vehicle body 16 via the traveling device 30, the pusher member 78 attached to the motor mounting plate 72 presses the limit switch 54. Then, the limit switch 54 is activated. The hydraulic motor 74 is stopped by the activation signal of the limit switch 54, and the first
Plates 70b and 70d attached to one end of the traveling table 64 and the second traveling table 68, respectively, come into contact with the stopper blocks 60b and 60d, and the robot device 22 is stopped at a predetermined position. After the rear seat 18 is attached to the vehicle body 16 in this state, the robot device 22 is displaced in the direction of arrow _A2 .
That is, the hydraulic motor 74 is rotated in the opposite direction. This causes the pinion 76 to be displaced along the rack 52 in the direction of arrow _A2 . and,
When the robot device 22 returns to the predetermined position, the hydraulic motor 74 stops and the plates 70a, 70c attached to the first traveling table 64 and the second traveling table 68 move to the stopper blocks 60a, 70c.
60c to stop the robot device 22. Next, the robot device 22 is driven to hold a new rear seat 18 aligned in the workpiece stocker 20, and the next stage of work is performed.

As described above, according to this embodiment, the traveling device 3 for transporting the robot device 22 in the direction of the arrow A
A base stand 36, a traveling table 64,
68 and a driving means 71 for driving the traveling tables 64, 68 are installed in a pit 1 formed on the floor surface 11.
It is arranged inside 1a. Furthermore, the pit 11a is usually configured so that most of it can be closed off by a blocking plate 86. Therefore, it becomes possible to effectively utilize the narrow space of the work station 10 having the traveling device 30.

According to the present invention, as described above, the main body of the traveling device for displacing the assembly device is disposed in a pit dug from the floor surface, and a lid member of approximately the same height as the floor surface is provided above the pit. By providing this, exposure to the outside is substantially avoided. Therefore, in addition to achieving effective use of the space within the work station, adjustment and repair work of other devices within the work station, such as robot equipment, etc., can be easily performed using the lid member, for example. Moreover, the effect of improving work efficiency when assembling the product can be obtained.

Although the present invention has been described above with reference to preferred embodiments, the present invention is not limited to these embodiments, and various improvements and changes in design can be made without departing from the gist of the present invention. Of course.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a work station on which a traveling device according to the present invention is installed, FIG. 2 is a front view of the traveling device according to the present invention, and FIG. 3 is a side view of the traveling device according to the present invention. 10... Work station, 11a... Pit, 16... Vehicle body, 22... Robot device, 36
...Base stand, 52...Rack, 56a, 56b
... Guide rail, 64, 68 ... Traveling table, 74 ... Hydraulic motor, 76 ... Pinion, 8
0,82...Support plate.

Claims (1)

[Scope of Claims] 1. A traveling device for displacing in a predetermined direction an assembling device for assembling parts to workpieces being transported on a line, the traveling device comprising: a traveling device for displacing in a predetermined direction an assembling device for assembling parts to workpieces being conveyed on a line; a base mounted on the base, a pair of guide rails provided on the upper surface of the base and extending toward the line, a traveling table movable along the pair of guide rails, and moving the traveling table. a pair of support members that support the assembly device on the traveling table; a pair of support members that are provided at substantially the same height as the floor surface while being supported by the base; a lid member having a slit through which a member is inserted, storing the base stand, the pair of guide rails, the traveling table, and the moving means in the pit and isolating them from the outside. A traveling device characterized by: