JPH0686205B2 - Self-propelled trolley - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled trolley used for transporting an automobile on a work line in an automobile manufacturing factory, for example.

2. Description of the Related Art Conventionally, as a trolley of this type, for example, Japanese Patent Publication No. 53-1527.
The structure found in Publication No. 2 is provided. Sanawa,
The trolley supported and guided by the rails via wheels is free to travel on a fixed path, and the trolley pusher integrated with the chain arranged between the rails is engaged with the engagement dog on the trolley side. I'm doing it. Further, in the traveling body having the engagement dog, the bar member is attached to the carriage so as to be vertically swingable.

Problems to be Solved by the Invention According to the above-mentioned conventional method, since the bar is not forcibly oscillated vertically, for example, when working on the lower part of the automobile (lower surface of the vehicle body), It is necessary to form work pits, or to provide a frame to raise the rail to a higher level so that a certain route is above the floor surface. I can't respond easily. In addition, the arrangement of the drive unit including a chain and a trolley is also large, and it is not possible to easily cope with a change in the work line.

An object of the present invention is to provide a self-propelled trolley that can simplify the floor-side structure and can easily change the work line while allowing the mounting unit to move up and down.

Means for Solving the Problems In order to achieve the above object, in a self-propelled carriage of the present invention, a leg member composed of a quadruple link mechanism is provided on each of front and rear portions of a main body having a mounting portion so as to be vertically swingable. At the same time, a vertical drive device interlocking with these leg members is provided in the main body, and traveling frame portions are provided at the free ends of both leg members so as to be capable of relative swing in the vertical direction. Is provided
On at least one traveling unit frame, traveling wheels are provided so as to be separately rotatable, and a traveling drive device that rotates each traveling wheel separately, and a traveling drive device that rotates each traveling wheel forward and backward separately. Is provided.

With such a configuration of the present invention, the main body can be moved up and down with respect to the floor surface by vertically swinging the leg members by the operation of the vertical drive device. The level can be changed arbitrarily. Further, by changing the direction of the traveling wheels with respect to the main body by the turning drive device or by driving the running drive device in the forward and reverse directions, the self-propelled carriage can be laterally moved or turned.

Embodiment One embodiment of the present invention will be described below with reference to the drawings.

Reference numeral 1 is a rectangular flat frame-shaped main body, in which the battery 2 can be stored therein, and mounting portions 3 are provided at four corners of the upper surface. A traveling frame 20 is attached to each of the front and rear parts of the main body 1 via leg members 10 which are vertically swingable. A pair of left and right leg members 10 are disposed between the bracket 11 on the main body 1 side and the bracket 12 on the traveling portion frame body 20 side, and each leg member 10 is formed into a four-link mechanism in a side view.

That is, the bracket 11 has a horizontal pin 13 and a horizontal pin 14
The free ends of the pair of upper and lower links 15 and 16 connected via
It is formed by vertically swingably connecting to the bracket 12 by the horizontal pins 17 and 18, and at that time, the upper horizontal shaft 13 and the horizontal pin 17 are connected to the other horizontal pins 16 and 17 with respect to the main body. The front surface (rear surface) of 1 is located forward (rear) by a certain length l. The horizontal shaft 13 is linked to a vertical drive device 19 attached to the main body 1. As a result, the traveling unit frame 20 moves up and down while maintaining the horizontal posture by vertically swinging the leg member 10 by the operation of the vertical drive device 19, and at that time, the leg member 10 swings downward depending on the length l. Can be moved.

Bumpers 21 are attached to the front surface (rear surface) of the traveling portion frame body 20, and traveling wheels 22A, 22B, 22C, 22D that can be individually swiveled and forward / reversely driven individually at both ends (plurality of locations). Is provided. That is, the supporting portions 24 are separately attached to both ends of the traveling portion frame body 20 via the vertical axis 23, and the vertical axis 23 is attached to the traveling portion frame body 20, respectively.
25 linked separately.

A lateral wheel shaft 26 is rotatably attached to the support portion 24, and the wheel shaft 26 is separately and interlockingly connected to a forward and reverse drive traveling drive device 27 attached to the traveling portion frame 20. . And to the wheel shaft 26, wheels 22A, 22B for traveling,
22C and 22D are installed.

A pair of left and right guide rollers 28 are provided below the traveling frame 20.
And the rail 4 on which the guide rollers 28 are guided is attached to the floor 5 side. Reference numeral 6 denotes an automobile, which is an example of an object to be transported, in which wheels 8 are attached to a main body 7.
It is mounted on the mounting part 3 via the seal part 7a.

Next, the work of supporting and transporting the automobile 6 using the self-propelled carriage of the above embodiment will be described.

Normally, a self-propelled trolley in which the automobile 6 is mounted by placing the seal portion 7a on the mounting portion 3 has a leg member 10 which is horizontal in front and rear directions as shown by solid lines in FIGS. 1 to 4. The main body 1 at the lowest position. At this time, the position of the leg member 10 is locked by the vertical drive device 19 and the stopper (not shown). And the wheels 22A-2 for traveling in the front-back direction
By forcibly rotating all of 2D with the traveling drive device 27,
Alternatively, for example, by forcibly rotating the front two wheels 22A and 22B, the guide roller 28 of the self-propelled carriage is set to the rail 4
Drive on a fixed route 30 guided by.

Various operations are performed on the automobile 6 during such traveling. For example, as shown in FIG.
When there is a work station 31 on the side of the
25 to activate all traveling wheels 22 through the support member 24.
Turn A to 22D sideways. Then, by driving the traveling drive device group 27 in the forward or reverse direction, the self-propelled carriage is laterally moved in either the left or right direction, and any one of the work stations 31
You can get to.

The self-propelled trolley that completed the desired work here has wheels 22
It is returned to the constant path 30 by the reverse operation of A to 22D, or the traveling wheels 22A to 22D are forwarded by moving them forward and moved to another work station 32 to perform the work and then returned to the constant path 30. To do. Note that the rail 4 is omitted at the place where it goes in and out of the fixed path 30.

As described above, the self-propelled carriage on the fixed path 30 is taken out in the lateral direction or moved straight to be positioned at the turning work station 33. Here, the traveling wheels 22A to 22D are driven after being oriented at a predetermined angle. Thus, for example, double-sided work can be performed on the vehicle body 7 while turning the automobile 6. Furthermore, the self-propelled carriage on the fixed route 30 can efficiently store the automobile 6 in the storage line 34 by making the automobile 6 lateral by a combination of lateral movement and turning motion.

The main body 1 is lifted when the work of the lower portion of the automobile 6, that is, the bottom surface of the vehicle body and the suspension is performed. That is, the up-and-down movement device 19 is operated to swing the leg member 10 downward so that the leg member 10 is in the vertical state as shown by the phantom lines in FIGS. 1 and 3. At this time, the horizontal state of the traveling frame 20 is maintained by the four-link mechanism, and the lengths l allow the links 15 and 16 to hang down without interfering with each other. As a result, various work can be performed at the underbody station 35, for example.

Further, the self-propelled carriage that has completed the automation work at the automation station 36 reaches the separation unit 37. Upper floor 38 here
(Or a lift device) is provided, and the wheels 8 are grounded on the upper floor 38 to raise the vehicle body 7 with respect to the main body 1 as shown by the phantom line in FIG. To separate the seal portion 7a upward. After separating them in this manner, one of the self-propelled carriage and the automobile 6 may be majored to run, and the other may be run subsequently.

The traveling control of the self-propelled trolley and the operation control of each part are automatically performed by signal transmission and reception provided between the vehicle and the ground side. In addition, the swing fixed position of the leg member 10 is
For example, as shown by the phantom line (a) in FIG. 1, it can be arbitrarily set such as an inclined shape.

In the above embodiment, the vertical drive device 19 is provided which is linked to each of the two traveling unit frames 20.
It is also possible to adopt a form in which one traveling unit frame body 20 is provided and the two traveling unit frame bodies 20 are linked by a link mechanism or the like. Further, in the above embodiment, all the traveling wheels 22A, 22B, 22C, 22D are individually rotatable and can be forward / reversely driven separately, which is, for example, only the front two wheels 22A, 22B. It may be rotatable and can be separately driven forward and backward.

EFFECTS OF THE INVENTION According to the present invention having the above configuration, the main body can be moved up and down with respect to the floor surface by operating the vertical drive device to swing the leg members. As a result, the level of the transported object with respect to the floor can be arbitrarily changed, and various operations on the lower portion of the transported object can be easily performed without providing a pit or a frame on the floor side. In addition, by changing the direction of the traveling wheels with respect to the main body by the turning drive device or by driving the running drive device in the forward and reverse directions, the self-propelled carriage can be laterally moved or turned, which enables various operations and It is possible to easily take a posture suitable for storage and the like. Furthermore, since it is only necessary to provide a simple guide mechanism in a required location in a self-propelled form and no pit or frame is required, the floor side structure can be simplified and the work line can be easily changed. .

[Brief description of drawings]

The drawings show one embodiment of the present invention, in which FIG. 1 is a side view and FIG.
Figure is a plan view, Figure 3 is a front view, and Figure 4 is in Figure 1.
IV-IV arrow view, FIG. 5 is a schematic plan view. 1 ... Main body, 2 ... Battery, 3 ... Mounting section, 4 ... Rail, 5 ... Floor, 6 ... Car (object to be transported), 8 ... Wheel, 10 ... Leg member, 13 ... … Horizontal axis, 15,16 …… Link, 19
...... Vertical drive device, 20 ...... Traveling part frame, 22A, 22B, 22C, 22
D: Wheels for traveling, 23 ... Vertical axis, 24 ... Support member, 25 ...
… Turning drive, 26 …… Wheel shaft, 27 …… Travel drive,
28 …… Guide roller, 30 …… Constant path, 37 …… Separation part,
38: Upper floor.

Claims (1)

[Claims] 1. A leg member composed of a quadruple link mechanism is vertically swingably provided on each of the front and rear portions of a main body having a mounting portion, and a vertical drive device interlocking with these leg members is provided on the main body, so that both leg members are provided. The running frame is provided at the free end so that it can be swung relative to the vertical direction, and running wheels are provided at multiple points on each running frame, and the running wheels are individually turned on at least one running frame. A self-propelled trolley, which is provided freely and is provided with a turning drive device for turning each traveling wheel separately and a traveling drive device for separately rotating each traveling wheel forward and reverse.