JP2000335403A - Automatic carrying truck - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic carrying truck capable of fully supporting a load at the locking of an article to be transferred, and having such a stopper as operating with a driving source of comparatively low driving power. SOLUTION: This automatic carrying truck 1 is provided with a transferring mechanism 4 for receiving and delivering the article and a stopper 5 for locking the article received by the transferring mechanism 4. The stopper 5 is provided with a toggle stopper 53 supported swingingly around a horizontal axis 52, a stopper swinging mechanism 54 for swinging the toggle stopper 53, and a driving source 55 for actuating the stopper swinging mechanism 54. The stopper swinging mechanism 54 is provided with a cam lever 57 which rotates around a rotating drive shaft 56 driven by the driving source 55 so as to swing the toggle stopper 53. The cam lever 57 locates the toggle stopper 53 in a locking position at the top dead center thereof by controlling the swing of the toggle stopper 53.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic transport vehicle used for automatically transporting a transported object, and more particularly to an automatic transport vehicle provided with a stopper for locking the transported object.

[0002]

2. Description of the Related Art Conventionally, for example, in a processing line of a printed circuit board B on which electronic circuit components are mounted, an automatic transport system S as shown in FIG. 5 is employed. That is,
First, the reclining device C disposed at the end of the supply line raises the printed circuit board B sequentially supplied on the work supplying device A one by one, and the reclining device C is driven by the roller D which is driven as needed. Are transferred one by one to the stock trolley E aside. Stock trolley E
Stocks a predetermined number of sheets (six in the figure) while sequentially moving the position forward in accordance with the transfer from the reclining device C, and transfers the printed printed circuit board B to the stock carriage E. The package is further transferred to the horizontally placed automatic transport cart F in a lump. Then, the automatic transport vehicle F
Automatically travels on the rail R laid in the factory building,
The printed circuit board B is transported to a processing device (not shown) for performing the next processing.

[0003] As a prior art relating to an automatic transport trolley used in such a transport system, an automatic transport trolley as shown in FIG. 6 is known. The automatic transport trolley 11 is mainly composed of a trolley main body 12 provided so as to be able to run on a rail R, and includes a stocker 13 for stocking the printed circuit board B being transported, and a plurality of rollers 14a.
A transfer mechanism 14 for transferring the printed circuit board B to the stocker 13 by rotation of the stocker 13 and a pair of left and right stoppers 15 for locking the printed circuit board B to be transported. Stopper 15
Is an electric cylinder 1 with a pinion rack mechanism
6, the L-shaped engaging portion 17 is configured to move up and down.

[0004] A locking portion 17 of one of the stoppers 15 is previously arranged at a locking position, and the transfer mechanism 14 interlocked with the roller D of the stock truck E (see FIG. 5) collectively transfers. The printed circuit board B is locked and locked by the locking portion 17, and the other stopper 15 is operated to lock the printed circuit board B from both sides. Then, the printed circuit board B is transported to a processing machine for performing a predetermined processing. ing.

[0005]

As described above, in the automatic transport vehicle 11, since the printed circuit boards B are collectively transferred, the load on the stopper 15 in the horizontal direction also increases. Since the stopper 15 is configured to move the locking portion 17 up and down by the cylinder 16, the load is directly applied to the driving source including the rod 18 supporting the locking portion 17, and the automatic transfer that always operates is performed. It was not good for a trolley. In addition, the adoption of the pinion rack mechanism has forced the operation response to be slow.

On the other hand, in the above-described stock truck E which performs the same transfer, the load at the time of the transfer of the printed circuit boards is relatively small, and the moving distance is short. Although it is adopted, in the case of automatic transport vehicles that move over a wide area in the factory building, auxiliary equipment including piping for guiding compressed air must be installed according to the moving range of the automatic transport vehicles. However, it is difficult to adopt this in terms of equipment cost and equipment space.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an automatic conveyance system having a stopper which can sufficiently cope with a load at the time of locking of a conveyed object and can operate even with a driving source having a relatively small driving force. To provide a truck.

Another object of the present invention is to provide, in addition to the above objects, an automatic carrier having a quick operation response of a stopper.

[0009]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides an automatic transfer system having a transfer mechanism for transferring a transferred object, and a stopper for locking the transferred object received by the transfer mechanism. In the dolly, the stopper is a toggle stopper supported so as to be swingable about a horizontal axis, a stopper swing mechanism for swinging the toggle stopper to be positioned at a locking position, and operating the stopper swing mechanism. A drive source, and the stopper swing mechanism includes a cam that swings around a rotary drive shaft driven by the drive source and swings the toggle stopper, and the cam has a top dead center. The first feature is that the toggle stopper is positioned by restricting swinging of the toggle stopper.

In a second aspect of the present invention, in the automatic transport vehicle having the first feature, a rotary solenoid is used as a drive source for operating the stopper swing mechanism.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the accompanying drawings. Note that the present invention is not limited to this embodiment.

FIGS. 1 to 3 show an automatic carriage for printed circuit boards according to an embodiment of the present invention. In these figures, reference numeral 1 denotes an automatic transport vehicle, R denotes a rail, and a dashed line denotes a printed circuit board B to be transferred and transported.

As shown in FIG. 1, the traveling trolley 1 is mainly composed of a trolley main body 2 provided so as to be able to run on rails R, and a stocker 3 for stocking a printed circuit board B being transported. A transfer mechanism 4 for transferring the printed circuit board B to the stocker 3, and a pair of left and right stoppers 5 for locking the printed circuit board B received by the transfer mechanism 4.

As shown in FIG. 2, a front frame 21 and a rear frame 22 are fixed to the upper portion of the bogie main body 2 at an interval in the front-rear direction, and the stocker is interposed between the front frame 21 and the rear frame 22. 3, a transfer mechanism 4 and stoppers 5 and 5 are arranged.

As shown in FIGS. 1 and 2, the stocker 3
Are two stays 31, 31 erected and supported between the front frame 21 and the rear frame 22, and are fixed in an inclined posture so as to be arranged in the longitudinal direction of the two stays 31, 31 when viewed from the front. Six inverted U-shaped support frames 3
2 and three guide frames 33 fixed horizontally to each support frame 32.

As shown in FIG. 2, the transfer mechanism 4 includes five shafts 42 supported by bearings 41 between a front frame 21 and a rear frame 22, and a support frame 32 in the longitudinal direction of the shafts 42. Correspondingly, six rollers 43 fixed at predetermined intervals and a motor 44 for rotating the shaft 42 are provided. Gears 42 a and 4 are provided at the rear end of each shaft 42 and the drive shaft of the motor 44 respectively.
4a are fixed, and these gears
It is wound by. The driving force of the motor 44 is transmitted to each shaft 42 via the belt 45. The outer peripheral surface of each roller 43 is formed in a tapered shape, so that the lower end surface of the printed circuit board B inclined corresponding to the inclination of the stocker 3 is reliably brought into contact. That is, the load of the printed circuit board B during transportation is received by these rollers 43.

As shown in FIG. 3, the stopper 5 is provided with a locking portion 5 which abuts against and locks the side surface of the printed circuit board B.
1 and a toggle stopper 5 swingably supported around the hinge pin 52 via a hinge pin (horizontal axis) 52.
3, a stopper swinging mechanism 54 that swings the toggle stopper 53 to lock the printed circuit board B by the locking portion 51, and a rotary solenoid (drive source) 55 that operates the stopper swinging mechanism 54. Have.

The toggle stopper 53 is mainly composed of a frame member having an L-shaped cross section, and the locking portion 51 is formed by a vertical surface portion 53b bent upward from a horizontal surface portion 53a. A cam rail 53c constituting a stopper swing mechanism 54 is attached to substantially the center of the lower surface of the horizontal surface portion 53a of the toggle stopper 53. Further, the hinge pins 52, 52 serving as swing axes of the toggle stopper 53 are fixed to both ends of the lower surface of the horizontal surface portion 53a. It is rotatably supported at 52a.

The stopper swing mechanism 54 includes a cam rail 53.
c, a shaft (rotation drive shaft) 56 rotatably supported by the front frame 21 and the rear frame 22, and a cam lever (cam) fixed to a substantially central portion of the shaft 56.
57.

A cam follower 58 composed of a roller is attached to the tip of the cam lever 57, and the cam follower 58 contacts the cam rail 53c to swing the toggle stopper 53. At the end of the shaft 56, a super gear 56a corresponding to the super gear 55a attached to the rotary drive shaft of the rotary solenoid 55 is fixed, and the stopper swing mechanism 54 controls the driving force of the rotary solenoid 55 The transmission is transmitted to the shaft 56 via the super gears 55a and 56a, so that the toggle stopper 53 can swing.

By arranging the stopper swinging mechanism 54 in this manner, the toggle stopper 53 is positioned substantially horizontally at the top dead center of the cam lever 57 when the printed circuit board B is positioned and during the conveyance. Position.
In the present embodiment, as shown in FIG. 4A, a straight line connecting the axis of each rotating shaft of the camshaft 56 and the cam follower 58 supporting the horizontal plate portion 53a in a horizontal state is perpendicular to the horizontal plate portion 53a. The position of the toggle stopper 5
When a horizontal force acts on the locking portion 51 at the locking position, the cam lever 57 restricts the swing of the toggle stopper 53.

The position of the axis of the hinge pin 52, the shaft 56 and the cam follower 58 is such that the toggle stopper 53 is positioned substantially horizontally at the top dead center of the cam lever 57. 5
7 and the dimensions of the cam followers 58 (the dimensions of the cams).

A series of operations (described later) of the carriage body 2, the transfer mechanism 4, and the stopper 5 are controlled by a control device (not shown) equipped with a sequencer.

Next, the operation of the automatic transport vehicle 1 will be described.

First, the automatic transport trolley 1 is placed beside a stock trolley (not shown). At this time, the stopper is kept in the state shown in FIG. That is, the cam lever 57 is tilted so that the tip of the locking portion 51 of the toggle stopper 53 is located below the upper end of the roller 43, which is the height at which the lower end of the printed circuit board B passes.

Next, the rotary solenoid 55 is driven to rotate the shaft 56 until the tilted cam lever 57 reaches the top dead center (vertical). At this time, the cam lever 5
As 7 approaches the top dead center, the cam follower 57 in the cam rail 53c rotates to raise the toggle stopper 53 upward, and as shown in FIG. 4A, the horizontal plate portion 53a of the toggle stopper 53 Become horizontal and lock 5
1 rises beyond the upper end of the roller 43 and the toggle stopper 5
3 is positioned substantially horizontally at the locking position. In this locked position, the toggle stopper 53 is horizontally supported by the cam lever 57 at its top dead center. That is, a straight line connecting the axis of each of the rotating shafts of the cam shaft 56 and the cam follower 58 supporting the horizontal plate portion 53a in the horizontal state is positioned vertically (the fulcrum of the toggle stopper by the cam at the top dead center ( The tangent line including the contact point is located horizontally), so that when a horizontal force is applied to the locking portion 51 of the toggle stopper 53 at the locking position, the cam lever 57 restricts the swing of the toggle stopper 53. And a rotary solenoid 5 which is a driving source of the stopper 5.
No rotational force is applied directly to the rotary drive shaft 5.

In a state where the positional relationship is maintained, the printed board B is rotated by driving the motor 44 to rotate the shaft 42 and the roller 43 in cooperation with the rollers (not shown) of the stock cart. It is collectively transferred to the automatic carrier 1 side. After the transfer of the printed circuit board B is completed, the left toggle stopper 53 is operated in the same manner as the right toggle stopper 53,
The printed circuit board B is reliably positioned from both sides.

When lowering the printed board B from the automatic transport trolley 1, the automatic transport trolley 1 is placed sideways on a processing device (not shown) for performing desired processing, and the toggle stopper 53 on the right side is lowered. The printed circuit board B can be transferred to the processing device side by releasing the stop and rotating the rollers 43 in cooperation with the rollers of the counterpart processing device.

As described above, according to the automatic transport vehicle 1 of the present embodiment, the cam lever 57 positions the toggle stopper 53 at the upper dead point substantially horizontally at the locking position, and the cam lever 57 moves the toggle stopper 53 in the horizontal direction. The swing of the toggle stopper 53 when the force of
7, the rotational force is not directly applied to the rotary drive shaft of the rotary solenoid 55, which is the drive source of the stopper 5. Accordingly, it is possible to sufficiently cope with an automatic transport trolley that collectively transfers the printed circuit boards. In addition, since the rotational force is not directly applied to the rotary drive shaft, the printed circuit board B can be reliably locked even with a drive source having a relatively small drive force, such as the rotary solenoid 55. Further, the operation response of the stopper 5 can be greatly improved as compared with the case where the conventional pinion rack mechanism is adopted. In addition, since the configuration is simple, other excellent effects such as low maintenance can be obtained and the manufacturing can be performed at low cost.

In the automatic transport vehicle 1 of the above-described embodiment, the stopper 5 is provided on both the left and right sides in order to support a system for transferring the printed circuit board B received from one stock truck by the transfer mechanism 4 to the other processing device. In the case where delivery is performed by only one side, the configuration may be adopted in which only one side is provided as necessary.

A fulcrum (contact point) of the toggle stopper by the top dead center cam at the position where the toggle stopper is locked.
It is preferable that the positional relationship between the shaft and the axis of the rotary drive shaft of the cam is arranged such that the straight line connecting the fulcrum and the axis of the rotary drive shaft is perpendicular to the locking position as in the above embodiment. However, as long as it restricts the swing at the locking position of the toggle stopper, for example, it may be arranged in an inclined manner according to the dimensions of the cam and the toggle stopper.

In the automatic transport vehicle 1 of the above embodiment, the cam lever 57 is fixed to the shaft 56 and the cam follower 57 is attached to the tip of the cam lever 57 in the stopper swing mechanism 4 for swinging the toggle stopper 53. With the configuration, the cam follower 58 moves in accordance with the cam rail 53c attached to the lower surface side of the horizontal surface portion 53a of the toggle stopper 53. However, a configuration may be adopted in which the plate cam is disposed so as to be in contact with the lower surface side of the horizontal surface portion of the toggle stopper, whereby a simpler configuration can be achieved.

Also, in the automatic transport vehicle of the above embodiment,
The bogie itself could run on two rails,
The carriage body may be capable of traveling on a monorail provided with a power supply line.

In the above embodiment, the printed circuit board B
However, it goes without saying that the automatic transport vehicle according to the present invention can be applied to other transported objects other than the printed circuit board.

[0035]

According to the automatic transport vehicle of the present invention, the following effects can be obtained.

According to the invention having the first feature, it is possible to sufficiently cope with the load at the time of locking the transferred object, and it is possible to operate with a driving source having a relatively small driving force.

According to the invention having the second feature, the operation response of the stopper can be promptly and surely determined.

[Brief description of the drawings]

FIG. 1 is a cross-sectional front view of a main part of an embodiment of an automatic transport vehicle according to the present invention.

FIG. 2 is a side view in which a main part of the embodiment is viewed in cross section.

FIG. 3 is a side view in which a main part of the embodiment is viewed in cross section.

4A and 4B are diagrams illustrating an operation state of the stopper according to the embodiment, wherein FIG. 4A is a diagram illustrating a state of the stopper at a locking position, and FIG. 4B is a diagram illustrating a state of retracting the stopper from the locking position. It is.

FIG. 5 is a schematic plan view showing a transfer system using a conventional automatic transfer cart.

FIG. 6 is a sectional front view of a main part of a conventional automatic transport vehicle.

[Explanation of symbols]

1: Automatic transport trolley, 4: Transfer mechanism, 5: Stopper, 5
2: Hinge pin (horizontal axis), 53: Toggle stopper, 5
4: Stopper swing mechanism, 55: Rotary solenoid (drive source), 56: Shaft (rotation drive shaft), 57: Cam lever (cam), B: Printed circuit board (conveyance).

Claims (2)

[Claims] 1. An automatic transport vehicle having a transfer mechanism for transferring a transferred object and a stopper for locking the transferred object received by the transfer mechanism, wherein the stopper is swingable about a horizontal axis. A stopper that is supported by the stopper, a stopper swing mechanism that swings the toggle stopper to position the toggle stopper at a locking position, and a drive source that operates the stopper swing mechanism. The swing mechanism includes a cam that swings around a rotary drive shaft driven by the drive source and swings the toggle stopper, and the cam regulates the swing of the toggle stopper at its top dead center. An automatic transport trolley, wherein the toggle stopper is positioned by using the automatic transport trolley. 2. The automatic transport vehicle according to claim 1, wherein a drive source for operating said stopper swing mechanism is a rotary solenoid.