JPH034436B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is applicable to, for example, when automatically assembling a door to a body on an automobile assembly line.
The present invention relates to a transport device using a hanging method or a trolley method, which is used when transporting the door to an assembly site.

More specifically, the present invention includes a trolley device that is guided by a trolley guide rail and has a conveyed object support part, and a trolley drive device disposed along the trolley guide rail, and the trolley device The present invention relates to a conveyance device including a transmission device that can be freely engaged and detached between the trolley drive device and the trolley drive device.

BACKGROUND ART In the above-mentioned conveyance device, the trolley device is stopped by protruding a stopper plate in front of the transmission device.
This was accomplished by disengaging the transmission device using this stopper plate and by bringing the trolley device into contact with the stopper plate.

Problems to be Solved by the Invention According to the conventional configuration described above, for example, when the object to be transported is a door, the door can be stopped at a fixed position in the assembly area, but the stopping position cannot be corrected. . In other words, there is no problem when an automobile assembly line always assembles the same type of assembly, but if the door is always stopped at a fixed position when assembling different types, the automatic door unloading process will be smooth. Also, it is not possible to accurately supply the material to the body side for assembly.

An object of the present invention is to provide a transport device having a stop position correction device that can stop the transported object at the most preferable position depending on the type of the transported object, facing a loading/unloading area.

Means for Solving the Problems In order to solve such problems, a transport device having a stop position correction device according to the present invention includes a trolley device that is guided by a trolley guide rail and has a transported object support part, and a trolley drive device disposed along the rail, a transmission device that can be freely engaged and disengaged between the trolley device and the trolley drive device constitutes a conveyance device, and a conveyance device is configured, at a place for loading and unloading objects to be conveyed, A stop position correcting device for stopping the trolley device and correcting the stop position, and a device for detecting the type of transported object are provided, and the stop position correcting device is provided with a movable frame that is movable along the trolley guide rail. , a reciprocating drive device that reciprocates the movable frame, a trolley stop device that is provided on the movable frame and that disengages the transmission device, and a clamp device that is provided on the movable frame and acts on the trolley device side. and a control device that operates the reciprocating device based on the type detection by the type detecting device, and stops the reciprocating device when the type detecting device detects the set detected part of the conveyed object. ing.

Effects According to the configuration of the present invention described above, after the trolley device is stopped by the trolley stop device, the trolley device can be integrated with the movable frame side by acting the clamp device, and then the type of the transported object is By moving the movable frame according to the load/unloading location, the transported object can be stopped at the most preferable position depending on the type of the object.

Embodiment An embodiment of the present invention will be described below based on the drawings.

In this embodiment, as shown in FIGS. 1 to 6, an automobile body 1 is shown as an example of the main body to be assembled, and doors 2A and 2B are shown as parts to be assembled on both sides and objects to be transported. but,
The present invention is not limited to these, but can be employed in various assemblies, such as the assembly of machine tools, for example. Openings 3A and 3B are formed on both sides of the body 1 for opening doors 2A and 2B.

Reference numeral 4 denotes a hanging conveyance device (an example of a conveyance device), which includes a trolley guide rail 5, a trolley drive device rail 6 installed above the trolley guide rail 5, and a trolley device 7 guided by the trolley guide rail 5. , a hanger (an example of a conveyed object support part) 8 connected to the trolley device 7, and a trolley drive device (such as a chain conveyor) 9 guided by the trolley drive device rail 6. The front trolley of the trolley device 7 has a passive dog 11 that can swing freely in and out of engagement with the drive protrusion 10 from the trolley drive device 9, and further has a hold dog 12 that faces the passive dog 11 from behind. . The hanger 8 is for holding a pair of left and right doors 2A, 2B, with the doors 2A, 2B on both upper surfaces.
It has hook-like engagement tools 13A, 13B that can be freely engaged with the doors 2A, 2B, and abutment tools 14A, 14B that can be brought into contact with the inner surfaces of the doors 2A, 2B on both sides of the lower part. Further, a clamped portion 15 is provided at the upper part of the hanger 8, and has a steady rest roller 18 regulated by a guide rail 17 attached to the fixed frame 16 side.

A trolley 20 is disposed below the suspension conveyance device 4 and is movable on a fixed path 19 along the suspension conveyance route. At the top of this trolley 20,
A plurality of support brackets 21 are arranged in series to support and convey the body 1. In addition, the moving force of the trolley 20 is
It is applied from the floor conveyor 23 to the passive pin 22 provided on the side of the truck 20. That is, the floor conveyor 23 has a drive chain 24, and protrusions 25 that can be freely engaged with the driven pins 22 are provided at a plurality of locations on the drive chain 24. The drive chain 24 is driven by winding the drive chain 24 around a wheel that is linked to a servo motor 26, and a pulse generator 27 that is linked to the servo motor 26 is provided to control the moving speed of the truck 20. It is configured to detect the speed value signal 28 and input the detected speed value signal 28 to a controller (an example of a control device) 29.

An assembly place 30, which is an example of a place for loading and unloading objects to be transported, is formed at a predetermined location on the fixed path 19, and at the starting end of this assembly place 30, a large number of photoelectric switches are installed in a holding frame 31 that is integrated with the fixed frame 16. 3
A door vehicle type detection device (an example of a type detection device) 33 is installed, and a body vehicle type detection device is configured by attaching a large number of photoelectric switches 35 to a stand 34 from the floor above the assembly place 30. A device 36 is provided. These vehicle type detection devices 33 and 36 detect the body 1, the door 2A,
The shape and dimensions of 2B vary depending on the vehicle model, and photoelectric switches 32 and 35 simultaneously detect and operate accordingly.
The type of vehicle is detected based on changes in the number and location of the vehicle. The comparison and detection are performed by the controller 29 to which each photoelectric switch 32, 35 is connected, and when the body 1 and the doors 2A, 2B are different types, the conveyance is stopped and a warning is issued.

A trolley device 7 is installed at the starting end of the assembly place 30.
A stop position correction device 37 is provided for stopping the motor and correcting the stop position. That is, as shown in FIGS. 7 to 9, a guide rail 38 attached to the fixed frame 16 is provided along the side of the trolley drive rail 6, and a sliding body 39 is attached to the guide rail 38. A movable frame 40 guided through the fixed frame 16 is provided, and a cylinder device (an example of a reciprocating drive device) 41 for reciprocating the movable frame 40 is connected to the fixed frame 16.
It is set between. The movable frame 40 is provided with a trolley stop device 42 and a clamp device 43 that acts on the clamped portion 15 provided on the hanger 8. That is, on the lower surface of the tip of the movable frame 40,
A pair of guide plates 44 are installed in the direction of the constant path 19 in a lateral direction orthogonal to the direction of the constant path 19, and a stopper plate 45 supported and guided by these guide plates 44 is a cylinder provided on the side of the guide plate 44. By the operation of the device 46, it is possible to freely enter the front side of the passive dog 11 above the trolley guide rail 5 from the lateral direction. In addition, the movable frame 40
The clamp device 43 attached to the lower surface of the proximal end of
a bracket 47 hanging from the movable frame 40;
On this bracket 47, a pair of rotating shafts 48 are disposed in the direction of the fixed path 19 and in a transverse direction orthogonal to the fixed path 19 direction, and interlocking gears 49 that are fixed to these rotating shafts 48 and mesh with each other. It consists of clamp arms 50 attached to both rotating shafts 48 and an operating cylinder device 51 provided between one clamp arm 50 and the movable frame 40.

As shown in FIGS. 1 to 3, in the assembly location 30, movable frames 52A and 52B are provided on both sides of the fixed path 19, respectively. That is, the movable platforms 52A, 52B are supported and guided by the floor rails 53A, 53B via sliding bodies 54A, 54B, and their reciprocating movement is achieved by laying racks 55A, 55B along the floor rails 53A, 53B, and by using the racks 55A, 55B. Pinion 56A that engages 55A and 55B,
This is possible by interlocking servo motors 57A and 57B provided on movable bases 52A and 52B. Furthermore, pulse generators 58A and 58B are arranged near the servo motors 57A and 57B to detect the moving speed of the movable bases 52A and 52B.
As shown in FIG. 10, the detection signal 59 from here
Inserting A and 59B into the controller 29,
A speed difference with respect to the speed value signal 28 is calculated, and control signals 60A, 60B based on the speed difference are sent from the controller 29 to the servo motors 57A, 60B.
It is designed to be given to 57B. Both movable stands 52
On the A, 52B, door transfer robots 61A, 61B are arranged on the upper side, and screw tightening devices 62A, 62A, which are an example of assembly work equipment, are arranged on the lower side.
62B is disposed, and receiving devices 63A and 63B are further disposed on the inner surface side of the intermediate portion.

The robots 61A and 61B are mounted on a movable base 52.
Drive parts 64A, 64B arranged on A, 52B
And finally, freely movable working arms 65A, 65
B, etc., and unloading devices 66A, 66B are attached to the ends of the operating arms 65A, 65B.

Next, the operation of the above embodiment will be explained.

Doors 2A, 2 via engagement tools 13A, 13B
The hanger 8, that is, the trolley device 7, which is formed by engaging and holding B, ie, the trolley device 7, is supported and conveyed by the trolley guide rail 5 because the drive protrusion 10 of the trolley drive device 9 engages with its passive dog 11. Then, at a location where the doors 2A and 2B face the door vehicle type detection device 33 as shown in FIGS. 4 and 5, the eighth
As shown in FIGS. 9A and 9B, a stopper plate 45 projecting laterally acts on the driven dog 11 to lower the driven dog 11 and separate it from the driving protrusion 10. At the same time, the stopper plate 45 moves to the hold dog 1.
2, and the trolley device 7 is stopped at a fixed position without being driven. Door 2 stopped due to this
The vehicle types A and 2B are detected by the door vehicle type detection device 33, and the detection signal 33a is input to the controller 29. At the same time when it is detected that the trolley device 7 has stopped, both clamp arms 50 are swung by the actuating cylinder device 51 from the imaginary line to the solid line in FIG. 7 to clamp the clamped portion 15. From the controller 29, a door vehicle type signal 33b based on the detection signal 33a is given to the cylinder device 41.
1 to extend or contract. This allows the movable frame 4
0 is supported and guided on the guide rail 38 side and moves forward or backward along the trolley guide rail 5, and the trolley device 7, which is integrated with this movable frame 40 via a clamp device 43, is attached to the trolley guide rail. 5
support and guide it and move it in the same direction. Therefore, the doors 2A and 2B supported by the hanger 8 on the trolley device 7 side are moved in the same direction. When the doors 2A, 2B reach the desired positions, the door vehicle type detection device 33 detects the edge of the door, which is an example of the set detected part, and based on this, a stop signal 33c given from the controller 29 is sent to the cylinder device. 41, and then the doors 2A, 2B
is located at a location that corresponds to the vehicle type at the unloading location.

On the other hand, the truck 20 supporting the body 1 travels on a constant path 19 at a predetermined speed because its driven pin 22 engages with the protrusion 25 of the drive chain 24. The body 1 is a body vehicle type detection device 36.
The body car type is detected by facing the
The detection signal 36a is input to the controller 29. Here, the controller 29 outputs both detection signals 3
When 3a and 36b match (same vehicle type), the next step is taken, but when they do not match (different types), movement of the trolley 20 is stopped and a warning is issued.

Door 2 with modified opening position depending on the car model
Robots 61A and 61B act on A and 2B. Here, the robots 61A and 61B perform basic operations depending on the vehicle type. As a result, the doors 2A, 2B are completely unloaded from the hanger 8 via the unloading positions 66A, 66B by the action of the robots 61A, 61B, and are transported to be supplied to the body 1 as described later.

The robots 61A and 61B receive the doors 2A and 2B, and when the same kind of doors have been detected, the robots 61A and 61B match the timing to the continuously moving trolley 20, and
Both movable stands 52A, 52B are moved synchronously by driving the servo motors 57A, 57B. At that time,
The speed value of the trolley 20 is input to the controller 29 as a speed value signal 28 from the pulse generator 27, and the speed value of the movable platforms 52A, 52B is input as a detection signal 59 from the pulse generators 58A, 58B.
A, 59B are included in the controller 29. Here, in this controller 29,
Detection signals 59A and 59B for speed value signal 28
A speed difference is calculated, and control signals 60A and 60B based on the speed difference are sent to the servo motors 57A and 5.
Give to 7B. As a result, movable bases 52A, 52B
is speed-controlled so that it moves in complete synchronization with the trolley 20.

During such synchronous movement, the trolley 20
The upper body 1 is lifted and supported by both movable bases 52A and 52B via receiving devices 63A and 63B. Doors 2A and 2B are supplied to the body 1 supported in this manner. That is,
The robots 61A and 61B operate the door 2 with respect to the openings 3A and 3B using basic operations according to the vehicle type.
A and 2B are supplied. Next, the screw tightening devices 62A, 62B are operated, and the doors 2A, 2B are assembled to the body 1 by tightening the screws as desired. Thereafter, the screw tightening devices 62A and 62B are set to the standby position, and the robot 6 is released from the holding position.
1A and 61B are standby positions.

After the assembly, the body 1 is returned to the truck 20, and at this time, the truck 20 is positioned directly below the body 1 due to the synchronous movement. By lowering the receiving devices 63A, 63B, the body 1 can therefore be transferred via the support bracket 21 onto the carriage 20.

The cart 20 that has received the body 1 is moved to the next process. The empty hanger 8 is the robot 6 mentioned above.
The clamp and stopper are released in response to a signal indicating that the unloading work by 1A and 61B is completed, and the next process is started. Immediately after that, the stop position correction device 37 assumes the standby position. Furthermore, the movable platforms 52A and 52B, which have been emptied after transferring the body 1, return at high speed to receive the next doors 2A and 2B.

In the above embodiment, a hanging type conveyor is shown, but it may also be a trolley type.
Further, as a transmission device, a passive dog 11 that can be freely engaged with and detached from the drive protrusion 10 is shown, but this may be of a type in which the drive protrusion is driven to engage and disengage from the passive dog.

Effects of the Invention According to the configuration of the present invention described above, after the trolley device is stopped by the trolley stop device, the trolley device can be integrated with the movable frame side by acting the clamp device, and then the trolley device can be integrated with the movable frame side. By moving the movable frame according to the type of the transported object, the transported object can be stopped opposite the loading/unloading location at the most preferable position according to the type. Therefore, for example, when used in a car assembly line and transporting doors as objects to be transported, different types of doors can be stopped at the loading and unloading area depending on the vehicle type, and the automatic door unloading work can be performed smoothly. In addition, it is possible to accurately supply the material to the body side for assembly.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, in which Fig. 1 is a perspective view, Fig. 2 is a plan view, Fig. 3 is a front view, Fig. 4 is a side view of the door vehicle type detection section, and Fig. 5 is a front view of the same. figure,
FIG. 6 is a side view of the body vehicle type detection section, FIG. 7 is a side view of the stop position correction device section, and FIG. 8 is a front view of the same.
FIG. 9 is a plan view of the same, and FIG. 10 is a control explanatory diagram. 1...Body (main body to be assembled), 2A, 2B...
...Door (parts, objects to be transported), 4...Hanging transport device (transport device), 5...Trolley guide rail,
6...Rail for trolley drive device, 7...Trolley device, 8...Hanger (transferred object support part), 9...Trolley drive device, 10...Drive protrusion, 11...Passive dog, 12...Hold dog , 13A, 13
B...Engagement tool, 15...Clamped part, 19...
Fixed route, 20... Cart, 29... Controller, 30... Assembly location, 33... Door vehicle type detection device (type detection device), 36... Body vehicle type detection device, 37... Stop position correction device, 40... ...Movable frame, 41...Cylinder device (reciprocating drive device),
42... Trolley stop device, 43... Clamp device, 45... Stopper plate, 50... Clamp arm,
52A, 52B...Movable base, 61A, 61B...
Robot, 62A, 62B...Screw tightening device (assembly work device), 63A, 63B...Receiving device,
66A, 66B...Unloading device.

Claims (1)

[Claims] 1. A trolley device that is guided by a trolley guide rail and has a conveyed object support part, and a trolley drive device disposed along the trolley guide rail, and between the trolley device and the trolley drive device. A transport device is configured by providing a transmission device that can be freely engaged and detached from the trolley device, and a stop position correction device for stopping the trolley device and correcting the stop position, and a device for detecting the type of the transported object, at a place for loading and unloading the transported object. and a movable frame that is movable along the trolley guide rail, a reciprocating drive device that reciprocates the movable frame, and a reciprocating drive device that is provided on the movable frame and that detaches the transmission device. and a clamp device provided on the movable frame and acting on the trolley device side, the reciprocating device is actuated based on the type detection by the type detection device, and the type detection device is A conveying device having a stop position correcting device, characterized in that a control device is provided for stopping the reciprocating drive device when a set detected portion of a conveyed object is detected.