JPH044092B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention can support a pair of pallets in the front and back,
The present invention also relates to a self-propelled carrier device which is equipped with a loading/unloading device for taking out and pulling in both pallets from the sides separately.

Conventional structure and its problems Conventionally, in the above-mentioned self-propelled carrier device, a pair of front and rear support and guide devices are provided to support a pair of pallets, and a support guide device corresponding to each support and guide device is provided. A total of two loading/unloading devices were installed. However, with such a conventional configuration, since there is a pair of loading/unloading devices, the entire device becomes large and expensive, and furthermore, the control becomes complicated.

OBJECTS OF THE INVENTION It is an object of the present invention to provide a self-propelled carrier device that can take in and take out pallets on both sides with a single loading and unloading device, and that can easily handle the electric wires of the loading and unloading device. shall be.

Composition of the Invention In order to achieve the above-mentioned object, the self-propelled carrier device of the present invention includes a support guide device that moves and guides the pallet in a direction perpendicular to the direction of the fixed route, on the upper part of the trolley that can freely reciprocate on a fixed route. are provided in a pair in the constant path direction, a movable body movable in the constant path direction is provided between these support guide devices, and a retractable body movable in the direction perpendicular to the constant path direction is provided above the movable body. a movable body drive device that drives the movable body and a movable body drive device that drives the movable body, and an engagement tool is provided on each side of the movable body, and the pallet Engaged portions are provided on both sides of the engaging member to which the engaging tool can be freely engaged and detached.

According to this configuration, one set of movable parts is moved by moving the movable body in a fixed path direction to engage and disengage the engaging tool from the engaged part of the pallet, and by moving the extending and retracting body in and out. Pallets can be moved in and out of both supporting and guiding devices separately using the body and the retractable body. In addition, since the egress/egress body drive device is installed on the trolley, it is easier to dispose of the electric wires than when it is installed on the egress/egress body or a movable body, and there is no interference between the egress/egress body drive device and the frame of the trolley. There is no need to consider this, and the moving body or movable body can be made smaller.

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

FIG. 1 is a schematic plan view of processing equipment using a self-propelled carrier device according to an embodiment of the present invention, and FIG. 2 is a side view of the self-propelled carrier device according to an embodiment of the present invention, where 1 is a constant This is a trolley that can freely travel back and forth on route A. Two setup devices 2 are provided at one end of one side of the constant path A, and three processing devices 3 are provided in the remaining portion of the one side. A large number of pool portions 4 are formed at the other end of the constant path A. The trolley 1 is mounted on a frame 6 via wheels 5, and is capable of reciprocating along a fixed route A by means of a trolley drive device 7. and trolley 1
At the top of the pallet are supporting and guiding devices 9 and 1 for moving and guiding the pallet 8 in a direction perpendicular to the direction of the constant path A.
A pair of 0's are provided in the direction of the constant path A. In other words, both support and guide devices 9 and 10 include a pair of support rails 11 and 12, support rollers 13 and 14 that are attached to these support rails 11 and 12 and support the lower surface of pallet 8, and It is comprised of guide rollers 15 and 16 that are attached and guide both sides of the pallet 8. Each support rail 11 in both support guide devices 9, 10,
Between 12 and 12, there is a guide mechanism 17, 1 on the trolley 1 side.
8, lock pins 19 and 20 that can be raised and lowered freely;
Cylinder devices 21 and 22 are provided to move the lock pins 19 and 20 up and down, and a lock hole 23 is formed in the pallet 8 so that the lock pins 19 and 20 can be freely engaged and detached. A movable body 24 movable in the direction of a fixed path A is provided between the support and guide devices 9 and 10. That is, Figures 3 and 4
As shown in detail in the figure, a pair of guide rails 25 along a fixed path A are installed on the trolley 1 in orthogonal directions. is attached so as to be movable in the direction of a fixed path A. Between the movable body 24 and the trolley 1, there is a first cylinder device 27 for moving the movable body 24 between one position and a neutral position in the direction of the constant path A, and a first cylinder device 27 for moving the movable body 24 between one position and a neutral position in the direction of the fixed path A, and a first cylinder device 27 for moving the movable body 24 between one position and a neutral position in the direction of the fixed path A. A second cylinder device 28 is provided. That is, both cylinder devices 27, 2
8 has a normal structure consisting of bodies 27a, 28b, pistons (not shown), piston rods 27b, 28b, etc., and has bodies 27a, 28b on the front and back sides of a support plate 29 which also serves as a guided member.
The piston rod 2
7b and 28b are made to protrude outward in opposite directions.
The piston rod 27b of the lower first cylinder device 27 is connected to the bracket 30 from the truck 1 via the pin 31, and the piston rod 28b of the upper second cylinder device 28 is connected to the movable body 24.
It is connected via a pin 33 to a bracket 32 from above. Further, the support plate 29 is movably supported via a plurality of idle rollers 35 attached to a support bracket 34 from the truck 1 side. Although not shown, on the trolley 1 side, there are a proximity switch for neutral position detection, a proximity switch for one-sided position detection,
On the other hand, a proximity switch for position detection is provided, and one detected object that can freely oppose these is attached to the movable body 24 side. Therefore, the second cylinder device 28
Under the condition that the first cylinder device 2
By expanding and contracting the movable body 7, the movable body 25 can be reciprocated between one position and the neutral position.
Under the condition that the cylinder device 27 is retracted, the second
By expanding and contracting the cylinder device 28, the movable body 24 can be reciprocated between the neutral position and the other position. A multistage fork type retractable body 36 is installed on the movable body 24, and this retractable body 36
a first stage fork 36a that is guided by the movable body 25 and can move in and out in a direction perpendicular to the fixed path A;
It consists of a second stage fork 36b that is guided by the first stage fork 36a and can move forward and backward in the same direction, and its movement in and out is performed by a moving body drive device 37 attached to the truck 1. That is, as shown in detail in FIGS. 5 and 6, an electric motor 3 with a reduction gear is attached to the truck 1 via a bracket 38.
The gear 40 externally fitted and fixed to the output shaft 39a of No. 9 is
It meshes with a gear 43 that is externally fitted and fixed to one end of a rotating shaft 42 rotatably supported by the bracket 38 via a bearing 41, and is externally fitted and fixed to the other end of the rotating shaft 42. The gear 44 is externally fitted and fixed to the end of a spline shaft 46 which is rotatably supported by the bracket 38 via a bearing 45.
It meshes with 7. A gear 48 having flanges 48a on both sides in the axial direction is fitted onto an intermediate portion of the spline shaft 46 so as to be movable in the axial direction. ) is engaged with a pinion gear 49 which is externally fitted and fixed to a rotary shaft (not shown) which is rotatably mounted. This pinion gear 49 meshes with a rack 50 fixed to the first stage fork 36a, and the second stage fork 36b moves in and out of the first stage fork 36a by a well-known transmission mechanism (not shown). I got bored and was forced to leave. Therefore, even if the movable body 24 supporting the retractable body 36 moves left and right as shown by the imaginary line in FIG. The power is always transmitted to the retractable body 36.
Further, as shown in detail in FIG. 7, protruding engagement members 5 are provided on both sides of the middle portion of the second stage fork 36b.
1,52 are installed. Further, on both sides of the pallet 8, there are provided engaged parts 53, 54 having recessed parts into which the engaging tools 51, 52 can be freely engaged and detached. In addition, the setup device 2 and each pool section 4 include the support rollers 13, 14 and guide rollers 15, 1.
Support rollers and guide rollers (not shown) similar to 6 are provided, and the pallet 8 is configured to be able to be delivered to and from the cart 1. The processing device 3 has a machine stand 55 at the front, and a processing position B is formed in the center of the machine stand 55, and a receiving position C and a receiving position C are distributed along a certain path A direction with this processing position B inside. A take-out position D is formed. Also, on the machine stand 55, there are three positions B,
Can be moved freely across C and D, and each position B, C, D
A movable table 56 which can be stopped freely is provided, and the pallet 8 can be positioned and placed on this movable table 56. The pitch of the centers of the supporting and guiding devices 9 and 10 is determined so that they coincide with the receiving position C and the taking-out position D at the same time.
57 is a jig installed on the pallet 8, and this jig 57 holds the workpiece (not shown).
This may also be done by holding the workpieces directly on the pallet 8.

Next, the operation of the above embodiment will be explained. The workpiece (raw material) is attached to the jig 57 of the pallet 8 located in the setup device 2. Then, the trolley 1 is stopped running, and the support guide device 9 on one end side is made to face the setup device 2. Then, using the movable body 24 and the retractable body 36, the pallet 8
is pulled onto the support and guide device 9, and the drawing operation is the same as the removal operation from the processing device 3, so a description thereof will be omitted here. After the pallet 8 is pulled in, the lock pin 19 is raised by the operation of the cylinder device 21, and the pallet 8 is locked onto the truck 1 by fitting into the lock hole 23. Next, the trolley 1 is moved so that the support and guide device 9 supporting the pallet 8 is opposed to the receiving position C. At this time, the other empty supporting and guiding device 10
is opposite to the take-out position D. At that time, the pallet 8 holding the processed workpieces is moved to the movable table 56.
It is now at the take-out position D. Note that when the trolley 1 arrives early, the machining is in progress at the machining position B, and after the machining, the movable table 56 is moved to the take-out position D. The extraction operation is performed as follows. That is, in a state in which the first cylinder device 27 is contracted to the limit and the second cylinder device 28 is extended to the limit, the movable body 24 is in the neutral position where both the engaging members 51 and 52 of the retractable body 36 are in a non-engaged state. It is in. In this state, the projecting and retracting body 36 is moved to move the engaging member 52 to the engaged portion 5 shown by the imaginary line in FIG.
Position it outside of 3. Next, the second cylinder device 28 is contracted to the limit corresponding to the stroke _S2 , and the movable body 24 is moved to the other end of the fixed path A, so that the engagement tool 52 is covered as shown by the imaginary line B. The engaging portion 53 is engaged with the engaging portion 53 . When the retractable body 36 is retracted, the pallet 8 is pulled in as a unit since the engaging tool 52 and the engaged portion 53 are engaged.
It is then drawn onto the support and guide device 10. Thereafter, the lock pin 20 is raised and fitted into the lock hole 23, and the pallet 8 is locked onto the truck 1 side. At this time, the empty movable table 56 moves on the machine table 56 and is stopped at the receiving position C. Next, by extending the second cylinder device 28 to its limit, the movable body 24 can be moved to one end of the fixed path A, and placed in the neutral position shown by the solid line in FIG. Then, the first cylinder device 27 is extended to its limit in accordance with the stroke _S1 , and the movable body 24 is further moved toward one end. As a result, as shown by virtual line A in Figure 7,
The engaging tool 51 is engaged with the engaged portion 24 of the pallet 8 supported by the support guide device 9. Concurrently with this, the lock pin 21 is lowered and the pallet 8 is unlocked. Then, the retractable body 36 is moved to project and the pallet 8 is pushed onto the movable base 56 at the receiving position C. Next, the first cylinder device 27 is contracted to the limit, the movable body 24 is moved to the other end side, the engagement tool 51 is extracted from the engaged portion 54, and is fixed at the neutral position, and then the retractable body 36 is moved in and out. The movable table 54 is moved to the processing position B, and the processing device 3 performs a new processing operation. Trolley 1
is run to the setup device 2, a pallet 8 holding processed workpieces is delivered to the setup device 2, and a new pallet 8 is received.

The pool section 4 is used when unmanned work at night or manual work in the setup device 2 is slow. That is, the pallet 8 is moved between the processing device 3 and the pool section 4 and between the setup device 2 and the pool section 4 by the same action as described above on the side of the cart 1. It will be done.

The number of processing devices 3 is arbitrary, and when different operations are to be performed, the pallet 8 can be moved between the processing devices 3 using the trolley 1. Further, the number of setup devices 2 is also arbitrary, and in this case, one setup device 2 may be used for attaching and removing the workpiece, or it may be divided into two for attachment and one for removal.

According to this embodiment, the movable body 24 is moved in the direction of the fixed path A to engage and disengage the engaging members 51 and 52 from the engaged parts 53 and 54 of the pallet 8, and the movable body 24 is moved in the direction of the fixed path A. 36, the pallets 8 can be taken in and out of the supporting and guiding devices 9 and 10 separately using one set of the movable body 24 and the movable body 36. Compared to a system that uses two loading and unloading devices, the entire system can be made smaller and cheaper. In addition, since the egress/egress body drive device 37 is installed on the trolley 1, the movable body or egress/egress body 3
6, there is no need to consider interference with the frame of the trolley 1, etc., making it easy to handle the wires, reducing the labor required for assembly work, and downsizing the movable body 24 or the retractable body 36. can. In the case of this embodiment, the work of switching the movable body 24 between the three positions of the position where it acts on both sides and the neutral position is as follows:
This can be done by operating both cylinder devices 27, 28 separately, in which case the operation is as follows:
Since the extension limit and the contraction limit of both cylinder devices 27 and 28 can be utilized, high accuracy can be expected while an inexpensive cylinder device with a normal structure can be used. This is due to the fact that in other conventional types of multi-stage cylinder devices that are equipped with three or more detectors and are stopped at each position, the variation in stopping at the neutral position is particularly large. As mentioned above, highly accurate stopping is possible and control is also simple.

Effects of the Invention As explained above, according to the present invention, pallets can be taken in and out of both supporting and guiding devices separately using one set of movable body and retractable body. The whole can be made smaller and cheaper than the original. In addition, since the movable body moves relative to the trolley, if a moving body drive device is installed on the movable body or the moving body, interference with the frame of the trolley must be considered, and the handling of electric wires is also complicated. However, in the present invention, since the moving body driving device is installed on the trolley, the above-mentioned problems are not caused, and the number of steps required for assembly work can be reduced, and the movable body or the moving body can be made smaller.

[Brief explanation of drawings]

FIG. 1 is a schematic plan view of processing equipment equipped with a self-propelled carrier device according to an embodiment of the present invention, FIG. 2 is a side view of the self-propelled carrier device according to an embodiment of the present invention, and FIG. FIG. 4 is a side view of the main parts of the self-propelled carrier device, FIG. FIG. 7 is a plan view showing the relationship between the retractable body and the pallet in the self-propelled carrier device. DESCRIPTION OF SYMBOLS 1... Truck, 8... Pallet, 9, 10... Support guide device, 24... Movable body, 27, 28... Cylinder device, 36... Exit/exit body, 37... Exit/exit body drive device, 39 ...Electric motor, 40, 43, 47, 4
8... Gear, 42... Rotating shaft, 46... Spline shaft, 49... Pinion gear, 50... Rack,
51, 52...Engagement tool, 53, 54...Engaged portion.

Claims (1)

[Claims] 1 At the top of a trolley that can freely travel back and forth on a fixed route,
A pair of support and guide devices for guiding the movement of the pallet in a direction perpendicular to the direction of the constant path are provided in the direction of the constant path, and a movable body that can move in the direction of the constant path is provided between both support and guide devices. At the top,
A retractable body movable in a direction perpendicular to a fixed path direction is provided, a movable body drive device for driving the movable body and a movable body drive device for driving the movable body are provided on the trolley, and the 1. A self-propelled carrier device, characterized in that engaging tools are provided on both sides of the retractable body, and engaged parts to which the engaging tools can be freely engaged and detached are provided on both sides of the pallet.