JPH05170327A - Floor side conveyance device using self-traveling body - Google Patents

Abstract

PURPOSE:To convey a self-traveling body at low speed being pushed from the back on a specific path section and make it automatically travel on a path section except the specific path section by providing a current collecting device and the pressure receiving section of a feed roller on the self-traveling body. CONSTITUTION:A self-traveling body 10 is arranged opposing to a feeder 30 at the starting end of a specific path section in a non-driven state. In addition, a feed roller 39 forcibly rotated by a rotation driving device (servo motor) 37 is made to abut on a pressure receiving body 21 to give the body 10 great driving force for conveying the body 10 on the specific path section. At this moment, the body 10 pushes a group of bodies previously conveyed and staying on the specific path section from the back for conveying them. The body 10 pushed out from the specific path section enters the starting end of another path section for actuating a current collecting device 17 and feeder 7 to automatically run on this path section.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a floor side transportation facility using a self-propelled body which is used for transporting an object to be transported on a fixed route on the floor side.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Patent Laid-Open No. 2-209309 has provided a structure for transporting a non-driving carriage on a fixed route.

In this conventional structure, the movable body conveying device is provided on the upper side of a fixed path on which the movable body can freely travel, the brake device is provided on the lower side, and the movable body conveying device for the next process is provided on the lower side of the brake device. ing. The movable body transporting device is composed of a pair of left and right feed rollers that can come into contact with the side surface of the movable body and a rotary drive device that interlocks with these feed rollers. In addition, the brake device is composed of a pair of left and right brake rollers that can come into contact with the side surface of the movable body and a torque motor that applies a reverse feed rotational force to these brake rollers. It is set to large.

According to such a conventional structure, a large propulsive force is applied to the movable body by forcibly rotating both feed rollers, which are in contact with both side surfaces of the movable body, by the rotation drive device. The movable body can be conveyed on a fixed path. At this time, the movable body pushes and conveys the movable body group which is preceding and stopped.

On the lower side of the fixed path, since the brake roller which is being rotated in the reverse direction is in contact with both side surfaces of the movable body, a propulsive force in the reverse conveying direction is applied to the movable body, and the feed rotation is performed here. Since the force is greater than the reverse feed rotational force, the brake roller is rotated to the feed rotation side according to the difference, which causes the lower movable body to be conveyed under the braking action. Therefore, the movable body group is conveyed in a dense rearward pushing state without forming a gap between the front and rear ends. Then, the movable body pushed out from the brake device is carried out to the next step by the next movable body conveying device.

[0006]

According to the above-mentioned conventional structure, since the movable body is sequentially conveyed by a plurality of movable body conveying devices on a constant path, the speed thereof is substantially constant, and therefore, the work path portions are not separated from each other. In the non-working route part, the transport becomes inefficient. Further, since the movable bodies are densely arranged and conveyed over substantially the entire length of the fixed route including the non-working route portion, a large number of expensive movable bodies are required and the equipment cost increases.

An object of the present invention is to provide a floor side transportation facility using a self-propelled body which can travel at a high speed except for a specific route portion.

[0008]

In order to achieve the above object, a floor side transportation facility using a self-propelled body of the present invention is a rail disposed on the floor side, and is supported and guided by the rail to run on a fixed route. And a self-propelled body having a current collector, the self-propelled body having a support portion for an object to be conveyed at an upper portion thereof, the self-propelled body forming a pressure receiving portion facing outward, A feed device for transmitting a running force to the self-propelled body is provided in a specific route portion in the route, and the feed device is configured by a feed roller that can be brought into contact with the pressure receiving portion and a rotary drive device that is interlocked with the feed roller. In addition, a power supply device that is slidably in contact with the current collector is disposed on a route portion other than the specific route portion.

[0009]

According to the configuration of the present invention, the feed roller forcibly rotated by the rotation drive device is placed in the non-driving state with the self-propelled body facing the feed device at the start end of the specific path portion. By bringing the self-propelled body into contact with the pressure receiving body, a large propulsive force is applied to the self-propelled body, and thus the self-propelled body can be conveyed on the specific path portion. At this time, the self-propelled body pushes and conveys the self-propelled body group that precedes and stops on the specific route portion. Then, the self-propelled body pushed out from the specific route portion by the backward push enters the starting end portion of the route portion different from the specific route portion, and causes the current collector to act on the power feeding device, so that the route portion is automatically driven. It

[0010]

An embodiment of the present invention will be described below with reference to the drawings. The pair of left and right rails 1A and 1B are arranged in a pit 2 formed on the floor side, and the upper surface thereof has the same level as that of the work floor board 3. One rail 1A has an I shape,
The other rail 1B has a plate shape. The other rail 1B is located above the plate-shaped base member 4 and is integrated via a square tubular spacer member 5 located near the center. A ridge 6 for guide is integrally formed on the upper surface of the base member 4 outside the spacer member 5.

The self-propelled body 10 has a pair of front and rear wheels 12A and 12B on both sides of a lower portion of a main body 11, and these wheels 12A and 12B are provided.
By mounting it on the rails 1A and 1B via B,
It becomes possible to travel on the fixed route 9. Here the other wheel 12B
A bracket 14 is continuously provided downward from a wheel support frame 13 that supports the rails. The bracket 14 has a plurality of lateral deviation prevention rollers 15 facing both side surfaces of the ridge 6, and a lifting surface facing the lower surface of the rail 1B. A prevention roller 16 and a current collector 17 facing the outer surface of the spacer member 5 are provided.

A traveling drive device 20 interlocking with the other front wheel 12B is provided, and the traveling drive device 20 includes a wheel support frame 13
Fixed to. The main body 11 is in the shape of a long flat frame, and the pressure receiving portions 21 are formed by the outer surfaces of both side frames, and the front end surface 22 and the rear end surface 23 are formed in contact surfaces. The front and rear portions of the pressure receiving portion 21 are formed on the inclined surface. At the front and rear of the main body 11, supporting parts 24 are respectively arranged upward, and these supporting parts 24 support a pallet 28 for the transported object. The supporting portion 24 may be of a type that directly supports the transported object. Reference numeral 25 indicates an operation box.

The fixed route 9 is formed in a loop shape by a work route portion 9a which is an example of a specific route portion and a non-work route portion 9b which is an example of a route portion other than the specific route portion.
Here, the work path portion 9a is linear, and a feed device 30 for transmitting the running force to the self-propelled body 10 is provided at the start end portion thereof, and a braking device 50 is provided at the end portion thereof, and at the same time, the feed device 30 is provided. The feeding device 55 is provided slightly better. The feeding device 30, the braking device 50, and the feeding device 55 are symmetrically arranged in pairs on the left and right.

Next, details of the feeding device 30 will be described. A vertical axis 33 is erected from a base body 31 arranged in the pit 2 outside the rails 1A and 1B via a mounting member 32. A support member 35 is swingably attached to the vertical axis 33 via a bearing 34 around a vertical axis 36.
A servo motor 37 with a speed reducer, which is an example of a rotation drive device, is arranged on the support member 35.
A feed roller 39 made of urethane, for example, is fixed to the output shaft 38 taken out from above. The servo motor 37 applies a feed rotational force A to the feed roller 39. The support member 35 integrally has a bracket 40 extending forward, and a cylinder device 41 for swinging the support member 35 is provided between the bracket 40 and the base body 31.

Therefore, by operating the cylinder device 41, the support member 35 can be swung around the longitudinal axis 36, and the feed roller 39 can be moved into contact with or separated from the pressure receiving portion 21. At that time,
In order to regulate the maximum approach position, the stopper members 42 are continuously provided from the support member 35, and the stopper members 42 are connected to each other.
A stopper body 43, which can be brought into contact with 42, is provided on the base body 31 in a positionally adjustable manner.

The braking device 50 has a structure similar to that of the feeding device 30, and is capable of coming into contact with and separating from the pressure receiving portion 21 of the main body 11 from the side, and a braking roller 51 made of urethane, for example. The reverse rotation drive device 52, which is interlocked with the braking roller 51 and applies a reverse feed rotational force B to the braking roller 51, is configured. The reverse rotation drive device 52 is composed of a torque motor or the like, and its reverse feed rotational force B is set to be smaller than the feed rotational force A of the servomotor 37. Further, the feeding device 55 has the same structure as the feeding device 30.

In the non-working path portion 9b, as shown by the phantom line in FIG. 1, a power feeding device 7 is arranged on the outer surface of the spacer member 5, and the current collecting device 17 is provided to the power feeding device 7. Can slide freely. In the non-working path portion 9b, the loading portion 56 and the unloading portion 57 of the pallet 28 on which the objects to be transported are placed.
And are provided.

Next, the operation of carrying the pallet (object to be carried) 28 in the above embodiment will be described. In the non-working path portion 9a in the fixed path 9, the traveling drive device 20 is operated by the sliding contact of the current collector 17 with the power supply device 7, whereby the self-propelled body 10 travels at a desired high speed. At this time, the wheels 12A and 12B are supported and guided by the rails 1A and 1B, the lateral deviation prevention roller 15 is guided to the ridge 6, and the floating prevention roller 16 is guided to the lower surface of the rail 1B, so that the self-propelled body is prevented. 10 runs stably without rising or slipping sideways.

The self-propelled body 10 running in this way is
The traveling drive device is reached by reaching the end portion of the non-working path portion 9a.
25 is stopped and its running is temporarily stopped. Then, the self-propelled body 10 travels again due to a signal that the starting end of the work path portion 9a is empty, etc., reaches the starting end portion of the work path portion 9a, and the front end is stopped by entering the feeding device 55. Next, in a state where the feeding device 30 side is in a receiving posture, the feeding device 55 is operated in the same manner as the feeding device 30 described later to convey the self-propelled body 10. At that time, the front end surface 22 of the sent self-propelled body 10 is brought into contact with the rear end surface 23 of the rearmost self-propelled body 10 of the self-propelled body 10 group located in the work route portion 9a in a dense train shape. Then, the group of self-propelled bodies 10 is conveyed by the feeding force of the feeding device 55.

The feeding by the feeding device 55 is stopped when the front end of the corresponding self-propelled body 10 enters the feeding device 30. At this time, the cylinder device 41 of the feeding device 30 is extended to swing the supporting member 35 outward about the longitudinal axis 36, so that the feeding roller 39 is moved to the pressure receiving portion 21 as shown by the phantom line in FIG. Away from. Therefore, the loading (running) of the self-propelled body 10 can be performed without any trouble.

After loading, the feed roller 39 is moved closer to the pressure receiving portion 21 as shown by the solid line in FIG.
Are rotatably driven by the servomotor 37. Therefore, by forcing the feed roller 39, which is being forcedly rotated, into pressure contact with the pressure receiving portion 21, the traveling force is given to the self-propelled body 10 by the rotational force A of the feed, and thus the self-propelled body 10 has a work path portion. It is conveyed C at a desired low speed on 9a and pushes and conveys a group of self-propelled bodies 10 located in a dense train shape on the work route portion 9a.

The feed amount of the self-propelled body 10 by the feed device 30 is detected by an encoder or the like, and when a predetermined feed amount is detected, the feed roller 39 is separated and the carrying work is stopped. The self-propelled body 10 reaching the end side of the work path portion 9a is braked by the braking device 50. That is, when the feeding operation of the self-propelled body 10 by the feeding device 30 is stopped, the cylinder device of the braking device 50 is contracted, and the braking rollers 51 are separated from each other. And feeder
In tandem with the loading movement of 30, the both braking rollers 51 are moved closer to each other and brought into pressure contact with the pressure receiving portion 21 by the action opposite to the above, but at this time, the braking roller 51 is on the side opposite to the feed roller 39. It is driven to rotate.

That is, both braking rollers 51 are forcedly rotated in opposite directions by driving the torque motor. Therefore, when the braking roller 51 that is forcibly rotated is brought into pressure contact with the pressure receiving portion 21, the reverse feed rotational force B acts on the self-propelled body 10 in the reverse transport direction D. Here, the feed rotational force A is applied.
Is larger than the reverse feed rotational force B, the braking roller 51 is rotated toward the feed rotation side according to the difference, and the load at that time is absorbed by the torque motor.

As a result, the self-propelled body 10 corresponding to the lower braking device 50 is conveyed while being subjected to the braking action, and therefore, between the feeding device 30 and the braking device 50, a plurality of self-propelled vehicles are driven. The body 10 will be closely pushed and aligned without creating a gap between its front and rear ends. The braking action by the braking device 50 is stopped before or after the feeding device 30 stops the conveyance.

In this way, the self-propelled body is provided in the work path portion 9a.
While 10 is carrying intermittently, and while it is stopped, the worker on the work floor board 3 or the worker who has transferred to the main body 11
Various operations are performed on the transported object on the pallet 28. At this time, since the work floor board 3 and the main body 11 are at the same level, the worker can always walk safely including the transfer.

The braking device 50 is driven by the rearward pushing as described above.
The self-propelled body 10 extruded from enters the starting end of the non-working route portion 9b and causes the current collector 17 to act on the power supply device 7, whereby the non-working route portion 9b is automatically driven. Then, in the non-working path portion 9b, the self-propelled body 10 stops facing the unloading portion 57 to unload the pallet 28, and then stops at the loading portion 56 to load a new pallet 28. Note that the pallet 28 may be wholesaled and loaded at one place.

In each feeding device 30 and feeding device 55, the corresponding servomotors 37 are electrically synchronized, and in the braking device 50, the corresponding reverse rotation drive devices 52 are electrically synchronized.

In the above embodiment, in the feeding device 30, the feeding device 55 and the braking device 50, the feeding roller 39 and the braking roller
Although all 51 are forced drive type, this is, for example, one side feed roller 39 and braking roller 51 are forced drive type,
Then, the feed roller 39 and the braking roller 51 on the other side may be of the idling type.

In the above embodiment, the fixed path 9 is formed in a loop shape in a plan view, but this is provided with lift devices facing the beginning and end of the work path portion 9a, and the upper floor or the lower part facing these lift devices. It may have a looped form in a side view in which the work route portion 9b is formed on the floor.

The specific route portion may be set on the non-working route portion 9b side, and the self-propelled body 10 may be driven to travel on the working route portion 9a side. Further, the feed roller 39 may be provided only on one side and a backup roller may be provided on the other side.

[0031]

According to the present invention having the above-mentioned structure, the rotary drive device forcibly rotates the pressure receiving body of the self-propelled body which is located at the starting end of the specific path portion and faces the feeding device and which is not driven. A large propulsive force can be applied to the self-propelled body by bringing the feeding roller in contact therewith, and thus the self-propelled body can be conveyed on the specific path portion. At that time, the self-propelled body efficiently moves the self-propelled body group that precedes and stops on the specific path portion in a dense back-pushing state without creating a gap between the front and rear ends and at a desired low speed. Can be transported.

Then, the self-propelled body pushed out from the specific route portion to the start end portion of the route portion other than the specific route portion by back pushing is
By operating the current collector on the power supply device, it is possible to automatically drive the route parts other than the specific route part at an arbitrarily high speed, thus reducing the number of expensive self-propelled units for the entire equipment. Equipment cost can be reduced and these self-propelled bodies can be used efficiently.

[Brief description of drawings]

FIG. 1 is a front view of a work path portion showing an embodiment of the present invention.

FIG. 2 is a partially cutaway side view of a main part of the work path portion.

FIG. 3 is a plan view of a main part of the work path unit.

FIG. 4 is a schematic plan view of the work route portion.

FIG. 5 is a schematic plan view of the same.

[Explanation of symbols]

 1A, 1B rail 2 pit 3 floor 7 power supply device 9 constant route 9a working route part (specific route part) 9b non-working route part (route part other than specific route part) 10 self-propelled body 11 main body 17 current collector 20 running Drive device 21 Pressure receiving part 22 Front end face 23 Rear end face 24 Support part 28 Pallet 30 Feed device 37 Servo motor 39 Feed roller 41 Cylinder device 50 Braking device 55 Feed device A Reverse feed rotational force B Feed rotational force

Claims (1)

[Claims] 1. A rail provided on the floor side and a self-propelled body which is supported and guided by the rail and can travel on a fixed route and has a current collector. The self-propelled body is formed with a pressure-receiving portion facing outward, which has a supporting portion for a conveyed object, and a feed device for transmitting a traveling force to the self-propelled body is provided on a specific path portion in the fixed path. The device is composed of a feed roller that can come into contact with the pressure receiving portion and a rotary drive device that is interlocked with the feed roller, and power feeding to which the current collector can slidably contact the path portions other than the specific path portion. Floor side transfer equipment using self-propelled body, which is equipped with a device.