JPH07291437A - Method and device for conveyance of moving body - Google Patents

Abstract

PURPOSE:To facilitate extending of a conveyor line by performing smooth conveyance without applying any extra force to each pallet, and allowing the pallet to run smoothly along the running path despite eventual mounting error of the pressure receiving part of pallet. CONSTITUTION:A plurality of pallet driving devices 5 are installed along the running path R, wherein a pair of pressure rollers 10, 11 arranged with possibility of pressure contact in such a way as pinching the pressure receiving part 4 of each pallet 2 are made swingable in the transverse direction horizontally in the condition of contacting the pressure receiving part 4. The two pressure rollers 10, 11 swing in compliance with the change in the part 4, and the extra force applied to the pallet 2 resulting from the change is absorbed by the swings. Pallets 2 are transported one by one being pushed while receiving a mean contacting pressure by operating the drive motors 14 at the same rotating speed or by controlling the motors 14 so that the traveling speeds of the pallets 2 become equal. The leading pallet 2 is separated from the subsequent 2 in the quick feed position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for transporting a moving body such as a component placement pallet along a traveling route in a component assembly line conveyor.

[0002]

2. Description of the Related Art A conventional conveyor is disclosed in Japanese Patent Laid-Open No. 2-1.
No. 028565 (Japanese Patent Application No. 63-254316) and a moving body conveying device, and Japanese Patent Application Laid-Open No. 5-85357 (Japanese Patent Application No. 4-10551 divided from the application relating to the Japanese Patent Application No. 63-254316). The moving body transporting device shown in the above application is known.

In these conveyors, a moving body drive device is provided on the upstream side of the moving body travel route, and a moving body braking device is provided on the downstream side of the moving body travel route. The moving bodies can be smoothly moved to a fast-forward position near the braking device without being separated from each other.

In the moving body driving device, the rotation of the motor is transmitted to the first pressing roller via the first vertical axis, the first driving gear and the first rotating shaft, and the second driving gear drives the second pressing gear. It is transmitted to the second pressing roller via the drive gear and the second rotating shaft, and both pressing rollers rotate in opposite directions. When the lever rotates due to the contraction of the piston rod of the air cylinder, the second rocking body rotates about the second vertical axis via the second vertical axis and the second interlocking gear, and the second interlocking gear and The first rocking body rotates about the first vertical axis via the first interlocking gear, and as a moving body by the first pressing roller on the first rocking body and the second pressing roller on the second rocking body. The pressure receiving portion of the truck is pinched and the truck travels along both rails.

[0005]

In the above-described moving body driving device, the centers of the rotating shafts of both pressing rollers are always located in line symmetry with respect to the traveling path along the extending direction of the pressure receiving portion of the carriage as the moving body. Therefore, if the extension direction of the pressure receiving part is inclined or deviated in the horizontal direction with respect to the original traveling route due to the mounting error of the pressure receiving part, etc., the pressure receiving part will generate extra force in the horizontal direction from the pressing roller. There is a risk that an excessive load may be applied to the traveling wheels of the dolly and the like, which may hinder the smooth running of the dolly. Therefore, it is necessary to mount the pressure receiving portion accurately so that the pressure receiving portion is always located at the center position between the centers of the rotating shafts of both pressing rollers, which causes the setting work to be very troublesome and increase the manufacturing cost. Was there.

In the conventional conveyor, the carriage as the moving body is conveyed by one moving body driving device on the upstream side and one moving body braking device on the downstream side. When the line is extended, the position of the moving body braking device is changed accordingly to adjust the distance between the moving body driving device and the moving body braking device, and the carrying capacity of the moving body driving device is increased. In order to improve the capacity, both devices had to be always added as a pair, which made extension work difficult.

Further, since each carriage as a moving body is conveyed while being sandwiched between the drive device and the control device, a pressure contact force in the traveling direction always acts on each carriage and it can only withstand the pressure contact force. High rigidity is required, which causes increase in manufacturing cost. Further, there is a drawback that the driving force of the moving body driving device is wasted by the moving body braking device.

Therefore, it is desirable that each carriage be pushed and sequentially conveyed while receiving an average contact pressure in the traveling direction. The following points can be mentioned as means for achieving the object.

(A) First, the moving body driving device itself is individually improved. That is, the power transmission efficiency from both pressure rollers to the pressure receiving portion is made substantially equal to each other so that both pressure rollers press the pressure receiving portion of each truck with a substantially constant force, and the traveling speed of each truck is made the same. . To do so, in the pressure roller rotation drive motor of each moving body drive device,
The rotation speed of the pressing surface of the pressing roller with respect to the pressure receiving portion needs to be the same for each moving body driving device.

(B) With the improvement of (a) above, even if the pressure receiving portion has an attachment error, it becomes possible to smoothly move the moving body without receiving an extra force in the horizontal and horizontal directions. (C) Secondly, attention is paid to the control of the rotary drive motors so that the traveling speeds of the carts are the same.

(D) Through these improvements, it becomes possible to easily extend the conveyor line. The present invention has been improved in view of the above points.

[0012]

In the moving body transport apparatus according to the first aspect of the invention, the moving body is provided with a traveling driving force pressure receiving portion, and the pressure receiving portion is sandwiched in the moving body traveling route. A moving body driving device having a pair of pressing rollers for driving the moving body that can be pressed against each other is installed. In particular, these moving body driving pressing rollers are supported so as to be swingable along the traveling locus surface of the moving body and in a direction orthogonal to the traveling path in a state where the pressing surface is in contact with the traveling driving force pressure receiving portion. Has been done.

According to a second aspect of the invention, each of the moving body drive devices is arranged at appropriate intervals along the traveling route, and
Each moving body driving device is provided with a rotation driving means for rotating the moving body driving pressing roller. In particular, the drive control means controls each of the rotary drive means so that the rotational speed of the pressing surface of the pressing roller with respect to the moving body driving force pressure receiving portion is the same for each moving body driving device.

According to the third aspect of the invention, the fast-forward position detecting means is provided for detecting that the preceding moving body on the most downstream side of the traveling route among the moving bodies to be conveyed has reached the fast-forwarding position. In particular, the drive control means controls each rotation drive means based on the fast-forward signal from the detection means, and the rotation speed of the pressing surface of the moving body driving pressing roller in the moving body driving device on the most downstream side is different from that of other moving bodies. The rotation speed on the pressing surface of the moving body driving pressing roller in the driving device is set to be higher.

A fourth aspect of the present invention relates to a moving body transporting method which employs a control method for making the traveling speeds of the respective moving bodies the same. The fifth aspect of the invention is an apparatus therefor, and the first to third aspects of the invention are as follows. It is an apparatus suitable for carrying out the method.

That is, in the fourth method invention, a plurality of moving bodies are sequentially carried in to a traveling route in which moving body driving devices for giving a traveling force to the moving bodies are arranged at appropriate intervals along the traveling direction, The moving body driving device detects the time required for the moving body to move within a predetermined range,
Each moving body drive device is controlled based on the detection time so that each moving body travels at the same speed.

Further, in the fifth aspect of the invention, in each of the moving body driving devices arranged at appropriate intervals along the moving body traveling route, the traveling driving force pressure receiving portion provided on the moving body can be pressed and sandwiched. A pair of moving body driving pressing rollers are provided, and a rotation driving means for rotating the moving body driving pressing rollers is provided. In particular, an actual traveling time detecting means for detecting a time required for the moving body to move within a predetermined range is provided, and the moving speed of each moving body is the same based on an output signal from the actual traveling time detecting means. Drive control means for controlling the rotation drive means is provided.

[0018]

In each moving body driving device of the moving body conveying apparatus according to the first aspect of the present invention, the rotation of both pressing rollers is transmitted to the pressure receiving portion of the moving body so that the moving body is conveyed along the traveling route.
Both of the pressing rollers oscillate according to the change of the pressure receiving portion, and the extra force applied to the moving body due to the change is absorbed by the oscillating. Therefore, the pressure receiving portion is pressed by both pressure rollers with a constant force, and the power transmission efficiency from both pressure rollers to the pressure receiving portion is substantially equal for each moving body.

In the moving body conveying apparatus according to the second invention, a plurality of moving bodies are conveyed at the same speed and continuously flow on the conveyor. Further, in the third invention, the preceding moving body is separated from the following moving body at the fast-forward position. In these cases, each moving body drive device according to the first invention functions similarly.

When the conveyor line is extended, it is only necessary to add a new moving body or moving body drive device to each existing moving body or each moving body drive device. In the moving body carrying method according to the fourth aspect of the invention and the moving body carrying device according to the fifth aspect of the invention, after the time required for the moving body to actually travel in a predetermined range is detected, the detected time is used. Then, the moving speed of the moving body is corrected, and the moving body is run at the same speed.

What can be said in common with each of these inventions is that the moving bodies are pushed and sequentially conveyed while receiving average contact pressures in the traveling direction.

[0022]

First Embodiment First, a parts assembly line conveyor according to a first embodiment of the present invention will be described with reference to FIGS.

A part of the conveyor is shown in FIG. 1, and a pallet 2 as a moving body is placed on both left and right rails 1 extending along a predetermined traveling route R via wheels 3 (see FIG. 6) thereof. Has been. A plate-shaped pressure receiving portion 4 having a constant width W in the left-right direction is provided along the traveling route R at the center of the lower side of the pallet 2 in the left-right direction. As shown in FIG. 8A, a plurality of pallet driving devices 5 are arranged between the left and right rails 1 at appropriate intervals in the direction along the travel route R. By the way, as shown in FIG. 2A, each pallet 2
A work support 2a is installed on the top. The first embodiment is characterized by the pallet driving device 5, which will first be described in detail.

As shown in FIGS. 1, 3 and 4, a support shaft 7 having a vertical axis 7a is erected on a base 6 fixed on the floor surface between the left and right rails 1. A left-side oscillating body 8 shown in FIG. 5 is rotatably supported on the upper side of the support shaft 7 on a horizontal plane (a plane along the traveling locus surface of the pallet 2) orthogonal to the axis 7a of the support shaft 7. In addition, a right side swinging body 9 shown in FIG. 4 is also supported on the lower side of the support shaft 7 so as to be rotatable on a horizontal plane, and these swinging bodies 8 and 9 move with respect to the movement locus of the pressure receiving portion 4 of the pallet 2. The left and right sides are extended toward the front, which is the direction of travel. Both rockers 8,
9 can rotate independently around the axis 7a of the support shaft 7. The driven pressing roller 10 is rotatably supported on the left swing body 8 in front of the support shaft 7, and the drive pressing roller 11 is rotatably supported on the right swing body 9.
Vertical axes 10a and 11a, which are the centers of rotation thereof, are parallel to the axis 7a of the support shaft 7. Further, the distance between the shaft centers 7a and 10a and the distance between the shaft centers 7a and 11a are equal to each other. These pressure rollers 1
0 and 11 have circular outer peripheral pressing surfaces 12 and 13 centered on the shaft centers 10a and 11a, and radii from the shaft centers 10a and 11a to the outer peripheral pressing surfaces 12 and 13 are equal to each other. As shown in FIG. 6, these outer peripheral pressing surfaces 12,
13 are at the same height and face each other on both the left and right sides of the movement locus of the pressure receiving portion 4 of the pallet 2.

A drive motor 14 as a rotary drive means is mounted on the right-side rocking body 9 in front of the driving pressure roller 11 in the traveling direction, and a gear box 15 on the right-side rocking body 9 is mounted as shown in FIG. The rotation of the drive motor 14 is transmitted to the drive pressing roller 11 via an internal gear train (not shown).

An air cylinder 16 is mounted on the left-side rocking body 8 in front of the driven pressure roller 10 on the running direction side, and an interlocking arm 17 is attached to a piston rod 16a thereof. The interlocking arm 17 extends across the movement locus of the pressure receiving portion 4 of the pallet 2 and extends onto the right oscillating body 9, and an interlocking pin 18 is attached to the tip of the interlocking arm 17. On the other hand, an interlocking portion 19 is provided on the right-side rocking body 9 corresponding to the interlocking pin 18, and elongated holes 20 are formed on the upper, lower, left and right surfaces of the interlocking portion 19 so as to extend in the front-rear direction.
The interlocking arm 17 is inserted into both left and right elongated holes 20, and the interlocking pin 18 is inserted into both upper and lower elongated holes 20. Therefore, when the piston rod 16a of the air cylinder 16 expands and contracts, the left and right oscillating bodies 8 and 9 through the interlocking arm 17, the interlocking pin 18, and the interlocking portion 19 center around the shaft center 7a of the support shaft 7 and Drive motor 14 and both pressure rollers 10,
The outer peripheral pressing surface 1 of both pressing rollers 11 is rotated with 11
2 and 13 are separated or approached by the same distance with respect to the movement trajectory of the pressure receiving portion 4 of the pallet 2. The interlocking pin 18 moves along the elongated hole 20 of the interlocking portion 19 as the two rocking bodies 8 and 9 are opened and closed.

The supporting roller 2 is supported by the left and right rocking bodies 8 and 9 in front of the pressing rollers 10 and 11 on the traveling direction side.
1, 22 are attached to these supporting rollers 21, 2.
2 is mounted on a supporting surface 23 on the base 6 as shown in FIGS. Therefore, as described above, when the left and right oscillating bodies 8 and 9 are opened and closed, the support rollers 21 and 22 are both supported.
Moves on the support surface 23.

In the case shown in FIG. 7A, since the pressure receiving portion 4 is accurately attached to the pallet 2, the predetermined traveling route R and the extending direction of the pressure receiving portion 4 coincide with each other. The pressure receiving portion 4 is inserted between the left and right pressing rollers 10 and 11, and the outer peripheral pressing surfaces 12 of the left and right pressing rollers 10 and 11 are compressed by contraction of the piston rod 16a of the air cylinder 16.
13 are pressed against the left and right sides of the pressure receiving portion 4 with a constant force F. When the drive pressing roller 11 is rotated by the drive motor 14, the rotation is frictionally transmitted as a linear movement of the pressure receiving portion 4, and the linear movement of the pressure receiving portion 4 is frictionally transmitted to the driven pressing roller 10 to drive the roller 10. It rotates in the opposite direction to the pressing roller 11. Therefore, the pallet 2 is conveyed along with the pressure receiving portion 4 along the traveling route R along the rails 1.

In the case shown in FIG. 7B, the extending direction of the pressure receiving portion 4 is inclined with respect to the original traveling route R by an angle θ due to an error in mounting the pressure receiving portion 4 on the pallet 2. In the present embodiment, even if the pressure receiving portion 4 has such an inclination, the left and right oscillating bodies 8 and 9 are moved while the left and right pressing rollers 10 and 11 press the pressure receiving portion 4 with a substantially constant force F. The pressure roller 10 and 11 rotate together with the pressure receiving portion 4 according to the inclination of the pressure receiving portion 4, and an excessive force in the horizontal direction orthogonal to the traveling route R is absorbed by the rocking of the pressure roller 10 and 11. Therefore, a large load is not applied to the wheels 3 on both rails 1, and the pallet 2 travels smoothly.

As described above, the pressure receiving portion 4 of each pallet 2 is pressed against the pressure rollers 10 and 11 with a substantially constant force F so that the power transmission efficiency from the pressure rollers 10 and 11 to the pressure receiving portion 4 is increased. When the pallets 2 are set to be substantially equal to each other, the traveling speeds of the pallets 2 are likely to be the same if other conditions are the same. In addition, both pressing rollers 10, 11
Uneven wear is eliminated.

The present embodiment is characterized not only by the pallet driving device 5 described above, but also by means for conveying a plurality of pallets 2 in series using a plurality of pallet driving devices 5 on a conveyor. This pallet conveying means will be described in detail.

As shown in FIG. 8, the pallet driving devices 51 and 53 for normal feeding are respectively provided in the downstream zone Z ₁ and the downstream zone Z ₃ on the conveyor and the zone Z ₂ between them, which are divided according to the work process. , 52 are arranged at appropriate intervals along the traveling route R, and a pallet driving device 54 for fast-forwarding is arranged on the downstream side of the pallet driving device 53 for normal feeding in the downstream side zone Z ₃ , and a plurality of pallets 2 are provided. The preceding pallet 2 on the most downstream side of the set of pallets
From then on, they are sequentially conveyed to each zone Z ₁ , Z ₂ , Z ₃ .

As shown in FIGS. 1 and 2B and 2C,
A coupling hook 24a is provided on the lower side of each pallet 2 near one of the rails 1 so as to be tiltable in the up-down direction about a support shaft 24b, and a locking portion 24 on the lower side of an adjacent preceding pallet 2 is provided.
It is possible to take a position where it is locked to c and a position where it is separated from the locking portion 24c. This connecting hook 24a
A compression coil spring 24d is provided between the pallet 2 and the pallet 2. Due to the elastic force of the spring 24d, the connecting hook 24a
Is a locking portion 2 on the side of the preceding pallet 2 as shown in FIG. 2 (b).
It is locked to 4c. Therefore, both adjacent pallets 2
Even if the preceding pallet 2 tries to separate from the succeeding pallet 2, the succeeding pallet 2 follows. Downstream zone Z ₃
A hook release cam 25 is provided on one rail 1. Then, as shown in FIG. 2C, when the cam roller 24e of the connecting hook 24a comes into contact with the same cam 25, the connecting hook 24a resists the elastic force of the compression coil spring 24d from the engaging portion 24c on the preceding pallet 2 side. Both pallets 2 adjacent to each other can be separated from each other.

A proximity switch 26 as a fast-forward position detecting means is mounted near the fast-forward pallet driving device 54 in the downstream zone Z ₃ . A proximity body 27 is attached to each pallet 2 as a fast-forward position detecting means detected by the proximity switch 26. The proximity switch 26 is connected to a controller 28 as drive control means. Each pallet driving device 51, 52, 53, 5
The drive motor 14 and the air cylinder 16 of No. 4 are also connected to the controller 28. When the proximity switch 26 detects the proximity body 27 of each pallet 2, the proximity switch 26 outputs a detection signal to the controller 28. The controller 28 determines whether or not there is a detection signal from the proximity switch 26. When it is determined that the detection signal from the proximity switch 26 is not output, the controller 28 rotates each drive motor 14 with the same output, and each pallet drive device 51, 52, 53, 5 is rotated.
4, the rotational speeds of the drive pressing roller 11 on the outer peripheral pressing surface 13 are the same. When it is determined that the detection signal from the proximity switch 26 is input, the controller 28
Is the output rotation speed of the drive motor 14 of the pallet driving device 54 for fast-forwarding.
The output rotation speed of the drive motors 52 and 53 is set higher than that of the drive pressure roller 1 of the pallet drive device 54 for fast-forwarding.
In No. 1, the rotation speed on the outer peripheral pressing surface 13 is higher than that of the others. The controller 28 controls the driving pressure of the air cylinder 16 of each pallet driving device 51, 52, 53, 54 and adjusts the pressure contact force of both pressure rollers 10, 11 to the pressure receiving portion 4 of each pallet 2.

Each pallet 2 is pushed by the connecting hooks 24a while being connected to each other, and sequentially reaches the upstream zone Z ₁ from the preceding pallet 2. And each zone Z _1, Z _2,
At Z ₃ , the pressure receiving portion 4 is sandwiched by the pressing rollers 10 and 11 of the pallet driving devices 51, 52, 53 and 54, and the pallets 2 are conveyed at the same speed and continuously flow on the conveyor. The Figure 8 shows the state immediately after the pressure receiving portion 4 of the preceding pallet 2 on the downstream side zone Z ₃ is sandwiched by both the pressing rollers 10, 11 of the fast-forward pallet driving device 54, the proximity switch 26 prior pallets in that state Second proximity body 27 is not detected. After that, when each pallet 2 is further conveyed, the hook releasing cam 25 acts on the connecting hook 24a of the succeeding pallet 2 connected to the preceding pallet 2 to separate the connecting hook 24a from the preceding pallet 2 and the preceding pallet 2 is moved. It is separated from the succeeding pallet 2. Immediately after that, when the proximity switch 26 detects the proximity body 27 of the preceding pallet 2 as shown in FIG. 9, the output rotation speed of the drive motor 14 in the fast-forward pallet drive device 54 increases and the outer peripheral pressing surface of the drive pressing roller 11 is increased. The rotation speed at 13 increased,
As shown in FIG. 10, the preceding pallet 2 is fast-forwarded and separated from the succeeding pallet 2. In the fast-forward state, the preceding pallet 2 moves to the next process which is separated from the downstream zone Z ₃ .

When the line is extended by such a conveyor, each existing pallet 2 and each pallet driving device 51, 5
Since a new pallet or pallet driving device is added to 2, 53, 54 and the mounting position of the proximity switch 26 only needs to be changed, the conveyor line extension work is facilitated. Further, since each pallet 2 is sequentially conveyed while receiving an average contact pressure, the pallet 2 is not required to have a particularly large rigidity. Further, even if a part of the plurality of pallet driving devices 51, 52, 53, 54 fails, if the operator carries the pallet 2 downstream from the failed part, the pallet driving device will be more damaged than the failed part. On the downstream side, the conveyor line does not stop and the pallet 2 can be conveyed. Therefore, the work on the conveyor can be continued and the work efficiency is improved.

In addition to the first embodiment, the following configuration may be adopted. (A) In the above-described embodiment, the left and right oscillating bodies 8 and 9 are independently rotatable around the axis 7a of the single support shaft 7. In place of this structure, a pair of support shafts 7 are provided, and each rocking body 8, around the axis 7a of each support shaft 7,
9 can be rotated independently. (B) Although not shown, a pair of oscillating bodies that individually move in parallel in the horizontal lateral direction orthogonal to the traveling route R are provided, and the drive pressing roller is supported on one of the oscillating bodies and on the other oscillating body. The follower pressing roller is supported. Further, between the two rocking bodies, the pressure receiving means 4 for sandwiching the pressure receiving portion 4 of the pallet 2 by both pressing rollers and making pressure contact (the air cylinder 16, the interlocking arm 17, the interlocking pin 18, the interlocking portion 19 in the above embodiment). ) Is provided. (C) In the above-described embodiment, the left and right rocking bodies 8 and 9 are independently rotatable around the shaft center 7a of the support shaft 7.
Instead of this structure, the left and right rocking bodies 8 and 9 are integrally rotatable around the shaft center 7a of the support shaft 7, and the pinching drive means described in (b) above is omitted. Instead of omitting the pinching drive means, the pressure rollers 10 and 11 on the left and right rocking bodies 8 and 9 are used.
Adjustable center-to-center distance between. Based on the same idea as above, both the left and right rocking bodies of the above (b) can be integrally moved in parallel, and the center-to-center distance adjusting means of both pressing rollers is also provided. (D) In the above-described embodiment, one of the pressure rollers 10 and 11 is on the drive side and the other is on the driven side, but either pressure roller is driven. (E) In the above-described embodiment, the proximity switch 26 and the proximity body 27 are used as the fast-forwarding position detecting means, but instead of these, a limit switch and an on / off contact body for the limit switch are used.

Considering the above-mentioned embodiments, the following concept can be understood. (A) The both pressing rollers 10 and 11 in claim 1 are
The movable body (pallet 2) is rotatably supported on rocking bodies 8 and 9 which are rockable in a direction orthogonal to the traveling route R along the traveling locus surface. By the way, although the swing direction is specified as described above, it does not mean parallel and orthogonal in a strict sense, and both pressing rollers 10 and 11 are not affected by changes in the extending direction of the pressure receiving portion 4 and the width W. It means a direction that can be followed. (B) The oscillating body of (a) above is provided with the one pressing roller 10
And a rocking body 9 that supports the other pressing roller 11, and these rocking bodies 8 and 9 rock independently. Further, the rocking bodies 8 and 9 rotate about the same axis 7a. In this way, the number of parts is reduced and the structure is simplified. (C) The pallet 2 is placed between the two rocking bodies 8 and 9 in (b) above.
Clamping drive means for sandwiching the pressure receiving portion 4 between the pressing rollers 10 and 11 and making pressure contact therewith is provided. The pinching drive means includes an expansion and contraction interlocking body (a piston rod 16a, an interlocking arm 17, an interlocking pin 18, and an interlocking portion 19) that connects the two rocking bodies 8 and 9, and both the pressing rollers 1 by expanding and contracting the interlocking body.
It is provided with a pressurizing means (air cylinder 16) for applying and releasing the pressure contact forces of 0 and 11. By this pinching drive means, it becomes easy to press both pressure rollers 10 and 11 against the pressure receiving portion 4 with a constant force F. (D) Between the two adjacent moving bodies (pallets 2), a detachable connecting part (connecting hook 24a and locking part 24c),
A means for engaging and disengaging these (compression coil spring 24d as an elastic body and hook release cam 25) is provided. With this configuration, the two adjacent moving bodies are not inadvertently separated. (E) The fast-forwarding position detecting means according to claim 3 includes a first detection unit (proximity body 27) in the moving body (pallet 2) and a second detection unit (proximity switch 26) capable of detecting the first detection unit.
It has and.

[0039]

Second Embodiment Next, the parts assembly line conveyor of the second embodiment shown in FIGS. 11 to 16 will be described focusing on the differences from the first embodiment.

As shown in FIG. 11, the upstream zone Z ₁ and the downstream zone Z ₃ on the conveyor, which are divided according to the work process, are used.
And the pallet driving devices 51, 53, 52 for normal feeding in the zone Z ₂ between them and the traveling route R at appropriate intervals.
The pallet driving device 54 for fast-forwarding is arranged on the downstream side of the pallet driving device 53 for normal feeding in the downstream side zone Z ₃ along with the plurality of pallets 2.
In the pallet group of one set, the preceding pallet 2 on the most downstream side is sequentially conveyed to each zone Z ₁ , Z ₂ , Z ₃ .

Near the normal feed pallet driving devices 51, 52, 53 on the entrance side of the zones Z ₁ , Z ₂ , Z _3, a pair of proximity sensors 29a, 29b, respectively, as actual running time detecting means are provided. 30a, 30b, 31a, 31
b is attached to each of the downstream sensors 29b, 30b,
31b denotes upstream proximity sensors 29a, 30a, 31 of each set.
It is separated from a toward the downstream side along the travel route R. Between both proximity sensors 29a, 29b and between 30a, 30b and 3 of each set
The distances L between 1a and 31b are the same, and are equal to the running direction length L of each pallet 2 of the same type.
Proximity bodies 32, 33, 34 are attached to the pallets 2 as actual travel time detecting means, and the proximity sensors 29a, 29b, 30 are moved as the pallets 2 travel.
It is adapted to be detected by a, 30b, 31a and 31b. These proximity sensors 29a, 29b, 30a,
Reference numerals 30b, 31a and 31b are connected to a controller 28 as drive control means, and when the proximity bodies 32, 33 and 34 of each pallet 2 are detected, the detection signal is output to the controller 28.

Each pallet driving device 51, 52, 5
The driving motors 14, 54, the air cylinders 16, and the proximity switch 26 for fast-forwarding are also connected to the controller 28 as in the first embodiment.

A tact time input device 35 shown in FIG.
Sets the process travel time (tact time) required for each pallet 2 having a predetermined travel direction length L to pass through each zone Z ₁ , Z ₂ , Z ₃ . Normally, this tact time is set by the manual input device 35a including a keyboard.
Is set manually by the operator. Although various types of input contents are adopted, for example, when the type of the pallet 2 is input, the proximity bodies 32, 33, and 34 of the pallet 2 having the length L in the traveling direction are connected to the upstream side proximity sensor 29 of each set.
The controller 28 stores in advance the target travel time required from being detected by a, 30a, 31a to being detected by the downstream proximity sensors 29b, 30b, 31b of each set.

Now, a pallet group including a plurality of pallets 2 as one set is successively conveyed to each zone Z ₁ , Z ₂ , Z _3, and automatic assembly work is performed according to the line control subroutine of step 100 in the main routine shown in FIG. It is done in addition to manual work. Next, each pallet 2 is assigned to each zone Z ₁ , Z
₂ , while passing through Z ₃ , step 200, step 300, step 400 and step 5 in the main routine.
At 00, processing A for correcting the moving speed of the pallet 2 is performed. In the takt time measurement subroutine of step 200 (see FIG. 14), the process B for detecting the time required for the pallet 2 to move within the predetermined range is performed. Calculation target value change subroutine of step 300 (see FIG. 15)
And the motor rotation speed calculation subroutine of step 400 and the motor rotation speed command voltage output of step 500, based on the output signal from the actual traveling time detection process B, the motor 14 is drive-controlled to control each pallet 2. Processing C for making the moving speeds the same is performed.

The takt time measuring subroutine shown in FIG. 14 is interrupted by the main routine at predetermined time intervals, which will be described in detail below. First, in step 201, the controller 28 causes the proximity sensors 29a, 29a
Based on the presence / absence of output signals from b, 30a, 31b, 31a and 31b, it is determined whether or not the tact time is being measured.
When it is determined that the tact time is not measured, the controller 28 determines in step 202 each upstream proximity sensor 29.
a, 30a, 31a are proximity bodies 32, 3 of each pallet 2
3, 34 are detected to determine whether or not they are ON.
When the controller 28 determines that it is ON, the controller 28 proceeds to step 203. If it is determined in step 201 that the takt time is being measured, the process proceeds to step 203. The state is shown in FIG. On the other hand, in step 202, the upstream proximity sensors 29a, 30a, 3
If it is determined that 1a is not turned on, step 209
Return to the main routine with.

In step 203, the controller 28 determines whether the line control is operating normally. When it is determined that the operation is normal, the controller 28 measures the tact time in step 204. Therefore, FIG.
As shown in Fig. 5, each upstream proximity sensor 29a, 30a, 31
When a detects the proximity bodies 32, 33, and 34 of each pallet 2, each pallet 2 is further transported, and the elapsed time until the middle of the transportation is counted by the timer 28a in the controller 28.

Next, in step 205, the controller 28
Determines whether each of the downstream side proximity sensors 29b, 30b, 31b detects the proximity bodies 32, 33, 34 of each pallet 2 and is turned on. When it is determined that the pallets are turned on, the controller 28 determines in step 206 that the proximity bodies 32, 33, and 34 of each pallet are the upstream proximity sensors 29a, 30a, and
The takt time measurement value TG which is the actual traveling time required to move within a predetermined range (distance L) between the 31a and the downstream proximity sensors 29b, 30b, 31b is stored. And
After outputting the measured value TG in step 207, the measurement of the takt time is completed in step 208, and step 20
At 9, the process returns to the main routine. The state is shown in FIG.

When it is determined in step 203 that the engine is not operating normally, the controller 28 ends the takt time measurement in step 208 and returns to the main routine in step 209. If it is determined in step 205 that the downstream proximity sensors 29b, 30b, 31b are not turned on, the process returns to the main routine in step 209.

In this way, the inspection during the transportation of each pallet 2 is performed.
Based on the known tact time measurement value TG, shown in FIG.
In the calculation target value change subroutine 300, each zone
Z₁, Z ₂, Z₃Pallet drive device 5 for normal feeding
Corrects the rotation speed of the drive motor 14 of 1, 52, 53
It

The calculation target value changing subroutine shown in FIG. 15 is interrupted by the main routine every predetermined time. First, in step 301, the controller 28 determines whether or not the takt time measurement is completed. If it is determined that the takt time measurement value TG is greater than the takt time target value To (the target traveling time stored in advance), the controller 28 determines in step 302. When it is determined that the measured value TG is larger than the target value To, the controller 28 calculates a negative correction value Ta (To-TG) in step 303, and then in step 304, for calculating the motor rotation speed based on this correction value Ta. Target value T
₁ is changed and the target change value T (T ₁ −Ta) is calculated. Then, in step 308, the process returns to the main routine.

On the other hand, when it is determined in step 302 that the measured value TG is not larger than the target value To, the controller 28 determines in step 305 whether the measured value TG is smaller than the target value To. The measured value TG is the target value To
If it is determined that the value is smaller than the above, the controller 28 calculates a positive target value Tb (TG-To) in step 306, and then changes the motor rotation speed calculation target value T ₁ based on this correction value Tb in step 307. Then, the change target value T (T ₁ + Tb) is calculated. Then, step 308
Return to the main routine with.

On the other hand, if it is determined in step 305 that the measured value TG is not smaller than the target value To, the controller 28 does not make any correction as described above, and step 30
At 8, the process returns to the main routine. In addition, the step 3
When it is determined in 01 that the takt time measurement is not completed, the process returns to the main routine in step 308.

Based on the change target value T thus obtained, in the motor rotation speed calculation subroutine of step 400 shown in FIG. 13, the normal feed pallet driving device 51 for each zone Z ₁ , Z ₂ , Z ₃ is carried out. , 52, 53, the rotational speeds of the drive motors 14 are calculated, and step 5 is repeated.
00 is output respectively. Therefore, each zone Z ₁ , Z
₂ , the rotation speed of the drive motor 14 is controlled for each Z ₃ ,
The moving speed of each pallet 2 is the same. Therefore, each pallet 2 is pushed and sequentially conveyed while receiving an average contact pressure.

After that, as in the case of the first embodiment, the preceding pallet 2 is fast-forwarded and separated from the succeeding pallet 2. In addition to the above second embodiment, the following configuration may be adopted.

(A) In the second embodiment described above, the time required for each pallet 2 to move within a predetermined range is measured,
Although the drive motor 14 is controlled by directly comparing the actual traveling time with the target traveling time, the actual traveling time is used to calculate a comparison target such as the actual traveling speed of each pallet 2 and the measured value of the comparison target is calculated. And a target value are compared, and feedback control similar to that in the second embodiment is performed.

(B) In the above-described second embodiment, the proximity sensors 29a, 29b, 30 are used as the actual traveling time detecting means.
a, 30b, 31a, 31b and proximity bodies 32, 33, 34
However, instead of these, a limit switch and an on / off contact member for the limit switch are used.

(C) In the second embodiment described above, the distance L between the upstream side proximity sensors 29a, 30a, 31a and the downstream side proximity sensors 29b, 30b, 31b is set to the pallet 2's.
Although the length L is equal to the traveling direction length L, the distance and the length are different from each other. In this case, the takt time measurement value TG in the second embodiment is corrected by utilizing the ratio between the distance and the length.

(D) In the above-described second embodiment, the case where the pallets 2 having the same length L in the traveling direction are continuously conveyed has been described, but when it is necessary to convey a group of pallets having different lengths. There is also. In such a case, as shown in FIG. 11 of the second embodiment, the tact time input device 3
If the operator manually inputs the manual input device 35a of No. 5,
Since there is no time to spare, there are many points that are deficient in work. Therefore, the tact time input device 35 is provided with the automatic input device 35b, and the pallet length detector 36 is connected to the device 35b. In this detector 36, each pallet 2 has an upstream zone Z.
_The length L of each pallet 2 in the traveling direction is detected before being loaded into the pallet ₁ . As such a detector 36, for example, the proximity sensor used in the above-described embodiment, a limit switch or a photoelectric switch in place of the proximity sensor, or a bar code reading for detecting the type of pallet corresponding to the traveling direction length in advance is used. Use a vessel. The automatic input device 35b outputs the length L of the pallet 2 in the traveling direction to the controller 28 based on the input signal from the pallet length detector 36. In this case, in the takt time measurement subroutine shown in FIG. 16, the controller 28 detects the traveling direction length L of the pallet 2 in step 201a,
In step 207, the takt time measurement value TG is corrected and output based on the ratio α between the detected length and the reference length.

[0059]

Other Embodiments Another embodiment shown in FIG. 17 shows a pallet conveying direction changing device in a conveyor, which is an intersection 40 between a first conveyor 37 and a second conveyor 38, and a second conveyor 38 and a second conveyor 38. Intersection 4 with conveyor 39
1, the pallet driving device 55 is installed on each of the inlet side and the outlet side. Each pallet drive 5
5 is a modification of the pallet driving device 5 shown in FIGS. 1 to 7 in the first embodiment, and is mainly different from that of the first embodiment in that a reciprocating air cylinder 42 is additionally provided. different. Then, when the piston rod 42a of the reciprocating air cylinder 42 advances and retracts, the spindle 7 shown in the first embodiment.
And the left and right rocking bodies 8 and 9 which rotate around the support shaft 7.
And the pressure rollers 10, 1 on both the rockers 8, 9.
1. The drive motor 14 and the air cylinder 16 integrally reciprocate so as to approach and separate from the intersections 40 and 41. By this reciprocating movement, the pallet 2 is fast-forwarded from the entrance side to the intersections 40 and 41, and from the cross-sections 40 and 41 to the exit side.

Considering the above-mentioned embodiments, the following concept can be understood. (A) The actual traveling time detecting means in claim 5 is the first detecting portion (proximity object 32, 3) in the moving object (pallet 2).
3, 34) and a pair of second detection units (proximity sensors 29a, 29b, 30a, 30b, 31a, 3) arranged along the traveling direction of the moving body so as to detect the first detection unit.
1b). Further, a pair of first detection units is provided on the moving body along the traveling direction thereof, and a second detection unit capable of detecting these first detection units is provided. With these configurations,
It is easy to detect the time required for the moving body to move within the predetermined range.

(B) In the drive control means according to the fifth aspect, the actual traveling time (tact time measured value T) in the above (a) is used.
G) and means for comparing the target traveling time (tact time target value T ₀ ) to determine which is larger,
And means for correcting the output of the rotation drive means (drive motor 14) of each moving body drive device based on the difference.

[0062]

According to the moving body transport apparatus of the first aspect of the present invention, even if the pressure receiving portion of the moving body has a mounting error, an extra force applied to the moving body due to the mounting error is oscillated by both pressing rollers. It can be absorbed by the movement and the moving body can be smoothly run along the running route. In addition to the above effects of the first invention, the apparatus of the second invention facilitates the work of extending the conveyor line. Further, in the device of the third aspect of the present invention, the preceding moving body can be further fast-forwarded and smoothly separated from the following moving body.

According to the moving body transport method of the fourth invention and the moving body transport apparatus of the fifth invention, the moving speeds of the moving bodies are the same, and the moving bodies have an average contact pressure in the traveling direction. It is pushed while receiving and is conveyed smoothly in sequence. This effect is further exerted in combination with the function of the first invention.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing one pallet driving device in a parts assembly line conveyor according to a first embodiment.

2 (a) is a partial perspective view showing a work support on the pallet shown in FIG. 1, and FIG. 2 (b) is a partial side view showing a connected state of both adjacent pallets in a pallet connecting means. FIG. 7C is a partial side view showing the connection release state.

FIG. 3 is a partial plan view showing only the pallet driving device shown in FIG.

FIG. 4 is a partially cutaway side view of the pallet driving device as seen from the line XX of FIG.

5 is a partially cutaway side view of the pallet driving device as seen from the line YY of FIG.

FIG. 6 is a partially cutaway front view of the pallet driving device, the pallet and the like as seen from the line ZZ in FIG.

FIG. 7A is a plan view showing the conveying action of the pressure receiving portion by both pressing rollers when the extending direction of the pressure receiving portion of the pallet matches the traveling route in the first embodiment, and FIG.
[Fig. 6] is a plan view showing a conveying action when they do not coincide with each other.

FIG. 8A is a partially cutaway schematic plan view showing a state where a preceding pallet is separated from a succeeding pallet in a pallet group connected to each other and conveyed in the first embodiment. Yes, (b) is a schematic plan view of the conveyor.

9A is a partially cutaway schematic plan view of the conveyor in which the pallet is removed from the state of FIG. 8 and the proximity switch detects a proximity body of the preceding pallet. ) Is a schematic plan view of the conveyor.

10 (a) is a partially cutaway schematic plan view of the conveyor in which the pallet is removed from the state of FIG. 9 immediately after the preceding pallet is separated from the succeeding pallet,
(B) is a schematic plan view of the conveyor.

FIG. 11 (a) is a partially cutaway schematic plan view showing a state in which a proximity body of each pallet is detected by each upstream proximity sensor in the second embodiment, and the pallet is removed from the conveyor;
(B) is a schematic plan view of the conveyor.

FIG. 12A is a partially cutaway schematic plan view showing a state in which a pallet group is conveyed from the state of FIG. 11 and a proximity body of each pallet is detected by each downstream proximity sensor, and the pallet is removed from the conveyor; (B) is a schematic plan view of the conveyor.

FIG. 13 is a flowchart showing a line control main routine according to the second embodiment.

14 is a flowchart showing a tact time measurement subroutine in the main routine of FIG.

15 is a flowchart showing a calculation target value changing subroutine in the main routine of FIG.

16 is a flowchart showing another example of the tact time measurement subroutine in the main routine of FIG. 13 in the second embodiment.

FIG. 17 is a schematic plan view showing a state in which a pallet driving device according to another embodiment is installed in a pallet transport direction changing portion of a component assembly line conveyor.

[Explanation of symbols]

2 ... Pallet as moving body, 4 ... Pressure receiving portion, 5 (51,
52, 53, 54, 55) ... Pallet driving device, 8 ... Oscillating body, 9 ... Oscillating body, 10 ... Follower pressing roller, 11 ... Driving pressing roller, 12 ... Outer peripheral pressing surface, 13 ... Outer peripheral pressing surface, 14
Drive motor as rotary drive means 26 Proximity switch as fast-forward position detection means 28 Controller as drive control means R R Travel route 29a, 29b,
30a, 30b, 31a, 31b ... Proximity sensors as actual traveling time detecting means.

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] October 12, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] 0032

[Correction method] Change

[Correction content]

As shown in FIG. 8, the pallet driving devices 51 and 53 for normal feeding are respectively provided to the upstream zone Z ₁ and the downstream zone Z ₃ on the conveyor and the zone Z ₂ between them, which are divided according to the work process. , 52 are arranged at appropriate intervals along the traveling route R, and a pallet driving device 54 for fast-forwarding is arranged on the downstream side of the pallet driving device 53 for normal feeding in the downstream side zone Z ₃ , and a plurality of pallets 2 are provided. The preceding pallet 2 on the most downstream side of the set of pallets
From then on, they are sequentially conveyed to each zone Z ₁ , Z ₂ , Z ₃ .

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 11

[Correction method] Change

[Correction content]

FIG. 11

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kenji Manabe 1 Toyota-cho, Toyota-shi, Aichi Toyota Motor Co., Ltd.

Claims (5)

[Claims] 1. A moving body drive device having a pair of pressing rollers for driving a moving body, which are press-contactable so as to sandwich a running drive force pressure receiving portion provided on the moving body in a traveling path of the moving body. The body drive pressing roller is supported so as to be swingable along a traveling locus surface of the moving body and in a direction orthogonal to a traveling route in a state where the pressing surface is in contact with the traveling driving force pressure receiving portion. And a moving body transport device. 2. The moving body drive device according to claim 1 is arranged at appropriate intervals along a traveling route, and each of the moving body drive devices is provided with a rotation driving means for rotating a moving body drive pressing roller, and 2. A moving body transporting device, comprising drive control means for controlling each rotation driving means so that the rotation speed of the pressing roller against the pressure receiving portion is the same for each moving body driving device. 3. A fast-forward position detecting means for detecting that a preceding moving body on the most downstream side of the traveling route of the conveyed moving bodies has reached a fast-forward position, and based on a fast-forward signal from the detecting means, the maximum forward-moving position is detected. Control each rotation driving unit so that the rotation speed of the pressing roller for moving body driving in the moving body driving device on the downstream side is higher than the rotation speed of the pressing surface of the pressing roller in another moving body driving device. The moving body transport apparatus according to claim 2, further comprising drive control means for performing the operation. 4. A plurality of moving bodies are sequentially carried into a traveling route in which moving body driving devices that give traveling force to the moving bodies are arranged at appropriate intervals along the traveling direction, and the moving bodies are driven by the respective moving body driving devices. A moving body characterized by detecting a time required for the moving body to move within a predetermined range and controlling each moving body drive device based on the detected time so that each moving body travels at the same speed. Transport method. 5. A pair of movable body driving presses, which can be press-contacted so as to sandwich a traveling drive force pressure receiving portion provided in the movable body in each movable body drive device arranged at appropriate intervals along the movable body traveling route. In addition to providing a roller, a rotation driving means for rotating the moving body driving pressing roller is provided, and further, an actual running time detecting means for detecting a time required for the moving body to move within a predetermined range is provided. A moving body transport apparatus comprising drive control means for controlling the rotation driving means so that the moving speeds of the moving bodies become equal based on an output signal from the actual traveling time detecting means.