JPH0569261A - Table positioning device in unmanned carrier - Google Patents

Abstract

PURPOSE:To enable the highly accurate positioning of a table in the stop position of an unmanned carrier used for body conveyance in an automobile production line. CONSTITUTION:The table 2 of an unmanned carrier 1 is supported in relation to a machine base 4 by floating mechanism 5 in such a way as to be freely elevated and horizontally movable and further to be rotatable around a vertical axis and oscillating around a horizontal axis. The machine base 4 is provided with engaging members 19 to be engaged with the lower face of the table 2 at the moving time of the unmanned carrier 1 so as to suppress the drift of the table 2. On the ground side, there are provided table lifters 23 for lifting the table 2 of the unmanned carrier 1 stopped in the preset stop position, and downward-facing positioning pins 24 to be fitted into the positioning holes 3 of the lifted table 2 so as to position the table 2. The table 2 is thus lifted by the table lifters 23, and the positioning pins 24 are fitted into the positioning holes 3 in the state of the table 2 being separated from the engaging members 19 to position the table 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automated guided vehicle for transporting a body in an automobile production line for assembling or welding parts to the body by a working machine such as a robot. A device for positioning a table.

[0002]

2. Description of the Related Art Conventionally, in order to secure the positioning accuracy of a body with respect to a robot that assembles and welds parts, the above-described transportation system of an automobile production line is often used.
It is necessary to install a dedicated jig including a positioning device.
In this case, since it is a dedicated jig, it is difficult to cope with model changes, space changes, transfer path changes, and the like, and the initial cost also increases. Under these circumstances, in recent years, the use of an unmanned guided vehicle whose transportation locus can be easily changed and controlled for transportation of a body has been increasing. By the way, in such an automated guided vehicle,
It is usually designed to detect the stop position set on the ground side by a detector such as a photoelectric switch, but it is not always accurate because of the accuracy of the detector and the inertia of the automated guided vehicle. It is not always possible to stop at a predetermined stop position, and variations may occur in the stop position.

Therefore, there has been proposed a pallet positioning device for an automated guided vehicle which corrects the above-mentioned variations in the stop position for positioning. As such a positioning device, for example, Japanese Utility Model Laid-Open No. 3-3011 is disclosed. Can be mentioned. The positioning device of the above-mentioned publication loads a pallet onto a lift table of an automated guided vehicle, lowers the pallet together with the cargo platform after the automatic guided vehicle is stopped, and moves the pallet positioning hole to the ground side during the downward movement. The positioning pin is fitted into the provided positioning pin to perform positioning.

Further, as a positioning device other than the automated guided vehicle, it is applied to a work assembling device for assembling parts to a body conveyed by a hanger in an automobile assembly line so as to position the body and the device. The positioning device is known, and as such a positioning device, for example, JP-A-1-115789 can be cited. In the positioning device of the above publication, a positioning pin is erected on a floating table that is horizontally movable and can be raised and lowered, and the positioning pin is provided on a hanger or body while raising the floating table by a lifter. It is adapted to be positioned by being fitted into the positioning hole.

[0005]

However, in the former positioning device for an automatic guided vehicle disclosed in Japanese Utility Model Laid-Open No. 3-3011, the pallet loaded on the bed is prevented from being displaced due to vibration during transportation. Since the magnet plate is attracted by the magnet plate, the above-described misalignment correction operation at the time of positioning is performed against the attraction force of the magnet plate, so that the positioning pin and the positioning hole may strongly rub against each other and may be worn early. .. In addition, the latter Japanese Patent Laid-Open No. 1-
In the positioning device of the work assembling device disclosed in Japanese Patent No. 115789, since the floating table is pushed up by the lifter installed on the side of the work assembling device, front and rear, left and right swings around the horizontal axis generated in the work assembling device itself. The deviation due to (tilt) may remain as the deviation in the height direction.

Therefore, the present invention not only allows the table of the automatic guided vehicle to move linearly in the horizontal direction and the vertical direction, but also enables horizontal rotation and swing motion, and the table is provided on the ground side. It is a technical problem to be solved to provide a table positioning device for an automated guided vehicle, which is capable of ensuring a required positioning accuracy at a stop position of the automated guided vehicle by lifting and positioning by a table lifter. ..

[0007]

In order to solve the above problems, the present invention is configured as follows. That is, a table supported on the machine base of an automatic guided vehicle by a floating mechanism so that the table can be moved up and down, horizontally moved, and rotatable about a vertical axis and swingable about a horizontal axis. Positioning hole provided,
An engaging member that is provided on the machine base of the automated guided vehicle and that stops the movement of the table in a direction other than the ascending direction when the table descends, and is installed on the ground side of the working position. The table lifter for lifting the table, and a positioning pin that is installed on the ground side and that engages with the table when the table is lifted by the table lifter to perform positioning with respect to the working machine are characterized by being provided.

[0008]

In the table positioning device for the automatic guided vehicle according to the present invention constructed as described above, after the automatic guided vehicle is stopped at the predetermined work position, the table is lifted by the table lifter on the ground side. When the table rises, the lower surface of the table disengages from the engaging member and can freely move within the range allowed by the floating mechanism, and then the positioning hole is fitted into the positioning pin installed on the ground side. The position shift is corrected by. That is, when the automated guided vehicle is stopped, in addition to displacement due to linear displacement in the front-rear, left-right, and up-down directions, displacement due to rocking around the horizontal axis and horizontal rotation around the vertical axis (rolling, pitching, yawing) occurs. However, the table is positioned in a predetermined position in relation to the work machine in such a state that the displacement correction in all directions is performed.

[0009]

Embodiments of the present invention will be specifically described below with reference to the drawings. FIG. 1 is a front view of an automatic guided vehicle stopped at a work position, and FIG. 2 is a sectional view taken along the line AA of FIG. The automated guided vehicle 1 is driven along a magnetic tape (not shown) buried in the floor surface 2 along a predetermined transportation line (vehicle production line), and is a robot for assembling or welding parts. At a predetermined work position where work machines such as the above are arranged, the work machine is stopped at a predetermined stop position based on a stop position detection signal from a photoelectric switch (not shown).

The automated guided vehicle 1 has a body 25 which is an object to be conveyed.
A substantially square table 2 for loading (a door is shown in the figure) via a work tray 26 at a predetermined position is provided. Table 2 has positioning holes 3 at its four corners
And is supported on the machine base 4 of the automated guided vehicle 1 via the floating mechanism 5. The floating mechanism 5 includes a horizontal slide unit 6 for moving the table 2 in the front-back and left-right horizontal directions, a table 2 for moving the table 2 in the up-down direction, and swinging about the horizontal axis and rotation about the vertical axis. The upper and lower slide bearing units 15 are horizontally rotatable.

As shown in FIG. 2, the horizontal slide unit 6 includes a floating block 7, two front and rear slide shafts 8 which are parallel to each other and slidably support the floating block 7, and the floating block 7. Shaft bracket 11 that integrally holds the floating spring 9 that holds the front and rear slide shafts 8 and the spring guide shaft 10 for the front and rear slide shafts 8 and the floating spring 9 together.
And two parallel left and right slide shafts 1 that support the shaft bracket 11 so as to be slidable in the left and right directions.
2 and a floating spring 13 that holds the shaft bracket 11 at an initial position in the left-right direction. That is, the floating block 7 is supported so as to be horizontally movable back and forth and left and right, and is held at a predetermined initial position by the front and back and left and right floating springs 9 and 13. The left and right slide shafts 12 and the spring guide shafts 14 for the floating springs 13 are attached to the machine base 4
It is fixed to.

The upper and lower slide bearing units 15 are
As shown in FIG. 3, a vertical slide shaft 17 is vertically movable via a slide bush 16 in a vertical hole formed in the floating block 7, an upper end portion of the vertical slide shaft 17 and a central portion of the table 2. Aligning slide bearing 1 having a spherical slide surface interposed at the joint part 1
It consists of 8. Thus, the table 5 is linearly movable in the front-back, left-right, and up-down directions through the horizontal slide unit 6 and the vertical slide bearing unit 15 of the floating mechanism 5 configured as described above, and the vertical axis can be rotated. It is supported so as to be horizontally rotatable and swingable around a horizontal axis.

Further, a total of four fixed guide rods 19 are erected on the machine base 4 at front, rear, left and right positions. The fixed guide rods 19 of the table 5 are lowered when the table 5 is lowered. By engaging with the taper hole 21 of the rod receiver 20 vertically provided on the lower surface, an engaging member that stops the movement of the table 2 other than the upward direction of the traveling of the automatic guided vehicle 1 is configured.

On the other hand, of the work positions set on the transfer line of the automated guided vehicle 1, the work position on the side of the work machine that requires highly accurate positioning is erected on the floor surface 2. A lift cylinder 23, which is a front, rear, left, and right four table lifters for lifting the table 2 of the automated guided vehicle 1, is vertically fixed to the lower side of the gantry 22. Further, four positioning pins 24 that can be fitted into the positioning holes 3 of the table 2 are provided on the upper part of the pedestal 22 so as to face downward at the same height position. The positioning pin 24 is
When the table 2 is lifted by the lift cylinder 23 as shown by the phantom line in FIG. 1, it is formed in a cylindrical shape having the same diameter as the positioning hole 3 of the table 2 and has a conical tip. The position of the table 2 is corrected by fitting the positioning hole 3 into the positioning hole 3, and the table 2 is positioned at a predetermined specified position.

Next, the operation of the present embodiment constructed as described above will be described. When the automatic guided vehicle 1 is traveling on a predetermined route according to a magnetic tape (not shown), the table 2 is fixed at the initial position by the fixed guide rod 19 fitted in the tapered hole 21 of the rod receiver 20. , The fluctuation during driving is suppressed. And FIG.
As shown in, when the automatic guided vehicle 1 reaches a predetermined work position, the automatic guided vehicle 1 is stopped based on a stop position detection signal from a photoelectric switch (not shown). After the automatic guided vehicle 1 is stopped, when the lift cylinder 23 installed on the gantry 22 at the working position is extended, the piston rod 23a lifts the table 2 and the rod receiver 20 comes out from the fixed guide rod 19 and the table is lifted. 2 becomes free to move, and then the positioning hole 3 of the table 2 is fitted into the positioning pin 24 provided on the gantry 22 side, whereby the table 2 is positioned.

That is, when the fixed guide rod 19 is pulled out from the taper hole 21 of the rod receiver 20, the table 2 can be moved linearly in the front-back, left-right and up-down directions by the rotating mechanism 5 and can be vertically moved. Since it can be horizontally rotated about the axis and can be swung about the horizontal axis, misalignment in all directions that can occur at the stop position of the automated guided vehicle 1 is corrected. Specifically, the displacement in the horizontal direction is corrected by fitting the positioning pin 24 into the positioning hole 3, and the displacement in the height direction is corrected by the lift cylinder 23.

When the positioning work is completed, the work machine arranged at the work position carries out the work of assembling the parts to the body 25 (door) or the welding work. When the work is completed, the lift is lifted. Cylinder 23
The table 2 is lowered and returned to its original position. At this time, the guide rod 19 is fitted into the tapered hole 21 of the rod receiver 20 before reaching the lower end, and the table 2 is moved by the floating mechanism 5. It suppresses the wobbling. Further, in the present embodiment, since the positioning pin 24 is on the fixed side, there is an advantage that the positioning accuracy is higher (less deterioration with time) as compared with the case where it is on the slide side.

In this embodiment, the table lifter is constituted by the lift cylinder 23, but this may be changed to one using a pantograph.

[0019]

As described in detail above, according to the table positioning device for an automated guided vehicle according to the present invention, misalignment in all directions occurring at the stop position of the automated guided vehicle is corrected to achieve highly accurate positioning. it can. Further, when the table is positioned, the table is allowed to move in all directions by the floating mechanism, so that strong rubbing between the positioning pin and the positioning hole of the table is avoided, and their early wear can be prevented.

[Brief description of drawings]

FIG. 1 is a front view including a partial cross section of an automated guided vehicle stopped at a work position.

FIG. 2 is a sectional view taken along the line AA of FIG.

FIG. 3 is a vertical sectional view showing an upper and lower slide bearing unit.

[Explanation of symbols]

1 ... Automated guided vehicle 2 ... Table 3 ... Positioning hole 4 ... Machine stand 5 ... Floating mechanism 6 ... Horizontal slide unit 15 ... Vertical slide bearing unit 22 ... Stand 23 ... Lift cylinder 24 ... Positioning pin

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shinichi Hirose 100 Kanayama, Ichiriyama Town, Kariya City, Aichi Prefecture Toyota Body Co., Ltd. (72) Inventor Harumi Ami, Toyota City, Aichi Prefecture Toyota City In the company

Claims (1)

[Claims] 1. A table supported on a machine base of an automated guided vehicle by a floating mechanism so that the table can be moved up and down, horizontally moved, and rotatable about a vertical axis and swingable about a horizontal axis. An engaging member that is provided in a positioning hole provided in the table and a machine base of the automatic guided vehicle, and that engages with the lower surface of the table when the table descends to stop movement of the table in a direction other than the upward direction When,
A table lifter for lifting the table, which is installed on the ground side of the working position, and a positioning pin, which is installed on the ground side and is fitted to the table when the table is lifted by the table lifter to perform positioning with respect to the working machine. Table positioning device for automated guided vehicles.