JPH07257366A - Carrying facilities using movable body - Google Patents

Abstract

PURPOSE:To provide carrying facilitites which uses a movable body, manages with a feeder provided short along a part of a fixed route and enables current collection with high precision at all times. CONSTITUTION:A large traveling force is imparted to a movable body 10 by a feed device 30 in the start end part of a fixed route 3, and a braking force is imparted to the movable body 10 by a braking device 50 on the terminal end of the fixed route 3, whereby the movable body 10 group can be traveled on the fixed route 3 in the closely pushing state with the front and rear surfaces in mutually contact to form no clearance. Connectors 29A, 29B can be automatically connected to each other by bringing the following movable body 10 into contact with the last movable body 10. In a part laid along the fixed route 3, the current collecting device 14 of the movable body 10 makes contact with a feed device 60, whereby the current can be fed to the power demand parts of all the movable bodies 10 through the connectors 29A, 29B.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer facility using a movable body which is used to transfer an object to be transferred on a fixed path on the floor side.

[0002]

2. Description of the Related Art Conventionally, as a means for transporting a non-driving carriage on a fixed route, there is provided a transport facility using a movable body as disclosed in Japanese Patent Laid-Open No. 170326/1993.

In this conventional structure, a movable body which is supported and guided by rails and can travel on a fixed path and which has a current collector is provided, and the movable body is provided with a movable object support portion which can be raised and lowered and an electric type. A lifting device is provided and a pressure receiving portion facing outward is formed. A feed device that applies a feed roller to the pressure receiving portion to apply a running force to the movable body in the fixed path, and a braking device that applies a braking roller to the pressure receiving portion to apply a braking force to the movable body. And the power supply device is arranged along a fixed path.

According to this conventional structure, after the movable body is positioned facing the feeding device at the starting end of the fixed path,
By bringing the feed roller that is forcibly rotated into contact with the pressure receiving portion, a large propulsive force is applied to the movable body by the feeding device, and thus the movable body can travel on a fixed path. At that time, since the braking force is applied to the movable body by the braking device at the end portion of the constant path, the lower movable body is conveyed while being subjected to the braking action. In the above, the movable body group can travel in a dense rearward pushing state without forming a gap between the front and rear ends.

In the movable body group traveling on a fixed route in such a state, the current collector is brought into sliding contact with the power feeding device to energize the lifting / lowering device. An instruction is given to the lifting / lowering device by an operation, a remote operation, a cam operation, or the like, and the lifting / lowering device is operated, so that the support portion, that is, the transported object can be raised or lowered to an arbitrary level.

[0006]

According to the above-mentioned conventional structure, since the power feeding device is provided along the entire length along the fixed path, the equipment cost becomes high, and the breakdown or accident easily occurs. Become. In addition, the configuration in which the current collector is brought into contact with and slidably contacts the long rail-shaped power supply device from the lower side causes a state in which current collection cannot be performed accurately (non-contact state) due to bending deformation of the power supply device. Easily, and as a result, the lifting device cannot be operated as desired.

An object of the present invention is to provide a feeding device using a movable body, in which a power supply device may be provided short along a part of a fixed path and current collection can always be performed with high accuracy.

[0008]

In order to achieve the above object, a transfer facility using a movable body according to the first aspect of the present invention is supported and guided by rails and can travel on a fixed route, and has a current collector and a power demand unit. A plurality of movable bodies having, and each of these movable bodies is provided with a connector for connecting between the current collectors when the front and rear surfaces of the movable body are brought into contact with each other, and a pressure receiving portion facing outward is formed, A feed device that applies a running force to the movable body by causing a feed roller to act on the pressure receiving portion during the fixed path,
A braking device for applying a braking force to the movable body by applying a braking roller to the pressure receiving portion is provided, and a power feeding device is provided along a part of a fixed path.

According to the second aspect of the present invention, in the transfer facility using the movable body according to the first aspect of the present invention, the power feeding device is provided at a portion where the feeding device is arranged. Further, the third invention is
In the transfer facility using the movable body according to the first or second aspect of the invention, the current collector is configured by a current collecting bar provided on the movable body in a fixed path direction, and the power supply device is provided in a plurality of fixed path directions. It is composed of a power supply roller.

The fourth invention is the above-mentioned first to third inventions.
In the transport facility using a movable body according to any one of the inventions, a current collector is provided in the latter half of the traveling direction of the movable body,
The length of the power feeding area in the power feeding device is set between the length of one movable body and the length of two movable bodies.

[0011]

According to the structure of the first aspect of the present invention described above, the movable body is positioned to face the feeding device at the starting end portion of the fixed path, and then the feeding roller that is forcibly rotating is brought into contact with the pressure receiving portion. The feeding device gives a large traveling force to the movable body, so that the movable body can travel on a fixed route. At that time, since the braking force is applied to the movable body by the braking device at the terminal end of the constant route, the lower movable body is driven while being subjected to the braking action. Above, the movable body group can travel in a dense back-pushed state without causing a gap by bringing its front and rear surfaces into considerable contact with each other.

Then, in the feeding device portion, both connectors can be automatically connected by bringing the rear surface of the rearmost movable body into contact with the front surface of the next newly fed movable body. At this time, the power collector of the movable body comes into contact with the power supply device at a portion along the fixed path, so that power can be supplied to the power demand units of all the movable bodies via the connector and the like.
Therefore, various operations can be performed by giving an instruction to the power demand unit by a human operation, a remote operation, a cam operation, or the like at a desired position and operating the power demand unit.

According to the configuration of the second invention described above, in the feeding device portion, the current collector of the movable body can be brought into contact with the power feeding device, and the power demanding portion of all the movable bodies is fed with power through the connector or the like. You can

Further, according to the third aspect of the present invention described above, by bringing the current collecting bar of the movable body into contact with the power feeding roller group, it is possible to supply power to the power demanding portion of all the movable bodies via the connector or the like. At this time, the contact of the current collecting bar with the power feeding roller can always be reliably performed by, for example, the elastic biasing type of the power feeding roller.

According to the configuration of the fourth invention described above,
When the current collector of the preceding movable body is brought into contact with the power supply device, the current collector of the next subsequent movable body has not reached the power supply device and is in a non-contact state. Then, the current collector of the succeeding movable body comes into contact with the start end of the power supply device, and the current collector of the preceding movable body comes into contact with the end end of the power supply device. They can be contacted at the same time. After this process, the current collector of the preceding movable body is disengaged from the power feeding device and is in a non-contact state.

[0016]

An embodiment of the present invention will be described below with reference to the drawings. The pair of left and right rails 1 is a pit 2 formed on the floor side.
It is laid inside, and a fixed path 3 is formed by these rails 1. A power supply device (described later) is provided along the fixed path 3 in a part of the pit 2 where a feeding device (described later) is provided.

The movable body 10 is provided with a plurality of front and rear wheels 12 on both sides of the lower portion of the main body 11. By mounting the wheels 12 on the rail 1 via these wheels 12, the vehicle can travel freely on a fixed path 3. Composed. A pair of left and right collector bars (an example of a collector) 14 are attached to the lower part of the main body 11 and between the left and right wheels 12 via an insulating member 13. Both collector bars 14
Is provided in the latter half of the movable body 10 in the traveling direction,
The movable body 10 is arranged along the direction of the constant path 3 with a length l which is one third of the length L of the movable body 10. Here, the upper surface of the main body 11 has the same level as that of the work floor plate 4, both side surfaces of the main body 11 are formed into pressure receiving portions 15, and the front and rear surfaces of the main body 11 are formed into contact surfaces 16.

On the movable body 10, there are provided an object supporting portion 20 which can be moved up and down, and an electric lifting device 23. That is, the support portion 20 is in the shape of a flat frame, and the support tools 21 are provided upright from the four corners of the upper surface thereof, and the vehicle body 5 which is an example of the transported object can be supported from below through the support tools 21. ing. The lifting / lowering device 23 includes a pantograph mechanism 24 disposed between the main body 11 and the support portion 20, and the pantograph mechanism.
A ball screw type electric cylinder (an electric drive unit, which is an example of an electric power demanding unit) 25 that operates 24.

This electric cylinder 25 is connected to a control panel (an electric non-driving unit, which is an example of an electric power demanding unit) 26 mounted on the main body 11 via a branch wiring 27. In the main body 11, a pair of left and right main wirings 28 connected to the collector bar 14 are provided.
Is arranged over the entire length of the movable body length L, and the control board 26 is connected to the current collecting bar 14 via the main wiring 28. Connectors 29A and 29B are provided at both ends of the main wiring 28, and these connectors 29A and 29B are configured to be connected to each other when the contact surfaces 16 which are the front and rear surfaces of the movable body 10 are brought into contact with each other. There is.

The fixed path 3 is linear, and a feed device 30 for transmitting a traveling force to the movable body 10 is provided at the start end portion thereof, and a braking device 50 is provided at the end portion thereof, and the feed path is provided. A feeding device 55 is provided slightly better than the device 30. In addition, each of the devices 30, 50, 55 is symmetrically arranged in a pair of 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 on the outer side of the rail 1 via a mounting member 32. The vertical axis 33 is provided with a support member 35 through a bearing 34.
Is swingably mounted about a longitudinal axis 36.

A servomotor 37 with a speed reducer, which is an example of a rotary drive device, is disposed on the support member 35. A feed roller 39 made of urethane, for example, is attached to an output shaft 38 taken out upward from the servomotor 37. Is fixed. The servo motor 37 applies a feed rotational force A to the feed roller 39. A bracket 40 extending forward is integrally provided on the support member 35, 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 vertical axis 36, and the feed roller 39 can be moved into contact with or separated from the pressure receiving portion 15. At that time, in order to regulate the maximum approaching position, the support member 35 is
From the above, the stopper bodies 42 are continuously provided, and the stopper bodies 43 with which these stopper bodies 42 can abut are provided on the base body 31 so as to be positionally adjustable.

The braking device 50 has a structure similar to that of the feeding device 30, and can come into contact with and separate from the pressure receiving portion 15 of the main body 11 from the side, and a braking roller 51 made of urethane, for example. It is composed of a reverse rotation drive device 52 and the like which interlock with the braking roller 51 and apply a reverse feed rotational force B to the braking roller 51. 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, that is, A> B. Further, the feeding device 55 is the feeding device 30.
A configuration similar to is adopted.

As described above, the power feeding device 60 is arranged along the fixed path 3 at the portion where the feeding device 30 is arranged. Here, the length of the power feeding area of the power feeding device 60 is determined by the movable body 10
Between the length L of one unit and the length 2L of two units, that is, L ~
It is set to 2L. The power feeding device 60 is composed of a plurality of groups of power feeding rollers 61 arranged in the direction of the fixed path 3 provided on the ground side.

That is, in the pit 2, a pair of left and right power supply bars 63 are arranged via an insulating member 62.
The length of 63 is set to L to 2L. Brackets are installed at multiple points in the lengthwise direction on both power supply bars 63.
An arm 66 is swingably attached back and forth via a shaft 64 and a horizontal shaft 65, and the power supply roller 61 is attached to a free end of the arm 66 via a horizontal pin 67 so as to be freely rotatable.

The arm 66 is oscillated and biased toward the upper hand side of the constant path 3 by a spiral spring 68 arranged in the left-right shaft 65, and a standing position is maintained by contact with a stopper 69. Has been done. The bracket 64, the left-right direction shaft 65, the arm 66, the left-right direction pin 67, and the like are made of a conductive material.

Next, the work of transporting the vehicle body 5 in the above embodiment will be described. The movable body 10, which has traveled by the wheels 12 being supported and guided by the rails 1, reaches the start end of the fixed path 3 and its front end enters the feeding device 55 and is stopped. Next, in a state in which 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 move the movable body 10.

At this time, the fed movable body, that is, the rear movable surface 16 of the movable body 10 group, that is, the rear movable surface 16 of the movable body 10 located on the fixed path 3 in the form of a dense train. The front contact surface 16 of the succeeding movable body 10 is brought into contact with the movable body 10, and the group of movable bodies 10 is caused to travel by the feeding force of the feeding device 55.

At this time, both connectors 29A and 29B are automatically connected almost simultaneously with the contact between the contact surfaces 16. At this time, the current collecting bar 14 of the preceding movable body 10 is in contact with the power feeding roller 61 group, but the current collecting bar 14 of the subsequent movable body 10 does not reach the power feeding roller 61 group and is in a non-contact state.

The feeding by the feeding device 55 described above is stopped when the front end of the succeeding movable body 10 enters the feeding device 30. At this time, the cylinder device 41 in the feeding device 30
Is extended to swing the support member 35 outward about the longitudinal axis 36 so that the feed roller 39 is separated from the pressure receiving portion 15 as shown by the phantom line in FIG. Therefore, the subsequent movable body 10 can be carried in (running) without any trouble.

After loading, the feed roller 39 is moved closer to the pressure receiving portion 15 as shown by the solid line in FIG.
Is rotatably driven by the servomotor 37. Therefore, the feed roller 39, which is forcibly rotated, is brought into pressure contact with the pressure receiving portion 15, and the rotational force A of the feed causes the subsequent movable body 10 to move.
As a result, the following movable body 10 is conveyed C on the fixed path 3 at a desired speed, and the fixed path 3 is applied.
The group of 10 movable bodies that are located in a dense train will be driven to run.

As a result of this rearward travel, the current collecting bar 14 of the succeeding movable body 10 is brought into contact with the start end of the power feeding roller 61 group, and the current collecting bar 14 of the preceding movable body 10 is brought into contact with the last end of the power feeding roller 61 group. After passing through the process in which the current collecting bars 14 of both movable bodies 10 are simultaneously contacted with the power feeding roller 61 group in this manner, the current collecting bar 14 of the preceding movable body 10 is disengaged from the power feeding roller 61 group and becomes in a non-contact state. .

Therefore, in the fixed path 3, the power feeding device 60
Is contacted with the current collecting bar 14 of at least one movable body 10,
As a result, power is supplied to the control boards 26 of all the movable bodies 10 via the main wiring 28 and the connectors 29A and 29B. The contact of the current collecting bar 14 with the power feeding roller 61 can always be surely performed by the elastic biasing force of the structure in which the arm 66 swings downwards against the spiral spring 68.

Movable body 10 by the feeding device 30 as described above
The feed amount 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 operation is stopped.

The movable body 10 reaching the terminal side of the fixed path 3 is braked by the braking device 50. That is, when the feeding work of the movable body 10 by the feeding device 30 is stopped, the cylinder device in the braking device 50 is contracted,
Therefore, the braking rollers 51 are separated from each other. Then, in conjunction with the carry-in movement of the feeding device 30, both braking rollers 51 are moved closer to each other and brought into pressure contact with the pressure receiving portion 15 by the action opposite to the above, and at this time, the braking roller 51 is different from the feeding roller 39. It is driven to rotate on the opposite side.

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 15, the reverse feed rotational force B applies a propulsive force in the reverse conveyance direction D to the movable body 10.
Is larger than the reverse feed rotational force B, the braking roller 51 is rotated to the feed rotation side according to the difference, and the load at that time is absorbed by the torque motor.

As a result, the movable body 10 corresponding to the lower braking device 50 travels in a state in which it is subjected to the braking action. Therefore, a plurality of movable bodies 10 are provided between the feeding device 30 and the braking device 50. However, they are densely aligned in the rearward pushing state without forming a gap between the front and rear ends thereof. The braking action of the braking device 50 is stopped before and after the conveyance of the feeding device 30 is stopped.

As described above, while the movable body 10 is intermittently conveyed on the fixed path 3 and while it is stopped, the work floor board 4 is
The upper worker and the worker who has transferred to the main body 11 perform various works on the vehicle body 5. At this time, since the work floor plate 4 and the main body 11 are at the same level, walking including the transfer of the worker can always be performed safely.

Further, in the fixed path 3, as described above, the current collector bar 14 of at least one movable body 10 is brought into contact with the power supply device 60, and all the movable bodies 10 are connected via the main wiring 28 and the connectors 29A and 29B. Power is supplied to the control panel 26 of the control panel 26, and therefore, at a desired position, the control panel is operated manually by an operator on the main body 11, a remote operation by a signal from the ground side, or a cam operation provided on the ground side. By operating 26,
The electric cylinder 25 can be operated by an instruction from the control panel 26, and thus the support portion 20 can be moved up and down via the pantograph mechanism 24, and thus the vehicle body 5 can be moved up and down via the support tool 21 to reach an arbitrary level. .

The braking device 50 is driven by the rearward pushing as described above.
The movable body 10 extruded from is moved to the next step.
In each feeding device 30 and feeding device 55, the corresponding servo motors 37 are electrically synchronized, and in the braking device 50, the corresponding reverse rotation drive devices 52 are electrically synchronized.

In the above embodiment, the connectors 29A and 29B are brought into contact with each other by, for example, resisting the elastic urging force.
I'm sure you can do it. In the above embodiment, the movable body
Although the trolley type that can travel freely on the floor side is shown as 10, a type that can travel freely supported and guided by a rail on the ceiling side may be used in the present invention. Further, although the surface facing the left and right sides is shown as the pressure receiving portion facing outward, in the present invention, the surface facing upward and downward may be used.

In the above embodiment, the electric cylinder 25 and the control panel 26 are shown as the electric power demanding part, but this includes various equipments and devices such as sockets into which electric tools can be inserted.

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.

When the power feeding device 60 is arranged in the portion of the feeding device 30 as in the above embodiment, the maintenance and inspection of the power feeding device 60 and the feeding device 30 can be easily carried out collectively.
In the invention, if along a part of the constant path 3,
It may be arranged in the middle of the fixed path 3.

In the above embodiment, the length of the power feeding area of the power feeding device 60 is set between the length L of one movable body 10 and the length 2L of the movable body 10, that is, L to 2L. , Books 1 to 3
In the invention, as long as the length is along a part of the length of the fixed path 3, for example, the length may be set to 2L or more for two units. Further, in the above embodiment, the short collector bar 14 is provided in the rear half of the movable body 10.
In the third invention, the movable body 10 may be provided over the entire length, or a short one may be provided at a portion such as the front half.

In the above embodiment, the current collecting device is formed by the current collecting bar 14, and the power feeding device 60 is provided with the power feeding roller 61. However, in the first and second inventions, the current collecting device is formed by the roller. In addition, it is possible to adopt various configurations such as a reverse configuration in which the power feeding device is formed by a bar and a configuration in which both devices are formed by a bar.

[0048]

According to the first aspect of the present invention having the above-described structure, the power feeding device may be provided in a part along the fixed path,
Equipment costs can be reduced, and failures and accidents can be made less likely to occur. Further, since the power feeding device can be formed in a short length, the bending deformation of the power feeding device can be reduced, so that current collection can be accurately performed, and power feeding to the power demand unit can be performed as desired.

According to the second aspect of the invention having the above-mentioned structure, the power feeding device is arranged in the feeding device portion, so that maintenance and inspection of these devices can be easily performed collectively. Further, according to the third aspect of the present invention having the above-described structure, the contact of the current collecting bar with the power feeding roller can always be surely performed by the elastic biasing type of the power feeding roller.

Further, according to the fourth invention of the above construction, the current collector can be made compact and the length of the power feeding device can be minimized.

[Brief description of drawings]

FIG. 1 is a schematic plan view of a transfer facility using a movable body according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram of a power feeding unit in the transfer facility using the movable body.

FIG. 3 is a front view of a feeding device section in the transfer facility using the movable body.

FIG. 4 is a side view of a feeding device section in a transfer facility using the movable body.

FIG. 5 is a partially cutaway side view of a power feeding unit in the transfer facility using the movable body.

FIG. 6 is a plan view of a feeding device section in the transfer facility using the movable body.

[Explanation of symbols]

 1 rail 3 fixed path 10 movable body 14 current collector bar (current collector) 15 pressure receiving part 16 abutment surface (front and back) 23 lifting device 24 pantograph mechanism 25 electric cylinder (power demand part) 26 control panel (power demand part) ) 27 Branch wiring 28 Main wiring 29A connector 29B connector 30 Feed device 37 Servo motor (rotary drive device) 39 Feed roller 50 Braking device 51 Braking roller 52 Reverse rotation drive device 55 Feeding device 60 Feed device 61 Feed roller 63 Feed bar A feed Rotational force B Reverse feed rotational force L Length of movable body l Length of collector bar L to 2L Length of feeding area

Claims (4)

[Claims] 1. A plurality of movable bodies, each of which is supported and guided by a rail and is capable of traveling on a fixed route and having a current collector and a power demand section, are provided with front and rear surfaces of the movable bodies. A connector for connecting both current collectors when provided in contact with each other is provided, and a pressure-receiving portion facing outward is formed, and a feed roller is applied to the pressure-receiving portion to impart traveling force to the movable body during the fixed path. And a braking device that applies a braking force to the movable body by acting a braking roller on the pressure receiving portion, and a power feeding device is arranged along a part of a fixed path. Used transportation equipment. 2. The transport facility using a movable body according to claim 1, wherein the power feeding device is provided in a portion where the feeding device is provided. 3. The current collecting device is configured by a current collecting bar provided in a movable body in a fixed path direction, and the power feeding device is configured by a plurality of power feeding rollers in the fixed path direction. Alternatively, the transfer facility using the movable body according to item 2. 4. A current collector is provided in the latter half of the movable body in the traveling direction, and the length of the power supply area in the power supply device is
The transfer facility using a movable body according to any one of claims 1 to 3, wherein the movable body is set between the length of one movable body and the length of two movable movable bodies.