Cart transport device
Patent Information
- Application Number
- JP2021042384
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- Filing Date
- 2021-03-16
- Publication Date
- 2025-02-28
- Estimated Expiration
- 2041-03-16
Abstract
Description
[Technical field]
[0001] The technology of the present disclosure relates to a carriage transport device. [Background technology]
[0002] There is known a carriage transport device that moves a carriage at a constant speed (Patent Documents 1 to 3). In manufacturing sites, an assembly line process in which products are manufactured is carried out on such carriages. [Prior art documents] [Patent documents]
[0003] [Patent Document 1] Japanese Patent Application Publication No. 6-119047 [Patent Document 2] Japanese Patent Application Publication No. 9-290330 [Patent Document 3] JP 2008-105835 A Summary of the Invention [Problem to be solved by the invention]
[0004] However, such a carriage transport device has a problem in that the device scale is large and the installation is complicated.
[0005] The disclosed technology has been made in consideration of the above points, and has an object to provide a cart transport device that is easy to install. [Means for solving the problem]
[0006] According to one aspect of the present disclosure, a carriage transport device includes: Upper row An arm and the Upper row Multiple arms are supported Even numbered top row A hook and Upper row Translate the arm parallel to the conveying direction Upper row An actuator; Lower row An arm and the Lower row Multiple arms are supported Odd-numbered lower rowA hook and Lower row The arm is translated parallel to the conveying direction. Lower row An actuator and a pole fixed to a dolly are provided with the plurality of Even numbered top row A hook and the plurality of Odd-numbered lower row The hooks are alternately hooked on each other so that the cart is transported in the transport direction. Upper row The actuator and Lower row The actuator is provided with a control device that controls the actuator. Effect of the Invention
[0007] The disclosed cart transport device can facilitate installation of the device. [Brief description of the drawings]
[0008] [Figure 1] FIG. 1 is a block diagram showing a carriage transport device according to a first embodiment. [Diagram 2] FIG. 2 is a front view showing the unit main body. [Diagram 3] FIG. 3 is a plan view showing the unit main body. [Figure 4] FIG. 4 is a plan view showing the first upper hook. [Diagram 5] FIG. 5 is a perspective view showing a cart transported by the cart transport device of the first embodiment. [Figure 6] FIG. 6 is a front view showing the dolly properly set on the unit body. [Figure 7] FIG. 7 is a block diagram showing the first carriage transport unit. [Figure 8] FIG. 8 is a plan view showing the unit main body when the lower arm is placed at the initial position. [Figure 9] FIG. 9 is a plan view showing the unit main body when the relative position value is equal to the upper stage preceding position value. [Figure 10] FIG. 10 is a plan view showing the unit main body when the relative position value is equal to the lower stage approach position value. [Figure 11]FIG. 11 is a plan view showing the unit main body when the relative position value is equal to the lower section overtaking position value. [Figure 12] FIG. 12 is a plan view showing the unit main body when the upper arm is placed at the initial position. [Figure 13] FIG. 13 is a plan view showing the unit main body when the relative position value is equal to or less than the lower stage preceding position value. [Figure 14] FIG. 14 is a front view showing the dolly set in the unit body. [Figure 15] FIG. 15 is a plan view showing the second upper hook on which the front transport pole is hooked. [Figure 16] FIG. 16 is a plan view showing the fourth upper hook retracting. [Figure 17] FIG. 17 is a plan view showing the carriage to be transported. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0009] Hereinafter, a cart transport device according to an embodiment disclosed in the present application will be described with reference to the drawings. Note that the following description does not limit the technology of the present disclosure. In addition, in the following description, the same components are given the same reference numerals, and duplicated descriptions will be omitted. EXAMPLES
[0010] As shown in FIG. 1, the cart transport device 1 of the first embodiment includes a master control device 2, a first cart transport unit 3-1, a second cart transport unit 3-2, and a third cart transport unit 3-3. FIG. 1 is a block diagram showing the cart transport device 1 of the first embodiment. The master control device 2 is a computer, and includes a storage device 5 and a CPU (Central Processing Unit) 6, which are not shown. The storage device 5 records a computer program installed in the master control device 2, and records information used by the CPU 6. The CPU 6 processes information and controls the storage device 5 by executing the computer program installed in the master control device 2. The CPU 6 further communicates with other computers connected to the master control device 2 so as to be able to transmit information, by executing the computer program installed in the master control device 2.
[0011] The first carriage transport unit 3-1 is equipped with a slave control device 7-1 and a unit body 8-1. The second carriage transport unit 3-2 is equipped with a slave control device 7-2 and a unit body 8-2. The third carriage transport unit 3-3 is equipped with a slave control device 7-3 and a unit body 8-3. The slave control devices 7-1, 7-2, and 7-3 are connected to the master control device 2 so as to be capable of transmitting information.
[0012] Fig. 2 is a front view showing the unit body 8-1. The unit body 8-1 includes a frame 11, a caster guide 12, an upper arm 14, an upper actuator 15, a lower arm 16, and a lower actuator 17. The frame 11 is placed on an installation surface 18 on which the unit body 8-1 is installed, and is fixed to the installation surface 18. Fig. 3 is a plan view showing the unit body 8-1. The caster guide 12 is formed in a rod shape, is disposed along a straight line parallel to the X-axis, and is fixed to the frame 11. The X-axis is parallel to the plane along which the installation surface 18 lies.
[0013] The upper arm 14 is formed in a rod shape, arranged along a straight line parallel to the X-axis, and supported by the frame 11 so as to be translatable parallel to the X-axis. The upper actuator 15 translates the upper arm 14 parallel to the X-axis under the control of the slave control device 7-1. The lower arm 16 is formed in a rod shape, arranged along a straight line parallel to the X-axis. The lower arm 16 is arranged below the upper arm 14 as shown in FIG. 2. The lower arm 16 is supported by the frame 11 so as to be translatable parallel to the X-axis as shown in FIG. 3. The lower actuator 17 translates the lower arm 16 parallel to the X-axis under the control of the slave control device 7-1.
[0014] The unit body 8-1 further includes a plurality of upper hooks 21 and a plurality of lower hooks 22. The plurality of upper hooks 21 are arranged in a direction parallel to the X-axis on the Y-axis side of the upper arm 14 and are supported by the upper arm 14. The Y-axis is parallel to the plane along which the installation surface 18 is aligned and perpendicular to the X-axis. The plurality of upper hooks 21 include a plurality of odd-numbered upper hooks 21-1, 21-3, 21-5 and a plurality of even-numbered upper hooks 21-2, 21-4, 21-6. The plurality of odd-numbered upper hooks 21-1, 21-3, 21-5 include a first upper hook 21-1, a third upper hook 21-3, and a fifth upper hook 21-5. The even-numbered upper hooks 21-2, 21-4, 21-6 include a second upper hook 21-2, a fourth upper hook 21-4, and a sixth upper hook 21-6.
[0015] The lower hooks 22 are arranged in a direction parallel to the X-axis on the Y-axis side of the lower arm 16 and are supported by the lower arm 16. The lower hooks 22 include odd-numbered lower hooks 22-1, 22-3, 22-5 and even-numbered lower hooks 22-2, 22-4, 22-6. The odd-numbered lower hooks 22-1, 22-3, 22-5 include a first lower hook 22-1, a third lower hook 22-3, and a fifth lower hook 22-5. The even-numbered lower hooks 22-2, 22-4, 22-6 include a second lower hook 22-2, a fourth lower hook 22-4, and a sixth lower hook 22-6.
[0016] As shown in Fig. 4, the first upper hook 21-1 includes a bracket 23, a hook body 24, a metal stopper 25, a urethane stopper 26, and a spring 27. Fig. 4 is a plan view showing the first upper hook 21-1. The bracket 23 is formed in a plate shape, arranged along a plane perpendicular to the Z axis, and fixed to the upper arm 14. The Z axis is perpendicular to the plane along which the installation surface 18 is located, that is, perpendicular to the X axis and perpendicular to the Y axis. A first restriction hole 28 and a second restriction hole 29 are formed in the bracket 23.
[0017] The hook body 24 is formed in a plate shape and is disposed along a plane perpendicular to the Z axis. A part of the hook body 24 overlaps with a part of the bracket 23 in the Z axis direction. The hook body 24 is supported by the bracket 23 so as to be rotatable about a rotation shaft 31 so as to be disposed in a standby position, a protruding position, or a retracted position. The rotation shaft 31 is parallel to the Z axis. When disposed in the standby position, the hook body 24 moves toward the retracted position by rotating clockwise in FIG. 4. When disposed in the standby position, the hook body 24 moves toward the protruding position by rotating counterclockwise in FIG. The hook body 24 is formed with a recess 32 and a sliding surface 33. The recess 32 is formed at the end of the hook body 24 on the X axis direction side. The sliding surface 33 is formed at the end of the hook body 24 on the Y axis direction side.
[0018] Metal stopper 25 is disposed inside first restriction hole 28 and fixed to hook body 24. When hook body 24 is disposed in the protruding position, metal stopper 25 comes into contact with the inner wall of first restriction hole 28, preventing hook body 24 from rotating counterclockwise around rotation axis 31 in FIG.
[0019] The urethane stopper 26 is made of urethane. The urethane stopper 26 is disposed inside the second restriction hole 29 and fixed to the hook body 24. The urethane stopper 26 comes into contact with the inner wall of the second restriction hole 29 when the hook body 24 is disposed in the standby position. When the hook body 24 is disposed in the protruding position, the urethane stopper 26 comes into contact with the inner wall of the second restriction hole 29 and elastically deforms, applying an elastic force to the hook body 24 so that the hook body 24 moves toward the standby position.
[0020] The spring 27 is formed of a torsion coil spring. One end of the spring 27 is fixed to the bracket 23, and the other end of the spring 27 is fixed to the hook body 24. The spring 27 elastically deforms and applies an elastic force to the hook body 24 so that the hook body 24 moves toward the protruding position.
[0021] The other hooks of the multiple upper tier hooks 21, which are different from the first upper tier hook 21-1, are formed in the same manner as the first upper tier hook 21-1. The multiple upper tier hooks 21 are arranged so that the recesses 32 are arranged at equal intervals and are attached to the upper tier arm 14. That is, the multiple upper tier hooks 21 are arranged so that the distance between the recesses 32 of the first upper tier hook 21-1 and the recesses 32 of the second upper tier hook 21-2 is equal to a predetermined pole-to-pole distance (for example, 625 mm). The multiple upper tier hooks 21 are further arranged so that the distance between the recesses 32 of the second upper tier hook 21-2 and the recesses 32 of the third upper tier hook 21-3 is equal to the pole-to-pole distance. The multiple upper tier hooks 21 are further arranged so that the distance between the recesses 32 of the third upper tier hook 21-3 and the recesses 32 of the fourth upper tier hook 21-4 is equal to the pole-to-pole distance. The upper hooks 21 are further arranged such that the distance between the recess 32 of the fourth upper hook 21-4 and the recess 32 of the fifth upper hook 21-5 is equal to the inter-pole distance. The upper hooks 21 are further arranged such that the distance between the recess 32 of the fifth upper hook 21-5 and the recess 32 of the sixth upper hook 21-6 is equal to the inter-pole distance.
[0022] Each of the lower hooks 22 is formed in the same manner as the first upper hook 21-1. Similarly to the upper hooks 21, the lower hooks 22 are also arranged at equal intervals and attached to the lower arm 16. Furthermore, the recesses 32 provided on each of the lower hooks 22 overlap with the recesses 32 provided on each of the lower hooks 22 in the Z-axis direction when the upper arm 14 is arranged in the initial position and when the lower arm 16 is arranged in the initial position.
[0023] As shown in FIG. 5, the cart 51 transported by the cart transport device 1 includes a frame 52, a plurality of swivel casters 53, a front fixed caster 54, a rear fixed caster 55, a front transport pole 56, and a rear transport pole 57. FIG. 5 is a perspective view showing the cart 51 transported by the cart transport device 1 of the first embodiment. The plurality of swivel casters 53 are attached to the lower part of the frame 52. FIG. 6 is a front view showing the cart 51 properly set in the unit body 8-1. The cart 51 is placed on the installation surface 18 via the plurality of swivel casters 53. The plurality of swivel casters 53 reduce the force that moves the cart 51 along the installation surface 18 by rotating.
[0024] 5, the front transport pole 56 is disposed on the rear side of the frame 52 along a straight line parallel to the Z axis, disposed at the front of the rear side of the frame 52 in the traveling direction, and fixed to the frame 52. The rear transport pole 57 is disposed on the rear side of the frame 52 behind the front transport pole 56 in the traveling direction, and disposed at the rear of the frame 52 along a straight line parallel to the Z axis. The rear transport pole 57 is further disposed and fixed to the frame 52 such that the distance between the front transport pole 56 and the rear transport pole 57 is equal to the pole-to-pole distance.
[0025] The front fixed caster 54 is disposed on the rear side of the frame 52 and attached to the frame 52. The rear fixed caster 55 is disposed on the rear side of the frame 52, rear of the front fixed caster 54 in the traveling direction, rear of the front transport pole 56 in the traveling direction, and attached to the frame 52.
[0026] FIG. 7 is a block diagram showing the first carriage transport unit 3-1. The first carriage transport unit 3-1 further includes an upper sensor 41 and a lower sensor 42. The upper sensor 41 is formed from an encoder attached to the upper actuator 15, and measures the x coordinate of the upper arm 14. The x coordinate of the upper arm 14 indicates the position of the upper arm 14 in the X-axis direction. The lower sensor 42 is formed from an encoder attached to the lower actuator 17, and measures the x coordinate of the lower arm 16. The x coordinate of the lower arm 16 indicates the position of the lower arm 16 in the X-axis direction. The position of the recess 32 provided in the first upper hook 21-1 in the X-axis direction is equal to the position of the recess 32 provided in the first lower hook 22-1 in the X-axis direction when the x coordinate of the upper arm 14 is equal to the x coordinate of the lower arm 16.
[0027] The slave control device 7-1 is a computer, and includes a storage device 43 and a CPU 44, not shown. The storage device 43 records the computer program installed in the slave control device 7-1, and records information used by the CPU 44. The CPU 44 processes information and controls the storage device 43 by executing the computer program installed in the slave control device 7-1. The CPU 44 further controls the upper actuator 15, the lower actuator 17, the upper sensor 41, and the lower sensor 42 by executing the computer program installed in the slave control device 7-1. The CPU 44 further communicates with the master control device 2 by executing the computer program installed in the slave control device 7-1.
[0028] The second carriage transport unit 3-2 and the third carriage transport unit 3-3 are formed in the same manner as the first carriage transport unit 3-1. The unit body 8-2 is arranged so that the upper arm 14 of the unit body 8-1 and the upper arm 14 of the unit body 8-2 are arranged in the same straight line. That is, the unit body 8-2 is arranged so that the lower arm 16 of the unit body 8-1 and the lower arm 16 of the unit body 8-2 are arranged in the same straight line. The distance between the recess 32 of the first upper hook 21-1 of the unit body 8-2 and the recess 32 of the sixth upper hook 21-6 of the unit body 8-1 is equal to the pole-to-pole distance when the upper arm 14 of the unit body 8-2 and the upper arm 14 of the unit body 8-1 are arranged in the initial position. The unit body 8-3 is arranged so that the upper arm 14 of the unit body 8-2 and the upper arm 14 of the unit body 8-3 are arranged in the same straight line. The distance between the recess 32 of the first upper hook 21-1 of the unit body 8-3 and the recess 32 of the sixth upper hook 21-6 of the unit body 8-2 is equal to the pole-to-pole distance when the upper arm 14 of the unit body 8-3 and the upper arm 14 of the unit body 8-2 are positioned in their initial positions.
[0029] [Operation of the cart transport device 1] When a user wishes to transport a cart 51 using the cart transporting device 1, the user starts the cart transporting device 1. When the cart transporting device 1 is started, the slave control device 7-1 controls the upper stage sensor 41 to measure the position where the upper arm 14 is to be positioned, and controls the lower stage sensor 42 to measure the position where the lower arm 16 is to be positioned. The slave control device 7-1 further calculates a relative position value based on the positions of the upper arm 14 and the lower arm 16. The relative position value indicates a value obtained by subtracting the x coordinate of the lower arm 16 from the x coordinate of the upper arm 14.
[0030] When the carriage transport device 1 is started, the slave control device 7-1 further acquires the transport arm information recorded in the storage device 43 from the storage device 43. The slave control device 7-1 controls the upper stage actuator 15 or the lower stage actuator 17 to translate the arm not indicated by the transport arm information out of the upper stage arm 14 and the lower stage arm 16 at a retreat speed in the opposite direction to the transport direction, that is, to retreat the arm. The transport direction coincides with the X-axis direction. The value of the retreat speed is equal to 3.5 times the value of the transport speed. For example, the value of the transport speed is equal to 10 mm / sec, and the value of the retreat speed is equal to 35 mm / sec. For example, when the transport arm information indicates the upper stage arm 14, the slave control device 7-1 controls the lower stage actuator 17 to retreat the lower stage arm 16 at the retreat speed.
[0031] By retracting, the lower arm 16 is placed in the initial position as shown in Fig. 8. Fig. 8 is a plan view showing the unit main body 8-1 when the lower arm 16 is placed in the initial position. When it is detected that the upper arm 14 has been placed in the initial position, the slave control device 7-1 stops the translation of the upper arm 14 and places the upper arm 14 in the initial position. When it is detected that the upper arm 14 has been placed in the initial position, the slave control device 7-1 further transmits an alignment signal to the master control device 2 indicating that the upper arm 14 has been placed in the initial position.
[0032] Similarly to the slave controller 7-1, the slave controller 7-2 also places the arm not indicated by the transport arm information of the upper arm 14 and the lower arm 16 of the second carriage transport unit 3-2 in the initial position and transmits a positioning signal to the master controller 2. Similarly to the slave controller 7-1, the slave controller 7-3 also places the arm not indicated by the transport arm information of the upper arm 14 and the lower arm 16 of the third carriage transport unit 3-3 in the initial position and transmits a positioning signal to the master controller 2. After receiving the positioning signals transmitted from the slave controllers 7-1, 7-2, and 7-3, the master controller 2 transmits a start signal to the slave controllers 7-1, 7-2, and 7-3.
[0033] When the slave controller 7-1 receives the start signal transmitted from the master controller 2, it controls the upper-stage actuator 15 to translate the upper-stage arm 14 in the conveying direction at the conveying speed, i.e., to move the upper-stage arm 14 forward. As the upper-stage arm 14 moves forward, the relative position value becomes equal to or greater than the upper-stage leading position value (e.g., 720 mm), as shown in Fig. 9. Fig. 9 is a plan view showing the unit main body 8-1 when the relative position value is equal to the upper-stage leading position value.
[0034] After receiving the start signal transmitted from the master controller 2, the slave controller 7-1 advances the lower arm 16 at a high speed passing speed when it is determined that the relative position value is equal to or greater than the upper stage leading position value. The value of the high speed passing speed is greater than the value of the conveying speed, and is equal to, for example, twice the value of the conveying speed, i.e., 20 mm / sec. As the upper arm 14 advances, the relative position value becomes equal to or less than the lower stage approach position value (e.g., 635 mm) as shown in Fig. 10. Fig. 10 is a plan view showing the unit body 8-1 when the relative position value is equal to the lower stage approach position value.
[0035] When it is determined that the relative position value has become equal to or lower than the lower-stage approach position value, the slave control device 7-1 advances the lower-stage arm 16 at a low overtaking speed. The value of the low overtaking speed is greater than the value of the conveying speed and less than the high overtaking speed, and is, for example, equal to 1.1 times the value of the conveying speed, i.e., equal to 11 mm / sec. As the upper-stage arm 14 advances, the relative position value becomes equal to or lower than the lower-stage overtaking position value (for example, 620 mm) as shown in FIG. 11. FIG. 11 is a plan view showing the unit body 8-1 when the relative position value is equal to the lower-stage overtaking position value.
[0036] When it is determined that the relative position value has become equal to or less than the lower stage overtaking position value, the slave control device 7-1 causes the upper stage arm 14 to retreat at the retreat speed and causes the lower stage arm 16 to advance at the transport speed. When the lower stage arm 16 advances at the transport speed, the slave control device 7-1 controls the storage device 43 to update the transport arm information so that the transport arm information indicates the lower stage arm 16.
[0037] As the upper arm 14 retreats, it is placed in the initial position as shown in Fig. 12. Fig. 12 is a plan view showing the unit main body 8-1 when the upper arm 14 is placed in the initial position. When it is detected that the upper arm 14 has been placed in the initial position, the slave control device 7-1 stops the translation of the upper arm 14 and places the upper arm 14 in the initial position. When it is detected that the upper arm 14 has been placed in the initial position, the slave control device 7-1 further transmits an alignment signal to the master control device 2 indicating that the upper arm 14 has been placed in the initial position.
[0038] Like the slave controller 7-1, the slave controller 7-2 also transmits an alignment signal to the master controller 2 when it is detected that the upper arm 14 of the second car transport unit 3-2 has been placed at the initial position. Like the slave controller 7-1, the slave controller 7-3 also transmits an alignment signal to the master controller 2 when it is detected that the upper arm 14 of the third car transport unit 3-3 has been placed at the initial position. After receiving the alignment signals transmitted from the slave controllers 7-1, 7-2, and 7-3, the master controller 2 transmits a start signal to the slave controllers 7-1, 7-2, and 7-3.
[0039] As the lower arm 16 advances, the relative position value becomes equal to or less than the lower stage leading position value (e.g., -720 mm) as shown in Fig. 13. Fig. 13 is a plan view showing the unit main body 8-1 when the relative position value becomes equal to or less than the lower stage leading position value. After receiving the start signal transmitted from the master control device 2, the slave control device 7-1 advances the upper stage arm 14 at a high passing speed when it is determined that the relative position value has become equal to or less than the lower stage leading position value. As the lower arm 16 advances, the relative position value becomes equal to or more than the upper stage approaching position value (e.g., -635 mm).
[0040] When it is determined that the relative position value has become equal to or greater than the upper stage approach position value, the slave control device 7-1 advances the upper stage arm 14 at a low overtaking speed. The relative position value becomes equal to or greater than the upper stage overtaking position value (for example, -620 mm) as the lower stage arm 16 advances. When it is determined that the relative position value has become equal to or greater than the upper stage overtaking position value, the slave control device 7-1 retreats the lower stage arm 16 at a retreating speed and advances the upper stage arm 14 at the transport speed. When the upper stage arm 14 advances at the transport speed, the slave control device 7-1 controls the storage device 43 to update the transport arm information so that the transport arm information indicates the upper stage arm 14.
[0041] The lower arm 16 is placed at its initial position by retreating. When the slave control device 7-1 detects that the lower arm 16 has been placed at its initial position, it stops the translation of the lower arm 16 and places the lower arm 16 at its initial position. When the slave control device 7-1 detects that the lower arm 16 has been placed at its initial position, it further transmits an alignment signal to the master control device 2 indicating that the lower arm 16 has been placed at its initial position.
[0042] Like the slave controller 7-1, the slave controller 7-2 also transmits an alignment signal to the master controller 2 when it is detected that the lower arm 16 of the second car transport unit 3-2 has been placed at the initial position. Like the slave controller 7-1, the slave controller 7-3 also transmits an alignment signal to the master controller 2 when it is detected that the lower arm 16 of the third car transport unit 3-3 has been placed at the initial position. After receiving the alignment signals transmitted from the slave controllers 7-1, 7-2, and 7-3, the master controller 2 transmits a start signal to the slave controllers 7-1, 7-2, and 7-3.
[0043] The carriage transport device 1 repeatedly executes such an operation. That is, the upper arm 14 and the lower arm 16 of the first carriage transport unit 3-1, the second carriage transport unit 3-2, and the third carriage transport unit 3-3 repeatedly move forward and backward.
[0044] [Operation of first upper hook 21-1] When a user transports the cart 51 using the cart transport device 1, the user sets the cart 51 on the unit body 8-1 so that the front fixed caster 54 and the rear fixed caster 55 of the cart 51 come into contact with the caster guide 12 of the unit body 8-1. Fig. 14 is a front view showing the cart 51 set on the unit body 8-1. After the cart 51 is set on the unit body 8-1, the user hooks the front transport pole 56 on the second upper hook 21-2 and the rear transport pole 57 on the first upper hook 21-1, for example, as shown in Fig. 8.
[0045] When the front transport pole 56 is hooked on the second upper hook 21-2, it fits into the recess 32 of the second upper hook 21-2 as shown in FIG. 15. FIG. 15 is a plan view showing the second upper hook 21-2 to which the front transport pole 56 is hooked. When the rear transport pole 57 is hooked on the first upper hook 21-1, it fits into the recess 32 of the first upper hook 21-1 as well as the front transport pole 56. When the upper arm 14 moves forward, the front transport pole 56 and the rear transport pole 57 are hooked on the second upper hook 21-2 and the first upper hook 21-1, respectively, so that the cart 51 moves forward together with the upper arm 14 as shown in FIGS. 8 to 9.
[0046] When the relative position value changes from the lower tier approach position value to the lower tier passing position value, as shown in Fig. 10 and Fig. 11, the third lower tier hook 22-3 passes the second upper tier hook 21-2, and the second lower tier hook 22-2 passes the first upper tier hook 21-1. When the third lower tier hook 22-3 passes the second upper tier hook 21-2, the front side transport pole 56 fits into the recess 32 of the third lower tier hook 22-3 and is hooked onto the third lower tier hook 22-3. Similarly to the front side transport pole 56, when the second lower tier hook 22-2 passes the first upper tier hook 21-1, the rear side transport pole 57 fits into the recess 32 of the second lower tier hook 22-2 and is hooked onto the second lower tier hook 22-2. The dolly 51 moves forward together with the lower arm 16 as the front transfer pole 56 and the rear transfer pole 57 are hooked onto the third lower hook 22-3 and the second lower hook 22-2, respectively.
[0047] The upper arm 14 retreats so that the relative position value changes from the lower-stage overtaking position value to the lower-stage leading position value, as shown in Figures 11 and 12. When the upper arm 14 retreats, the front transport pole 56 comes into contact with the sliding surface 33 of the fourth upper hook 21-4, as shown in Figure 16, and moves the hook body 24 of the fourth upper hook 21-4 toward the retracted position. Figure 16 is a plan view showing the fourth upper hook 21-4 retreating.
[0048] As the upper arm 14 further retreats, the front transport pole 56 moves away from the hook body 24 of the fourth upper hook 21-4. When the front transport pole 56 moves away from the hook body 24, the elastic force of the spring 27 causes the hook body 24 to move toward the protruding position.
[0049] In this way, the fourth upper hook 21-4 does not get caught on the front transport pole 56 when the upper arm 14 retreats. The fourth upper hook 21-4 does not get caught on the rear transport pole 57 when the upper arm 14 retreats, similar to the front transport pole 56. Other upper hooks different from the fourth upper hook 21-4 among the multiple upper hooks 21 also do not get caught on the front transport pole 56 and the rear transport pole 57 when the upper arm 14 retreats, similar to the fourth upper hook 21-4. Each of the multiple lower hooks 22 also does not get caught on the front transport pole 56 and the rear transport pole 57 when the lower arm 16 retreats, similar to the fourth upper hook 21-4. For this reason, the cart transport device 1 can appropriately move the cart 51 forward in the transport direction by the upper arm 14 and the lower arm 16 moving forward and backward.
[0050] The urethane stopper 26 comes into contact with the inner wall of the second restriction hole 29 when the hook body 24 is disposed at the standby position on the way to the protruding position. The hook body 24 is disposed at the standby position by the urethane stopper 26 coming into contact with the inner wall of the second restriction hole 29, and is fixed to the bracket 23 by the elastic force of the spring 27. When the upper arm 14 retreats, the fourth upper hook 21-4 further prevents the metal stopper 25 from colliding with the inner wall of the first restriction hole 28 by the urethane stopper 26, and can prevent the metal stopper 25 and the bracket 23 from generating impact noise. Similar to the fourth upper hook 21-4, the multiple upper hooks 21 and the multiple lower hooks 22 can also prevent the metal stopper 25 and the bracket 23 from generating impact noise. For this reason, the cart transport device 1 can reduce noise.
[0051] FIG. 17 is a plan view showing the dolly 51 being transported. When the front transport pole 56 moves in the X-axis direction, a force is applied to the dolly 51 so that the dolly 51 rotates counterclockwise in FIG. 17 around the front transport pole 56. The dolly transport device 1 can prevent the dolly 51 from rotating around a rotation axis parallel to the Z axis by the rear fixed caster 55 contacting the caster guide 12, and can prevent the dolly 51 from tilting. In addition, the dolly 51 is prevented from tilting even when pulled forward because both the front transport pole 56 and the rear transport pole 57 are constantly hooked on the multiple upper hooks 21 or the multiple lower hooks 22. When the dolly 51 transported by the dolly transport device 1 is used for an assembly line work, the user can appropriately execute the assembly line work because the dolly 51 is prevented from tilting.
[0052] [Effects of the cart transport device 1 of the first embodiment] The cart transport device 1 of the first embodiment includes an upper arm 14, a plurality of even-numbered upper hooks 21-2, 21-4, and 21-6, an upper actuator 15, a lower arm 16, a plurality of odd-numbered lower hooks 22-1, 22-3, and 22-5, a lower actuator 17, and a slave controller 7-1. The plurality of even-numbered upper hooks 21-2, 21-4, and 21-6 are supported by the upper arm 14. The upper actuator 15 translates the upper arm 14 in parallel to the transport direction. The plurality of odd-numbered lower hooks 22-1, 22-3, and 22-5 are supported by the lower arm 16. The lower actuator 17 translates the lower arm 16 in parallel to the transport direction. The slave controller 7-1 controls the upper actuator 15 and the lower actuator 17. The even-numbered upper hooks 21-2, 21-4, 21-6 and the odd-numbered lower hooks 22-1, 22-3, 22-5 are alternately hooked onto a front transport pole 56 fixed to the cart 51, thereby transporting the cart 51 in the transport direction. The cart transport device 1 of the first embodiment is provided with an upper stage actuator 15 and a lower stage actuator 17 which translate the upper stage arm 14 and the lower stage arm 16, respectively, and therefore has a simple structure and can be easily installed.
[0053] Further, each of the multiple even-numbered upper hooks 21-2, 21-4, 21-6 of the cart transport device 1 of the first embodiment is formed so as to hook onto the front transport pole 56 when the upper arm 14 advances. Each of the multiple even-numbered upper hooks 21-2, 21-4, 21-6 is further formed so as not to hook onto the front transport pole 56 when the upper arm 14 retreats. Each of the multiple odd-numbered lower hooks 22-1, 22-3, 22-5 is further formed so as not to hook onto the front transport pole 56 when the lower arm 16 advances. Each of the multiple odd-numbered lower hooks 22-1, 22-3, 22-5 is further formed so as not to hook onto the front transport pole 56 when the lower arm 16 retreats. In this case, in the cart transport device 1 of the first embodiment, the multiple even-numbered upper hooks 21-2, 21-4, 21-6 and the multiple odd-numbered lower hooks 22-1, 22-3, 22-5 do not impede the forward movement of the cart 51, and the cart 51 can move forward appropriately.
[0054] Moreover, the cart transport device 1 of the first embodiment further includes a caster guide 12 that is arranged along a straight line parallel to the transport direction and is fixed to the frame 11. The upper arm 14 and the lower arm 16 are supported by the frame 11 so as to be translatable parallel to the transport direction. When the cart 51 is transported, a rear fixed caster 55 provided on the cart 51 comes into contact with the caster guide 12. In this case, the cart transport device 1 of the first embodiment can prevent the cart 51 from tilting when the cart 51 is transported.
[0055] The cart transport device 1 of the first embodiment further includes a plurality of odd-numbered upper hooks 21-1, 21-3, 21-5 supported by the upper arm 14, and a plurality of even-numbered lower hooks 22-2, 22-4, 22-6 supported by the lower arm 16. Each of the plurality of odd-numbered upper hooks 21-1, 21-3, 21-5 is formed so as to hook onto a rear transport pole 57 fixed to the cart 51 when the upper arm 14 advances. Each of the plurality of odd-numbered upper hooks 21-1, 21-3, 21-5 is further formed so as not to hook onto the rear transport pole 57 when the upper arm 14 retreats. Each of the plurality of even-numbered lower hooks 22-2, 22-4, 22-6 is formed so as to hook onto the rear transport pole 57 when the lower arm 16 advances. Each of the even-numbered lower hooks 22-2, 22-4, 22-6 is further formed so as not to be caught on the rear transport pole 57 when the lower arm 16 retracts. In this case, the cart transport device 1 of the first embodiment can prevent the cart 51 from tilting even when a force is applied to the cart 51 to pull it forward.
[0056] The carriage transport device 1 of the first embodiment further includes an upper stage sensor 41 and a lower stage sensor 42 for detecting the relative position of the upper arm 14 with respect to the lower arm 16. The slave control device 7-1 controls the upper stage actuator 15 so that, when the lower arm 16 is advancing at the transport speed, the upper arm 14 advances at a high speed passing speed that is faster than the transport speed after the relative position becomes equal to the first relative position. The slave control device 7-1 further controls the upper stage actuator 15 so that the upper arm 14 advances at the transport speed after the relative position becomes equal to the second relative position. The slave control device 7-1 further controls the upper stage actuator 15 so that the upper arm 14 retreats after the relative position becomes equal to the third relative position. The slave control device 7-1 controls the lower stage actuator 17 so that, when the upper arm 14 is advancing at the transport speed, the lower arm 16 advances at a high speed passing speed after the relative position becomes equal to the fourth relative position. The slave control device 7-1 further controls the lower-stage actuator 17 so that the lower-stage arm 16 moves forward at the conveying speed after the relative position becomes equal to the third relative position. The slave control device 7-1 further controls the lower-stage actuator 17 so that the lower-stage arm 16 moves backward after the relative position becomes equal to the second relative position. In this case, the cart conveying device 1 of the first embodiment can move the cart 51 appropriately forward without stopping the cart 51.
[0057] Furthermore, the slave control device 7-1 of the cart transport device 1 of the first embodiment controls the upper actuator 15 so that, when the lower arm 16 is moving forward at the transport speed, the upper arm 14 moves forward at the low overtaking speed after the relative position becomes equal to the fifth relative position. When the upper arm 14 is moving forward at the transport speed, the slave control device 7-1 controls the lower actuator 17 so that, when the upper arm 14 is moving forward at the transport speed, the lower arm 16 moves forward at the low overtaking speed after the relative position becomes equal to the sixth relative position. The low overtaking speed is faster than the transport speed and slower than the high overtaking speed. In this case, the cart transport device 1 of the first embodiment can reduce fluctuations in the speed at which the cart 51 is transported, and the cart 51 can be transported at a generally constant speed.
[0058] Moreover, the slave control device 7-1 of the cart transport device 1 of the first embodiment records transport arm information indicating which of the upper arm 14 and the lower arm 16 is moving forward at the transport speed in the storage device 5. The slave control device 7-1 further controls the upper actuator 15 and the lower actuator 17 so that the other arm other than the arm indicated by the transport arm information moves backward when the slave control device 7-1 is started. The slave control device 7-1 further controls the upper actuator 15 and the lower actuator 17 so that one of the arms indicated by the transport arm information moves forward at the transport speed. In this case, when a power outage occurs during the transport of the cart 51, the cart transport device 1 of the first embodiment can appropriately transport the cart 51 continuously from the state before the power outage when the power outage is restored.
[0059] Moreover, the cart transport device 1 of the first embodiment includes a first cart transport unit 3-1 and a second cart transport unit 3-2 formed in the same manner as the first cart transport unit 3-1. The second cart transport unit 3-2 is appropriately positioned with respect to the first cart transport unit 3-1 so as to continuously transport the cart 51 transported by the first cart transport unit 3-1. In this case, the cart transport device 1 of the first embodiment can easily extend the transport path along which the cart 51 is transported by appropriately positioning the second cart transport unit 3-2 formed in the same manner as the first cart transport unit 3-1.
[0060] The carriage transport device 1 of the first embodiment further includes a master controller 2 that is connected to the slave controllers 7-1 and 7-2 so as to be capable of transmitting information. The unit body 8-2 includes an upper sensor 41 that detects the position of the upper arm 14 and a lower sensor 42 that detects the position of the lower arm 16. The slave controller 7-1 controls the upper actuator 15 so that the upper arm 14 stops when the upper arm 14 of the unit body 8-1 is placed at the initial position, and transmits a positioning signal to the master controller 2. The slave controller 7-2 controls the upper actuator 15 so that the upper arm 14 stops when the upper arm 14 of the unit body 8-2 is placed at the initial position, and transmits a positioning signal to the master controller 2. After receiving the positioning signals from both the slave controllers 7-1 and 7-2, the master controller 2 transmits a start signal to the slave controllers 7-1 and 7-2. The slave control device 7-1 controls the upper actuator 15 so that the upper arm 14 of the unit body 8-1 advances at a high speed when the relative position is equal to the first relative position after receiving the start signal. The slave control device 7-1 controls the upper actuator 15 so that the upper arm 14 of the unit body 8-2 advances at a high speed when the relative position is equal to the first relative position after receiving the start signal. In this case, the cart transport device 1 of the first embodiment can synchronize the unit body 8-1 and the unit body 8-2. The cart 51 can be appropriately transported along the transport path extended by the second cart transport unit 3-2.
[0061] Incidentally, the trolley transport device 1 of the embodiment 1 described above is provided with three trolley transport units, the first trolley transport unit 3-1, the second trolley transport unit 3-2, and the third trolley transport unit 3-3, but four or more trolley transport units may be provided. When four or more trolley transport units are provided, the trolley transport device 1 can transport the trolley 51 along an even longer transport path. In addition, the trolley transport device 1 of the embodiment 1 described above is provided with three trolley transport units, but when the transport path along which the trolley 51 is transported is short, the second trolley transport unit 3-2 and the third trolley transport unit 3-3 may be omitted. When the second trolley transport unit 3-2 and the third trolley transport unit 3-3 are omitted, the trolley transport device 1 does not need to synchronize the second trolley transport unit 3-2 and the third trolley transport unit 3-3 with the first trolley transport unit 3-1, and the master control device 2 can be omitted.
[0062] Incidentally, the cart transporting device 1 of the embodiment 1 described above may omit the multiple odd-numbered upper hooks 21-1, 21-3, 21-5 and the multiple even-numbered lower hooks 22-2, 22-4, 22-6. Also, the cart transporting device 1 of the embodiment 1 described above is provided with the caster guide 12, but the caster guide 12 may be omitted. In this case as well, the cart transporting device 1 can transport the cart 51 by hooking the multiple even-numbered upper hooks 21-2, 21-4, 21-6 and the multiple odd-numbered lower hooks 22-1, 22-3, 22-5 onto the front transport pole 56.
[0063] Here, the "slave control device 7-1," "upper arm 14," "multiple even-numbered upper hooks 21-2, 21-4, 21-6," "upper actuator 15," "lower arm 16," "multiple odd-numbered lower hooks 22-1, 22-3, 22-5," and "lower actuator 17" provided in the first cart transport unit 3-1 are examples of the "control device," "upper arm," "multiple even-numbered upper hooks," "upper actuator," "lower arm," "multiple odd-numbered lower hooks," and "lower actuator" described in the claims. In addition, the "slave control device 7-2," "upper arm 14," "multiple even-numbered upper hooks 21-2, 21-4, 21-6," "upper actuator 15," "lower arm 16," "multiple odd-numbered lower hooks 22-1, 22-3, 22-5," and "lower actuator 17" provided in the second cart transport unit 3-2 are examples of "other control devices," "other upper arms," "multiple even-numbered upper hooks," "other upper actuators," "other lower arms," "multiple odd-numbered lower hooks," and "other lower actuators" described in the claims. In addition, the "upper level sensor 41" and the "lower level sensor 42" provided in the first carriage transport unit 3-1 are an example of a "sensor" as claimed, and the "upper level sensor 41" provided in the first carriage transport unit 3-1 is an example of an "upper level sensor" as claimed. In addition, the "upper level sensor 41" and the "lower level sensor 42" provided in the second carriage transport unit 3-2 are an example of an "other sensor" as claimed, and the "upper level sensor 41" provided in the second carriage transport unit 3-2 is an example of an "other upper level sensor" as claimed. Moreover, the "front transfer pole 56" is an example of a "pole" in the claims, and the "rear transfer pole 57" is an example of a "other pole" in the claims. Although the embodiments have been described above, the embodiments are not limited to the above. The above-described components include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the above-described components can be appropriately combined. Furthermore, at least one of various omissions, substitutions, and modifications of the components can be made without departing from the gist of the embodiments. [Explanation of symbols]
[0064] 1: Cart transport device 2: Master control device 5: Storage device 3-1: First cart transport unit 3-2: Second cart transport unit 3-3: 3rd cart transport unit 7-1: Slave control device 7-2: Slave control device 7-3: Slave control device 11: Frame 12: Caster guide 14: Upper arm 15: Upper actuator 16: Lower arm 17: Lower actuator 21: Multiple top hooks 22: Multiple bottom hooks 41: Upper sensor 42: Lower sensor 43:Storage device 51: Cart 55: Rear fixed caster 56: Front transport pole 57: Rear transport pole
Claims
1. An upper arm, A plurality of even-numbered upper hooks supported by the upper arm; an upper stage actuator that translates the upper stage arm parallel to a conveying direction; A lower arm; A plurality of odd-numbered lower hooks supported by the lower arm; a lower actuator that translates the lower arm in parallel to the conveying direction; a control device that controls the upper stage actuator and the lower stage actuator so that the multiple even-numbered upper stage hooks and the multiple odd-numbered lower stage hooks are alternately hooked onto poles fixed to the cart, thereby transporting the cart in the transport direction. A trolley transport device comprising:
2. each of the plurality of even-numbered upper hooks is formed so as to hook onto the pole when the upper arm advances and not to hook onto the pole when the upper arm retreats; Each of the odd-numbered lower hooks is formed so as to hook onto the pole when the lower arm advances and not to hook onto the pole when the lower arm retreats. The carriage transport device according to claim 1 .
3. The conveyor further includes a caster guide that is disposed along a straight line parallel to the conveying direction and is fixed to the frame, the upper arm and the lower arm are supported by the frame so as to be translatable parallel to the conveying direction, The casters provided on the cart come into contact with the caster guide when the cart is transported. The carriage transport device according to claim 2.
4. A plurality of odd-numbered upper hooks supported by the upper arm; A plurality of even-numbered lower hooks supported by the lower arm are further provided, each of the plurality of odd-numbered upper hooks is formed so as to hook onto another pole fixed to the carriage, separate from the pole, when the upper arm moves forward, and so as not to hook onto the other pole when the upper arm moves backward; Each of the even-numbered lower hooks is formed so as to hook onto the other pole when the lower arm advances and not to hook onto the other pole when the lower arm retreats. The carriage transport device according to claim 2 or 3.
5. a sensor for detecting a relative position of the upper arm with respect to the lower arm; The control device includes: when the lower arm is moving forward at a transport speed, after the relative position of the upper arm with respect to the lower arm becomes equal to a first relative position, the upper arm moves forward at an overtaking speed faster than the transport speed; so that the upper arm moves forward at the conveying speed after the relative position of the upper arm to the lower arm becomes equal to a second relative position. the upper arm is moved backward after the relative position of the upper arm with respect to the lower arm becomes equal to a third relative position, Controlling the upper stage actuator; when the upper arm is moving forward at the conveying speed, after the relative position of the upper arm to the lower arm becomes equal to a fourth relative position, the lower arm moves forward at the overtaking speed; so that the lower arm moves forward at the transport speed after the relative position of the upper arm with respect to the lower arm becomes equal to the third relative position. the lower arm is moved backward after the relative position of the upper arm with respect to the lower arm becomes equal to the second relative position, Controlling the lower stage actuator The carriage transport device according to any one of claims 1 to 4.
6. The control device includes: controlling the upper-stage actuator so that, in a case where the lower arm is advancing at the transport speed, the upper-stage actuator is controlled so that the upper arm is advanced at another overtaking speed after the relative position of the upper arm with respect to the lower arm becomes equal to a fifth relative position; controlling the lower actuator so that, when the upper arm is moving forward at the transport speed, the lower arm moves forward at the other overtaking speed after the relative position of the upper arm to the lower arm becomes equal to a sixth relative position; The other overtaking speed is faster than the conveying speed and slower than the overtaking speed. The carriage transport device according to claim 5.
7. The control device includes: recording information indicating which arm of the upper arm and the lower arm is moving forward at the transport speed in a storage device; When the control device is started, the upper actuator and the lower actuator are controlled so that one of the upper arm and the lower arm indicated by the information moves forward at the transport speed and the other of the upper arm and the lower arm moves backward. The carriage transport device according to claim 5 or 6.
8. Another upper arm other than the upper arm, the other upper arm being provided on a second carriage transport unit other than a first carriage transport unit on which the upper arm and the lower arm are provided; and a plurality of other even-numbered upper hooks different from the plurality of even-numbered upper hooks, the plurality of other even-numbered upper hooks being supported by the plurality of other upper arms; another upper stage actuator separate from the upper stage actuator, the other upper stage actuator translating the other upper stage arm parallel to the conveying direction; Another lower arm other than the lower arm, the other lower arm being provided on the second carriage transport unit; a plurality of other odd-numbered lower hooks different from the plurality of odd-numbered lower hooks, the plurality of other odd-numbered lower hooks being supported by the plurality of other lower arms; another lower-stage actuator that is different from the lower-stage actuator and that translates the other lower-stage arm parallel to the transport direction; Another sensor separate from the sensor for detecting a relative position of the other upper arm with respect to the other lower arm; A control device other than the control device is provided, each of the other plurality of even-numbered upper hooks is formed so as to hook onto the pole when the other upper arm advances and not to hook onto the pole when the other upper arm retreats; each of the other plurality of odd-numbered lower hooks is formed so as to hook onto the pole when the other lower arm advances and not to hook onto the pole when the other lower arm retreats; The other control device is when the other lower arm is moving forward at the conveying speed, after the relative position of the other upper arm with respect to the other lower arm becomes equal to the first relative position, the other upper arm moves forward at the overtaking speed; so that the other upper arm moves forward at the conveying speed after the relative position of the other upper arm with respect to the other lower arm becomes equal to the second relative position. the other upper arm is moved backward after the relative position of the other upper arm with respect to the other lower arm becomes equal to the third relative position, Controlling the other upper stage actuator; when the other upper arm is moving forward at the transport speed, after the relative position of the other upper arm with respect to the other lower arm becomes equal to the fourth relative position, the other lower arm moves forward at the overtaking speed; so that the other lower arm moves forward at the transport speed after the relative position of the other upper arm with respect to the other lower arm becomes equal to the third relative position. the other lower arm is moved backward after the relative position of the other upper arm with respect to the other lower arm becomes equal to the second relative position, Controlling the other lower stage actuator The carriage transport device according to any one of claims 5 to 7.
9. A master control device is further provided that is communicably connected to the control device and the other control devices, the sensor includes an upper stage sensor for detecting a position of the upper stage arm, the other sensor includes another upper stage sensor that is separate from the upper stage sensor and detects a position of the other upper stage arm, the control device controls the upper-stage actuator so that the upper-stage arm stops when the upper-stage arm is placed at the upper-stage arm initial position, and transmits a positioning signal to the master control device; the other control device controls the other upper stage actuator so that the other upper stage arm stops when the other upper stage arm is placed at the other upper stage arm initial position, and transmits another alignment signal to the master control device; the master control device transmits a start signal to the control device and the other control device after receiving both the alignment signal and the other alignment signal; the control device controls the upper stage actuator so that the upper stage arm moves forward at the overtaking speed when the relative position of the upper stage arm with respect to the lower stage arm becomes equal to the first relative position after receiving the start signal; The other control device controls the other upper stage actuator so that the other upper stage arm moves forward at the overtaking speed when the relative position of the other upper stage arm with respect to the other lower stage arm becomes equal to the first relative position after receiving the start signal. The carriage transport device according to claim 8.