JP2009196038A - Tool truck carrying device - Google Patents

Tool truck carrying device Download PDF

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JP2009196038A
JP2009196038A JP2008040430A JP2008040430A JP2009196038A JP 2009196038 A JP2009196038 A JP 2009196038A JP 2008040430 A JP2008040430 A JP 2008040430A JP 2008040430 A JP2008040430 A JP 2008040430A JP 2009196038 A JP2009196038 A JP 2009196038A
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jig
carriage
agv
cart
self
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JP4958813B2 (en
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Noboru Tsukagoshi
昇 塚越
Yoshinori Saito
義則 斉藤
Junichiro Kanai
純一郎 金井
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Shigeru Co Ltd
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Shigeru Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a tool truck carrying device performing assembling operations not with the pace of a worker but with a necessary cycle time. <P>SOLUTION: A self-traveling carrying vehicle 1 is moved, a swinging-locking body 38 at the lower part of the vertically moving body 34 of a tool truck 6 is brought into contact with the upstream side end of a carrying device 8, and the swinging-locking body 38 is swing, and the vertically moving body 34 is raised when an AGV truck 4 is moved. The engagement of a member to be engaged 31 and an engaging member 36 is released, and the AGV truck 4 is disconnected from the tool truck 6. The swinging-locking body 38 is locked to the upper surface of the carrying device 8, the tool truck 6 is carried from the carrying device 8, and the AGV truck 4 is solely moved. Since the moving speed of the AGV truck 4 is higher than that of the tool truck 6 by the conveying device 8, the AGV truck 4 is stopped at the downstream side end of the conveying device 8 and stands ready. While the tool truck 6 is carried by the carrying device 8, an assembly product is assembled on the tool truck 6 by the worker. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、走行線に沿って移動するＡＧＶ台車とアッセンブリ製品を組立てるべく取付部品を載置して前記ＡＧＶ台車により搬送される治具台車とで構成されて両者が切り離し・連結装置により切り離し及び連結が可能な自走型搬送車を備えた治具台車搬送装置に関するものである。   The present invention comprises an AGV carriage that moves along a running line and a jig carriage that is mounted by mounting parts to assemble assembly products and is transported by the AGV carriage. The present invention relates to a jig cart transport device including a self-propelled transport vehicle that can be connected.

アッセンブリ製品を組立てるべく取付部品を載置する載置部材である載置箱を備え、走行線に沿って搬送する自走型搬送車は、例えば特許文献１に開示されている。この自走型搬送車において、走行線に沿って移動するＡＧＶ台車と、アッセンブリ製品を組立てるべく取付部品を載置する治具台車とに切り離す技術は、例えば特許文献２に開示されている。この特許文献２に開示する技術によれば、走行線に沿って自走型搬送車が移動して作業ステーションの手前位置に停止し、作業位置においてＡＧＶ台車と切り離された治具台車上で作業者がアッセンブリ製品を製造すべく取付部品の組付け作業を行い、この組付け作業を終えて前記手前位置にある自走型搬送車の指示スイッチを作動させると自走型搬送車がＡＧＶ台車と治具台車とが切り離され、スタートスイッチの操作に基づいてＡＧＶ台車のみ手前位置から前記作業位置まで前進して既に組付け作業が終了した治具台車と連結して、更に下流へと進むものである。
特開２００２−６６８４９号公報 特開２００６−１５９３７０号公報 For example, Patent Document 1 discloses a self-propelled transport vehicle that includes a mounting box that is a mounting member on which mounting parts are mounted to assemble an assembly product, and that transports along a travel line. In this self-propelled transport vehicle, for example, Patent Document 2 discloses a technique of separating an AGV cart that moves along a travel line and a jig cart that mounts mounting parts to assemble an assembly product. According to the technique disclosed in Patent Document 2, a self-propelled transport vehicle moves along a travel line, stops at a position in front of the work station, and works on a jig cart separated from the AGV cart at the work position. When an operator performs assembly work of mounting parts to manufacture an assembly product, and completes this assembly work and operates an instruction switch of the self-propelled transport vehicle in the foreground position, the self-propelled transport vehicle becomes an AGV cart. The jig carriage is disconnected, and only the AGV carriage is advanced from the front position to the working position based on the operation of the start switch, and is connected to the jig carriage that has already been assembled, and proceeds further downstream.
JP 2002-66849 A JP 2006-159370 A

しかし、ＡＧＶ台車と治具台車との連結が解除されて、組付け作業終了後に、スタートスイッチを操作して切り離された治具台車のみを手前位置に残してＡＧＶ台車のみを移動させ、これにより既に作業位置にあって組付け作業が終了した治具台車にこの移動したＡＧＶ台車が連結して、更に下流へと進むこととなるものであるから、作業者のペースにより組付け作業がなされるものであって、生産性の向上は困難であった。   However, the connection between the AGV carriage and the jig carriage is released, and after the assembly work is completed, only the AGV carriage is moved, leaving only the jig carriage separated by operating the start switch. Since the moved AGV carriage is connected to the jig carriage which is already in the working position and the assembling work is completed, the assembling work is performed at the operator's pace. Therefore, it has been difficult to improve productivity.

そこで本発明は、作業者のペースではなく、必要なタクトで組付け作業を行える治具台車搬送装置を提供することを目的とする。   Then, an object of this invention is to provide the jig trolley | bogie conveyance apparatus which can perform an assembly | attachment operation | work with a required tact instead of an operator's pace.

このため治具台車搬送装置に係る第１の発明は、走行線に沿って移動するＡＧＶ台車とアッセンブリ製品を組立てるべく取付部品を載置して前記ＡＧＶ台車により搬送される治具台車とで構成されて両者が切り離し・連結装置により切り離し及び連結が可能な自走型搬送車と、組立作業領域に配設され前記自走型搬送車の移動に伴ってこの自走型搬送車から前記切り離し・連結装置により切り離された前記治具台車を受け継いで該治具台車を搬送するものであって搬送しながら作業者が前記アッセンブリ製品を組立てるための搬送速度が調節可能な搬送装置とから構成されたことを特徴とする。   For this reason, the first invention relating to the jig cart transport device is composed of an AGV cart that moves along a running line and a jig cart that is mounted by mounting parts to assemble assembly products and is transported by the AGV cart. A self-propelled transport vehicle that can be separated and coupled by a separating device and a coupling device; and the self-propelled transport vehicle disposed in an assembly work area and separated from the self-propelled transport vehicle as the mobile transport vehicle moves. Conveying the jig carriage inherited by the jig carriage separated by the connecting device, and comprising a conveyance apparatus capable of adjusting a conveyance speed for an operator to assemble the assembly product while conveying It is characterized by that.

また治具台車搬送装置に係る第２の発明は、走行線に沿って移動するＡＧＶ台車とアッセンブリ製品を組立てるべく取付部品を載置して前記ＡＧＶ台車により搬送される治具台車とで構成されて両者が切り離し・連結装置により切り離し及び連結が可能な自走型搬送車と、組立作業領域に配設され前記自走型搬送車の移動に伴ってこの自走型搬送車から前記切り離し・連結装置により切り離された前記治具台車を受け継いで該治具台車を搬送するものであって搬送しながら作業者が前記アッセンブリ製品を組立てるための搬送速度が調節可能な搬送装置とから構成され、前記自走型搬送車から前記切り離し・連結装置により切り離された前記治具台車を前記搬送装置が搬送し終えると、この搬送装置から前記治具台車から切り離された前記ＡＧＶ台車が前記治具台車を受け継いで連結することを特徴とする。   In addition, the second invention related to the jig cart transport device is composed of an AGV cart that moves along a travel line and a jig cart that is mounted by mounting parts to assemble assembly products and is transported by the AGV cart. A self-propelled transport vehicle that can be separated and connected by a separation / coupling device, and the separation / connection from the self-propelled transport vehicle as the self-propelled transport vehicle is disposed in the assembly work area. A transfer device that inherits the jig carriage separated by the apparatus and conveys the jig carriage, and is capable of adjusting a conveyance speed for an operator to assemble the assembly product while being conveyed, When the transport device finishes transporting the jig carriage separated from the self-propelled transport vehicle by the separating / connecting device, the A separated from the jig cart from the transport device. V truck, characterized in that the coupling inherited the jig carriage.

第３の発明は、治具台車搬送装置に係る第１又は第２の発明において、前記切り離し・連結装置は、前記ＡＧＶ台車に設けられた被嵌合部材と、前記治具台車に上下動可能に設けられた上下動部材と、この上下動部材に設けられ前記ＡＧＶ台車の移動に伴い前記搬送装置に当接すると前記上下動部材を上昇させると共に前記搬送装置に係止する係止体と、前記上下動部材が上昇した際に前記被嵌合部材との嵌合が解かれる嵌合部材とから構成されていることを特徴とする。   3rd invention is 1st or 2nd invention which concerns on a jig trolley | bogie conveyance apparatus, The said isolation | separation and connection apparatus can be moved up and down to the to-be-fitted member provided in the said AGV trolley | bogie, and the said jig trolley | bogie A vertically moving member provided on the vertical moving member, and a locking body that is provided on the vertical moving member and lifts the vertical moving member when the AGV carriage comes into contact with the conveying device and engages the conveying device. It is comprised from the fitting member by which a fitting with the said to-be-fitted member is released when the said vertical movement member raises.

第４の発明は、治具台車搬送装置に係る第１又は第２の発明において、前記切り離し・連結装置は、前記ＡＧＶ台車に設けられた被嵌合部材と、前記治具台車に上下動可能に設けられた上下動部材と、この上下動部材に設けられ前記ＡＧＶ台車の移動に伴い前記搬送装置に当接すると前記上下動部材を上昇させると共に前記搬送装置に係止する係止体と、前記上下動部材が上昇した際に前記被嵌合部材との嵌合が解かれる嵌合部材と、前期上下動部材に設けられて前記搬送装置による前記治具台車の移動に伴い前記ＡＧＶ台車の被嵌合部材が下面を摺動しながら上昇する案内部材とを備え、前記ＡＧＶ台車の被嵌合部材が下面を摺動しながら前記案内部材が上昇した後に前記摺動を終えて下降すると前記被嵌合部材に前記嵌合部材が嵌合することを特徴とする。   4th invention is the 1st or 2nd invention which concerns on a jig trolley | bogie conveyance apparatus, The said isolation | separation and connection apparatus can be moved up and down to the to-be-fitted member provided in the said AGV trolley | bogie, and the said jig trolley | bogie A vertically moving member provided on the vertical moving member, and a locking body that is provided on the vertical moving member and lifts the vertical moving member when the AGV carriage comes into contact with the conveying device and engages the conveying device. A fitting member that is disengaged from the fitting member when the vertical movement member is lifted, and an AGV carriage that is provided on the vertical movement member in the previous period and moves with the jig carriage by the transfer device. A fitted member that rises while sliding on the lower surface, and when the fitted member of the AGV carriage slides on the lower surface and the guide member rises and then slides down, The fitting member is fitted to the fitted member. And wherein the door.

本発明によれば、作業者のペースではなく、必要なタクトで組付け作業を行える治具台車搬送装置を提供することができるから、生産タクトの向上を図ることができる。   According to the present invention, it is possible to provide a jig cart transport device that can perform an assembly operation with a necessary tact instead of the pace of an operator, so that the production tact can be improved.

以下図面に基づき、治具台車搬送装置に係る本発明の実施の形態について説明する。１はＡＧＶ（Ａｕｔｏｍａｔｅｄ Ｇｕｉｄｅｄ Ｖｅｈｉｃｌｅ）から成る自走型搬送車で、床に付された磁気テープから成る閉ループの走行線を確認装置（図示せず）が確認しつつ走行線に沿って駆動装置５により移動し、また各ステーションで前記走行線とは別に付された停止コマンドテープを前記確認装置が確認すると、前記駆動装置５の駆動を停止させて自走型搬送車１は停止する。   Hereinafter, an embodiment of the present invention relating to a jig cart transport device will be described with reference to the drawings. Reference numeral 1 denotes a self-propelled conveyance vehicle made of AGV (Automated Guided Vehicle). A confirmation device (not shown) confirms a closed-loop traveling line made of magnetic tape attached to the floor, and a driving device 5 along the traveling line. When the confirmation device confirms the stop command tape attached separately from the travel line at each station, the drive of the drive device 5 is stopped and the self-propelled transport vehicle 1 stops.

前記自走型搬送車１は、前記駆動装置５及び前記確認装置を備えたＡＧＶ台車４と、アッセンブリ製品を組立てるべく種々の取付部品を収納する上面開口せる箱状の部品載置箱７（部品載置部材である）を載置して前記ＡＧＶ台車４により移動される治具台車６とから構成される。   The self-propelled transport vehicle 1 includes an AGV carriage 4 provided with the driving device 5 and the confirmation device, and a box-shaped component mounting box 7 (parts) that opens an upper surface for housing various mounting parts for assembling assembly products. And a jig carriage 6 that is moved by the AGV carriage 4.

図２に示すように、前記ＡＧＶ台車４はＡＧＶ台車本体４１の先頭下部の左右中央にはベアリング４２を介して回動する回動軸４３の下端部に自在車輪４４が固定されると共に、ＡＧＶ台車本体４１の中間下部には前部左右の２個の自在車輪４５（駆動装置５により駆動される駆動車輪）が設けられ、また後部左右の２個の固定車輪４６が設けられている。また、前記回動軸４３の上下の中間位置に固定された取付部材４７上に障害物を検出する障害物検出センサ（障害物検出装置）４８が設けられている。この障害物検出センサ４８が進行方向に障害物を検出すると、ＡＧＶ台車４の駆動装置５を停止させる構成である。前記障害物検出センサ４８は、例えば発光素子と受光素子とを備えて、当該検出センサ４８から所定距離離れた場所に障害物がある場合には、その存在を検出することができるものである。   As shown in FIG. 2, the AGV carriage 4 has a free wheel 44 fixed to a lower end portion of a rotating shaft 43 that rotates via a bearing 42 at the center of the left and right of the top lower portion of the AGV carriage body 41, and AGV Two universal wheels 45 (drive wheels driven by the driving device 5) on the left and right of the front are provided at the middle lower part of the cart body 41, and two fixed wheels 46 on the left and right of the rear are provided. Further, an obstacle detection sensor (obstacle detection device) 48 for detecting an obstacle is provided on an attachment member 47 fixed at an intermediate position above and below the rotation shaft 43. When the obstacle detection sensor 48 detects an obstacle in the traveling direction, the driving device 5 of the AGV carriage 4 is stopped. The obstacle detection sensor 48 includes, for example, a light emitting element and a light receiving element, and can detect the presence of an obstacle when located at a predetermined distance from the detection sensor 48.

更に、前記ＡＧＶ台車本体４１上には前記ＡＧＶ台車４と治具台車６とを切り離したり連結したりするための切り離し・連結装置３の一方を構成するパイプ状の被嵌合部材３１が前記ＡＧＶ台車本体４１に固定された支持部材３２に設けられている。   Further, on the AGV carriage main body 41, a pipe-like fitted member 31 constituting one of the detachment / connection device 3 for detaching and connecting the AGV carriage 4 and the jig carriage 6 is provided on the AGV. It is provided on a support member 32 fixed to the carriage main body 41.

一方、前記治具台車６は側方から見ると概ねコ字形状に形成されて、その内部空間内に前記部品載置箱７を収納し、移動のための駆動源を持たず、前記治具台車本体６１の中間下部には前部左右の２個の自在車輪６２が設けられ、後部左右の２個の固定車輪６３が設けられている。そして、前記治具台車本体６１には前記切り離し・連結装置３の他方が設けられている。   On the other hand, when viewed from the side, the jig carriage 6 is formed in a generally U-shape, and the component placement box 7 is accommodated in the internal space thereof, and does not have a driving source for movement. Two universal wheels 62 on the front left and right are provided in the middle lower part of the cart body 61, and two fixed wheels 63 on the left and right in the rear are provided. The jig carriage main body 61 is provided with the other of the disconnection / connection device 3.

即ち、前記治具台車本体６１に設けられた案内棒（図示せず）に案内されて上下移動可能な上下移動体３４が設けられ、この上下移動体３４の中間下部には前記ＡＧＶ台車４の前記被嵌合部材３１に上方から嵌合して係止する嵌合部材３６が設けられ、自重により前記案内棒に案内されて上下移動体３４が下降している状態で前記被嵌合部材３１に嵌合部材３６が嵌合すると前記ＡＧＶ台車４と治具台車６とが連結した状態となる。そして、後述する搬送装置８の下流寄り端部で待機している前記ＡＧＶ台車４に搬送されてきた治具台車６の移動に伴い、前記被嵌合部材３１に嵌合部材３６が嵌合し易くするために先端部が斜め上方に傾斜した傾斜面３７Ａと水平面３７Ｂとが形成された案内部３７が前記嵌合部材３６前部に連続して配設される。なお、前記水平面３７Ｂは必ずしも形成しなくともよい。     That is, a vertically movable body 34 that is guided by a guide rod (not shown) provided in the jig cart body 61 and that can be moved up and down is provided, and an intermediate lower portion of the vertically movable body 34 is provided with the AGV cart 4. A fitting member 36 that is fitted and locked to the fitting member 31 from above is provided. The fitting member 31 is guided by the guide rod by its own weight and the vertically moving body 34 is lowered. When the fitting member 36 is fitted, the AGV carriage 4 and the jig carriage 6 are connected. Then, the fitting member 36 is fitted to the fitted member 31 in accordance with the movement of the jig carriage 6 that has been conveyed to the AGV carriage 4 waiting at the downstream end of the conveying device 8 described later. In order to facilitate, a guide portion 37 formed with an inclined surface 37A and a horizontal surface 37B whose tip end portion is inclined obliquely upward is continuously disposed in front of the fitting member 36. Note that the horizontal surface 37B is not necessarily formed.

８は組立作業領域に配設される搬送装置で、前記自走型搬送車１の移動に伴ってこの自走型搬送車１から前記切り離し・連結装置３により切り離された前記治具台車６を受け継いで該治具台車６を搬送するものであって、この搬送装置８で治具台車６を搬送しながら作業者が前記アッセンブリ製品を組立てる。前記搬送装置８は搬送速度が調節可能であり、作業者が作業する際のペースを、作業者に任せるのではなく、ある程度の生産タクトの向上が図れるペースとなるように、図示しない調節装置により搬送速度が調節されている。   Reference numeral 8 denotes a transfer device disposed in the assembly work area, and the jig cart 6 separated from the self-propelled transport vehicle 1 by the disconnecting / connecting device 3 as the self-propelled transport vehicle 1 moves. In succession, the jig cart 6 is transported, and an operator assembles the assembly product while transporting the jig cart 6 by the transport device 8. The conveyance device 8 can adjust the conveyance speed, and does not leave the pace at which the operator works to the operator, but by an adjustment device (not shown) so that the production tact can be improved to some extent. The conveyance speed is adjusted.

前記搬送装置８は、回転速度が調節可能な駆動モータと、この駆動モータにより駆動される駆動スプロケット８Ａと、従動スプロケット８Ｂと、両スプロケット８Ａ、８Ｂ間に張架された搬送コンベア８Ｃとから構成されるが、これらで構成されたものを複数直列に接続して、治具台車６をより長く搬送する構成にしてもよい。   The transport device 8 includes a drive motor whose rotational speed can be adjusted, a drive sprocket 8A driven by the drive motor, a driven sprocket 8B, and a transport conveyor 8C stretched between the sprockets 8A and 8B. However, a configuration may be adopted in which a plurality of such components are connected in series to convey the jig cart 6 longer.

なお、前述したように、前記ＡＧＶ台車４と治具台車６とが連結した状態で移動して、前記治具台車６の前記上下移動体３４の下部に支軸を介して揺動可能に設けられた揺動・係止体３８が前記搬送装置８の上流側端部に当接すると、前記揺動・係止体３８が揺動すると共に更に前記ＡＧＶ台車４の移動に伴って前記案内棒に案内されて上下移動体３４が上昇して、前記被嵌合部材３１と嵌合部材３６との嵌合が解かれ、前記ＡＧＶ台車４と治具台車６との連結が解除されて切り離しした状態となり、前記上下移動体３４の下降により搬送コンベア８Ｃ上面に揺動・係止体３８が上方から係止して搬送コンベア８Ｃにより治具台車６が搬送されると共にＡＧＶ台車４はこれとは別個に独立して移動が可能となる。   As described above, the AGV carriage 4 and the jig carriage 6 move in a connected state, and are swingably provided at the lower part of the vertical moving body 34 of the jig carriage 6 via a support shaft. When the swinging / locking body 38 thus brought into contact with the upstream end portion of the conveying device 8, the swinging / locking body 38 swings and the guide rod is moved along with the movement of the AGV carriage 4. And the vertically movable body 34 is raised, the fitting between the fitted member 31 and the fitting member 36 is released, and the connection between the AGV carriage 4 and the jig carriage 6 is released and separated. When the vertically moving body 34 is lowered, the swinging / locking body 38 is locked on the upper surface of the conveyor 8C from above, and the jig carriage 6 is conveyed by the conveyor 8C, and the AGV carriage 4 is It is possible to move separately and independently.

以上の構成により、以下動作について説明する。先ず、搭載エリアにおいて、前記ＡＧＶ台車４と治具台車６とが連結した状態（図７及び図８参照）の前記自走型搬送車１上に載置された上面が開口せる箱状の部品載置箱７内に１つの前記アッセンブリ製品を組立てるべく種々の取付部品を作業者が搭載する。   With the above configuration, the operation will be described below. First, in the mounting area, a box-shaped part that opens an upper surface placed on the self-propelled transport vehicle 1 in a state where the AGV cart 4 and the jig cart 6 are connected (see FIGS. 7 and 8). In order to assemble one assembly product in the mounting box 7, an operator mounts various attachment parts.

そして、予め搬送速度が調節された搬送装置８の近くに走行線に沿って前記自走型搬送車１が移動して来ることとなり、やがて前記治具台車６の前記上下移動体３４の下部に設けられた揺動・係止体３８が前記搬送装置８の上流側端部に当接すると（図９及び図１０参照）、前記揺動・係止体３８が揺動すると共に更に前記ＡＧＶ台車４の移動に伴って前記案内棒に案内されて上下移動体３４が上昇して、前記被嵌合部材３１と嵌合部材３６との嵌合が解かれ、前記ＡＧＶ台車４と治具台車６との連結が解除されて切り離しした状態となり、前記上下移動体３４の下降により搬送コンベア８Ｃ上面に揺動・係止体３８が上方から係止して搬送コンベア８Ｃにより治具台車６が搬送されると共にＡＧＶ台車４はこれとは別個に独立して移動が可能となる（図１１及び図１２参照）。従って、搬送コンベア８Ｃの搬送速度で、治具台車６は移動することとなる（図１３及び図１４参照）。   Then, the self-propelled transport vehicle 1 moves along the travel line near the transport device 8 whose transport speed has been adjusted in advance, and eventually in the lower part of the vertical moving body 34 of the jig carriage 6. When the provided swing / locking body 38 comes into contact with the upstream end of the transport device 8 (see FIGS. 9 and 10), the swing / locking body 38 swings and the AGV carriage is further moved. 4, the vertically moving body 34 is raised by being guided by the guide rod, and the fitting between the fitted member 31 and the fitting member 36 is released, and the AGV carriage 4 and the jig carriage 6 are released. Is released and disconnected, and when the vertically moving body 34 is lowered, the swing / locking body 38 is locked on the upper surface of the transfer conveyor 8C from above, and the jig cart 6 is transferred by the transfer conveyor 8C. In addition, the AGV cart 4 can be moved independently independently of this. Become (see FIGS. 11 and 12). Accordingly, the jig cart 6 moves at the transport speed of the transport conveyor 8C (see FIGS. 13 and 14).

従って、搬送コンベア８Ｃによる治具台車６の搬送速度よりＡＧＶ台車４の移動速度の方が速いため、ＡＧＶ台車４は搬送装置８の下流寄り端部で停止して待機することとなり、搬送装置８による治具台車６の搬送中に、作業者は移動する治具台車６の部品載置箱７内にある種々の取付部品を組付けてアッセンブリ製品を組立てる。   Therefore, since the moving speed of the AGV carriage 4 is faster than the conveyance speed of the jig carriage 6 by the conveyor 8C, the AGV carriage 4 stops at the downstream end of the conveying apparatus 8 and waits. While the jig cart 6 is being transported, the worker assembles assembly products by assembling various mounting parts in the component placement box 7 of the moving jig cart 6.

やがて、治具台車４が移動して、搬送装置８の下流寄り端部で待機している前記ＡＧＶ台車４の前記被嵌合部材３１に治具台車６の案内部３７の傾斜面３７Ａが当接する。更に、治具台車６が移動すると傾斜面３７Ａが前記被嵌合部材３１上を摺動しながら前記上下移動体３４を上昇させながら移動することとなり、次に傾斜面３７Ａから水平面３７Ｂが前記被嵌合部材３１上を摺動しながら治具台車６が移動することとなり、やがて前記摺動を終えると上下移動体３４が下降して嵌合部材３６が被嵌合部材３１に嵌合することとなる（図１５及び図１６参照）。   Eventually, the jig carriage 4 moves, and the inclined surface 37A of the guide portion 37 of the jig carriage 6 hits the fitted member 31 of the AGV carriage 4 waiting at the downstream end of the transfer device 8. Touch. Further, when the jig carriage 6 moves, the inclined surface 37A moves while raising the up-and-down moving body 34 while sliding on the fitted member 31, and then the horizontal surface 37B is moved from the inclined surface 37A to the covered surface 37B. The jig carriage 6 moves while sliding on the fitting member 31, and when the sliding is finished, the vertically moving body 34 is lowered and the fitting member 36 is fitted to the fitted member 31. (See FIGS. 15 and 16).

すると、前記ＡＧＶ台車４と治具台車６とが連結した状態となり、再び自走型搬送車１が下流へと、走行線に沿って移動することとなる。従って、搬送コンベア８Ｃによる搬送速度を調節することにより、作業者のペースではなく、必要なタクトで組付け作業が行えることとなる。   Then, the AGV carriage 4 and the jig carriage 6 are connected to each other, and the self-propelled conveyance vehicle 1 moves again along the running line downstream. Therefore, by adjusting the conveying speed by the conveying conveyor 8C, the assembling work can be performed with a necessary tact instead of the operator's pace.

そして、検査ステーションに到達すると、作業者が目視により及び検査装置により仕様書の仕様通りに取付部品が製品に正確に組み付けられたかの検査や外観の検査が行われ、次の出荷ステーションで作業者が自走型搬送車１から各取付部品が組み付けられたアッセンブリ製品を下し、保管場所に移す。そして、この保管場所から他の組立ラインの走行線に沿って搬送する自走型搬送車にこのアッセンブリ製品を所定の順序に従って積載して、走行線に沿ってこの自走型搬送車により搬送された製品は、他の製品に組付けられて最終完成品になる。     Then, when the inspection station is reached, the operator visually inspects and the inspection device checks whether the mounting parts are correctly assembled to the product according to the specifications of the specification, and the appearance is inspected. Remove the assembly product assembled with each mounting part from the self-propelled transport vehicle 1 and move it to the storage location. Then, the assembly products are loaded in a predetermined order on a self-propelled transport vehicle that transports along the travel line of another assembly line from this storage location, and is transported by this self-propelled transport vehicle along the travel line. Products are assembled into other products to become final finished products.

以上本発明の実施形態について説明したが、上述の説明に基づいて当業者にとって種々の代替例、修正又は変形が可能であり、本発明はその趣旨を逸脱しない範囲で前述の種々の代替例、修正又は変形を包含するものである。   Although the embodiments of the present invention have been described above, various alternatives, modifications, and variations can be made by those skilled in the art based on the above description, and the present invention is not limited to the various alternatives described above without departing from the spirit of the present invention. It includes modifications or variations.

ＡＧＶ台車の側面図である。It is a side view of an AGV cart. ＡＧＶ台車の平面図である。It is a top view of an AGV cart. 治具台車の側面図である。It is a side view of a jig trolley. 治具台車の平面図である。It is a top view of a jig trolley. 搬送装置の側面図である。It is a side view of a conveying apparatus. 搬送装置の平面図である。It is a top view of a conveying apparatus. ＡＧＶ台車に治具台車が連結した状態の自走型搬送車の側面図である。It is a side view of the self-propelled conveyance vehicle in the state where the jig cart was connected to the AGV cart. ＡＧＶ台車に治具台車が連結した状態の自走型搬送車の平面図である。It is a top view of the self-propelled conveyance vehicle in the state where the jig cart was connected to the AGV cart. 治具台車の揺動・係止体が搬送装置の上流側端部に当接した状態の側面図である。It is a side view of the state where the swinging / locking body of the jig carriage is in contact with the upstream end of the transport device. 治具台車の揺動・係止体が搬送装置の上流側端部に当接した状態の平面図である。It is a top view of the state which the rocking | swiveling / locking body of the jig trolley contact | abutted to the upstream edge part of the conveying apparatus. ＡＧＶ台車と治具台車との連結が解除された状態の自走型搬送車の側面図である。It is a side view of a self-propelled conveyance vehicle in the state where connection with an AGV cart and a jig cart was canceled. ＡＧＶ台車と治具台車との連結が解除された状態の自走型搬送車の平面図である。It is a top view of the self-propelled conveyance vehicle in the state where connection with an AGV cart and a jig cart was canceled. 搬送装置により治具台車が移動している状態の側面図である。It is a side view of the state which the jig trolley is moving with the conveying apparatus. 搬送装置により治具台車が移動している状態の平面図である。It is a top view in the state where the jig trolley is moving with the conveyance device. 搬送装置の下流寄り端部でＡＧＶ台車と治具台車とが連結した状態の自走型搬送車の側面図である。It is a side view of the self-propelled conveyance vehicle in the state where the AGV carriage and the jig carriage are connected at the downstream end of the conveyance device. 搬送装置の下流寄り端部でＡＧＶ台車と治具台車とが連結した状態の自走型搬送車の平面図である。It is a top view of the self-propelled conveyance vehicle in the state where the AGV cart and the jig cart are connected to the downstream end of the conveyance device.

符号の説明Explanation of symbols

１ 自走型搬送車
３ 切り離し・連結装置
４ ＡＧＶ台車
６ 治具台車
８ 搬送装置
８Ｃ 搬送コンベア
３１ 被嵌合部材
３４ 上下移動体
３６ 嵌合部材
３７ 案内部
３７Ａ 傾斜面
３７Ｂ 水平面
３８ 揺動・係止体 DESCRIPTION OF SYMBOLS 1 Self-propelled conveyance vehicle 3 Detaching / coupling device 4 AGV cart 6 Jig cart 8 Conveyance device 8C Conveyor 31 Fit member 34 Vertical moving body 36 Fitting member 37 Guide part 37A Inclined surface 37B Horizontal plane 38 Swing / engagement Stationary

Claims (4)

走行線に沿って移動するＡＧＶ台車とアッセンブリ製品を組立てるべく取付部品を載置して前記ＡＧＶ台車により搬送される治具台車とで構成されて両者が切り離し・連結装置により切り離し及び連結が可能な自走型搬送車と、組立作業領域に配設され前記自走型搬送車の移動に伴ってこの自走型搬送車から前記切り離し・連結装置により切り離された前記治具台車を受け継いで該治具台車を搬送するものであって搬送しながら作業者が前記アッセンブリ製品を組立てるための搬送速度が調節可能な搬送装置とから構成されたことを特徴とする治具台車搬送装置。   It is composed of an AGV carriage that moves along the travel line and a jig carriage that carries mounting parts to assemble assembly products and is conveyed by the AGV carriage, and both can be separated and separated and connected by a coupling device. Inheriting the self-propelled transport vehicle and the jig cart separated from the self-propelled transport vehicle by the separating / connecting device as the self-propelled transport vehicle is disposed in the assembly work area. A jig cart transport device for transporting a tool cart, and comprising a transport device capable of adjusting a transport speed for an operator to assemble the assembly product while transporting the tool cart. 走行線に沿って移動するＡＧＶ台車とアッセンブリ製品を組立てるべく取付部品を載置して前記ＡＧＶ台車により搬送される治具台車とで構成されて両者が切り離し・連結装置により切り離し及び連結が可能な自走型搬送車と、組立作業領域に配設され前記自走型搬送車の移動に伴ってこの自走型搬送車から前記切り離し・連結装置により切り離された前記治具台車を受け継いで該治具台車を搬送するものであって搬送しながら作業者が前記アッセンブリ製品を組立てるための搬送速度が調節可能な搬送装置とから構成され、前記自走型搬送車から前記切り離し・連結装置により切り離された前記治具台車を前記搬送装置が搬送し終えると、この搬送装置から前記治具台車から切り離された前記ＡＧＶ台車が前記治具台車を受け継いで連結することを特徴とする治具台車搬送装置。   It is composed of an AGV carriage that moves along the travel line and a jig carriage that carries mounting parts to assemble assembly products and is conveyed by the AGV carriage, and both can be separated and separated and connected by a coupling device. Inheriting the self-propelled transport vehicle and the jig cart separated from the self-propelled transport vehicle by the separating / connecting device as the self-propelled transport vehicle is disposed in the assembly work area. A transport device that transports the tool cart, and an operator can adjust the transport speed for assembling the assembly product while transporting, and is separated from the self-propelled transport vehicle by the disconnecting and connecting device. When the transporting device finishes transporting the jig cart, the AGV cart separated from the jig cart from the transporting device inherits and connects the jig cart. Jig carriage conveying apparatus characterized by. 前記切り離し・連結装置は、前記ＡＧＶ台車に設けられた被嵌合部材と、前記治具台車に上下動可能に設けられた上下動部材と、この上下動部材に設けられ前記ＡＧＶ台車の移動に伴い前記搬送装置に当接すると前記上下動部材を上昇させると共に前記搬送装置に係止する係止体と、前記上下動部材が上昇した際に前記被嵌合部材との嵌合が解かれる嵌合部材とから構成されていることを特徴とする請求項１又は請求項２に記載の治具台車搬送装置。   The disconnection / connection device includes a fitted member provided on the AGV carriage, a vertical movement member provided on the jig carriage so as to be movable up and down, and a movement of the AGV carriage provided on the vertical movement member. Accordingly, the fitting that lifts the vertically moving member when it comes into contact with the conveying device and that is engaged with the mating member when the vertically moving member is lifted and the engaging body that is engaged with the conveying device are released. The jig cart conveying device according to claim 1 or 2, comprising a joint member. 前記切り離し・連結装置は、前記ＡＧＶ台車に設けられた被嵌合部材と、前記治具台車に上下動可能に設けられた上下動部材と、この上下動部材に設けられ前記ＡＧＶ台車の移動に伴い前記搬送装置に当接すると前記上下動部材を上昇させると共に前記搬送装置に係止する係止体と、前記上下動部材が上昇した際に前記被嵌合部材との嵌合が解かれる嵌合部材と、前期上下動部材に設けられて前記搬送装置による前記治具台車の移動に伴い前記ＡＧＶ台車の被嵌合部材が下面を摺動しながら上昇する案内部材とを備え、前記ＡＧＶ台車の被嵌合部材が下面を摺動しながら前記案内部材が上昇した後に前記摺動を終えて下降すると前記被嵌合部材に前記嵌合部材が嵌合することを特徴とする請求項１又は請求項２に記載の治具台車搬送装置。   The disconnection / connection device includes a fitted member provided on the AGV carriage, a vertical movement member provided on the jig carriage so as to be movable up and down, and a movement of the AGV carriage provided on the vertical movement member. Accordingly, the fitting that lifts the vertically moving member when it comes into contact with the conveying device and that is engaged with the mating member when the vertically moving member is lifted and the engaging body that is engaged with the conveying device are released. An AGV carriage provided with a joint member and a guide member provided on the vertical movement member in the previous period and lifted while a fitting member of the AGV carriage slides on the lower surface as the jig carriage moves by the conveying device The fitting member is fitted into the fitted member when the sliding member finishes sliding and descends after the guide member ascends while the fitted member slides on the lower surface. The jig cart conveying device according to claim 2.
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WO2021012606A1 (en) * 2019-07-25 2021-01-28 陕西科技大学 High-precision movable robot secondary positioning device
CN113320996A (en) * 2021-05-21 2021-08-31 杭州电子科技大学 Intelligent material device based on AGV dolly

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