US20140061003A1 - Work transfer device - Google Patents
Work transfer device Download PDFInfo
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- US20140061003A1 US20140061003A1 US13/605,090 US201213605090A US2014061003A1 US 20140061003 A1 US20140061003 A1 US 20140061003A1 US 201213605090 A US201213605090 A US 201213605090A US 2014061003 A1 US2014061003 A1 US 2014061003A1
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- roller
- ribbon body
- frame
- slit
- ribbon
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- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 13
- 229910000831 Steel Inorganic materials 0.000 description 20
- 239000010959 steel Substances 0.000 description 20
- 102100027340 Slit homolog 2 protein Human genes 0.000 description 18
- 101710133576 Slit homolog 2 protein Proteins 0.000 description 18
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- 238000011144 upstream manufacturing Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
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- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/02—Belt- or chain-engaging elements
- B65G23/04—Drums, rollers, or wheels
- B65G23/12—Arrangements of co-operating drums or rollers to augment tractive effort applied to the belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/022—Transferring or handling sub-units or components, e.g. in work stations or between workstations and transportation systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/30—Details; Auxiliary devices
- B65G17/32—Individual load-carriers
- B65G17/34—Individual load-carriers having flat surfaces, e.g. platforms, grids, forks
Definitions
- the present invention relates to a work transfer device used to mount an engine (engine unit) in a vehicle body in a vehicle production line, for example.
- a conventional engine mounting device is configured by a main line assembling a vehicle and an engine mounting device (decking device), and the decking device includes a chassis preparing line assembling the engine and chassis (suspension system), and a mounting station mounting an engine assembly, which is assembled in the chassis preparing line and is mounted in a mounting carriage in a transfer station, in the vehicle in the main line.
- decking device includes a chassis preparing line assembling the engine and chassis (suspension system), and a mounting station mounting an engine assembly, which is assembled in the chassis preparing line and is mounted in a mounting carriage in a transfer station, in the vehicle in the main line.
- the initial chassis preparing line is configured so as to place the engine and the chassis on an automatic guided vehicle (AGV), assemble the engine and the chassis together on the automatic guided vehicle, and assemble the assembled engine assembly to the vehicle with use of the decking device.
- AGV automatic guided vehicle
- a chassis preparing line 90 described in Japanese Patent Publication No. 4170175 is configured so as to move a tool carriage 91 that mounts the engine and the chassis with an annularly-arranged driving chain 92 , assemble the engine and the chassis together, and assemble the assembled engine assembly to the vehicle with use of the engine mounting device.
- the tool carriage 91 travels on a frame 93 , and the frame 93 is configured by integrating a body frame and a travelling frame. Accordingly, since the structure of the frame 93 is large, to change the chassis preparing line 90 with a change of processes, for example, increase the number of tool carriages 91 , a major restructuring work of the frame 93 is required.
- a driving part 94 feeding power to the driving chain 92 transmits a driving force from a driving motor 94 a with use of a chain 94 c having a particular structure, to which a slat plate 94 b is attached, leading to an increase in costs of the entire device.
- the present invention is made in consideration of the above-mentioned circumstances, and its object is to provide a work transfer device capable of moving a carriage in any direction and easily changing processes even with a simple configuration.
- the present invention provides a work transfer device including a frame having a slit in a transfer direction, a ribbon body stored in the frame such that an upper portion is guided by the slit of the frame, a carriage coupling part that is connected to an upper end of the ribbon body and protrudes from an upper side of the frame, a driving part feeding power to move the ribbon body along the slit in the transfer direction, and a tool carriage, which has a support part supporting a work and has a coupling part coupled to the carriage coupling part, travelling on the frame.
- the frame forms a travelling surface (table) for the tool carriage at a position that is higher than an installation floor surface for the work transfer device by a width of the ribbon body or larger such that the ribbon body arranged in the slit does not protrude from the upper surface (travelling surface of the tool carriage) of the frame, and has enough strength to mount the tool carriage mounting the work thereon.
- the ribbon body is shaped like a plate that is thinner than a width of the slit, and is made of an elastic material.
- the ribbon body is made of a spring steel material having an enough tensile strength to transmit power to move the all tool carriages and works in the work transfer device, and an enough elasticity to be easily bent along the line formed by the slit.
- the ribbon body is made of a steel material, and the steel ribbon body (ribbon steel) has a thickness of about 1 mm.
- the ribbon body is coupled in the form of a loop. In this case, in the work transfer device, the tool carriage travels on a track where the loop-like ribbon body is arranged.
- the carriage coupling part is made of a material having a low frictional resistance, such as a synthetic resin having an outer appearance that is much wider than the slit and a coupling recess.
- the driving part comes into contact with an upstream portion of the ribbon body and pulls the ribbon body from an upstream end, and sandwiches the ribbon body from its both surfaces to apply a tensile force due to frictional contact.
- a knurl or a through hole may be formed in a side surface of the ribbon body to form irregularities, and the driving part may be provided with irregularities engaging with the irregularities of the ribbon body to reliably transmit power.
- the tool carriage can be freely moved on the frame, and includes a wheel rolling in a front-back direction along the transfer direction and a wheel freely changing its direction.
- the ribbon body is used as a slider, and sliding of the ribbon body feeds power to travel the tool carriage via the carriage coupling part coupled to the upper side of the tool carriage.
- the tool carriage can be transferred in any direction.
- each ribbon body part includes front and rear ribbon body coupling parts separably coupled to the front and rear ribbon body parts at front and rear ends in the transfer direction
- the frame is configured by frame parts that can be separated at each slit having the same length of each ribbon body part (claim 2 )
- the ribbon body parts can be coupled to each other at the slit provided in the frame part, the slit having the same length as the ribbon body part, by adjusting the combination of the coupled ribbon body parts with recombination of the frame parts, the loop-like track can be freely recombined, and the travelling route of the tool carriage in the work transfer device can be easily changed.
- the length of the ribbon body part and the length of the slit of the frame is the length of one process of the working process in a factory.
- the slit is annularly formed, and a roller conveyor guiding the lower end of the ribbon body in the curved portion of the slit is provided (claim 3 )
- the tensile force of the driving part acts on each part of the annularly-coupled ribbon body, thereby causing the tool carriage to travel along the slit.
- the width of the slit in the curved portion is much larger than the thickness of the ribbon body.
- the driving part includes a first roller coming in contact with one side surface of the ribbon body, a second roller opposed to the first roller, the second roller coming in contact with the other side surface of the ribbon body and being pressed onto the ribbon body, a driving motor feeding a rotational force to the first roller, and a power transmission mechanism transmitting power to rotate the second roller in a reverse direction to a rotational direction of the first roller due to the rotational force of the driving motor (claim 4 ), the driving force can be applied to the ribbon body by means of the first roller and the second roller.
- the second roller rotates in the reverse direction to the rotational direction of the first roller, and is pressed onto the ribbon body with a spring as a component of a tensioner, a frictional force between the surfaces of the first roller and the second roller and a contact portion of the ribbon body can be increased, thereby reliably applying the driving force to the ribbon body.
- the driving part includes a first roller coming in contact with one side surface of the ribbon body, a second roller opposed to the first roller, the second roller coming in contact with the other side surface of the ribbon body and being pressed onto the ribbon body, and a driving motor feeding a rotational force to the first roller
- the second roller is driven by the first roller and rotates in a reverse direction to a rotational direction of the first roller (claim 5 )
- the driving force can be applied to the ribbon body by means of the first roller.
- the second roller is driven by the first roller, rotates in the reverse direction to the rotational direction of the first roller, and is pressed onto the ribbon body with a spring as a component of a tensioner.
- the component of the tensioner for only the second roller by using the component of the tensioner for only the second roller, a constant tension is applied to the second roller and therefore, even when the diameter of the roller is decreased due to friction with the ribbon body, the first roller and the second roller coming in contact with the other side surface of the ribbon body are in close contact with each other. Further, since the ribbon body is transferred by applying the driving force to the ribbon body via only the first roller without transmitting the driving force to the second roller, that is, the ribbon body is transferred in the state where the second roller follows the first roller (free rotating state), as compared to the case where the driving force is transmitted to the second roller for fast-forwarding of the ribbon body, the assembling step of the fast-forwarding unit can be omitted, leading to a decrease in costs.
- the device according to the present invention has a simpler configuration than conventional transfer devices using the automatic guided vehicle and transfer devices using a chain to feed the driving force and therefore, manufacturing costs can be reduced. Further, each member is more light-weighted than that in the devices using the chain or the automatic guided vehicle, the work transfer device can be easily assembled, and the process can be easily changed. Moreover, since the elastic ribbon body can change its direction with a smaller rotational radius (R size) than that of the transfer devices using the automatic guided vehicle, the work transfer device can be arranged in a smaller space.
- the thin plate-like ribbon body is driven in the state where the ribbon body is sandwiched between the rollers of the driving part and pressed with the rollers, the driving force can be reliably transmitted to the thin plate-like ribbon steel.
- the driving unit can be assembled to any travelling frame, thereby simplifying process change.
- FIG. 1 is a plan view showing an overall configuration of a work transfer device in accordance with a first embodiment of the present invention
- FIG. 2 is a side view showing the work transfer device when viewed from the transfer direction;
- FIGS. 3A and 3B are views for describing a configuration of a ribbon body of the work transfer device, FIG. 3A is a plan view, and FIG. 3B is a side view;
- FIG. 4 is a side view showing a configuration of a driving part of the work transfer device
- FIG. 5 is a plan view showing the driving part
- FIG. 6 is a view showing a driving part of a work transfer device in accordance with a second embodiment of the present invention when viewed from the transfer direction;
- FIG. 7 is a plan view showing the driving part in the second embodiment
- FIG. 8 is a side view showing the driving part in the second embodiment.
- FIGS. 9A and 9B are views showing a configuration of a conventional work transfer device, FIG. 9A is an overall view, FIG. 9B is an enlarged view of a main part.
- a configuration of a work transfer device 1 according to the present invention will be described with reference to FIG. 1 to FIG. 5 .
- FIG. 1 to FIG. 5 show the first embodiment of the present invention, in which when a thin ribbon body (ribbon steel) is carried (transferred) by a driving motor of a driving part (driving unit), a driving force of the driving motor is transmitted to a roller on the opposite side (below-mentioned second roller), and the ribbon body (ribbon steel) is sandwiched between a first roller and the second roller, to which a rotational force is fed from the driving motor, from both side surfaces of the ribbon body (ribbon steel) to carry (transfer) the ribbon body (ribbon steel), and a spring (an example of components of a tensioner) is attached to the second roller of the first roller and the second roller such that the rollers sandwich the ribbon body (ribbon steel) therebetween under a certain tension to reliably drive the thin ribbon body (ribbon steel).
- a spring an example of components of a tensioner
- the work transfer device 1 of the present invention has a frame 3 having a slit 2 in a transfer direction, a ribbon body 4 stored in the frame 3 such that an upper portion is guided by the slit 2 of the frame 3 , carriage coupling parts 5 that are connected to an upper end of the ribbon body 4 and protrudes from an upper side of the frame 3 , a driving part 6 feeding power to move the ribbon body 4 along the slit 2 in the transfer direction, and a tool carriage 7 , which has a support part 7 a supporting an engine or an engine assembly as an example of a work W and has a coupling part 8 coupled to the carriage coupling part 5 , travelling on the frame 3 .
- the work transfer device 1 in this embodiment transfers the engine or the engine assembly of the vehicle or the like as the work W and thus, is used as a device of transferring the engine or a device of mounting the engine to the vehicle.
- the slit 2 is annular
- the frame 3 is formed by coupling a plurality of separable frame parts 3 pa , 3 pb having the slit 2 of a length L 1 that is a half of a span L 2 as one process of a working process, and a separable frame part 3 pc having the slit 2 of a length L 3 that is one fourth of the span L 2 .
- the frame parts 3 pa , 3 pc each have the linear slit 2
- the frame part 3 pb has the slit 2 curved at 90 degrees.
- a travelling surface 3 a for the tool carriage 7 is formed on the upper surface of the frame 3 , and legs 3 b provided at least four corners of the frame parts 3 pa , 3 pb , 3 pc each are provided with an adjustor 3 c for absorbing irregularities of a floor surface F to keep the travelling surface 3 a flat.
- a roller conveyor 9 having a pair of rollers 9 a , 9 b that come into contact with both side surfaces of a lower end of the ribbon body 4 at predetermined intervals and a roller 9 c that comes into contact with the lower end of the ribbon body 4 at predetermined intervals.
- the roller conveyor 9 guiding the lower end of the ribbon body 4 is continuously provided in the frame part 3 pb forming the curved slit 2 and portions in front of and in the rear of the frame part 3 pb.
- the ribbon body 4 is a plate-like steel member (ribbon steel) that is thinner than the width of the slit 2 , and is formed of a separable ribbon body part 4 a (ribbon steel part) corresponding to the span L 2 as one process.
- the ribbon body part 4 a includes ribbon body coupling parts 4 b , 4 c at its both front and rear ends in a transfer direction X, respectively.
- the ribbon body part 4 a has a thickness of, for example, 1 mm (refer to FIG. 3A ), a width in a vertical direction of a little over 100 mm (refer to FIG. 3B ), and a width in a longitudinal direction of a little over 2400 mm.
- a plurality of protrusions 4 d are formed on an upper end of a central portion of the ribbon body part 4 a , and the carriage coupling parts 5 can be fixed to the protrusions 4 d with screws. Even when the ribbon body 4 is stored in the slit 2 , the protrusions 4 d and the carriage coupling parts 5 from the upper side of the travelling surface 3 a.
- the two front and rear carriage coupling parts 5 are spaced from each other in the transfer direction X of the ribbon body 4 , and these carriage coupling parts 5 a , 5 b includes coupling recesses 5 c , 5 d , respectively.
- one recess 5 d is shaped like a long hole to have a play of 10 mm, for example, in the front-back direction.
- a distance D between the front and rear recesses 5 c , 5 d is appropriately set according to a length of La of the tool carriage 7 in the transfer direction, and in this embodiment, the distance D is set to be about 30% of the length La of the tool carriage 7 .
- the tool carriage 7 includes a frame 7 d having coupling parts 7 b , 7 c formed of rods coupled by being fitted into the recesses 5 c , 5 d provided in the carriage coupling parts 5 a , 5 b , respectively, and a caster 7 e that allows the tool carriage 7 to move in any direction at a lower end of the frame 7 d .
- the caster 7 e is a free caster or a ball caster that can change its rotational direction when the transfer direction is rapidly curved, but when the transfer direction is almost linear, the caster 7 e may be a wheel caster.
- the driving part 6 in the work transfer device 1 shown in FIGS. 4 , 5 applies the tensile force to the annularly-arranged ribbon body 4 to drive the ribbon body 4 in the transfer direction
- the driving part 6 may be located at any position with respect to the ribbon body 4 .
- the driving part 6 drives the tool carriage 7 with the tensile force applied to the ribbon body 4
- it is preferred that the driving part 6 is arranged upstream of the tool carriage 7 mounting the work W thereon, and the ribbon body 4 is arranged in a slit 6 a provided in the upper end of the driving part 6 .
- a reference numeral 6 b denotes a leg with adjustor, which is provided such that the driving part 6 is arranged on the floor surface F while keeping flat.
- the driving part 6 includes a first roller 10 coming in contact with one side surface of the ribbon body 4 , a second roller 11 that comes in contact with the other side surface opposed to the first roller 10 and is pressed onto the ribbon body 4 , a driving motor 12 feeding a rotational force to the first roller 10 , a power transmission mechanism 13 transmitting power to rotate the second roller 11 in a reverse direction to a rotational direction of the first roller 10 with the rotational force of the driving motor 12 , and a blade 14 coming in contact with the surfaces 10 a , 11 a of the first roller 10 and the second roller 11 to scrape matters adhered to the roller surfaces 10 a , 11 a off.
- the surfaces 10 a , 11 a formed on outer circumferences of the first roller 10 and the second roller 11 are made of a material having a high frictional resistance, and the first roller 10 is coupled to an axis 10 b rotated by a gear box 12 a provided in an output of the driving motor 12 , thereby being directly driven by the driving motor 12 .
- a sprocket 10 c is also coupled to the axis 10 b.
- the power transmission mechanism 13 includes a chain 13 a wound around the sprocket 10 c , a sprocket 13 b that is arranged on the opposite side across the ribbon body 4 and around which the chain 13 a is wound, a first auxiliary roller 13 c that is arranged and rotates together with the sprocket 13 b on the same axis, a second auxiliary roller 13 d that is in frictional contact with an outer circumferential surface of the first auxiliary roller 13 c and is coupled to an axis 11 b of the second roller 11 , a swinging support rod 13 e supporting these auxiliary rollers 13 c , 13 d to be swingable around an rotational axis of the sprocket 13 b , and an elastic body (spring in this embodiment) 13 f biasing the side of a swinging end of the swinging support rod 13 e toward the ribbon body 4 .
- the blade 14 includes a blade support body 14 a arranged in the vicinity of the rollers 10 , 11 , and contact pieces 14 b , 14 c biased on both sides of the blade support body 14 a to be pressed onto the surfaces 10 a , 11 a of the rollers 10 , 11 , respectively, and come in contact with the surfaces.
- a reference numeral 15 denotes rollers guiding the ribbon body 4 at front and rear ends of the driving part 6 in the transfer direction.
- the ribbon body 4 Since the upper end of the ribbon body 4 is stored in the slit 2 , the ribbon body 4 can move in the forming direction of the slit 2 to move the tool carriage 7 along the slit 2 . Further, since the roller conveyor 9 guiding the lower end of the ribbon body 4 is provided in the curved portion of the slit 2 and in front of and in the rear of the curved portion, the ribbon body 4 is not displaced from the slit 2 even in the curved portion of the slit 2 , and can reliably move the tool carriage 7 along the slit 2 .
- the carriage coupling parts 5 attached to the upper end of the ribbon body 4 are arranged with the distance D therebetween in the transfer direction, when the ribbon body 4 changes its direction in the curved portion, the transfer direction of the tool carriage 7 can be reliably followed.
- the distance D is not much smaller than the length La of the tool carriage 7 in the transfer direction and is set to be about 30% of the total length L, the present invention is not limited to this ratio. It is preferred that as the distance D is larger, the recess 5 d is made longer to provide a play.
- the ribbon body 4 having the above-mentioned configuration can be separated to have the same length as the span L 2 of each process, and the frame parts Spa, 3 pb , 3 pc each can be separated to have a length of a half or one fourth of the span L 2 . Accordingly, by appropriately adjusting the combination of the frame parts 3 pa , 3 pb , 3 pc and suitably increasing or decreasing the length of the ribbon body 4 , the work transfer device 1 for a new working process can be easily reassembled.
- the power transmission mechanisms 13 a to 13 f transmit the driving force of the first roller 10 to the second roller 11 , that is, the driving force is transmitted to the first roller 10 on the opposite side of the driving motor 12 to move (transfer) the ribbon body (ribbon steel) 4 .
- FIG. 6 to FIG. 8 show the second embodiment of the present invention in which the ribbon body (ribbon steel) 4 is moved (transferred) without transmitting the driving force to the opposite side of the driving motor 12 to omit an assembling process of a fast-forwarding unit for fast-forwarding the ribbon body (ribbon steel) 4 .
- the ribbon body (ribbon steel) 4 when the ribbon body (ribbon steel) 4 is sandwiched between the first roller 10 , to which the rotational force is fed from the driving motor 12 , and the second roller 11 following the first roller 10 , from its both side surfaces, and is moved (transferred), by using the spring (an example of components of a tensioner) 13 f for the second roller of the first roller 10 and the second roller 11 , the ribbon body (ribbon steel) 4 is moved (transferred) while applying a constant tension to the second roller, such that the first roller 10 and the second roller 11 located opposite to the first roller across the ribbon body (ribbon steel) are in close contact with each other without transmitting the driving force of the driving motor 12 to the opposed second roller 11 .
- the driving part 6 includes the first roller 10 coming in contact with one side surface of the ribbon body 4 , the second roller 11 that comes in contact with the other surface of the ribbon body 4 as opposed to the first roller 10 and is pressed onto the ribbon body 4 , and the driving motor 12 feeding the rotational force of the first roller 10 , and the second roller 11 is configured so as to follow the first roller 10 and rotate in the reverse direction to the rotational direction of the first roller 10 .
- a reference numeral 11 c denotes a rotational shaft 11 c of the second roller 11 , which is arranged via a bearing 50
- a reference numeral 13 e ′ denotes a swinging support rod supporting the second roller 11 so as to be swingable around the rotational shaft 11 c
- a reference numeral 13 f ′ denotes an elastic body (spring in this embodiment) biasing a swinging end side of the swinging support rod 13 e ′ toward the ribbon body 4 .
- FIG. 6 only a direction of biasing force applied to the swinging support rod 13 e ′ by the spring 13 f ′ is represented by an arrow F, and the spring 13 f ′ itself is not shown.
- the assembling step of the fast-forwarding unit can be omitted, leading to a decrease in costs.
- the driving part 6 does not include the blade coming in contact with the surfaces of the first roller 10 and the second roller 11 to scrape matters adhered to the roller surfaces off
- the blade 14 shown in the first embodiment may be provided in this embodiment.
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Abstract
Description
- 1. Field of the Invention
- The present invention relates to a work transfer device used to mount an engine (engine unit) in a vehicle body in a vehicle production line, for example.
- 2. Description of Related Art
- A conventional engine mounting device is configured by a main line assembling a vehicle and an engine mounting device (decking device), and the decking device includes a chassis preparing line assembling the engine and chassis (suspension system), and a mounting station mounting an engine assembly, which is assembled in the chassis preparing line and is mounted in a mounting carriage in a transfer station, in the vehicle in the main line.
- The initial chassis preparing line is configured so as to place the engine and the chassis on an automatic guided vehicle (AGV), assemble the engine and the chassis together on the automatic guided vehicle, and assemble the assembled engine assembly to the vehicle with use of the decking device.
- At this time, since a few dozens of automatic guided vehicles are required for the chassis preparing line, and the cost (value) of the automatic guided vehicle is high, a device constituting the chassis preparing line is disadvantageously expensive. Further, a large space for the waiting and travelling of the automatic guided vehicles is needed.
- As shown in
FIG. 9 , achassis preparing line 90 described in Japanese Patent Publication No. 4170175 is configured so as to move a tool carriage 91 that mounts the engine and the chassis with an annularly-arrangeddriving chain 92, assemble the engine and the chassis together, and assemble the assembled engine assembly to the vehicle with use of the engine mounting device. - However, as shown in
FIG. 9A , in thechassis preparing line 90 having such configuration, the tool carriage 91 travels on a frame 93, and the frame 93 is configured by integrating a body frame and a travelling frame. Accordingly, since the structure of the frame 93 is large, to change thechassis preparing line 90 with a change of processes, for example, increase the number of tool carriages 91, a major restructuring work of the frame 93 is required. - In addition, as shown in
FIG. 9B , a drivingpart 94 feeding power to thedriving chain 92 transmits a driving force from adriving motor 94 a with use of a chain 94 c having a particular structure, to which aslat plate 94 b is attached, leading to an increase in costs of the entire device. - The present invention is made in consideration of the above-mentioned circumstances, and its object is to provide a work transfer device capable of moving a carriage in any direction and easily changing processes even with a simple configuration.
- To attain the object, the present invention provides a work transfer device including a frame having a slit in a transfer direction, a ribbon body stored in the frame such that an upper portion is guided by the slit of the frame, a carriage coupling part that is connected to an upper end of the ribbon body and protrudes from an upper side of the frame, a driving part feeding power to move the ribbon body along the slit in the transfer direction, and a tool carriage, which has a support part supporting a work and has a coupling part coupled to the carriage coupling part, travelling on the frame. (claim 1)
- The frame forms a travelling surface (table) for the tool carriage at a position that is higher than an installation floor surface for the work transfer device by a width of the ribbon body or larger such that the ribbon body arranged in the slit does not protrude from the upper surface (travelling surface of the tool carriage) of the frame, and has enough strength to mount the tool carriage mounting the work thereon.
- The ribbon body is shaped like a plate that is thinner than a width of the slit, and is made of an elastic material. For example, it is preferred that the ribbon body is made of a spring steel material having an enough tensile strength to transmit power to move the all tool carriages and works in the work transfer device, and an enough elasticity to be easily bent along the line formed by the slit. Preferably, the ribbon body is made of a steel material, and the steel ribbon body (ribbon steel) has a thickness of about 1 mm. Further, preferably, the ribbon body is coupled in the form of a loop. In this case, in the work transfer device, the tool carriage travels on a track where the loop-like ribbon body is arranged.
- It is preferred that the carriage coupling part is made of a material having a low frictional resistance, such as a synthetic resin having an outer appearance that is much wider than the slit and a coupling recess.
- It is preferred that the driving part comes into contact with an upstream portion of the ribbon body and pulls the ribbon body from an upstream end, and sandwiches the ribbon body from its both surfaces to apply a tensile force due to frictional contact. Alternatively, a knurl or a through hole may be formed in a side surface of the ribbon body to form irregularities, and the driving part may be provided with irregularities engaging with the irregularities of the ribbon body to reliably transmit power. Further, it is preferred that the tool carriage can be freely moved on the frame, and includes a wheel rolling in a front-back direction along the transfer direction and a wheel freely changing its direction.
- In the work transfer device having such configuration, by applying the tensile force to the ribbon body by the driving part, the ribbon body is used as a slider, and sliding of the ribbon body feeds power to travel the tool carriage via the carriage coupling part coupled to the upper side of the tool carriage. In the curved portion of the slit, since the ribbon body bends in the slit-forming direction to transmit the tensile force, the tool carriage can be transferred in any direction.
- In the case where the ribbon body is configured by ribbon body parts that can be coupled to each other at a predetermined length, each ribbon body part includes front and rear ribbon body coupling parts separably coupled to the front and rear ribbon body parts at front and rear ends in the transfer direction, and the frame is configured by frame parts that can be separated at each slit having the same length of each ribbon body part (claim 2), since the ribbon body parts can be coupled to each other at the slit provided in the frame part, the slit having the same length as the ribbon body part, by adjusting the combination of the coupled ribbon body parts with recombination of the frame parts, the loop-like track can be freely recombined, and the travelling route of the tool carriage in the work transfer device can be easily changed. It is preferred that the length of the ribbon body part and the length of the slit of the frame is the length of one process of the working process in a factory.
- In the case where the slit is annularly formed, and a roller conveyor guiding the lower end of the ribbon body in the curved portion of the slit is provided (claim 3), since the lower end of the ribbon body is held to be movable in the slit-forming direction by the roller conveyor even in the curved portion of the slit, the tensile force of the driving part acts on each part of the annularly-coupled ribbon body, thereby causing the tool carriage to travel along the slit. It is preferred that the width of the slit in the curved portion is much larger than the thickness of the ribbon body.
- In the case where the driving part includes a first roller coming in contact with one side surface of the ribbon body, a second roller opposed to the first roller, the second roller coming in contact with the other side surface of the ribbon body and being pressed onto the ribbon body, a driving motor feeding a rotational force to the first roller, and a power transmission mechanism transmitting power to rotate the second roller in a reverse direction to a rotational direction of the first roller due to the rotational force of the driving motor (claim 4), the driving force can be applied to the ribbon body by means of the first roller and the second roller. At this time, the second roller rotates in the reverse direction to the rotational direction of the first roller, and is pressed onto the ribbon body with a spring as a component of a tensioner, a frictional force between the surfaces of the first roller and the second roller and a contact portion of the ribbon body can be increased, thereby reliably applying the driving force to the ribbon body.
- In the case where the driving part includes a first roller coming in contact with one side surface of the ribbon body, a second roller opposed to the first roller, the second roller coming in contact with the other side surface of the ribbon body and being pressed onto the ribbon body, and a driving motor feeding a rotational force to the first roller, the second roller is driven by the first roller and rotates in a reverse direction to a rotational direction of the first roller (claim 5), the driving force can be applied to the ribbon body by means of the first roller. At this time, the second roller is driven by the first roller, rotates in the reverse direction to the rotational direction of the first roller, and is pressed onto the ribbon body with a spring as a component of a tensioner. That is, by using the component of the tensioner for only the second roller, a constant tension is applied to the second roller and therefore, even when the diameter of the roller is decreased due to friction with the ribbon body, the first roller and the second roller coming in contact with the other side surface of the ribbon body are in close contact with each other. Further, since the ribbon body is transferred by applying the driving force to the ribbon body via only the first roller without transmitting the driving force to the second roller, that is, the ribbon body is transferred in the state where the second roller follows the first roller (free rotating state), as compared to the case where the driving force is transmitted to the second roller for fast-forwarding of the ribbon body, the assembling step of the fast-forwarding unit can be omitted, leading to a decrease in costs.
- As described above, the device according to the present invention has a simpler configuration than conventional transfer devices using the automatic guided vehicle and transfer devices using a chain to feed the driving force and therefore, manufacturing costs can be reduced. Further, each member is more light-weighted than that in the devices using the chain or the automatic guided vehicle, the work transfer device can be easily assembled, and the process can be easily changed. Moreover, since the elastic ribbon body can change its direction with a smaller rotational radius (R size) than that of the transfer devices using the automatic guided vehicle, the work transfer device can be arranged in a smaller space.
- Since the thin plate-like ribbon body is driven in the state where the ribbon body is sandwiched between the rollers of the driving part and pressed with the rollers, the driving force can be reliably transmitted to the thin plate-like ribbon steel.
- Moreover, by manufacturing the travelling frames of the same pitch, the driving unit can be assembled to any travelling frame, thereby simplifying process change.
-
FIG. 1 is a plan view showing an overall configuration of a work transfer device in accordance with a first embodiment of the present invention; -
FIG. 2 is a side view showing the work transfer device when viewed from the transfer direction; -
FIGS. 3A and 3B are views for describing a configuration of a ribbon body of the work transfer device,FIG. 3A is a plan view, andFIG. 3B is a side view; -
FIG. 4 is a side view showing a configuration of a driving part of the work transfer device; -
FIG. 5 is a plan view showing the driving part; -
FIG. 6 is a view showing a driving part of a work transfer device in accordance with a second embodiment of the present invention when viewed from the transfer direction; -
FIG. 7 is a plan view showing the driving part in the second embodiment; -
FIG. 8 is a side view showing the driving part in the second embodiment; and -
FIGS. 9A and 9B are views showing a configuration of a conventional work transfer device,FIG. 9A is an overall view,FIG. 9B is an enlarged view of a main part. - A configuration of a
work transfer device 1 according to the present invention will be described with reference to FIG. 1 toFIG. 5 . -
FIG. 1 toFIG. 5 show the first embodiment of the present invention, in which when a thin ribbon body (ribbon steel) is carried (transferred) by a driving motor of a driving part (driving unit), a driving force of the driving motor is transmitted to a roller on the opposite side (below-mentioned second roller), and the ribbon body (ribbon steel) is sandwiched between a first roller and the second roller, to which a rotational force is fed from the driving motor, from both side surfaces of the ribbon body (ribbon steel) to carry (transfer) the ribbon body (ribbon steel), and a spring (an example of components of a tensioner) is attached to the second roller of the first roller and the second roller such that the rollers sandwich the ribbon body (ribbon steel) therebetween under a certain tension to reliably drive the thin ribbon body (ribbon steel). That is, thework transfer device 1 of the present invention has aframe 3 having aslit 2 in a transfer direction, aribbon body 4 stored in theframe 3 such that an upper portion is guided by theslit 2 of theframe 3, carriage coupling parts 5 that are connected to an upper end of theribbon body 4 and protrudes from an upper side of theframe 3, a drivingpart 6 feeding power to move theribbon body 4 along theslit 2 in the transfer direction, and atool carriage 7, which has asupport part 7 a supporting an engine or an engine assembly as an example of a work W and has acoupling part 8 coupled to the carriage coupling part 5, travelling on theframe 3. - The
work transfer device 1 in this embodiment transfers the engine or the engine assembly of the vehicle or the like as the work W and thus, is used as a device of transferring the engine or a device of mounting the engine to the vehicle. - As shown in
FIG. 1 , theslit 2 is annular, and theframe 3 is formed by coupling a plurality ofseparable frame parts 3 pa, 3 pb having theslit 2 of a length L1 that is a half of a span L2 as one process of a working process, and aseparable frame part 3 pc having theslit 2 of a length L3 that is one fourth of the span L2. Theframe parts 3 pa, 3 pc each have thelinear slit 2, and theframe part 3 pb has theslit 2 curved at 90 degrees. - As shown in
FIG. 2 , a travellingsurface 3 a for thetool carriage 7 is formed on the upper surface of theframe 3, andlegs 3 b provided at least four corners of theframe parts 3 pa, 3 pb, 3 pc each are provided with anadjustor 3 c for absorbing irregularities of a floor surface F to keep the travellingsurface 3 a flat. There is provided aroller conveyor 9 having a pair ofrollers ribbon body 4 at predetermined intervals and aroller 9 c that comes into contact with the lower end of theribbon body 4 at predetermined intervals. Theroller conveyor 9 guiding the lower end of theribbon body 4 is continuously provided in theframe part 3 pb forming thecurved slit 2 and portions in front of and in the rear of theframe part 3 pb. - As shown in
FIG. 3A , theribbon body 4 is a plate-like steel member (ribbon steel) that is thinner than the width of theslit 2, and is formed of a separableribbon body part 4 a (ribbon steel part) corresponding to the span L2 as one process. Theribbon body part 4 a includes ribbonbody coupling parts ribbon body part 4 a has a thickness of, for example, 1 mm (refer toFIG. 3A ), a width in a vertical direction of a little over 100 mm (refer toFIG. 3B ), and a width in a longitudinal direction of a little over 2400 mm. - In addition, a plurality of
protrusions 4 d are formed on an upper end of a central portion of theribbon body part 4 a, and the carriage coupling parts 5 can be fixed to theprotrusions 4 d with screws. Even when theribbon body 4 is stored in theslit 2, theprotrusions 4 d and the carriage coupling parts 5 from the upper side of the travellingsurface 3 a. - As shown in
FIG. 3B , the two front and rear carriage coupling parts 5 are spaced from each other in the transfer direction X of theribbon body 4, and thesecarriage coupling parts recess 5 d is shaped like a long hole to have a play of 10 mm, for example, in the front-back direction. A distance D between the front andrear recesses tool carriage 7 in the transfer direction, and in this embodiment, the distance D is set to be about 30% of the length La of thetool carriage 7. - The
tool carriage 7 includes aframe 7 d havingcoupling parts recesses carriage coupling parts caster 7 e that allows thetool carriage 7 to move in any direction at a lower end of theframe 7 d. It is preferred that thecaster 7 e is a free caster or a ball caster that can change its rotational direction when the transfer direction is rapidly curved, but when the transfer direction is almost linear, thecaster 7 e may be a wheel caster. - Since the driving
part 6 in thework transfer device 1 shown inFIGS. 4 , 5 applies the tensile force to the annularly-arrangedribbon body 4 to drive theribbon body 4 in the transfer direction, the drivingpart 6 may be located at any position with respect to theribbon body 4. However, since the drivingpart 6 drives thetool carriage 7 with the tensile force applied to theribbon body 4, it is preferred that the drivingpart 6 is arranged upstream of thetool carriage 7 mounting the work W thereon, and theribbon body 4 is arranged in a slit 6 a provided in the upper end of the drivingpart 6. - A
reference numeral 6 b denotes a leg with adjustor, which is provided such that the drivingpart 6 is arranged on the floor surface F while keeping flat. When theribbon body 4 is not annularly arranged, it is needed to arrange the drivingpart 6 upstream of thetool carriage 7 mounting the work W thereon. - The driving
part 6 includes afirst roller 10 coming in contact with one side surface of theribbon body 4, asecond roller 11 that comes in contact with the other side surface opposed to thefirst roller 10 and is pressed onto theribbon body 4, a drivingmotor 12 feeding a rotational force to thefirst roller 10, apower transmission mechanism 13 transmitting power to rotate thesecond roller 11 in a reverse direction to a rotational direction of thefirst roller 10 with the rotational force of the drivingmotor 12, and ablade 14 coming in contact with thesurfaces first roller 10 and thesecond roller 11 to scrape matters adhered to the roller surfaces 10 a, 11 a off. - The
surfaces first roller 10 and thesecond roller 11 are made of a material having a high frictional resistance, and thefirst roller 10 is coupled to anaxis 10 b rotated by agear box 12 a provided in an output of the drivingmotor 12, thereby being directly driven by the drivingmotor 12. Asprocket 10 c is also coupled to theaxis 10 b. - The
power transmission mechanism 13 includes achain 13 a wound around thesprocket 10 c, asprocket 13 b that is arranged on the opposite side across theribbon body 4 and around which thechain 13 a is wound, a firstauxiliary roller 13 c that is arranged and rotates together with thesprocket 13 b on the same axis, a secondauxiliary roller 13 d that is in frictional contact with an outer circumferential surface of the firstauxiliary roller 13 c and is coupled to anaxis 11 b of thesecond roller 11, a swingingsupport rod 13 e supporting theseauxiliary rollers sprocket 13 b, and an elastic body (spring in this embodiment) 13 f biasing the side of a swinging end of the swingingsupport rod 13 e toward theribbon body 4. - The
blade 14 includes ablade support body 14 a arranged in the vicinity of therollers contact pieces blade support body 14 a to be pressed onto thesurfaces rollers reference numeral 15 denotes rollers guiding theribbon body 4 at front and rear ends of the drivingpart 6 in the transfer direction. - In the
work transfer device 1 thus configured, since the driving force from the drivingmotor 12 of the drivingpart 6 is transmitted to each of thefirst roller 10 and thesecond roller 11 as represented by arrows R1, R2, theribbon body 4 in contact with thesurfaces rollers - At this time, since the
spring 13 f applies a force to thesecond roller 11 to press thesecond roller 11 onto theribbon body 4, even in the case of thethin ribbon body 4 of about 1 mm, frictional resistance between therollers ribbon body 4 can be increased as much as possible, and theblade 14 keeps thesurfaces rollers ribbon body 4. That is, an enough force to move thetool carriage 7 in the transfer direction can be fed via theribbon body 4. - Since the upper end of the
ribbon body 4 is stored in theslit 2, theribbon body 4 can move in the forming direction of theslit 2 to move thetool carriage 7 along theslit 2. Further, since theroller conveyor 9 guiding the lower end of theribbon body 4 is provided in the curved portion of theslit 2 and in front of and in the rear of the curved portion, theribbon body 4 is not displaced from theslit 2 even in the curved portion of theslit 2, and can reliably move thetool carriage 7 along theslit 2. - Since the carriage coupling parts 5 attached to the upper end of the
ribbon body 4 are arranged with the distance D therebetween in the transfer direction, when theribbon body 4 changes its direction in the curved portion, the transfer direction of thetool carriage 7 can be reliably followed. Although, in this embodiment, the distance D is not much smaller than the length La of thetool carriage 7 in the transfer direction and is set to be about 30% of the total length L, the present invention is not limited to this ratio. It is preferred that as the distance D is larger, therecess 5 d is made longer to provide a play. - The
ribbon body 4 having the above-mentioned configuration can be separated to have the same length as the span L2 of each process, and the frame parts Spa, 3 pb, 3 pc each can be separated to have a length of a half or one fourth of the span L2. Accordingly, by appropriately adjusting the combination of theframe parts 3 pa, 3 pb, 3 pc and suitably increasing or decreasing the length of theribbon body 4, thework transfer device 1 for a new working process can be easily reassembled. - In the above-mentioned embodiment, when the ribbon body (ribbon steel) 4 is sandwiched between the
first roller 10 and thesecond roller 11, to which the rotational force is fed from the drivingmotor 12, from its both side surfaces, and is moved (transferred), thepower transmission mechanisms 13 a to 13 f transmit the driving force of thefirst roller 10 to thesecond roller 11, that is, the driving force is transmitted to thefirst roller 10 on the opposite side of the drivingmotor 12 to move (transfer) the ribbon body (ribbon steel) 4. -
FIG. 6 toFIG. 8 show the second embodiment of the present invention in which the ribbon body (ribbon steel) 4 is moved (transferred) without transmitting the driving force to the opposite side of the drivingmotor 12 to omit an assembling process of a fast-forwarding unit for fast-forwarding the ribbon body (ribbon steel) 4. That is, in this embodiment, when the ribbon body (ribbon steel) 4 is sandwiched between thefirst roller 10, to which the rotational force is fed from the drivingmotor 12, and thesecond roller 11 following thefirst roller 10, from its both side surfaces, and is moved (transferred), by using the spring (an example of components of a tensioner) 13 f for the second roller of thefirst roller 10 and thesecond roller 11, the ribbon body (ribbon steel) 4 is moved (transferred) while applying a constant tension to the second roller, such that thefirst roller 10 and thesecond roller 11 located opposite to the first roller across the ribbon body (ribbon steel) are in close contact with each other without transmitting the driving force of the drivingmotor 12 to the opposedsecond roller 11. - The same or equivalent constituents in
FIG. 6 toFIG. 8 as those inFIG. 1 toFIG. 5 are given the same reference numerals, and inFIG. 6 ,FIG. 8 , theribbon body 4 is not shown. InFIG. 6 toFIG. 8 , the drivingpart 6 includes thefirst roller 10 coming in contact with one side surface of theribbon body 4, thesecond roller 11 that comes in contact with the other surface of theribbon body 4 as opposed to thefirst roller 10 and is pressed onto theribbon body 4, and the drivingmotor 12 feeding the rotational force of thefirst roller 10, and thesecond roller 11 is configured so as to follow thefirst roller 10 and rotate in the reverse direction to the rotational direction of thefirst roller 10. Areference numeral 11 c denotes arotational shaft 11 c of thesecond roller 11, which is arranged via abearing 50, areference numeral 13 e′ denotes a swinging support rod supporting thesecond roller 11 so as to be swingable around therotational shaft 11 c, and areference numeral 13 f′ denotes an elastic body (spring in this embodiment) biasing a swinging end side of the swingingsupport rod 13 e′ toward theribbon body 4. InFIG. 6 , only a direction of biasing force applied to the swingingsupport rod 13 e′ by thespring 13 f′ is represented by an arrow F, and thespring 13 f′ itself is not shown. As described above, in this embodiment, since theribbon body 4 is transferred in the state where thesecond roller 11 located on the opposite side of the drivingmotor 12 across theribbon body 4 follows the first roller 10 (free rotating state), as compared to the case where thepower transmission mechanisms 13 a to 13 f transmit the driving force to thesecond roller 11 for fast-forwarding of theribbon body 4 as in the first embodiment, the assembling step of the fast-forwarding unit can be omitted, leading to a decrease in costs. - Although, in this embodiment, the driving
part 6 does not include the blade coming in contact with the surfaces of thefirst roller 10 and thesecond roller 11 to scrape matters adhered to the roller surfaces off, theblade 14 shown in the first embodiment may be provided in this embodiment. -
-
- 1 Work transfer device
- 2 Slit
- 3 Frame
- 3 pa, 3 pb, 3 pc Frame part
- 4 Ribbon body
- 4 a Ribbon body part
- 4 b, 4 c Ribbon body coupling part
- 5 Carriage coupling part
- 6 Driving part
- 7 Tool carriage
- 7 a Support part
- 7 b, 7 c Coupling part
- 9 Roller conveyor
- 10 First roller
- 11 Second roller
- 12 Driving motor
- 13 Power transmission mechanism
- 11 c Rotational shaft of second roller
- 13 e′ Swinging support body
- 13 f′ Spring
- 14 Blade
- L2 Predetermined length
- W Work
- X Transfer direction
Claims (5)
Priority Applications (1)
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US13/605,090 US8678167B1 (en) | 2012-09-06 | 2012-09-06 | Work transfer device |
Applications Claiming Priority (1)
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US13/605,090 US8678167B1 (en) | 2012-09-06 | 2012-09-06 | Work transfer device |
Publications (2)
Publication Number | Publication Date |
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US20140061003A1 true US20140061003A1 (en) | 2014-03-06 |
US8678167B1 US8678167B1 (en) | 2014-03-25 |
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US13/605,090 Active US8678167B1 (en) | 2012-09-06 | 2012-09-06 | Work transfer device |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2017102170A1 (en) * | 2015-12-17 | 2017-06-22 | Stadler Anlagenbau Gmbh | Deflecting device for conveyor belts |
CN110155212A (en) * | 2019-05-28 | 2019-08-23 | 清远富强汽车部件有限公司 | A kind of new-energy automobile fender-guard mounting structure with pooling feature |
CN110420885A (en) * | 2019-08-29 | 2019-11-08 | 武汉逸飞激光设备有限公司 | It is a kind of annular transfer passage and helium detect pipeline |
US12005980B2 (en) * | 2022-07-11 | 2024-06-11 | Hyundai Motor Company | Apparatus for supporting a component part in an automated line |
Families Citing this family (1)
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US9132873B1 (en) * | 2013-03-14 | 2015-09-15 | Kuka Systems Corporation North America | Flexible conveyance system |
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DE2522299C3 (en) * | 1975-05-20 | 1979-10-25 | W + M Automation Karl Mueller, 6200 Wiesbaden | Transport device for circulating horizontal transport of carriers for the conveyance of objects |
GB8402950D0 (en) * | 1984-02-03 | 1984-03-07 | Portals Eng Ltd | Bookbinding machine |
JPH04170175A (en) | 1990-11-02 | 1992-06-17 | Canon Inc | Driver for solid-state image pickup element |
US5226524A (en) * | 1991-07-11 | 1993-07-13 | H. J. Langen & Sons Inc. | Hesitating bucket conveyor |
JP3637263B2 (en) * | 1999-06-07 | 2005-04-13 | アイテック株式会社 | Driving device for conveying device |
JP4538774B2 (en) * | 2001-02-14 | 2010-09-08 | 株式会社ダイフク | Carriage transfer device |
DE10316941A1 (en) * | 2003-04-12 | 2004-11-11 | Arzneimittel Gmbh Apotheker Vetter & Co. Ravensburg | transport means |
JP4170175B2 (en) | 2003-08-27 | 2008-10-22 | 新明工業株式会社 | Engine mounted device |
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2012
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017102170A1 (en) * | 2015-12-17 | 2017-06-22 | Stadler Anlagenbau Gmbh | Deflecting device for conveyor belts |
CN110155212A (en) * | 2019-05-28 | 2019-08-23 | 清远富强汽车部件有限公司 | A kind of new-energy automobile fender-guard mounting structure with pooling feature |
CN110420885A (en) * | 2019-08-29 | 2019-11-08 | 武汉逸飞激光设备有限公司 | It is a kind of annular transfer passage and helium detect pipeline |
US12005980B2 (en) * | 2022-07-11 | 2024-06-11 | Hyundai Motor Company | Apparatus for supporting a component part in an automated line |
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