JP5745920B2 - Conveying apparatus and conveying method - Google Patents

Description

  The present invention relates to a transport device used in a production line and a technology of a transport method using the transport device.

2. Description of the Related Art Conventionally, in a production line, there is a case where a transport device including a conveyor-shaped transport unit that connects a plurality of carts is used.
As such a transport apparatus, one having a configuration in which each carriage can be connected and disconnected is known, and is disclosed in, for example, Patent Document 1 shown below.

In the transfer device according to the prior art disclosed in Patent Document 1, each carriage can be connected and detached so that it is possible to easily cope with a change in the length of the production line simply by increasing or decreasing the number of carriages. ing.
Further, in the transport device according to the related art disclosed in Patent Document 1, the drive source of each carriage is arranged only in the most upstream part of the production line (that is, the drive source is not arranged in the middle part of the production line). By using a configuration that applies driving force only to the bogie located at the most upstream part of the production line, workers can be placed on both the left and right sides of the flow direction of the production line, thereby shortening the production line length. I am trying.

  In addition, as such a transport device, there are a drive source for running each cart, and an AGV (abbreviation for Automatic Guided Vehicle) for returning the cart from the most downstream part to the most upstream part of the production line. Is known, for example, disclosed in Patent Document 2 shown below and publicly known.

In the transport apparatus according to the prior art disclosed in Patent Document 2, each carriage is configured to be connectable and detachable, and the most downstream trolley that has passed through the production line is detached, and the carriage is separated using AGV. By returning the carts upstream and circulating the carts, a transport unit in the production line can be configured with a small number of carts.
In this way, by using the AGV to return the carriage, the number of permanent items fixed on the production line is reduced, and the production line length is changed (ie, the quantity of the carriage is increased or decreased). It makes it easier to respond.

JP 2005-246549 A JP 2004-269143 A

  However, in the transfer device according to the related art shown in Patent Document 1 and Patent Document 2, it is necessary to permanently install a drive source for running each carriage in the vicinity of the production line. It was necessary to secure space, and the cost of the drive source was necessary.

  The present invention has been made in view of such a problem of the present situation, and while being able to easily cope with a change in the length of the production line, it is possible to save space on the production line and reduce equipment costs. An object of the present invention is to provide a transfer device and a transfer method that can be used.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

That is, in Claim 1, it is a site | part for conveying a workpiece | work in a manufacturing line, Conveyor-like coupling body formed by connecting a some trolley | bogie along the conveyance path | route of the said workpiece | work, and this coupling body In contrast, the connection body includes a drive source that is a means for applying a propulsive force in the workpiece conveyance direction, and an AGV that is a means for transporting the carriage detached from the connection body. The driving source is applied with a driving force to cause the connecting body to travel along the workpiece transfer path in the production line, and to form the connecting body. Of the plurality of carriages, the first carriage, which is the carriage located at the head in the conveyance direction of the workpiece, is detached from the connection body, and the first carriage is connected to the connection by the AGV. Among the plurality of carts constituting the workpiece, the first cart is transferred to the upstream side of the second cart, which is the cart located at the end with respect to the conveying direction of the workpiece, and the first cart is moved to the second cart By connecting to the rear part of the manufacturing line, the transport device is configured to continue to place the connection body on the transport path, and the drive source is compared with the plurality of carriages forming the connection body. And a plurality of the AGVs that are small in number, and a part of the AGVs that constitute the drive source is used to apply a propulsive force to the coupling body, A plurality of AGVs that impart propulsive force to the coupling body among the plurality of AGVs that constitute the drive source, and the plurality of AGVs that constitute the drive source. home, Serial and the AGV of the other portion of the AGV to impart propulsion force to the coupling member, individually controls, and the AGV transferring the first carriage, but.

  According to a second aspect of the present invention, traveling speeds of the plurality of AGVs constituting the drive source are synchronized by the control device.

  According to a third aspect of the present invention, each of the plurality of carriages further includes a connection unit that is a unit for connecting each other, and the AGV further includes a release unit that is a unit for releasing the connection unit, The controller releases the connecting means of the first carriage by operating the releasing means of the AGV that imparts a propulsive force to the first carriage, thereby connecting the first carriage to the first carriage. It is to be removed from the body.

  According to a fourth aspect of the present invention, each of the plurality of carriages further includes an engaged portion that is a portion for engaging with the AGV, and the AGV further includes means for engaging with the engaged portion. The engaging device is operated by the control device to engage the engaged portion with the engaging device, and the AGV is moved in the conveying direction of the workpiece. By causing the vehicle to travel, a propulsive force is applied to the cart by the AGV.

In Claim 5, it is a site | part for conveying a workpiece | work in a production line, Conveyor-like connection body formed by connecting a plurality of carts along the conveyance route of the work, and to the connection body A drive source that is a means for applying a propulsive force in the conveying direction of the workpiece and an AGV that is a means for transporting the carriage detached from the connection body. The plurality of members that apply a propulsive force by the drive source to cause the connecting body to travel along the work transport path in the manufacturing line in the work transport direction and to form the connecting body. The first carriage, which is the first carriage located in the head in the workpiece transfer direction, is detached from the connection body, and the first carriage is constituted by the AGV to form the connection body. Of the plurality of carriages to be transported to the upstream side of the second carriage, which is the carriage located at the end relative to the conveying direction of the workpiece, the first carriage is rear of the second carriage To the plurality of carriages that form the coupling body , wherein the driving source is connected to the transportation line of the manufacturing line. The AGV is configured by a plurality of the AGVs having a smaller number of units , and a propulsive force is applied to the coupling body by some of the AGVs that configure the drive source. The control device further includes a part of the AGVs that impart propulsive force to the coupling body among the plurality of AGVs that constitute the drive source, and the plurality of AGVs that constitute the drive source. Of the said AGV other than the part AGV to impart propulsion force to the connecting member, and the AGV transferring the first carriage, a is for controlling individually.

  According to a sixth aspect of the present invention, the control device synchronizes the traveling speeds of the plurality of AGVs constituting the drive source.

  In claim 7, each of the plurality of carriages further includes connection means that is means for connecting to each other, and the AGV further includes release means that is means for releasing the connection means, The controller releases the connecting means of the first carriage by operating the releasing means of the AGV that imparts a propulsive force to the first carriage, thereby connecting the first carriage to the first carriage. It is intended to be removed from the body.

  According to another aspect of the present invention, each of the plurality of carriages further includes an engaged portion that is a portion for engaging with the AGV, and the AGV further includes means for engaging the engaged portion. The engaging device is operated by the control device to engage the engaged portion with the engaging device, and the AGV is moved in the conveying direction of the workpiece. By causing the vehicle to travel, a propulsive force is applied to the cart by the AGV.

  In Claim 9, The said AGV is made to convey said 1st AGV while said release means of the 1st AGV which is said AGV which gives propulsive force to said 1st trolley | bogie is operated by said control apparatus. When the first carriage is separated from the connection body, the control apparatus is configured to follow the connection body on the upstream side with respect to the transport direction of the workpiece. The third cart is moved to the second cart by running the second cart, which is the AGV that gives propulsive force to the third cart, along the workpiece transport path. The second AGV is connected so that a propulsive force can be applied to the connected body, and the workpiece is transported by the control device more than the first AGV. A third AGV, which is the AGV located one upstream relative to the first carriage, can be engaged with a fourth carriage located one upstream relative to the workpiece carriage direction relative to the first carriage. The vehicle travels to a predetermined position, and the third AGV engages the fourth carriage so that a propulsive force can be applied to the coupling body by the third AGV. is there.

  As effects of the present invention, the following effects can be obtained.

According to the first aspect of the present invention, since it is not necessary to separately provide a drive source for running the coupled body of the carriage, the work can be efficiently transported outside the production line while configuring the transport device in a small space. Can be done.

  According to the second aspect of the present invention, it is possible to stably run the connected body of the carriage.

  In claim 3, the carriage can be easily and reliably detached.

  In claim 4, the propulsive force can be easily applied to the carriage by the AGV.

According to the fifth aspect of the present invention, since it is not necessary to separately provide a drive source for running the coupled body of the carriage, it is possible to efficiently transport the workpiece outside the production line while configuring the transport device in a small space and at a low cost. Can be done.

  In Claim 6, the coupling body of a trolley | bogie can be made to drive stably. Moreover, the traveling speed of AGV can be easily synchronized.

  According to the seventh aspect, the carriage can be easily and reliably detached.

  In claim 8, the propulsive force can be easily applied to the carriage by the AGV.

  According to the ninth aspect of the present invention, it is possible to continuously and stably run the connected body of the carriage.

The schematic diagram which shows the whole structure of the conveying apparatus which concerns on one Embodiment of this invention. The figure which shows the trolley | bogie which comprises the conveying apparatus which concerns on one Embodiment of this invention, (a) Plane schematic diagram, (b) Side surface schematic diagram. The figure which shows the connection mechanism with which a trolley | bogie is equipped, (a) The schematic diagram which shows a connection state, (b) The schematic diagram which shows the state which cancelled | released connection. The figure which shows the connection state of a trolley | bogie, (a) Partial plane schematic diagram, (b) Partial side surface schematic diagram. The figure which shows AGV which comprises the conveying apparatus which concerns on one Embodiment of this invention, (a) Plane schematic diagram, (b) Side surface schematic diagram. The figure which shows the command state with respect to AGV by a control apparatus, (a) The schematic diagram which shows the operation condition of AGV, (b) The schematic diagram which shows the command state with respect to AGV by the control apparatus in the whole conveying apparatus. The figure which shows the engagement state of AGV and a trolley | bogie, (a) Plane schematic diagram, (b) AA sectional arrow directional view in Fig.7 (a). The figure which shows the cancellation | release condition of the connection state of the trolley | bogie by AGV, (a) The side surface schematic diagram which shows the condition before cancellation | release, (b) The side surface schematic diagram which shows the condition when cancelled | released. The schematic diagram which shows the conveying method by the conveying apparatus which concerns on one Embodiment of this invention.

Next, embodiments of the invention will be described.
First, an overall configuration of a transport apparatus according to an embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, a transport apparatus 1 according to an embodiment of the present invention is configured so that various parts necessary for product assembly, products that have been assembled, and the like (hereinafter collectively referred to as workpieces) are set in advance. It is an apparatus for conveying along R, and is provided with a plurality of carriages 2, 2,..., A plurality of AGVs 3, 3,.
Moreover, the conveying apparatus 1 is provided with the control apparatus 4 for controlling operation | movement of each AGV3 * 3 ....

In the transport apparatus 1, a substantially elliptical transport path R is set. The conveyance path R in the present embodiment is set by laying a magnetic tape along a desired path.
And in the conveying apparatus 1, the conveyance path | route R is set along arrangement | positioning of each line (process), such as the production line 10, the unloading line 20, and the component supply line 30, and AGV3 is set along the conveyance path | route R. By making it drive | work, it is set as the structure which makes the trolley | bogie 2 engaged with AGV3 drive along the conveyance path | route R. FIG.
With such a configuration, the transport apparatus 1 is configured to be able to transport the workpiece placed on the carriage 2 while passing through the lines 10, 20, and 30.

  The parts supply line 30 is a line for loading various works necessary for manufacturing products on the production line 10 into each of the carts 2, 2..., And the production line 10 is supplied from the parts supply line 30. It is a line where the work of assembling products from various workpieces is performed. Further, the carry-out line 20 is a line for taking down the work assembled in the production line 10 from the carriage 2 and carrying it out.

Moreover, in the conveying apparatus 1, in the manufacturing line 10, it is set as the structure which forms the conveyor-shaped conveyance part 8 by connecting the several trolleys 2 * 2 ... linearly, and it is made to propel by several AGV. Thus, the transport unit 8 is configured to travel integrally.
Further, the conveying device 1 is configured such that each of the lines 20 and 30 other than the production line 10 is propelled by a single AGV 3 so that each carriage 2, 2.

In addition, each line 10, 20, 30 shown to this embodiment is an illustration, and the conveying apparatus which concerns on this invention can be applied to the use for linking various lines (process).
Moreover, although the shape of the conveyance path | route R in the conveying apparatus 1 which concerns on one Embodiment of this invention is made into the ellipse shape, the shape of the conveyance path | route in the conveying apparatus which concerns on this invention is not limited to this, As a whole, it is a loop. For example, a mode in which a branch portion that performs switchback in the middle is provided may be used.

As shown in FIGS. 2 (a) and 2 (b), the carriage 2 includes a base portion 2a, a frame 2b, wheels 2c, 2c, etc., and a wheel 2c. It travels along the rotation direction of 2c, and the workpiece | work mounted on the base part 2a can be conveyed by making this cart | truck 2 drive | work.
And the trolley | bogie 2 is equipped with the to-be-engaged part 2d which is a site | part to which a driving force is provided from the outside.

  The carriage 2 includes a connecting shaft 2 h and a connecting mechanism 5, and a plurality of carriages 2, 2... Are connected in the traveling direction of the carriage 2 to form a transport unit 8 (see FIG. 1). It is set as the structure which can do.

  As shown in FIGS. 2A and 2B and FIGS. 3A and 3B, the coupling mechanism 5 includes a first link member 6 and a second link member 7.

The first link member 6 includes a front end portion 6a, a rear end portion 6b, and a shaft portion 6c. The first link member 6 is parallel to the traveling direction of the carriage 2 by the shaft portion 6c supported by the support portion 2m attached to the carriage 2. It is supported so as to be rotatable in a vertical plane.
The second link member 7 includes a front end portion 7a, a rear end portion 7b, and a shaft portion 7c, and the shaft portion 7c supported by the support portion 2n attached to the cart 2 in the traveling direction of the cart 2. It is supported so as to be rotatable in a parallel vertical plane.

The rear end portion 7b of the second link member 7 is formed with a hook 7d that is a concave portion that opens downward for locking the connecting shaft 2h provided at the front portion of the carriage 2.
The hook 7d is disposed at a position protruding further rearward than the rear end surface of the carriage 2, and locks the connecting shaft 2h formed on the succeeding carriage 2 when the carriages 2 are connected. It is set as the structure arrange | positioned in the position which can.

Each of the link members 6 and 7 is disposed such that the lower portion of the rear end portion 6 b of the first link member 6 is in contact with the upper portion of the front end portion 7 a of the second link member 7.
As shown in FIG. 3A, when the coupling mechanism 5 is in a steady state, the rear end portion 7b of the second link member 7 is held at an angle at which the coupling shaft 2h can be locked by the hook 7d. .
Accordingly, as shown in FIG. 4, each carriage 2, 2 can be connected by arranging (collision) the other carriage 2 with the front part of the other carriage 2 in contact with the rear part of a certain carriage 2. .

Further, as shown in FIG. 3B, in a state where the first link member 6 is rotated so that the front end portion 6a of the first link member 6 moves upward (hereinafter referred to as a release state), By the rear end portion 6b of the first link member 6, the front end portion 7a of the second link member 7 is pressed downward, and the rear end portion 7b of the second link member 7 is rotated so as to move upward.
At this time, the rear end portion 7b of the second link member 7 is rotated at an angle at which the connecting shaft 2h cannot be locked by the hook 7d. Can be separated.

  Further, as shown in FIGS. 2 and 4, the carriage 2 includes a displacement prevention recess 2 e and a displacement that are parts for preventing the carriages 2, 2... It is provided with a preventing projection 2f and dampers 2g and 2g, which are elastic members for absorbing impacts acting on the carriages 2, 2.

As shown in FIG. 4, when connecting the carriages 2 and 2, the dampers 2 g and 2 g are caused to collide with the frames 2 b and 2 b before the carriages 2 a and 2 a collide with each other. It is configured to absorb the impact caused by the collision.
Further, when the base portions 2a and 2a are in contact with each other, the front and rear carts 2 are provided with the slip prevention convex portions 2f of the rear cart 2 so that the front and rear carts 2 and 2 are When connected, it is possible to prevent the carts 2 and 2 from shifting in the left-right direction with respect to the traveling direction.

As shown in FIG. 5, the AGV 3 functions as a device (that is, a drive source) for applying a propulsive force to the carriage 2 and includes a main body 3a and wheels 3b, 3b,. The first pin 3c, which is a part for pressing the engaged portion 2d of the carriage 2, is provided.
And AGV3 is set as the structure provided with the propulsive force (driving force) which can propel at least 1 truck 2 to a pressing direction.

  Further, the AGV 3 is configured to have a function for releasing the connected state of the carts 2 and 2 connected by the connecting mechanism 5, and the second pin 3 d that is a part for releasing the connected state of the cart 2. It has.

The first pin 3c and the second pin 3d are configured to be able to expand and contract in a vertical direction with a predetermined stroke. When the pins 3c and 3d are contracted, the first pin 3c and the second pin 3d are built in the main body 3a and the height of the AGV 3 is increased. Is configured to be suppressed to a size that can pass through the lower portion of the carriage 2.
And the 1st pin 3c is set as the structure which can engage the to-be-engaged part 2d of the trolley | bogie 2 in the extended state, and the 2nd pin 3d is the 1st of the connection mechanism 5 in the extended state. The front end portion 6a of the link member 6 can be pressed upward.

Further, the AGV 3 includes a receiver 3f, and is configured to receive a control signal wirelessly transmitted from the control device 4 by the receiver 3f.
And AGV3 is set as the structure which changes the rotation speed of the motor (not shown) which drives wheel 3b * 3b ... according to the received signal transmitted from the control apparatus 4, and controls driving speed.

  As shown in FIG. 1 and FIG. 6A, the control device 4 is a device for controlling the running state of the AGV 3 and the operating state of each part (for example, the first pin 3c and the second pin 3d) provided in the AGV 3. It is. In addition, the control device 4 is configured to previously store the traveling conditions of the AGVs 3... And to input information on the progress of each process in real time.

  Then, based on these pieces of information that can be used by the control device 4, the traveling state of each AGV 3... (That is, the traveling state of each carriage 2, 2...) Is determined, and each AGV 3. • A command signal is transmitted to.

  Then, as shown in FIG. 6 (b), the control device 4 collectively controls the traveling state of the group of AGVs 3, 3... That give a propulsive force to the transport unit 8 arranged in the production line 10. Or, in the carry-out line 20 and the parts supply line 30, it is possible to individually control the traveling state of the AGV 3 that applies propulsive force to the carriage 2 that travels in a single state.

Next, a method for applying a propulsive force to the carriage 2 by the AGV 3 and a method for releasing the connected state of the carriages 2, 2... By the AGV 3 will be described with reference to FIGS.
As shown in FIGS. 7A and 7B and FIG. 8A, the carriage 2 is engaged with the engaged portion 2d by the first pin 3c of the AGV 3, and the AGV 3 travels, so that the first The pushing force is applied by pressing the engaged portion 2d with the pin 3c.

  Specifically, when the AGV 3 is caused to travel while the first pin 3c of the AGV 3 is extended based on a command signal from the control device 4, the relative positions of the carriage 2 and the AGV 3 are shown in FIGS. 7 (a) and 8 (a). 2d, the engaged portion 2d can be pressed by the first pin 3c.

  In a state in which a plurality of carriages 2, 2... Are connected to form the transport unit 8, the propulsive force required to run the transport unit 8 based on information such as the total weight of the transport unit 8 and rolling resistance. Can be calculated. And based on the calculation result of required propulsive force, it is set as the structure which calculates the number of AGV3 required in order to drive the conveyance part 8. FIG.

  That is, in the case where the transport unit 8 is formed by, for example, 30 carriages 2, 2..., When the number of AGVs 3 necessary to secure the propulsive force is calculated to be, for example, 10 The transport unit 8 can be driven by a small number of AGVs 3... Compared to the number of carriages 2, 2.

  As described above, in the transport apparatus 1 according to the embodiment of the present invention, the driving force of the transport unit 8 in the production line 10 is entirely borne by the AGV3, 3..., And a drive source other than the AGV3 is separately provided in the production line. 10 does not have to be provided, the cost can be reduced and the space can be saved by reducing the drive source.

  In the embodiment of the present invention, the substantially cylindrical first pin 3c is provided in the groove portion with respect to the engaged portion 2d having a substantially V-shaped groove shape having an open portion on the rear side in plan view. Although it is set as the structure which engages both parts along back, in the conveyance device concerning the present invention, the shape of the to-be-engaged part and the first pin is not limited to this. A configuration in which the first pin is passed through and engaged with the engaged portion and the carriage is pulled by AGV can be adopted.

Next, a method for releasing the connected state of the carriages 2 and 2 will be described.
As shown in FIG. 8B, when the carriage 2 and the AGV 3 are engaged with each other, the relative position of the carriage 2 and the AGV 3 is a predetermined position as shown in FIG. The joint portion 2d and the first pin 3c of the AGV 3 are in contact with each other.

In this state, the front end 6a of the first link member 6 in the coupling mechanism 5 is pressed by the second pin 3d by extending the second pin 3d of the AGV 3 based on a command signal from the control device 4. Can do.
Thus, the hook 7d of the carriage 2 corresponding to the AGV 3 is released from the locked state of the connecting shaft 2h of the carriage 2 subsequent to the carriage 2, and the connected state of the carriages 2 and 2 is released. .

Next, a workpiece transfer method by the transfer apparatus 1 according to an embodiment of the present invention will be described with reference to FIG.
In the present embodiment, the number of the carriages 2 constituting the conveyance unit 8 for conveying the workpiece 9 is seven, and the number of AGVs 3 necessary for propelling the conveyance unit 8 is four. However, the number of carriages for forming the conveyance unit in the conveyance apparatus according to the present invention and the number of AGVs used for propelling the conveyance unit are not limited thereto. .

  In the method of transporting the workpiece 9 by the transport device 1, each time the transport unit 8 travels the length of one carriage 2, each AGV 3. 3 ...) is stopped.

  As shown in FIG. 9, in the method of transporting the workpiece 9 by the transport device 1, first, with respect to the transport unit 8 constituted by a total of seven carts 2, 2. 3. A propulsive force is applied by 3... To drive the transport unit 8 ((STEP-1) and (STEP-2)).

  That is, in the transport apparatus 1 according to an embodiment of the present invention, the plurality of AGVs 3 ····· constituting the drive source of the transport unit 8 are replaced with the plurality of carriages 2 · 2 ··· forming the transport unit 8. The number is smaller than that.

Further, in the transport method according to the embodiment of the present invention, the transport unit 8 includes a plurality of AGVs 3, 3,... That are smaller in number than the plurality of carts 2, 2,.・ Provide a driving force.
With such a configuration, the transport apparatus 1 can be configured at a lower cost.

Next, in the method for transporting the workpiece 9 by the transport device 1, when the transport unit 8 moves forward by the length of one of the carts 2 (that is, when the leading cart 2 is out of the range of the production line 10). Then, the transport unit 8 is stopped (that is, the AGVs 3, 3,... Imparting a driving force to the transport unit 8 are stopped while being synchronized) (STEP-3).
That is, between (STEP-1) to (STEP-3), the traveling speed of each AGV 3... The transport unit 8 is configured to travel smoothly.

That is, in the transport apparatus 1 according to an embodiment of the present invention, the plurality of AGVs 3... Constituting the drive source of the transport unit 8 synchronize the traveling speed.
With such a configuration, the transport unit 8 can be stably driven.

Moreover, the conveying apparatus 1 which concerns on one Embodiment of this invention is further provided with the control apparatus 4, and synchronizes the traveling speed of several AGV3 * 3 ... which comprises the drive source of the conveyance part 8 by the control apparatus 4. FIG. Is.
Further, the transport method according to the embodiment of the present invention is based on the transport device 1 further including the control device 4, and the control device 4 causes the traveling speeds of a plurality of AGVs 3. Is to synchronize.
With such a configuration, the transport unit 8 can be stably driven. Further, the traveling speeds of the AGVs 3, 3,... Constituting the driving source of the transport unit 8 can be easily synchronized.

  At this time, the carriage 2 (and AGV 3) that has circulated through the respective steps (in the present embodiment, the carry-out line 20 and the component supply line 30) outside the range of the production line 10 is placed on the upstream side of the transport unit 8 with the workpiece 9. At least one unit is kept in a state of being mounted.

  Next, in the state where the transport unit 8 is stopped, the cart 2 (hereinafter referred to as the first cart 2P) located at the head of the carts 2, 2. It separates by AGV3 (henceforth 1st AGV3X) engaged with the 1st trolley | bogie 2P.

That is, based on a command signal from the control device 4 (not shown), the second pin 3d of the first AGV 3X engaged with the first carriage 2P is extended to connect the connecting mechanism 5 of the first carriage 2P. Thus, the state in which the connecting shaft 2h of the subsequent carriage 2 is locked is released.
Then, the separated first carriage 2P is propelled by the first AGV 3X and travels toward the subsequent process (STEP-4).
At this time, the first AGV 3X is driven by the control device 4 (not shown) at a traveling speed different from each AGV 3 · 3... Engaged with the transport unit 8, and each operation, stop, etc. The timing is also controlled differently.

  That is, in the transport device 1 according to the embodiment of the present invention, the control device 4 includes a plurality of AGVs 3, 3... That impart propulsive force to the transport unit 8, and the AGV 3 that transports the first carriage 2 </ b> P, Are controlled individually.

In addition, the transport method according to the embodiment of the present invention includes a plurality of AGVs 3 and 3... For imparting propulsive force to the transport unit 8 and the AGV 3 for transporting the first carriage 2P. It is controlled individually.
With such a configuration, the workpiece 9 can be efficiently conveyed outside the range of the production line 10.

  Moreover, in the conveying apparatus 1 which concerns on one Embodiment of this invention, several trolley | bogie 2 * 2 ... is each equipped with the connection mechanism 5 which is a connection means which is a means for mutually connecting, AGV3 is Furthermore, by providing a second pin 3d as a release means that is a means for releasing the coupling mechanism 5, by operating the second pin 3d of the AGV 3 that imparts propulsive force to the first carriage 2P by the control device 4, The connection mechanism 5 of the first carriage 2P is released, and the first carriage 2P is detached from the transport unit 8.

In the transport method according to an embodiment of the present invention, each of the plurality of carriages 2, 2,... Further includes a connection mechanism 5 that is a means for connecting each other, and the AGV 3 further includes By providing the second pin 3d as a releasing means that is a means for releasing the coupling mechanism 5, and operating the second pin 3d of the AGV 3 that applies a propulsive force to the first carriage 2P by the control device 4, The connection mechanism 5 of one carriage 2P is released, and the first carriage 2P is detached from the transport unit 8.
With such a configuration, the carriage 2 can be easily and reliably detached.

  At the same time, the carriage 2 (hereinafter referred to as the second carriage 2Q) located at the tail of the carriages 2, 2,... In addition, one additional cart 2 (hereinafter referred to as a third cart 2R) that has been waiting on the upstream side of the production line is connected (same as (STEP-4)).

That is, based on the command signal of the control device 4, the third carriage 2R is propelled by the AGV3 (hereinafter referred to as the second AGV3Y) engaged with the third carriage 2R, and the third carriage 2R is made to collide with the rear part of 2nd cart 2Q. Then, the connecting mechanism 5 of the second carriage 2Q locks the connecting shaft 2h of the third carriage 2R to connect the carriages 2Q and 2R.
Thereby, it is set as the state which can provide a driving force with respect to the conveyance part 8 by 2nd AGV3Y.

Further, substantially at the same time, the AGVs 3... Engaged with the remaining transport unit 8 are located on the most downstream side of the production line 10 while the transport unit 8 is stopped. AGV3 (hereinafter referred to as third AGV3Z) is separated from the cart 2 that was engaged at that time (same as (STEP-4)).
That is, based on a command signal from the control device 4 (not shown), the first pin 3c of the third AGV 3Z is shortened, and the engagement state of the third AGV 3Z and the carriage 2 (conveying unit 8) is released.

  Then, on the basis of a command signal from the control device 4 (not shown), the third AGV 3Z is passed through the lower part of each of the carriages 2, 2. The vehicle travels to a position that can be engaged with a cart 2 (hereinafter referred to as a fourth cart 2S) located upstream one of the directions, and the third AGV 3Z is engaged with the fourth cart 2S ( (STEP-5).

  That is, based on the command signal of the control device 4, the third AGV 3Z and the fourth carriage 2S are made to extend by extending the first pin 3c of the third AGV 3Z at a position where it can be engaged with the fourth carriage 2S. It is made to engage and it can be set as the state which can provide a driving force with respect to the conveyance part 8 by 3rd AGV3Z.

  That is, in the transport device 1 according to an embodiment of the present invention, each of the plurality of carriages 2, 2,... Further includes an engaged portion 2 d that is a portion to be engaged by the AGV 3. Furthermore, a first pin 3c serving as an engagement means that is a means for engaging the engaged portion 2d is provided, and the first pin 3c of the AGV 3 is operated by the control device 4 so that the engaged portion 2d is moved to the first position. By engaging with the pin 3c, a propulsive force is applied to the carriage 2 by the AGV 3.

In the transport method according to an embodiment of the present invention, each of the plurality of carriages 2, 2,... Further includes an engaged portion 2 d that is a part to be engaged by the AGV 3, and the AGV 3 further includes A first pin 3c serving as an engagement means that is a means for engaging the engaged portion 2d is provided, and the first pin 3c of the AGV 3 is operated by the control device 4 so that the engaged portion 2d is moved to the first pin. By engaging at 3c, a driving force is applied to the carriage 2 by the AGV3.
With such a configuration, a propulsive force can be easily applied to the carriage 2 by the AGV 3.

When (STEP-5) is completed, the transport unit 8 formed by the state of (STEP-1) (that is, a total of seven carts 2. The state to be propelled by... Is restored.
In the method of transporting the workpiece 9 by the transport device 1, the steps of (STEP-1) to (STEP-5) are repeated in this manner, thereby continuously disposing the transport unit 8 within the range of the production line 10. In the production line 10, the conveyance of the workpiece 9 by the conveyance unit 8 is continuously performed.

  That is, the transport device 1 according to an embodiment of the present invention is a part for transporting the workpiece 9 in the production line 10, and includes a plurality of carriages 2, 2... Along the transport path R of the workpiece 9. Conveying unit 8 which is a conveyor-like connecting body formed by being connected, a driving source which is a means for applying a propulsive force to the conveying unit 8 in the conveying direction of the workpiece 9, and detached from the conveying unit 8 AGV3, which is a means for transporting the carriage 2 that has been moved, and a driving force is applied to the transport unit 8 by the drive source, and the transport unit 8 is transported along the transport path R of the workpiece 9 in the production line 10. , And a carriage 2 that is located at the head of the plurality of carriages 2, 2... Forming the conveyance section 8 with respect to the conveyance direction of the workpiece 9. The first carriage 2P is detached from the transport unit 8 and Of the plurality of carriages 2, 2... Constituting the conveyance unit 8 by the AGV 3, the upstream side of the second carriage 2 </ b> Q that is the last carriage located in the conveyance direction of the workpiece 9. And the first carriage 2P is connected to the upstream side of the second carriage 2Q, whereby the conveyance unit 8 is continuously arranged on the conveyance path R of the production line 10, The drive source is composed of a plurality of AGVs 3.

Moreover, the conveyance method which concerns on one Embodiment of this invention is a site | part for conveying the workpiece | work 9 in the production line 10, and connects the some trolley | bogie 2 ... along the conveyance path | route R of the workpiece | work 9. FIG. A conveyor unit 8 formed as a conveyor-like connecting body, a drive source that is a means for applying a propulsive force to the conveyance unit 8 in the conveyance direction of the workpiece 9, and the conveyance unit 8. AGV3 which is a means for transporting the cart 2 which has been moved, and a driving force is applied to the transport unit 8 by the drive source, and the transport unit 8 is moved to the transport path R of the workpiece 9 in the production line 10. Along with traveling along the conveyance direction of the work 9, among the plurality of carriages 2, 2... Forming the conveyance unit 8, the first carriage 2 is located at the head with respect to the conveyance direction of the workpiece 9. The first cart 2P is detached from the transport unit 8 and the first The upstream side of the second carriage 2Q, which is the carriage 2 located at the tail of the carriage 2P with respect to the conveyance direction of the work 9 among the plurality of carriages 2 · 2. Transported to the upstream side of the second carriage 2Q by connecting the first carriage 2P to the upstream side of the second carriage 2Q, so that the conveyance device 1 is configured to continue to arrange the conveyance section 8 on the conveyance path R of the production line 10. In this method, the driving source is composed of a plurality of AGVs 3..., And a driving force is applied to the transport unit 8 by the plurality of AGVs 3.
With such a configuration, it is not necessary to separately provide a drive source for causing the transport unit 8 to travel, and thus the transport device 1 can be configured in a space-saving and low-cost manner.

In addition, in the transport method according to the embodiment of the present invention, the control device 4 operates the second pin 3d of the first AGV 3X, which is the AGV 3 that applies propulsive force to the first carriage 2P, When the AGV 3X is caused to travel along the transport route R of the workpiece 9 and the first carriage 2P is separated from the transport unit 8,
A third vehicle 2R, which is a subsequent carriage 2 on the upstream side with respect to the conveyance direction of the workpiece 9, is supplied to the conveyance unit 8 by the control device 4, and is an AGV 3 that applies propulsive force to the third carriage 2R. By driving the second AGV 3Y along the transport path R of the workpiece 9, the third carriage 2R is connected to the second carriage 2Q, and the second AGV 3Y imparts a propulsive force to the transport section 8. As well as
The control device 4 causes the third AGV 3Z, which is an AGV 3 positioned upstream of the first AGV 3X in the conveyance direction of the workpiece 9, to move in the conveyance direction of the workpiece 9 from the first carriage 2P. The vehicle travels to a predetermined position that can be engaged with the fourth carriage 2S located upstream by one, and is engaged with the fourth carriage 2S by the third AGV 3Z, and is conveyed by the third AGV 3Z. In this state, a propulsive force can be applied to 8.
With such a configuration, the transport unit 8 can be continuously and stably driven.

  In the present embodiment, the mode in which the transport unit 8 repeats starting and stopping has been described as an example. However, for example, the number of AGVs 3 required to run the transport unit 8 is different from the transport unit 8. By providing a margin for the number of AGVs 3 to be arranged, if the arrangement of the AGV 3 for the margin is changed during traveling while the conveyance unit 8 is always running, the conveyance unit 8 can be made continuous. It is also possible to adopt a configuration that can be transported to the outside.

  In the present embodiment, the carriage 2 on which the AGVs 3... (4 in the present embodiment) for imparting a propulsive force to the transport unit 8 are arranged is replaced with the first carriage 2 and the last three carriages. Although the case where the carriages 2, 2, 2 are illustrated is exemplified, the three AGVs 3, 3, 3 arranged at the rearmost part of the transport unit 8 other than the AGV 3 arranged in the leading carriage 2 (that is, in the present embodiment) ) May be arranged so as to be substantially uniform with respect to the conveyance direction of the workpiece 9 of the conveyance unit 8 and can be appropriately set according to the condition of the conveyance path R and the like.

DESCRIPTION OF SYMBOLS 1 Conveyor device 2 Cart 2d Engagement part 2h Connecting shaft 2P First cart 2Q Second cart 2R Third cart 2S Fourth cart 3 AGV
3X 1st AGV
3Y Second AGV
3Z 3rd AGV
3c 1st pin 3d 2nd pin 4 Control device 5 Connection mechanism 8 Conveyance part 9 Workpiece 10 Production line R Conveyance path

Claims (9)

It is a part for transporting a workpiece in a production line, and a conveyor-like connecting body formed by connecting a plurality of carts along the workpiece transport path;
A drive source that is a means for applying a propulsive force to the connected body in the conveying direction of the workpiece;
AGV which is a means for transferring the carriage detached from the connection body;
With
A driving force is applied to the connecting body by the driving source, and the connecting body is traveled in the transport direction of the work along the transport path of the work in the manufacturing line,
Of the plurality of carriages forming the coupling body, the first carriage, which is the carriage located at the top of the workpiece conveyance direction, is detached from the coupling body,
The first carriage is transferred by the AGV to the upstream side of the second carriage, which is the last carriage located among the plurality of carriages constituting the connection body with respect to the workpiece transfer direction. Then, by connecting the first carriage to the rear part of the second carriage, a transfer device configured to continue to arrange the connector on the transfer path of the production line,
The drive source,
The AGV is configured by a plurality of the AGVs, the number of which is smaller than that of the plurality of carriages forming the connection body, and the connection body is configured by a part of the AGVs constituting the drive source. Giving the driving force,
The transport device further includes a control device,
By the control device,
Among the plurality of AGVs constituting the drive source, the part of the AGVs that impart propulsive force to the coupling body;
Among the plurality of AGVs constituting the drive source, the AGVs other than the part of the AGVs that impart a propulsive force to the connected body,
The AGV for transferring the first carriage;
Individually controlled,
A conveying apparatus characterized by that. By the control device,
Synchronizing the traveling speeds of the plurality of AGVs constituting the drive source;
The conveying apparatus according to claim 1 . The plurality of carriages are
Furthermore, each is provided with a connection means that is a means for connecting to each other,
The AGV is
Furthermore, a release means that is a means for releasing the connection means,
By the control device,
By activating the release means of the AGV that imparts a propulsive force to the first carriage, thereby releasing the connection means of the first carriage and detaching the first carriage from the connection body;
The conveying apparatus according to claim 1 or 2 , characterized by the above. The plurality of carriages are
Furthermore, each includes an engaged portion that is a portion for engaging with the AGV,
The AGV is
Furthermore, an engagement means that is a means for engaging with the engaged portion is provided,
By the control device,
The engagement means of the AGV is actuated to engage the engaged portion with the engagement means, and the AGV is driven in the conveying direction of the workpiece, so that the AGV propels the carriage. Give power,
The conveying apparatus according to any one of claims 1 to 3 , wherein the conveying apparatus is characterized. It is a part for transporting a workpiece in a production line, and a conveyor-like connecting body formed by connecting a plurality of carts along the workpiece transport path;
A drive source that is a means for applying a propulsive force to the connected body in the conveying direction of the workpiece;
AGV which is a means for transferring the carriage detached from the connection body;
With
A driving force is applied to the connecting body by the driving source, and the connecting body is traveled in the transport direction of the work along the transport path of the work in the manufacturing line,
Of the plurality of carriages forming the coupling body, the first carriage, which is the carriage located at the top of the workpiece conveyance direction, is detached from the coupling body,
The first carriage is transferred by the AGV to the upstream side of the second carriage, which is the last carriage located among the plurality of carriages constituting the connection body with respect to the workpiece transfer direction. Then, by connecting the first carriage to the rear part of the second carriage, on the conveyance path of the production line, a conveyance method by a conveyance device configured to continue to arrange the connection body,
The drive source,
It is constituted by a plurality of the AGVs that are smaller in number than the plurality of carriages forming the connection body ,
Providing a driving force to the coupling body by a part of the AGVs of the plurality of AGVs constituting the driving source,
The transport device further includes a control device,
By the control device,
Among the plurality of AGVs constituting the drive source, the part of the AGVs that impart propulsive force to the coupling body;
Among the plurality of AGVs constituting the drive source, the AGVs other than the part of the AGVs that impart a propulsive force to the connected body,
The AGV for transferring the first carriage;
Individually controlled,
The conveyance method characterized by the above-mentioned. By the control device,
Synchronizing the traveling speeds of the plurality of AGVs constituting the drive source;
The conveying method according to claim 5 . The plurality of carriages are
Furthermore, each is provided with a connection means that is a means for connecting to each other,
The AGV is
Furthermore, a release means that is a means for releasing the connection means,
By the control device,
By activating the release means of the AGV that imparts a propulsive force to the first carriage, thereby releasing the connection means of the first carriage and detaching the first carriage from the connection body;
The conveyance method according to claim 5 or 6 , wherein The plurality of carriages are
Furthermore, each includes an engaged portion that is a portion for engaging with the AGV,
The AGV is
Furthermore, an engagement means that is a means for engaging the engaged portion is provided,
By the control device,
The engagement means of the AGV is actuated to engage the engaged portion with the engagement means, and the AGV is driven in the conveying direction of the workpiece, so that the AGV propels the carriage. Give power,
The conveying method according to claim 7 . By the control device,
The first AGV is caused to travel along the conveyance path of the workpiece while operating the release means of the first AGV that is the AGV that applies propulsive force to the first carriage, and When removing the cart from the connector,
By the control device,
A third carriage, which is the carriage that follows the upstream side with respect to the transport direction of the workpiece with respect to the connection body,
By causing the second AGV, which is the AGV to impart propulsive force to the third carriage, to travel along the transport path of the workpiece, the third carriage is connected to the second carriage,
With the second AGV, a state in which a propulsive force can be applied to the connected body,
By the control device,
The third AGV, which is the AGV located one upstream from the first AGV in the workpiece conveyance direction, is one upstream from the first carriage in the workpiece conveyance direction. Traveling to a predetermined position where the fourth carriage located on the side can be engaged, and by engaging the fourth carriage by the third AGV,
With the third AGV, a state in which a propulsive force can be applied to the connected body,
The transport method according to claim 8 .

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