JP2011195299A - Lifting device and vehicle - Google Patents

Abstract

An elevating apparatus capable of transmitting a driving force of an actuator to a link substantially evenly and performing an elevating operation smoothly and a vehicle including the elevating apparatus.
One end portion is pivotally supported on a base, and the other end portion is supported on a mounting base, and one end portion is pivotally supported on the mounting base and the other end portion is supported. Is supported by the base 30, a connecting shaft 36 that pivotally supports the first link 34 and the second link 35 at a position intersecting the X-shape, and the first link 34 and the second link 35. The cam follower 54 moves in the cam groove along both the first cam groove 34C and the second cam groove 35C respectively formed in the first cam groove 34, and the cam follower 54 supported by the connecting shaft 36. And a drive device 32 for moving back and forth in the horizontal direction.
[Selection] Figure 3

Description

  The present invention relates to an elevating device that elevates and lowers a load placed on an elevating platform and a vehicle including the elevating device.

  Conventionally, a base, a table, a link that is interposed between the base and the table and connects the outer arm and the inner arm in an X shape, an electric motor, and a screw that is rotated by the electric motor 2. Description of the Related Art A lifting device including an actuator having a shaft and a nut engaged with the screw shaft is known. In this type of lifting device, an electric motor and a screw shaft are arranged in series in order to make the width compact, and the actuator is supported so as to be rotatable around or near the connection fulcrum of the outer arm and inner arm. Have been proposed (see, for example, Patent Document 1).

JP 2003-155195 A

  However, in the conventional lifting device, a support member is connected to the above-described nut, and a guide groove for guiding a guide member attached to the support member via a support shaft is formed in the outer arm, and the support shaft and the inner side are formed. Since the arm is connected with the intermediate arm, the driving force of the actuator is transmitted to one arm via the intermediate arm, and it is difficult to realize a smooth lifting operation.

  The present invention has been made in view of the above-described circumstances, and provides an elevating device that can transmit the driving force of an actuator to a link substantially evenly and perform an elevating operation smoothly and a vehicle including the elevating device. For the purpose.

  In order to solve the above-described problems, the present invention provides a lifting device including a base and a lifting base that moves up and down with respect to the base. One end is pivotally supported by the base and the other end is supported by the lifting base. A first link, one end pivotally supported by the lifting platform and the other end pivoted by the base, and a shaft at a position where the first link and the second link intersect in an X-shape. A shaft support member to be supported, a cam follower moving in the cam groove along both the first cam groove and the second cam groove respectively formed in the first link and the second link, and supported by the shaft support member And an actuator for moving the cam follower back and forth in a substantially horizontal direction with respect to the shaft support member.

  According to this configuration, since the actuator advances and retracts the cam follower in a substantially horizontal direction with respect to the shaft support member, the driving force of the actuator can be evenly transmitted to the first link and the second link via the cam follower. it can. For this reason, the first link and the second link can move up and down smoothly by receiving the driving force and operating smoothly.

  In this configuration, each of the first cam groove and the second cam groove is formed in a shape in which a ratio between a change amount of the distance between the shaft support member and the cam follower and a lift amount of the lift base is substantially constant. May be. According to this configuration, when the actuator is driven by the amount of change calculated from the above-described ratio when controlling the lifting platform to a predetermined lifting amount, it can be automatically controlled to a predetermined lifting amount. For this reason, the raising / lowering operation | movement of a raising / lowering stand can be performed quickly and correctly.

  In addition, between the other ends of the first link and the second link, the first link and the second link are connected to the other end of the first link and the other end of the second link. You may provide the elastic member which urges | biases the other end of a link and the other of a 2nd link in the direction which adjoins. According to this configuration, when the actuator is operated to the ascending side, the urging force of the elastic member acts on the first link and the second link in addition to the driving force of the actuator. Even in the placed state, the lifting platform can be raised more smoothly.

  Further, the vehicle includes any of the above-described lifting devices, and the height determined by the station when the workpiece is mounted on the lifting platform and travels between the stations and stops at one station. You may provide the height control means which controls operation | movement of the said drive device so that the said workpiece | work may be raised / lowered to a position. According to this configuration, it is only necessary to perform work at the same height position in one station, and the efficiency of workability can be improved.

  Further, the height control means may control the operation of the driving device so that the height of the work target portion of the workpiece becomes substantially constant for each station. According to this configuration, the work position at each station is substantially the same, and therefore, a predetermined work may be performed at the same height position at this station. For this reason, since the apparatus arrange | positioned at each station can be shared by a simple apparatus (for example, general purpose machine), it can construct | assemble with the simple structure of a production line.

According to the present invention, since the actuator advances and retracts the cam follower in the substantially horizontal direction with respect to the shaft support member, the driving force of the actuator can be evenly transmitted to the first link and the second link via the cam follower. it can. For this reason, the first link and the second link can move up and down smoothly by receiving the driving force and operating smoothly.
Further, according to the present invention, when the lifting platform is controlled to a predetermined lifting amount, the actuator is moved by a change amount calculated from the ratio between the change amount of the distance between the shaft support member and the cam follower and the lifting amount of the lifting platform. When driven, it can be automatically controlled to a predetermined lift. For this reason, the raising / lowering operation | movement of a raising / lowering stand can be performed quickly and correctly.
Further, according to the present invention, when the actuator is operated to the ascending side, the biasing force of the elastic member acts on the first link and the second link in addition to the driving force of the actuator. Even if it is in the state which mounted, the said lifting platform can be raised more smoothly.
In addition, since the height control means for controlling the operation of the driving device is provided so that the workpiece is moved up and down to a height position determined by the station when the station stops, the same station can The work to the height position may be performed, and the efficiency of workability can be improved.
Further, the height control means controls the operation of the driving device so that the height of the work target location of the work is approximately constant for each station, so that the work position in each station is substantially the same. What is necessary is just to perform a predetermined | prescribed operation | work with respect to a height position. For this reason, since the apparatus arrange | positioned at each station can be shared by a simple apparatus (for example, general purpose machine), it can construct | assemble with the simple structure of a production line.

It is a partial omission side view of the conveyance vehicle which is an example of application of the vehicle concerning this embodiment. It is a side view which shows the internal schematic structure of a conveyance vehicle. It is a perspective view of a raising / lowering apparatus. It is a graph which shows the relationship between a ball screw stroke and a lifter stroke. It is a side view which shows the state which the raising / lowering stand raised / lowered. It is a partially abbreviated top view which shows the route which a conveyance vehicle drive | works. AC is a side view which shows a mode that a conveyance vehicle changes the height of a raising / lowering stand.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. In the following description, descriptions of directions such as front and rear, right and left, and up and down are for the vehicle body. In the drawing, an arrow FR indicates the front of the vehicle body, an arrow R indicates the right side of the vehicle body, and an arrow UP indicates the upper side of the vehicle body.
FIG. 1 is a partially omitted perspective view of a transport vehicle 10 that is an application example of a vehicle according to the present embodiment, and FIG. 2 is a partially omitted side view showing an internal structure of the transport vehicle 10.
The transport vehicle 10 is an electric vehicle capable of traveling along a desired route with a driving force from a driving unit 12 that is driven by a battery 11 as a power source. For example, in a vehicle production line, components such as an automobile engine and a gear box are used. This is an AGV (Automated Guided Vehicle) that loads (workpiece) on a mounting table (lifting table) 13 that can be moved up and down and transports it to a desired position in the factory. In the present embodiment, as an example of a vehicle including the mounting table 13, a description will be given of the transport vehicle 10 that travels electrically. However, if the vehicle includes a mounting table that can be moved up and down, other driving means such as an engine may be used. Applicable to traveling vehicles.

  As shown in FIG. 1, the transport vehicle 10 includes a vehicle main body 20 and an elevating device 21 that is provided on the vehicle main body 20 and moves up and down the mounting table 13. The vehicle body 20 includes a frame 20A that extends in the vehicle length direction and is formed in a substantially box shape, and a body 20B that covers the periphery of the frame 20A, and a caster 22 that is pivotable in all directions at the front of the frame 20A. Is arranged, and the drive unit 12 described above is arranged at the rear part. The drive unit 12 includes a pair of left and right traveling motors 15 that are independently driven and capable of adjusting the rotational speed, driving wheels 16 that are directly connected to the rotational shafts of the traveling motors 15, and rotational shafts. The rotary encoder (not shown) that measures the rotation speed (rotation angle) around 15A and the battery 11 that supplies power to the traveling motor 15 are configured. The transport vehicle 10 travels straight by driving a pair of left and right traveling motors 15 at the same rotational speed, and varies the rotational speeds of the left and right traveling motors 15, thereby causing the traveling motor 15 having a low rotational speed. Can be steered sideways. Further, for example, when the transport vehicle 10 is stopped at a predetermined work station (described later) for standby or work, the battery 11 is charged by an external power source (not shown) installed at the work station. The transport vehicle 10 and the external power source can be easily electrically connected by, for example, a pair of male and female connectors that can be attached and detached by magnetic force.

A sensor 23 that is attached to the lower portion of the frame 20A and detects a route on which the transport vehicle 10 should travel, and travel control of the drive unit 12 is performed based on signals from the sensor 23 and the like. In addition, a control unit 24 that controls the lifting of the lifting device 21 is disposed. The body 20B of the vehicle body 20 is provided with an inclined surface 20B1 that is inclined toward the center of the vehicle width as it goes upward at the left front portion of the body 20B. An operation panel 25 is provided on which operation switches for performing operations are arranged.
A bumper switch 26 that protrudes from the front surface of the vehicle body 20 and extends in the vehicle width direction is provided at the lower front portion of the vehicle body 20. The bumper switch 26 is attached to the front surface of the vehicle body 20 above the bumper switch 26. An emergency stop switch 27 is provided. The bumper switch 26 outputs a strong impact to the bumper switch 26 to the control unit 24, and stops the operation of the transport vehicle 10 under the control of the control unit 24. Reference numeral 28 denotes a switch box used when the lifting device 21 is manually operated.

Next, the lifting device 21 will be described.
As shown in FIG. 2, the lifting device 21 moves the workpiece W placed on the mounting table 13 in the vertical direction while maintaining a parallel state, and is mounted on the frame 20 </ b> A of the vehicle body 20. A base 30, a mounting table 13 that is larger than the base 30 and is formed to be substantially the same size as the vehicle body 20, and a pair of left and right links interposed between the base 30 and the mounting table 13 Mechanisms 31 and 31 and a drive device (actuator) 32 for expanding and contracting the link mechanisms 31 and 31 up and down are provided.
As shown in FIG. 3, each of the link mechanisms 31 includes a first link 34 and a second link 35 disposed inside the first link 34, and the first link 34 and the second link 35 are X It is rotatably connected by a connecting shaft (axial support member) 36 at a substantially intermediate position between the links 34 and 35 intersecting in a letter shape. One end portions 34A, 34A of the first links 34, 34 are connected to each other by a connecting shaft 37, and both end portions of the connecting shaft 37 are rotatably supported by fixed pieces 38, 38 extending upward from the base 30, respectively. ing. Further, the other ends 34B, 34B of the first links 34, 34 are connected by a connecting rod 39, and rolling rollers 40, 40 are attached to the other ends 34B, 34B. , 40 are supported so as to roll along rails 41, 41 attached to the lower surface of the mounting table 13, respectively. Thereby, the other end portions 34B and 34B of the first links 34 and 34 are supported so as to be integrally slidable along the lower surface of the mounting table 13. In FIG. 3, the description of the rolling roller 40 of the first link 34 on the right side (the back side in the drawing) and the rail 41 on which the rolling roller 40 rolls is omitted.
Further, the first link 34 is formed such that one end portion 34A side extends upward in a shape wider than the other end portion 34B side, and a cam follower that is driven forward and backward by the drive device 32 is guided to this portion. 34C is formed.

On the other hand, one end portions 35A and 35A of the second links 35 and 35 are connected to each other by a connecting shaft 42, and both end portions of the connecting shaft 42 rotate to fixed pieces 43 and 43 that extend downward from the lower surface of the mounting table 13, respectively. It is supported freely. The fixed pieces 43 and 43 are formed substantially above the fixed pieces 38 and 38, respectively. The other end portions 35B and 35B of the second links 35 and 35 are connected to each other by a connecting rod 44, and rolling rollers 45 and 45 are attached to the other end portions 35B and 35B. 45 are supported so as to roll along rails 46 attached to the upper surface of the base 30, respectively. Thereby, the other end portions 35 </ b> B and 35 </ b> B of the second links 35 and 35 are supported so as to be integrally slidable along the upper surface of the base 30. In FIG. 3, the description of the rolling roller 45 of the second link 35 on the right side (the back side in the figure) and the rail 46 on which the rolling roller 45 rolls is omitted.
Further, the second link 35 is formed such that one end portion 35A side extends downward in a wider shape than the other end portion 35B side, and a second cam groove 35C for guiding the cam follower is formed in this portion. The second cam groove 35C is formed symmetrically with the first cam groove 34C and is disposed so as to partially overlap the first cam groove 34C.

  The drive device 32 includes an electric motor 50, a screw shaft 51 that is rotated by the electric motor 50, and a head portion 52 that is meshed with the screw shaft 51. The electric motor 50 is fixed to a bracket 53 in which a plate material is formed in a substantially U shape, and the bracket 53 is attached to the connecting shafts 36 and 36 described above. The head portion 52 has a built-in ball screw and is configured to advance and retreat by rotation of the screw shaft 51. Shaft portions 52A and 52A protrude from both side surfaces of the head portion 52, respectively. The cam followers 54 and 54 are rotatably attached to. The cam followers 54, 54 are arranged so as to move in the cam grooves along both the first cam grooves 34C and the second cam grooves 35C formed in the first link 34 and the second link 35, respectively. The

In the present embodiment, as shown in FIG. 2, the cam followers 54, 54 are in the first cam groove 34 </ b> C and the second cam groove 35 </ b> C formed in a symmetrical shape, and are substantially at the same height as the connecting shaft 36. Is arranged. In this state, when the electric motor 50 of the drive device 32 is driven to the ascending side, the screw shaft 51 rotates and the head portion 52 relatively moves in a direction approaching the connecting shaft 36. When the head portion 52 moves in a direction approaching the connecting shaft 36, the cam followers 54, 54 connected to the head portion 52 move in the first cam groove 34C and the second cam groove 35C in the horizontal direction with respect to the connecting shaft 36. Proceed to. For this reason, as shown in FIG. 3, the rolling rollers 40 and 45 provided at the other end portions 34B and 35B of the first link 34 and the second link 35 slide in the rails 41 and 46, respectively. As a result, the first link 34 and the second link 35 are tilted in the directions in which they stand, as indicated by phantom lines in FIG. 4, and both link mechanisms 31 and 31 extend upward. It rises parallel to the table 30. The rising state of the mounting table 13 is maintained by the electric motor 50 being locked so as not to rotate by a built-in brake (for example, an electromagnetic brake).
In this case, the first cam groove 34C and the second cam groove 35C are formed symmetrically with each other, and the drive device 32 moves the cam followers 54, 54 in the horizontal direction with respect to the connecting shaft 36. The driving force of the electric motor 50) can be evenly transmitted to the first links 34, 34 and the second links 35, 35 via the cam followers 54, 54. For this reason, the first link 34, 34 and the second link 35, 35 can be raised in a smooth operation by tilting in a direction to rise smoothly upon receiving the driving force.

On the other hand, the mounting table 13 can be lowered by releasing the built-in brake of the electric motor 50 and starting the electric motor 50 in the reverse rotation direction. When the mounting table 13 is lowered, the head unit 52 relatively moves in a direction away from the connecting shaft 36. Then, the cam followers 54, 54 connected to the head portion 52 advance in the horizontal direction with respect to the connection shaft 36 in the first cam groove 34C and the second cam groove 35C. For this reason, as shown in FIG. 3, the rolling rollers 40 and 45 provided at the other end portions 34B and 35B of the first link 34 and the second link 35 slide in the rails 41 and 46, respectively. Accordingly, as shown in FIG. 4, the first link 34 and the second link 35 tilt in the direction of lying down, and both link mechanisms 31, 31 contract downward, whereby the mounting table 13 moves to the base 30. It descends in parallel to it.
Even in this case, the driving force of the electric motor 50 can be evenly transmitted to the first links 34 and 34 and the second links 35 and 35 via the cam followers 54 and 54. For this reason, the first link 34, 34 and the second link 35, 35 can tilt the mounting table 13 with a smooth operation by tilting in a direction in which the first link 34, 34 and the second link 35, 35 are smoothly laid down.

In the present embodiment, the first cam groove 34C is formed in an arc shape that swells upward, the second cam groove 35C is formed in an arc shape that swells downward, and both cam grooves have a first link and a second link. It is symmetrical in the state of being connected by the connecting shaft 36 in an X shape. Further, as shown in FIG. 4, the first cam groove 34 </ b> C and the second cam groove 35 </ b> C are a distance change amount L <b> 1-L <b> 2 between the cam follower 54 and the connecting shaft 36 positioned in these cam grooves It is formed in a shape in which the ratio to the amount ΔH is substantially constant.
According to the inventors' experiment, as shown in FIG. 5, the first cam groove 34C is adjusted so that the ratio of the ball screw (screw shaft 51) stroke to the lifter stroke of the electric motor 50 is 1: 2.5. A second cam groove 35C is formed. In FIG. 5, the ball screw stroke corresponds to the amount of change L1-L2 in the distance between the cam follower 54 and the connecting shaft 36, and the lifter stroke corresponds to the elevation amount ΔH of the mounting table 13.
According to this configuration, the first cam groove 34C and the second cam groove 35C have a substantially constant ratio between the distance change amount L1-L2 between the cam follower 54 and the connecting shaft 36 and the lifting amount ΔH of the mounting table 13. Therefore, when the electric motor 50 is driven by the ball screw stroke calculated from the above ratio when the mounting table 13 is controlled to a predetermined lifting amount, it is automatically controlled to the predetermined lifting amount. can do. For this reason, the raising / lowering operation | movement of the mounting base 13 can be performed quickly and correctly.

Further, in this configuration, a spring member (elastic body) 64 biased in a direction in which the other end portions 34B and 35B are brought close to each other is provided between the other end portions 34B and 35B of the first link 34 and the second link 35. Is provided. Specifically, as shown in FIG. 2, the other end 60 </ b> A of the first pipe 60 is fixed to the rotating shaft of the rolling roller 40 at the other end 34 </ b> B of the first link 34. . The first pipe 60 slides in the rail 41 together with the rolling roller 40, and the other end of the spring member 64 is connected to one end 60 </ b> B of the first pipe 60.
On the other hand, a second pipe 61 is disposed in front of the mounting table 13, and one end 61 </ b> A of the second pipe 61 is connected to a fixed piece 63 extending downward from the lower surface of the mounting table 13 via a connecting shaft 62. Yes. The other end 61B of the second pipe 61 is fixed to a fixing piece 43 to which the other end 35B of the second link 35 is connected, and one end of the spring member 64 is connected. Thereby, since both ends of the spring member 64 are supported by the pair of pipes 60 and 61, buckling of the spring member 64 is prevented.
According to this configuration, between the other end portions 34B and 35B of the first link 34 and the second link 35, the spring member 64 biased in the direction in which the other end portions 34B and 35B are brought close to each other is provided. Therefore, when the electric motor 50 is driven upward, the biasing force of the spring member 64 acts on the first link 34 and the second link 35 in addition to the driving force of the electric motor 50. Even when the workpiece W is mounted on the mounting table 13, the mounting table 13 can be raised more smoothly.

Next, operation | movement of the conveyance vehicle 10 provided with the mounting base 13 is demonstrated.
FIG. 6 is a partially omitted plan view showing a transport route on which the transport vehicle 10 travels. The transport vehicle 10 according to the present embodiment travels on a predetermined transport route in an automobile production factory, for example. A plurality of work stations 102 a to 102 c are provided on the transfer path, and parts are assembled to the work W such as an engine or a gear box on the mounting table 13 at each of the work stations 102 a to 102 c.
The transport path is formed by connecting the work stations 102a to 102c with a magnetic tape 86 installed in the factory, and the transport vehicle 10 is guided by the magnetic tape 86 and travels on the transport path. .
Each of the work stations 102a to 102c is provided with work robots 106a to 106c, and performs a work of assembling a desired part (not shown) to the work W transported by the transport vehicle 10. The controller (height control means) 24 of the transport vehicle 10 drives the drive device 32 to move the work W up and down to a height position determined by each work station 102a to 102c according to the type of the work W to be transported. To control. In this configuration, as described above, the ratio between the stroke of the screw shaft 51 of the electric motor 50 and the lifting amount of the mounting table 13 is substantially constant. Therefore, when the work station 102a stops, the work is performed. The workpiece W can be accurately moved up and down to the height position of the workpiece W in the station 102a. Therefore, in one work station 102a, the work robot 106a only needs to work at the same height position, and the efficiency of workability can be improved.

In the present embodiment, as shown in FIG. 7, the control unit 24 controls the drive device 32 so that the height position H of the work target portion of the work W is substantially constant for each work station 102 a to 102 c. ing. The control unit 24 stores in advance the height position of the work target location of the work to be worked on each work station, and the electric motor so that the height of the work target location is set to a predetermined height position H. 50 operations are controlled.
Specifically, as shown in FIG. 7A, in the first work station 102a, for example, work is performed on work target locations 80a and 80b provided on the upper part of the work W. The electric motor 50 is controlled so that the target locations 80a and 80b are at the height position H. In the first work station 102a, the work robot performs a work of assembling predetermined parts to the work target locations 80a and 80b.
Subsequently, the transport vehicle 10 travels toward the second work station 102b, and raises the mounting table 13 during the travel. In this case, as shown in FIG. 7B, the control unit 24 controls the electric motor 50 so that the height positions of the work target positions 82a and 82b of the work W at the second work station 102b become the height H described above. Control. In the second work station 102b, as in the first work station 102a, the work robot performs assembly of predetermined parts on the work target locations 82a and 82b.
Subsequently, the transport vehicle 10 travels toward the third work station 102c, and lowers the mounting table 13 during the travel. In this case, as shown in FIG. 7C, the control unit 24 controls the electric motor 50 so that the height positions of the work target positions 81a and 81b of the work W at the third work station 102c become the height H described above. Control. In the third work station 102c, as in the first and second work stations 102a and 102b, the work robot performs assembling work of predetermined parts on the work target locations 81a and 81b.

  In this configuration, since the electric motor 50 is controlled so that the height position H of the work target portion of the work W is substantially constant for each work station 102a to 102c, the work robot is the same height in each work station. What is necessary is just to perform a predetermined | prescribed work with respect to the position. For this reason, since a simple apparatus (for example, general purpose machine) can be used as a work robot, it can be constructed with a simple configuration of the production line. Furthermore, workability at each station can be significantly improved.

  As described above, according to the present embodiment, in the lifting device 21 that includes the base 30 and the mounting base 13 that moves up and down with respect to the base 30, the one end 34 </ b> A is pivotally supported by the base 30. The first link 34 whose other end 34B is supported by the mounting table 13, the second link 35 whose one end 35A is pivotally supported by the mounting table 13 and whose other end 35B is supported by the base 30, and these A connecting shaft 36 that pivotally supports the first link 34 and the second link 35 at a position intersecting in an X shape, and a first cam groove 34C and a second cam groove formed in the first link 34 and the second link 35, respectively. The drive device includes a cam follower 54 that moves in the cam groove along both sides 35C, and a drive device 32 that is supported by the connecting shaft 36 and moves the cam follower 54 forward and backward in a substantially horizontal direction with respect to the connecting shaft 36. 32 driving force, cam Via Oroa 54, it can be evenly transmitted to the first link 34 and second link 35. For this reason, the 1st link 34 and the 2nd link 35 can raise the mounting base 13 by smooth operation | movement by receiving the said driving force and tilting in the direction which stands up smoothly.

  In addition, according to the present embodiment, the first cam groove 34C and the second cam groove 35C have a ratio of the distance change amount L1-L2 between the connecting shaft 36 and the cam follower 54 and the lifting amount ΔH of the mounting table 13. Since each is formed in a substantially constant shape, when the electric motor 50 is driven by the ball screw stroke calculated from the above ratio when the mounting table 13 is controlled to a predetermined lifting amount, the predetermined lifting amount is obtained. Can be controlled automatically. For this reason, the raising / lowering operation | movement of the mounting base 13 can be performed quickly and correctly.

  Moreover, according to this embodiment, between the other end part 34B and 35B of the 1st link 34 and the 2nd link 35, it arrange | positions along the lower surface on the mounting base 13, and the other end part 34B of the 1st link 34 and The second link 35 is connected to the other end 35B, and is provided with a spring member that biases the other end 34B of the first link 34 and the other end 35B of the second link 35 toward each other. When the motor 50 is driven upward, the urging force of the spring member 64 acts on the first link 34 and the second link 35 in addition to the driving force of the electric motor 50. Even in the state in which is mounted, the mounting table 13 can be raised more smoothly.

  In addition, according to the present embodiment, when the work W is mounted on the mounting table 13 and travels between the work stations 102a to 102c, and when stopped at one station, the control unit 24 is determined by the station. In order to control the operation of the electric motor 50 of the driving device 32 so that the workpiece W is moved up and down at a certain height position, the work robot has only to work to the same height position in one work station. The efficiency of performance can be improved.

  In addition, according to the present embodiment, the control unit 24 controls the operation of the electric motor 50 of the drive device 32 so that the height position of the work target portion of the work W is substantially constant for each station. In the station, the work robot may perform a predetermined work on the same height position. For this reason, since a simple apparatus (for example, general purpose machine) can be used as a work robot, it can be constructed with a simple configuration of the production line. Furthermore, workability at each station can be significantly improved.

  Note that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted without departing from the gist of the present invention. For example, in the transport vehicle 10 of the present embodiment, the drive unit 12 includes the traveling motor 15, but it is needless to say that other drive sources such as an internal combustion engine such as an engine or a mainspring drive can be used. . In the present embodiment, the battery 11 is provided as a power supply unit that supplies power to the traveling motor 15. For example, a power overhead line is provided on the floor surface and the traveling motor is connected to the traveling motor via the power overhead line. It is good also as a structure which supplies electric power. Further, instead of charging the battery 11 with only an external power source, for example, a solar panel may be provided in the transport vehicle, and the solar panel and the external power source may be used in combination.

  Further, in this embodiment, the electric motor 50, the screw shaft 51, and the head portion 52 are provided as the driving device 32 of the lifting device 21, but for example, a hydraulic cylinder that expands and contracts by hydraulic pressure can be used. It is.

10 Transport vehicle (vehicle)
12 Drive unit 13 Mounting table (elevating table)
DESCRIPTION OF SYMBOLS 20 Vehicle main body 20A Frame 21 Lifting device 24 Control part (height control means)
30 Base 31 Link mechanism 32 Drive unit (actuator)
34 first link 34A one end 34B other end 34C first cam groove 35 second link 35A one end 35B other end 35C second cam groove 36 connecting shaft (shaft support member)
DESCRIPTION OF SYMBOLS 50 Electric motor 51 Screw shaft 52 Head part 54 Cam follower 64 Spring member (elastic member)
80a, 80b, 81a, 81b, 82a, 82b Work target location 102a-102c Work station W Workpiece

Claims (5)

In a lifting device comprising a base and a lifting base that moves up and down relative to the base,
A first link whose one end is pivotally supported by the base and the other end is pivotally supported by the elevator; a second link whose one end is pivotally supported by the elevator and the other end is pivotally supported by the base; A shaft support member that pivotally supports the first link and the second link at a position intersecting in an X-shape, and a first cam groove and a second cam groove formed in the first link and the second link, respectively. A lift device comprising: a cam follower that moves along the cam groove; and an actuator that is supported by the shaft support member and moves the cam follower in a substantially horizontal direction with respect to the shaft support member.   The first cam groove and the second cam groove are each formed in a shape in which a ratio between a change amount of a distance between the shaft support member and the cam follower and a lift amount of the lift base is substantially constant. The elevating device according to claim 1, wherein the elevating device is characterized.   Between the other ends of the first link and the second link, the second link is disposed along the lifting platform, and connects the other end of the first link and the other end of the second link. The elevating device according to claim 1, further comprising an elastic member that urges the other end and the other of the second links toward each other. A vehicle comprising the lifting device according to any one of claims 1 to 3,
The work is mounted on the lifting platform and travels between stations. When stopped at one station, the operation of the actuator is controlled so that the work is moved up and down to a height position determined by the station. A vehicle characterized by comprising height control means.   The vehicle according to claim 4, wherein the height control unit controls the operation of the actuator so that a height of a work target portion of the workpiece becomes substantially constant for each station.

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