WO2015060063A1 - Workpiece supporting device - Google Patents

Abstract

The present invention pertains to a locking means for a folding parallel linking mechanism that is necessary for a workpiece supporting device capable of supporting a workpiece at the highest supported level by way of two folding parallel linking mechanisms that link a workpiece supporting table and a base. A locking means (34) comprises two locking plates (35, 36) that are provided linked to a base part on the side of an intermediate supporting shaft (26) for vertical link members (15, 16) of a second double link (10), a movable arm (37a, 37b) that is supported by an intermediate supporting shaft (21) of a first double link (9a, 9b), an engaging part (40) that is provided on the distal end of the movable arm, and a spring (41a, 41b) that biases the movable arm. When the folding parallel linking mechanism is in the position where the workpiece is supported in an elevated position, the engaging part (40) is fit into an engaging recess (35b, 36b) provided in the circumferential face of the locking plates (35, 36) by way of the biasing force of the springs.

Description

Work support device

The present invention supports a workpiece support device that can be installed and utilized on a workpiece conveyance carriage that conveys an automobile body in an automobile assembly line, and in particular, supports a workpiece at a high position where an operator can enter under the workpiece. The workpiece support device relates to a workpiece support device that is supported by two half-fold parallel link mechanisms that are not provided with a lifting drive means.

By lifting and lowering the workpiece support base on the base using an external lifter, the work support height of the work support base is set to a low position where the work approaches the base and an operator below the work. A workpiece support device that can be switched between a high position where the robot can enter is known from Patent Document 1 and the like in a state where the workpiece support device is installed on a workpiece carriage. In the work support device described in Patent Document 1, the base and the work support are connected by two “broken parallel link mechanisms that do not include lifting drive means” arranged in parallel. Each intermediate folding parallel link mechanism is configured to stand up and up as it is lifted by an external lifter, and when the workpiece support is lifted to the workpiece high position support height by the lifter, the workpiece high position support posture that stands upright. Locking means for locking each half-folded parallel link mechanism in its position in the posture, and two work-fold parallel link mechanisms locked by the lock means on a work support that is not supported by the lifter Therefore, it can be supported stably. According to such a workpiece support device, a lifter that raises and lowers the workpiece support base, that is, a large lifter that lifts and lowers a large lift while supporting the workpiece load, can be used as a single unit for a plurality of workpiece support devices. The two parallel-bending parallel link mechanisms that are installed in each work support device and support the work in a high position are locked in a undulating manner in the work high position support posture, thereby stabilizing the work support base (work). When the work support base is lifted and lowered by being supported by a lifter, any work support device can be used as long as it can move up and down as the work support base moves up and down. For example, when the work support device is installed on a large number of work transport carriages used in an automobile assembly line, the work support device It is possible to reduce the weight of the significant cost of each conveying carriage comprising.

JP 2011-88697 A

However, in this type of conventional work support device described in Patent Document 1, the locking means is configured such that one of the link members of a set of double links to be locked at a certain angle is changed from one link member to the other link member. A locked member extending to the side is provided, and a movable locking piece pivotally supported by the other link member is fitted into a recess formed at the tip of the locked member, thereby fixing the double link. The movable locking piece is pivotally supported at an intermediate position between both ends of the link member by a support shaft different from the support shaft constituting the folded parallel link mechanism. Since it is a structure, not only does the number of parts increase, but the strength of the link member that penetrates and supports the support shaft of the movable locking piece decreases due to the formation of the support shaft through hole. In addition, since the rotation surface of the locked member that rotates about the intermediate support shaft integrally with one link member and the rotation surface of the movable locking piece are orthogonal to each other, it is movable. When the locking piece is urged by a spring and the double link to be locked reaches a certain angle, the movable locking piece automatically and smoothly fits into the recessed portion of the locked member. It is difficult to implement in a configuration that automatically locks.

The present invention proposes a workpiece support device that can solve the conventional problems as described above, and the workpiece support device according to the present invention makes it easy to understand the relationship with the embodiments described later. Therefore, when the reference numerals used in the description of the embodiment are shown in parentheses, two parallel folding lines connecting the work support base (4) and the base (conveying carriage 2) are parallel to each other. A link mechanism (3L, 3R) is provided, and the work support base (4) is moved up and down in parallel by an external lifter (53L, 53R), so that both parallel bent parallel link mechanisms stand up symmetrically with each other. It is configured such that it can freely move up and down only between the workpiece high position support posture and the workpiece low position support posture in which both the parallel folding mechanism (3L, 3R) are folded and supported on the base (2), Unfoldable parallel link mechanism (3L, 3R) in the workpiece high position support posture In the work supporting device provided with the locking means (34) for locking to the center, the parallel folding link mechanism (3L, 3R) includes the first double link (9a, 9b) and the second link arranged in the undulating swing direction. The double link (10) is composed of an intermediate link member (27a, 27b) for connecting the intermediate shafts (21, 26) of the two double links (9a, 9b) (10), and the locking means (34 ) Is connected to the end of the upper and lower link members (15, 16) of the second double link (10) on the side of the intermediate support shaft (26) and is concentric with the intermediate support shaft (26). Two locking plates (35, 36) having engaged recesses (35b, 36b) on the surfaces (35a, 36a), and an intermediate support shaft (21) of the first double link (9a, 9b) A movable arm (37a, 37b) supported so as to be swingable around, an engagement portion (40) provided at the tip of the movable arm (37a, 37b), and the engagement portion (40). Springs (41a, 41b) for urging the movable arms (37a, 37b) in a direction to contact the peripheral surfaces (35a, 36a) of the two locking plates (35, 36); And when the parallel folding link mechanism (3L, 3R) is in the workpiece high position support posture, the engagement portion (40) is engaged by the urging force of the spring (41a, 41b). It is configured to fit into the engaged recesses (35b, 36b) of the stop plate (35, 36).

In the configuration of the present invention described above, the workpiece support base is lifted and moved in parallel by an external lifter, so that the parallel folding link mechanism that is lifted to the work support base and swings upright from the low position support posture of the work is provided. When the high-position support posture is reached, relative to each other in the opposite directions around the intermediate support shaft at the position of the engaging portion that is in pressure contact with the peripheral surfaces of the two locking plates through the movable arm. The engaged recesses on the peripheral surfaces of the two locking plates that have been rotated gathered and matched, and the engaging portion at the tip of the movable arm was automatically engaged by the two locking plates with the spring force. The lock is engaged with the engagement recess, and the folded parallel link mechanism is prevented from returning from the workpiece high position support posture toward the workpiece low position support posture.

According to the configuration of the present invention that operates as described above, the intermediate support shaft of the second double link that is the rotation center of the two locking plates having the engaged recesses on the peripheral surface, and the locking plate The intermediate support shaft of the first double link, which is the center of rotation of the engaging portion (movable arm) that is pressed against the peripheral surface of the engaging plate by a spring force, is parallel to each other, and the rotation surface of the locking plate and the engaging portion Since the rotation surfaces of the joint portions are parallel to each other, the second arm can be obtained by simply urging the movable arm provided with the engagement portion at the tip with the spring in the direction of the peripheral surfaces of the two locking plates. When the double link is at a certain angle, that is, when the parallel folding link mechanism is in the workpiece high position support posture, the engaging part on the movable arm side automatically becomes the engaged recess on the locking plate side. Automatic locking that can be fitted is easily realized. In addition, the support shaft that is the center of rotation of the movable arm also uses an intermediate support shaft that is indispensable for the configuration of the first duplex link. There is no risk of reducing the strength of the member.

When carrying out the present invention, a pair of the first duplex links (9a, 9b) are juxtaposed so as to be positioned on both sides of the second duplex link (10) when viewed from the undulation direction. The movable arm (37a, 37b) of the lock means (34) is connected to the intermediate link member (27a, 27b) by a common long intermediate support shaft (21), and the pair of first double links (9a, 9b). ) Can be supported by the long intermediate support shaft (21) common to the first double link (9a, 9b). According to this structure, it is movable using the intermediate portion between the pair of first duplex links of the long intermediate support shaft that is installed in a state where both ends are supported between the pair of first duplex links arranged side by side. Since the arm is supported, the support strength of the movable arm can be increased and the movable arm support can be increased compared to the case where the intermediate support shaft is projected from the link member to form the support portion of the movable arm. For this reason, it is not necessary to prepare an intermediate support shaft that is particularly long, and as a result, it can be implemented inexpensively.

The upper and lower link members (15, 16) of the second duplex link (10) are plates whose overlapping ends are pivotally connected to the intermediate link members (27a, 27b) by the intermediate support shaft (26). The locking plates (35, 36) can be formed integrally with the upper and lower plate-like link members (15, 16). According to this configuration, the two locking plates formed of different members are implemented at a lower cost compared to the case where the upper and lower link members of the second duplex link must be attached by bolts and nuts or welding. I can do it.

Further, the movable arms (37a, 37b) of the locking means (34) are arranged in parallel so as to sandwich the two locking plates (35, 36), and the engagement of the movable arms (37a, 37b). The joint portion (40) can be configured by a cylindrical body (39) that is rotatably fitted on a support shaft (38) that is laid between the distal ends of the pair of left and right movable arms (37a, 37b). . According to this configuration, as a result of configuring the two locking plates with thick plates in consideration of strength, even when a long engaging portion is required, the engaging portion is located at the tip of one movable arm. Compared to the case where it is supported in a cantilever shape, the long engagement portion can be supported on the movable arm stably and with high support strength, and because it has a roller structure, The rolling and fitting / removing operation with respect to the engaged recess is performed smoothly.

FIG. 1 is a side view showing a device for changing the work support height between each area in the transport carriage travel route. FIG. 2A is a front view showing a pair of middle-fold parallel link mechanisms in a workpiece high position support posture, and FIG. 2B is an enlarged partially cut-away front view showing a main part of the one-side middle-fold parallel link mechanism. FIG. 3 is a plan view showing a pair of middle-fold parallel link mechanisms in a workpiece low position support posture. FIG. 4 is a developed view showing link-related components of one half-fold parallel link mechanism, and an enlarged view of a part thereof is also shown. FIG. 5 is a development view showing three double links of one half-fold parallel link mechanism. FIG. 6 is a side view showing one half-fold parallel link mechanism in a workpiece high position support posture, and an enlarged view of a part thereof is also shown. FIG. 7 is a plan view showing the first work support height changing device and the transport carriage for switching the work support table to the work height position support height. FIG. 8 is an enlarged plan view showing one side portion of the first workpiece support height changing device. FIG. 9 is a rear view showing the first workpiece support height changing device and the transport carriage. FIG. 10A is an enlarged rear view of the main part showing a state immediately after the start of the operation of the first work support height changing device, and FIG. 10B is an enlarged partially cutaway rear view of the main part. FIG. 11A is a rear view of the main part showing a state in which the first work support height changing device has switched the folded parallel link mechanism to the vertical standing posture, and FIG. 11B is an enlarged partially cutaway rear view of the main part. is there. FIG. 12 is a rear view of the main part showing a state in which the first work support height changing device has switched the folded parallel link mechanism to the work high position support posture. FIG. 13 is a rear view showing the second work support height changing device and the transport carriage for switching the work support base from the work high position support height to the work low position support height. FIG. 14 is a rear view of the main part showing a state immediately after the operation start of the second workpiece support height changing device. FIG. 15 is an enlarged cross-sectional plan view of the main part of FIG. 16A is a rear view of a main part showing a state at the end of the first stage of operation of the second workpiece support height changing device, and FIG. 16B is an enlarged vertical rear view of the main part of FIG. FIG. 17 is a rear view of the main part showing the state of the second stage of operation of the second workpiece support height changing device. FIG. 18 is a rear view showing a pair of middle-fold parallel link mechanisms in a state where the workpiece is switched to an intermediate height position between a high position and a low position. 19A and 19B are rear views of the main part showing a state when the work is lowered to the low position by the second work support height changing device.

Hereinafter, an embodiment in which the work supporting device of the present invention is installed on a transport carriage that travels on a certain travel route will be described. Therefore, in this embodiment, the base of the workpiece support device is a transport cart. In FIG. 1, a transport carriage 2 that travels on a fixed travel path constituted by guide rails 1 laid along a travel path supports a work support base 4 by a pair of middle-folded parallel link mechanisms 3L and 3R. The traveling path of the transport carriage 2 is an area A1 for supporting and transporting a work (car body or the like) W loaded on the work support base 4 at a low position, and supporting and transporting the work W at a high position. Area A2 and area A3 that supports and conveys the workpiece W at an intermediate height position. Between the areas A1 and A2, a first workpiece support height changing device M1 for raising the workpiece W to a high position, A second work support height changing device M2 for lowering the support height of the work W is disposed between the areas A2 and A3 and between the areas A3 and A1. In the figure, the path length of each of the areas A1 to A3 is shown to be as short as one workpiece, but in reality, the path length necessary for work in each area is secured.

The detailed structure of the pair of half-fold parallel link mechanisms 3L and 3R and the workpiece support 4 supported by the pair of the parallel folding mechanisms 3L and 3R included in the transport carriage 2 will be described with reference to FIGS. In addition, a direction parallel to the traveling direction (cart traveling direction F) of the transport carriage 2 is expressed as a front-rear direction, and a horizontal direction orthogonal to the cart traveling direction F is expressed as a left-right direction. Thus, the work support 4 supported by the pair of middle-folded parallel link mechanisms 3L and 3R includes a pair of rod-like horizontal members 5 and 6 using steel pipes that are long in the front-rear direction and symmetrically arranged. It is composed of workpiece support seats 7a, 7b and 8a, 8b that project in a cantilevered manner from the front and rear end portions of the rod-like horizontal members 5, 6 to the inside (the side where the counterpart rod-like horizontal members 5b, 5a are present). The pair of middle-fold parallel link mechanisms 3L and 3R that support the work support 4 support the pair of bar-like horizontal members 5 and 6 of the work support 4 separately, and the structure itself is symmetrical. However, as shown in FIG. 3, the position is shifted in the front-rear direction by a distance slightly wider than the width in the front-rear direction of the half-fold parallel link mechanisms 3L, 3R. The right horizontal folding parallel link mechanism 3R supports the position adjacent to the rear end side work support seat 8b of the right bar-shaped horizontal member 6. is doing.

Each of the folded parallel link mechanisms 3L and 3R (both the folded parallel link mechanisms 3L and 3R have a bilaterally symmetric structure, FIGS. 4 to 6 show only the right folded parallel link mechanism 3R). In this embodiment, the first double link and the second double link are used as the inner double link and the second double link as the second double link. It is said. The inner first double links 9a, 9b are arranged in parallel in the front-rear direction of the carriage traveling direction F, and are arranged in parallel as viewed from the side of the carriage 2 and the outer second duplex links 10 are arranged on the carriage 2 is disposed substantially at the center between the pair of first duplex links 9a and 9b as viewed from the lateral side. The pair of first double links 9a and 9b are for load support, and two upper and lower columnar link members having bearing members 11a and 11b and 12a and 12b fixed to both ends of the columnar bodies 11 and 12 made of thick square steel pipes. The second double link 10 is composed of two upper and lower plate-like link members 15 and 16 whose plate surfaces extend in the undulating direction.

The lower columnar link members 14 of the pair of first duplex links 9a and 9b are respectively connected to bearings 17a and 17b attached on the transport carriage 2 with concentric lower end support shafts via a lower end bearing member 12b. The upper columnar link members 13 are supported at both ends of a common long upper support shaft 19 via upper end bearing members 11a. The long upper end support shaft 19 is disposed in parallel to the inside of the bar-shaped horizontal members 5 and 6 of the work support base 4, and the bearing plates 20 a and 20 b projecting inward from the bar-shaped horizontal members 5 and 6. Both ends are supported by The two upper and lower columnar link members 13 and 14 of the first double link 9a and 9b are supported on both ends of the common long intermediate support shaft 21 via the upper and lower bearing members 11b and 12a, and are relatively rocked. It is connected freely. As shown in FIG. 6, the two upper and lower columnar link members 13, 14 of the first double link 9 a, 9 b do not deviate in the axial direction of the long intermediate support shaft 21, so that one continuous columnar body. As can be seen, the bearing portion through which the long intermediate support shaft 21 of the bearing members 11b and 12a passes is the center line of the width of the columnar bodies 11 and 12 when viewed from the swinging direction of the first double links 9a and 9b. Are parallel to the axial direction of the long intermediate support shaft 21 in a state where the width is narrowed so as to be positioned on both the left and right sides. Further, when viewed from the axial center direction of the long intermediate support shaft 21, the bearing portions of the respective bearing members 11b and 12a are substantially at the corners on the side where the second double links 10 of the columnar link members 13 and 14 are located. It protrudes so that about 1/4 arc part bites in.

The lower plate link member 16 of the second double link 10 is pivotally supported by a bearing 22 attached on the transport carriage 2 by a lower end support shaft 23, and the upper plate link of the second double link 10. The member 15 is swung by the upper support shaft 25 on an intermediate bearing plate 24 which is installed between the bar-shaped horizontal members 5 and 6 of the work support 4 and the long upper support shaft 19 of the first two-link 9a and 9b. It is supported freely. The upper end support shaft 25 is located directly below the bar-like horizontal members 5 and 6 of the work support 4. Then, both ends of the long intermediate support shaft 26 that connects the overlapping end portions of the upper and lower plate-like link members 15 and 16 of the second double link 10 so as to be capable of relative swinging are connected to the pair of first double links 9a and 9b. The long intermediate support shaft 21 is connected by a pair of intermediate link members 27a and 27b. The intermediate bearing plate 24 that pivotally supports the upper end of the upper plate-like link member 15 of the second double link 10 is not completely fixed to the long upper end support shaft 19 of the first double link 9a, 9b. Rather, the long upper end support shaft 19 is loosely locked so that a slight play in the vertical direction can be obtained.

In the middle-fold parallel link mechanisms 3L and 3R having the above-described configuration, all the support shafts 18a, 18b, 19, 21, 23, 25, and 26 are oriented in the front-rear direction parallel to the carriage traveling direction F and are parallel to the middle-fold. When the link mechanisms 3L, 3R are viewed from the cart traveling direction F (front-rear direction), the support shafts 21, 18a / 18b that support both upper and lower ends of the same link, the support shafts 19, 21, and the support shafts 25, 26 are supported. , And the longitudinal distances between the support shafts 26 and 23 are equal to each other, and the support shafts 21 and 26 between the support shafts 19 and 25 adjacent to each other on the inner and outer sides (left and right direction) are supported by the support shafts supporting the upper and lower ends of each link. And the lateral distance between the support shafts 18a / 18b, 22 is sufficiently shorter than and equal to the longitudinal distance. Accordingly, when the half-fold parallel link mechanisms 3L, 3R are viewed from the cart traveling direction F (front-rear direction), the support shafts 19, 21, 26, 25 are located at the vertices of the vertically long upper parallelograms. 21, 18 a / 18 b, 23, and 26 are positioned at the vertices of the vertically long lower parallelogram having the same upper side as the lower side of the upper parallelogram. It should be noted that the three short sides of the vertically long parallelogram are the inner supports such that the outer vertex on the second duplex link 10 side is lower than the inner vertex on the first duplex link 9a, 9b side. The support shafts 25, 26, 23 outside the shafts 19, 21, 18a / 18b are configured to be lower in height.

Further, as shown in FIG. 10, the lower columnar link member 14 of the pair of first duplex links 9a and 9b is inwardly folded around the lower end support shaft 18a / 18b on the transport carriage 2 side, and the lower side When the bearing member 12a at the upper end of the columnar link member 14 is received by the floor surface 2a of the conveyance carriage 2 (hereinafter referred to as the carriage floor surface 2a), the side surface of the bearing member 12b at the lower end of the lower columnar link member 14 is conveyed. The lower columnar link member 14 is received by the horizontal surfaces of the bearings 17 a and 17 b on the cart 2 side, and the lower columnar link member 14 is in a horizontal posture substantially parallel to the cart floor surface 2 a, and the upper columnar link member 13 with respect to the lower columnar link member 14. Is pivoted outward around the long intermediate support shaft 21 and stacked on the lower columnar link member 14, the bearing member 11 a at the upper end of the upper columnar link member 13 is connected to the lower columnar link member 14. Is received on the end of the bearing member 12b, it is configured to be substantially horizontal posture the upper columnar link member 13. One second double link 10 has its upper and lower plate-like link members 15 and 16 folded in a V shape between the pair of first double links 9a and 9b with the long intermediate support shaft 26 as a vertex. The work support 4 (the work support seats 7a to 8b) is formed by the long upper support shaft 19 at the upper end of the pair of first double links 9a and 9b and the upper support shaft 25 of the second second double link 10 outside. It will be supported almost horizontally. At this time, the folding postures of the half-fold parallel link mechanisms 3L and 3R become the workpiece low-position support posture.

Each of the work support seats 7a to 8b of the work support base 4 is fitted with a positioning hole provided at the bottom of the work W to be supported to prevent horizontal relative slip with the work W. Supporting tools 28a, 28b and 29a, 29b provided with pins and the like are projected. Each of the workpiece support seats 7a to 8b is located on or near the extension axis of the long upper support shaft 19 of the first double link 9a, 9b in plan view, as shown in FIG. When viewed from the axial direction of each support shaft of the parallel link mechanisms 3L and 3R, as shown in FIGS. 2, 10 to 12, etc., the long upper end support shaft 19 of the first double link 9a, 9b and The rod-like horizontal members 5 and 6 are projected in a cantilevered manner inward so as to overlap or be located at a height in the vicinity thereof. Therefore, the load of the workpiece W supported by the workpiece support 4 (work support seats 7a to 8b) when the half-fold parallel link mechanisms 3L and 3R are in the workpiece low position support posture folded on the surface 2a folded by the carriage. From the work support seats 7a to 8b through the rod-like horizontal members 5 and 6, the bearing plates 20a and 20b, the long upper support shaft 19, the bearing members 11a and 12b, and the bearings 17a and 17b. It can be received, and it is not necessary to act as a bending force on all the links constituting the parallel folding link mechanisms 3L and 3R. Further, no shear force is applied to each of the support shafts 18 a, 18 b, 21, 25, 26 except the long upper support shaft 19.

From the state in which the intermediate folding parallel link mechanisms 3L, 3R are in the workpiece low position support posture shown in FIG. 10, when the supporting workpiece support 4 is moved upward in parallel, the intermediate folding parallel link mechanisms 3L, 3R is pulled up in parallel with the upper end link member integral with the workpiece support base 4, that is, the bearing plates 20a, 20b, and 24, and the lower columnar link members of the pair of first double links 9a and 9b. 14 pivots around the lower end support shafts 18a and 18b and the lower plate link member 16 of the second double link 10 around the lower end support shaft 23. The upper columnar link members 13 of the continuous links 9a and 9b are arranged around the long intermediate support shaft 21, and the upper plate-shaped link members 15 of the second double link 10 are arranged around the long intermediate support shaft 26, respectively. In the direction And dynamic, the center bending parallel link mechanism 3L, 3R is slide into change in the standing posture.

As shown in FIG. 11, the change to the standing posture of the above-mentioned parallel folding link mechanisms 3L and 3R is performed by the center-turning parallel link mechanisms 3L and 3R using the support shafts 19 and 21 of the first double links 9a and 9b. , 18a / 18b and the support shafts 25, 26, 23 of the second double link 10 are up to the standing limit, that is, up to the vertical standing posture. Therefore, when the parallel folding link mechanisms 3L and 3R reach the vertical standing posture, the lifting operation with respect to the work support base 4 is stopped, and then the parallel folding link mechanisms 3L and 3L in the vertical standing posture (or the posture immediately before) are stopped. 3R is pulled horizontally outwards around the intermediate link members 27a and 27b, and a vertical line connecting the lower end support shaft 18a / 18b and the long upper end support shaft 19 of the first duplex links 9a and 9b The folding parallel link mechanism 3L, until the support shaft 21 exceeds the outside and until the long intermediate support shaft 26 exceeds the vertical line connecting the lower end support shaft 23 and the upper end support shaft 25 of the second duplex link 10 to the outside. When the posture of 3R is changed, the intermediate link members 27a and 27b of the middle-folded parallel link mechanisms 3L and 3R project outward as the workpiece support 4 is lowered in parallel. It begins to bend.

The middle folded parallel link mechanisms 3L and 3R include a pair of middle links as operated parts for changing the posture of the middle folded parallel link mechanisms 3L and 3R to a reverse bending posture exceeding the standing limit to the opposite side. Of the members 27a and 27b, a piece protruding downward from the outer end of the intermediate link member 27b on the rear side in the cart traveling direction F, that is, the outer end of the long intermediate support shaft 26 on the second duplex link 10 side. 30 is integrally projected. Further, as described above, when the folded parallel link mechanisms 3L and 3R are bent at a predetermined angle beyond the vertical standing posture, that is, when they reach the workpiece high position supporting posture shown in FIG. As shown in FIG. 5 and FIG. 12, the contact surface 11c provided on the bearing members 11b and 12a for supporting the long intermediate support shaft 21 of the upper and lower columnar link members 13 and 14 in the first two-link 9a and 9b. , 12c abut each other on the inner side of the long intermediate support shaft 21 (the side opposite to the side where the second double link 10 is located), and prevent further bending of the parallel link mechanisms 3L, 3R. In addition, the contact surface 12d provided on the bearing member 12b at the lower end of the lower columnar link member 14 in the first double link 9a, 9b is received by the horizontal surface of the bearings 17a, 17b, and the lower columnar link beyond that. To the outside of member 14 It is configured to prevent swinging. Further, as shown in FIG. 5, the long upper end support shaft 19 of the first double link 9a, 9b is supported on the side surface of the upper end bearing member 11a of the upper columnar link member 13 in the first double link 9a, 9b. The receiving members 31a and 31b attached to the inner side surfaces of the bearing plates 20a and 20b come into contact with each other, and the rod-like horizontal members 5 and 6 of the work support 4 are connected to the long upper end support shaft 19 of the first double link 9a and 9b. It is prevented from rotating downward around the periphery, and a load is prevented from acting on the upper and lower plate-like link members 15 and 16 of the second double link 10 in the compression direction.

The locking mechanisms 34L and 3R are provided with locking means 34 for disabling the bending motion of the folding center link mechanisms 3L and 3R in the workpiece high position support posture shown in FIGS. As shown in FIGS. 2B, 4, and 5, the locking unit 34 is continuously provided at the end of the upper and lower plate-like link members 15, 16 of the second double link 10 on the side of the intermediate long support shaft 26. The middle long support shaft 21 is swingably supported between the two locking plates 35 and 36 and a pair of mutually adjacent first double links 9a and 9b and intermediate link members 27a and 27b. The movable arm 37a, 37b, and a cylindrical body 39 rotatably fitted on a support shaft 38 installed in parallel with the intermediate long support shaft 21 between the distal ends of the pair of movable arms 37a, 37b. It is stretched between the joint portion 40, each movable arm 37a, 37b, and each intermediate link member 27a, 27b adjacent thereto, so that each movable arm 37a, 37b approaches the long intermediate support shaft 26. The coil springs 41a and 41b are energized. Each locking plate 35, 36 has peripheral surfaces 35 a, 36 a concentric with the intermediate long support shaft 26, and the engaged recesses 35 b, into which the engaging portions 40 are fitted, are fitted to these peripheral surfaces 35 a, 36 a. 36b is formed.

The two locking plates 35 and 36 in the lock means 34 having the above-described configuration are the long lengths of the upper and lower plate-like link members 15 and 16 of the second double link 10 accompanying the undulation motion of the folded parallel link mechanisms 3L and 3R. In association with the relative swinging motion around the intermediate support shaft 26, the upper and lower plate-like link members 15 and 16 rotate together around the long intermediate support shaft 26, but the folded parallel link mechanism 3L. As shown in FIG. 5, the engaged recesses 35b, 36b of the two locking plates 35, 36 are aligned with respect to the circumferential direction only when the workpiece 3R is in the workpiece high position support posture shown in FIG. In addition, it is configured so as to form one engaged recess, and in this one engaged recess 35b, 36b, a tension coil spring is provided on the peripheral surfaces 35a, 36a of the two locking plates 35, 36. Movable arm that was in pressure contact with the urging force of 41a and 41b 7a, 37b of the front end of the engaging portion 40 (cylindrical body 39) is fitted, the center bending parallel link mechanism 3L, and is configured to prevent undulating movement of 3R.

Further, for the parallel folding link mechanisms 3L and 3R, the workpiece support 4 supported by the parallel folding link mechanisms 3L and 3R is connected to the parallel folding mechanisms 3L and 3R of the workpiece low position support posture shown in FIG. The intermediate position support means 42 for supporting at a height between the low position supported by the intermediate position and the high position supported by the intermediate folding parallel link mechanisms 3L and 3R shown in FIG. Has been. The intermediate position support means 42 is a pair of belt-like struts that are suspended by both ends of the long upper support shaft 19 on both sides of the pair of first duplex links 9a and 9b and maintain a vertical hanging posture by gravity. The members 43a and 43b and holding members 44a and 44b for receiving the tension members 43a and 43b in a vertical posture are constituted.

Long holes 45a and 45b that are long in the length direction of the tension members 43a and 43b are provided at the upper ends of the pair of belt-shaped tension members 43a and 43b, and the length of the pair of first double links 9a and 9b. Small-diameter shaft portions 19a and 19b that protrude concentrically outwardly from bearing plates 20a and 20b that support both ends of the long upper end support shaft 19 are integrally formed at both ends of the upper end support shaft 19. The long holes 45a and 45b are fitted to the small-diameter shaft portions 19a and 19b so as to be movable up and down, so that the tension members 43a and 43b are suspended from both ends of the long upper end support shaft 19. At the lower ends of the tension members 43a and 43b, fitting shaft portions 46a and 46b which are narrower than the tension members 43a and 43b and whose lower ends are obliquely cut are integrally formed in the extending direction of the tension members 43a and 43b. The bearing plate portions 47a and 47b that are provided so as to extend from the outer surfaces of the lower end portions of the tension members 43a and 43b to the outer positions of the sharp ends of the fitting shaft portions 46a and 46b are provided. Rollers 48a and 48b that are rotatable around a horizontal axis are pivotally supported on the sides of the tips of 47a and 47b.

The holding members 44a and 44b for receiving the tension members 43a and 43b in a vertical posture are attached to the outer surfaces of the bearings 17a and 17b that individually support the lower end support shafts 18a and 18b of the first double links 9a and 9b, respectively. The holding members 44a and 44b are supported by the surface 2a, and are provided with vertical groove portions 49a and 49b into which the fitting shaft portions 46a and 46b of the tension members 43a and 43b descending vertically are inserted. When the fitting shaft portions 46a and 46b are inserted into the vertical concave groove portions 49a and 49b, the bearing plate portions 47a and 47b and the rollers 48a and 48b simply descend on the outside of the holding members 44a and 44b, and the holding member 44a. 44b.

When the parallel folding link mechanisms 3L, 3R are folded inward as the work support 4 is lowered in parallel, the work support base 4 is suspended from the long upper end support shaft 19 of the parallel folding link mechanisms 3L, 3R. The tension members 43a and 43b are lowered in a vertically suspended posture, and the fitting shaft portions 46a and 46b at the lower ends of the tension members 43a and 43b are inserted into the vertical groove portions 49a and 49b of the holding members 44a and 44b. As a result, as shown in FIG. 18, the tension members 43a and 43b are held vertically with the lower ends of the tension members 43a and 43b supported by the upper end surfaces of the holding members 44a and 44b. As the work support 4 is subsequently lowered, the small diameter shaft portions 19a and 19b at both ends of the long upper support shaft 19 are lowered with respect to the long holes 45a and 45b at the upper ends of the tension members 43a and 43b. When the lower ends of the long holes 45a and 45b are reached, the receiving members 50a and 50b for receiving the lower side of the bearing plates 20a and 20b on the work support base 4 side at the position directly below the long upper support shaft 19 are stretched. It is attached to the inner surface of member 43a, 43b. Therefore, the load on the work support 4 side is received by the transport carriage 2 from the bar-shaped horizontal members 5 and 6 through the bearing plates 20a and 20b, the receiving members 50a and 50b, the tension members 43a and 43b, and the holding members 44a and 44b. Therefore, it does not act directly on the link members of the folded parallel link mechanisms 3L and 3R.

The upper columnar link members 13 of the first two-links 9a and 9b adjacent to the stretching members 43a and 43b extend from the inner side to the lateral side and support members 51a and 51b that receive the stretching members 43a and 43b. Is attached. The support members 51a and 51b are configured such that when the folded parallel link mechanisms 3L and 3R are in the workpiece high position support posture shown in FIG. 2, the tension members 43a and 43b are the upper columnar link members 13 of the first double links 9a and 9b. It is hung down in the state which separated from the inner side, and it rocks | swings around the elongate upper end spindle 19 is prevented. The presence of the support members 51a and 51b prevents the tension members 43a and 43b from swinging in the horizontal direction when the transport carriage 2 travels with the workpiece W supported at a high position, so that the operator can move at a high position. It is also possible to improve the safety when working under the supported work W. Further, supported portions 52a and 52b are provided below the workpiece support seats 7a to 8b of the workpiece support base 4. Each of these supported portions 52a and 52b is constituted by a square-shaped member that is attached to a position adjacent to the base of the work support seats 7a to 8b attached to the rod-like horizontal members 5 and 6 and that is long in the traveling direction of the transport carriage 2. is doing.

Next, an example of the first work support height changing device M1 provided along the travel route of the transport carriage 2 will be described with reference to FIGS. 7 to 12. The first work support height changing device M1 is as follows. The lifter 53L and 53R for lifting and lowering the workpiece and the auxiliary means 54L and 54R for changing the posture are provided on the left and right sides of the fixed stop position of the transport carriage 2.

The lifters 53L and 53R for lifting and lowering the workpieces have a symmetrical structure with each other, and extend in the traveling path of the transport carriage 2 and move up and down in conjunction with each other. Elevating arms 55a, 55b and revolving arms 56a, 56b provided at the tips of these elevating arms 55a, 55b are provided so as to be able to turn horizontally. Support portions 57a and 57b for supporting the supported portions 52a and 52b provided in the seats 7a to 8b are provided. The pair of elevating arms 55a and 55b are attached to a common elevating body 58 in a cantilevered manner, and the elevating body 58 is installed on a vertical frame 60 installed on a base 59 installed on the floor surface. Further, it is supported through an elevating guide rail 61 so as to be movable up and down. The raising / lowering drive means of the raising / lowering body 58 can move the raising / lowering body 58 up and down between the lower limit position and the upper limit position, and can freely stop at the set intermediate stop position. Any configuration may be used. For example, an arbitrary configuration such as a suspension rope system that lifts and extends a suspension cable such as a chain that suspends the lifting body 58, a rack and pinion gear system, a screw shaft system, and a fluid pressure cylinder system can be used.

The swivel arms 56a and 56b are fixedly projected from rotary boss portions 63a and 63b rotatably supported around the vertical support shafts 62a and 62b on the upper ends of the lift arms 55a and 55b. The support plate 64 is attached to the tip side surface of the swivel arms 56a and 56b, and extends in the horizontal front direction after hanging down to the lower side height of 55a and 55b. The support portions 57a and 57b are constituted by the formed groove portion. The driving means 65a and 65b of the swing arms 56a and 56b are configured such that the swing arms 56a and 56b are retracted in a right-angled lateral direction from the tips of the lift arms 55a and 55b, and a support action posture is an extension direction of the lift arms 55a and 55b. However, the driving means 65a and 65b of this embodiment are attached to the vicinity of the tip ends of the lifting arms 55a and 55b. The motors 66a and 66b with reduction gears, the fan-shaped gears 67a and 67b fixed concentrically to the lower ends of the rotating boss portions 63a and 63b, and the vertical output shafts of the motors 66a and 66b with reduction devices. It is composed of pinion gears 68a and 68b meshing with the sector gears 67a and 67b, and is provided with motors 66a and 66b with reduction gears. By driving the nonion gears 68a and 68b in forward and reverse directions, the swivel arms 56a and 56b are moved approximately 90 degrees horizontally between the retracted posture and the supporting action posture via the sector gears 67a and 67b and the rotating boss portions 63a and 63b. It can be swung back and forth in the range.

The posture switching auxiliary means 54L and 54R are disposed between the pair of lift arms 55a and 55b, and pass through the space between the lift path of the lift body 58 and the travel path of the transport carriage 2. A vertical column 69 projecting from the base 59 so as to stand upright, a horizontal frame 70 supported by the vertical column 69 and extending in a cantilevered manner toward the traveling path side of the transport carriage 2, and the horizontal frame 70 A reciprocating body 73 supported so as to be reciprocally movable in a horizontal direction perpendicular to the traveling direction of the transport carriage 2 via a slide guide rail 71 attached thereto and a slide block 72 fitted thereto. A driving means 74 that reciprocates the body 73 and a check piece 75 that is pivotally supported by a support shaft 75 a at the tip of the reciprocating body 73. The driving means 74 for reciprocating the reciprocating body 73 may have any configuration as long as it can reciprocate the reciprocating body 73 between the forward limit and the backward limit. An example driving means 74 includes a rack gear 76 attached to the side of the reciprocating body 73 in parallel with the moving direction of the reciprocating body 73, and a motor 77 with a speed reducer attached to the side of the horizontal frame 70. And a pinion gear 78 that is attached to the vertical output shaft of the motor 77 with speed reducer and meshes with the rack gear 76, and the pinion gear 78 is driven to rotate forward and backward by the motor 77 with speed reducer via the rack gear 76. The reciprocating body 73 can be moved forward or backward.

An example of the second workpiece support height changing device M2 provided along the travel route of the transport carriage 2 will be described with reference to FIGS. 13 to 19. The second workpiece support height changing device M2 is configured by the transport cart. 2 lifters 79L and 79R for lifting and lowering workpieces disposed on the left and right sides of the fixed stop position 2, pushers 80L and 80R attached to the lifters 79L and 79R, and unlocking means attached to the pushers 80L and 80R. 81L, 81R and operation means 82L, 82R for operating the intermediate position support means 42 are configured. The workpiece lifting / lowering operation lifters 79L and 79R of the second workpiece support height changing device M2 are exactly the same as the workpiece lifting / lowering operation lifters 53L and 53R of the first workpiece supporting height changing device M1 described above. Therefore, the same reference numerals are given and description thereof is omitted.

The pushers 80L and 80R are provided at the front end of the reciprocating body 73 of the posture change auxiliary means 54L and 54R provided in the first work support height changing device M1 described above, instead of the check piece 75, and a pressing plate 83. When the reciprocating body 73 is moved forward, the pressing plate 83 is projected to the outside of the parallel folding link mechanisms 3L and 3R in the workpiece high position supporting posture, that is, both the upper and lower sides of the second double link 10 Of the curved outer surfaces of the plate-like link members 15 and 16 and the intermediate link members 27a and 27b that are supported by the long intermediate support shaft 26, the curved outer surface of at least one link member is horizontally inward. It is comprised so that it may be pressed and moved. The pressing plate 83 shown in the illustrated embodiment has a size capable of simultaneously pressing and moving the curved outer surface of the portion supported by the long intermediate support shaft 26 of the upper and lower plate-like link members 15 and 16. It is made of an elastic material.

The unlocking means 81L and 81R are formed of two pieces against the urging force of the tension coil springs 41a and 41b with respect to the engaging portion 40 of the locking means 34 provided in the half-fold parallel link mechanisms 3L and 3R in the workpiece high position support posture. The movable operation plate 84 is configured to be disengaged from the engaged recesses 35b and 36b of the locking plates 35 and 36. The movable operation plate 84 is located on the upper end side of the reciprocating body 73 provided with the pressing plate 83 of the pushers 80L and 80R at the front end, behind the pressing plate 83 in the cart traveling direction F, and forward of the reciprocating body 73. The projecting piece 30 is provided by the forward movement of the reciprocating moving body 73 at the front end of the plate material which is attached so as to protrude in the direction and is parallel to the moving direction of the reciprocating moving body 73. The movable operation plate 84 enters between the intermediate link member 27b and the movable arm 37b, and the action surface 84a at the tip of the movable operation plate 84 presses and moves the engaging portion 40 (cylindrical body 39). Is.

As shown in FIG. 15, the engaging portion 40 (cylindrical body 39) of the locking means 34 that locks the parallel folding link mechanisms 3 </ b> L and 3 </ b> R in the workpiece high position support posture includes two locking plates 35 and 36. The engagement portion 40 (cylindrical body 39) in this state is fitted into the engaged recesses 35b and 36b, and the pair of movable arms 37a and 37b that support the engagement portion 40 are swung. Since it is located above the central axis of the long intermediate support shaft 21 that is the center, theoretically, the engaging portion 40 (cylindrical body 39) is located inside by the action surface 84 a at the tip of the movable operation plate 84. If it is pressed horizontally (to the side with the long intermediate support shaft 21), the upward rotating force around the long intermediate support shaft 21 will resist the biasing force of the tension coil springs 41a and 41b on the movable arms 37a and 37b. The movable arms 37a and 37b swing upward and engage. 40 (cylindrical body 39) is being separated engaged concave portion 35b, from 36b above. However, in order to reduce the load applied to the movable operation plate 84 and the like, as shown in the drawing, the action surface 84a at the tip of the movable operation plate 84 is moved upward while the engaging portion 40 (cylindrical body 39) is lifted upward. It can be formed in a cam shape that presses toward.

Of course, in some cases, the movable operation plate 84 is not directly applied to the engaging portion 40 (cylindrical body 39), but is operated above the engaging portion 40 and interlocked with the movable arms 37a and 37b. A separate portion is provided, and the operated portion is pressed and moved inward horizontally by the action surface 84a at the tip of the movable operation plate 84, so that the engaging portion 40 (cylindrical body 39) is covered by the movable arms 37a and 37b. It is also possible to configure to be disengaged upward from the engaging recesses 35b, 36b.

The operation means 82L and 82R of the intermediate position support means 42 are disposed below the pushers 80L and 80R, and the posture switching auxiliary provided in the first work support height changing device M1 described above. A bar 85 that pushes and tilts the pair of tension members 43a and 43b of the intermediate position support means 42, instead of the check piece 75, is attached to the tip of the reciprocating body 73 of the means 54L and 54R in a T shape in plan view. It is. The bar 85 is parallel to the parallel direction of the pair of tension members 43a and 43b (cart traveling direction F), and has a length that allows the pair of tension members 43a and 43b to be simultaneously pressed. The reciprocating body 73 of the operating means 82L and 82R and the horizontal frame 70 that supports the driving means 74 may be installed by using the vertical support 69 that supports the pushers 80L and 80R (horizontal frame 70). In addition to the vertical columns 69 of the pushers 80L and 80R, the vertical columns 69 dedicated to the operating means 82L and 82R may be used.

Next, a method for using the work carriage of the present invention configured as described above, the first work support height changing device M1, and the second work support height changing device M2 will be described. In the area A1 of FIG. 1 where a work (car body or the like) W is supported and conveyed at a low position, a pair of left and right middle parallel link mechanisms 3L and 3R on each conveyance carriage 2 are arranged inside as shown in FIG. In this state, as shown in FIG. 3, the inner half of the folded parallel link mechanisms 3 </ b> L and 3 </ b> R, i.e. The region from the long intermediate support shaft 21 located at the inner end to the substantially central portion in the length direction of the upper columnar link member 13 of the first double link 9a, 9b is overlapped with the traveling direction of the transport carriage 2. Adjacent. At this time, the stretching members 43a and 43b of the intermediate position support means 42 included in the parallel folding link mechanisms 3L and 3R are moved in a direction from the long upper support shaft 19 to the long intermediate support shaft 21, as shown in FIG. In the extended state, the tip end side is in a state of being supported by the carriage floor surface 2a via the rollers 48a and 48b in contact with the carriage floor surface 2a. The workpiece support seats 7a to 8b of the workpiece support base 4 are folded up and overlapped up and down at about the maximum height of the first double links 9a and 9b, at positions away from the carriage floor 2a. The workpiece is supported horizontally by the parallel folding link mechanisms 3L and 3R in the workpiece low position support posture.

A workpiece W such as an automobile body is placed on the four workpiece support seats 7a to 8b of the workpiece support base 4 in a direction in which the length direction thereof is parallel to the carriage traveling direction F and two front and rear sides. Is done. At this time, the support tools 28a, 28b and 29a, 29b of the workpiece support seats 7a to 8b are engaged with predetermined positions on the workpiece W side, so that the horizontal relative slip between the workpiece W and the workpiece support table 4 occurs. The left part of the work support 4 that is blocked and supported by the left-hand side parallel folding link mechanism 3L (the bar-like horizontal member 5 and the work support seats 7a and 7b at the front and rear ends thereof), and the right-hand side parallel folding link mechanism 3R. The right portion of the work support 4 supported by the bar (the bar-like horizontal member 6 and the work support seats 8a and 8b at the front and rear ends thereof) are integrated by the work W to be supported. Of course, the left and right rod-like horizontal members 5 and 6 may be connected and integrated with an appropriate connecting member in a state that does not interfere with the workpiece W to be loaded and does not interfere with the work on the bottom of the workpiece W.

The illustrated conveyance carriage 2 has a horizontally-long rectangular shape whose width in the left-right direction is larger than the front-rear length in the carriage traveling direction F. Accordingly, the left and right sides of the transport carriage 2 projecting greatly to the left and right sides of the loaded work W can secure work floors for the left and right sides of the central area of the loaded work W. Both front and rear ends project greatly before and after the carriage traveling direction F of the transport carriage 2. In this state, the transport carriage 2 can travel in the left-right width direction, so that the ground-side floor surface adjacent to both sides of the travel path of the transport carriage 2 can greatly enter below the front and rear end portions of the workpiece W. Because it is possible to use these floors on the ground side, parts carts and the like can be inserted under the front and rear ends of the work W, which is suitable for mounting the engine and the front and rear axle units. As shown in FIG. 1, when traveling in the length direction of the loaded workpiece W (width direction in which the length of the transport carriage 2 is short), as shown in phantom lines in FIG. The front and rear auxiliary carts 2B and 2C that can be used can be combined as necessary. In any case, on the travel route in which the first work support height changing device M1 and the second work support height changing device M2 are provided, the transport carriage 2 is arranged in the length direction of the loaded work W (of the transport carriage 2). The vehicle travels in the bogie travel direction F, which is the short width direction.

1 The transport carriage 2 that travels in the area A1 that supports and transports a workpiece (such as an automobile body) W in FIG. 1 at a low position is stopped at a fixed position relative to the first workpiece support height changing device M1. At this time, in the first workpiece support height changing device M1, the lifting bodies 58 (lifting arms 55a and 55b) of the lifters 53L and 53R for lifting and lowering the workpiece are in the lower limit position, and the swing arms 56a and 56b are as shown in FIG. 8 is in a retreat posture in the right-and-left direction indicated by the phantom line, and the reciprocating body 73 of the posture switching auxiliary means 54L and 54R is in the retreat limit position. If the transport carriage 2 stops at a fixed position, the driving means 65a and 65b are operated with respect to the lifting arms 55a and 55b at the lower limit position of the work lifting and lowering lifters 53L and 53R, and the swing arms 56a and 56b are lifted and lowered. The arm 55a, 55b is horizontally rotated 90 degrees to the supporting action posture that is an extension direction of the arms 55a, 55b. As a result, as shown in FIGS. 8 to 10, the support portions 57a and 57b at the tips of the swing arms 56a and 56b are bent parallel link mechanisms 3L and 3R in the workpiece low position support posture on the transport carriage 2. The workpiece support base 4 is supported so as to rotate horizontally into the space between the four workpiece support seats 7a to 8b of the supported workpiece support base 4 and the carriage floor 2a, and the supported portions 52a of the workpiece support seats 7a to 8b, It is configured to stop at a position directly below 52b.

Next, the lifting bodies 58 (lifting arms 55a and 55b) of the lifters 53L and 53R for lifting and lowering the workpiece are raised from the lower limit position, and the support portions 57a and 57b at the tips of the swivel arms 56a and 56b are moved to the work support 4 side. In a state where the workpiece support seats 7a to 8b are fitted and supported by the supported portions 52a and 52b, the workpiece support base 4 is lifted together with the workpiece W loaded thereon. In this way, when the work support 4 is lifted in parallel with the work W by the lifting movement of the lifting body 58 (lifting arms 55a and 55b), a pair of left and right half-fold parallel link mechanisms connected to the work support 4 are provided. 3L and 3R are lifted from the workpiece low position support posture and gradually unfolded. When the half-fold parallel link mechanisms 3L and 3R reach the vertical standing posture (standing limit) described above, the workpiece supporting table 4 cannot be raised any more, and the workpiece supporting table 4 has reached the rising limit. Therefore, at this time (or slightly before), the lifting of the lifting bodies 58 (lifting arms 55a and 55b) of the lifters 53L and 53R for lifting and lowering the workpiece is stopped.

When the half-fold parallel link mechanisms 3L, 3R are in the vertical standing posture (stand-up limit) or the posture just before that as described above, as shown in FIGS. 8 and 11, the middle-fold parallel link mechanisms 3L, 3R Of the intermediate link member 27b on the lower side of the rear end of the intermediate link member 27b, on the laterally outer side of the projecting piece 30, the reverse of the tip of the reciprocating moving body 73 at the retreat limit position of the posture switching auxiliary means 54L, 54R Since the stop piece 75 is positioned, the driving means 74 of the posture changing auxiliary means 54L and 54R is operated next, and the check piece 75 at the tip is moved from the protruding piece 30 as shown by the phantom line in FIG. The reciprocating moving body 73 is moved forward until it reaches the advance limit entered inside. When the check piece 75 passes under the protruding piece 30 inwardly, the check piece 75 is tilted around the support shaft 75a by the protruding piece 30 and passes through the original action by gravity or spring force. Stand up in posture. Next, when the reciprocating body 73 is moved backward by the driving means 74, the check piece 75 standing in the acting posture pushes the protruding piece 30 outward from the inside, so that the vertical standing posture (standing limit) Or, as shown in FIG. 12, the half-bending parallel link mechanisms 3L and 3R that were in the posture immediately before that are deformed into a reverse bending posture in which an intermediate portion with the long intermediate support shafts 21 and 26 bends outward. . Of course, the bending deformation from the vertical standing posture of the bent parallel link mechanisms 3L and 3R is not realized unless the work support 4 is lowered, so that the check piece 75 presses and moves the protruding piece 30 outward. Accordingly, the lifting / lowering body 58 of the lifters 53L and 53R for lifting and lowering the workpiece at the ascending limit position must be lowered while supporting the workpiece support 4.

By the above operation, as the workpiece support 4 is lowered, the parallel folding link mechanisms 3L and 3R are deformed from the vertical standing posture to the reverse bending posture in which the intermediate portion protrudes outward, so that the parallel bending mechanism is obtained. The link mechanisms 3L and 3R reach the workpiece high position support posture shown in FIG. 12, and as described above, the bending motions of the intermediate folding parallel link mechanisms 3L and 3R accompanied by further lowering of the workpiece support base 4 are prevented. At the same time, the locking means 34 works to fix the folded parallel link mechanisms 3L and 3R to the workpiece high position support posture. Note that the reciprocating body 73 of the posture switching auxiliary means 54L, 54R is stopped to move backward slightly before the parallel folding mechanism 3L, 3R reaches the workpiece high position support posture, as shown in FIG. When the folded parallel link mechanisms 3L and 3R are fixed in the workpiece high position support posture, the check piece 75 is stopped at a position slightly away from the stopped protruding piece 30 inside.

As described above, when the folded parallel link mechanisms 3L and 3R are switched from the workpiece low position support posture to the workpiece high position support posture, the lift bodies 58 of the workpiece lift operation lifters 53L and 53R are lowered by an appropriate distance. Then, the support portions 57a and 57b at the tips of the swing arms 56a and 56b are detached downward from the supported portions 52a and 52b on the work support seats 7a to 8b side. As a result, the left and right sides (both left and right bar-like horizontal members 5 and 6) of the work support 4 integrated by the loaded work W are fixed in a work high position support posture in a middle-folded parallel link. It will be supported by the mechanisms 3L and 3R, and the workpiece W on the workpiece support base 4 will be stably supported while being lifted from the carriage floor surface 2a to a high position. The swing arms 56a and 56b of the lifter 53L and 53R for lifting and lowering the workpiece lowered to an appropriate height operate the motor 66 with a speed reducer to return the support action posture to the right-angled and horizontal retraction posture, thereby supporting the workpiece high position. Since the retracted outward from the half-fold parallel link mechanisms 3L and 3R in the posture, the forward traveling of the transport carriage 2 can be started toward the area A2 of the next stage.

The check pieces 75 of the posture switching auxiliary means 54L and 54R are located slightly inward from the protruding pieces 30 of the half-fold parallel link mechanisms 3L and 3R in the workpiece high position support posture. On the rear side of the piece 75 and the reciprocating body 73 that pivotally supports this at the tip (in the direction opposite to the cart traveling direction F), the check carriage 75 and this are pivotally supported at the tip by the forward traveling of the transport carriage 2. Since there is no obstacle that collides with the reciprocating body 73 that is in operation, the forward traveling of the transport carriage 2 can be started with the check piece 75 remaining in the actuated position. . When the transport carriage 2 is completely separated from the first work support height changing device M1, the lift body 58 (lifting / lowering) in a state where the swing arms 56a, 56b of the work lifting / lowering operation lifters 53L, 53R are returned to the retracted posture. The arms 55a, 55b) are lowered to the original lower limit position, and the reciprocating body 73 of the posture switching auxiliary means 54L, 54R is moved back to the original backward limit position together with the check piece 75 to prepare for the next operation. Just do it.

1, the transport carriage 2 that travels in the area A2 while supporting the workpiece W at a high position is stopped at a fixed position with respect to the next second workpiece support height changing device M2. At this time, the second workpiece support height changing device M2 is configured such that the lifting body 58 (lifting arms 55a and 55b) of the lifters 79L and 79R for lifting and lowering the workpiece is at an intermediate predetermined height slightly lower than the ascending limit position and the swing arm 56a. , 56b are in a retreating posture at a right angle and a lateral orientation, and the reciprocating bodies 73 of the pushers 80L, 80R and the operating means 82L, 82R are in the retreat limit position. When the transport carriage 2 stops at a fixed position, the turning arms 56a and 56b are turned 90 degrees horizontally to the supporting action posture with respect to the lifting arms 55a and 55b of the work lifting operation lifters 79L and 79R. As a result, as indicated by phantom lines in FIG. 15, the support portions 57 a and 57 b at the tips of the swing arms 56 a and 56 b are bent parallel link mechanisms 3 </ b> L and 3 </ b> R in the workpiece high position support posture on the transport carriage 2. Rotate horizontally and enter directly under the four workpiece support seats 7a to 8b of the supported workpiece support base 4, and stop at a position directly below the supported portions 52a and 52b of the workpiece support seats 7a to 8b. It is configured.

Next, as shown in FIG. 14, the reciprocating bodies 73 of the pushers 80L and 80R are moved forward to operate the movable operation plates 84 of the lock release means 81L and 81R. That is, when the reciprocating body 73 of the pushers 80L and 80R advances and moves, the action surface 84 at the tip of the movable operation plate 84 that moves together with the pressing plate 83 moves before the pressing plate 83, and the locking means 34. Acting on the engaging portion 40 (cylindrical body 39) of the second engaging link 40, as described above, the engaging portion 40 is engaged with the engaged recesses 35b of the two locking plates 35, 36 on the second double link 10 side. It is made to detach | leave upward from 36b and the lock | rock with respect to the half-fold parallel link mechanisms 3L and 3R is cancelled | released. Even when the locks to the parallel folding link mechanisms 3L and 3R are released, the parallel folding link mechanisms 3L and 3R are maintained in the workpiece high position support posture as described above, but when the lock is released. Further, the lifting arms 55a and 55b of the workpiece lifting and lowering lifters 79L and 79R are lifted so that the workpiece support 4 is supported by the workpiece lifting and lowering lifters 79L and 79R, and the tips of the swing arms 56a and 56b are raised. The support portions 57a and 57b are fitted into the supported portions 52a and 52b of the work support seats 7a to 8b from below. The lift arms 55a and 55b are further lifted simultaneously with or after the unlocking is completed, and the workpiece support 4 is lifted together with the workpiece W by the workpiece lifting and lowering lifters 79L and 79R.

As described above, when the workpiece support 4 is lifted by the workpiece lifting / lowering lifters 79L and 79R after the unlocking is completed, the pressing plate 83 that has been moved forward together with the movable operation plate 84 is folded halfway and parallel link mechanisms 3L and 3R. Since it has reached the outer surface of the intermediate bent portion (the outer surface of the end portion supported by the long intermediate support shaft 26 of the second double link 10), the reciprocating body 73 of the pushers 80L and 80R is advanced as it is. Move. As a result, as the workpiece support 4 is lifted, the folded parallel link mechanisms 3L and 3R change from the workpiece high position support posture to the vertical standing posture described above (see FIG. 11). The lifting operation of the workpiece support table 4 by the workpiece lifting / lowering lifters 79L and 79R is stopped, and subsequently the lifting / lowering body 58 of the workpiece lifting / lowering operation lifters 79L and 79R is switched to the lowering. Let On the other hand, the pressing plates 83 of the pushers 80L and 80R press and move the intermediate bent portions of the parallel folding link mechanisms 3L and 3R inward as described above, so that as shown in FIG. Along with the descent, the folded parallel link mechanisms 3L, 3R change from a vertical standing posture to a posture bending inward.

When the half-fold parallel link mechanisms 3L and 3R change from the vertical standing posture to the posture that bends inward, the reciprocating body 73 of the pushers 80L and 80R is moved backward so that the pressing plate 83 and the unlocking means 81L and 81R The movable operation plate 84 is returned to the original backward limit position. On the other hand, as shown in FIG. 17, as the lifting arms 55a and 55b of the lifters 79L and 79R for lifting and lowering the workpiece are lowered, the supported workpiece support 4 is continuously lowered in parallel. As described above, the pair of tension members 43a and 43b of the intermediate position support means 42 included in the folded parallel link mechanisms 3L and 3R are suspended from the long upper end support shaft 19 of the first double links 9a and 9b and vertically. Descent in a hanging position. The vertical concave grooves 49a and 49b of the holding members 44a and 44b on the carriage floor surface 2a are located directly below the tension members 43a and 43b. Therefore, when the work support base 4 is lowered to a predetermined height, the tension member The fitting shaft portions 46a and 46b at the lower ends of 43a and 43b are inserted into the vertical concave groove portions 49a and 49b of the holding members 44a and 44b, and finally each workpiece support of the workpiece support base 4 is supported as described above. The seats 7a to 8b are stabilized at intermediate height positions supported by the tension members 43a and 43b, respectively. At this time, the folded parallel link mechanisms 3L and 3R are in an inward bending posture determined by the height of the work support 4 and are supported by the tension members 43a and 43b at an intermediate height position. This is useful for preventing the workpiece support seats 7a to 8b from shaking in the cart traveling direction F and stabilizing the posture.

If the workpiece support 4 is supported at the intermediate height position via the intermediate position support means 42 as described above, the lifting and lowering bodies 58 of the workpiece lifting and lowering lifters 79L and 79R are further lowered to turn the swing arms 56a, After the support portions 57a and 57b at the tip of 56b are separated downward from the supported portions 52a and 52b of the work support seats 7a to 8b, the swivel arms 56a and 56b are switched to the retracted posture to change the second work support height. After the transport carriage 2 moves forward and away from the position of the apparatus M2, the lifting bodies 58 of the work lifting / lowering operation lifters 79L and 79R may be moved up and down to the original standby height.

The transport carriage 2 traveling in the area A3 for supporting and transporting the workpiece W at the intermediate height position shown in FIG. 1 stops at a fixed position with respect to the second workpiece support height changing device M2 between the next area A1. Is done. The second workpiece support height changing device M2 installed between the areas A3 and A1 is the same as the second workpiece support height changing device M2 installed between the areas A2 and A3 described above. In the second workpiece support height changing device M2 installed between the areas A3 and A1, the lifting and lowering bodies 58 (lifting arms 55a and 55b) of the lifters 79L and 79R for lifting and lowering the workpieces move the workpiece W at the intermediate height position. Waiting at an intermediate predetermined height that is slightly lower than the supporting workpiece support 4 (see FIG. 18), the swivel arms 56a and 56b are in a retracted posture in a right-angled lateral direction. Of course, the reciprocating bodies 73 of the pushers 80L and 80R and the operating means 82L and 82R are in the retreat limit position.

If the transport carriage 2 stops at a fixed position, the turning arms 56a and 56b are turned 90 degrees horizontally to the supporting action posture with respect to the lifting arms 55a and 55b of the work lifting operation lifters 79L and 79R. In this state, the lifting and lowering bodies 58 of the workpiece lifting and lowering operation lifters 79L and 79R are moved up, and the four workpiece support seats 7a to 8b of the workpiece support base 4 supported at the intermediate height position by the tension members 43a and 43b are moved. In the same manner as the second work support height changing device M2 installed between the areas A2 and A3, it is supported by the swing arms 56a and 56b and lifted and raised in parallel. As the workpiece support 4 moves upward in parallel, the parallel folding link mechanisms 3L and 3R are pulled up while changing the bending posture in the upright direction, and the vertical grooves 49a of the holding members 44a and 44b on the carriage floor surface 2a side. , 49b, the projecting members 43a, 43b are integrated with the work support 4 by the contact between the upper ends of the long holes 45a, 45b at the upper ends and the small-diameter shaft portions 19a, 19b of the long upper support shaft 19. It is pulled up by the long upper end support shaft 19 that rises. When the work support 4 is lifted to such a height that the fitting shafts 46a, 46b at the lower ends of the tension members 43a, 43b are completely removed from the vertical concave grooves 49a, 49b of the holding members 44a, 44b, the lifter for lifting the workpiece is raised. The raising of the lifting body 58 of 79L and 79R is stopped.

At this time, the bar 85 of the operating means 82L, 82R provided in the second workpiece support height changing device M2 is pulled out from the vertical concave groove portions 49a, 49b of the holding members 44a, 44b as described above, and the parallel link mechanism is bent. Since it stands by at the intermediate height position of the tension members 43a and 43b suspended from the long upper end support shaft 19 of 3L and 3R, the reciprocating body 73 of the operation means 82L and 82R is driven by the drive means. As shown in FIG. 19A, the intermediate height portions of the tension members 43a and 43b are pushed inward at both ends of the bar 85, as shown in FIG. 19A. As a result, the tension members 43a and 43b are bent and tilted inwardly around the long upper end support shaft 19 of the parallel link mechanisms 3L and 3R, and the rollers 48a and 48b and the like at the lower ends thereof are the holding members on the side of the carriage floor 2a. If the lifter is lifted inwardly from 44a, 44b, the lifting body 58 of the lifter 79L, 79R for lifting and lowering the workpiece that has been stopped at a predetermined height is lowered, and the swing arm 56a of the lifter 79L, 79R for lifting the workpiece is lifted. The work support 4 supported by 56b is lowered in parallel. As a result, the tension members 43a and 43b that are lowered integrally with the work support 4 are lowered while being further tilted inward by the bar 85 stopped at the advance limit position, and as shown in FIG. 19B, the tension members 43a. , 43b, the lower rollers 48a, 48b land on the carriage floor surface 2a.

As described above, when the rollers 48a and 48b at the lower ends of the tension members 43a and 43b have landed on the carriage floor surface 2a or when it has become certain, the reciprocating body 73 of the operation means 82L and 82R is moved to the drive means 74. Thus, the bar 85 is moved backward from the tension members 43a and 43b and moved back to the standby position. In this state, the lifting / lowering body 58 of the workpiece lifting / lowering operation lifters 79L and 79R is further lowered to the lower limit position, and the workpiece support base 4 is lowered to the lower position in parallel. At this time, the tension members 43a and 43b As the table 4 descends, the lower end rollers 48a and 48b roll inward on the cart floor surface 2a, so that the tension members 43a and 43b fall so as to approach the cart floor surface 2a. Then, as shown in FIG. 10, the collapsible parallel link mechanisms 3L and 3R are completely folded by the descending work support 4 and fall on the carriage floor 2a, and the work support 4 is as described above. It reaches a low position supported by the carriage floor surface 2a via the bearing members 11a and 12b of the middle-folded parallel link mechanisms 3L and 3R. Thereafter, the swing arms 56a and 56b, which are stopped slightly away from the work support table 4 supported at the low position, are horizontally rotated to the retracted position, thereby moving the work support table 4 to the intermediate height. Since the operation for switching from the position to the low position is completed, the transport carriage 2 is moved forward, and the work W supported at the low position by the work support base 4 on the folded parallel link mechanisms 3L and 3R is moved to the next stage. Can be sent to area A1.

If the second work support height changing device M2 installed between the areas A2 and A3 is used as a dedicated device for lowering the work W from the high position to the intermediate height position, the intermediate position support means 42 The operating means 82L and 82R are unnecessary and can be eliminated. Similarly, if the second workpiece support height changing device M2 installed between the areas A3 and A1 is used as a dedicated device for lowering the workpiece W from the intermediate height position to the low position, the pushers 80L and 80R and The unlocking means 81L and 81R are unnecessary and can be eliminated.

However, the second work support height changing device M2 between the areas A2 and A3 provided with the operation means 82L and 82R of the intermediate position support means 42 is also used as a device for directly lowering the work W from the high position to the low position. I can do it. In this case, the workpiece support 4 is lowered to a low position by the workpiece lifting / lowering lifters 79L and 79R. However, the operation means 82L and the second workpiece support height changing device M2 installed between the areas A3 and A1. The bar 85 of the operating means 82L and 82R is advanced and moved at the same timing as the advance movement of the bar 85 of 82R, and the lower end of the tension members 43a and 43b, which are the intermediate position support means 42 on the side of the folded parallel link mechanisms 3L and 3R, The fitting shaft portions 46a and 46b may be tilted inward before being inserted into the vertical concave groove portions 49a and 49b of the holding members 44a and 44b, and the work support base 4 may be lowered to the low position as it is. Further, the second workpiece support height changing device M2 between the areas A3 and A1 including the pushers 80L and 80R and the lock release means 81L and 81R conveys the workpiece W while supporting the workpiece W at a high position up to the end of the area A3. Since the half-fold parallel link mechanisms 3L and 3R on the carriage 2 can be switched from the workpiece high position support posture to the workpiece low position support posture, it can also be used as means for switching the workpiece W to the low position.

When the workpiece support base 4 is moved upward in parallel from the state in which the half-fold parallel link mechanisms 3L and 3R are completely folded and fallen on the carriage floor surface 2a, that is, the work support base 4 is in the low position, FIG. As shown in FIG. 10, the upper end portions (upper end positions of the long holes 45a and 45b) of the stretching members 43a and 43b in the completely lying posture where the rollers 48a and 48b are landed are perpendicular to the middle parallel link mechanisms 3L and 3R. Since the rollers 48a and 48b ride on the holding members 44a and 44b from the carriage floor surface 2a in the process of being pulled up by the elongate upper end support shaft 19, the workpiece support base is finally lifted in a vertically suspended posture. When raising 4 from the low position, a special operation for the tension members 43a and 43b of the intermediate position support means 42 is not necessary.

Therefore, as long as the lifters 53L and 53R for lifting and lowering the workpiece are used, the workpiece support 4 for supporting the workpiece W at the low position is raised to the intermediate height position shown in FIG. The position support means 42 can be supported by the tension members 43a and 43b and the holding members 44a and 44b. In other words, the first work support height changing device M1 or the second work support height changing device M2 is also used as a means for moving the work support table 4 that supports the work W at a low position to an intermediate height position. I can do it.

Further, in addition to the workpiece lifting / lowering operation lifters 53L and 53R and the posture switching auxiliary means 54L and 54R, the pushers 80L and 80R of the second workpiece support height changing device M2 are locked to the first workpiece support height changing device M1. If all of the operation means 82L and 82R of the release means 81L and 81R and the intermediate position support means 42 can be incorporated, the change point of the support height of the work support base 4 set in the travel route of the transport carriage 2 The workpiece support height changing device having the same configuration can be installed in all of the above, and the movement of the workpiece support table 4 between arbitrary support heights can be realized. In the embodiment described above, the intermediate position support means 42 and its operation means 82L and 82R for supporting the work W at the intermediate height position are adopted. However, the work W is placed between the low position and the high position. These are not necessary if they are moved only between them.

In addition, the present invention provides a work support device on the transport carriage 2 in the above embodiment, that is, two half-fold parallel link mechanisms 3L and 3R, and a work support table 4 that is moved up and down in parallel by an external lifter, The two middle-folded parallel link mechanisms 3L and 3R that connect the workpiece support base 4 and the base (in the above embodiment, the transport carriage 2) and the middle-fold parallel link mechanisms 3L and 3R in a workpiece high position support posture. The present invention relates to a work support device comprising locking means for locking, and is not limited to the work support device installed on the transport carriage 2. For example, a plurality of work support bases are provided side by side and can be implemented in combination with a lifter that can travel like a forklift truck. Further, the present invention has a feature in the configuration of the lock means 34, and other configurations can be freely changed within a range that does not affect the lock means 34.

For example, the first double link and the second double link in the present invention (claims) are a double link having an intermediate support shaft for supporting the movable arms 37a and 37b of the lock means, The double link having the upper and lower link members to which the locking plates 35 and 36 are provided is merely distinguished from the second double link. For example, the double link is related to the first double link 9a and 9b in the above embodiment. When the stop plates 35 and 36 are continuously provided and the movable arms 37a and 37b are supported on the intermediate support shaft 26 of the second double link 10, the first double links 9a and 9b are referred to in the present invention. 2 duplex links, and the second duplex link 10 becomes the first duplex link according to the present invention.

The workpiece support device according to the present invention has a support height of the vehicle body in the transport path of the vehicle body in the vehicle assembly line, a high position that allows an operator to enter under the vehicle body, and a low position that approaches the carriage floor surface. It can be used as a work support device on a transport carriage that can be switched freely.

2 Carriage Carts 3L, 3R Folding Parallel Link Mechanism 4 Work Support Base 5, 6 Bar-shaped Horizontal Member 7a-8b Work Support Seat 9a, 9b First Second Link 10 Second Second Link 11, 12 Columnar Body 11a-12b Bearing Member 13, 14 Column-shaped link member 15, 16 Plate-like link member 17a, 17b Bearing 18a, 18b, 23 Lower end support shaft 19 Long upper end support shaft 20a, 20b, 22, 24 Bearing plate 21 Long intermediate support shaft 25 Upper end support Shaft 26 Long intermediate support shaft 27a, 27b Intermediate link member 28a-29b Support tool 30 Projection piece (operated part)
31a, 31b receiving member 34 locking means 35, 36 locking plate 35a, 36a peripheral surface 35b, 36b engaged recess 37a, 37b movable arm 38 support shaft 39 cylindrical body 40 engaging portion 41a, 41b tension coil spring 42 intermediate position support Means 43a, 43b Stretch members 44a, 44b Holding members 46a, 46b Fitting shaft portions 48a, 48b Rollers 49a, 49b Vertical grooves 50a, 50b Receiving members 51a, 51b Support members 52a, 52b Supported portions 53L, 53R, 79L, 79R Lifter 54L, 54R Position change assisting means 55a, 55b Lifting arm 56a, 56b Turning arm 57a, 57b Supporting part 58 Lifting body 60 Vertical frame 63a, 63b Rotating boss part 65a, 65b, 74 Driving means 9 vertical column 73 reciprocal moving body 75 Gyakutomehen 80L, 80R pusher 81L, 81R unlocking means 82L, the operating means 83 pressing boards 84 movable operation plate 85 bar 82R intermediate position supporting means

Claims (4)

Two parallel-folded parallel link mechanisms for connecting the work support base and the base are provided. The work support base is moved up and down in parallel by an external lifter. The workpiece high position support posture standing upright symmetrically and the workpiece low position support posture in which both parallel folding link mechanisms are folded and supported on the base are configured to freely move up and down. In the work support device provided with the locking means for locking the middle folded parallel link mechanism in the position support posture so as not to be bent, the middle folded parallel link mechanism includes the first double link and the second link arranged in the undulating swing direction. A double link, and an intermediate link member that connects intermediate support shafts of the two double links, and the locking means includes intermediate links of the upper and lower link members of the second double link. Two locking plates that are connected to the end on the side and that have a concavity to be engaged on the peripheral surface concentric with the intermediate support shaft, and swing around the intermediate support shaft of the first double link A movable arm that is freely supported, an engagement portion provided at the tip of the movable arm, and an urging force of the movable arm in a direction in which the engagement portion is brought into contact with the peripheral surfaces of the two locking plates. The engaging portion is engaged with the engaged recesses of the two locking plates by the urging force of the spring when the half-fold parallel link mechanism is in the workpiece high position support posture. A workpiece support device configured to: A pair of the first double links are arranged side by side so as to be located on both sides of the second double link when viewed from the undulation direction, and are connected to the intermediate link member by a common long intermediate support shaft, The work support device according to claim 1, wherein the movable arm of the locking means is supported by a long intermediate support shaft common to the first double link between the pair of first double links. Each of the upper and lower link members of the second double link is a plate-like link member in which overlapping end portions are pivotally connected to the intermediate link member by an intermediate support shaft, and the locking plate has the upper and lower plate shapes. The work support device according to claim 1 or 2, wherein the work support device is integrally formed with the link member. A pair of movable arms of the locking means are juxtaposed so as to sandwich the two locking plates, and an engaging portion of the movable arm rotates on a support shaft installed between the distal ends of the pair of movable arms. The workpiece support device according to claim 1, wherein the workpiece support device is configured by a cylindrical body that is freely fitted.

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