JP2019141873A - Carrying device and carrying method - Google Patents

Abstract

To provide a carrying device where movable carriages mounted on lifting apparatuses installed in both the edges of a carrier passage smoothly operate without being interfered with a driving body moving along the carrier passage, and a carrying method.SOLUTION: A carrying device comprises: a lower stage driving apparatus 9; an upper stage driving apparatus 10; a rising apparatus 13; a dropping apparatus 14; and a controlling apparatus 17 controlling the driving of a first departure engagement apparatus 15 and a second departure engagement apparatus 16. The control apparatus includes a lower stage carrier practicing part carrying the top movable carriage 2 engaged with the lower stage driving body to a rising start position by moving the lower stage driving body 7 and the upper stage driving body 8 to a one end part side departure engagement position crossed to a rising passage 5; a first retreat practicing part moving the lower stage driving body from the one end part side departure engagement position to a first retreat position not crossed to the rising passage; and a rising practicing part rising the movable carriage carried to a rising start position UPP to a rising completion position REP by the rising apparatus.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a transport apparatus that transports a plurality of casting frames, molds, or carts in a casting line, and a transport method used for the transport apparatus.

Conventionally, in a casting line, a casting frame for holding foundry sand for forming a mold, a mold for injecting molten metal to make a casting, and a casting taken out from the mold are conveyed along a conveying path. These are placed on a pallet on a conveyor provided along the transport path, or placed directly on the conveyor, or placed on a carriage provided on a rail laid on the transport path. Are continuously arranged and transported.
In particular, after pouring, it is necessary to cool the molten metal that has been transported to the transport path for cooling and poured down to a predetermined temperature. When a lot of this cooling time is required, it is necessary to secure a long cooling time by extending the conveyance path.
Therefore, the cart conveying device of Patent Document 1 uses a driving body that is driven by an electric motor and reciprocates along the conveying path. As shown in FIGS. In addition, the second first transport path, the second second transport path, and the like are added to extend the transport path. However, when a flat installation space cannot be ensured, there is a problem that the required conveyance path cannot be sufficiently extended.
Therefore, in the poured mold cooling device of Patent Document 2, as shown in FIG. 1 of Patent Document 2, by providing two upper and lower transport paths, an upper cooling path and a lower cooling path, the installation space on the plane is reduced. In the case where it cannot be ensured, it is possible to extend the necessary transport route.

Japanese Patent No. 5548255 Japanese Patent Application No. 2017-004505

However, the poured mold cooling apparatus of Patent Document 2 includes a space in which an extrusion cylinder provided at each upstream end of the upper cooling path and a lower cooling path is provided, and a cushion cylinder provided at each downstream end. The space to be used is necessary as a space that cannot be used as a cooling path, and there has been a demand for a transport apparatus that has an efficient extended layout of a further transport path that omits such a space that cannot be used as a cooling path.
Therefore, although a transport device that arranges a plurality of transport paths without arranging an extrusion cylinder and a cushion cylinder was considered, a moving table that is mounted on an elevating device (lifting device) installed at an end of the transport path is moved up and down, There has been a problem of interference with the driving body moving along the transport path on the upper stage side.

  The object of the present invention has been made in view of such conventional problems, and when a flat installation space cannot be secured, an efficient extension layout of the conveyance path is possible, and it is installed at the end of the conveyance path. Provided is a transport apparatus and a transport method in which a moving base mounted on the lift apparatus that moves up and down smoothly moves up and down without interfering with a driving body that moves along a transport path.

  The structural features of the invention according to claim 1 are characterized in that it comprises an engaged portion and is placed to carry a casting frame, a mold or a casting, and a plurality of said movable stands extending in the horizontal direction. Is provided along the lower transport path above the lower transport path, the lower transport path that is continuously arranged between one end and the other end and transported in a predetermined direction, An upper stage conveying path in which a moving table is continuously arranged between one end and the other end and conveyed in a direction opposite to the predetermined direction, and a rising start position communicating with the one end of the lower stage conveying path Between the rising completion position that communicates with the one end portion of the upper conveyance path, the ascent path where the movable table rises, the descent start position that communicates with the other end portion of the upper conveyance path, and the lower conveyance path The moving table descends between the descent completion position communicating with the other end. It is provided corresponding to the descending path and the lower transport path, and can be engaged with and disengaged from the engaged portion of the first mobile platform among the plurality of mobile platforms arranged in succession on the lower transport path. One end side lower stage engaging part that engages in the up and down direction, and the other end side lower stage engaging part that engages with the engaged part of the last moving table from the up and down direction. A lower stage driving body that conveys the plurality of moving platforms by reciprocating a predetermined amount along the lower stage conveyance path, and provided corresponding to the upper stage conveyance path, and is arranged continuously in the upper stage conveyance path. Among the plurality of moving bases, the other end side upper stage engaging part that is detachably engaged with the engaged part of the earliest moving base from above and below, and the rearmost moving base And an upper end engaging portion that engages with the engaged portion from above and below in an up-and-down direction. Thus, by reciprocating a certain amount, the upper drive body for transporting the plurality of moving platforms, the lower drive device for driving the lower drive body, the upper drive device for driving the upper drive body, and the ascent path A lifting device that lifts the movable table positioned at the rising start position to the lift completion position and lowers the moving table positioned at the lowering path and positioned at the lowering start position to the lower completion position. A lowering device, and a control device for controlling the driving of the lower driving device, the upper driving device, the lifting device and the lowering device, wherein the control device moves the lower driving body on the one end side. By moving to the one end side separation engagement position that intersects the ascent path, the foremost moving platform engaged with the lower drive body is moved in the predetermined direction to the ascent start position. By returning the lower stage conveyance execution part to be conveyed and the upper stage driving body in the direction opposite to the predetermined direction, the one end side upper stage engaging part of the upper stage driving body does not contact the moving platform on the ascending path. A first retreat execution unit that moves the first retreat position to the first retraction position; and a lift execution unit that elevates the movable table transported to the lift start position to the lift completion position by the lift device.

According to the present invention, before the moving platform that has been transported to the ascending start position rises, the one end side upper stage engaging portion of the upper stage driving body is moved to the first retracted position that does not intersect the ascent path, so that the ascent start is started. It is possible to prevent the movable table that is transported to the position and ascended and the upper drive body from contacting and interfering with each other.
In this way, when a flat installation space cannot be secured, an efficient extension layout by a three-dimensional upper and lower transport path is possible, and the movement mounted on the lifting device installed on one end side of the transport path The stage and the upper drive body moving along the upper transport path can be smoothly operated without interfering with each other.

It is a figure which shows the whole outline | summary of 1st embodiment of a conveying apparatus. It is II-II sectional drawing in FIG. FIG. 3 is a sectional view taken along line III-III in FIG. 1. It is IV-IV sectional drawing in FIG. It is VV sectional drawing in FIG. It is VI-VI sectional drawing in FIG. It is VII-VII sectional drawing in FIG. It is VI-VI sectional drawing of another example in FIG. It is a partial side view of another example in FIG. It is explanatory drawing which shows the movement process of the moving stand which raises a raise path | route. It is a block diagram which shows the execution program of a control apparatus. It is a flowchart which shows the procedure of the conveyance method. It is a figure which shows the start state of a conveying apparatus. It is a figure which shows the state which conveyed the movable stand arrange | positioned continuously by a lower stage conveyance path | route 1 pitch. It is a figure which shows the process of separating the earliest moving stand from a lower stage drive body. It is a figure which shows the process of moving a lower stage drive body and an upper stage drive body to a 1st retraction position. It is a figure which shows the process of raising a moving stand. It is a figure which shows the process of moving an upper stage drive body to a 1st separation engagement position. It is a figure which shows the process of engaging a movable stand with an upper stage drive body. It is a figure which shows the state which conveyed the movable stand arrange | positioned continuously by the upper stage conveyance path | route 1 pitch. It is a figure which shows the process of separating the earliest moving stand from an upper stage drive body. It is a figure which shows the process of moving an upper stage drive body and a lower stage drive body to a 2nd retraction position. It is a figure which shows the process of lowering a moving stand. It is a figure which shows the process of moving a lower stage drive body to a 2nd disengagement engagement position. It is a figure which shows the process of engaging a movable stand with a lower stage drive body. It is a schematic diagram which shows the lower stage drive device and upper stage drive device of the conveying apparatus of 2nd embodiment. It is XXVII-XXVII sectional drawing in FIG. It is explanatory drawing which shows a lower stage conveyance process.

(First embodiment)
1st Embodiment of the conveying apparatus concerning this invention is described below based on FIGS.
As shown in FIG. 1, the transport apparatus 1 according to the present embodiment includes a moving table (cart) 2 on which a cast mold with mold FM is placed, a lower transport path 3, an upper transport path 4, an ascending path 5, a descending path 6, Lower stage driving body 7, upper stage driving body 8, lower stage electric motor (lower stage driving apparatus) 9, upper stage electric motor (upper stage driving apparatus) 10, motion converters 11, 12, raising device 13, lowering device 14, first separation An engagement device 15, a second disengagement engagement device 16, and a control device 17 are provided.

In the present embodiment, the right end of the lower transport path 3 and the upper transport path 4 shown in the drawings (for example, FIGS. 1 to 3) is referred to as one end, and the left end is referred to as the other end. .
In the lower transport path 3, the movable table (cart) 2 is transported from the left side to the right side in FIG. 1, and the direction toward the right side is the “predetermined direction” and is the transport direction.
In the upper transport path 4, the movable platform 2 is transported from the right side to the left side in FIG. 1, and the direction toward the left side is the “opposite direction to the predetermined direction”, which is the transport direction.
In addition, the front side in the moving direction of the moving table 2 to be conveyed is referred to as a downstream side, and the rear side in the moving direction of the moving table 2 being transferred is referred to as an upstream side. Also, the transport direction refers to the direction in which the movable table 2 moves along the lower transport path 3 and the upper transport path 4 unless otherwise specified.
Moreover, in this embodiment, one pitch represents the length of the conveyance direction of the one mobile stand 2.

(Moving table)
In the present embodiment, the movable table 2 is a carriage on which the poured mold with mold FM is placed. The movable table 2 includes a case where only the cast frame is transported, a mold without a cast frame is transported, or a cast article is transported.
As shown in FIG. 1, the movable table 2 includes, for example, a rectangular mounting table 21 formed of a steel member, a bearing portion 22 projecting from front to back and right and left below the mounting table 21, and left and right pairs. A rolling wheel 23 rotatably supported on each of the bearing portions 22 is provided. The rolling wheel 23 rolls on bogie rails 34 and 44 described later.
When arranged on the lower transport path 3 and the upper transport path 4, one end side engaging protrusion as an engaged part is formed on the end of the mounting table 21 on one end (right end side). 24 is provided. When viewed from the one end side, the one end side engagement protrusion 24 is shifted to the right side with respect to the center line CL extending in the transport direction on the mounting table 21 as shown in FIGS. Is provided. The one-end-side engagement protrusions 24 are the other-end-side lower-stage engaging portions 73L and 83L of the other-end-side lower-stage moving portion 7L and the other-end-side upper-stage moving portion 8L, which will be described later. Engage with. The lower end engaging portions 73L and 83L on the other end side engage with the one end portion engaging protrusion 24 from the upstream side in the lower conveying path 3, and the one end side engaging protrusion from the downstream side on the upper conveying path 4. 24 is engaged.
When arranged on the lower transport path 3 and the upper transport path 4, the other end side engaging projection 25 as an engaged part is provided at the end of the mounting table 21 on the other end side. . The other end side engagement protrusion 25 is a center line CL extending in the transport direction on the mounting table 21 as shown in FIGS. 2 and 3 when viewed from one end side (right end side). Is provided at a position shifted to the left side. The other end side engaging protrusion 25 is formed by one end side lower stage engaging portion 73R and one end side of one end side lower stage moving portion 7R and one end side upper stage moving portion 8R described later of the lower stage driving body 7 and upper stage driving body 8, respectively. Engage with the upper engaging portion 83R. The lower end engaging portion 73R on the one end side and the upper engaging portion 83R on the one end side engage with the other end side engaging protrusion 25 from the downstream side in the lower transport path 3, and the upstream side in the upper transport path 4 Is engaged with the other end side engagement protrusion 25.

(Lower transport route)
As shown in FIGS. 1, 3, and 4, the lower conveyance path 3 includes a column 31, a lower I-shaped beam 32, a beam between columns 33, a lower carriage rail 34, a lower driver rail 35, and a separation stopper 36. Yes.
Between the one end 3R and the other end 3L of the lower conveyance path 3, a plurality of moving platforms 2 are continuously arranged, and the plurality of moving platforms 2 are conveyed one pitch at a time in the direction of the one end 3R.

(Support)
For example, the columns 31 are formed of a steel member in a rectangular cross section, and a plurality of columns (16 in the embodiment, sixteen in the embodiment) are erected on the base BG. In the middle of the support 31, a transverse member 31 a having a rectangular cross section extending in the transport direction is provided facing the support 31. A pair of lower I-shaped beams 32 are provided opposite to each other on the inner end face of the opposing transverse member 31a.

(Lower I-beam)
As shown in FIG. 4, the lower I-shaped beam 32 includes an upper wall 32a extending in the horizontal direction, a lower wall 32b and an upper wall 32a provided below the upper wall 32a and extending along the upper wall 32a. Vertical wall 32c provided between the lower surface of the lower wall 32b and the upper surface of the lower wall 32b. The upper wall 32a, the lower wall 32b, and the vertical wall 32c are integrally formed of, for example, a steel member.
On the upper surface of the upper wall 32a of each lower I-shaped beam 32, for example, a lower carriage rail 34 formed of a steel member is laid by bolts and nuts (not shown). A lower drive rail 35 parallel to the lower carriage rail 34 is laid on the inner edge of the upper surface of the lower wall 32 b of the lower I beam 32. As shown in FIG. 4, rolling wheels 72 of the lower drive body 7 described later are mounted on the lower drive body rail 35 so as to be able to roll. Between the upper ends of the pairs of columns 31, inter-column beams 33 are laid horizontally. A rectangular gate-shaped frame that opens in the transport direction is formed by the pair of columns 31 and the columns 33 between columns. An upper transport path 4 is constructed on a plurality of portal frames arranged in the transport direction.

(Upper transport route)
As shown in FIGS. 1, 2, and 4, the upper conveyance path 4 includes an upper column 41, an upper I-shaped beam 42, an upper carriage rail 44, an upper driver rail 45, and a separation stopper 46.
Between the one end portion 4R and the other end portion 4L of the upper conveyance path 4, a plurality of moving platforms 2 are continuously arranged, and the plurality of moving platforms 2 are conveyed one pitch at a time in the direction of the other end portion 4L. .

(Upper column, upper I-shaped beam, upper trolley rail, upper driver rail)
As shown in FIG. 4, the plurality of upper struts 41 are erected on the upper surface of the inter-strut beam 33 in a state of being paired at a narrower interval than the struts 31. An upper I-shaped beam 42 is assembled to the upper end of the upper column 41 so as to extend in the transport direction.
The upper I-shaped beam 42 includes an upper wall 42a extending along the horizontal direction, a lower wall 42b provided below the upper wall 42a and extending along the upper wall 42a, and a lower surface of the upper wall 42a and the lower wall 42b. A vertical wall 42c provided between the upper surface and the upper surface is provided. The upper wall 42a, the lower wall 42b, and the vertical wall 42c are integrally formed of, for example, a steel member. An upper carriage rail 44 is provided at the upper end of the upper I-shaped beam 42 so as to extend along the conveying direction. Similar to the lower carriage rail 34, the rolling wheels 23 of the movable carriage 2 roll on the upper carriage rail 44. An upper driver rail 45 parallel to the upper carriage rail 44 is laid on the opposing lower inner edge (upper inner edge of the lower wall 42b) of the paired upper I-beams 42. Similar to the lower drive rail 35, rolling wheels 82 of the upper drive body 8, which will be described later, are mounted on the upper drive rail 45 so as to be freely rollable.

(Separation stopper)
Separation stoppers 36 are provided at both ends (one end 3R and the other end 3L) of the lower conveyance path 3. The separation stopper 36 has an air cylinder 36 a fixed to the outer surface of the lower I-shaped beam 32, and a stopper portion 36 b 1 whose base end is connected to the piston portion 36 a 1 of the air cylinder 36 a and whose distal end advances and retracts on the lower carriage rail 34. And a crank device 36b supported by the lower I-shaped beam 32 so as to be rotatable about a central portion. Each of the air cylinders 36a has an unillustrated air pump and an electromagnetic switching valve that switches air from the air pump. The operation of the air pump and the electromagnetic switching valve is controlled by the control device 17.

When the stopper portion 36b1 moves forward on the lower carriage rail 34, the stopper portion 36b1 comes into contact with the outer peripheral surface of the one end portion side of the bearing portion 22 of the movable table 2 arranged in the one end portion 3R of the lower conveyance path 3, and the lower stage release preparation position ( Ascending start position) A gap t is formed with the movable table 2 arranged in the UPP (see FIG. 14). The stopper portion 36b1 of the separation stopper 36 disposed at the other end portion 3L is in contact with the outer peripheral surface of the other end portion side of the bearing portion 22 of the movable table 2 disposed at the other end portion 3L of the lower transport path 3, and A gap t is formed with the movable table 2 arranged at the alignment position (lowering completion position) FEP (see FIG. 25).
Separation stoppers 46 are also provided at both ends (one end 4R and the other end 4L) of the upper conveyance path 4. Since the separation stopper 46 of the upper conveyance path 4 has the same structure as the separation stopper 36 of the lower conveyance path 3, the same reference numerals are given and description thereof is omitted.
On the way to the other end 4L side of the lower conveyance path 3, as shown in FIG.

(Ascending route, descending route)
As shown in FIG. 1, the ascending path 5 includes a lower stage release preparation position (upward start position) UPP and a lower stage release position (upward start position) 3BP that communicate with one end portion 3R of the lower stage transport path 3 in the horizontal direction (FIG. 15). The movable platform 2 is raised between the upper stage engaging preparation position (lifting completion position) 4LP and the upper stage engaging position (lifting completion position) REP that communicate with the one end 4R of the upper transport path 4 in the horizontal direction. It is a route. A lifting frame 131 of the lifting device 13 described later corresponds (see FIG. 7).
The “rising start position” refers to a position before the ascending operation by the ascending device 13 is started, and includes a lower stage release preparation position UPP that communicates horizontally with the one end portion 3R of the lower stage transport path 3, and a lower stage release preparation position. The lower disengagement position 3BP that is elevated by the first disengagement engagement device 15 from the position UPP by the stroke required for engagement / disengagement corresponds to the ascending start position.
Further, the “lifting completion position” refers to a position where the lifting operation by the lifting device 13 is completed, and the first stage is higher than the upper stage engaging position REP aligned with the one end portion 4R of the upper stage transport path 4 and the upper stage engaging position REP. The upper engagement preparation position 4LP that has been lifted by the stroke required for engagement / disengagement by the disengagement engagement device 15 corresponds to the lift completion position (see FIG. 17).

As shown in FIG. 1, the lowering path 6 has a second disengagement engagement from the upper stage release preparation position (downward start position) DPP and the upper stage release preparation position DPP that communicate with the other end 4 </ b> L of the upper transport path 4 in the horizontal direction. The upper stage disengagement position (lowering start position) 4BP raised by the stroke required for engagement / disengagement by the device 16 and the lower stage engagement position (lowering completion position) communicating horizontally with the other end 3L of the lower stage conveying path 3 The movable platform 2 descends from the lower engagement preparation position (lowering completion position) 3LP above the FEP and lower engagement position FEP by the second disengagement engagement device 16 by the stroke required for engagement / disengagement. It is a route. A lifting frame 131 of the lowering device 14 described later corresponds (see FIG. 7).
The “lowering start position” means a position before the lowering operation by the lowering device 14 is started, and an upper stage release preparation position DPP aligned with the other end portion 4L of the upper stage transport path 4 and an upper stage release preparation position DPP. Further, the upper disengagement position 4BP that has been raised by the stroke required for engagement / disengagement corresponds to the descent start position (see FIG. 21).
Further, the “lowering completion position” means a position where the lowering operation by the lowering device 14 is completed, and is related to the lower stage engaging position FEP aligned with the other end portion 3L of the lower stage conveying path 3 and the lower stage engaging position FEP. The lower lower stage preparation preparation position 3LP corresponding to the stroke required for engagement / disengagement corresponds to the lowering completion position (see FIG. 23).

(Lower stage drive)
As shown in FIG. 4, rolling wheels 72 of the lower drive body 7 are mounted on the lower drive body rail 35 so as to be freely rollable. As shown in FIGS. 1 and 3, the lower drive body 7 includes, for example, a lower end moving part 7 </ b> L on the other end side formed in a rectangular parallelepiped shape from a steel member, and a rectangular parallelepiped shape. One end side lower stage moving part 7R formed on the one end side, and a lower stage connecting part 7C that is formed in a rod shape and connects the other end side lower stage moving part 7L and the one end side lower stage moving part 7R. I have. The lower drive body 7 has a one-pitch distance on the lower drive body rail 35 between the one end side release engagement position LBR (see FIG. 14) and the other end side release engagement position LBL (see FIG. 20). Reciprocates. When the lower-stage drive body 7 moves to the one-end-side detachment engagement position LBR that is in a predetermined direction, the foremost moving platform 2 on the one-end side engaged with the lower-stage drive body 7 moves to the lower-stage detachment preparation position UPP. To do. When the lower drive body 7 moves to the other end side disengagement engagement position LBL which is the reverse direction of the predetermined direction, it is possible to engage with the movable table 2 lowered to the lower engagement position FEP from the vertical direction. .

As shown in FIG. 1, the lower-stage connecting portion 7 </ b> C includes an other-end-side attachment portion 71 </ b> L provided so as to protrude downward at the lower end on the one-end portion side of the other-end-side lower-stage moving portion 7 </ b> L, The moving part 7 </ b> R is placed between the one end part mounting part 71 </ b> R provided so as to protrude downward in the lower part on the other end part side. By escaping the lower connection portion 7C downward, the lower connection portion 7C is configured not to contact a loading / unloading device 18 described later.
Rolling wheels 72 are rotatably supported on the side portions of the other end side lower stage moving unit 7L and the one end side lower stage moving unit 7R in the front-rear and left-right directions.

As shown in FIGS. 3 and 6, one end side lower stage engaging portion 73 </ b> R that protrudes upward is provided at the lower end of one end side of the one end side lower stage moving portion 7 </ b> R. The one-end-side lower-stage engaging portion 73R is provided at a position shifted to the left with respect to the center line CL extending in the transport direction when viewed from the one-end portion side (right end portion side). The one-end-side lower-stage engaging portion 73 </ b> R engages with the other-end-side engagement protrusion 25 provided below the mounting table 21 of the movable table 2 from the vertical direction, and engages with the one-end-side engagement protrusion 24. It is configured not to.
On the other end side lower portion of the other end side lower stage moving portion 7L, the other end side lower stage engaging portion 73L protruding upward is provided. The other end side lower stage engaging portion 73L is provided at a position shifted to the right side with respect to the center line CL extending in the transport direction when viewed from one end side (right end side). . The other end side lower stage engaging portion 73L is engaged with the one end side engaging projection 24 provided below the mounting table 21 of the movable table 2 from the vertical direction. It is comprised so that it may not engage.

  In the conveyance in the lower conveyance path 3, as shown in FIG. 3, from the other end side (upstream side) to the one end side engagement protrusion 24 of the movable table 2 arranged at the lower engagement position (lowering completion position) FEP. The lower stage engaging portion 73L on the other end side of the lower stage driving body 7 is engaged. Then, the other end side engaging protrusion 25 of the movable table 2 arranged continuously at the top (first) of the lower transport path 3 is connected to the lower end of the lower driver 7 from one end side (downstream side). The mating portion 73R is engaged. Therefore, at the lower stage engaging position FEP, the moving base 2 arranged at the rearmost position and the moving base 2 arranged at the foremost (one end 3R), a plurality of consecutively arranged on the lower stage conveying path 3 between them. The movable table 2 is sandwiched. As described above, since the first moving table 2 and the last moving table 2 hold and move the moving table 2 between them, the moving table 2 is placed on the moving table 2 without colliding between the adjacent moving tables 2. The placed mold, casting, etc. (in this embodiment, the mold FM with a cast frame) can be transported safely and reliably.

When the movable table 2 arranged continuously in the lower conveyance path 3 is conveyed to one end, and the first movable table 2 is moved to the lower release preparation position UPP (the lower drive body 7 is engaged with one end release engagement. Since the one end side lower stage engaging portion 73R is engaged with the other end side engaging projection 25 of the earliest moving base 2, the lower stage driving body 7 and the upper stage that move synchronously are moved to the position LBR). One end part side lower stage engaging part 73 </ b> R and one end part side upper stage engaging part 83 </ b> R of the driving body 8 are in a state of intersecting the ascending path 5. That is, the one end side upper stage engaging portion 83 </ b> R of the upper stage driving body 8 comes into contact with the other end side end portion of the movable table 2 mounted on the lifting table 132 of the lifting device 13 described later.
Therefore, after the other end side engaging protrusion 25 of the first moving table 2 is detached from the one end side lower step engaging portion 73R, before the lifting device 132 is lifted by the lifting device 13, the upper drive body 8 The one end side upper stage engaging portion 83R is temporarily moved to the first retracted position FSP that does not contact the moving base 2 on the ascending path 5.

Since the lower stage engaging portion 73R on the one end side of the lower stage driving body 7 is positioned below the moving base 2 mounted on the lifting base 132, one end of the lower stage driving body 7 is provided even if the lifting base 132 rises. The part-side lower-stage engaging portion 73R does not contact the movable table 2 mounted on the lifting platform 132. Further, since the lifting platform 132 is provided with a notch 1321 (described later) for preventing contact, the one end side lower stage engaging portion 73R and the one end side upper stage engaging portion 83R do not contact the lifting table 132.
Further, as described above, the other end side engaging protrusion 25 of the movable table 2 mounted on the lifting platform 132 engages with the lower end engaging portion 73R of the lower end driving body 7 from above. Due to the structure, it is not always necessary to move the lower drive body 7 to the first retracted position FSP.

Further, when the movable table 2 continuously arranged in the upper conveyance path 4 is conveyed to the other end side and the earliest movable table 2 is moved to the upper separation preparation position DPP (the upper drive unit 8 has the other end portion). Is moved to the side disengagement engagement position LBL), and the other end side upper stage engagement portion 83L of the upper stage drive body 8 is engaged with the one end side engagement protrusion 24 of the earliest moving table 2 and is thus synchronized. The lower-stage driving body 7 and the upper-stage driving body 8 that are moved in the other end side lower-stage engaging portions 73L and 83L cross the descending path 6.
Therefore, after the one end side engaging projection 24 of the first moving table 2 is detached from the upper end engaging portion 83L on the other end side, and before the elevating table 132 is lowered by the lowering device 14, the upper driving body 8 The other end side upper stage engaging portion 83L is temporarily moved to the second retracted position SSP that does not contact the moving platform 2 on the descending path 6.

The one end side engaging protrusion 24 of the moving base 2 is engaged with the other end side lower step engaging part 73L of the lower stage driving body 7 from above, so that the lower stage driving body 7 is secondly connected. The lowering path 6 can be lowered without being moved to the retreat position SSP.
Position sensors 90 and 91 are arranged at predetermined positions of the upper transport path 4 corresponding to the first retracted position FSP and the second retracted position SSP, and the upper driver 8 is at the first retracted position FSP and the second retracted position SSP. It is configured to be able to stop accurately.

  On the lower surface of the one-end-side lower stage moving portion 7R, a rack 11a having a tooth surface disposed below is provided along the transport direction. The length of the rack 11a is formed to be somewhat longer than one pitch, which is the length of one moving table 2 in the transport direction. A pinion 11b that meshes with the rack 11a is disposed below the rack 11a, and the pinion 11b is connected to the output shaft 9a of the lower-stage electric motor 9 so that torque can be transmitted. The motion conversion device 11 in the lower transport path 3 is configured by the rack 11a and the pinion 11b for operating the lower drive body 7.

(Upper drive)
A rolling wheel 82 of the upper drive body 8 is mounted on the upper drive body rail 45 so as to be able to roll. As shown in FIGS. 1 and 2, the upper drive body 8 is, for example, a steel member, formed in a rectangular parallelepiped shape, and formed in a rectangular parallelepiped shape with one end side upper stage moving portion 8 </ b> R provided on one end side. The other end side upper stage moving part 8L provided on the other end side, and the upper stage connecting part 8C that is formed in a rod shape and connects the one end side upper stage moving part 8R and the other end side upper stage moving part 8L. I have. Roller wheels 82 are pivotally supported on the side portions of the one end side upper stage moving unit 8R and the other end side upper stage moving unit 8L so as to be rotatable in the front-rear and left-right directions.
In the upper drive body 8, the one end side upper stage moving part 8R is provided with one end part side upper stage engaging part 83R, and the other end side upper stage moving part 8L is provided with the other end part side upper stage engaging part 83L. It has been. Since the configuration and operation are the same as those of the one-end-side lower stage moving unit 7R and the other-end-side lower stage moving unit 7L, detailed description thereof is omitted.

  On the lower surface of the one-end-side upper stage moving unit 8R, a rack 12a having a tooth surface disposed below is provided along the conveying direction. The length of the rack 12a is longer than one pitch. A pinion 12b that meshes with the rack 12a is disposed below the rack 12a, and the pinion 12b is connected to the output shaft 10a of the upper electric motor 10 so that torque can be transmitted. The motion conversion device 12 in the upper transport path 4 is configured by the rack 12a and the pinion 12b for operating the upper driver 8.

(Lower drive device / Upper drive device)
The lower stage drive device includes a lower stage electric motor 9 and a motion converter 11. The upper stage drive device includes an upper stage electric motor 10 and a motion conversion device 12. The lower stage electric motor 9 and the upper stage electric motor 10 shown in FIG. 6 are induction motors controlled by inverters, and the motion conversion devices 11 and 12 are rack and pinion mechanisms as described above.
In the lower drive device, the rotational motion of the lower electric motor 9 is converted into a linear motion along the lower transport path 3 by the motion conversion device 11 to drive the lower drive body 7. In the upper drive device, the rotary motion of the upper electric motor 10 is converted into a linear motion along the upper transport path 4 by the motion converter 12 to drive the upper drive body 8. Driving of the lower stage driving device and the upper stage driving device is controlled by the control device 17. In the present embodiment, the lower electric motor 9 and the upper electric motor 10 are synchronously controlled to rotate in the same direction.
In the case where the lower and upper drive devices are hydraulic systems, the viscosity of the hydraulic oil increases as the temperature of the hydraulic oil decreases, and the viscosity of the hydraulic oil decreases as the temperature of the hydraulic oil increases. The change in the viscosity of the hydraulic oil accompanying such a temperature change has a great influence on the pressure loss of the cylinder piston, piping, etc., and it may be difficult to accurately control the operation speed and the stop position. Therefore, it is necessary to manage the temperature of the hydraulic oil for stable operation control as the drive device.

(Raising / lowering device)
As shown in FIG. 7, the lifting device 13 includes a lifting frame 131, a lifting platform 132, a lifting cylinder 133, and a first detachment engagement device 15.
The elevating frame 131 is made of, for example, a steel member, and has four columns 131a that are erected with a predetermined width apart from the base BG, and a rectangular top plate 131b that is horizontally disposed at the tip of the column 131a. A rectangular pedestal 131c disposed slightly above the base BG, and a rod-shaped lifting guide pole 131e provided vertically between the mounting portion 131d provided on the upper inner side of each column 131a and the pedestal 131c. And.

The lifting platform 132 includes a lifting platform main body 132a, a lifting platform rail portion 132b, a slider portion 132c, a suspension frame 132d (see FIG. 7), a protruding support portion 132e, and a stopper piece 132f ( (See FIG. 1).
The elevator base body 132a is formed in a rectangular plate shape from a steel member, for example. A rectangular notch 1321 is provided on the other end side (left end side) of the elevator base body 132a (see FIG. 3). When the lower drive body 7 and the upper drive body 8 are moved to the one-end-side detachment engagement position LBR by the notch 1321, the one-end-side lower-stage engagement section 73R and the one-end-side upper-stage engagement section 83R are moved to the lifting platform 132. It is comprised so that it may not contact (refer FIG. 3).
The lift rail section 132b is laid on the top surface of the lift base body 132a, is formed to have a length corresponding to the length of the lift base body 132a in the transport direction, and extends in parallel along the transport direction. The slider portions 132c are respectively provided at the four corners of the lifting / lowering base body 132a and are slidably fitted to the lifting / lowering guide poles 131e. The suspension frame 132d includes four support columns 132d1 arranged in parallel with the slider portion 132c at the four corners of the lifting platform main body 132a and a rectangular support plate 132d2 disposed horizontally at the tip of the support column 132d1. Yes.

As shown in FIG. 1, the projecting support portion 132 e extends along the lift platform rail portion 132 b and a bearing portion 132 e 1 provided on the upper surface of the lift platform body 132 a and having a rotation axis orthogonal to the lift platform rail portion 132 b. , A rod-shaped member 132e2 whose one end is rotatably connected to the bearing portion 132e1, and a disk-shaped member that is rotatably connected by a rotating shaft that is provided at the other end of the rod-shaped member 132e2 and that is orthogonal to the lifting platform rail 132b. Abutting member 132e3 and a coil spring 132e4 provided near the other end of the intermediate portion of the rod-shaped member 132e2.
The coil spring 132e4 is provided between the lower surface of the rod-shaped member 132e2 and the upper surface of the lifting / lowering base body 132a, and urges the contact member 132e3 upward.
As shown in FIG. 1, the stopper piece 132f is provided so as to protrude upward at the end portion of the lifting / lowering rail portion 132b, and the rolling wheel 23 or the bearing of the movable base 2 placed on the lifting / lowering rail portion 132b. The part 22 is clamped together with the protruding support part 132e.

  The lift cylinder 133 corresponds to a lift actuator, and as shown in FIG. 7, a cylinder portion 133 a fixed to the top plate 131 b of the lift frame 131 and the cylinder portion 133 a downward from the top plate 131 b through a through hole. And a piston rod 133c of the piston portion 133b that moves forward and backward. The elevating cylinder 133 is communicated with a hydraulic source (for example, a hydraulic pump) 135, and an electromagnetic switching valve 136 is provided between the elevating cylinder 133 and the hydraulic source 135.

  As shown in FIG. 7, the electromagnetic switching valve 136 is a 4-port, 3-position, closed center type electromagnetic switching valve. The electromagnetic switching valve 136 has a right position 136R that allows the hydraulic source 135 to communicate with the upper part of the cylinder part 133a and moves the piston rod 133c forward, and a left position 136L that causes the hydraulic source 135 to communicate with the lower part of the cylinder part 133a and moves the piston rod 133c backward. A central position 136C for stopping the advance / retreat of the piston rod 133c is provided. For example, the elevating cylinder 133 is provided with a limit switch 137 that detects whether the piston rod 133c has reached the forward end or the backward end, and transmits a detection signal to the control device 17. The control device 17 switches the electromagnetic switching valve 136 based on the transmitted signal. The stroke of the piston part 133b is set corresponding to the length from the lower stage release preparation position UPP to the upper stage engagement position REP (length from the lower stage release position 3BP to the upper stage engagement preparation position 4LP). A first disengagement engagement device 15 is provided between the lower end of the piston rod 133c of the piston portion 133b and the support plate 132d2 of the suspension frame 132d.

Note that the ascending device 13 can ascend longer by the stroke of the first disengagement engagement device 15. As a total, the position is raised from the lower release preparation position UPP to the upper engagement preparation position 4LP.
Since the descent device 14 has the same configuration as the ascending device 13, the same reference numerals are given and description thereof is omitted. The lifting cylinder 133 of the lowering device 14 corresponds to a lowering actuator.

(First separation engagement device / second separation engagement device)
As shown in FIG. 7, the first disengagement engagement device 15 includes a disengagement engagement piston 15a formed at the lower end of the piston rod 133c of the piston portion 133b of the elevating cylinder 133 of the ascent device 13, and a support for the suspension frame 132d. A separation engagement cylinder 15b is provided which is fixed to the plate 132d2 and in which the separation engagement piston 15a advances and retreats upward. The separation engagement piston 15a and the separation engagement cylinder 15b correspond to a first separation engagement actuator.
The separation engagement cylinder 15 b is communicated with a hydraulic source (for example, a hydraulic pump) 155, and an electromagnetic switching valve 156 is provided between the separation engagement cylinder 15 b and the hydraulic power source 155. The electromagnetic switching valve 156 is a 4-port, 3-position, closed center type electromagnetic switching valve. The electromagnetic switching valve 156 communicates with the hydraulic power source 155 at the upper part of the disengagement engagement cylinder 15b to retreat the disengagement engagement piston 15a (the suspension frame 132d rises), and the hydraulic pressure at the lower position of the disengagement engagement cylinder 15b. It has a left position 156L for communicating the source 155 to advance the disengagement engagement piston 15a (the suspended frame 132d is lowered) and a center position 156C for stopping the advancement / retraction of the disengagement engagement piston 15a. For example, the first disengagement engagement device 15 is provided with a limit switch 157, and detects the arrival of the advance or retreat end of the disengagement engagement piston 15 a and transmits a detection signal to the control device 17. The control device 17 switches the electromagnetic switching valve 156 based on the transmitted signal.

In this way, switching of the electromagnetic switching valve 156 is controlled by the control device 17. The disengagement engagement cylinder 15 b has an operation circuit different from that of the elevating cylinder 133. The stroke of the disengaging engagement piston 15a is shorter than the stroke of the elevating cylinder 133, and the vertical direction of the other end side engagement protrusion 25 of the moving base 2 from the one end side lower step engagement portion 73R of the one end side lower step moving portion 7R. Is set to a length that can reliably execute the vertical engagement of the other end side engaging protrusion 25 of the moving base 2 to the one end side upper stage engaging portion 83R of the one end side upper stage moving portion 8R. Yes. In this way, the detachment / engagement is executed by being regulated by the stroke of the detachment engagement piston 15a, so that positioning failure of detachment / engagement can be avoided and the operating rate can be improved.
The first detachment engagement device 15 raises the lifting platform 132 on which the movable platform 2 positioned at the lower detachment preparation position UPP is mounted to the lower detachment position 3BP, so that the first detachment engagement device 15 moves from the lower end engagement portion 73R to the movable platform. The other end side engaging projection 25 is detached in the vertical direction.

In addition, the first disengagement engagement device 15 causes the lifting device 13 to lower the lifting platform 132 of the movable table 2 positioned at the upper engagement preparation position 4LP to the upper engagement position REP, and the other end of the movable table 2. The side engaging protrusion 25 is engaged with the upper end engaging portion 83R on the one end portion side in the vertical direction.
The second disengagement engagement device 16 is provided between the lower end of the piston rod 133c of the piston portion 133b of the lowering device 14 provided on the other end portion 4L side and the support plate 132d2 of the suspension frame 132d. Since the second detachment engagement device 16 has the same configuration as the first detachment engagement device 15, the same reference numerals are given and description thereof is omitted.

On the other end 4L side, the second disengagement engagement device 16 raises the lifting platform 132 of the movable table 2 positioned at the upper disengagement preparation position DPP to the upper disengagement position 4BP, and the other end-side upper engagement portion 83L. The one end side engaging projection 24 of the movable table 2 is detached from the vertical direction.
The second disengagement engagement device 16 causes the lowering device 14 to lower the lifting platform 132 of the moving base 2 positioned at the lower stage engaging preparation position 3LP to the lower stage engaging position FEP, thereby engaging one end side of the moving base 2. The mating protrusion 24 is engaged with the lower end engaging portion 73L on the other end side from the vertical direction.
The release engagement piston 15a and the release engagement cylinder 15b in the second release engagement device 16 correspond to a second release engagement actuator.

(Loading / unloading device)
As shown in FIG. 1, the carry-in / carry-out device 18 is provided near the other end of the lower conveyance path 3.
As shown in FIG. 3, the carry-in / carry-out device 18 is provided with a cast-framed mold conveyance path 37 into which the poured mold with mold FM is conveyed and a cooled mold-framed conveyance path 38 with cooling. The lower conveyance path 3 is configured to communicate in a perpendicular direction. The position of the lower conveyance path 3 corresponding to the position where the carry-in / carry-out device 18 is provided corresponds to the carry-in / carry-out position CEP.

As shown in FIG. 5, the carry-in / carry-out device 18 includes a support frame 181 and a transfer device 182.
The support frame 181 includes a pair of lower conveyance path side columns 181a erected side by side along the conveyance direction on the right side with respect to the conveyance direction of the lower conveyance path 3, a mold-carrying path 37 with a cast frame after pouring, With a pair of casting frames erected side by side along the conveying direction on the right side (on the left side with respect to the conveying direction of the lower conveying path 3) on the right side with respect to the conveying direction of the cooled mold conveying path with cast frame 38 A pair of transfer rails 181c horizontally mounted between the upper end portion of the lower conveyance path side column 181a and the upper end portion of the mold conveyance path side column 181b with a casting frame, which are opposed to each other, I have. The support frame 181 is provided so that the transfer rail 181c straddles the lower stage conveyance path 3, the poured mold frame-equipped conveyance path 37, and the cooled mold frame-equipped conveyance path 38. The transfer rail 181c is, for example, a pair of I-shaped beams formed of steel members, and the upper surface of the lower wall extending in the horizontal direction of the I-shaped beam and the lower surface of the upper wall extending along the lower wall. And a rolling wheel 182b (described later) is fitted in a rectangular space formed by the vertical wall and the side surface of the vertical wall.

The transfer device 182 includes a transfer frame 182a, rolling wheels 182b that roll the transfer frame 182a along the transfer rail 181c, and a piston cylinder device that drives the transfer frame 182a along the transfer rail 181c. (Not shown) and a mounting base 182c provided below the transfer frame 182a.
The transfer frame 182a is formed in a rectangular frame shape with a width that can be fitted between the transfer rails 181c facing each other by, for example, a steel member. On the side surface of the transfer frame 182a, a rolling wheel 182b having a rotation axis parallel to the transport direction is provided.

The rolling wheels 182b are provided so as to protrude in parallel with the transport direction of the lower transport path 3 from the four corners of the side surface of the transfer frame 182a. The rolling wheel 182b rolls on the upper surface of the lower wall of the transfer rail 181c.
The piston cylinder device (not shown) includes a cylinder part (not shown) fixed to the support frame 181 and a piston part whose tip is fixed to the transfer frame 182a and slides the transfer frame 182a along the transfer rail 181c. (Not shown). The cylinder part is connected to a hydraulic pressure supply source (not shown). An unillustrated electromagnetic switching valve is provided between the cylinder portion and the hydraulic pressure supply source, and the operation of the transfer device 182 is controlled by switching the electromagnetic switching valve by the control device 17.

  The mounting base 182c is disposed below the transfer frame 182a by a suspension support member 182c1 fixed to the upper surfaces of the four corners. A pair of mounting rails 182c2 having a length substantially the same as the length along the conveying direction of the mounting table 182c is laid on the upper surface of the mounting table 182c. The mounting rail 182c2 is provided in parallel with the lower carriage rail 34, and is configured to align with the lower carriage rail 34 when the mounting carriage 182c is positioned at the loading / unloading position CEP. Further, when the mounting table 182c is positioned between the poured mold-carrying path 37 with the cast frame and the cooled mold-carrying path 38 with the cast frame, the mounting rail 182c2 Align with 38 rails (not shown).

(Control device)
The control device 17 comprehensively controls the operation of the drive portion of the transport device 1. Specifically, the driving of the lower stage electric motor 9, the upper stage electric motor 10, the lifting device 13, the lowering device 14, the first release engagement device 15 and the second release engagement device 16 is controlled.
Therefore, as shown in FIG. 11, the memory of the control device 17 includes, for example, a lower transfer execution unit 17a, a lower release execution unit 17b, a cooled mold unloading execution unit 17c, a first retraction execution unit 17d, and an ascending execution unit. 17e, upper stage engagement execution part 17f, upper stage transfer execution part 17g, upper stage release execution part 17h, poured mold carry-in execution part 17i, second retreat execution part 17j, lowering execution part 17k, and lower stage engagement execution part 17l Each execution program is stored.

The lower conveyance execution unit 17 a drives the lower electric motor 9 to reciprocate the lower driver 7 along the lower conveyance path 3. A plurality of moving platforms 2 arranged continuously in the lower conveyance path 3 are conveyed one pitch at a time to one end side. The lower-stage drive body 7 is moved to the one end side separation engagement position LBR. The earliest moving platform 2 is positioned at the lower stage release preparation position (upward start position) UPP (FIG. 10A).
The lower-stage detachment execution unit 17b switches the electromagnetic switching valve 156 of the first detachment engagement device 15, positions the movable platform 2 positioned at the lower-stage detachment preparation position UPP at the lower-stage detachment position 3BP, and engages the other end side engagement protrusion. 25 is disengaged from the lower end engaging portion 73R on the one end side of the lower stage driving body 7 (FIG. 10B).
The first evacuation execution unit 17d drives the lower stage electric motor 9 and the upper stage electric motor 10 to move the lower stage driving body 7 and the upper stage driving body 8 to the first evacuation position FSP (FIG. 10C).

The ascending execution unit 17e switches the electromagnetic switching valve 136 of the ascending device 13 and raises the elevating platform 132 (moving platform 2) to the upper engagement preparation position (raising completion position) 4LP (FIG. 10 (d)).
The upper stage engaging execution unit 17f drives the lower stage electric motor 9 and the upper stage electric motor 10 to move the lower stage driving body 7 and the upper stage driving body 8 to the one end side disengagement engagement position LBR (FIG. 10 (e)). )). Then, the electromagnetic switching valve 156 of the first disengagement engagement device 15 is switched, and the lifting platform 132 is lowered to the upper stage engaging position (upward completion position) REP and moved to the one end side upper stage engaging part 83R of the upper stage driving body 8. The other end side engagement protrusion 25 of the base 2 is engaged (FIG. 10F).

The upper transfer execution unit 17g drives the upper electric motor 10 and the lower electric motor 9 to move the plurality of moving platforms 2 in the upper transfer path 4 by one pitch toward the other end 4L. The earliest moving platform 2 is positioned at the upper stage release preparation position (lowering start position) DPP.
The upper stage detachment execution unit 17h switches the electromagnetic switching valve 156 of the second detachment engagement device 16, and moves the lifting / lowering base 132 from the other end side upper stage engagement part 83L of the upper stage driving body 8 to one end of the first moving base 2. The part-side engagement protrusion 24 is released. The detached movable table 2 is positioned at the upper stage separation position (downward start position) 4BP.
The second retreat execution unit 17j drives the upper stage electric motor 10 and the lower stage electric motor 9 to move the upper stage drive body 8 and the lower stage drive body 7 to the second retraction position SSP.

The lowering execution unit 17k switches the electromagnetic switching valve 136 of the lowering device 14 and lowers the lifting platform 132 to the lower stage engagement preparation position (lowering completion position) 3LP.
The lower-stage engagement execution unit 17l drives the lower-stage electric motor 9 and the upper-stage electric motor 10 to move the lower-stage drive body 7 and the upper-stage drive body 8 to the other end side disengagement engagement position LBL. Then, the electromagnetic switching valve 156 of the second disengagement engagement device 16 is switched, and the lifting platform 132 is lowered to the lower-stage engagement position (lowering completion position) FEP. The one end side engaging protrusion 24 of the moving base 2 is engaged with the first base member.

(Operation)
Next, the operation of the transport apparatus 1 of the first embodiment configured as described above will be described based on the flowchart of FIG.
As an initial state, as shown in FIG. 13, a plurality of moving platforms 2 are continuously arranged from one end 3 </ b> R to the other end 3 </ b> L of the lower conveyance path 3. The movable table 2 mounted on the lifting platform 132 of the lowering device 14 is positioned at a lower engagement position (lowering completion position) FEP adjacent to the other end 3L. The lower drive body 7 is positioned at the other end side disengagement engagement position LBL.
The other end side lower stage engaging portion 73L of the lower stage driving body 7 is engaged with the one end side engaging projection 24 of the movable table 2 positioned at the lower stage engaging position (lowering completion position) FEP. The moving table 2 of the other end 3L is positioned at the other end 3L by restricting the movement of the rolling wheel 23 on the one end toward the other end by the separation stopper 36.

The lifting platform 132 of the lifting device 13 is positioned in an empty state without the moving platform 2 at the lower stage release preparation position UPP adjacent to the one end 3R. The moving table 2 of the one end portion 3R is positioned at the one end portion 3R by the movement of the rolling wheel 23 on the one end portion side to the one end portion side being restricted by the separation stopper 36.
The other end side engaging protrusion 25 of the movable base 2 positioned at the one end portion 3R is engaged with the lower end engaging portion 73R on the one end side of the lower driving body 7.
A plurality of moving platforms 2 are continuously arranged from one end 4R to the other end 4L of the upper conveyance path 4. The upper drive body 8 is positioned at the other end side disengagement engagement position LBL.

  First, the control device 17 operates the air cylinder 36a of the separation stopper 36 disposed at the one end 3R and the other end 3L of the lower conveyance path 3 to retract the stopper 36b1 from above the lower carriage rail 34. As shown in FIG. 14, the control device 17 drives the lower electric motor 9 and the upper electric motor 10, and the lower driving body 7 and the upper driving body via rack and pinion mechanisms (motion conversion devices) 11 and 12. 8 is moved by one pitch toward the one end 3R, 4R (step 101, hereinafter referred to as S101). The lower stage driving body 7 and the upper stage driving body 8 move in the same direction synchronously by the drive control of the lower stage electric motor 9 and the upper stage electric motor 10 by the control device 17.

The lower-stage drive body 7 and the upper-stage drive body 8 move to the one-end-side release engagement position LBR, move the earliest moving platform 2 arranged continuously in the lower-stage transport path 3 to the lower-stage release preparation position UPP, The earliest moving table 2 is mounted on the lifting table 132 of the lifting device 13 (lower transfer process). The control device 17 operates the air cylinder 36a of the separation stopper 36 disposed at the one end 3R and the other end 3L of the lower conveyance path 3 to advance the stopper 36b1 above the upper surface of the lower carriage rail 34.
At the one end portion 3R, it contacts the bearing portion 22 of the rolling wheel 23 on one end side of the moving table 2 moved to the one end portion 3R from the downstream side, and between the moving table 2 disposed at the lower stage release preparation position UPP. A gap t is formed. Further, as shown in FIG. 10A, the other end side engaging protrusion 25 of the moving base 2 is in a state of being engaged with the one end side lower engaging portion 73 </ b> R of the lower driving body 7.

In the other end portion 3L, the bearing portion 22 of the rolling wheel 23 on the one end portion side of the movable table 2 moved to the other end portion 3L comes into contact from the upstream side. The plurality of moving platforms 2 arranged continuously in the lower conveyance path are held in a state of being sandwiched by the separation stopper 36 on the one end side 3R and the separation stopper 36 on the other end side 3L.
At the lower stage release preparation position UPP, the protruding support portion 132e of the lifting platform 132 and the stopper piece 132f of the lifting device 13 are held in contact with the outer periphery of the rolling wheel 23 from both sides.
In the upper transport path 4, the upper driver 8 is idlely fed back to the upstream side (one end side) and moves to the one end side disengagement engagement position LBR.

  Next, as shown in FIG. 15, the control device 17 switches the electromagnetic switching valve 156 of the first disengagement engagement device 15 to the right position 156R, and connects the upper portion of the disengagement engagement cylinder 15b to the hydraulic power source 155 (S102). ). As a result, compressed air flows into the upper portion of the disengagement engagement cylinder 15b, and the lifting platform 132 is moved from the lower end engagement portion 73R on the one end side of the lower drive body 7 to the lower disengagement preparation position UPP. The other end side engagement projection 25 is raised to the lower stage release position 3BP by a stroke that allows the other end side engagement projection 25 to be released (lower stage release process). At this time, as shown in FIG. 10 (b), the other end side engaging protrusion 25 of the moving base 2 is detached upward from the one end side lower engaging portion 73 </ b> R of the lower driving body 7.

  In parallel with the lower-stage detachment process, the control device 17 carries out the cooled mold (molded mold FM) positioned at the carry-in / carry-out position CEP by the carry-in / carry-out device 18 as shown in FIG. 15 (S113). ), And further transported by the cooled mold-frame-conveying path 38 (see FIG. 3) (cooled mold unloading step).

  Next, as shown in FIG. 16, the control device 17 drives the lower electric motor 9 and the upper electric motor 10, and drives the lower driving body 7 and the rack via the rack and pinion mechanisms (motion converting devices) 11 and 12. The upper drive body 8 is moved to the first retracted position FSP toward the other end portions 3L, 4L (S103, first retracting step). The first retraction position FSP is detected by the position sensor 90 and a detection signal is transmitted to the control device 17. Thereby, the rotation of the lower stage electric motor 9 and the upper stage electric motor 10 is stopped, and the lower stage driving body 7 and the upper stage driving body 8 are positioned at the first retracted position FSP. At this time, as shown in FIG. 10 (c), the one end side lower stage engaging portion 73R of the lower stage driving body 7 and the one end side upper stage engaging portion 83R of the upper stage driving body 8 are disengaged from the ascending path 5 ( The movable platform 2 moving along the ascending path 5 is positioned at a position where it does not come into contact. Further, the other end side engagement protrusion 25 of the movable table 2 located at the one end portions 3R and 4R is one end side lower stage engagement portion 73R of the lower stage drive body 7 and one end side upper stage engagement portion of the upper stage drive body 8. Since it does not engage with 83R, the plurality of moving platforms 2 arranged in the lower transport path 3 and the upper transport path 4 remain stopped.

  Next, as shown in FIG. 17, the control device 17 switches the electromagnetic switching valve 136 of the lifting device 13 to the left position 136 </ b> L, and communicates the lower portion of the cylinder portion 133 a to the hydraulic power source 135. As a result, the compressed air flows into the lower portion of the cylinder part 133a and raises the lifting platform 132 to the upper engagement preparation position (upward completion position) 4LP (S104, ascending step). At this time, the elevating platform 132 has moved upward from the upper engagement position (upward completion position) REP by a stroke in which the other end side engagement protrusion 25 can be detached from the one end lower engagement portion 73R. (Upward completion position) It is at 4LP. Further, as shown in FIG. 10 (d), the movable table 2 moves up without coming into contact with the upper end engaging portion 83 </ b> R on the one end side of the upper stage driving body 8.

  Next, as shown in FIG. 18, the control device 17 drives the lower electric motor 9 and the upper electric motor 10, and drives the lower driving body 7 and rack via the rack and pinion mechanisms (motion conversion devices) 11 and 12. The upper stage driving body 8 is moved to the one end part side disengagement engagement position LBR (S105, upper stage engagement preparation step). At this time, as shown in FIG. 10 (e), the one end side upper stage engaging portion 83 </ b> R of the upper stage driving body 8 is at one end side (right end) with respect to the other end side engaging projection 25 of the movable table 2. And is prepared to be engageable. The lower stage driver 7 and the upper stage driver 8 move in the same direction toward the right end side in synchronization.

  Next, as shown in FIG. 19, the control device 17 switches the electromagnetic switching valve 156 of the first disengagement engagement device 15 to the left position 156 </ b> L, and causes the lower portion of the disengagement engagement cylinder 15 b to communicate with the hydraulic power source 155. As a result, compressed air flows into the lower portion of the disengagement engagement cylinder 15b, and the other end side engagement protrusion 25 of the movable base 2 can be engaged with the upper end engagement portion 83R of the one end portion 8 of the upper drive body. The lifting platform 132 is lowered by the stroke (S106, upper stage engagement step). At this time, as shown in FIG. 10 (f), the other end side engaging protrusion 25 of the movable table 2 engages with the one end side upper stage engaging portion 83 </ b> R of the upper stage driving body 8.

  Next, as shown in FIG. 20, the control device 17 drives the upper stage electric motor 10 and the lower stage electric motor 9, and the upper stage driving body 8 and the rack via the rack and pinion mechanisms (motion conversion devices) 11 and 12. The lower stage driving body 7 is moved toward the other end portions 3L and 4L by one pitch. The upper stage driving body 8 and the lower stage driving body 7 move to the other end side separating engagement position LBL, and the upper stage moving base 2 among the moving bases 2 arranged continuously in the upper stage conveying path 4 is prepared for the upper stage releasing. The position is moved to the position (descent start position) DPP, and the earliest moving table 2 is mounted on the lifting table 132 of the lowering device 14 (S107, upper transfer process). In the lower transport path 3, the lower driver 7 is idle.

Next, as shown in FIG. 21, the control device 17 switches the electromagnetic switching valve 156 of the second disengagement engagement device 16 to the right position 156 </ b> R, and causes the upper portion of the disengagement engagement cylinder 15 b to communicate with the hydraulic power source 155. As a result, the compressed air flows into the upper part of the disengagement engagement cylinder 15b, and the one end side engagement protrusion 24 of the movable table 2 is moved from the lift stage 132 to the other end side upper stage engagement part 83L of the upper stage drive body 8. The detachable stroke is raised to the upper detachment position 4BP (S108, upper detachment process).
In parallel with the upper-stage detachment process, the control device 17 carries the poured high-temperature cast mold with FM FM into the carry-in / carry-out position CEP from the poured cast-frame mold conveyance path 37 by the carry-in / carry-out device 18. (S114, poured mold casting step).

  Next, as shown in FIG. 22, the control device 17 drives the upper stage electric motor 10 and the lower stage electric motor 9, and the upper stage driver 8 and the upper stage driving body 8 via the rack and pinion mechanisms (motion conversion devices) 11 and 12. The lower stage driving body 7 is moved to the second retracted position SSP toward the one end portions 3R, 4R (S109, second retracting step). The second retracted position is detected by the position sensor 91 and a detection signal is transmitted to the control device 17. Thereby, the rotation of the lower stage electric motor 9 and the upper stage electric motor 10 is stopped, and the lower stage driving body 7 and the upper stage driving body 8 are positioned at the second retracted position SSP. Since the upper drive body 8 that intersects the descending path 6 is positioned at the second retracted position SSP, it is possible to prevent interference with the descending operation of the movable table 2 by the descending device 14.

  Next, as shown in FIG. 23, the control device 17 switches the electromagnetic switching valve 136 of the lowering device 14 to the right position 136 </ b> R, and communicates the upper portion of the cylinder portion 133 a with the hydraulic power source 135. As a result, the compressed air flows into the upper portion of the cylinder part 133a and lowers the lifting platform 132 to the lower engagement preparation position (lowering completion position) 3LP (S110, lowering step). At this time, the lifting platform 132 is moved to a lower-stage engagement preparation position that is raised above the lower-stage engagement position (lowering completion position) FEP by a stroke that allows the one-end-side engagement protrusion 24 to be disengaged from the other-end-side upper-stage engagement section 83L. 3LP. On the one end portions 3R, 4R side, the lifting platform 132 in the lifting device 13 is lowered in the same manner while remaining empty.

  Next, as shown in FIG. 24, the control device 17 drives the lower stage electric motor 9 and the upper stage electric motor 10, and drives the lower stage driving body 7 and the upper stage via rack and pinion mechanisms (motion conversion devices) 11 and 12. The drive body 8 is moved to the other end side disengagement engagement position LBL (S111, lower engagement preparation step).

Next, as shown in FIG. 25, the control device 17 switches the electromagnetic switching valve 156 of the second disengagement engagement device 16 to the left position 156L, and causes the upper portion of the disengagement engagement cylinder 15b to communicate with the hydraulic power source 155. As a result, the compressed air flows into the upper portion of the disengagement engagement cylinder 15b, and the stroke at which the one end side engagement protrusion 24 of the movable table 2 can engage with the lower end engagement portion 73L of the other end portion of the lower drive body 7. Only the lifting platform 132 is lowered (S112, lower stage engaging step).
Then, it continues to a lower stage conveyance process.

  As is apparent from the above description, the transport device 1 of the present embodiment includes the one end side engagement protrusion 24 and the other end side engagement protrusion 25 and is mounted to transport the casting frame, the mold FM, or the casting. A movable table 2 to be placed, and a lower conveyance path 3 that extends in the horizontal direction and in which a plurality of movable tables 2 are continuously arranged between the one end 3R and the other end 3L and conveyed in a predetermined direction. A plurality of moving platforms 2 are arranged above the lower transport path 3 and along the lower transport path 3, and are continuously arranged between the one end 4R and the other end 4L in a direction opposite to the predetermined direction. And an upper conveyance path 4 to be conveyed.

  Further, the transport device 1 communicates with a lower stage release preparation position (upward start position) UPP and a lower stage release position (upward start position) 3BP that communicate with one end 3R of the lower transport path 3 and one end 4R of the upper transport path 4. Between the upper-stage engagement preparation position (lifting completion position) 4LP and the upper-stage engagement position (lifting completion position) REP, and the other end 4L of the upper-stage transport path 4 is communicated Between the upper stage release preparation position (downward start position) DPP and the upper stage release position (downward start position) 4BP, and the lower stage engagement position (downward completion position) FEP that communicates with the other end 3L of the lower stage transport path 3; And a descending path 6 along which the movable table 2 descends.

  Further, the transport device 1 is provided corresponding to the lower transport path 3 and is engaged with the other end of the first mobile base 2 among the plurality of mobile bases 2 arranged continuously in the lower transport path 3. One-end-side lower-stage engaging portion 73R that is detachably engaged with the protrusion 25 from the up-down direction, and the other-end-side lower-stage engaging portion that is detachably engaged with the one-end-side engaging protrusion 24 of the rear movable table And a lower drive unit 7 that transports a plurality of moving platforms 2 one pitch at a time by reciprocating a predetermined amount along the lower transport path 3 and an upper transport path 4. Of the plurality of moving bases 2 arranged continuously in the upper transport path 4, the other end side upper stage engaging with the one end side engaging protrusion 24 of the earliest moving base 2 so as to be detachably engageable. One end side upper stage engaging with the joint part 83L and the other end side engaging projection 25 of the rearmost moving base 2 so as to be detachably engageable. And a section 83R, includes that a certain amount reciprocates along the upper transport path 4, and the upper driving body 8 for transporting a plurality of mobile base 2 one by one pitch, the.

Further, the transport device 1 includes lower drive devices 9 and 11 including an electric motor 9 that drives a lower drive body 7, and upper drive devices 10 and 12 that include an electric motor 10 that drives an upper drive body 8. It is equipped with.
Further, the transport apparatus 1 includes a lifting device 13 that is provided in the lifting path 5 and lifts the movable platform 2 positioned at the lower-stage disengagement position (lifting start position) 3BP to the upper-stage engagement preparation position (lifting completion position) 4LP. ing.

Further, the transport device 1 includes a lowering device 14 that is provided in the lowering path 6 and lowers the movable platform 2 positioned at the upper stage disengaging position (lowering start position) 4BP to the lower stage engaging preparation position (lowering completion position) 3LP. I have.
Further, the transport device 1 controls the drive of the lower drive devices 9 and 11, the upper drive devices 10 and 12, the lifting device 13, the lowering device 14, the first release engagement device 15 and the second release engagement device 16. A device 17 is provided.

Further, the control device 17 moves the lower drive body 7 to the one end side detachment engagement position LBR intersecting the ascending path 5 on one end side, so that the earliest engaged with the lower drive body 7 is obtained. Is provided with a lower transfer execution unit 17a that transfers the movable table 2 to the lower release preparation position (upward start position) UPP.
Further, the control device 17 returns the upper drive body 8 in a direction opposite to a predetermined direction (left direction in FIG. 1), so that the first retraction that does not intersect the ascending path 5 from the one end side separation engagement position LBR. The first evacuation execution unit 17d to be moved to the position FSP and the moving platform 2 conveyed to the lower stage release preparation position (upward start position) UPP are raised to the upper stage engagement preparation position (upward completion position) 4LP by the lifting device 13. And an ascending execution unit 17e.

According to this, before the movable stage 2 transported to the lower stage release preparation position UPP rises, the first retraction without contacting the upper stage engaging part 83R on the one end side of the upper stage driving body 8 with the movable stage 2 on the ascending path 5. Since it is moved to the position FSP, it is possible to prevent the upper drive body 8 from contacting and interfering when the movable table 2 transported to the lower stage release preparation position UPP is raised.
Thus, in the case where a planar installation space cannot be secured, an efficient extension layout by the three-dimensional upper and lower transport paths 3 and 4 is possible, and the lift installed on one end side of the transport paths 3 and 4 is possible. The movable table 2 that the apparatus 13 moves up and the upper drive body 8 that moves along the upper conveyance path 4 can operate smoothly without interference.

Further, the control device 17 moves the lower drive body 7 and the upper drive body 8 to the other end side separation engagement position LBL that intersects the descending path 6 on the other end side, so that the upper drive body 8. Is provided with an upper transfer execution unit 17g that transfers the earliest moving platform 2 engaged with the upper stage to the upper release preparation position DPP in the reverse direction (left direction) of the predetermined direction.
In addition, the control device 17 moves the upper stage detachment execution unit 17h that detaches the movable platform 2 transported to the upper stage detachment preparation position DPP from the upper stage driver 8 by the second detachment engagement device 16, and the upper stage driver 8 to the right. The second retracting execution portion 17j that moves the upper engaging portion 83L on the other end side of the upper driver 8 to the second retracting position SSP that does not contact the moving platform 2 on the descending path 6 by returning to the direction, A lowering execution unit 17k is further provided for lowering the movable table 2 conveyed to the preparation position DPP to the lower engagement position (lowering completion position) FEP by the lowering device 14.

  According to this, the second stage side upper stage engaging portion 83L of the upper stage driving body 8 does not come into contact with the movable stage 2 on the lower path 6 before the movable stage 2 conveyed to the upper stage release preparation position DPP is lowered. Since it is moved to the retreat position SSP, it is possible to prevent the upper drive body 8 from contacting and interfering when the movable table 2 transported to the upper stage release preparation position DPP is lowered.

Further, the first disengagement engagement in which the movable base 2 positioned at the lower stage release preparation position UPP is detached from the lower stage drive body 7 and the movable stage 2 positioned at the upper stage engagement preparation position 4LP is engaged with the upper stage drive body 8. The second detachment for disengaging the apparatus 15 and the movable base 2 positioned at the upper stage preparation preparation position DPP from the upper stage driving body 8 and engaging the movable stage 2 positioned at the lower stage preparation preparation position 3LP with the lower stage driving body 7. Engaging device 16.
In addition, the control device 17 causes the first release engagement device 15 to engage the lower end side engagement projection 25 of the lower stage driver 7 with the other end side engagement protrusion 25 of the movable table 2 conveyed to the lower release preparation position UPP. The lower-stage disengagement execution portion 17b that is disengaged from the portion 73R and the other-end-side engagement protrusion 25 of the movable base 2 positioned at the upper-stage engagement preparation position 4LP are engaged with the one-end-side upper-stage engagement portion 83R of the upper-stage driver 8. And an upper engagement execution unit 17f to be combined.
In addition, the control device 17 causes the one end side engagement protrusion 24 of the movable table 2 conveyed to the upper stage release preparation position DPP to be engaged with the other end side upper stage engagement of the upper stage drive body 8 by the second release engagement device 16. The upper-stage disengagement execution portion 17h that is disengaged from the portion 83L and the one-end-side engagement protrusion 24 of the movable base 2 positioned at the lower-stage engagement preparation position 3LP are engaged with the other-end-side lower-stage engagement portion 73L of the lower-stage driver 7. A lower engagement execution unit 17l to be combined.

According to this, the ascending operation by the ascending device 13 is smoothly and quickly performed by detaching the movable base 2 from the lower end engaging portion 73R on the one end side of the lower stage driving body 7 by the first disengaging engagement device 15. can do. Further, by engaging the movable table 2 with the upper-stage engaging portion 83RL on the one end side of the upper-stage drive body 8, the conveyance of the movable table 2 by the upper-stage drive body 8 can be performed quickly and reliably.
Also, the lowering operation by the lowering device 14 is performed smoothly and quickly by detaching the movable table 2 from the upper stage engaging portion 83L on the other end side of the upper stage driving body 8 by the second detaching engagement device 16. be able to. In addition, by engaging the movable table 2 with the lower-stage engaging portion 73L on the other end side of the lower-stage drive body 7, the conveyance of the movable table 2 by the lower-stage drive body 7 can be performed quickly and reliably.

The ascending device 13 includes an elevating cylinder (ascending actuator) 133 that raises the movable platform 2 positioned at the lower disengagement preparation position UPP toward the upper disengagement preparation position 4LP. The first disengagement engagement device 15 includes: A disengagement engagement piston 15a and a disengagement engagement cylinder 15b (first disengagement engagement actuator) provided in the ascending device 13 and formed with a shorter stroke than the lifting cylinder (ascending actuator) 133. The descending device 14 is disengaged from the upper stage. An elevating cylinder (lowering actuator) 133 that lowers the foremost moving platform 2 positioned at the preparation position DPP toward the lower stage engagement preparation position 3LP is provided, and the second disengaging engagement device 16 is provided in the lowering device 14. The disengagement engagement piston 15a and the disengagement engagement cylinder 15 formed with a shorter stroke than the elevating cylinder 133. It is that it is (second withdrawal engagement actuator).
According to this, the ascending / descending cylinder 13 of the ascending device 13 and the descending device 14 for ascending / descending, the disengaging engagement piston 15a for performing the disengaging engagement exclusively with the movable base 2, the lower / upper driving bodies 7 and 8, and the disengaging piston 15a. And an engagement cylinder 15b.

  In this way, the lifting cylinder 133 of the lifting device 13 positions the lifting completion position exclusively for lifting, and the lifting cylinder 133 of the lowering device 14 positions the lifting completion position dedicated to lifting. The separation engagement piston 15a and the separation engagement cylinder 15b of the first separation engagement device 15 and the second separation engagement device 16 are exclusively used for the separation engagement between the movable base 2 and the lower and upper drive bodies 7 and 8. To do. In this way, positioning of the ascending completion position, descending completion position, and engagement / disengagement position is restricted by a fixed stroke and is performed exclusively for each position, thereby making it possible to easily avoid positioning defects. Thereby, the operation rate improvement of an installation can be aimed at.

Further, the lower drive device and the upper drive device further include motion conversion devices 11 and 12 that convert rotational motion into linear motion, respectively, and the motion conversion devices 11 and 12 are rack and pinion mechanisms 11a, 11b, 12a, and 12b, respectively. is there.
According to this, it can be set as the motion converters 11 and 12 of a compact and simple structure.

The lower electric motor 9 and the upper electric motor 10 are induction motors controlled by inverters.
According to this, it is possible to reduce the manufacturing cost and the maintenance cost by using an induction motor based on inverter control that is easy to control the rotation speed and is inexpensive and easily available.
By using these rack and pinion mechanisms and induction motors, it is possible to ensure a constant operating speed and a high degree of position accuracy without affecting the outside air temperature as in the case of hydraulic drive.

Further, a carry-in / carry-out position CEP for carrying in / out a cast frame, mold FM or casting is provided in the middle of the lower conveyance path 3 or in the middle of the upper conveyance path 4.
According to this, the loading / unloading device 18 is not limited to the end of the lower / upper transport path 3, 4, and the loading / unloading device 18 is used for any of the lower / upper transport paths 3, 4. Can be set to position.
For this reason, the transfer apparatus 1 can greatly improve the degree of freedom of the layout of the entire transfer apparatus in the facility plan.

(Second embodiment)
A second embodiment of the transport apparatus according to the present invention will be described below with reference to FIGS.
The transport device 201 of the second embodiment uses a hydraulic lower cylinder device 207 without using the lower electric motor and the rack and pinions 11a and 11b as the lower drive device for driving the lower drive body 7. . Further, the transport device 201 uses the hydraulic upper cylinder device 208 without using the upper electric motor and the rack and pinions 12a and 12b as the upper drive device for driving the upper driver 8. In the above point, it differs from 1st embodiment, and since it is the same in another structure, the same code | symbol is provided and description is abbreviate | omitted.

Hereinafter, the difference with the conveying apparatus 1 of 1st embodiment is demonstrated about the conveying apparatus 201 of 2nd embodiment.
The lower drive device includes a hydraulic lower cylinder device 207. The hydraulic lower cylinder device 207 is provided on a second horizontal member 31b that is horizontally mounted between a plurality of columns 31 that are arranged to face each other. The second horizontal member 31b is provided below the horizontal member 31a, and the hydraulic lower cylinder device 207 is assembled to a bracket 207c fixed to the second horizontal member 31b. The bracket 207c includes a rotation shaft 207d along a horizontal direction perpendicular to the conveyance direction. The hydraulic lower cylinder device 207 includes a cylinder part 207a and a piston part 207b. The cylinder part 207a is provided on the rotary shaft 207d so as to be rotatable within a predetermined angle range. The piston part 207b is inserted in the cylinder part 207a so that the base end part side can advance and retreat. The tip of the piston portion 207b is supported by a lower support portion 7Rh that protrudes downward from an end portion on the other end side of the lower end moving portion 7R on the one end side of the lower drive body 7 so as not to be relatively movable. .

  The cylinder part 207a communicates with the hydraulic pump 235 serving as a hydraulic pressure supply source via a distribution pipe at one end and the other end. An electromagnetic switching valve 237 is provided between the cylinder portion 207a and the hydraulic pump 235.

  As shown in FIG. 26, the electromagnetic switching valve 237 is a 4-port, 3-position, closed center type electromagnetic switching valve. The electromagnetic switching valve 237 has a left position 237L that allows the hydraulic pump 235 to communicate with the end of one end (the right side in FIG. 26) of the cylinder 207a to advance the piston 207b, and the other end of the cylinder 207a (in FIG. 26). The left side) has a right position 237R at which the hydraulic pump 235 communicates with the end portion to retract the piston portion 207b, and a central position 237C at which the piston portion 207b stops advancing and retreating. The switching operation of the electromagnetic switching valve 237 is controlled by the control device 17.

  The driving force (pressure) of the hydraulic lower cylinder device 207 is transmitted to the lower end moving portion 7R on the one end side that is driven along the transport direction via the piston portion 207b and the lower support portion 7Rh.

  The upper drive device includes a hydraulic upper cylinder device 208. The hydraulic upper cylinder device 208 is provided on the inter-column beam 33 that is horizontally mounted on the upper portions of the plurality of columns 31 that face each other. The strut beam 33 is provided above the lateral member 31 a, and the hydraulic upper cylinder device 208 is assembled to a bracket 208 c fixed to the strut beam 33. The bracket 208c includes a rotation shaft 208d along a horizontal direction perpendicular to the conveyance direction. The hydraulic upper cylinder device 208 includes a cylinder portion 208a and a piston portion 208b. The cylinder portion 208a is provided on the rotary shaft 208d so as to be rotatable within a predetermined angle range. The piston portion 208b is inserted in the cylinder portion 208a so that the base end portion side can advance and retreat. The tip of the piston portion 208b is supported so as not to be relatively movable by an upper support portion 8Rh projecting downward from an end portion on the other end side of the upper-stage moving portion 8R on one end side of the upper-stage driver 8. .

  The cylinder portion 208a is communicated with a hydraulic pump 235 serving as a hydraulic pressure supply source via a distribution pipe at one end side and the other end side. An electromagnetic switching valve 238 is provided between the cylinder portion 208a and the hydraulic pump 235.

  As shown in FIG. 26, the electromagnetic switching valve 238 is a 4-port, 3-position, closed center type electromagnetic switching valve. The electromagnetic switching valve 238 includes a left position 238L that allows the hydraulic pump 235 to communicate with the end of one end (the right side in FIG. 26) of the cylinder 208a to advance the piston 208b, and the other end of the cylinder 208a (in FIG. 26). The left side) has a right position 238R where the hydraulic pump 235 communicates with the end and the piston portion 208b moves backward, and a central position 238C where the piston portion 208b stops moving forward and backward. The switching operation of the electromagnetic switching valve 238 is controlled by the control device 17.

The driving force (pressure) of the hydraulic upper cylinder device 208 is transmitted to the one end side upper stage moving part 8R that drives along the transport direction via the piston part 208b and the upper stage support part 8Rh. A position sensor 90 is provided in the vicinity of the hydraulic upper cylinder device 208 so that the positional relationship with respect to the upper transport path 4 of the upper driver 8 can be detected. The electromagnetic switching valves 237 and 238 of the upper stage driving device and the lower stage driving device are controlled by the control device 17 so as to synchronize their operations.
Similar to the first embodiment, the lower-stage drive body 7 and the upper-stage drive body 8 include one end side release engagement position LBR, the other end side release engagement position (not shown) LBL, the first retraction position FSP, and the second. The retracted position (not shown) SSP is moved along the control to be positioned at each position.

(Operation)
Differences in the operation of the transfer apparatus 201 according to the second embodiment will be described below.
As shown in FIG. 26, the control device 17 positions the electromagnetic switching valves 237 and 238 at the central positions 237C and 238C. The lower drive body 7 and the upper drive body 8 are positioned at the other end side disengagement engagement position LBL (see FIG. 13).

  As shown in FIG. 28, the control device 17 switches the electromagnetic switching valves 237 and 238 to the right positions 237R and 238R, respectively. The hydraulic lower cylinder device 207 and the hydraulic upper cylinder device 208 retract the piston portions 207b and 208b to position the lower drive body 7 and the upper drive body 8 at the one end side disengagement engagement position LBR. In the lower transfer path 3, the earliest moving platform 2 is moved to the lower preparation position UPP and mounted on the lifting platform 132 of the lifting device 13 (lower transfer step). In the upper transport path 4, the upper driver 8 is idle, and the last moving platform 2 is stopped without moving.

The lower-stage disengagement process to the lower-stage engagement process, which are operation processes after the lower conveyance process by the control device 17, are performed by the hydraulic lower cylinder apparatus 207 in the lower drive apparatus, and the hydraulic upper cylinder apparatus 208 in the upper drive apparatus. Since only the operations are different from those of the first embodiment, the other operations are the same, and the description thereof will be omitted.
According to the transport device 201 of the second embodiment, all of the devices to be driven in the transport device 201 can be constructed with only a hydraulic circuit without performing electrical wiring as another energy transmission system. Specifically, the hydraulic pump 135 (hydraulic supply source) of the ascending device 5 and the descending device 6, the hydraulic pump 155 (hydraulic supply source) of the first disengagement engagement device 15 and the second disengagement engagement device 16, and the hydraulic lower stage By making the hydraulic pump (hydraulic supply source) 235 of the cylinder device 207a and the hydraulic upper cylinder device 208a a common hydraulic pump, the equipment cost can be significantly reduced.

In the first embodiment, two electric motors are used for the lower electric motor 9 and the upper electric motor 10 corresponding to the lower driving body 7 and the upper driving body 8, respectively, but the present invention is not limited to this. For example, as shown in FIGS. 8 and 9, the lower stage electric motor 9 and the upper stage electric motor 10 are one electric motor 9, and the lower stage driving body 7 and the upper stage driving body 8 have a lower stage. A driving force coupling mechanism 19 is provided for moving the driving body 7 and the upper stage driving body 8 in the same direction in synchronization.
According to this, the number of parts can be reduced by reducing the number of electric motors 9 to one, and the equipment cost can be reduced.

Further, as shown in FIGS. 8 and 9, a driving force coupling mechanism 19 that moves the lower stage driving body 7 and the upper stage driving body 8 in the same direction in synchronization is provided. The driving force coupling mechanism 19 is provided in the upper transport path 4 above the drive sprocket 19a and rotated above the drive sprocket 19a in conjunction with the output shaft of the lower electric motor 9 provided in the lower transport path 3. A driven sprocket 19b and an endless chain belt 19c hung between the drive sprocket 19a and the driven sprocket 19b are provided.
The drive sprocket 19a is connected to the pinion 11b of the rack and pinion mechanisms 11a and 11b that drive the lower stage drive body 7. The driven sprocket 19b is connected to the pinions 12b of the rack and pinion mechanisms 12a and 12b that drive the upper drive body 8.
The drive sprocket 19 a and the driven sprocket 19 b have the same number of teeth, and the lower drive body 7 and the upper drive body 8 are configured to move in the same direction in synchronization with the rotation of the lower electric motor 9.
In this way, the lower drive body 7 and the upper drive body 8 are synchronously moved in the same direction, thereby simplifying the program for controlling the driving of the lower drive body 7 and the upper drive body 8. Cost can be reduced.

The first and second disengagement engagement devices 15 and 16 are constituted by the disengagement engagement piston 15a and the disengagement engagement cylinder 15b, but are not limited thereto. For example, the engaging portions provided on the lower and upper drive bodies 7 and 8 are formed in a hook shape protruding in a direction perpendicular to the transport direction, and the protrusion of the engaging portion rotates in parallel with the transport direction by motor rotation. The hook-shaped portion that rotates around the axis and protrudes may be engaged with or disengaged from the engaging protrusions 24 and 25 of the movable table 2. By engaging in this way, it is not necessary to provide the lower release position 3BP and the upper engagement preparation position 4LP in the ascending path 5. Moreover, it is not necessary to provide the upper stage disengagement position 4BP and the lower stage engagement preparation position 3LP in the descending path 6. As a result, the moving process can be omitted, and work efficiency can be improved.
Further, although the transport path is two stages of the lower transport path 3 and the upper transport path 4, the present invention is not limited to this. For example, a three-stage transport path may be used.
Moreover, although the carry-in / carry-out position CEP is provided in the lower conveyance path 3, it is not limited to this. For example, the carry-in / carry-out position CEP may be provided in the upper conveyance path 4, or the carry-in position and the carry-out position may be provided separately.

Further, the lower and upper transport paths 3 and 4 are configured as a lower carriage rail 34 and an upper carriage rail 44, and the movable carriage 2 is a carriage with rolling wheels 23, but is not limited thereto. A roller conveyor may constitute the lower and upper conveyance paths, and a pallet on which the moving table moves on the roller conveyor may be used.
Moreover, although the rack-and-pinion mechanisms 11a, 11b, 12a, and 12b that convert the rotary motion into the linear motion are used as the motion converters 11 and 12, the invention is not limited to this. For example, a mechanism that converts rotational motion into linear motion, such as a ball screw mechanism, a cam mechanism, or a slider crank mechanism, can be used.

Moreover, although the electric motors 9 and 10 are induction motors by inverter control, the present invention is not limited thereto, and may be servo motors, for example.
Further, as the engaged portion of the movable table 2, there are two portions, one end side engaging protrusion 24 provided on one end side and the other end side engaging protrusion 25 provided on the other end side. However, it is not limited to this. For example, it may be provided at one location near the bottom center of the moving table. In this case, for example, the engaging portion on the driving body side may be structured to be able to enter and exit above the carriage rail.
In the transport device 201 of the second embodiment, the lower drive device and the upper drive device are driven by hydraulic pressure, but the present invention is not limited to this, and may be driven by air pressure, for example.

  Thus, the specific configuration described in the above-described embodiment is merely an example of the present invention, and the present invention is not limited to such a specific configuration. Various embodiments can be adopted without departing from the scope.

  DESCRIPTION OF SYMBOLS 1 ... Conveyance apparatus, 2 ... Moving stand, 24 ... One end part side engagement protrusion (engaged part), 25 ... Other end part side engagement protrusion (engaged part), 3 ... Lower conveyance path, 3BP ... Lower stage Disengagement position (rising start position), 3L ... other end, 3LP ... lower engagement preparation position (lowering completion position), 3R ... one end, 4 ... upper transport path, 4BP ... upper separation position (lowering start position), 4L ... other end, 4LP ... upper engagement preparation position (upward completion position), 4R ... one end, 5 ... upward path, 6 ... lowering path, 7 ... lower stage driving body, 73L ... lower end engaging part on the other end side, 73R: One end side lower engaging portion, 8: Upper drive body, 83L: Other end side upper engaging portion, 83R: One end side upper engaging portion, 9: Lower electric motor (lower driving device), 10 ... upper stage electric motor (upper stage drive device), 11 ... motion conversion device (lower stage drive unit), 11a ... rack (rack and pin) ON mechanism), 11b ... pinion (rack and pinion mechanism), 12 ... motion conversion device (upper stage drive device), 12a ... rack (rack and pinion mechanism), 12b ... pinion (rack and pinion mechanism), 13 ... lifting device, 133 ... Elevating cylinder (rising actuator / lowering actuator), 14 ... lowering device, 15 ... first release engagement device, 15a ... release engagement piston (first release engagement actuator), 15b ... release engagement cylinder (first Detachment engagement actuator), 16... Second desorption engagement device, 16 a. Desorption engagement piston (second desorption engagement actuator), 16 b. Desorption engagement cylinder (second desorption engagement actuator), 17. 17a ... Lower transfer execution unit, 17b ... Lower release execution unit, 17d ... First evacuation execution unit, 17e ... Ascending execution unit, 17 ... Upper transport execution unit, 17h ... Upper release execution unit, 17j ... Second retraction execution unit, 17k ... Descent execution unit, DPP ... Upper release preparation position (lowering start position), FEP ... Lower stage engagement position (lowering completion position) , FM: mold with cast frame, REP: upper stage engagement position (lifting completion position), UPP: lower stage release preparation position (lifting start position).

Claims (9)

A movable table provided with an engaged portion and mounted for conveying a casting frame, a mold or a casting;
A lower conveyance path that extends in the horizontal direction and in which the plurality of moving platforms are continuously arranged between one end and the other end and conveyed in a predetermined direction;
Provided along the lower transport path above the lower transport path, and the plurality of moving platforms are continuously arranged between one end and the other end and transported in a direction opposite to the predetermined direction. Upper transport route,
An ascending path where the movable table ascends between an ascending start position communicating with the one end of the lower conveying path and an ascending completion position communicating with the one end of the upper conveying path;
A lowering path on which the movable table descends between a lowering start position communicating with the other end of the upper transport path and a lowering completion position communicating with the other end of the lower transport path;
Among the plurality of moving bases provided corresponding to the lower transport path and continuously arranged in the lower transport path, it is possible to engage and disengage with the engaged portion of the first mobile base from above and below. A lower-stage engaging portion on one end side that engages, and a lower-stage engaging portion on the other end side that is detachably engageable with the engaged portion of the last moving table, A lower stage driving body that conveys the plurality of moving tables by reciprocating a predetermined amount along the path;
Among the plurality of moving bases provided corresponding to the upper transport path and continuously arranged in the upper transport path, the first movable base can be engaged with and disengaged from the engaged portion from the up and down direction. An upper stage engaging portion on the other end side to be engaged, and an upper stage engaging portion on one end side that is detachably engaged with the engaged portion of the last movable table from above and below. An upper stage driving body that conveys the plurality of moving tables by reciprocating a predetermined amount along the path;
A lower stage driving device for driving the lower stage driving body;
An upper drive device for driving the upper drive body;
A raising device that raises the movable table provided in the raising path and positioned at the raising start position to the raising completion position;
A lowering device for lowering the movable table provided in the lowering path and positioned at the lowering start position to the lowering completion position;
A control device for controlling the driving of the lower stage driving device, the upper stage driving device, the raising device and the lowering device,
The control device moves the lower stage driving body to the one end side separating engagement position that intersects the ascending path on the one end side, so that the earliest engaged with the lower stage driving body A lower transfer execution unit for transferring a moving table in the predetermined direction to the rising start position;
By returning the upper stage driving body in the direction opposite to the predetermined direction, the first stage side upper stage engaging part of the upper stage driving body is moved to a first retracted position that does not contact the moving platform on the ascent path. A save execution unit;
An ascending execution unit configured to raise the movable table conveyed to the ascending start position to the ascending completion position by the ascending device;
Conveying device equipped with. The controller is
By moving the upper stage driving body to the other end side separating engagement position intersecting the descending path on the other end side, the first moving table engaged with the upper stage driving body is moved. An upper conveyance execution unit that conveys the descent start position in a direction opposite to the predetermined direction;
Returning the upper drive body to the predetermined direction moves the other end side upper engagement portion of the upper drive body to a second retraction position that does not contact the moving platform on the descending path. Execution part,
A lowering execution unit that lowers the movable table transported to the lowering start position to the lowering completion position by the lowering device;
The transport apparatus according to claim 1, further comprising: The engaged portion of the moving platform, which is provided in the ascent device and positioned at the ascent start position, is disengaged from the lower end engaging portion on the one end side of the lower stage driving body, and is positioned at the ascent completion position. A first disengagement engagement device for engaging the engaged portion of the movable table with the upper-stage engaging portion on the one end side of the upper-stage driving body;
The engaged portion of the moving platform, which is provided in the lowering device and is positioned at the lowering start position, is disengaged from the upper stage engaging portion on the other end side of the upper stage driving body, and is positioned at the lowering completion position. A second disengagement engagement device for engaging the engaged portion of the movable table with the lower-stage engaging portion on the other end side of the lower-stage drive body,
The controller is
A lower-stage detachment execution section for causing the engaged portion of the movable table conveyed to the ascending start position to be separated from the one-end-side lower-stage engagement section by the first detachment engagement device;
An upper stage engaging execution part for engaging the engaged part of the movable table positioned at the lift completion position with the upper stage engaging part on the one end side of the upper stage driving body;
An upper stage disengagement execution part for causing the engaged part of the movable table transported to the lowering start position to be disengaged from the other end side upper stage engagement part of the upper stage driver by the second disengagement engagement device;
A lower-stage engagement execution section that engages the engaged section of the movable table positioned at the lowering completion position with the lower-stage engagement section on the other end side of the lower-stage drive body;
The conveying apparatus of Claim 2 provided with these. The elevating device includes an elevating actuator that elevates the movable table positioned at the elevating start position toward the elevating completion position,
The first disengagement engagement device is a first disengagement engagement actuator provided in the lift device and formed with a shorter stroke than the lift actuator,
The lowering device includes a lowering actuator that lowers the first moving table positioned at the lowering start position toward the lowering completion position,
The transport device according to claim 3, wherein the second disengagement engagement device is a second disengagement engagement actuator provided in the lowering device and formed with a shorter stroke than the lowering actuator. Each of the lower drive device and the upper drive device further includes a motion conversion device that converts rotational motion into straight motion,
The transport device according to claim 1, wherein the motion conversion device is a rack and pinion mechanism. The lower stage driving device includes a lower stage electric motor, and the upper stage driving device includes an upper stage electric motor,
The conveying device according to any one of claims 1 to 5, wherein the lower electric motor and the upper electric motor are induction motors controlled by an inverter. The lower electric motor and the upper electric motor are one electric motor,
The conveyance according to claim 6, wherein a driving force coupling mechanism is provided between the lower stage driving body and the upper stage driving body to move the lower stage driving body and the upper stage driving body in the same direction synchronously. apparatus.   The loading / unloading position for loading / unloading the casting frame, the mold or the casting is provided in the middle of the lower conveyance path or in the middle of the upper conveyance path. The conveying apparatus as described in. A movable table provided with an engaged portion and mounted for conveying a casting frame, a mold or a casting;
A lower conveyance path that extends in the horizontal direction and in which the plurality of moving platforms are continuously arranged between one end and the other end and conveyed in a predetermined direction;
Provided along the lower transport path above the lower transport path, and the plurality of moving platforms are continuously arranged between one end and the other end and transported in a direction opposite to the predetermined direction. Upper transport route,
An ascending path where the movable table ascends between an ascending start position communicating with the one end of the lower conveying path and an ascending completion position communicating with the one end of the upper conveying path;
A lowering path on which the movable table descends between a lowering start position communicating with the other end of the upper transport path and a lowering completion position communicating with the other end of the lower transport path;
Among the plurality of moving bases provided corresponding to the lower transport path and continuously arranged in the lower transport path, it is possible to engage and disengage with the engaged portion of the first mobile base from above and below. A lower-stage engaging portion on one end side that engages, and a lower-stage engaging portion on the other end side that is detachably engageable with the engaged portion of the last moving table, A lower stage driving body that conveys the plurality of moving tables by reciprocating a predetermined amount along the path;
Among the plurality of moving bases provided corresponding to the upper transport path and continuously arranged in the upper transport path, the first movable base can be engaged with and disengaged from the engaged portion from the up and down direction. An upper stage engaging portion on the other end side to be engaged, and an upper stage engaging portion on one end side that is detachably engaged with the engaged portion of the last movable table from above and below. An upper stage driving body that conveys the plurality of moving tables by reciprocating a predetermined amount along the path;
A lower stage driving device for driving the lower stage driving body;
An upper drive device for driving the upper drive body;
A raising device that raises the movable table provided in the raising path and positioned at the raising start position to the raising completion position;
A lowering device for lowering the movable table provided in the lowering path and positioned at the lowering start position to the lowering completion position;
A control device for controlling the driving of the lower drive device, the upper drive device, the lifting device, and the lowering device, and a transport method in a transport device comprising:
By moving the lower stage driving body to the one end side separating engagement position intersecting the ascending path on the one end side, the earliest moving platform engaged with the lower stage driving body is A lower transport step for transporting in the predetermined direction to the rising start position;
By returning the upper stage driving body in the direction opposite to the predetermined direction, the first stage side upper stage engaging part of the upper stage driving body is moved to a first retracted position that does not contact the moving platform on the ascent path. One evacuation process,
An ascending step of raising the movable table conveyed to the ascending start position to the ascending completion position by the ascending device;
Conveying method with

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