JP2019210148A - Conveying device - Google Patents

Abstract

To easily cope with the lifting operation and the installation operation of the objects to be conveyed with a simple configuration even when the heights of the objects to be conveyed are different, and easily achieve the automation of the lifting operation and the installation operation.SOLUTION: A gripping mechanism 11 includes a main body 21, a contact portion 22 that contacts a top part 102a of an object to be conveyed 100 when the gripping mechanism 11 is lowered, an engagement holding unit 23 that engages the object to be conveyed 100 and holds the object to be conveyed 100 in a state in which the contact portion 22 is in contact with the object to be conveyed 100, and a driving force transmission unit 24. A drive mechanism 12 includes a drive connecting unit 31 connected to a shaft portion 25 of the main body 21 so as to be slidable in the vertical direction, and a vertical drive unit 32 that drives the drive connecting unit 31 in the vertical direction. The driving force transmission unit 24 abuts on the drive connecting unit 31 when the drive connecting unit 31 is displaced upward, and transmits the driving force to the main body 21 to displace the main body 21 upward together with the drive connecting unit 31.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a transfer device for transferring a transfer object such as a mold in a factory.

  When manufacturing a product in a factory, a transfer target such as a product in the middle of manufacture, a completed product, or a manufacturing tool may be transferred. As an example, a transport device used for transporting a mold as a transport target is known (see, for example, Patent Document 1). Patent Document 1 discloses a configuration in which a mold placed in an upright state on an installation table, which is a mold installation location, is conveyed by a conveyance device configured to include a belt conveyor mechanism or the like. In addition, the installation base on which the mold is installed is a mounting base provided with an installation hole to which the lower end of the mold is inserted and supported, or the lower end of the mold is inserted. And a support device provided with an installation hole to be supported, and a table on which the support device is arranged. Further, Patent Document 1 discloses a configuration in which a transfer device including a hoist is used to transfer a mold so that the mold is installed on the installation table, or a mold is lifted from the installation table and transferred.

JP-A-2018-71784

  By the way, in manufacturing an endless annular transmission belt, constituent members such as a rubber sheet, a reinforcing cloth, and a core cord are wound around a cylindrical mold in the molding process. Subsequently, a belt sleeve is produced by performing vulcanization in a vulcanization process. And after removing a belt sleeve from a metal mold | die, a transmission belt is obtained by cut | disconnecting a belt sleeve to predetermined width.

  In the manufacture of the transmission belt described above, as disclosed in Patent Document 1, the mold is in a state where the mold is erected vertically, and the lower end of the shaft is inserted into the installation hole of the installation table. It is placed on the installation stand in a standing state, and is conveyed by a belt conveyor mechanism to a place where a molding machine for performing a molding process is installed. In the molding process, a rubber sheet, a reinforcing cloth, a core cord, and the like are wound around a mold by a molding machine. The mold around which the rubber sheet or the like is wound in the molding process is then conveyed to a place where a vulcanizing can for performing the vulcanization process is disposed. The conveyed mold is transferred to a vulcanization can for vulcanization. As described above, in the manufacture of the transmission belt, for example, an operation of transferring the mold from the belt conveyor mechanism to the molding machine, from the molding machine to the belt conveyor mechanism, and from the belt conveyor mechanism to the vulcanizing can is performed. At the time of the work, it is necessary to lift the mold from the installation base and to install the lifted mold down to another installation base.

  In the mold lifting operation and the mold installation operation as described above, the gripping mechanism descends from above the mold, grips the mold, rises after gripping the mold, and moves to the target location. An operation is performed in which the mold is conveyed and moved, and the mold is lowered and installed. When such a lifting and setting operation of the mold is performed by an operator operating an apparatus provided with the gripping mechanism, the worker can move the gripping mechanism according to the situation of the mold to be transported. Fine adjustment of the operation position can be performed to complete the lifting and installation of the mold.

  However, when the above-described mold lifting and setting operations are automatically performed only by the machine, the operator may finely adjust the operation position of the gripping mechanism according to the condition of the mold to be transferred. Can not. For this reason, a problem arises when automating the lifting and installation of the mold. Specifically, the following problems (1) to (3) occur.

  First, as problem (1), there are a plurality of types of mold heights that are axial lengths of cylindrical molds placed on the installation stand in an upright state so that the axial direction extends in the vertical direction. There is a problem that it is necessary to control how far the gripping mechanism is lowered according to the height of the metal fitting. In this case, it is conceivable to control the lowering position of the gripping mechanism in accordance with the difference in the height of the mold with a servo motor or the like. However, it is necessary to input mold information to the control device, which requires labor for the input work. Furthermore, if there is an error between the input mold height information and the actual mold height, the gripping mechanism will strongly collide with the mold, causing an impact on the device and causing damage. There is also a fear. For this reason, a highly accurate input operation is required, and further labor is required. Therefore, regarding the problem (1), even if the height of the transfer target such as a mold is different, it is possible to easily cope with the lifting operation and the setting operation of the transfer target. It would be desirable to be able to easily achieve automation. In this case, it is preferable that the lifting operation and the installation operation of the object to be transported can be easily handled with a simple configuration without causing complication of the configuration.

  Next, as a problem (2), when performing the operation of gripping and lifting the mold, if there is a slight misalignment between the center position of the mold and the center position of the gripping mechanism, the mold is inclined. There is a problem that it is difficult to smoothly remove the mold from the portion of the installation hole that supports the mold in the mold installation table. Further, as a problem (3), when performing the operation of installing on the mold installation table, there is a slight misalignment between the center position of the mold and the center position of the installation hole that supports the mold on the installation table. There is a problem in that the mold does not fit smoothly into the installation hole of the installation table, and a situation in which the mold cannot be installed occurs. Therefore, the problems (2) and (3) are cases where there is a slight misalignment between the conveyance target and the gripping mechanism or the installation position during the lifting operation and the installation operation of the conveyance target such as a mold. However, it is desirable that the lifting operation and the installation operation of the conveyance target can be easily achieved by easily supporting the lifting operation and the installation operation of the conveyance target.

  In view of the above background, the present invention can easily cope with the lifting operation and the installation operation of the conveyance target with a simple configuration even when the height of the conveyance target (mold or the like) is different. It is an object of the present invention to provide a transfer device that can easily achieve automation of operation and installation operation. Furthermore, the present invention provides a method of lifting the object to be conveyed even when there is a slight misalignment between the object to be conveyed and the gripping mechanism or installation position during the lifting operation and setting operation of the object to be conveyed (such as a mold). It is an object of the present invention to provide a transfer apparatus that can easily cope with a lifting operation and an installation operation and can easily achieve the lifting operation and the installation operation of a transfer object.

(1) In order to solve the above problems, a transport apparatus according to an aspect of the present invention is a transport apparatus for transporting a transport target in a gripped state, the gripping mechanism gripping the transport target, and the gripping A driving mechanism that drives the mechanism in a vertical direction, and the gripping mechanism is provided on a main body portion connected to the driving mechanism, and is provided on the main body portion so as to contact the top of the conveyance target when the gripping mechanism is lowered. An abutment portion that contacts the engagement target portion that engages with the conveyance target in a state where the contact portion abuts on the conveyance target, and the drive mechanism includes: A drive connecting portion connected to the main body portion; and a vertical drive portion for driving the drive connecting portion in the vertical direction. The drive connecting portion is vertically movable with respect to a shaft portion provided in the main body portion. The gripping mechanism is connected to the front When the drive connecting portion is displaced upward along the shaft portion, the drive connecting portion comes into contact with the drive connecting portion, and the driving force from the drive connecting portion displaced upward is transmitted to the main body portion to drive the main body portion. It further has a driving force transmission part that is displaced upward together with the connecting part.

  According to the above configuration, when the lifting operation of the conveyance target is performed, the vertical drive unit lowers the drive connection unit in the drive mechanism, and the gripping mechanism is lowered toward the conveyance target together with the drive connection unit. When the gripping mechanism is lowered to the vicinity of the conveyance target, first, the abutting portion of the gripping mechanism abuts on the top of the conveyance target. The drive connecting part is slidably connected to the shaft part of the main body part of the gripping mechanism so as to be slidable up and down, so that the abutment part comes into contact with the top part of the conveyance object and the relative position of the main body part with respect to the conveyance object does not change Thus, only the drive connecting portion descends while sliding along the shaft portion of the main body portion. And the drive connection part stops in the middle position of the axial part of a main-body part by setting the amount of displacement of the up-and-down direction of the drive connection part by an up-and-down drive part to a predetermined value (predetermined distance). The gripping mechanism operates in a state where the contact portion is in contact with the top of the conveyance target and the drive coupling portion is stopped, and the engagement holding portion is engaged with the conveyance target, thereby engaging and holding the engagement portion. The gripping operation of the conveyance target by the unit is completed. When the gripping operation of the conveyance target is completed, the vertical drive unit raises the drive coupling unit in the drive mechanism. The drive connecting portion rises while sliding with respect to the shaft portion of the main body when starting to rise. And if a drive connection part is displaced upwards along the axial part of a main-body part, a drive connection part will contact | abut to the drive force transmission part in a holding | grip mechanism. When the drive connecting portion comes into contact with the driving force transmitting portion, the driving force from the drive connecting portion displaced upward is transmitted to the main body portion, and the main body portion is displaced upward together with the drive connecting portion. As a result, the gripping mechanism is lifted while gripping the transport target, and an operation of lifting the transport target is performed.

  During the lifting operation of the conveyance target, the conveyance device operates as described above. For this reason, when the gripping mechanism is lowered for the lifting operation of the transport target, if the height of the transport target is high, the contact portion of the gripping mechanism contacts the top of the transport target at a high position. Then, in a state where the relative position of the main body portion with respect to the conveyance target does not change, only the drive connecting portion descends while sliding on the shaft portion of the main body portion, and at the stage where the set predetermined distance is reached, the drive connecting portion is Stops at an intermediate position on the shaft of the main body. As described above, the gripping operation by the gripping mechanism is performed, and the operation of lifting the conveyance target is performed. On the other hand, when the gripping mechanism descends for the lifting operation of the transport target, if the height of the transport target is low, the contact portion of the gripping mechanism contacts the top of the transport target at a low position. Then, in a state where the relative position of the main body portion with respect to the conveyance target does not change, only the drive connecting portion descends while sliding on the shaft portion of the main body portion, and at the stage where the set predetermined distance is reached, the drive connecting portion is Stops at an intermediate position on the shaft of the main body. As described above, the gripping operation by the gripping mechanism is performed, and the operation of lifting the conveyance target is performed. Therefore, even when the heights of the conveyance objects are different, it is not necessary to individually control the lowered position of the gripping mechanism, and it is not necessary to input mold information to the control device. Therefore, according to the above configuration, even when the height of the conveyance target is different, the lifting operation of the conveyance target can be easily handled, so that the automation of the lifting operation of the conveyance target can be easily achieved. In addition, according to the above configuration, the gripping mechanism is provided with the contact portion and the driving force transmission portion, and the driving connection portion of the driving mechanism is connected to the shaft of the main body portion of the gripping mechanism. It can be realized by a simple configuration that is slidably connected to the part.

  Further, according to the above configuration, when performing the installation operation of the conveyance target, the vertical drive unit moves down the drive coupling unit in the drive mechanism in a state where the gripping mechanism grips the conveyance target between the contact portion and the engagement holding unit. Let As a result, the gripping mechanism that grips the transport target is lowered together with the drive connecting portion, and the transport target is lowered toward the installation position. When the conveyance target is lowered to the installation position and the conveyance target is installed at the installation position, the gripping mechanism stops descending together with the conveyance target. Then, in a state where the conveyance target is installed at the installation position and the gripping mechanism is stopped together with the conveyance target, only the drive connecting portion is lowered while sliding along the shaft portion of the main body portion. And the drive connection part stops in the middle position of the axial part of a main-body part by setting the amount of displacement of the up-and-down direction of the drive connection part by an up-and-down drive part to a predetermined value (predetermined distance). The gripping mechanism is operated in a state where the drive connecting portion is stopped, and the engagement of the engagement holding portion to the transport target is released, whereby the grip of the transport target by the gripping mechanism is released. When the conveyance target is released, the vertical drive unit raises the drive coupling unit in the drive mechanism. The drive connecting portion rises while sliding with respect to the shaft portion of the main body when starting to rise. And if a drive connection part is displaced upwards along the axial part of a main-body part, a drive connection part will contact | abut to the drive force transmission part in a holding | grip mechanism. When the drive connecting portion comes into contact with the driving force transmitting portion, the driving force from the drive connecting portion displaced upward is transmitted to the main body portion, and the main body portion is displaced upward together with the drive connecting portion. As a result, the gripping mechanism rises in a state where the gripping operation of the transport target is released, and the installation operation at the installation position of the transport target ends.

  During the installation operation of the object to be transported, the transport device operates as described above. For this reason, when the gripping mechanism is lowered for the operation of setting the conveyance target, the gripping mechanism stops the descent together with the conveyance target that is installed at the installation position and has stopped descending. For this reason, when the height of the conveyance target is high, the gripping mechanism stops descending at a position where the height is high. In a state where the gripping mechanism is stopped together with the object to be transported, only the drive connecting portion is lowered while sliding on the shaft portion of the main body portion, and the drive connecting portion is reached when the vertical displacement amount reaches a predetermined distance. The part stops at an intermediate position of the shaft part of the main body part. Then, as described above, the operation of releasing the gripping by the gripping mechanism is performed, the gripping mechanism is raised, and the setting operation of the conveyance target is completed. On the other hand, when the gripping mechanism is lowered for the installation operation of the transport target, if the height of the transport target is low, the gripping mechanism that has stopped descending together with the transport target installed at the installation position is positioned at a low height. Will stop descending. In a state where the gripping mechanism is stopped together with the object to be transported, only the drive connecting portion is lowered while sliding on the shaft portion of the main body portion, and the drive connecting portion is reached when the vertical displacement amount reaches a predetermined distance. The part stops at an intermediate position of the shaft part of the main body part. Then, as described above, the operation of releasing the gripping by the gripping mechanism is performed, the gripping mechanism is raised, and the setting operation of the conveyance target is completed. Therefore, even when the heights of the conveyance objects are different, it is not necessary to individually control the lowered position of the gripping mechanism, and it is not necessary to input mold information to the control device. Therefore, according to said structure, even if it is a case where the height of a conveyance object differs, since it can respond easily to the installation operation | movement of a conveyance object, automation of the installation operation | movement of a conveyance object can be achieved easily. Further, according to the above configuration, the gripping mechanism is provided with the abutting portion and the driving force transmission portion, and the driving coupling portion of the driving mechanism is connected to the shaft of the main body portion of the gripping mechanism. It can be realized by a simple configuration that is slidably connected to the part.

  Therefore, according to the above configuration, even when the heights of the objects to be transported (molds and the like) are different, it is possible to easily cope with the lifting operation and the installation operation of the objects to be transported with a simple structure. It is possible to provide a transfer device that can easily achieve automation of the installation operation.

(2) The driving force transmission unit may be a spring member.

  According to this configuration, since the driving force transmitting portion is configured as a spring member, even when an excessive driving force is applied from the driving connecting portion during the lifting operation of the conveyance target, it is absorbed by the elastic deformation of the spring member. And it can suppress that an excessive stress arises in a main-body part.

(3) When the driving mechanism transmits a load larger than a predetermined load from the drive connecting portion to the driving force transmitting portion and the driving force transmitting portion contracts by a predetermined amount or more, the driving connecting portion You may further have an upper displacement sensor which detects that the distance more than the said predetermined displacement amount was displaced upward with respect to the said main-body part.

  According to this configuration, when a load greater than a predetermined load is applied to the gripping mechanism from the drive connecting portion, and the drive connecting portion is relatively displaced upward with respect to the main body portion by a distance equal to or more than a predetermined displacement amount, that is, It is detected by the upward displacement sensor. For this reason, when abnormality arises in the raising operation | movement of a conveyance object and an excessive driving force acts from a drive connection part, it can detect that. For example, it is possible to detect a case where there is an abnormality in the lifting operation of the conveyance target, such as when the conveyance target is installed in a state where it is fixed to the installation position and difficult to take out. Thus, since the abnormality at the time of the lifting operation of the conveyance target can be detected, the operation of the conveyance device can be stopped based on the detection result. As a result, it is possible to prevent the driving mechanism or the gripping mechanism from being damaged by applying an excessive driving force to the gripping mechanism from the drive connecting portion in spite of an abnormality occurring during the lifting operation of the conveyance target. can do.

(4) The drive mechanism is configured such that when the drive coupling portion is displaced below a predetermined position in the main body portion, the drive coupling portion is displaced below the predetermined position with respect to the main body portion. You may have further the downward displacement sensor to detect.

  According to this configuration, when the drive connecting portion is displaced below the predetermined position with respect to the main body portion, this is detected by the downward displacement sensor. For this reason, when an abnormality occurs during the installation operation of the conveyance target, the conveyance target is not properly installed at the installation position, and only the drive coupling part is excessively lowered with respect to the main body part, the fact is detected. Can do. For example, if the transport target does not fit properly in the installation hole that is the installation position and only the drive connection part is lowered even though the transport target is not installed at the installation position, the installation of the transport target is performed. A case where an abnormality has occurred in the operation can be detected. Thus, since the abnormality in the installation operation of the conveyance target can be detected, the operation of the conveyance device can be stopped based on the detection result. This prevents the drive connecting portion from being excessively displaced with respect to the gripping mechanism and damaging the drive mechanism or the gripping mechanism even though an abnormality has occurred during the installation operation of the conveyance target. can do.

(5) The main body may include a horizontal slide mechanism that supports the positions of the abutting portion and the engagement holding portion with respect to the drive connecting portion so as to be slidable in the horizontal direction.

  According to this configuration, when performing the gripping operation to lift the transport target, even if there is a slight misalignment between the center position of the transport target and the center position of the gripping mechanism, And the position shift can be absorbed by sliding the position of the engagement holding part in the horizontal direction. Thereby, the conveyance target can be gripped in an appropriate posture by the gripping mechanism. Therefore, it is possible to suppress lifting of the conveyance target in an oblique posture from the installation position. For this reason, it is possible to prevent a situation in which it is difficult to take out the conveyance target from the installation position. Thus, even when there is a slight misalignment between the conveyance target and the gripping mechanism during the lifting operation of the conveyance target, the lifting operation of the conveyance target can be easily handled. This automation can be achieved more easily.

  Further, according to the above configuration, when performing the operation of installing the conveyance target, even if there is a slight misalignment between the center position of the conveyance target and the installation position, the contact portion and the engagement with the drive connecting portion The positional shift can be absorbed by sliding the position of the holding portion in the horizontal direction. Accordingly, the conveyance target can be installed at the installation position while the conveyance target is gripped by the gripping mechanism in an appropriate posture. For this reason, it is possible to prevent a situation in which the conveyance target does not fit properly at the installation position and the conveyance target cannot be installed at the installation position. As a result, even when there is a slight misalignment between the transport target and the installation position during the transport target installation operation, the transport target installation operation can be easily handled. This automation can be achieved more easily.

  Therefore, according to the above configuration, even when there is a slight misalignment between the conveyance target and the gripping mechanism or the installation position during the lifting operation and the installation operation of the conveyance target, The installation operation can be easily handled, and the lifting operation and the installation operation of the object to be transported can be more easily achieved.

(6) The main body may further include a horizontal operation restricting portion capable of restricting a horizontal operation of the contact portion and the engagement holding portion with respect to the drive connecting portion.

  If there is a slight misalignment between the transport target and the gripping mechanism or the installation position during the lifting operation and the installation operation of the transport target, the positional shift can be absorbed by the horizontal slide mechanism. On the other hand, according to the above-described configuration, in a state where absorption of misalignment is completed or in a state where absorption of misalignment is not necessary, the contact portion with respect to the drive connecting portion is activated by operating the horizontal operation restricting portion. And the operation | movement of the horizontal direction of an engagement holding | maintenance part can be controlled. For this reason, in a state where absorption of misalignment is completed or in a state where absorption of misalignment is not necessary, the operation of the horizontal slide mechanism can be restricted, and the transport operation of the transport target can be performed in a stable state. . For example, after absorbing the displacement by the horizontal slide mechanism when performing an operation of gripping to lift the transfer target, the transfer target is lifted and transferred in a stable state by regulating the operation of the horizontal slide mechanism. Can do. In addition, when the transport target is transported to the installation position before the operation of installing the transport target, the transport target can be transported in a stable state by restricting the operation of the horizontal slide mechanism.

(7) Moreover, in order to solve the said subject, the conveying apparatus which concerns on a situation with this invention is a conveying apparatus for conveying in the state holding the conveyance object, Comprising: The holding | grip mechanism which hold | grips the said conveyance object, A driving mechanism that drives the gripping mechanism in a vertical direction, the gripping mechanism being connected to the driving mechanism, and a top portion of the transport target that is provided on the main body and is lowered when the gripping mechanism is lowered And an engagement holding portion that holds the conveyance target by engaging the conveyance target in a state where the contact portion is in contact with the conveyance target, and the drive mechanism Has a drive connection part connected to the main body part, and a vertical drive part for driving the drive connection part in the vertical direction, and the main body part has the contact part and the drive connection part. The position of the engagement holding portion is slidably supported in the horizontal direction. And a horizontal slide mechanism.

  According to this configuration, when the lifting operation of the conveyance target is performed, the vertical drive unit lowers the drive connection unit in the drive mechanism, and the gripping mechanism is lowered toward the conveyance target together with the drive connection unit. Then, when the gripping mechanism is lowered to the position to be transported, the contact portion of the gripping mechanism contacts the top of the transport target. In this state, the gripping mechanism is operated and the engagement holding unit is engaged with the transport target, whereby the gripping operation of the transport target by the contact portion and the engagement holding unit is completed. When the gripping operation of the conveyance target is completed, the vertical drive unit raises the drive connection unit in the drive mechanism, and the main body unit is displaced upward together with the drive connection unit. As a result, the gripping mechanism is lifted while gripping the transport target, and an operation of lifting the transport target is performed.

  On the other hand, when performing the installation operation of the conveyance target, the vertical drive unit lowers the drive coupling unit in the drive mechanism in a state where the gripping mechanism grips the conveyance target with the contact portion and the engagement holding unit. As a result, the gripping mechanism that grips the transport target is lowered together with the drive connecting portion, and the transport target is installed at the installation position. Then, the gripping mechanism is operated in a state where the transport target is installed at the installation position, and the engagement of the engagement holding unit with the transport target is released, whereby the grip of the transport target by the gripping mechanism is released. When the gripping of the conveyance target is released, the vertical drive unit raises the drive connection unit in the drive mechanism, and the main body unit is displaced upward together with the drive connection unit. As a result, the gripping mechanism rises in a state where the gripping operation of the transport target is released, and the installation operation at the installation position of the transport target ends.

  Further, according to the above configuration, even when there is a slight misalignment between the center position of the transport target and the center position of the gripping mechanism when performing the gripping operation to lift the transport target, By slidably moving the positions of the contact part and the engagement holding part in the horizontal direction, the positional deviation can be absorbed. Thereby, the conveyance target can be gripped in an appropriate posture by the gripping mechanism. Therefore, it is possible to suppress lifting of the conveyance target in an oblique posture from the installation position. For this reason, it is possible to prevent a situation in which it is difficult to take out the conveyance target from the installation position. Thus, even when there is a slight misalignment between the conveyance target and the gripping mechanism during the lifting operation of the conveyance target, the lifting operation of the conveyance target can be easily handled. Can be easily achieved.

  Further, according to the above configuration, when performing the operation of installing the conveyance target, even if there is a slight misalignment between the center position of the conveyance target and the installation position, the contact portion and the engagement with the drive connecting portion The positional shift can be absorbed by sliding the position of the holding portion in the horizontal direction. Accordingly, the conveyance target can be installed at the installation position while the conveyance target is gripped by the gripping mechanism in an appropriate posture. For this reason, it is possible to prevent a situation in which the conveyance target does not fit properly at the installation position and the conveyance target cannot be installed at the installation position. As a result, even when there is a slight misalignment between the transport target and the installation position during the transport target installation operation, the transport target installation operation can be easily handled. Can be easily achieved.

  Therefore, according to the above configuration, even when there is a slight misalignment between the conveyance target and the gripping mechanism or the installation position during the lifting operation and installation operation of the conveyance target (mold, etc.) It is possible to provide a transfer apparatus that can easily cope with a lifting operation and an installation operation of a target and can easily achieve automation of a lifting operation and a setting operation of a transfer target.

(8) The main body may further include a horizontal operation restricting portion capable of restricting a horizontal operation of the contact portion and the engagement holding portion with respect to the drive connecting portion.

  If there is a slight misalignment between the transport target and the gripping mechanism or the installation position during the lifting operation and the installation operation of the transport target, the positional shift can be absorbed by the horizontal slide mechanism. On the other hand, according to the above-described configuration, in a state where absorption of misalignment is completed or in a state where absorption of misalignment is not necessary, the contact portion with respect to the drive connecting portion is activated by operating the horizontal operation restricting portion. And the operation | movement of the horizontal direction of an engagement holding | maintenance part can be controlled. For this reason, in a state where absorption of misalignment is completed or in a state where absorption of misalignment is not necessary, the operation of the horizontal slide mechanism can be restricted, and the transport operation of the transport target can be performed in a stable state. . For example, after absorbing the displacement by the horizontal slide mechanism when performing an operation of gripping to lift the transfer target, the transfer target is lifted and transferred in a stable state by regulating the operation of the horizontal slide mechanism. Can do. In addition, when the transport target is transported to the installation position before the operation of installing the transport target, the transport target can be transported in a stable state by restricting the operation of the horizontal slide mechanism.

(9) The horizontal slide mechanism includes a first horizontal plate and a second horizontal plate arranged along a horizontal direction, a rail fixed to one of the first horizontal plate and the second horizontal plate, A block fixed to the other of the first horizontal plate and the second horizontal plate and slidably mounted in a horizontal direction with respect to the rail. A restriction pin is provided so as to be relatively displaceable in the vertical direction with respect to one horizontal plate and the second horizontal plate, and the restriction pin is provided on each of the first horizontal plate and the second horizontal plate. In a state of being fitted through the through hole, the horizontal displacement of the first horizontal plate with respect to the second horizontal plate is restricted, and the first horizontal plate is controlled. And in a state where it is removed from at least one of the through holes of the second horizontal plate, or in a state of being inserted loosely into the through holes of the first horizontal plate and the second horizontal plate, A relative displacement in the horizontal direction of the first horizontal plate with respect to the second horizontal plate may be allowed.

  According to this configuration, a simple configuration includes a first horizontal plate, a second horizontal plate, a rail fixed to one of the first and second horizontal plates, and a block fixed to the other of the first and second horizontal plates. Thus, a horizontal slide mechanism having a compact structure can be configured. Further, the horizontal operation restricting portion can be configured with a simple structure by a restricting pin that can penetrate the first and second horizontal plates and relatively displace in the vertical direction with respect to the first and second horizontal plates.

(10) The main body portion is disposed below the first main body portion having a portion connected to the drive connecting portion, and the abutting portion and the engagement holding portion are provided. Two main body portions and the horizontal slide mechanism, the horizontal slide mechanism being provided between the first main body portion and the second main body portion, and the first main body portion and the second main body portion. It may be connected to.

  According to this configuration, in the main body portion, the horizontal slide mechanism is disposed between the first main body portion connected to the drive connecting portion and the second main body portion provided with the contact portion and the engagement holding portion. For this reason, the horizontal slide mechanism can be compactly incorporated in the main body of the gripping mechanism.

(11) The transport device may further include a projecting shaft that is provided in the gripping mechanism and supported by the main body so as to project downward from the contact portion, and the projecting shaft includes the transport The insertion hole that is formed in the target and opens at the top of the transport target may be configured to protrude from the contact portion and be insertable.

  According to this configuration, the transport device includes the protruding shaft provided in the gripping mechanism. The protruding shaft is supported by the main body so as to be able to protrude downward from the contact portion, and can be inserted into the insertion hole that opens at the top of the conveyance target. For this reason, even if it is a case where the conveyance object is installed in the state inclined with respect to the installation table, the posture can be corrected by inserting the protruding shaft into the insertion hole of the conveyance object. As a result, the gripping mechanism can securely grip the conveyance target at the correct position.

  According to the present invention, even if the height of the object to be conveyed (such as a mold) is different, the lifting operation and the installation operation of the object to be conveyed can be easily handled with a simple configuration. It is possible to provide a transport apparatus that can easily achieve automation. Furthermore, according to the present invention, even when there is a slight misalignment between the conveyance target and the gripping mechanism or the installation position during the lifting operation and the installation operation of the conveyance target (mold, etc.) Therefore, it is possible to provide a transfer device that can easily cope with the lifting operation and the installation operation of the apparatus, and can easily achieve the automation of the lifting operation and the installation operation of the object to be transferred.

It is a typical side view of the conveyance apparatus and metal mold | die which concern on 1st Embodiment of this invention. FIG. 2 is a schematic side view showing an enlarged view of a part of a drive mechanism and a gripping mechanism in the transport device in FIG. 1. It is a figure which shows an example for demonstrating lifting operation | movement of the metal mold | die by a conveying apparatus, Comprising: It is a side view which shows a part of drive mechanism and a holding mechanism typically with a metal mold | die. It is a figure which shows an example for demonstrating lifting operation | movement of the metal mold | die by a conveying apparatus, Comprising: It is a side view which shows a part of drive mechanism and a holding mechanism typically with a metal mold | die. It is a figure which shows an example for demonstrating lifting operation | movement of the metal mold | die by a conveying apparatus, Comprising: It is a side view which shows a part of drive mechanism and a holding mechanism typically with a metal mold | die. It is a figure which shows an example for demonstrating lifting operation | movement of the metal mold | die by a conveying apparatus, Comprising: It is a side view which shows a part of drive mechanism and a holding mechanism typically with a metal mold | die. It is a figure which shows an example for demonstrating operation | movement of the conveying apparatus according to the difference in the height of the metal mold | die at the time of the lifting operation of the metal mold | die by a conveying apparatus, Comprising: A part of drive mechanism and a holding mechanism are modeled with a metal mold | die. FIG. It is a figure which shows an example for demonstrating operation | movement of the conveying apparatus at the time of abnormality detection at the time of the lifting operation of the metal mold | die by a conveying apparatus, Comprising: It is a side view which shows a part of drive mechanism and a holding mechanism typically with a metal mold | die. is there. It is a figure which shows an example for demonstrating the installation operation | movement of the metal mold | die by a conveying apparatus, Comprising: It is a side view which shows a part of drive mechanism and a holding mechanism typically with a metal mold | die. It is a figure which shows an example for demonstrating the installation operation | movement of the metal mold | die by a conveying apparatus, Comprising: It is a side view which shows a part of drive mechanism and a holding mechanism typically with a metal mold | die. It is a figure which shows an example for demonstrating the installation operation | movement of the metal mold | die by a conveying apparatus, Comprising: It is a side view which shows a part of drive mechanism and a holding mechanism typically with a metal mold | die. It is a figure which shows an example for demonstrating the installation operation | movement of the metal mold | die by a conveying apparatus, Comprising: It is a side view which shows a part of drive mechanism and a holding mechanism typically with a metal mold | die. It is a figure which shows an example for demonstrating operation | movement of the conveying apparatus according to the difference in the height of the metal mold | die at the time of the installation operation of the metal mold | die by a conveying apparatus, Comprising: A part of drive mechanism and a holding mechanism are modeled with a metal mold | die. FIG. It is a figure which shows an example for demonstrating operation | movement of the conveying apparatus at the time of abnormality detection at the time of the installation operation | movement of the metal mold | die by a conveying apparatus, Comprising: It is a side view which shows a part of drive mechanism and a holding mechanism with a metal mold | die schematically. is there. It is a typical side view of the conveying apparatus which concerns on 2nd Embodiment of this invention, Comprising: It is a figure which shows a part of drive mechanism and the holding mechanism in the conveying apparatus of 2nd Embodiment with a metal mold | die. It is a figure which shows an example for demonstrating operation | movement of the conveying apparatus of 2nd Embodiment, Comprising: It is a side view which shows a part of drive mechanism and a holding mechanism typically with a metal mold | die. It is a typical side view of the conveying apparatus which concerns on 3rd Embodiment of this invention, Comprising: It is a figure which shows a part of drive mechanism and holding mechanism in the conveying apparatus of 3rd Embodiment with a metal mold | die. It is a figure which shows an example for demonstrating the one part process of the operation | movement of the conveying apparatus of 3rd Embodiment, Comprising: It is a side view which shows a part of drive mechanism and a holding mechanism typically with a metal mold | die. It is a typical side view which expands and shows a part of holding mechanism and metallic mold concerning a 3rd embodiment, and (a) is a figure at the time of a projection axis being inserted in a metallic mold in the state where it inclined. is there. (B) is the figure of the state by which the inclination of the metal mold | die was corrected by the protrusion axis | shaft. It is a figure which shows an example for demonstrating the one part process of the operation | movement of the conveying apparatus of 3rd Embodiment, Comprising: It is a side view which shows a part of drive mechanism and a holding mechanism typically with a metal mold | die. It is a typical side view of the conveyance apparatus of the modification of this invention, Comprising: It is a figure which shows a part of drive mechanism and the holding mechanism in the conveyance apparatus of a modification with a metal mold | die.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
[Outline of conveyor and mold]
FIG. 1 is a schematic side view of a transport apparatus 1 and a mold 100 according to the first embodiment of the present invention. With reference to FIG. 1, the conveying apparatus 1 is comprised as an apparatus for conveying in the state which hold | gripped the metal mold | die 100 as a conveyance object. A mold 100 (hereinafter, also referred to as a conveyance object 100) as a conveyance target by the conveyance device 1 is for conveying, for example, parts constituting the product when the product is manufactured in a factory. Used as a manufacturing instrument. In the present embodiment, an example in which the mold 100 is used when manufacturing a transmission belt will be described.

  Examples of the transmission belt include friction transmission belts such as a V belt, a V-ribbed belt, and a flat belt. In the present embodiment, in the manufacture of the transmission belt, components such as a rubber sheet, a reinforcing cloth, and a core cord are wound around the mold 100 in order in the molding process by a molding machine. Next, in the vulcanization step, vulcanization is performed with a vulcanization can to produce a belt sleeve. And after a belt sleeve is removed from the metal mold | die 100, a power transmission belt is obtained by cut | disconnecting a belt sleeve to predetermined width.

  In the mold 100, devices for each process such as a molding process and a vulcanization process are arranged in a state where the mold 100 is installed on an installation table 110 provided on a belt conveyor mechanism (not shown) at the time of manufacturing the transmission belt. Carried between places. Then, the mold 100 is transported by the transport device 1 so as to be transferred from the belt conveyor mechanism installation base 110 to the apparatus of each process, or from the apparatus of each process to the belt conveyor mechanism installation base 110. It is transported so that it can be transferred. More specifically, the mold 100 is, for example, a vulcanizing can that performs a vulcanization process from a belt conveyor mechanism to a molding machine that performs a molding process, a molding machine to a belt conveyor mechanism, and a vulcanization process from the belt conveyor mechanism. It is conveyed so that it can be transferred to. In FIG. 1, a part of the installation table 110 is shown in a cross-sectional state.

  When transferring the mold 100 as described above, the transfer device 1 lifts the mold 100 from the installation base 110 and lowers the lifted mold to another installation base 110 for installation. The installation operation is performed. Further, the mold 100 is lifted and installed by the transfer device 1 in a state where the axial direction extends in the vertical direction and stands vertically. In addition, the mold 100 is transported in a state of being set up in the vertical direction even when it is installed on the installation table 110 and transported by the belt conveyor mechanism.

  In this embodiment, the mold 100 is formed in a shaft shape, and includes a main shaft portion 101, a gripping shaft portion 102, and an insertion shaft portion 103.

  The main shaft portion 101 is a portion around which a belt sleeve is wound in a power transmission belt forming process. Specifically, the main shaft portion 101 is formed in a cylindrical shape, and components such as a rubber sheet, a reinforcing cloth, and a core cord are sequentially wound around the main shaft portion 101 by a molding machine in a transmission belt forming step. .

  The gripping shaft portion 102 is provided as a portion that is gripped by a gripping mechanism 11 described later in the transport device 1. The gripping shaft portion 102 protrudes from one end portion in the axial direction of the main shaft portion 101 extending in a columnar shape and is formed integrally with the main shaft portion 101. Note that when the mold 100 is lifted and installed by the conveying device 1 in a vertically standing state, the gripping shaft portion 102 is disposed on the upper end side. That is, when the transport device 1 is operated, the gripping shaft portion 102 is the upper end portion of the mold 100.

  In addition, the gripping shaft portion 102 is formed in a columnar shape, and the diameter is set smaller than the diameter of the main shaft portion 101. The gripping shaft portion 102 is provided integrally with the main shaft portion 101 so that the shaft center of the gripping shaft portion 102 is coaxial with the shaft center of the main shaft portion 101. The gripping shaft portion 102 has a top portion 102a and a groove portion 102b.

  The top portion 102 a is configured as a region that occupies the distal end portion of the gripping shaft portion 102. When the gripping mechanism 11 described later descends, the contact portion 22 described later in the gripping mechanism 11 contacts the top portion 102a. The groove portion 102 b is a groove provided for the gripping mechanism 11 described later to grip the mold 100. The groove portion 102b is formed in a notch shape on the outer peripheral surface of the gripping shaft portion 102, and is formed in a groove shape that is recessed in the circumferential direction.

  The insertion shaft portion 103 is provided as a portion that is inserted into and supported by the installation hole 110a that is the installation position of the mold 100 provided on the installation table 110 when the mold 100 is installed on the installation table 110. Yes. The insertion shaft 103 is formed integrally with the main shaft 101 so as to protrude from the end opposite to the grip shaft 102 in the axial direction of the main shaft 101 extending in a columnar shape. Note that the insertion shaft portion 103 is disposed on the lower end side of the mold 100 when the lifting operation and the installation operation are performed by the transfer device 1 in a state where the mold 100 is vertically oriented. That is, the insertion shaft portion 103 serves as the lower end portion of the mold 100 during the operation of the transport device 1. The height of the mold 100 is the length of the mold 100 in the axial direction. That is, in the state in which the gripping shaft portion 102 is in the upper end portion, the insertion shaft portion 103 is in the lower end portion, and the axial direction extends in the vertical direction, the axial length of the mold 100 is It becomes the height of the mold 100.

  Further, the insertion shaft portion 103 is formed in a columnar shape, and the diameter is set smaller than the diameter of the main shaft portion 101. For example, the diameter of the insertion shaft portion 103 is set to be approximately the same as the diameter of the gripping shaft portion 102. The insertion shaft portion 103 is provided integrally with the main shaft portion 101 so that the shaft center of the insertion shaft portion 103 is coaxial with the shaft center of the main shaft portion 101 and the gripping shaft portion 102.

  The mold 100 is placed and installed on the installation table 110 in a state where the insertion shaft portion 103 is inserted and supported in the installation hole 110a of the installation table 110. The installation table 110 on which the mold 100 is installed is provided, for example, on a belt conveyor mechanism (not shown). The mold 100 is transported between places where apparatuses of each process such as a molding process and a vulcanization process are arranged in a state where the insertion shaft portion 103 is inserted into the installation hole 110a and installed on the installation table 110. The FIG. 1 illustrates the mold 100 before the belt sleeve is wound before the molding process is performed. Therefore, in FIG. 1, the mold 100 is moved by the conveying device 1 to the installation table 110 provided in the belt conveyor mechanism for conveying the mold 100 to the place where the molding machine for performing the molding process is arranged. The state at the time of the operation | movement installed is illustrated. Alternatively, in FIG. 1, when the mold 100 is lifted by the transport device 1 from the installation table 110 on the belt conveyor mechanism in order to transfer the mold from the belt conveyor mechanism to the molding machine that performs the molding process. This state is illustrated.

[Overall configuration of transfer device]
The transport device 1 includes a gripping mechanism 11 that grips the mold 100, a drive mechanism 12 that drives the gripping mechanism 11 in the vertical direction, a transport carriage 13 that moves the drive mechanism 12, a gripping mechanism 11, a drive mechanism 12, and And a control device 14 that controls the operation of the transport carriage 13.

  The transport apparatus 1 performs an operation of lifting the mold 100 from the installation base 110 on which the mold 100 is installed by operating the gripping mechanism 11 and the drive mechanism 12 based on a control command from the control apparatus 14. It is configured. Further, the conveying device 1 is configured to perform an operation of installing the mold 100 on the installation table 110 by operating the gripping mechanism 11 and the driving mechanism 12 based on a control command from the control device 14. Yes.

  In addition, the transport device 1 operates based on a control command from the control device 14 so that the transport carriage 13 operates in a state where the mold 100 is gripped by the gripping mechanism 11, so that the installation table 110 on the belt conveyor mechanism and each process. It is comprised so that the metal mold | die 100 may be conveyed and conveyed between these apparatuses. For example, the conveyance device 1 has a gripping mechanism up to a position where an installation operation is performed on an installation table 110 provided on a belt conveyor mechanism that conveys the mold 100 to a place where a molding machine that performs a molding process is arranged. The transport carriage 13 moves while the mold 11 holds the mold 100 to transport the mold 100. Further, for example, in the conveying apparatus 1, the conveying carriage 13 moves to the position of the molding machine that performs the molding process in a state where the mold 100 is lifted and held from the installation table 110 provided on the belt conveyor mechanism. The mold 100 is conveyed.

  The transport carriage 13 includes a vehicle body 13a, wheels 13b, an electric motor (not shown) that rotationally drives the wheels 13b, and the like. The transport carriage 13 is a belt conveyor mechanism in which wheels 13b are rotated by the operation of an electric motor based on a control command from the control device 14, and devices for each process of manufacturing an electric belt and an installation stand 110 are provided. Is configured to move between. Moreover, the wheel 13b is comprised as a wheel which drive | works on the rail (illustration omitted) laid between the apparatus of each process of manufacture of an electric belt, and the belt conveyor mechanism in which the installation stand 110 was provided, for example. .

  The control device 14 includes a hardware processor such as a CPU, a memory, an operation unit such as an operation panel operated by a user, an interface circuit, and the like. The memory of the control device 14 stores a program for creating a control command for controlling the operation of the gripping mechanism 11, the drive mechanism 12, and the transport carriage 13. When the operation unit is operated by the user, the above program is read from the memory by the hardware processor and executed. Thereby, said control instruction | command is created and the holding | grip mechanism 11, the drive mechanism 12, and the conveyance trolley 13 operate | move based on the control instruction | command.

  Next, details of the gripping mechanism 11 and the driving mechanism 12 that operate when the lifting and setting operations of the mold 100 are performed in the transfer device 1 will be described.

[Configuration of gripping mechanism]
FIG. 2 is an enlarged schematic side view showing a part of the drive mechanism 12 and the gripping mechanism 11 in the transport apparatus 1 in FIG. A gripping mechanism 11 shown in FIGS. 1 and 2 is connected to the drive mechanism 12 and is provided as a mechanism for gripping the mold 100. The gripping mechanism 11 is connected to the drive mechanism 12 so as to be slidable. When the transport device 1 transports the mold 100, the gripping mechanism 11 grips the mold 100 according to the mold 100 having a different height. It is provided as a mechanism. The gripping mechanism 11 includes a main body part 21, a contact part 22, an engagement holding part 23, a driving force transmission part 24, a horizontal driving actuator 28, and the like.

  The main body 21 is provided as a part connected to the drive mechanism 12 in the gripping mechanism 11. The main body portion 21 includes a shaft portion 25, an upper beam portion 26, and a lower beam portion 27, and these are integrally combined in a frame shape.

  In the present embodiment, the shaft portion 25 is provided as a pair in the main body portion 21. Each of a pair of axial part 25 is formed in the column shape extended in an up-down direction. Further, the pair of shaft portions 25 are provided so as to extend in the vertical direction in parallel with each other, and each shaft portion 25 is connected to the drive connecting portion 31 provided so as to extend in the horizontal direction in the drive mechanism 12 described later. Are arranged so as to extend along a vertical direction. In addition, a drive connecting portion 31 described later is connected to each of the pair of shaft portions 25 so as to be slidable in the vertical direction.

  The upper beam portion 26 is provided as a member for connecting the upper end portions of the pair of shaft portions 25, and is provided to extend in the horizontal direction at the upper end side portion of the main body portion 21. For this reason, the upper beam part 26 is arrange | positioned so that it may extend in parallel with respect to the drive connection part 31 mentioned later. The lower beam portion 27 is provided as a member for connecting the lower ends of the pair of shaft portions 25, and is provided to extend in the horizontal direction at the lower end portion of the main body portion 21. The lower beam portion 27 is disposed so as to extend in parallel to the drive connecting portion 31 described later and also extend in parallel to the upper beam portion 26.

  The abutting portion 22 is provided in the gripping mechanism 11 as a portion that is provided on the main body portion 21 and that abuts on the top 102 a of the mold 100 when the gripping mechanism 11 is lowered. More specifically, the contact portion 22 is provided to protrude downward from the lower beam portion 27 of the main body portion 21 in a cantilevered manner. In addition, a disc-like portion 22 a is provided at the lower end of the abutting portion 22 that protrudes downward from the main body portion 21. The abutting portion 22 is lowered together with the main body portion 21 when the main body portion 21 of the gripping mechanism 11 is driven and lowered by the driving mechanism 12 described later. When the abutting portion 22 is lowered together with the main body portion 21, the top portion 102 a of the mold 100 installed on the installation base 110 in the disc-like portion 22 a provided at the tip portion on the lower end side of the abutting portion 22. It is comprised so that it may contact | abut. In addition, the disk-shaped part 22a is comprised so that it may contact | abut with respect to the top part 102a of the metal mold | die 100 in the surface contact state in the flat surface where an external shape is circular.

  The engagement holding part 23 is provided as a part of the gripping mechanism 11 that holds the mold 100 by engaging the mold 100 with the contact part 22 in contact with the mold 100. The engagement holding portion 23 is provided on the lower beam portion 27 of the main body portion 21, and is provided with a claw portion 23 a that protrudes downward from the lower beam portion 27 and extends in the horizontal direction on the distal end side. ing. And the engagement holding | maintenance part 23 is comprised by the nail | claw part 23a so that it can engage and engage with the groove part 102b provided in the holding | grip shaft part 102 of the metal mold | die 100. FIG. Further, the engagement holding portion 23 is supported so as to be slidable along the horizontal direction which is the longitudinal direction of the lower beam portion 27 with respect to the lower beam portion 27 of the main body portion 21.

  The engagement holding part 23 is configured to grip the mold 100 in cooperation with the contact part 22. That is, the engagement holding part 23 is slid in the horizontal direction with respect to the lower beam part 27 of the main body part 21 in a state where the contact part 22 is in contact with the mold 100 and is engaged with the mold 100. The mold 100 is held by the contact portion 22 and the engagement holding portion 23 by the engagement holding portion 23 engaging with the die 100. The engagement holding part 23 is configured such that the claw part 23 a at the tip of the engagement holding part 23 is in contact with the groove part 102 b of the gripping shaft part 102 of the mold 100 when the contact part 22 comes into contact with the mold 100. Thus, it is configured to be aligned at a position directly beside in the horizontal direction. For this reason, when the engagement holding part 23 slides in the horizontal direction with respect to the lower beam part 27 of the main body part 21 in a state where the contact part 22 is in contact with the mold 100, the claw part 23 a is moved to the mold 100. It is comprised so that it may fit in and engage with the groove part 102b of the holding shaft part 102.

  The horizontal drive actuator 28 is installed in the lower beam portion 27 of the main body portion 21 and is configured to drive the engagement holding portion 23 in the horizontal direction along the longitudinal direction of the lower beam portion 27. The horizontal drive actuator 28 is configured to include, for example, a cylinder mechanism that operates with compressed air, and is configured such that the piston portion of the cylinder mechanism is displaced along the horizontal direction when compressed air is supplied to and discharged from the cylinder mechanism. Has been. The piston part of the cylinder mechanism is connected to the engagement holding part 23, and the engagement holding part 23 slides with respect to the lower beam part 27 along the horizontal direction along with the displacement of the piston part. It is configured. The horizontal drive actuator 28 is configured to operate by controlling the supply / discharge of compressed air based on a control command from the control device 14. That is, based on a control command from the control device 14, a supply source of compressed air (not shown) is controlled to control supply / discharge of compressed air to / from the horizontal drive actuator 28 so that the horizontal drive actuator 28 operates. It is configured.

  The driving force transmission unit 24 abuts on the driving coupling unit 31 when a driving coupling unit 31 of the driving mechanism 11 to be described later is displaced upward along the shaft portion 25, and the driving force from the driving coupling unit 31 that is displaced upward. Is transmitted to the main body 21 to displace the main body 21 together with the drive connecting portion 31. Further, the driving force transmission unit 24 is provided as a spring member attached along the shaft portion 25 of the main body unit 21 and is provided as a coil spring in the present embodiment. The driving force transmission unit 24 is provided as a pair corresponding to the pair of shafts 25.

  Each of the pair of driving force transmitting portions 24 provided as coil springs is slidably fitted to the outer periphery of each shaft portion 25 in a state where each shaft portion 25 of the main body portion 21 is inserted inside. In this state, it is mounted along each shaft portion 25. Each driving force transmission unit 24 is disposed between the upper beam portion 26 of the main body 21 and a drive connecting portion 31 of the drive mechanism 11 described later. Each driving force transmitting portion 24 provided as a coil spring has an end portion on one end side fixed to the lower surface of the upper beam portion 26 of the main body portion 21, and an end portion on the other end side connected to drive connection described later. It arrange | positions so that contact | abutting to the part 31 is possible.

  With the above-described configuration, the driving force transmission unit 24 is configured to contact the drive coupling unit 31 when a drive coupling unit 31 described later is displaced upward along the shaft portion 25. Further, the driving force transmission unit 24 is configured to transmit the driving force from the driving coupling unit 31 that is displaced upward to the main body unit 21 to displace the main body unit 21 together with the driving coupling unit 31.

[Configuration of drive mechanism]
The drive mechanism 12 shown in FIG. 1 is configured as a mechanism that drives the gripping mechanism 11 in the vertical direction. The drive mechanism 12 includes a drive connecting portion 31, a vertical drive portion 32, an upper displacement sensor 33, a lower displacement sensor 34, and the like.

  The drive connecting portion 31 is provided in the drive mechanism 12 as a portion connected to the main body portion 21 of the gripping mechanism 11, and is connected to the shaft portion 25 provided in the main body portion 21 so as to be slidable in the vertical direction. Has been. The drive connection portion 31 includes a drive connection bar 31a and a pair of slide bushes 31b.

  The drive connection bar 31a is supported as a cantilever with respect to the vertical drive unit 32 and is provided as a member extending in a cantilever manner along the horizontal direction. The drive connection bar 31a is provided with a through hole into which the slide bush 31b is fitted and fixed. A pair of through holes provided in the drive connection bar 31a are provided corresponding to the pair of slide bushes 31b, and are provided so as to penetrate the drive connection bar 31a in the vertical direction.

  Each of the pair of slide bushes 31b is provided as a cylindrical sliding member, and is fitted into and fixed to the through hole of the drive connection bar 31a on the outer peripheral side. And each slide bush 31b has each shaft part 25 of the main-body part 21 inserted. The slide bush 31b is attached to each shaft portion 25 so as to be slidable with respect to the outer periphery of each shaft portion 25. That is, the inner peripheral surface of the slide bush 31 b is configured to be slidable with respect to the outer peripheral surface of each shaft portion 25.

  The slide bush 31b may be configured as an element called a linear bush, a linear bushing, a linear bearing, a linear ball bearing, or the like. Further, the slide bush 31b may be configured as a linear motion mechanism other than the mode exemplified in the present embodiment, and is configured using an oil-free bush, a miniature ball guide, a ball spline, a linear guide, or the like. May be implemented.

  Since the drive connecting portion 31 is configured as described above, the drive connecting portion 31 is connected to the shaft portion 25 of the main body portion 21 so as to be slidable in the vertical direction. When the drive connecting portion 31 is driven by a vertical drive portion 32 described later and displaced upward along the shaft portion 25, the slide bush 31 b of the drive connecting portion 31 comes into contact with the driving force transmitting portion 24. And the drive connection part 31 displaces the main-body part 21 together with the drive connection part 31 by moving further upwards in the state contact | abutted to the drive force transmission part 24. FIG. Further, the drive connecting portion 31 is separated from the lower end portion of the driving force transmitting portion 24 when the driving force transmitting portion 24 provided as a coil spring is displaced further downward from the lower end portion of the driving force transmitting portion 24 in a natural length state. In the state, it is displaced downward along the shaft portion 25. At this time, the drive connecting portion 31 is displaced downward along the shaft portion 25, so that the drive connecting portion 31 is relatively displaced downward with respect to the main body portion 21.

  The vertical drive unit 32 is configured as a mechanism for driving the drive coupling unit 31 supported in a cantilever state in the vertical direction. In the present embodiment, the vertical drive unit 32 is provided as a ball screw mechanism, and includes a drive motor 32a, a screw shaft 32b, a ball screw 32c, a housing (not shown), and the like. The housing is configured to have a guide portion that guides the moving direction of the ball screw 32c so that the drive screw 32a is installed and the ball screw 32c moves in the vertical direction. Further, the housing in which the drive motor 32 a is installed and guides the moving direction of the ball screw 32 c is installed in the vehicle body portion 13 a of the transport carriage 13.

  The drive motor 32a is configured as an electric servo motor, is operated based on a control command from the control device 14, and is configured to rotationally drive the screw shaft 32b. Further, the drive motor 32a is configured such that the rotation speed is controlled based on a control command from the control device 14 and rotates the screw shaft 32b over a predetermined rotation speed.

  The screw shaft 32b is provided as a shaft member in which a spiral thread groove is formed on the shaft rod, and is arranged such that the axial direction extends along the vertical direction. The screw shaft 32b is connected to the drive motor 32a on the upper end side, and is rotatably supported on the lower end side with respect to the vehicle body portion 13a of the transport carriage via a bearing (not shown). As the drive motor 32a rotates, the screw shaft 32b is rotationally driven around an axis extending in the vertical direction.

  The ball screw 32c has a nut portion through which the screw shaft 32b passes, and a plurality of balls arranged between the inside of the nut portion and the screw shaft 32b. The nut portion is formed with a screw groove facing the screw groove of the screw shaft 32b, and the plurality of balls rolls with respect to both grooves between the screw groove of the nut portion and the screw groove of the screw shaft 32b. It is arranged to fit freely. A plurality of balls circulate between the nut portion of the ball screw 32c and the screw shaft 32b by being driven by the drive motor 32a and the screw shaft 32b rotates about the axis, and the ball screw 32c is guided by the guide portion of the housing. As a result, the movement direction is guided in the up and down direction, and the shaft moves relative to the screw shaft 32b in the axial direction.

  Further, the drive connection bar 31a of the drive connection portion 31 is fixed to the nut portion of the ball screw 32c. That is, the drive connecting portion 31 is supported by the vertical drive portion 32 in the ball screw 32c. The drive connecting portion 31 is configured to be displaced in the vertical direction together with the ball screw 32c by being fixed to the ball screw 32c that is displaced in the vertical direction along the axial direction with respect to the screw shaft 32b. .

  The vertical drive unit 32 is configured as described above to displace the drive connecting unit 31 in the vertical direction. In this embodiment, the vertical displacement amount of the drive connecting portion 31 by the vertical drive portion 32 is set to a predetermined value (predetermined distance). That is, the control device 14 controls the drive motor 32a to rotate by a predetermined rotation number, and rotates the screw shaft 32b by a predetermined rotation number. Thereby, in the drive mechanism 12, the vertical drive part 32 is comprised so that the drive connection part 31 may be displaced only a predetermined distance to an up-down direction. For this reason, even when the molds 100 having different heights are gripped by the gripping mechanism 11, the vertical drive unit 32 is configured to displace the drive coupling unit 31 by a predetermined distance in the vertical direction. Therefore, when the gripping mechanism 11 is driven by the drive mechanism 12 to grip the mold 100 having a high height, the distance that the drive connecting portion 31 is slid relative to the shaft portion 25 of the gripping mechanism 11 is slid. become longer. On the other hand, when the gripping mechanism 11 is driven by the drive mechanism 12 to grip the mold 100 having a low height, the distance by which the drive connecting portion 31 is slid relative to the shaft portion 25 of the gripping mechanism 11 is slid. Shorter.

  The upper displacement sensor 33 is configured such that when the driving force transmission unit 24 is subjected to a load larger than a predetermined load from the driving connection unit 31 and the driving force transmission unit 24 contracts more than a predetermined displacement amount, 21 is configured as a sensor that detects that a distance greater than a predetermined amount of displacement relative to 21 is displaced upward.

  In the present embodiment, the upper displacement sensor 33 is configured as a proximity sensor. As a proximity sensor constituting the upper displacement sensor 33, for example, an inductive type or a capacitive type proximity sensor can be used. The upper displacement sensor 33 is supported by a sensor support portion 33a attached to the drive connecting portion 31 and extending upward from the drive connecting portion 31 in a cantilevered manner. Further, the upper displacement sensor 33 is positioned relative to the sensor support portion 33a so as to be positioned at a position facing the upper beam portion 26 of the main body portion 21 in a state where the mold 100 is normally suspended by the gripping mechanism 11. It is supported. The driving force transmission unit 24 configured as a coil spring is provided as a sufficiently hard spring with respect to the weight of the mold 100, that is, as a spring having a sufficiently large spring constant. For this reason, the driving force transmission unit 24 is configured to contract only a slight amount of displacement when the mold 100 is normally suspended by the gripping mechanism 11.

  The upper displacement sensor 33 is fixed to the drive connecting portion 31 when the driving force transmitting portion 24 contracts by a predetermined displacement amount and the drive connecting portion 31 is displaced relative to the main body portion 21 by a predetermined displacement amount. Together with the sensor support portion 33a, the main body portion 21 is relatively displaced upward by the predetermined displacement amount. The upper displacement sensor 33 is displaced upward relative to the main body portion 21 by the above-described predetermined displacement amount, so that the upper displacement sensor 33 comes off the upper beam portion 26 from the position facing the upper beam portion 26 of the main body portion 21. It is provided in the sensor support part 33a so that it may be displaced to a different position. The upper displacement sensor 33 configured as a proximity sensor detects the displacement to the position deviated upward of the upper beam portion 26, so that the driving force transmitting portion 24 contracts by a predetermined displacement amount or more, and the drive connection The part 31 is configured to detect that the body part 21 is relatively displaced upward by a distance equal to or greater than a predetermined displacement amount.

  When a load larger than a predetermined load is applied to the gripping mechanism 11 from the drive connecting portion 31 and the drive connecting portion 31 is relatively displaced upward with respect to the main body portion 21 by a distance greater than a predetermined displacement amount, It is detected by the displacement sensor 33. For this reason, when an abnormality occurs during the lifting operation of the mold 100 and an excessive driving force is applied from the drive connecting portion 31, this can be detected. For example, it is possible to detect a case where there is an abnormality in the lifting operation of the mold 100 as in the case where the mold 100 is installed in a state where it is fixed to the installation hole 110a and is difficult to take out.

  The upper displacement sensor 33 is connected to the control device 14, and when detecting that the drive connecting portion 31 is relatively displaced upward with respect to the main body portion 21 by a distance equal to or larger than a predetermined displacement amount, a signal of the detection result is output. It transmits to the control apparatus 14. When receiving the detection result signal from the upper displacement sensor 33, the control device 14 stops the operation of the drive mechanism 12. Thereby, in spite of an abnormality occurring during the lifting operation of the mold 100, an excessive driving force is applied to the gripping mechanism 11 from the drive connecting portion 31, and the drive mechanism 12 or the gripping mechanism 11 is damaged. Is prevented.

  The downward displacement sensor 34 detects that the drive coupling portion 31 is displaced below the predetermined position with respect to the main body portion 21 when the drive coupling portion 31 is displaced below a predetermined position in the main body portion 21. It is configured as a sensor.

  In the present embodiment, the downward displacement sensor 34 is configured as a proximity sensor. As a proximity sensor constituting the downward displacement sensor 34, for example, an inductive type or a capacitive type proximity sensor can be used. Further, the downward displacement sensor 34 is supported by a sensor support portion 34a attached to the drive connecting portion 31 and extending downward from the drive connecting portion 31 in a cantilevered manner. Further, the downward displacement sensor 34 is configured such that the insertion shaft portion 103 of the mold 100 is inserted into the installation hole 110a, the mold 100 is appropriately installed on the installation base 110, and the drive connecting portion 31 is displaced downward by a predetermined distance. In the stopped state, the sensor support portion 34 a is supported so as to be positioned above the lower beam portion 27 of the main body portion 21 or at a position facing the lower beam portion 27.

  The lower displacement sensor 34 passes through a position facing the lower beam portion 27 of the main body portion 21 when the drive connecting portion 31 is displaced below a predetermined position in the main body portion 21, and below the lower beam portion 27. It is provided in the sensor support portion 34a so as to be displaced to a position deviated from the center. More specifically, when the drive connecting portion 31 is further displaced downward in a state where the insertion shaft portion 103 of the mold 100 is not properly fitted in the installation hole 110a and the mold 100 is not properly installed on the installation base 110. Then, the drive connecting portion 31 is displaced downward from a predetermined position in the main body portion 21, and the downward displacement sensor 34 is displaced to a position deviated below the lower beam portion 27. The predetermined position is, for example, a position on the side of the lower beam portion 27 in the shaft portion 25 and a position in a range where the drive connecting portion 31 does not contact the lower beam portion 27. The position of the downward displacement sensor 34 supported by the drive connecting portion 31 via the sensor support portion 34a corresponds to the lower end position of the lower beam portion 27 when the drive connecting portion 31 reaches the predetermined position. It is set to be a position. The downward displacement sensor 34 configured as a proximity sensor detects the displacement to the position deviated below the lower beam portion 27, so that the drive connecting portion 31 is displaced below the predetermined position of the main body portion 21. Is configured to detect that.

  When the drive connecting portion 31 is displaced below the predetermined position with respect to the main body portion 21, this is detected by the downward displacement sensor 34. For this reason, an abnormality occurs during the installation operation of the mold 100, the mold 100 does not properly fit into the installation hole 110a, and the drive connection is performed even though the mold 100 is not properly installed on the installation base 110. When only the part 31 is lowered excessively with respect to the main body part 21, this can be detected.

  The downward displacement sensor 34 is connected to the control device 14, and transmits a signal of the detection result to the control device 14 when detecting that the drive connecting portion 31 is displaced downward from a predetermined position of the main body portion 21. When receiving the detection result signal from the downward displacement sensor 34, the control device 14 stops the operation of the drive mechanism 12. As a result, the drive connecting portion 31 is excessively displaced with respect to the gripping mechanism 11 in spite of an abnormality occurring during the installation operation of the mold 100, and the drive mechanism 12 or the gripping mechanism 11 is damaged. Is prevented.

[Operation of transport device]
Next, the operation of the transport device 1 will be described. The conveying apparatus 1 conveys the mold 100 so as to be transferred from the installation table 110 on the belt conveyor mechanism to the apparatus for each process, or molds from the apparatus for each process to the installation table 110 on the belt conveyor mechanism. The operation of transporting 100 is performed. And the conveyance apparatus 1 operates the conveyance carriage 13 in the state which hold | gripped the metal mold | die 100 with the holding | grip mechanism 11 based on the control command from the control apparatus 14, and the installation stand 110 on a belt conveyor mechanism and each process. The mold 100 is transferred to and transported from the apparatus.

  In addition, the transport device 1 operates to lift the mold 100 from the installation base 110 on which the mold 100 is installed by operating the gripping mechanism 11 and the drive mechanism 12 based on a control command from the control device 14. I do. Further, the conveying device 1 performs an installation operation for installing the mold 100 on the installation table 110 by operating the gripping mechanism 11 and the drive mechanism 12 based on a control command from the control device 14. Hereinafter, the lifting operation and the installation operation of the mold 100 by the transport device 1 will be described in more detail.

[Mold lifting operation]
FIGS. 3 to 6 are diagrams illustrating an example of the lifting operation of the mold 100 by the transport device 1, and a side view schematically showing a part of the drive mechanism 12 and the gripping mechanism 11 together with the mold 100. FIG. When the lifting operation of the mold 100 by the transfer device 1 is performed, the mold 100 is installed on the installation table 110 in a state of being inserted into the installation hole 110a as shown in FIG. When the lifting operation of the mold 100 is started, the transport carriage 13 moves the drive mechanism 12 to the position where the gripping mechanism 11 is disposed above the mold 100 to be transported installed on the installation table 110. Move. The lifting operation of the mold 100 is started in a state where the gripping mechanism 11 is disposed above the mold 100.

  When the lifting operation of the mold 100 is started, the drive mechanism 12 is operated based on the control command of the control device 14 with the gripping mechanism 11 disposed above the mold 100 as described above. To do. At this time, based on the control command from the control device 14, the drive mechanism 12 rotates the drive motor 32 a of the vertical drive unit 32 by a predetermined number of rotations, and the vertical drive unit 32 moves the drive coupling unit 31 downward. Move down a predetermined distance.

  At the start of the operation of the driving mechanism 12, the gripping mechanism 11 is supported in a state in which the driving force transmitting unit 24 abuts the driving connecting unit 31 slidably connected to the shaft unit 25. Has been. In this state, the vertical drive unit 32 lowers the drive connecting unit 31, and the gripping mechanism 11 moves down toward the mold 100 together with the drive connecting unit 31 as indicated by an arrow in FIG. 3. When the gripping mechanism 11 is lowered to the vicinity of the mold 100, first, the contact portion 22 of the gripping mechanism 11 contacts the top portion 102 a of the mold 100. Since the drive connecting portion 31 is connected to the shaft portion 25 of the main body portion 21 of the gripping mechanism 11 so as to be slidable up and down, the contact portion 22 contacts the top portion 102a of the mold 100 as shown in FIG. In a state where the relative position of the main body 21 with respect to the mold 100 does not change, only the drive connecting portion 31 moves down along the shaft portion 25 of the main body 21 (in the direction indicated by the arrow in FIG. 4).

  Since the vertical displacement amount of the drive connecting portion 31 by the vertical drive portion 32 is set to a predetermined value (predetermined distance), the drive connecting portion 31 is located at an intermediate position of the shaft portion 25 of the main body portion 21. Stop (see FIG. 5). The horizontal drive actuator 28 of the gripping mechanism 11 is operated based on the control command of the control device 14 in a state where the contact portion 22 is in contact with the top portion 102a of the mold 100 and the drive connecting portion 31 is stopped. The combined holding portion 23 slides in the horizontal direction along the lower beam portion 27 toward the gripping shaft portion 102 (in the direction indicated by the arrow in FIG. 5). As shown in FIG. 5, the claw portion 23 a at the distal end portion of the engagement holding portion 23 is fitted into and engaged with the groove portion 102 b of the gripping shaft portion 102 of the mold 100. In this way, when the engagement holding part 23 engages with the mold 100, the gripping operation of the mold 100 by the contact part 22 and the engagement holding part 23 is completed.

  When the gripping operation of the mold 100 is completed, the drive motor 32a of the vertical drive unit 32 is operated based on the control command from the control device 14, and the vertical drive unit 32 raises the drive coupling unit 31. The drive connecting portion 31 rises while sliding with respect to the shaft portion 25 of the main body portion 21 when starting to rise. When the drive connecting portion 31 is displaced upward along the shaft portion 25 of the main body portion 21, the drive connecting portion 31 comes into contact with the driving force transmitting portion 24 in the gripping mechanism 11. When the drive connecting portion 31 comes into contact with the driving force transmitting portion 24, as shown in FIG. 6, the driving force from the drive connecting portion 31 displaced upward is transmitted to the main body portion 21, and the main body portion 21 is driven and connected. It is displaced together with the portion 31 (in the direction indicated by the arrow in FIG. 6). As a result, the gripping mechanism 11 moves up while gripping the mold 100, the insertion shaft portion 103 of the mold 100 is extracted from the installation hole 110a, and the mold 100 is lifted. When the drive connecting portion 31 rises to a predetermined height position above, the operation of the drive mechanism 12 is stopped, and the lifting operation of the mold 100 is completed. When the lifting operation of the mold 100 is completed, the transport carriage 13 is operated based on the control command from the control device 14, and the gripped mold 100 is transported.

  Here, the operation of the transfer device 1 when the height of the mold 100 is different during the lifting operation of the mold 100 will be further described. FIG. 7 is a diagram illustrating an example for explaining the operation of the conveying device 1 according to the height difference of the mold 100 during the lifting operation of the mold 100 by the conveying device 1. 3 is a side view schematically showing a part and a gripping mechanism 11 together with a mold 100. FIG. FIG. 7A is a diagram illustrating an example of the operation of the transfer apparatus 1 when the height of the mold 100 is high during the lifting operation of the mold 100 by the transfer apparatus 1. On the other hand, FIG. 7B is a diagram illustrating an example for explaining the operation of the transport apparatus 1 when the height of the mold 100 is low during the lifting operation of the mold 100 by the transport apparatus 1.

  During the lifting operation of the mold 100, the transfer device 1 operates as described above. For this reason, when the gripping mechanism 11 is lowered for the lifting operation of the mold 100, as shown in FIG. 7A, when the height of the mold 100 is high, the contact portion 22 of the gripping mechanism 11 is It abuts on the top 102a of the mold 100 at a high position. Then, in a state where the relative position of the main body portion 21 with respect to the mold 100 does not change, only the drive connecting portion 31 descends while sliding on the shaft portion 25 of the main body portion 21, and a predetermined distance in which a vertical displacement amount is set. At this stage, the drive connecting portion 31 stops at an intermediate position of the shaft portion 25 of the main body portion 21. In FIG. 7, the stop position of the drive connecting portion 31 when the vertical displacement amount reaches a predetermined distance is indicated by a two-dot chain line. Then, after stopping the lowering operation of the drive connecting portion 31, as described above, the gripping operation by the gripping mechanism 11 is performed, and the operation of lifting the mold 100 is performed. FIG. 7A illustrates a state before the gripping operation by the gripping mechanism 11 is performed on the mold 100 having a high height and the mold 100 is lifted.

  On the other hand, when the gripping mechanism 11 is lowered for the lifting operation of the mold 100, as shown in FIG. 7B, when the height of the mold 100 is low, the contact portion 22 of the gripping mechanism 11 is low. It abuts on the top 102a of the mold 100 at the position. Then, in a state where the relative position of the main body portion 21 with respect to the mold 100 does not change, only the drive connecting portion 31 descends while sliding on the shaft portion 25 of the main body portion 21, and a predetermined distance in which a vertical displacement amount is set. At this stage, the drive connecting portion 31 stops at an intermediate position of the shaft portion 25 of the main body portion 21. Then, as described above, the gripping operation by the gripping mechanism 11 is performed, and the operation of lifting the mold 100 is performed. FIG. 7B illustrates a state before the holding operation by the holding mechanism 11 is performed on the mold 100 having a low height and the operation of lifting the mold 100 is performed.

  As described above, according to the transfer device 1, even when the height of the mold 100 is different, it is not necessary to individually control the lowered position of the gripping mechanism 11, and mold information is input to the control device 14. There is no need to do. Therefore, according to the transfer apparatus 1, even when the height of the mold 100 is different, it is possible to easily cope with the lifting operation of the mold 100, so that the automation of the lifting operation of the mold 100 can be easily achieved. it can. In addition, according to the transport device 1, the gripping mechanism 11 is provided with the contact portion 22 and the driving force transmission portion 24 and the driving coupling portion 31 of the driving mechanism 12 grips the configuration that can easily handle the lifting operation of the mold 100. This can be realized by a simple configuration that is slidably connected to the shaft portion 25 of the main body portion 21 of the mechanism 11.

  Next, the operation of the transfer device 1 when an abnormality is detected during the lifting operation of the mold 100 will be further described. FIG. 8 is a view showing an example for explaining the operation of the conveying device 1 when an abnormality is detected during the lifting operation of the mold 100 by the conveying device 1, and a part of the drive mechanism 12 and the gripping mechanism 11 are arranged in the mold. 1 is a side view schematically showing a mold 100. FIG. FIG. 8A is a diagram illustrating an example for explaining the operation of the transport apparatus 1 when no abnormality is detected during the lifting operation of the mold 100. On the other hand, FIG. 8B is a diagram illustrating an example for explaining the operation of the transport device 1 when an abnormality is detected during the lifting operation of the mold 100.

  When the lifting operation of the mold 100 is performed, as described above, the gripping operation by the gripping mechanism 11 is performed, and the drive connecting portion 31 is lifted and comes into contact with the driving force transmitting portion 24 and is gripped together with the drive connecting portion 31. The mechanism 11 is raised and the mold 100 is lifted. At this time, in the normal case shown in FIG. 8A, when the drive connecting portion 31 comes into contact with the driving force transmitting portion 24 and rises, the gripping mechanism 11 and the gold gripped by the gripping mechanism 11 together with the drive connecting portion 31 are used. The mold 100 is raised. At this time, the upper displacement sensor 33 is located at a position facing the upper beam portion 26 of the main body 21, and it is detected that the mold 100 is normally suspended by the gripping mechanism 11. An abnormality during the lifting operation of the mold 100 is not detected.

  On the other hand, as shown in FIG. 8 (b), when the mold 100 is installed on the installation table 110 in a state where the insertion shaft portion 103 of the mold 100 is difficult to take out due to being fixed to the installation hole 110a, the upward displacement The sensor 33 detects an abnormality during the lifting operation of the mold 100. When the insertion shaft portion 103 is fixed to the installation hole 110a and the mold 100 is difficult to be removed from the installation base 110, when the drive connecting portion 31 is brought into contact with the drive force transmitting portion 24 and is raised, the mold 100 and the main body The part 21 does not rise, the driving force transmission part 24 contracts, and the drive connecting part 31 is relatively displaced upward with respect to the main body part 21. Then, the driving force transmitting portion 24 contracts by a predetermined displacement amount, and the drive connecting portion 31 is relatively displaced upward with respect to the main body portion 21 by a predetermined displacement amount.

  Accordingly, the upper displacement sensor 33 is relatively displaced upward with respect to the main body portion 21 by the predetermined displacement amount together with the sensor support portion 33 a fixed to the drive connecting portion 31. The upper displacement sensor 33 is displaced upward relative to the main body portion 21 by the above-described predetermined displacement amount, so that the upper displacement sensor 33 comes off the upper beam portion 26 from the position facing the upper beam portion 26 of the main body portion 21. Displace to the position. The upper displacement sensor 33 detects the displacement to the position deviated upward of the upper beam portion 26, so that the driving force transmission portion 24 contracts by a predetermined displacement amount or more, and the driving connection portion 31 becomes the main body portion 21. It is detected that the distance relative to the predetermined amount of displacement is relatively displaced upward. Thereby, the upper displacement sensor 33 detects an abnormality during the lifting operation of the mold 100.

  When the upper displacement sensor 33 detects an abnormality during the lifting operation of the mold 100 as described above, the upper displacement sensor 33 transmits a signal of the detection result to the control device 14. The control device 14 that has received the detection result signal from the upper displacement sensor 33 stops the operation of the drive mechanism 12. Thereby, in spite of an abnormality occurring during the lifting operation of the mold 100, an excessive driving force is applied to the gripping mechanism 11 from the drive connecting portion 31, and the drive mechanism 12 or the gripping mechanism 11 is damaged. Is prevented.

[Mold setting operation]
FIG. 9 to FIG. 12 are diagrams illustrating an example for explaining the installation operation of the mold 100 by the transport device 1, and a side view schematically showing a part of the drive mechanism 12 and the gripping mechanism 11 together with the mold 100. FIG. When the installation operation of the mold 100 by the transport device 1 is performed, the mold 100 is held in a state of being gripped by the gripping mechanism 11 in the transport device 1 as illustrated in FIG. 9. When the installation operation of the mold 100 is started, the mold 100 gripped by the gripping mechanism 11 is disposed above the installation hole 110a which is an installation position for installing the mold 100 on the installation base 110. The transport carriage 13 moves the drive mechanism 12 to the position. The installation operation of the mold 100 is started in a state where the mold 100 gripped by the gripping mechanism 11 is disposed above the installation hole 110a which is the installation position.

  When the installation operation of the mold 100 is started, as described above, in a state where the mold 100 gripped by the gripping mechanism 11 is disposed above the installation hole 110a, based on the control command of the control device 14. Thus, the drive mechanism 12 operates. At this time, based on the control command from the control device 14, the drive mechanism 12 rotates the drive motor 32 a of the vertical drive unit 32 by a predetermined number of rotations, and the vertical drive unit 32 moves the drive coupling unit 31 downward. Move down a predetermined distance.

  At the start of the operation of the drive mechanism 12, the gripping mechanism 11 in a state where the mold 100 is gripped by the contact portion 22 and the engagement holding portion 23 is slidably connected by the shaft portion 25. The portion 31 is supported while being in contact with the driving force transmission portion 24. In this state, the vertical drive unit 32 lowers the drive connecting unit 31. As a result, as indicated by an arrow in FIG. 9, the gripping mechanism 11 that grips the mold 100 is lowered together with the drive connecting portion 31, and the mold 100 is lowered toward the installation hole 110 a that is the installation position. When the mold 100 is lowered to the installation hole 110 a and the insertion shaft portion 103 is inserted into the installation hole 110 a and the mold 100 is installed in the installation hole 110 a, the gripping mechanism 11 stops descending together with the mold 100. Then, in a state where the mold 100 is installed in the installation hole 110a and the gripping mechanism 11 is stopped together with the mold 100, only the drive connecting portion 31 is along the shaft portion 25 of the main body portion 21 as shown in FIG. The robot descends while sliding (along the direction indicated by the arrow in FIG. 10).

  Since the vertical displacement amount of the drive connecting portion 31 by the vertical drive portion 32 is set to a predetermined value (predetermined distance), the drive connecting portion 31 is located at an intermediate position of the shaft portion 25 of the main body portion 21. Stop (see FIG. 11). With the drive connecting portion 31 stopped, the horizontal drive actuator 28 of the gripping mechanism 11 is operated based on the control command of the control device 14, and the engagement holding portion 23 is opposite to the gripping shaft portion 102 along the horizontal direction. Slide toward the side (in the direction indicated by the arrow in FIG. 11). Then, as shown in FIG. 11, the claw portion 23 a at the distal end portion of the engagement holding portion 23 is disengaged from the groove portion 102 b of the mold 100, and the engagement of the engagement holding portion 23 with the mold 100 is released. As described above, when the engagement holding portion 23 is disengaged from the mold 100, the gripping of the mold 100 by the gripping mechanism 11 is released.

  When the holding of the mold 100 is released, the drive motor 32a of the vertical drive unit 32 is operated based on the control command from the control device 14, and the vertical drive unit 32 raises the drive connecting unit 31. The drive connecting portion 31 rises while sliding with respect to the shaft portion 25 of the main body portion 21 when starting to rise. When the drive connecting portion 31 is displaced upward along the shaft portion 25 of the main body portion 21, the drive connecting portion 31 comes into contact with the driving force transmitting portion 24 in the gripping mechanism 11. When the drive connecting portion 31 comes into contact with the driving force transmitting portion 24, the driving force from the drive connecting portion 31 displaced upward is transmitted to the main body portion 21 so that the main body portion 21 is moved upward together with the drive connecting portion 31 (see FIG. 12 in the direction indicated by the arrow). Thereby, the gripping mechanism 11 is lifted in a state where the gripping operation of the mold 100 is released, and the installation operation of the mold 100 at the installation position is completed.

  Here, the operation of the transfer apparatus 1 when the height of the mold 100 is different during the installation operation of the mold 100 will be further described. FIG. 13 is a diagram illustrating an example for explaining the operation of the conveying device 1 according to the height difference of the mold 100 during the installation operation of the die 100 by the conveying device 1. 3 is a side view schematically showing a part and a gripping mechanism 11 together with a mold 100. FIG. FIG. 13A is a diagram illustrating an example for explaining the operation of the transfer apparatus 1 when the height of the mold 100 is high during the setting operation of the mold 100 by the transfer apparatus 1. On the other hand, FIG. 13B is a diagram illustrating an example for explaining the operation of the transfer apparatus 1 when the height of the mold 100 is low during the installation operation of the mold 100 by the transfer apparatus 1.

  During the installation operation of the mold 100, the transfer device 1 operates as described above. For this reason, when the gripping mechanism 11 is lowered for the installation operation of the mold 100, the gripping mechanism 11 stops the lowering together with the mold 100 which is installed in the installation hole 110a which is the installation position and has stopped descending. For this reason, as shown to Fig.13 (a), when the height of the metal mold | die 100 is high, the holding | grip mechanism 11 will stop descent | fall in a position with high height. Then, in a state where the gripping mechanism 11 is stopped together with the mold 100, only the drive connecting portion 31 descends while sliding on the shaft portion 25 of the main body portion 21, and reaches a predetermined distance in which the amount of vertical displacement is set. At this stage, the drive connecting portion 31 stops at a midpoint position of the shaft portion 25 of the main body portion 21. In FIG. 13, the stop position of the drive connecting portion 31 when the amount of displacement in the vertical direction has reached a predetermined distance is indicated by a two-dot chain line. Then, after stopping the lowering operation of the drive connecting portion 31, as described above, the operation of releasing the gripping by the gripping mechanism 11 is performed, the gripping mechanism 11 is lifted, and the installation operation of the mold 100 is completed. FIG. 13A illustrates a state before the installation operation of the mold 100 having a high height is performed and the gripping mechanism 11 releases the grip.

  On the other hand, when the gripping mechanism 11 is lowered for the installation operation of the mold 100, as shown in FIG. 13B, if the height of the mold 100 is low, it is installed in the installation hole 110a which is the installation position. The gripping mechanism 11 that has stopped descending together with the mold 100 stops descending at a low height position. Then, in a state where the gripping mechanism 11 is stopped together with the mold 100, only the drive connecting portion 31 descends while sliding on the shaft portion 25 of the main body portion 21, and reaches a predetermined distance in which the amount of vertical displacement is set. At this stage, the drive connecting portion 31 stops at a midpoint position of the shaft portion 25 of the main body portion 21. And as mentioned above, the operation | movement which cancels | releases the holding | grip by the holding mechanism 11 is performed, the holding mechanism 11 raises, and the installation operation | movement of the metal mold | die 100 is completed. Note that FIG. 13B illustrates a state before the lower mold 100 is installed and the gripping mechanism 11 releases the grip.

  As described above, according to the transfer device 1, even when the height of the mold 100 is different, it is not necessary to individually control the lowered position of the gripping mechanism 11, and mold information is input to the control device 14. There is no need to do. Therefore, according to the transfer apparatus 1, even if the height of the mold 100 is different, it is possible to easily cope with the installation operation of the mold 100, so that the automation of the installation operation of the mold 100 can be easily achieved. it can. In addition, according to the transport device 1, the gripping mechanism 11 is provided with the contact portion 22 and the driving force transmission portion 24, and the drive coupling portion 31 of the drive mechanism 12 grips the configuration that can easily cope with the installation operation of the mold 100. This can be realized by a simple configuration that is slidably connected to the shaft portion 25 of the main body portion 21 of the mechanism 11.

  Next, the operation of the transfer device 1 when an abnormality is detected during the mold 100 installation operation will be further described. FIG. 14 is a view showing an example for explaining the operation of the conveying device 1 when an abnormality is detected during the installation operation of the mold 100 by the conveying device 1, and a part of the driving mechanism 12 and the gripping mechanism 11 are arranged in the mold. 1 is a side view schematically showing a mold 100. FIG. FIG. 14A is a diagram illustrating a state of the transport apparatus 1 immediately before the abnormality is detected during the installation operation of the mold 100 and the abnormality is detected. On the other hand, FIG. 14B is a diagram illustrating a state of the transport apparatus 1 in which an abnormality has occurred during the installation operation of the mold 100 and the abnormality has been detected.

  When the installation operation of the mold 100 is performed, as described above, the gripping mechanism 11 that grips the mold 100 is lowered together with the drive connecting portion 31, and the mold 100 is lowered toward the installation hole 110a that is the installation position. To do. At this time, when the operation is normally performed, the insertion shaft portion 103 of the mold 100 is inserted into the installation hole 110a, the mold 100 is appropriately installed in the installation base 110, and the drive connecting portion 31 is set. Stop in a state of being displaced downward by a predetermined distance. In this state, the downward displacement sensor 34 is located above the lower beam portion 27 of the main body portion 21 or at a position facing the lower beam portion 27 (see FIGS. 11 and 13). For this reason, it is detected that the mold 100 is normally installed in the installation hole 110a which is the installation position, and an abnormality during the installation operation of the mold 100 is not detected.

  On the other hand, as shown in FIG. 14, when a state occurs in which the insertion shaft portion 103 of the mold 100 is not properly fitted into the installation hole 110 a and the mold 100 is not properly installed on the installation base 110, the downward displacement sensor 34 detects an abnormality in the installation operation of the mold 100. In FIG. 14, the case where the insertion shaft portion 103 of the mold 100 abuts against the edge of the installation hole 110a is assumed as a case where the insertion shaft portion 103 of the mold 100 is not properly fitted into the installation hole 110a and an abnormality occurs. Illustrated.

  As shown in FIG. 14A, when the insertion shaft portion 103 of the mold 100 is not properly fitted into the installation hole 110a and an abnormality occurs, the mold 100 stops descending and holds the mold 100. The gripping mechanism 11 also stops descending. However, even if an abnormality occurs and the mold 100 and the gripping mechanism 11 stop descending, the drive connecting portion 31 does not stop and tries to continue descending until a predetermined distance is reached. At this time, the gripping mechanism 11 is located at a position higher than the position where the mold 100 is scheduled to stop in a state where the mold 100 is normally installed. For this reason, the drive connecting portion 31 is relatively displaced with respect to the main body portion 21 further than when the mold 100 is normally installed.

  Then, when the drive coupling portion 31 is further displaced downward in a state where the insertion shaft portion 103 of the mold 100 is not properly fitted in the installation hole 110a, the drive coupling portion 31 is moved to the main body as shown in FIG. The portion 21 is displaced downward from a predetermined position. Accordingly, the downward displacement sensor 34 is also displaced downward relative to the main body portion 21 by the same displacement amount as the displacement amount of the drive connection portion 31 together with the sensor support portion 34 a fixed to the drive connection portion 31. The lower displacement sensor 34 is displaced downward relative to the main body 21 by the same amount of displacement as the displacement of the drive connecting portion 31, and passes through a position facing the lower beam portion 27 of the main body 21. The beam part 27 is displaced to a position deviated downward. The downward displacement sensor 34 detects that the drive connecting portion 31 has been displaced below a predetermined position of the main body portion 21 by detecting that the downward displacement sensor 34 has been displaced to a position deviated downward from the lower beam portion 27. Thereby, the downward displacement sensor 34 detects an abnormality during the installation operation of the mold 100.

  When the downward displacement sensor 34 detects an abnormality during the installation operation of the mold 100 as described above, the downward displacement sensor 34 transmits a signal of the detection result to the control device 14. The control device 14 that has received the detection result signal from the downward displacement sensor 34 stops the operation of the drive mechanism 12. As a result, the drive connecting portion 31 is excessively displaced with respect to the gripping mechanism 11 in spite of an abnormality occurring during the installation operation of the mold 100, and the drive mechanism 12 or the gripping mechanism 11 is damaged. Is prevented.

[Effect of this embodiment]
As described above, according to the present embodiment, even when the height of the mold (conveyance target) 100 is different, the lifting operation of the mold 100 can be easily handled. Automation can be easily achieved. In addition, according to the present embodiment, the gripping mechanism 11 is provided with the contact portion 22 and the driving force transmission portion 24 and the driving coupling portion 31 of the driving mechanism 12 grips the configuration that can easily cope with the lifting operation of the mold 100. This can be realized by a simple configuration that is slidably connected to the shaft portion 25 of the main body portion 21 of the mechanism 11.

  In addition, according to the present embodiment, even when the height of the mold 100 is different, the installation operation of the mold 100 can be easily handled, so that the automation of the installation operation of the mold 100 can be easily achieved. it can. In addition, according to the present embodiment, the configuration that can easily cope with the installation operation of the mold 100 is provided with the contact portion 22 and the driving force transmission portion 24 in the gripping mechanism 11, and the drive coupling portion 31 of the drive mechanism 12 grips the gripping mechanism 11. This can be realized by a simple configuration that is slidably connected to the shaft portion 25 of the main body portion 21 of the mechanism 11.

  Therefore, according to the present embodiment, even if the height of the mold 100 is different, the lifting operation and the installation operation of the mold 100 can be easily handled with a simple configuration. Thus, it is possible to provide the transport apparatus 1 that can easily achieve the automation.

  In addition, according to the present embodiment, since the driving force transmission unit 24 is configured as a spring member, even when an excessive driving force is applied from the drive connecting unit 31 during the lifting operation of the mold 100, the spring is transmitted. Absorption due to elastic deformation of the member can suppress the occurrence of excessive stress in the main body 21.

  In addition, according to the present embodiment, a load larger than a predetermined load is applied to the gripping mechanism 11 from the drive connecting portion 31, and the drive connecting portion 31 is relatively upward relative to the main body portion 21 by a distance equal to or greater than the predetermined displacement amount. When displaced, this is detected by the upward displacement sensor 33. For this reason, when an abnormality occurs during the lifting operation of the mold 100 and an excessive driving force is applied from the drive connecting portion 31, this can be detected. For example, it is possible to detect a case where there is an abnormality in the lifting operation of the mold 100, such as when the mold 100 is installed in a state where it is fixed to the installation hole 110a that is the installation position and is difficult to remove. it can. Thus, since the abnormality in the lifting operation of the mold 100 can be detected, the operation of the transport device 1 can be stopped based on the detection result. Thereby, in spite of an abnormality occurring during the lifting operation of the mold 100, an excessive driving force is applied to the gripping mechanism 11 from the drive connecting portion 31, and the drive mechanism 12 or the gripping mechanism 11 is damaged. Can be prevented.

  Further, according to the present embodiment, when the drive connecting portion 31 is displaced below the predetermined position with respect to the main body portion 21, this is detected by the downward displacement sensor 34. For this reason, when an abnormality occurs during the installation operation of the mold 100 and the mold 100 is not properly installed at the installation position, only the drive connecting portion 31 is excessively lowered with respect to the main body portion 21. Can be detected. For example, as in the case where the mold 100 does not fit properly in the installation hole 110a which is the installation position and only the drive connecting portion 31 is lowered even though the mold 100 is not installed in the installation hole 110a. The case where abnormality has arisen in the installation operation | movement of the metal mold | die 100 is detectable. Thus, since the abnormality at the time of the installation operation | movement of the metal mold | die 100 can be detected, operation | movement of the conveying apparatus 1 can be stopped based on the detection result. As a result, the drive connecting portion 31 is excessively displaced with respect to the gripping mechanism 11 in spite of an abnormality occurring during the installation operation of the mold 100, and the drive mechanism 12 or the gripping mechanism 11 is damaged. Can be prevented.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. FIG. 15 is a schematic side view of the transport apparatus 2 according to the second embodiment of the present invention, and shows a part of the drive mechanism 12 and the gripping mechanism 41 in the transport apparatus 2 together with the mold 100.

  Similarly to the transport apparatus 1 of the first embodiment, the transport apparatus 2 of the second embodiment is configured as an apparatus for transporting the mold 100 as a transport target in a gripped state. In the following description of the transfer device 2, the same reference numerals are used in the drawings for elements configured in the same manner as in the first embodiment and elements corresponding to the first embodiment. The description is omitted by attaching or quoting the same reference numerals.

  The transport device 2 includes a gripping mechanism 41 that grips the mold 100, a drive mechanism 12 that drives the gripping mechanism 41 in the vertical direction, a transport carriage 13 that moves the drive mechanism 12, a gripping mechanism 41, the drive mechanism 12, and And a control device 14 that controls the operation of the transport carriage 13. The drive mechanism 12, the transport carriage 13, and the control device 14 of the transport apparatus 2 are configured in the same manner as the drive mechanism 12, the transport carriage 13 and the control apparatus 14 of the transport apparatus 1 of the first embodiment. In FIG. 15, illustrations of the transport carriage 13, the control device 14, and the upper displacement sensor 33 and the lower displacement sensor 34 in the drive mechanism 12 are omitted.

  The transport device 2 is different from the transport device 1 of the first embodiment in a part of the configuration of the gripping mechanism 41. Hereinafter, the structure of the holding | grip mechanism 41 different from 1st Embodiment is demonstrated.

  The gripping mechanism 41 is connected to the drive mechanism 12 and is provided as a mechanism for gripping the mold 100. The gripping mechanism 41 is slidably connected to the drive mechanism 12, and grips the mold 100 according to the mold 100 having a different height when the transport device 2 transports the mold 100. It is provided as a mechanism. The gripping mechanism 41 includes a main body portion 42, a contact portion 22, an engagement holding portion 23, a driving force transmission portion 24, a horizontal drive actuator 28, and the like. The gripping mechanism 41 is different from the configuration of the gripping mechanism 11 of the transport device 1 of the first embodiment in the configuration of the main body portion 42.

  The main body portion 42 is provided as a portion connected to the drive mechanism 12 by the drive connecting portion 31. The main body portion 42 includes a first main body portion 43, a second main body portion 44, a horizontal slide mechanism 45, a horizontal operation restricting portion 46, a vertical drive actuator 47, and the like.

  The first main body portion 43 is provided as a portion disposed above the main body portion 42, and includes a pair of shaft portions 25 as portions connected to the drive connection portion 31 of the drive mechanism 12, and an upper side of the pair of shaft portions 25. The upper beam part 26 which connects the edge part of this is comprised. The lower ends of the pair of shaft portions 25 in the first main body portion 43 are connected to a horizontal plate 51 of a horizontal slide mechanism 45 described later.

  The second main body portion 44 is disposed below the first main body portion 43 and is configured as a portion where the contact portion 22 and the engagement holding portion 23 are provided. The second main body portion 44 includes a pair of column portions 58 and a lower beam portion 27. Each of the pair of column portions 58 is formed in a columnar shape extending in the vertical direction. The pair of column portions 58 are provided so as to extend in the vertical direction in parallel with each other. Further, the upper ends of the pair of pillars 58 are connected to a horizontal plate 53 of a horizontal slide mechanism 45 described later. Further, the lower ends of the pair of column portions 58 are connected to the lower beam portion 27. As in the first embodiment, the lower beam portion 27 is provided with a contact portion 22, an engagement holding portion 23, and a horizontal drive actuator 28.

  The horizontal slide mechanism 45 is provided as a mechanism that supports the position of the contact portion 22 and the engagement holding portion 23 with respect to the drive connecting portion 31 so as to be slidable in the horizontal direction. The horizontal slide mechanism 45 is provided between the first main body portion 43 and the second main body portion 44 and is connected to the first main body portion 43 and the second main body portion 44. The horizontal slide mechanism 45 can slide the second main body portion 44 provided with the contact portion 22 and the engagement holding portion 23 in the horizontal direction with respect to the first main body portion 43 to which the drive connecting portion 31 is connected. It is configured to support the position of the contact portion 22 and the engagement holding portion 23 with respect to the drive connecting portion 31 so as to be slidable in the horizontal direction.

  More specifically, the horizontal slide mechanism 45 includes a horizontal plate 51, a horizontal plate 52, a horizontal plate 53, a rail 54, a block 55, a rail 56, and a block 57.

  Each of the horizontal plates (51, 52, 53) is provided as a plate-like member having a rectangular outer shape, and the surface direction extending in a rectangular shape is arranged along the horizontal direction. The horizontal plates (51, 52, 53) are arranged side by side along the vertical direction in a state of being arranged parallel to each other along the horizontal direction. Further, the horizontal plate 51 is disposed on the uppermost side, the horizontal plate 53 is disposed on the lowermost side, and the horizontal plate 52 is disposed between the horizontal plates 51 and 52. Further, the lower end portions of the pair of shaft portions 25 are fixedly connected to the horizontal plate 51 on the upper surface side. Further, the upper end portions of the pair of column portions 58 are fixedly connected to the horizontal plate 53 on the lower surface side thereof.

  Further, the horizontal plate 51 is provided with a through hole 51a penetrating in the vertical direction at the central portion thereof. Further, the horizontal plate 52 is provided with a through hole 52a penetrating in the vertical direction at the central portion thereof. Further, the horizontal plate 53 is provided with a through hole 53a penetrating in the vertical direction at the central portion thereof. The through holes (51a, 52a, 53a) provided in the horizontal plates (51, 52, 53) are arranged along the same axis in the vertical direction, and a horizontal operation restricting portion 46 described later is provided as a hole that can be freely penetrated. It has been.

  The rails 54 are provided as a pair and are fixed to the upper surface side of the horizontal plate 52. The pair of rails 54 are provided so as to extend parallel to each other along the upper surface of the horizontal plate 52, and are provided so as to extend along the horizontal direction.

  A plurality of blocks 55 are provided, and each block 55 is fixed to the lower surface side of the horizontal plate 51. Each of the plurality of blocks 55 is slidably attached to the rail 54. Note that, for example, four blocks 55 are provided, and one pair is provided for each of the pair of rails 54. Each block 55 supports the rail 54 in a slidable and suspended state. Therefore, the rail 54 and the block 55 are configured as a linear guide that supports the horizontal plate 52 slidably along the horizontal direction with respect to the horizontal plate 51. The horizontal plate 51 and the horizontal plate 52 are provided with stoppers (not shown) for preventing the horizontal plate 52 from falling off the horizontal plate 51.

  The rails 56 are provided in a pair and are fixed to the lower surface side of the horizontal plate 52. The pair of rails 56 are provided so as to extend parallel to each other along the lower surface of the horizontal plate 52, and are provided so as to extend along the horizontal direction.

  A plurality of blocks 57 are provided, and each block 57 is fixed to the upper surface side of the horizontal plate 53. Each of the plurality of blocks 57 is slidably attached to the rail 56. Note that, for example, four blocks 57 are provided, and one pair is provided for each of the pair of rails 56. Each block 57 is supported with respect to the rail 56 in a slidable and suspended state. Therefore, the rail 56 and the block 57 are configured as a linear guide that supports the horizontal plate 53 so as to be slidable along the horizontal direction with respect to the horizontal plate 52. The horizontal plate 52 and the horizontal plate 53 are provided with a stopper (not shown) for preventing the horizontal plate 53 from falling off the horizontal plate 52.

  The horizontal slide mechanism 45 has the above-described configuration, thereby supporting the second main body portion 44 so as to be slidable in the horizontal direction with respect to the first main body portion 43 and contacting the drive coupling portion 31. 22 and the engagement holding part 23 are supported so as to be slidable in the horizontal direction.

  In this embodiment, the horizontal plate 51 and the horizontal plate 53 constitute the first horizontal plate (51, 53) of the present invention, and the horizontal plate 52 constitutes the second horizontal plate 52 of the present invention. . That is, the horizontal slide mechanism 45 includes the first horizontal plate 51 and the second horizontal plate 52 arranged along the horizontal direction, and the second horizontal plate 52 that is one of the first horizontal plate 51 and the second horizontal plate 52. And a block 55 fixed to the other first horizontal plate 51 of the first horizontal plate 51 and the second horizontal plate 52 and slidably attached to the rail 54 in the horizontal direction. And have. Further, the horizontal slide mechanism 45 includes a first horizontal plate 53 and a second horizontal plate 52 arranged along the horizontal direction, and one second horizontal plate 52 of the first horizontal plate 53 and the second horizontal plate 52. And a block 57 fixed to the other first horizontal plate 53 of the first horizontal plate 53 and the second horizontal plate 52 and attached to the rail 56 so as to be slidable in the horizontal direction. And have.

  Further, in the horizontal slide mechanism 45, the rail 54 and the block 55 support the horizontal plate 52 slidably along the horizontal direction with respect to the horizontal plate 51, and the rail 56 and the block 57 support the horizontal plate 52. The direction in which the horizontal plate 53 is slidably supported along the horizontal direction is set to be orthogonal to each other. Therefore, the horizontal slide mechanism 45 is slidable in the horizontal direction at the positions of the contact portion 22 and the engagement holding portion 23 with respect to the drive connecting portion 31 along two orthogonal axes extending in the horizontal direction. I support it.

  The horizontal operation restricting portion 46 is provided as a member that can restrict the horizontal movement of the contact portion 22 and the engagement holding portion 23 with respect to the drive connecting portion 31. The horizontal operation restricting portion 46 restricts the horizontal movement of the second main body portion 44 provided with the contact portion 22 and the engagement holding portion 23 with respect to the first main body portion 43 to which the drive connecting portion 31 is connected. Thus, the horizontal movement of the contact portion 22 and the engagement holding portion 23 with respect to the drive connecting portion 31 is restricted.

  In the present embodiment, the horizontal movement restricting portion 46 is provided as a pin-shaped member having a columnar portion and a conical portion on the tip side, and the axial direction extends in the vertical direction. It is arranged in the state. The horizontal operation restriction unit 46 is configured as a restriction pin that restricts the horizontal movement of the second main body portion 44 relative to the first main body portion 43. In the following description, the horizontal operation restriction unit 46 is also referred to as a restriction pin 46.

  The restriction pin 46 is provided so as to be relatively displaceable in the vertical direction with respect to the first horizontal plate (51, 53) and the second horizontal plate 52. In addition, the restriction pin 46 is located at a position corresponding to the through hole (51a, 53a, 52a) provided in each of the first horizontal plate (51, 53) and the second horizontal plate 52, and the first horizontal plate (51, 53). 53) and the second horizontal plate 52 so as to be relatively displaced in the vertical direction.

  The regulation pin 46 is inserted into the through holes (51a, 53a, 52a) provided in the first horizontal plate (51, 53) and the second horizontal plate 52, respectively, and is fitted in the first horizontal plate (51, 53). The plate (51, 53) is configured to regulate the relative displacement in the horizontal direction with respect to the second horizontal plate 52.

  The regulation pin 46 is removed from the through hole (51a, 53a, 52a) of at least one of the first horizontal plate (51a, 53a) and the second horizontal plate 52. 53a) is configured to allow relative displacement in the horizontal direction with respect to the second horizontal plate 52. In the present embodiment, the restriction pin 46 is horizontally removed from the second horizontal plate 52 of the first horizontal plate 51 in a state where it is removed from the through holes (51a, 52a) of the first horizontal plate 51 and the second horizontal plate 52. It is configured to allow relative displacement in the direction. Further, the regulation pin 46 is removed from one of the through holes 52a of the through holes (53a, 52a) of the first horizontal plate 53 and the second horizontal plate 52, and then the second horizontal plate of the first horizontal plate 53. 52 to allow relative displacement in the horizontal direction with respect to 52.

  The vertical drive actuator 47 is installed on the lower beam portion 27 of the second main body portion 44 and is configured to drive the restriction pin 46 in the vertical direction along a direction orthogonal to the longitudinal direction of the lower beam portion 27. The vertical drive actuator 47 includes, for example, a cylinder mechanism that operates with compressed air, and is configured such that the piston portion of the cylinder mechanism is displaced along the horizontal direction when compressed air is supplied to and discharged from the cylinder mechanism. Has been. The piston portion of the cylinder mechanism is connected to the restriction pin 46, and the restriction pin 46 moves in the vertical direction along with the displacement of the piston portion, and the first horizontal plate (51, 53) and the second horizontal plate. The plate 52 is configured to be relatively displaced in the vertical direction. The vertical drive actuator 47 is configured to operate by controlling the supply / discharge of compressed air based on a control command from the control device 14. That is, based on a control command from the control device 14, a supply source of compressed air (not shown) is controlled to control supply / discharge of compressed air to the vertical drive actuator 47 so that the vertical drive actuator 47 operates. It is configured.

  In addition to the structure with which the conveying apparatus 1 of 1st Embodiment is provided, the conveying apparatus 2 is further provided with the horizontal slide mechanism 45 and the control pin (horizontal operation | movement control part) 46 which were mentioned above. For this reason, in addition to the operation of the conveyance device 1, the conveyance device 2 can also perform an operation by the horizontal slide mechanism 45 and the restriction pin 46.

  FIG. 16 is a side view schematically showing a part of the drive mechanism 12 and the gripping mechanism 41 together with the mold 100 for explaining an example of the operation of the transport device 2. FIG. 16A shows a state in which the regulation pin 46 is fitted through the through holes (51a, 53a, 52a) of the first horizontal plate (51, 53) and the second horizontal plate 52. The state which controlled the relative displacement of the horizontal direction with respect to the 2nd horizontal plate 52 of 1 horizontal plate (51, 53) is shown. On the other hand, FIG. 16B shows the first horizontal plate (51, 53) in a state where the regulation pin 46 is removed from the through holes (51 a, 52 a) of the first horizontal plate 51 and the second horizontal plate 52. This shows a state in which relative displacement in the horizontal direction with respect to the second horizontal plate 52 is allowed. 16A and 16B illustrate a state where the gripping mechanism 41 grips the mold 100. FIG.

  When the transfer device 2 performs the lifting operation of the mold 100, the transfer cart 13 moves the drive mechanism 12 to the position where the gripping mechanism 41 is disposed above the transfer target mold 100 installed on the installation table 110. Move. The lifting operation of the mold 100 is started in a state where the gripping mechanism 41 is disposed above the mold 100. At this time, the vertical drive actuator 47 displaces the restriction pin 46 downward based on a control command from the control device 14. Accordingly, the restriction pin 46 is removed from the through holes (51a, 52a) of the first horizontal plate 51 and the second horizontal plate 52, and the second horizontal plate 52 of the first horizontal plate (51, 53). Relative displacement in the horizontal direction is allowed.

  When the lifting operation of the mold 100 is started, the drive mechanism 12 is operated based on the control command of the control device 14 with the gripping mechanism 41 disposed above the mold 100 as described above. To do. Then, when the drive mechanism 12 is operated, the vertical drive unit 32 lowers the drive connecting portion 31, and the gripping mechanism 41 is lowered toward the mold 100 together with the drive connecting portion 31. Then, when the gripping mechanism 41 is lowered to the position of the mold 100, the contact portion 22 of the gripping mechanism 41 contacts the top portion 102 a of the mold 100. Then, after the contact portion 22 contacts the top portion 102a, only the drive connecting portion 31 slides relative to the shaft portion 25, and then the drive connecting portion 31 stops descending.

  When the drive connecting portion 31 stops descending, the gripping mechanism 41 is operated based on a control command from the control device 14, the engagement holding portion 23 is engaged with the mold 100, and the gripping operation of the mold 100 is performed. . At this time, even if there is a slight misalignment between the center position of the mold 100 and the center position of the gripping mechanism 41, the horizontal slide mechanism 45 autonomously changes the first main body portion according to the load generated during the gripping operation. 43 is slid with respect to the second body portion 44. Accordingly, the horizontal slide mechanism 45 slides the positions of the contact portion 22 and the engagement holding portion 23 in the horizontal direction with respect to the drive connecting portion 31, and the center position of the mold 100 and the center position of the gripping mechanism 41 are set. Absorbs misalignment. For this reason, the center position of the second main body portion 44 provided with the contact portion 22 and the engagement holding portion 23 is aligned with the center position of the mold 100 and the installation hole 110a. The mold 100 is held in an appropriate posture.

  When the gripping operation of the mold 100 is completed, the drive mechanism 12 is activated, the vertical drive unit 32 raises the drive connection unit 31, the drive connection unit 31 contacts the drive force transmission unit 24, and the main body unit 42 is drive connected. It rises with the part 31. As a result, the gripping mechanism 41 is lifted while gripping the mold 100, and the mold 100 is lifted. During the lifting operation, the center position of the second main body portion 44 provided with the contact portion 22 and the engagement holding portion 23 matches the center position of the mold 100 and the installation hole 110a. Since the mold 100 is held in an appropriate posture, the mold 100 is prevented from being lifted in an oblique posture from the installation hole 110 which is the installation position. For this reason, it is prevented that the state which becomes difficult to take out the metal mold | die 100 from the installation hole 110a generate | occur | produces. Thereby, according to the conveying apparatus 2, even when there is a slight misalignment between the mold 100 and the gripping mechanism 41 during the lifting operation of the mold 100, the lifting operation of the mold 100 is easy. Therefore, automation of the lifting operation of the mold 100 can be easily achieved.

  When the holding operation of the mold 100 is completed and the lifting operation of the mold 100 is performed and the insertion shaft portion 103 of the mold 100 is pulled out from the installation hole 110a, the gap between the mold 100 and the holding mechanism 41 is increased. Absorption of misregistration is completed, and no misalignment absorption is required. In this state, the vertical drive actuator 47 displaces the restriction pin 46 upward based on a control command from the control device 14. As a result, the regulation pin 46 is inserted through the through holes (51a, 53a, 52a) of the first horizontal plate (51, 53) and the second horizontal plate 52, and the first horizontal plate (51, 53). 53) relative displacement in the horizontal direction with respect to the second horizontal plate 52 is restricted. As a result, the mold 100 is transported in a state where the operation of the horizontal slide mechanism 45 is regulated and stabilized.

  When the transfer device 2 performs the installation operation of the mold 100, the mold 100 held by the holding mechanism 41 is disposed above the installation hole 110a which is an installation position where the mold 100 is installed on the installation table 110. The transport carriage 13 moves the drive mechanism 12 to the position. During the transfer of the mold 100 by the operation of the transfer carriage 13, it is not necessary to absorb the displacement between the installation hole 110 a that is the installation position of the mold 100 and the mold 100. For this reason, during the conveyance of the mold 100, the vertical drive actuator 47 displaces the restriction pin 46 upward based on the control command from the control device 14. As a result, as shown in FIG. 16A, the regulation pin 46 is fitted through the through holes (51a, 53a, 52a) of the first horizontal plate (51, 53) and the second horizontal plate 52. In this state, the horizontal displacement of the first horizontal plate (51, 53) with respect to the second horizontal plate 52 is restricted.

  The installation operation of the mold 100 is started in a state where the mold 100 gripped by the gripping mechanism 41 is disposed above the installation hole 110a which is the installation position. When the installation operation of the mold 100 is started, the drive mechanism 12 is operated based on the control command of the control device 14, the vertical drive unit 32 lowers the drive connecting unit 31, and the gripping mechanism that grips the mold 100. The drive connecting portion 31 is lowered together with 41.

  As described above, when the drive connecting portion 31 descends together with the gripping mechanism 41 that grips the mold 100, the vertical drive actuator 47 is moved to the restriction pin based on the control command of the control device 14 at the midway of the descending timing. 46 is displaced downward. For example, the vertical drive actuator 47 displaces the regulating pin 46 downward at a timing immediately before the insertion shaft portion 103 of the mold 100 that is lowered together with the drive connecting portion 31 and the gripping mechanism 41 is inserted into the installation hole 110a. Thus, when the insertion shaft portion 103 is inserted into the installation hole 110a, the restriction pin 46 is inserted into the through holes (51a, 52a) of the first horizontal plate 51 and the second horizontal plate 52 as shown in FIG. ) In a state where the first horizontal plate (51, 53) is displaced relative to the second horizontal plate 52 in the horizontal direction.

  When the mold 100 is installed, as described above, before the insertion shaft portion 103 of the mold 100 is inserted into the installation hole 110a, the second horizontal plate 52 of the first horizontal plate (51, 53). Horizontal displacement relative to is allowed. For this reason, even if there is a slight misalignment between the center position of the mold 100 and the installation hole 110a which is the installation position, the horizontal slide mechanism 45 responds to the load generated when the insertion shaft portion 103 is inserted into the installation hole 110a. Then, the first body portion 43 is slid and moved relative to the second body portion 44 autonomously. Accordingly, the horizontal slide mechanism 45 slides the positions of the contact portion 22 and the engagement holding portion 23 in the horizontal direction with respect to the drive connecting portion 31, and the positional deviation between the center position of the mold 100 and the installation hole 110a. Absorbs. Thus, in a state where the mold 100 is gripped in an appropriate posture by the gripping mechanism 41, the insertion shaft portion 103 of the mold 100 is smoothly inserted so as to slide into the installation hole 110a, and the mold 100 is inserted into the installation hole 110a. Will be installed. For this reason, it is prevented that the metal mold | die 100 does not fit appropriately in the installation hole 110a, and the state which cannot install the metal mold | die 100 in the installation hole 110a generate | occur | produces. Thus, even when there is a slight misalignment between the mold 100 and the installation hole 110a during the installation operation of the mold 100, the installation operation of the mold 100 can be easily handled. Automation of the installation operation of the mold 100 can be easily achieved.

  When the mold 100 is installed in the installation hole 110a, the gripping mechanism 41 is activated, the engagement of the engagement holding part 23 with the mold 100 is released, and the gripping of the mold 100 by the gripping mechanism 41 is released. Is done. When the grip of the mold 100 is released, the drive mechanism 12 is operated, the vertical drive unit 32 raises the drive connection unit 31, the drive connection unit 31 comes into contact with the drive force transmission unit 24, and the main body unit 42 is driven. It rises with the connecting part 31. Accordingly, the gripping mechanism 41 is lifted in a state where the gripping operation of the mold 100 is released, and the installation operation of the mold 100 in the installation hole 110a is finished.

  The transport apparatus 2 described above includes elements configured in the same manner as the transport apparatus 1 of the first embodiment. In other words, the transport device 2 includes the driving mechanism 12 and the gripping mechanism 41 provided with the shaft portion 25 to which the driving connecting portion 31 of the driving mechanism 12 is slidably connected, the contact portion 22, and the engagement holding portion 23. And a driving force transmission unit 24. Thereby, similarly to the conveyance apparatus 1 of 1st Embodiment, even if the conveyance apparatus 2 is a case where the height of the metal mold | die 100 differs, it is easy to carry out the raising operation | movement and installation operation | movement of the metal mold | die 100 by simple structure. Accordingly, it is possible to easily achieve the lifting operation and the installation operation of the mold 100.

  Then, according to the transport device 2, even when there is a slight misalignment between the center position of the mold 100 and the center position of the gripping mechanism 41 when performing the gripping operation for lifting the mold 100, the drive connecting portion By slidably moving the positions of the contact portion 22 and the engagement holding portion 23 with respect to 31 in the horizontal direction, the positional deviation can be absorbed. Thereby, the mold 100 can be gripped in an appropriate posture by the gripping mechanism 41. Therefore, it is possible to prevent the mold 100 from being lifted from the installation hole 110a in an oblique posture. For this reason, it is possible to prevent a situation in which it is difficult to take out the mold 100 from the installation hole 110a. Thus, even when there is a slight misalignment between the mold 100 and the gripping mechanism 41 during the lifting operation of the mold 100, the lifting operation of the mold 100 can be easily handled. Automation of the lifting operation of the mold 100 can be easily achieved.

  Further, according to the transfer device 2, when performing the operation of installing the mold 100, even if there is a slight misalignment between the center position of the mold 100 and the installation hole 110 a, the conveyance device 2 makes contact with the drive connecting portion 31. By slidably moving the positions of the portion 22 and the engagement holding portion 23 in the horizontal direction, the positional deviation can be absorbed. Accordingly, the mold 100 can be installed in the installation hole 110a in a state where the mold 100 is gripped in an appropriate posture by the gripping mechanism 41. For this reason, it can prevent that the metal mold | die 100 does not fit appropriately in the installation hole 110a, and the state which cannot install the metal mold | die 100 in the installation hole 110a can generate | occur | produce. Thus, even when there is a slight misalignment between the mold 100 and the installation hole 110a during the installation operation of the mold 100, the installation operation of the mold 100 can be easily handled. Automation of the installation operation of the mold 100 can be easily achieved.

  Therefore, according to the present embodiment, even when there is a slight misalignment between the mold 100 and the gripping mechanism 41 or the installation hole 110a during the lifting operation and the installation operation of the mold 100, the mold Thus, it is possible to provide the transfer device 2 that can easily cope with the lifting operation and the installation operation of 100 and can easily achieve the automation of the lifting operation and the installation operation of the mold 100.

  Further, according to the transfer device 2, as described above, when there is a slight misalignment between the mold 100 and the gripping mechanism 41 or the installation hole 110a during the lifting operation and the installation operation of the mold 100, Misalignment can be absorbed by the horizontal slide mechanism 45. According to the transport device 2, in a state where absorption of misalignment is completed or in a state where absorption of misalignment is not necessary, the contact portion with respect to the drive connecting portion 31 is activated by operating the horizontal operation restricting portion 46. It is possible to restrict the horizontal movement of the engagement holding portion 23 and the engagement holding portion 23. For this reason, in a state where absorption of misalignment is completed or in a state where absorption of misalignment is not necessary, the operation of the horizontal slide mechanism 45 is restricted and the conveying operation of the mold 100 is performed in a stable state. Can do. For example, after the displacement is absorbed by the horizontal slide mechanism 45 during the gripping operation for lifting the mold 100, the operation of the horizontal slide mechanism 45 is regulated to lift the mold 100 in a stable state. Can be transported. In addition, when the mold 100 is transported to the installation hole 110a before the operation of installing the mold 100 is performed, the operation of the horizontal slide mechanism 45 is regulated to transport the mold 100 in a stable state. be able to.

  Further, according to the transport device 2, the first horizontal plate (51, 53), the second horizontal plate 52, the rail (54, 56) fixed to one of the first and second horizontal plates, the first and second horizontal plates. The horizontal slide mechanism 45 having a compact structure can be configured by a simple configuration including the blocks (55, 57) fixed to the other side of the plate. Further, the horizontal operation restricting portion 46 can be configured with a simple structure by the restricting pin 46 that can penetrate the first and second horizontal plates and is relatively displaced in the vertical direction with respect to the first and second horizontal plates.

  Further, according to the transport device 2, in the main body portion 42, between the first main body portion 43 connected to the drive connecting portion 31 and the second main body portion 44 provided with the contact portion 22 and the engagement holding portion 23, A horizontal slide mechanism 45 is arranged. For this reason, the horizontal slide mechanism 45 can be compactly incorporated in the main body portion 42 of the gripping mechanism 41.

(Third embodiment)
Next, a third embodiment of the present invention will be described. FIG. 17 is a schematic side view of the transport device 3 according to the third embodiment of the present invention, and a part of the drive mechanism 12 and the gripping mechanism 61 in the transport device 3 of the third embodiment are combined with the mold 200. FIG.

  Similarly to the transport apparatus 1 of the first embodiment, the transport apparatus 3 of the third embodiment is configured as an apparatus for transporting the mold 200 as a transport target in a gripped state. In the following description of the transfer device 3, elements that are configured in the same manner as in the first embodiment and elements that are configured in correspondence with the first embodiment are denoted by the same reference numerals in the drawings. The description will be omitted by adding or quoting the same reference numerals.

  As in the first embodiment, the mold 200 as a conveyance target is used so as to obtain a transmission belt through a molding process and a vulcanization process, and is conveyed by the conveyance device 3 in each process.

  The mold 200 conveyed by the conveying device 3 according to the present embodiment is formed in a shaft shape as in the first embodiment, and the main shaft portion 201 around which the belt sleeve is wound and the gripping gripped by the gripping mechanism 61. A shaft portion 202 and an insertion shaft portion 203 for installing the mold 200 on the installation base 110 are provided. On the other hand, unlike the first embodiment, the mold 200 has a hollow portion 210 formed therein.

  The gripping shaft portion 202 has a top portion 202a and a groove portion 202b, as in the first embodiment.

  The diameter of the insertion shaft portion 203 is set to be smaller than the opening diameter of the installation hole 110a so that the mold 200 can be easily inserted into and removed from the installation hole 110a of the installation table 110.

  The hollow part 210 is provided as a space for allowing steam and water to pass through the inside of the mold 200, and the temperature of the mold 200 can be adjusted by allowing the steam and water to pass therethrough. An insertion hole 211 into which the protruding shaft 66 can be inserted is provided on the gripping shaft portion 202 side of the hollow portion 210.

  The insertion hole 211 is provided so as to open at the top portion 202 a of the gripping shaft portion 202. The insertion hole 211 is provided so as to penetrate the grip shaft 202 portion of the mold 200 in the axial direction. The insertion hole 211 has a constant opening diameter and extends in a direction parallel to the axial direction of the mold 200. Further, the insertion hole 211 is provided so that its axis is coaxial with the axis of the mold 200. Further, the insertion hole 211 has an inclined portion 212 at the top portion 202 a of the gripping shaft portion 202. The inclined portion 212 is formed in a tapered shape, and more specifically, has an inclined surface whose opening diameter increases in a conical shape as it approaches the end surface of the top portion 202a.

  The conveyance device 3 is different from the first embodiment in that the conveyance mechanism 3 further includes a protruding portion 64 in the gripping mechanism 61. In FIGS. 17, 18, and 20, some or all of the illustrations of the transport carriage 13, the control device 14, the drive mechanism 12, the upper displacement sensor 33, and the lower displacement sensor 34 are omitted as appropriate. . Hereinafter, a configuration of the gripping mechanism 61 different from the configuration of the first embodiment will be described.

  The gripping mechanism 61 includes a main body 62, a contact part 63, an engagement holding part 23, a driving force transmission part 24, a horizontal drive actuator 28, a protruding part 64, and the like as a mechanism for gripping the mold 200. ing.

  The main body 62 includes a shaft portion 25, an upper beam portion 26, and a lower beam portion 65 that is partially different from the lower beam portion 27 in the first embodiment.

  The lower beam portion 65 is provided with a protruding portion 64. Further, the lower beam portion 65 is formed with a through-hole through which a projecting shaft 66 described later is inserted in the center portion.

  A part of the contact portion 63 is different from that of the first embodiment, and a through-hole that accommodates a protruding shaft 66 described later is formed along the axis. Further, the contact portion 63 is provided with a disc-shaped portion 63a having a partially different configuration from that of the first embodiment, and the disc-shaped portion 63a is formed with a through hole in which a protruding shaft 66 described later is accommodated. Yes.

  The protruding portion 64 is provided as a portion for correcting the posture of the mold 200 installed in a tilted state on the installation table 110. The mold 200 whose inclination is corrected by the projecting portion 64 is securely gripped by the engagement holding portion 23 of the gripping mechanism 61. In addition, the protruding portion 64 includes a protruding shaft 66 and a protruding shaft driving portion 67.

  The protruding shaft 66 is provided in the gripping mechanism 61. Specifically, the protruding shaft 66 is supported by the main body portion 62 so as to protrude downward from the contact portion 63. The protruding shaft 66 is configured to be inserted into the insertion hole 211 that protrudes from the contact portion 63 and opens at the top portion 202 a of the mold 200. The protruding shaft 66 is formed in a shaft shape, and has a tapered portion 68 including a tapered portion at the tip portion. The tapered portion 68 is configured to contact the inclined portion 212 when the protruding shaft 66 is inserted into the insertion hole 211 in the inclined state. When the mold 200 is gripped by the gripping mechanism 61, the protruding shaft 66 is moved from the state accommodated in the lower beam portion 65 and the contact portion 63 to the state protruding from the contact portion 63 by the protruding shaft driving portion 67. It is driven and inserted into the insertion hole 211. Further, when the gripping operation of the mold 200 is released, the protruding shaft 66 moves from the state of protruding from the contact portion 63 to the state of being housed inside the lower beam portion 65 and the contact portion 63. Driven by.

  The protruding shaft drive unit 67 is provided as a portion that drives the protruding shaft 66 based on a control command from the control device 14. The protruding shaft driving portion 67 is installed at the center of the lower beam portion 65 of the main body portion 63 and is configured to drive the protruding shaft 66 in a direction perpendicular to the direction in which the lower beam portion 65 extends. The protruding shaft drive unit 67 is configured to include, for example, a cylinder mechanism that operates with compressed air, and the compressed air is supplied to and discharged from the cylinder mechanism so that the piston portion of the cylinder mechanism is displaced along the vertical direction. It is configured. The piston portion of the cylinder mechanism is connected to the protruding shaft 66, and the protruding shaft 66 slides so as to penetrate the lower beam portion 65 and the contact portion 63 along the vertical direction along with the displacement of the piston portion. Is configured to do. The protruding shaft drive unit 67 is configured to operate by controlling the supply / discharge of compressed air based on a control command from the control device 14. That is, based on a control command from the control device 14, a supply source of compressed air (not shown) is controlled to control supply / discharge of compressed air to / from the protruding shaft driving unit 67, and the protruding shaft driving unit 67 operates. Is configured to do.

  FIG. 18 is a diagram illustrating an example for explaining a part of the operation of the transport device 3 according to the third embodiment, and schematically shows a part of the drive mechanism 12 and the gripping mechanism 61 together with a mold. It is a side view. FIG. 19 is a schematic side view showing a part of the abutting portion 63 and the mold 200 according to the third embodiment in an enlarged manner, and FIG. 66 is a diagram when 66 is inserted, and (b) is a diagram when the inclination of the mold 200 is corrected by the protruding shaft 66. FIG. FIG. 20 is a diagram illustrating an example for explaining a part of the operation of the transport device 3 according to the third embodiment, and schematically shows a part of the drive mechanism 12 and the gripping mechanism 61 together with a mold. It is a side view.

  When the lifting operation of the mold 200 is started, the drive mechanism 12 operates based on the control command of the control device 14 with the gripping mechanism 61 disposed above the mold 200. Then, when the drive mechanism 12 is operated, the vertical drive unit 32 lowers the drive connecting portion 31 in the direction indicated by the arrow in FIG. 18, and the gripping mechanism 61 is lowered toward the mold 200 together with the drive connecting portion 31. .

  When the gripping mechanism 61 is lowered, the protruding shaft 66 protrudes from the disk-shaped portion 63a immediately before the disk-shaped portion 63a contacts the top portion 202a of the mold 200. Then, after the gripping mechanism 61 is lowered, the protruding shaft 66 protruding from the disc-shaped portion 63a is inserted into the insertion hole 211 of the mold 200, and the inclination of the mold 200 is corrected. More specifically, it is as follows.

  As described above, the diameter of the insertion shaft portion 203 is set smaller than the opening diameter of the installation hole 110a so that the mold 200 can be easily put in and out of the installation hole 110a of the installation table 110. For this reason, the mold 200 installed on the installation table 110 is usually installed so that its axis is in a direction perpendicular to the surface on which the axis is installed, but between the insertion shaft portion 203 and the installation hole 110a. A gap is formed. For this reason, the mold 200 may be installed in a state where its axis is inclined with respect to a direction perpendicular to the surface on which the mold 200 is installed. At this time, the protruding shaft 66 protruding from the disk-shaped portion 63a is inserted into the insertion hole 211 of the mold 200 installed in an inclined state, as shown in FIG. In the tilted mold 200, as shown in FIG. 19B, the projecting shaft 66 is inserted into the insertion hole 211, so that the shaft center of the projecting shaft 66 and the shaft center of the mold 200 are aligned. Corrected to be parallel.

  As a result, as shown in FIG. 20, the disc-shaped portion 63 a comes into contact with the top portion 202 a of the mold 200 after the protruding shaft 66 is inserted into the insertion hole 211. The protruding operation of the protruding shaft 66 may be performed after the disk-shaped portion 63a contacts the top portion 202a of the mold 200, or may be performed before the gripping mechanism 61 is lowered.

  After the protruding shaft 66 is inserted into the insertion hole 211 and the disc-shaped portion 63a contacts the top portion 202a, the mold 200 is gripped by the engagement holding portion 23 of the gripping mechanism 61 by the same operation as in the first embodiment. Be transported.

  The transport device 3 described above includes elements configured in the same manner as the transport device 1 of the first embodiment. Moreover, the conveying apparatus 3 may be provided with the main-body part 42 of the conveying apparatus 2 of 2nd Embodiment as a component.

  In the transport device 3 according to the present embodiment, the protruding shaft 66 inserted into the insertion hole 211 of the mold 200 is accommodated in the lower beam portion 65 and the abutting portion 63 by being driven by the protruding shaft driving portion 67. The case of protruding from the above state has been described as an example, but this need not be the case. For example, the protruding shaft 66 may be provided in a state of being fixed at the lower beam portion 65 of the gripping mechanism 61. In this case, the protruding portion 64 may include only the protruding shaft 66 that does not include the protruding shaft driving portion 67.

  Moreover, although the metal mold | die 200 conveyed by the conveying apparatus 3 which concerns on this embodiment demonstrated as an example the thing of the hollow structure in which the insertion hole 211 was provided, it does not need to be this way. For example, the mold 200 may not be provided with the insertion hole 211 that is not a hollow structure, similarly to the first embodiment and the second embodiment. In this case, the protruding shaft 66 provided in the gripping mechanism 61 may be configured to retreat to the contact portion 63 when it contacts the top portion 202a of the mold 200.

  The transport device 3 described above includes a protruding shaft 66 provided in the gripping mechanism 61. The protruding shaft 66 is supported by the main body 62 so as to be able to protrude downward from the contact portion 63, and can be inserted into the insertion hole 211 opened at the top 202a to be transported. For this reason, even if the conveyance target is installed in a state of being inclined with respect to the installation table 110, the posture can be corrected by inserting the protruding shaft 66 into the insertion hole 211 of the conveyance target. As a result, the gripping mechanism 61 can securely grip the transport target at the correct position.

[Modification]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made as long as they are described in the claims. For example, the following modifications may be implemented.

(1) In the above-described embodiment, an example in which a pair of shaft portions in which the drive connection portion of the drive mechanism is slidably connected in the main body portion of the gripping mechanism is provided has been described, but this is not the case. May be. A mode in which the drive connecting portion is slidably connected to the shaft portion provided in one or more than three in the main body portion may be implemented.

(2) In the above-described embodiment, the configuration in which the driving force transmission unit is provided as a coil spring has been described as an example. However, this need not be the case. A form in which the driving force transmission unit is configured as a spring other than a coil spring such as a leaf spring or an air spring may be implemented. Moreover, the drive force transmission part may be implemented using an elastic body other than a spring.

(3) In the above-described embodiment, an example in which the upper displacement sensor and the lower displacement sensor are provided as proximity sensors has been described. However, this need not be the case. An embodiment in which the upper displacement sensor and the lower displacement sensor are provided as sensors other than proximity sensors such as a photoelectric sensor or a laser sensor may be implemented. Further, a form in which the upper displacement sensor and the lower displacement sensor are provided as contact sensors such as limit switches may be implemented.

(4) In the above-described embodiment, an example has been described in which the engagement holding portion of the gripping mechanism is engaged with a groove portion that is provided by being cut out in the circumferential direction in the gripping shaft portion of the mold. This does not have to be the case. For example, the mold has a hole opened to the outside and a notch formed inside the hole, and has an engagement holding portion that engages with the notch inside the mold so as to be hooked. A form of a gripping mechanism may be implemented.

(5) In the above-described second embodiment, an example in which the restriction pin constituting the horizontal movement restriction portion has a shape having a columnar portion and a conical portion on the distal end side is taken as an example. Although explained, this need not be the case. Other shapes of restricting pins may be implemented. For example, the form of the taper-shaped regulation pin formed in the long cone shape may be implemented.

  FIG. 17 is a schematic side view of a transfer apparatus 2a according to a modification of the present invention, and shows a part of the drive mechanism 12 and the gripping mechanism 41 in the transfer apparatus 2a according to the modification together with a mold. The modified transport apparatus 2a is configured in the same manner as the transport apparatus 2 of the second embodiment, but differs from the transport apparatus 2 of the second embodiment in the configuration of the regulation pin 59 that configures the horizontal operation regulating unit. Yes. In the following description, a mode related to the regulation pin 59 different from the conveyance device 2 of the second embodiment will be described, and it corresponds to the elements configured similarly to the above-described second embodiment and the above-described second embodiment. In the drawings, the same reference numerals are used in the drawings, or the same reference numerals are used to omit the description.

  As shown in FIG. 17, the restriction pin 59 is provided as a tapered restriction pin formed in a conical shape extending long. The restriction pin 59 is disposed in a state where the axial direction extends in the vertical direction. The regulation pin 59 regulates the horizontal movement of the second body portion 44 provided with the contact portion 22 and the engagement holding portion 23 with respect to the first body portion 43 to which the drive coupling portion 31 is coupled. The horizontal movement of the contact portion 22 and the engagement holding portion 23 with respect to the drive connecting portion 31 is restricted.

  The restriction pin 59 is provided so as to be relatively displaceable in the vertical direction with respect to the first horizontal plate (51, 53) and the second horizontal plate 52. Then, the regulation pin 59 is displaced in the vertical direction by being driven by the vertical drive actuator 47. In addition, the regulation pin 59 is located at a position corresponding to the through hole (51a, 53a, 52a) provided in each of the first horizontal plate (51, 53) and the second horizontal plate 52, and the first horizontal plate (51, 53). 53) and the second horizontal plate 52 so as to be relatively displaced in the vertical direction. The through holes (51a, 53a, 52a) of the first horizontal plate (51, 53) and the second horizontal plate 52 have tapered inner peripheral surfaces corresponding to the shape of the regulation pin 59 provided in a tapered shape. It is constituted as a through hole having.

  In addition, the regulation pin 59 is inserted into the through holes (51a, 53a, 52a) provided in the first horizontal plate (51, 53) and the second horizontal plate 52, respectively, and is inserted into the first horizontal plate (51, 53). The plate (51, 53) is configured to regulate the relative displacement in the horizontal direction with respect to the second horizontal plate 52. The regulation pin 59 is driven by the vertical drive actuator 47 and displaced upward, so that the regulation pin 59 is inserted into the through holes (51a, 53a, 52a) of the horizontal plate (51, 52, 53). FIG. 17A shows a state in which the regulation pin 59 is inserted through the through holes (51a, 53a, 52a) of the first horizontal plate (51, 53) and the second horizontal plate 52. Yes.

  Further, the regulation pin 59 is inserted into the through holes (51a, 53a, 52a) of the first horizontal plate (51, 53) and the second horizontal plate 52 in a loosely fitted state, and the first horizontal plate ( 51, 53) is allowed to be displaced relative to the second horizontal plate 52 in the horizontal direction. The restriction pin 59 is driven by the vertical drive actuator 47 and displaced downward, so that the restriction pin 59 is inserted into the through holes (51a, 53a, 52a) of the horizontal plate (51, 52, 53) in a loosely fitted state. It becomes. FIG. 17B shows a state in which the regulation pin 59 is inserted into the through holes (51a, 53a, 52a) of the first horizontal plate (51, 53) and the second horizontal plate 52 in a loosely fitted state. Is shown.

  As shown in FIG. 17A, the regulation pin 59 is in a state of being fitted through the through holes (51a, 53a, 52a) of the first horizontal plate (51, 53) and the second horizontal plate 52. Thus, the relative displacement in the horizontal direction of the first horizontal plate (51, 53) with respect to the second horizontal plate 52 is restricted. And as shown in FIG.17 (b), the control pin 59 is inserted in the through-hole (51a, 53a, 52a) of the 1st horizontal plate (51, 53) and the 2nd horizontal plate 52 in a loose fitting state. In this state, the horizontal displacement of the first horizontal plate (51, 53) with respect to the second horizontal plate 52 is allowed.

  According to this modification, the horizontal operation restricting portion 59 is provided by the restricting pin 59 which is provided in a tapered shape and can penetrate the first and second horizontal plates and is relatively displaced in the vertical direction with respect to the first and second horizontal plates. It can be configured with a simple structure. Further, according to the present modification, the regulation pin 59 is provided in a tapered shape that can be inserted into the through holes (51a, 53a, 52a) of the horizontal plate (51, 52, 53) in a loosely fitted state. Even if the amount of downward displacement of the regulating pin 59 is small, the relative displacement in the horizontal direction of the first horizontal plate (51, 53) with respect to the second horizontal plate 52 can be easily allowed. Further, according to the present modification, the regulation pin 59 is provided in a tapered shape that can be inserted into the through holes (51a, 53a, 52a) of the horizontal plate (51, 52, 53) in a loosely fitted state. Even if the amount of upward displacement of the pin 59 is small, the relative displacement in the horizontal direction of the first horizontal plate (51, 53) with respect to the second horizontal plate 52 can be easily regulated.

(6) In the above-described second embodiment, an example in which the drive connecting portion of the drive mechanism is slidably connected to the gripping mechanism in the transport device including the horizontal slide mechanism and the horizontal operation restricting portion has been described as an example. However, this need not be the case. In the transport device including the horizontal slide mechanism and the horizontal operation restricting unit, a form in which the drive coupling unit of the drive mechanism is coupled to the gripping mechanism without sliding movement may be implemented.

  The present invention can be widely applied to a transfer device that transfers a transfer object such as a mold in a factory.

DESCRIPTION OF SYMBOLS 1 Conveyance apparatus 11 Grip mechanism 12 Drive mechanism 21 Main body part 22 Contact part 23 Engagement holding part 31 Drive connection part 32 Vertical drive part 24 Drive force transmission part 25 Shaft part 100 Mold (conveyance object)
102a top

Claims (11)

A transport device for transporting in a state of gripping a transport target,
A gripping mechanism for gripping the object to be transported, and a drive mechanism for driving the gripping mechanism in the vertical direction,
The gripping mechanism includes a main body connected to the drive mechanism, an abutting portion that is provided on the main body and contacts the top of the conveyance target when the gripping mechanism is lowered, and the abutting portion is the conveyance target An engagement holding portion that holds the conveyance target by engaging with the conveyance target in a state of being in contact with
The drive mechanism includes a drive connection portion connected to the main body portion, and a vertical drive portion that drives the drive connection portion in the vertical direction.
The drive connecting portion is connected to a shaft portion provided in the main body portion so as to be slidable in the vertical direction,
The gripping mechanism is configured to contact the drive connecting portion when the drive connecting portion is displaced upward along the shaft portion, and transmit a driving force from the drive connecting portion displaced upward to the main body portion. The conveying apparatus further comprising: a driving force transmitting portion that displaces the main body portion together with the driving connecting portion. It is a conveying apparatus of Claim 1, Comprising:
The conveying device according to claim 1, wherein the driving force transmission unit is a spring member. It is a conveyance apparatus of Claim 2, Comprising:
The drive mechanism is configured such that when the load greater than a predetermined load is applied to the drive force transmission portion from the drive connection portion and the drive force transmission portion contracts by a predetermined displacement amount or more, the drive connection portion is moved to the main body portion. The apparatus further comprises an upward displacement sensor for detecting that the distance relative to the predetermined displacement amount is relatively displaced upward. It is a conveyance apparatus of any one of Claim 1 thru | or 3, Comprising:
The drive mechanism detects when the drive connecting portion is displaced below the predetermined position with respect to the main body when the drive connecting portion is displaced below a predetermined position in the main body. The conveyance device further comprising a displacement sensor. It is a conveyance apparatus of any one of Claim 1 thru | or 4, Comprising:
The main body includes a horizontal slide mechanism that supports the position of the contact portion and the engagement holding portion with respect to the drive connecting portion so as to be slidable in a horizontal direction. . It is a conveyance apparatus of Claim 5, Comprising:
The transport apparatus according to claim 1, wherein the main body further includes a horizontal operation restricting portion capable of restricting a horizontal operation of the contact portion and the engagement holding portion with respect to the drive connecting portion. A transport device for transporting in a state of gripping a transport target,
A gripping mechanism for gripping the object to be transported, and a drive mechanism for driving the gripping mechanism in the vertical direction,
The gripping mechanism includes a main body connected to the drive mechanism, an abutting portion that is provided on the main body and contacts the top of the conveyance target when the gripping mechanism is lowered, and the abutting portion is the conveyance target An engagement holding portion that holds the conveyance target by engaging with the conveyance target in a state of being in contact with
The drive mechanism includes a drive connection portion connected to the main body portion, and a vertical drive portion that drives the drive connection portion in the vertical direction.
The main body includes a horizontal slide mechanism that supports the position of the contact portion and the engagement holding portion with respect to the drive connecting portion so as to be slidable in a horizontal direction. . It is a conveying apparatus of Claim 7, Comprising:
The transport apparatus according to claim 1, wherein the main body further includes a horizontal operation restricting portion capable of restricting a horizontal operation of the contact portion and the engagement holding portion with respect to the drive connecting portion. It is a conveying apparatus of Claim 8, Comprising:
The horizontal slide mechanism is
A first horizontal plate and a second horizontal plate arranged along the horizontal direction;
A rail fixed to one of the first horizontal plate and the second horizontal plate;
A block fixed to the other of the first horizontal plate and the second horizontal plate and slidably attached to the rail in a horizontal direction,
The horizontal movement restricting portion is provided as a restricting pin provided so as to be relatively displaceable in the vertical direction with respect to the first horizontal plate and the second horizontal plate,
The restriction pin is
Restricting relative displacement of the first horizontal plate with respect to the second horizontal plate in the horizontal direction in a state of being fitted through through holes provided in the first horizontal plate and the second horizontal plate,
Inserted in a state of being removed from at least one of the through holes of the first horizontal plate and the second horizontal plate, or loosely fitted into the through holes of the first horizontal plate and the second horizontal plate In this state, a relative displacement in the horizontal direction of the first horizontal plate with respect to the second horizontal plate is allowed. It is a conveyance apparatus of any one of Claim 7 thru | or 9, Comprising:
The main body portion includes a first main body portion having a portion connected to the drive connecting portion, and a second main body portion disposed below the first main body portion and provided with the abutting portion and the engagement holding portion. And the horizontal slide mechanism,
The horizontal slide mechanism is provided between the first main body portion and the second main body portion, and is connected to the first main body portion and the second main body portion. It is a conveying apparatus of any one of Claims 1 thru | or 10, Comprising:
A protrusion shaft provided on the gripping mechanism and supported by the main body so as to protrude downward from the contact portion;
The said protrusion axis | shaft is comprised so that it may protrude and project from the said contact part with respect to the insertion hole formed in the said conveyance object, and opening at the said top part of the said conveyance object, The conveying apparatus characterized by the above-mentioned.

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