JP2018188260A - Conveyance system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate adjustment of a conveyance system for conveying an article by using a conveyance tool.SOLUTION: A conveyance system 100 is provided with: a first conveyance device 1; a second conveyance device 5; a transfer device 7; and a controller 9. The first conveyance device 1 conveys a conveyance tool C. The second conveyance device 5 conveys the conveyance tool C on which a green tire T is mounted. The transfer device 7 has a gripping part 73 that can grip a first gripped part T1 and a second gripped part C3. The transfer device 7 grips the first gripped part T1 by the gripping part 73 to support the green tire T, grips the second gripped part C3 to support the conveyance tool C, and transfers the green tire T and/or the conveyance tool C. The controller 9 instructs the transfer device 7 to transfer the conveyance tool C from the first conveyance device 1 to the second conveyance device 5, and/or transfer the green tire T fed from a feeding part 3 to the conveyance tool C.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a transport system that transports an article using a transport tool.

2. Description of the Related Art Conventionally, a conveyance system that conveys an article placed on or stored in a conveyance tool is known. In this transfer system, operations such as transfer of transfer tools (and / or articles) and transfer of transfer tools and articles are performed.
In particular, Patent Document 1 discloses a transfer device that transfers a tire in a state where the inner diameter of the tire is supported by a hook as a device that executes transfer of an article.

Japanese Patent No. 5082437

  In the conventional transport system, the transfer of the transfer tool and the transfer of the article are respectively performed by the corresponding individual transfer apparatuses. Therefore, when transferring an article to a transfer tool in a conventional transfer system, it is necessary to match the transfer position of the transfer tool by the transfer device with the transfer position of the article transfer device. Thus, it takes a lot of time to match the transfer positions of the two transfer devices, and / or the need for the two transfer devices increases the cost of the transport system. It was.

  An object of the present invention is to facilitate system adjustment in a transport system that transports an article using a transport tool.

Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.
A transport system according to an aspect of the present invention is a system that transports an article having a first gripped portion using a transport tool on which the article can be placed and has a second gripped portion. The transport system includes a first transport device, a second transport device, a transfer device, and a controller.
The first transport device transports a transport tool. The second transport device transports a transport tool on which an article is placed.
The transfer device has a gripping part that can grip the first gripped part and the second gripped part. The transfer device grips the first gripped portion by the grip portion to support the article, and grips the second gripped portion to support the transport tool, and transfers the article and / or transport tool. .
The controller instructs the transfer device to transfer the transfer tool from the first transfer device to the second transfer device and / or transfer the article supplied from the supply unit to the transfer tool. .

Since the above-mentioned transfer device has a gripping part capable of gripping the first gripped part of the article and the second gripped part of the transport tool, both the transfer of the article and the transfer of the transport tool are performed. Can be executed. That is, the transfer of the article and the transfer of the conveying tool can be executed by a common transfer device.
Thereby, since the transfer position of an article | item and a conveyance tool can be set in common in one transfer apparatus, adjustment of a conveyance system becomes easy.

When the first transport device transports the plurality of stacked empty transport tools, the controller transfers the uppermost empty transport tool to the transfer device from the stack of empty transport tools. 2 You may instruct | indicate to transfer to a conveying apparatus.
Thereby, the transfer device can execute an operation (sometimes referred to as “stepping”) of transferring the uppermost empty transfer tool from the plurality of stacked empty transfer tools to the second transfer device.

  The first transport device and the second transport device may be arranged such that the transport surfaces have different heights. Thereby, the transfer tool can be transferred between the first transfer device and the second transfer device having different transfer surface heights by the transfer device without requiring a lifter or the like.

The first gripped portion may be a first opening provided in the article, and the second gripped portion may be a second opening provided in the transport tool. The second opening is located below the first opening when the article is placed on the transfer tool, and at a position on the inner side of the first opening or the same level as the first opening in plan view. May be present.
In this case, the controller may instruct the transfer device to support and transfer the transfer tool on which the article is placed by holding the second opening.
Thereby, the transfer apparatus can convey an article | item and a conveyance tool simultaneously from a 1st conveying apparatus to a 2nd conveying apparatus. As a result, the conveyance efficiency of articles can be increased.

The controller transfers (i) the article to the empty conveyance tool conveyed by the first conveyance apparatus, and then (ii) places the article on the transfer apparatus ((i) empty). (Iii) may be instructed to grip the second gripped portion of the transport tool, and then transfer the transport tool (iii) (which was empty in (i)) to the second transport device.
Thereby, the transfer apparatus can convey an article | item and a conveyance tool simultaneously from a 1st conveying apparatus to a 2nd conveying apparatus. As a result, the conveyance efficiency of articles can be increased.

  Adjustment of the conveyance system which conveys articles | goods using a conveyance tool becomes easy.

The figure which shows the structure of a conveyance system. The figure which shows the structure of the drive mechanism of a hook. The figure which shows the structure of a raw tire. The figure which shows the structure of a conveyance tool. The figure which shows an example of the state which mounted the raw tire on the conveyance tool. FIG. 6 is a diagram schematically showing a step-out operation (No. 1). FIG. 2 is a diagram schematically illustrating a step-out operation (part 2). FIG. 3 is a diagram (part 3) schematically illustrating a step-out operation. FIG. 4 is a diagram schematically showing a spreading operation (part 4). FIG. 5 is a diagram schematically showing a step-out operation (No. 5). The figure which shows transfer operation | movement of a green tire typically (the 1). The figure which shows transfer operation | movement of a green tire typically (the 2). The figure which shows the transfer operation | movement of a green tire typically (the 3). The figure which shows transfer operation | movement of a green tire typically (the 4). The figure (the 5) which shows transfer operation of a green tire typically. The figure which shows typically an example of simultaneous transfer operation | movement of a conveyance tool and a green tire (the 1). The figure which shows typically an example of the simultaneous transfer operation | movement of a conveyance tool and a green tire (the 2). The figure (the 3) which shows typically an example of simultaneous transfer operation | movement of a conveyance tool and a green tire. The figure (the 4) which shows typically an example of simultaneous transfer operation | movement of a conveyance tool and a green tire. The figure which shows typically an example of simultaneous transfer operation | movement of a conveyance tool and a green tire (the 5). The figure which shows typically another example of the simultaneous transfer operation | movement of a conveyance tool and a green tire (the 1). The figure which shows typically another example of the simultaneous transfer operation | movement of a conveyance tool and a green tire (the 2). The figure which shows typically another example of the simultaneous transfer operation | movement of a conveyance tool and a green tire (the 3). The figure which shows typically another example of the simultaneous transfer operation | movement of a conveyance tool and a green tire (the 4). The figure which shows typically another example of the simultaneous transfer operation | movement of a conveyance tool and a green tire (the 5). The figure which shows typically another example of the simultaneous transfer operation | movement of a conveyance tool and a green tire (the 6). The figure which shows typically another example of the simultaneous transfer operation | movement of a conveyance tool and a green tire (the 7).

1. First Embodiment (1) Configuration of Transfer System A configuration of a transfer system 100 according to the first embodiment will be described below with reference to FIG. FIG. 1 is a diagram illustrating a configuration of a transport system. The transport system 100 according to the first embodiment is a system that transports a raw tire T (tire before vulcanization) (an example of an article) using a transport tool C on which the raw tire T can be placed. The conveyance system 100 according to the first embodiment is installed, for example, in a tire manufacturing factory.

  The transport system 100 includes a first transport device 1. The first transport device 1 is a device for transporting articles such as a conveyor that transports the transport tool C. As shown in FIG. 1, the first transport device 1 includes a single transport tool C (hereinafter referred to as “empty transport tool C”) on which the raw tire T is not placed, and a plurality of stacks in the height direction. The transfer tool C on which the empty transfer tool C and / or the raw tire T are placed, for example, is transferred from the supply position of the transfer tool C to the second transfer device 5 (described later). To a position P1 (overlap with the movement path of the transfer device 7).

  The transport system 100 includes a supply unit 3. The supply unit 3 supplies the raw tire T. The supply unit 3 may be, for example, a storage space for the raw tire T arranged in the vicinity of the position P1, or a conveyor that conveys the raw tire T from a warehouse for storing the raw tire T to the vicinity of the position P1. It may be.

The transport system 100 includes a second transport device 5. The 2nd conveying apparatus 5 is an apparatus for conveying articles | goods, such as a conveyor, for example, conveying the conveyance tool C by which the raw tire T was mounted. The 2nd conveying apparatus 5 conveys the conveyance tool C with which the raw tire T was mounted, for example to the location where the next manufacturing process of a tire is performed.
The transfer tool C transferred from the first transfer apparatus 1 is mounted at a position P2 that is an overlapping portion with the movement path of the transfer apparatus 7.

As shown in FIG. 1, in the present embodiment, the second transport device 5 is arranged such that the surface (transport surface) on which the transport tool C is transported is higher than the transport surface of the first transport device 1. . As will be described later, the empty transport tool C transported to the position P1 by the first transport device 1 or the transport tool C on which the raw tire T is placed is transferred to the second transport device 5 by the transfer device 7. Reprinted.
Thereby, it is not necessary to provide a device for transporting the transport tool C on the transport surfaces at different heights, such as a lifter, separately from the transfer device 7. As a result, space saving of the transport system 100 can be realized.

  The transport system 100 includes a transfer device 7. The transfer device 7 grips the raw tire T or the conveyance tool C and transfers the conveyance tool C conveyed by the first conveyance device 1 to the second conveyance device 5 or supplies it to the supply unit 3. This is a device for transferring the raw tire T being supplied onto a transport tool C transported to the first transport device 1 or the second transport device 5.

As will be described later, in addition to this, the transfer device 7 takes out the empty transfer tool C at the top from the plurality of empty transfer tools C stacked in the height direction. It can be transferred to the second transport device 5. Furthermore, the transfer device 7 can also transfer the transfer tool C on which the raw tire T is mounted to the second transfer device 5.
That is, the transfer device 7 can transfer not only the raw tire T but also the transfer tool C, execute the “step-off” process, and simultaneously transfer the raw tire T and the transfer tool C. As described above, since the transfer device 7 can execute a plurality of operations in the transport system 100, it is not necessary to install an individual device for executing each operation. As a result, adjustment for each individual apparatus becomes unnecessary, and adjustment of the transport system 100 is facilitated. Further, space saving of the transport system 100 can be realized.
The details of the configuration of the transfer device 7 and the method of executing each operation by the transfer device 7 will be described later.

The transport system 100 includes a controller 9. The controller 9 is a computer system having a CPU, a storage device (a mass storage device such as a RAM, a ROM, a hard disk, or an SSD), various interfaces, a display, and the like.
The controller 9 controls the transport system 100. Specifically, the controller 9 controls the first transport device 1, the second transport device 5, and the transfer device 7. Part or all of the control of the transport system 100 may be realized by a program that can be executed by a computer system constituting the controller 9. Moreover, a part of control of the conveyance system 100 may be realized by hardware by SoC (System On Chip) or the like.

(2) Configuration of Transfer Device Hereinafter, details of the configuration of the transfer device 7 according to the first embodiment will be described with reference to FIGS. 1 and 2. FIG. 2 is a diagram illustrating a configuration of a hook driving mechanism.
The transfer device 7 has a traveling carriage 71. The traveling carriage 71 includes traveling wheels driven by a motor or the like, and moves on two guide rails 711 laid on the upper surface of the first transport device 1 and the second transport device 5.
The guide rail 711 may extend only in the uniaxial direction, or may extend in a direction other than the uniaxial direction. When the guide rail 711 extends only in the uniaxial direction, the transfer device 7 can move only in the uniaxial direction. On the other hand, when the guide rail 711 extends in a direction other than the uniaxial direction, the transfer device 7 can move not only in the uniaxial direction but also in directions other than the uniaxial direction.

  The traveling carriage 71 includes a lifting device 713 that lifts and lowers the gripping section 73 by winding or sending out a wire W with a gripping section 73 (described later) fixed to the lower end, and a lower end attached to the gripping section 73 from the traveling carriage 71. And four sliding cylinders 715 that can be expanded and contracted as the grip 73 is moved up and down. The sliding cylinder 715 is a member that can be vertically expanded and contracted by fitting a plurality of rigid cylinders having different diameters in a telescope shape, and prevents the gripping portion 73 from rolling.

The transfer device 7 has a grip portion 73. The gripping portion 73 is a mechanism for gripping a first gripped portion T1 (described later) of the raw tire T and a second gripped portion C3 (described later) of the transport tool C. Specifically, the gripping portion 73 includes a base 731 to which the lower end of the wire W and the sliding cylinder 715 is fixed, four hooks 732 attached to the lower side and slidable in the horizontal direction, It has mainly. As shown in FIG. 1, each of the four hooks 732 is provided with a tip end portion 732 a on the side opposite to the drive mechanism (described later) of the hook 732. The tip 732a comes into contact with the first gripped portion T1 and the second gripped portion C3, so that the hook 732 can grip the first gripped portion T1 and the second gripped portion C3.
The base 731 is provided with a hook 732 drive mechanism as shown in FIG. Hereinafter, the drive mechanism of the hook 732 will be described.

The drive mechanism of the hook 732 has a rotation shaft 733. The rotation shaft 733 is connected to the output rotation shaft of the motor 734 (FIG. 1) and can rotate according to the rotation of the motor 734.
The drive mechanism of the hook 732 has four slits 735 penetrating the front and back. The four slits 735 form an angle of 90 ° with each other and extend radially from the axis of the rotating shaft 733. Each slit 735 is provided with a sliding block 736 that freely slides while being fitted in the slit. A hook 732 is attached to the lower side of the sliding block 736.

  Each sliding block 736 is driven by a link mechanism including a first arm 737 and a second arm 738. The top end of the second arm 738 is rotatably attached to the upper surface of each sliding block 736 by a pin. Further, the base end of the second arm 738 and the tip end of the first arm 737 are rotatably connected by a pin. The base end of each first arm 737 is fixed to the rotation shaft 733.

  With the above link mechanism, the four hooks 732 can move in the direction from the center of the base 731 to the outside or in the direction toward the center according to the forward / reverse rotation of the motor 734. Thereby, the four hooks 732 can adjust the distance between the front-end | tip parts 732a of the four hooks 732 according to the magnitude | size of the target object hold | gripped.

  A sensor mounting member 739 is provided on the base 731. A sensor SE (FIG. 1) that detects the positional relationship between the raw tire T and / or the conveyance tool C and the grip portion 73 in the height direction is attached to the sensor attachment member 739. As the sensor SE, for example, a light projecting / receiving sensor can be used.

(3) Structure of Raw Tire Next, the structure of the raw tire T that is a conveyance target in the present embodiment will be described with reference to FIG. FIG. 3 is a view showing the structure of the green tire T. As shown in FIG. 3, the green tire T is a rubber hollow member provided with a center hole O (an example of a first opening).
As will be described later, the raw tire T can be moved by the transfer device 7 by raising the gripping portion 73 after the tip portion 732a of the hook 732 is brought into contact with the upper inner wall of the hollow portion of the raw tire T. Become. The inner wall on the upper side of the hollow portion of the green tire T with which the tip end portion 732a of the hook 732 comes into contact is referred to as a first gripped portion T1 (FIG. 3).

(4) Structure of conveyance tool Next, the structure of the conveyance tool C which mounts and conveys the raw tire T is demonstrated using FIG.4 and FIG.5. FIG. 4 is a diagram illustrating the structure of the transport tool. FIG. 5 is a diagram illustrating an example of a state in which a raw tire is placed on a conveyance tool.
As shown in FIGS. 4 and 5, the transport tool C according to the present embodiment is a circular container having a diameter larger than the outer diameter of the raw tire T. A mortar-shaped inner wall C <b> 1 is provided inside the transport tool C. As shown in FIG. 5, the green tire T is placed on the inner wall C1.

  An opening C2 (an example of a second opening) is provided at the bottom of the transport tool C. When the transport tool C is transferred by the transfer device 7, the hook 732 passes through the opening C2. To do. In addition, a groove having a predetermined depth is formed in the bottom of the transfer tool C in a diameter larger than the opening C2 and concentrically with the opening C2. The conveying tool C can be moved by the transfer device 7 by raising the gripping portion 73 after the tip portion 732a of the hook 732 is brought into contact with the groove. The groove with which the tip end portion 732a of the hook 732 comes into contact will be referred to as a second gripped portion C3 gripped by the hook 732.

As shown in FIG. 5, when the raw tire T is placed on the transport tool C, the opening C <b> 2 of the transport tool C exists below the center hole O of the raw tire T. Further, the diameter R1 of the center hole O of the green tire T is larger than the diameter R2 of the opening C2 of the transport tool C. That is, the opening C2 is present inside the center hole O in a plan view (when the transport tool C on which the raw tire T is placed is viewed from above).
Since the center hole O and the opening C2 have the above positional relationship, the hook 732 can pass through the center hole O and reach the second gripped part C3 provided in the opening C2. Further, the hook 732 can be prevented from coming into contact with the center hole O when the second gripped portion C3 is gripped by the tip end portion 732a of the hook 732. As a result, the raw tire T is obtained by gripping the second gripped portion C3 of the transfer tool C on which the raw tire T is placed with the hook 732 (the tip portion 732a of the hook 732 is in contact with the second gripped portion C3). And the transfer tool C can be moved simultaneously.

(5) Transfer Operation of Raw Tire and / or Conveying Tool (5-1) “Staggering” Operation Hereinafter, the raw tire T and / or the conveying tool in the transport system 100 according to the first embodiment having the above-described configuration. The transfer operation of C will be described. First, the uppermost empty transport tool C is taken out from the plurality of stacked empty transport tools C that have been transported to the position P1 by the first transport device 1, and the empty transport tool C is taken as the second transport device. The operation of transferring to the position P2 (“stepping” operation) will be described with reference to FIGS. 6A to 6E.
When it is detected that a plurality of stacked empty transfer tools C have been transferred and it is determined to start the “step-off” operation, the controller 9 moves the transfer device 7 to a position corresponding to the position P1. Thereafter, the controller 9 rotates the motor 734 to reduce the distance between the four hooks 732 so that the four hooks 732 can pass through the opening C2.

Next, the controller 9 instructs the lifting device 713 to send out the wire W and to lower the grip portion 73. At this time, as shown in FIG. 6A, the gripping portion 73 is lowered to such an extent that the tip portions 732a of the four hooks 732 are at the same height as the bottom portion of the uppermost transfer tool C.
After lowering the gripping portion 73 as described above, the controller 9 rotates the motor 734 to increase the distance of the four hooks 732 (to the diameter of the opening C2), and the tip portion 732a of the hook 732 is moved to the second position. The gripped portion C3 is entered (FIG. 6B). Thereafter, by raising the gripping portion 73, as shown in FIG. 6C, the tip end portion 732 a of the hook 732 comes into contact with the upper surface of the second gripped portion C3, and the second gripped portion C3 is moved by the gripping portion 73. Grasped. As a result, the transport tool C is supported by the hook 732 of the grip portion 73.

With the transport tool C supported by the gripping portion 73, the controller 9 causes the traveling carriage 71 to travel on the guide rail 711, thereby moving the gripping portion 73 to the position P <b> 2 of the transport tool C of the second transport device 5. Is moved to a position corresponding to (FIG. 6C).
Thereafter, at the position P2, as shown in FIG. 6D, the controller 9 instructs the elevating device 713 to lower the grip portion 73, and the transport tool C supported by the grip portion 73 is transferred to the second transport device 5. Is placed at position P2. Further, by rotating the motor 734, the distance between the four hooks 732 is reduced, and the tip portion 732a of the hook 732 is allowed to escape from the second gripped portion C3.

  After the tip portion 732a of the hook 732 is removed from the second gripped portion C3, as shown in FIG. 6E, the gripping portion 73 is lifted to release the support of the conveying tool C by the gripping portion 73 and grip The transport tool C held by the unit 73 is placed at the position P <b> 2 of the second transport device 5.

(5-2) Transfer Operation of Raw Tire Next, an operation of transferring the raw tire T supplied by the supply unit 3 to the transport tool C will be described with reference to FIGS. 7A to 7E. In the following, the above-described “step-off” operation is completed, the transport tool C is placed at the position P2 of the second transport device 5, and the raw tire T is transferred to the transport tool C placed at the position P2. An example will be described.
After completing the “step-off” operation (or after transferring one transfer tool C from the first transfer device 1 to the position P2 of the second transfer device), the controller 9 moves the traveling carriage 71 on the guide rail 711. It is made to drive | work and the holding part 73 is moved to the position corresponding to the supply position of the raw tire T of the supply part 3 (FIG. 7A).

  Next, the controller 9 rotates the motor 734 to reduce the distance between the four hooks 732 so that the four hooks 732 can pass through the center hole O of the raw tire T. Thereafter, the controller 9 instructs the lifting device 713 to send out the wire W and lower the grip portion 73. At this time, as shown in FIG. 7B, the gripping portion 73 is lowered to a position where the tip end portions 732a of the four hooks 732 are at the same height as or lower than the first gripped portion T1 of the raw tire T. .

  After lowering the gripping portion 73, the controller 9 rotates the motor 734 to increase the distance of the four hooks 732 (to the diameter of the center hole O of the raw tire T), and the tip portion 732a of the hook 732 is moved to the first position. Enter the gripped portion T1. Thereafter, by raising the gripping portion 73, as shown in FIG. 7C, the tip portion 732a of the hook 732 comes into contact with the first gripped portion T1, and the first gripped portion T1 is gripped by the gripping portion 73. The As a result, the raw tire T is supported by the hook 732 of the grip portion 73.

In a state where the raw tire T is supported by the gripping portion 73, the controller 9 causes the traveling carriage 71 to travel on the guide rail 711, thereby moving the gripping portion 73 to a position corresponding to the position P2 (FIG. 7C). ).
Thereafter, at the position P2, as shown in FIG. 7D, the controller 9 instructs the lifting device 713 to lower the gripping portion 73 and places the raw tire T supported by the gripping portion 73 on the position P2. It is mounted on the inner wall C1 of the transport tool C that has been used. Further, by rotating the motor 734, the distance between the four hooks 732 is reduced, and the tip of the hook 732 is allowed to escape from the first gripped portion T1.

  After the tip of the hook 732 has escaped from the first gripped portion T1, as shown in FIG. 7E, the gripping portion 73 is lifted to release the support of the raw tire T by the gripping portion 73. The raw tire T gripped by is mounted on the transfer tool C mounted on the second transfer device 5.

(5-3) Simultaneous transfer operation of conveying tool and green tire (Part 1)
Next, as shown in FIG. 8A, for example, when the transport tool C on which the raw tire T is placed is transported to the position P1 by the first transport device 1, the transport tool on which the raw tire T is still placed. The operation of transferring C to the position P2 of the second transport device 5 will be described with reference to FIGS. 8A to 8E.
When it is detected that the transport tool C on which the raw tire T is placed has been transported, the controller 9 moves the transfer device 7 to a position corresponding to the position P1. Thereafter, the controller 9 rotates the motor 734 to reduce the distance between the four hooks 732 so that the four hooks 732 can pass through the center hole O and the opening C2 of the raw tire T.

  Next, the controller 9 instructs the lifting device 713 to send out the wire W and to lower the grip portion 73. At this time, as shown in FIG. 8B, the gripping portion 73 is lowered until the tip portions 732a of the four hooks 732 pass through the hollow portion of the raw tire T and become the same height as the bottom portion of the transport tool C. ing. In this way, the tip portion 732a of the hook 732 can pass through the hollow portion of the raw tire T and descend to the bottom of the conveying tool C because the diameter R1 of the center hole O of the raw tire T is the opening of the conveying tool C. This is because it is larger than the diameter R2 of C2.

  After lowering the gripping portion 73 as described above, the controller 9 rotates the motor 734 to increase the distance of the four hooks 732 (to the diameter of the opening C2), and the tip portion 732a of the hook 732 is moved to the second position. Enter the gripped portion C3. Thereafter, by raising the gripping portion 73, the tip end portion 732 a of the hook 732 comes into contact with the upper surface of the second gripped portion C <b> 3 as shown in FIG. 8C, and the second gripped portion C3 is moved by the gripping portion 73. Grasped. As a result, the conveyance tool C on which the raw tire T is placed is supported by the hook 732 of the grip portion 73.

The controller 9 causes the traveling carriage 71 to travel on the guide rail 711 in a state where the transportation tool C on which the raw tire T is placed is supported by the gripping section 73, thereby moving the gripping section 73 to the second transport device 5. Is moved to a position corresponding to the position P2 (FIG. 8C).
Thereafter, at the position P2, as shown in FIG. 8D, the controller 9 instructs the lifting device 713 to lower the grip portion 73, and the transport tool C supported by the grip portion 73 is transferred to the second transport device 5. Is placed at the placement position P2. Further, by rotating the motor 734, the distance between the four hooks 732 is reduced, and the tip portion 732a of the hook 732 is allowed to escape from the second gripped portion C3.

  After the tip portion 732a of the hook 732 has escaped from the second gripped portion C3, the gripping portion 73 is lifted to lift the gripping portion 73 as shown in FIG. 8E. The transfer tool C on which the raw tire T is placed, which has been gripped by the portion 73, is placed at the position P2 of the second transport device 5. That is, as described above, the raw tire T and the transport tool C are simultaneously and efficiently transferred from the position P1 of the first transport device 1 to the position P2 of the second transport device 5.

(5-4) Simultaneous transfer operation of conveying tool and green tire (Part 2)
Next, another example of the simultaneous transfer operation of the conveying tool C and the raw tire T will be described with reference to FIGS. 9A to 9G. In the simultaneous transfer operation described below, the raw tire T is placed on the empty transport tool C transported by the first transport device 1, and then the raw tire T is placed (empty). The tool C is transferred from the first transport device 1 to the second transport device 5.
Specifically, as shown in FIG. 9A, when detecting that an empty transport tool C on which the raw tire T is not placed has been transported, the controller 9 moves the traveling carriage 71 on the guide rail 711. It is made to drive | work and the holding part 73 is moved to the position corresponding to the supply position of the raw tire T of the supply part 3 (FIG. 9A).

  In the above case, only one empty transfer tool C may be transferred to the position P1 by the first transfer device 1, or a plurality of empty transfer tools C stacked in the vertical direction may be transferred. May be.

  Next, the controller 9 reduces the distance between the four hooks 732 so that the four hooks 732 can pass through the center hole O of the raw tire T. Thereafter, the gripping portion 73 is lowered until the tip portion 732a of the hook 732 is positioned lower than the first gripped portion T1 of the raw tire T supplied to the supply portion 3. After lowering the gripping portion 73, the controller 9 rotates the motor 734 to increase the distance between the four hooks 732, and causes the tip portion 732a of the hook 732 to enter the first gripped portion T1. Thereafter, the gripping portion 73 is raised and the raw tire T is supported by the hook 732 of the gripping portion 73 (FIG. 9B).

  In a state where the raw tire T is supported by the hook 732 of the gripping portion 73, the controller 9 causes the traveling carriage 71 to travel on the guide rail 711, thereby moving the gripping portion 73 to the position where the empty conveyance tool C exists. Move to a position corresponding to P1. Thereafter, at the position P1, as shown in FIG. 9C, the gripping portion 73 is lowered, and the raw tire T supported by the hook 732 of the gripping portion 73 is placed on the inner wall C1 of the transport tool C existing at the position P1. To do.

  Next, the controller 9 further reduces the distance between the four hooks 732 so that the tip portions 732a of the four hooks 732 can pass through the opening C2. Thereafter, the gripping portion 73 is lowered until the tip portions 732a of the four hooks 732 are approximately the same height as the bottom portion of the transfer tool C (FIG. 9D).

  After lowering the gripping portion 73, the controller 9 increases the distance between the four hooks 732 (to the diameter of the opening C2) and causes the tip 732a of the hook 732 to enter the second gripped portion C3. Thereafter, by raising the gripping portion 73, the conveying tool C on which the raw tire T is placed is supported by the hook 732 of the gripping portion 73 (FIG. 9E).

  The controller 9 causes the traveling unit 71 to travel on the guide rail 711 in a state where the transport tool C on which the raw tire T is placed is supported by the hook 732 of the gripping unit 73, thereby moving the gripping unit 73 to the second position. The transfer device 5 is moved to a position corresponding to the position P2. Thereafter, at the position P2, as shown in FIG. 9F, the gripping portion 73 is lowered and the transporting tool C supported by the hook 732 of the gripping portion 73 (with the raw tire T placed thereon) is transferred to the second transporting device 5. Is placed at position P2. Further, by rotating the motor 734, the distance between the four hooks 732 is reduced, and the tip portion 732a of the hook 732 is allowed to escape from the second gripped portion C3.

  As shown in FIG. 9G, the support of the conveying tool C by the hook 732 of the gripping portion 73 is released by lifting the gripping portion 73 after the tip portion 732a of the hook 732 is removed from the second gripped portion C3. The transport tool C on which the raw tire T is placed, which has been gripped by the hook 732 of the grip portion 73, is placed at the position P2 of the second transport device 5. That is, as described above, the raw tire T and the transport tool C are simultaneously and efficiently transferred from the position P1 of the first transport device 1 to the position P2 of the second transport device 5.

  As described above, the transfer device 7 according to the present embodiment not only transfers the raw tire T, but also transfers the transfer tool C, “step-off” operation, and simultaneous transfer of the raw tire T and the transfer tool C. Can be listed. As a result, it is not necessary to install a separate device for executing the above-described operations. As a result, it is not necessary to adjust (operating position) for each of these individual apparatuses in order to operate the transport system 100 appropriately. In addition, since it is not necessary to provide a separate device for each operation, the space saving of the transport system 100 can be realized.

(6) Common Items of Embodiment The first embodiment has the following configurations and functions.
The transport system 100 (an example of a transport system) can place a raw tire T (an example of an article) having a first gripped portion T1 (an example of a first gripped portion) on which the raw tire T can be placed. It is a system which conveys using the conveyance tool C (an example of a conveyance tool) which has the holding part C3 (an example of a 2nd to-be-gripped part). The transport system 100 includes a first transport device 1 (an example of a first transport device), a second transport device 5 (an example of a second transport device), a transfer device 7 (an example of a transfer device), and a controller 9. (An example of a controller).
The first transport device 1 transports the transport tool C. The 2nd conveying apparatus 5 conveys the conveyance tool C with which the raw tire T was mounted.
The transfer device 7 includes a gripping portion 73 (an example of a gripping portion) that can grip the first gripped portion T1 and the second gripped portion C3. The transfer device 7 grips the first gripped portion T1 by the gripping portion 73 to support the raw tire T, and grips the second gripped portion C3 to support the transport tool C, And / or transfer tool C is transferred.
The controller 9 transfers the transfer tool C from the first transfer device 1 to the second transfer device 5 and / or transfers the raw tire T supplied from the supply unit 3 to the transfer device 7. Command to transfer to C.

Since the transfer device 7 has the gripping portion 73 that can grip the first gripped portion T1 of the raw tire T and the second gripped portion C3 of the transport tool C, the transfer and transfer of the raw tire T is performed. Both transfer of the tool C can be performed. That is, the transfer of the raw tire T and the transfer of the conveying tool C can be executed by the common transfer device 7.
Thereby, since the transfer position of the green tire T and the conveyance tool C can be set in one transfer apparatus 7, adjustment of the conveyance system 100 becomes easy.

(7) Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. In particular, a plurality of embodiments and modifications described in this specification can be arbitrarily combined as necessary.
The shape of the transport tool C is not limited to a circular shape in plan view, and can be an arbitrary shape such as a quadrangle. Further, the shape of the conveying tool C can be any shape in consideration of the shape of the article to be conveyed. In addition to the raw tire T, the article to be transported in the transport system 100 may be other articles such as a finished tire.

  In said 1st Embodiment, the 2nd conveying apparatus 5 which conveys the conveyance tool C which mounted the raw tire T was in the position higher than the 1st conveying apparatus 1 which conveys the conveyance tool C. However, the present invention is not limited to this, and the first transport device 1 may be disposed at a higher position than the second transport device 5.

  The second gripped portion of the transport tool C for gripping with the hook 732 of the grip portion 73 is not limited to being provided on the bottom surface of the transport tool C, and may be provided at any position on the inner wall C1, for example. Good.

  In said 1st Embodiment, although the opening part C2 of the conveyance tool C penetrated the bottom face, it is not restricted to this. The opening C2 may not penetrate the bottom surface.

  If the second gripped portion (or the diameter of the opening C2) of the transport tool C is not larger than the first gripped portion T1 (or the diameter of the center hole O) of the raw tire T, the raw tire T is placed. Since the transport tool C can be supported by the gripping portion 73 (the hook 732 thereof), it may be as large as the first gripped portion T1 (the diameter of the center hole O) (that is, the first gripped portion). T1 and the second gripped portion may be in the same position as each other).

  You may transfer the conveyance tool C which mounts the raw tire T mounted in the 2nd conveying apparatus 5 to another conveying apparatus or a mounting place.

  The present invention can be widely applied to a transport system that transports an article using a transport tool.

DESCRIPTION OF SYMBOLS 100 Conveying system 1 1st conveying apparatus 3 Supply part 5 2nd conveying apparatus 7 Transfer apparatus 9 Controller 71 Traveling carriage 711 Guide rail 713 Lifting apparatus 715 Slide cylinder 73 Grip part 731 Base 732 Hook 732a Tip part 733 Rotating shaft 734 Motor 735 Slit 736 Sliding block 737 First arm 738 Second arm 739 Sensor mounting member SE Sensor W Wire T Raw tire T1 First gripping part C Transport tool C1 Inner wall C2 Opening part C3 Second gripping part

Claims (5)

A transport system that transports an article having a first gripped part using a transport tool on which the article can be placed and has a second gripped part,
A first transport device for transporting the transport tool;
A second transfer device for transferring the transfer tool on which the article is placed;
A gripping portion capable of gripping the first gripped portion and the second gripped portion; gripping the first gripped portion by the gripping portion to support the article; and the second gripped portion. A transfer device for holding the transfer tool to support the transfer tool and transferring the article and / or the transfer tool;
For the transfer device, the transfer tool is transferred from the first transfer device to the second transfer device, and / or the article supplied from the supply unit is transferred to the transfer tool. A controller that commands
A transportation system comprising:   When the first transport device has transported the plurality of empty transport tools stacked, the controller transfers the uppermost empty transport tool to the transfer device from the plurality of empty transport tools stacked. The transfer system according to claim 1, wherein the transfer tool is instructed to transfer the transfer tool to the second transfer device.   The transport system according to claim 1 or 2, wherein the first transport device and the second transport device are arranged such that transport surfaces have different heights. The first gripped portion is a first opening provided in the article, and the second gripped portion is a second opening provided in the transport tool,
When the article is placed on the transporting tool, the second opening is located below the first opening and inside the first opening in the plan view or the first opening. Exists at the same position as
The controller instructs the transfer device to support and transfer the transfer tool on which the article is placed by gripping the second opening.
The conveyance system in any one of Claims 1-3.   The controller transfers the article to an empty conveyance tool conveyed by the first conveyance device with respect to the transfer device, and then the second object of the conveyance tool on which the article is placed. The transport system according to any one of claims 1 to 4, wherein the gripping unit is gripped, and then the transport tool is instructed to be transferred to the second transport device.

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