JP4852268B2 - Transport device - Google Patents

Description

  The present invention relates to an apparatus suitable for conveying a workpiece to a processing machine such as a press apparatus.

  As a press molding apparatus, one described in Patent Document 1 is known. In this press molding apparatus, a pair of molds formed by an upper mold and a lower mold are arranged in series in the respective mold closing and mold opening directions.

  The press molding apparatus further includes a transport unit for transporting a plate-shaped workpiece (workpiece) between a plurality of molds. The conveying means is movable in the direction in which the forming dies are connected, holds the workpiece from one of the upper and lower forming dies, and releases it with the other forming dies. For this reason, the conveying means includes one guide extending in the mold closing and mold opening directions of each mold and a plurality of arms capable of supporting the workpiece. The plurality of arms are guided by the guide and are driven up and down all at once with a constant interval.

In this molding apparatus, the lower mold holding the workpiece is put forward, each workpiece is held by an arm having a height corresponding to the lower mold, the lower mold is returned to the rear, and then the arms are raised all at once. . Thereafter, the lower mold is again moved forward, and the workpiece is separated from the arm. As a result, the workpiece is set in the upper mold, so that the workpiece is formed in a desired shape while moving in sequence from the bottom to the upper mold.
JP 2002-178194 A

  The thickness of the mold often changes depending on conditions such as the shape and strength of the mold and the shape of the workpiece. Therefore, in order to increase the space efficiency of the molding apparatus, it is desirable to arrange a plurality of molding dies vertically at a height corresponding to each thickness, that is, at non-uniform intervals. However, it is difficult to transport the workpiece between the molds arranged vertically at unequal intervals in the transfer means having arms that are driven up and down all at once with a constant interval. On the other hand, if molding dies having different thicknesses are arranged at equal intervals, the molding apparatus (press) becomes large, and unnecessary members are included, which is not economical and is not preferable.

  Then, this invention aims at providing the conveying apparatus which can convey a workpiece | work favorably even between the shaping | molding tools arrange | positioned at unequal intervals. In the present invention, between the molds that are not arranged at equal intervals, the respective molds and workpieces, arms that transport the workpieces do not interfere with the molds, and the workpieces are transported. It is an object of the present invention to provide a transport device that can transport safely and reliably so that it does not fall out.

  Accordingly, the present invention provides a transport device having a plurality of carriages for transporting a workpiece, and a first guide and a second guide for guiding the vertical movement of these carriages. The first guide and the second guide extend in parallel, the plurality of carriages can slide along the first and second guides, and the first guide includes the plurality of carriages along the first guide. A plurality of first stoppers that respectively determine a first stop position when moving downward, and the second guide is a first guide when the plurality of carriages move downward along the second guide. A plurality of second stoppers that respectively determine the two stop positions are provided. Further, the transport device includes a first drive device that moves the first guide up and down, and a second drive device that moves the second guide up and down relative to the first guide.

  In this transport apparatus, the “vertical direction” includes not only the vertical direction along the vertical direction but also the vertical direction inclined obliquely. Further, “the carriage moves in the vertical direction” includes not only those that move up and down in a straight line but also those that move up and down in a spiral or those that move up and down diagonally.

  The carriage may be slidable along the first and second guides, and various holding means for holding the workpiece can be mounted on the carriage depending on the form of the workpiece to be conveyed. . One example of the holding means is an arm provided with a suction mechanism that can attach and detach a workpiece by pressure or magnetic force at the tip. The first and second guides include convex or grooved rails (slide rails) in addition to the shaft.

  In this transport device, the second guide is lowered with respect to the first guide by the second driving device, and the second stopper of the corresponding carriage is lower than the first stopper of the first guide. The carriage is stopped by the first stopper, and the carriage is held by the first guide at an interval set by the first stopper. Therefore, when the position of the first guide is determined by the first driving device, each carriage is stopped at a desired first stop position by the first stopper. At the first stop position, the interval between the carriages is the interval (first interval) set by the first stopper.

  Conversely, when the second guide is raised with respect to the first guide by the second driving device and the second stopper of the corresponding carriage is above the first stopper, the carriage is moved by the second stopper. It is supported and held by the second guide at an interval set by the second stopper. Therefore, each carriage can be stopped at the second stop position which is the upper predetermined stop position by raising the second guide to the predetermined position by the second driving device. Then, at the second stop position where the carriage is stopped by the second stopper, the carriage interval is determined by the interval (second interval) set by the second stopper. Therefore, in the transport apparatus of the present invention, the carriage stop position and the interval at which each carriage stops can be changed between the first stop position and the second stop position.

  That is, according to this transport apparatus, the first stop position and the second stop position of each carriage can be determined independently. For this reason, a workpiece can be conveyed satisfactorily even for molds arranged at uneven intervals.

  Furthermore, in the transport apparatus of the present invention, it is preferable that the first guide is moved up and down by the first drive device, and the second guide is moved up and down relative to the first guide by the second drive device. . In other words, it is desirable to control this transport device so that there is a time during which both the first drive device and the second drive device are moving. As a result, the carriage moves from the first stopper to the second stopper when the first stopper and the second stopper are at the same level (height) during the movement of the first guide and the second guide. Transfer from the second stopper or the second stopper to the first stopper with a smaller speed difference. For this reason, it is possible to prevent the moving carriage from colliding with the stopped stopper and stop, and to prevent the workpiece from dropping off due to the impact. Therefore, by simultaneously moving the first driving device and the second driving device, the carriage can be smoothly transferred between the first stopper and the second stopper. And in the 1st and 2nd stop position, the movement start and / or stop state of a workpiece can be controlled by the capability of the 1st and 2nd drive unit.

  That is, in the present invention, the control method of the transport device that guides the vertical movements of the plurality of carriages for transporting the workpiece by the first guide and the second guide includes an ascending process and a descending process. In the ascending step, the plurality of carriages are stopped by the plurality of first stoppers that determine the first stop position when moving downward along the first guide, and then the first guide and the first guide Each of the two guides is driven upward, and each of the carriages is stopped by a plurality of second stoppers that determine a second stop position when the plurality of carriages move downward along the second guide. In the descending step, the plurality of carriages are stopped by the plurality of second stoppers, respectively, and the first guide and the second guide are driven downward, so that the plurality of carriages are the plurality of first stoppers. To enter the stopped state. With this control, the carriage is moved from the first stopper to the second stopper or from the second stopper when the first stopper and the second stopper are at the same level in the ascending process and the descending process. Transfer to the first stopper.

  In the transport apparatus of the present invention, in order to enjoy the advantage of changing the interval between the stop positions of the carriage, even if the first drive apparatus is stopped, that is, the transport apparatus does not include the first drive apparatus. good. However, it is desirable to have a first drive device that moves the first guide up and down in addition to the second drive device. In addition to the effect that enables the control as described above, the first drive device adjusts the first stop position, which is the lower predetermined stop position, by lowering the first guide to the predetermined position. can do. In addition, the stroke of the first drive device can be added to the stroke of the second drive device to control the moving distance between the first stop position and the second stop position, and the workpiece can be conveyed. Wide range, and variations in mold spacing that can be handled.

  Furthermore, in the transport device of the present invention, it is necessary to determine the position of the second stopper so that the second stopper is positioned below the first stopper at the first stop position. By providing the first drive device, the first stop position can be adjusted to be variable in such a state.

  In addition to the first drive device and the second drive device, the transport device of the present invention further preferably includes a third drive device that moves the first guide and the second guide up and down synchronously. . One form of the third drive device is to move the first guide, the second guide, the first drive device, and the second drive device up and down.

  By this third drive device, it becomes possible to control operations common to the first stop position and the second stop position, and the control of the first and second drive devices can be simplified. One common operation is to lift (unload) the workpiece from the mold at each stop position and to move the workpiece up and down (unload) on the mold by a small distance up and down the workpiece. It is an operation to move to.

  Moreover, in this invention, the processing apparatus which has the conveying apparatus of this invention and the press apparatus provided with the some shaping | molding die arrange | positioned in the moving direction of a carriage is provided. The position determined by the first stopper is a position for loading or unloading the workpiece on the first mold, and the position determined by the second stopper is the first position positioned above the first mold. This is the position for loading or unloading the workpiece onto the second mold.

  In this processing apparatus, the interval between the position where the workpiece is gripped by the conveying apparatus and the position where the workpiece is discharged can be set independently. Therefore, it becomes possible to arrange | position a some shaping | molding die in a press apparatus with a non-uniform space | interval. Alternatively, even when the position of the second mold is not directly above the first mold but on the upper side of a plurality of stages of the first mold, the workpiece is moved between the molds by the conveying device. Pieces can be transported smoothly.

  In the processing apparatus of the present invention, the arm mounted on the carriage of the conveying device turns and expands / contracts from the position where the workpiece is loaded, moves up and down away from the mold, and rotates and expands / contracts again. It is also possible to unload the workpiece into the mold. However, in addition to the vertical movement, moving the workpiece in different directions during conveyance tends to cause the workpiece to fall off. Accordingly, the lower mold for taking in and out the workpiece in the mold can be moved between the first position overlapping the carriage movement range and the second position outside the carriage movement range. preferable.

  FIG. 1 shows an example of a transport apparatus according to the present invention and a processing apparatus having the transport apparatus. The processing device 4 includes a press device 2 including a plurality of forming dies 41, 42, and 43, a carriage 3 for supplying a workpiece W to the pressing device 2, a plurality of forming dies 41 to 43, and a cart 3. And a transport device 1 for transporting the workpiece W therebetween.

  The transport apparatus 1 includes a plurality of carriages 10a, 10b, and 10c for transporting the workpiece W, and a first guide 14 and a second guide 15 that guide the vertical movement of the carriages 10a, 10b, and 10c. have. The transport device 1 uses shafts as the first and second guides 14 and 15, and these shafts 14 and 15 extend in parallel in the vertical direction.

  These carriages 10a to 10c slide up and down individually along the shafts 14 and 15 in an independent state. Further, each of the carriages 10a to 10c is equipped with an arm 11 having a mechanism 13 for holding the workpiece W at the tip. The holding mechanism 13 of this example has a function of sucking and supporting the workpiece W by vacuum. If the workpiece W is a magnetic body, an electromagnet or the like can be used as the holding mechanism 13.

  First stoppers (collars) 16a, 16b, and 16c are attached to the first shaft 14 to contact the lower side of the carriages 10a, 10b, and 10c and determine the lower stop positions (first stop positions), respectively. . The second shaft 15 hits the lower side of the carriages 10a, 10b, and 10c, and a second stopper (collar) that determines an upper stop position (second stop position) with respect to the lower stop position, respectively. 17a, 17b and 17c are attached. These stoppers 16a to 16c and 17a to 17c can be fixed to appropriate positions desired by the user by the user moving along the respective shafts manually or with an appropriate jig.

  The transport device 1 includes a first driving device 18 that moves the first shaft 14 up and down, a second driving device 19 that moves the second shaft 15 up and down relative to the first shaft 14, and a first And a third drive device 20 that moves the shaft 14 and the second shaft 15 up and down synchronously. As these driving devices 18, 19 and 20, cylinder-type driving devices each having an air-driven cylinder as an actuator are used.

  In the second cylinder 19, the distal end portion of the piston rod 19 a of the cylinder 19 is connected to the proximal end portion of the second shaft 15. On the other hand, the base end portion of the second cylinder 19 is supported by the first cylinder 18 via the first support member 21. Therefore, when the second cylinder 19 is driven, the second shaft 15 can be moved in the vertical direction with respect to the first shaft 14.

  In the first cylinder 18, the distal end portion of the piston rod 18 a of the cylinder 18 is connected to the proximal end portion of the first shaft 14 and the first support member 21. On the other hand, the base end portion of the first cylinder 18 is supported by the third cylinder 20 via the second support member 22. Therefore, when the first cylinder 18 is driven, the first shaft 14 moves up and down, and the second shaft 15 and the second cylinder 19 also move up and down.

  In the third cylinder 20, the tip of the piston rod 20 a of the cylinder 20 is connected to the second support member 22. Therefore, when the third cylinder 20 is driven, the first shaft 14, the second shaft 15, the first cylinder 18 and the second cylinder 19 can all be moved up and down.

  The press device 2 that transports the workpiece W by the transport device 1 includes, from below, a first mold 41, a second mold 42, and a third mold 43. The molding dies 41 to 43 are arranged in the moving direction of the carriages 10a to 10c, that is, in this example, up and down. Further, the press device 2 moves the upper dies 41b to 43b in the vertical direction with respect to the lower dies 41a to 43a of the molding dies 41 to 43, and presses the workpiece W received by the lower dies 41a to 43a. The pressure mechanism 45 and the moving mechanism 44 which moves the lower mold | types 41a-43a to the front-back direction (horizontal direction) are provided. By this moving mechanism 44, the lower molds 41a to 43a are placed horizontally between a first position that overlaps the moving range of the carriages 10a, 10b, and 10c and a second position that deviates from the moving range of the carriages 10a, 10b, and 10c. The workpiece W moves in the direction, transports the workpiece W at the first position, takes in and out the workpiece W at the second position, and press-molds the workpiece W.

  The carriage 3 includes a stacking portion 3a on which the workpiece W is mounted. The carriage 3 includes a position where the workpiece W is discharged below the first mold 41 in the movement range of the carriage 10a, and a position where the carriage 3 is out of the movement range of the carriage 10a and receives a new workpiece W. Reciprocate between them. The processing apparatus 4 further includes a control unit 50, through which the first, second and third cylinders 18, 19 and 20, the carriage 3, and the moving mechanism of the press apparatus 2 are provided. 44 and the pressurizing mechanism 45 are controlled.

  In this processing apparatus 4, the upper surface of the workpiece W loaded on the carriage 3 and the upper surface of the workpiece W supported by the lower mold 41 a of the first molding die 41 are spaced from each other by the distance L 1. The upper surface of the workpiece W supported by the lower mold 41a and the upper surface of the workpiece W supported by the lower mold 42a of the second mold 42 are supported by the lower mold 42a of the second mold 42 with a distance L2. The carriage 3 and the pressing device 2 are adjusted with respect to the horizontal plane F so that the distance L3 is set between the upper surface of the workpiece W and the upper surface of the workpiece W supported by the lower mold 43a of the third mold 43. ing. Accordingly, the moving distance of the workpiece W from the carriage 3 to the lower mold 41a of the first mold 41 is the interval L1, and from the lower mold 41a of the first mold 41 to the lower mold 42a of the second mold 42. The moving distance of the workpiece W is the distance L2, and the moving distance of the workpiece W from the lower mold 42a of the second mold 42 to the lower mold 43a of the third mold 43 is the distance L3. These intervals L1, L2 and L3 are L1 <L2 <L3. In the processing apparatus 4 of this example, the relationship between the interval L1, the interval L2, and the interval L3 can be arbitrarily determined according to the shape and size of the mold, and the distance to move the workpiece is uniform. There is no need to align.

  The positions of the stoppers 16a to 16c and the stoppers 17a to 17c attached to the respective shafts 14 and 15 of the conveying device 1 are such that the workpiece W is loaded (distributed) on the molds 41 to 43 of the pressing device 2 and unloaded ( It is determined by the relationship with the position to acquire. When the workpiece W is conveyed from the bottom to the top, the first stop position of the carriage 10a determined by the first stopper 16a at the bottom of the first shaft 14 is to unload the workpiece W from the carriage 3. It is a position to do. The second stop position of the carriage 10 a determined by the second stopper 17 a at the bottom of the second shaft 15 is a position for loading the workpiece W onto the first mold 41. The first stop position of the carriage 10 b determined by the first stopper 16 b in the middle of the first shaft 14 is a position for unloading the workpiece W from the first mold 41. The second stop position of the carriage 10b determined by the second stopper 17b in the middle of the second shaft 15 loads the workpiece W onto the second mold 42 located above the first mold 41. It is the position for.

  The first stop position of the carriage 10 c determined by the first stopper 16 c on the top of the first shaft 14 is a position for unloading the workpiece W from the second mold 42. The second stop position of the carriage 10c determined by the second stopper 17c on the top of the second shaft 15 is that the workpiece W is placed on the third mold 43 located above the second mold 42. This is the position to load. When the workpiece W is transported from top to bottom, loading and unloading are reversed.

  Therefore, on the first shaft 14, the first stopper 16b and the first stopper 16c are set so as to have a distance L2 so that the first stopper 16a and the first stopper 16b have a distance L1. ing. Further, in the second shaft 15, the second stopper 17b and the second stopper 17c are set to have a distance L3 so that the second stopper 17a and the second stopper 17b have a distance L2. Yes. The intervals at the stop positions of the carriages 10a to 10c are determined by the stoppers 16a to 16c and 17a to 17c. The first and second stop positions of the carriages 10a to 10c with respect to the press device 2 are determined by these stoppers 16a to 16c. Not only the positions of the stoppers 16a to 16c and 17a to 17c are determined, but also the strokes of the first cylinder 18 and the second cylinder 19 are taken into consideration. That is, the first stop position below each of the carriages 10a to 10c is determined by the position at which the first cylinder 18 moves to the lowest side within the stroke setting range. The second stop position on the upper side of each carriage 10a to 10c is such that the first cylinder 18 moves to the uppermost position within the stroke setting range, and the second cylinder 19 moves to the uppermost position within the stroke setting range. Depends on the position moved.

  Further, the third cylinder 20 moves the first shaft 14 and the second shaft 15 together to control the common movement at the first and second stop positions. It is an operation of moving the workpiece W slightly up and down when loading and unloading the workpiece with respect to the lower mold, so as not to interfere with the workpiece W when the molds 41 to 43 move back and forth. It is an operation for. For this reason, the stroke L4 of the third cylinder 20 is set such that a sufficient distance can be secured so as not to interfere with the upper surfaces of the lower molds 41a to 43a of the respective molding dies.

  FIG. 2 is a flowchart showing an outline of control of the processing apparatus 4 including control of the transport apparatus 1 by the control unit 50. In step S <b> 1, it is determined that pressing has been performed by the first to third molding dies 41 to 43 of the pressing device 2. When the press is completed, in step S2, as shown in FIG. 1, the transport apparatus 1 is in a state in which the third cylinder 20 is extended and the first cylinder 18 and the second cylinder 19 are contracted. Therefore, the carriages 10a to 10c are stopped at the first stop position (lower stop position) of each carriage. In this state, the carriage 3 on which the new workpiece W is loaded is moved forward toward the lower side of the carriage 10a. At the same time, in the press device 2, each of the lower dies 41a to 43a is moved from the second position toward the first position overlapping the movement range of the carriages 10a, 10b, and 10c.

  Next, in step S3, as shown in FIG. 3, the third cylinder 20 is driven downward by L4, and a new workpiece loaded on the carriage 3 by the holding mechanism 13 mounted on the first carriage 10a. Adsorb W. At the same time, the holding mechanism 13 mounted on the second and third carriages 10b and 10c sucks and holds the workpiece W from the lower dies 41a and 42a of the first and second molding dies 41 and 42, respectively.

  In step S4, the third cylinder 20 is raised by the stroke L4. Thereafter, in step S5, as shown in FIG. 4, the carriage 3 is moved away, and the lower dies 41a to 43a of the first to third molding dies 41 to 43 are moved from the first position to the carriages 10a to 10c. Out of the moving range, each is moved rearward toward a second position where it does not interfere with the workpiece W gripped by these carriages 10a to 10c. In the press device 2, the second position corresponds to a position where the lower dies 41a to 43a face the upper dies 41b to 43b and function as the forming dies 41 to 43, respectively.

  At this stage, each of the carriages 10a to 10c is in a state where the workpiece W is sucked and held at the lower first stop position supported by the stoppers 16a to 16c of the first shaft 14. Therefore, when the first and second cylinders 18 and 19 are driven to extend the pistons 18a and 19a upward in step S6, the workpiece W starts to be conveyed upward.

  At this time, since the second cylinder 19 is mounted on the first cylinder 18, the moving speed V2 of the second guide is larger than the moving speed V1 of the first guide. Therefore, when the carriages 10a to 10c are stopped at the first stop position, the stoppers 17a to 17c of the second shaft 15 positioned below the stoppers 16a to 16c of the first shaft 14 are It moves upward at a speed faster than the stoppers 16a to 16c. Therefore, the second stoppers 17a, 17b and 17c pass the first stoppers 16a, 16b and 16c while the first shaft 14 and the second shaft 15 are moving upward. Therefore, as shown in FIG. 5, while the carriages 10a, 10b and 10c are moving upward, the first stoppers 16a, 16b and 16c and the second stoppers 17a, 17b and 17c are at the same level (height). ), The carriages 10a, 10b and 10c move from the first stoppers 16a, 16b and 16c to the second stoppers 17a, 17b and 17c with a speed difference (V2). Change at -V1). Therefore, when the workpiece W is transported upward at the moving speed V2, the speed at the start can be reduced, and the impact at the start when the upward acceleration is suddenly applied can be reduced. Further, similarly, since the speed difference when changing to a sudden upward acceleration can be reduced, the impact applied to the workpiece W during conveyance can be reduced. Therefore, the workpiece W can be conveyed with high reliability by the conveying device 1.

  That is, in the ascending step S6, the carriages 10a to 10c are controlled by the first shaft 14 via the first stoppers 16a to 16c when the workpiece 10 is gripped and started upward, and the second shaft Slide for 15. From the middle, the carriages 10 a to 10 c are controlled by the second shaft 15 via the second stoppers 17 a to 17 c and slide with respect to the first shaft 14. Then, when the second shaft 15 stops, the carriages 10a to 10c stop. Accordingly, the interval between the carriages 10a to 10c is determined by the first shaft 14 at the lower stop position and determined by the second shaft 15 at the upper stop position.

  In FIG. 5, before the first carriage 10a having a moving distance L1 is transferred from the first stopper 16a to the second stopper 17a, the second carriage 10b having a moving distance L2 is moved from the first stopper 16b to the second stopper 17b. The third carriage 10c having a moving distance L3 immediately before changing to the second stopper 17b shows a state after changing from the first stopper 16c to the second stopper 17c. In this example, in order from the carriage having the long moving distance, the first stopper having the low moving speed is moved to the second stopper having the high moving speed.

  FIG. 6 shows a state in which the first and second cylinders 18 and 19 push out the pistons 18a and 19a by a predetermined stroke in step S6, and the upward driving is finished. Each carriage 10a, 10b and 10c stops at the second stop position supported by the stoppers 17a, 17b and 17c of the second shaft 15. Replenishment of a new workpiece W to the carriage 3 is preferably performed in parallel while the carriages 10a, 10b and 10c are being lifted.

  In step S7, as shown in FIG. 7, the lower molds 41a to 43a of the molding dies 41 to 43 are respectively moved forward from the second position to be pressed toward the first position for conveyance. In step S8, the third cylinder 20 is driven downward by the stroke L4, and the workpieces W held by the carriages 10a, 10b and 10c by the holding mechanism 13 at the tip of the arm 11 are held by the lower dies 41a and 42a. And 43a are released (unloaded). As a result, the workpiece W is sequentially moved from the lower mold to the upper mold.

  In step S9, the third cylinder 20 is raised by L4 to ensure a clearance. Thereafter, in step S10, the lower dies 41a to 43a are moved rearward from the first transport position toward the second press. At this stage, the pressing device 2 can start pressing with the respective molds 41 to 43.

  Further, in step S11, the first and second cylinders 18 and 19 are driven downward to return the carriages 10a, 10b and 10c from the upper second stop position to the original lower first stop position. . The movements of the carriages 10a to 10c in the descending step S11 are opposite to those in the ascending step S6 described above, and the carriages 10a to 10c are driven by driving the first shaft 14 and the second shaft 15 downward, respectively. First, the first shaft 14 is slid while being supported by the second stoppers 17a to 17c of the second shaft 15, respectively. At any time, the carriages 10 a to 10 c move to the first stoppers 16 a to 16 c of the first shaft 14 and slide with respect to the second shaft 15. Then, the carriages 10 a to 10 c shift to a state where they are stopped by the first shaft 14.

  When the workpiece W is transported from the top to the bottom in the transport apparatus 1 of this example, the carriage 10a to 10c moves downward while gripping the work W in this step S11. Accordingly, in this case as well, the upward acceleration at which the workpiece W is likely to come off works, the speed when stopping at the lower side can be reduced, and the workpiece W can be reliably gripped and conveyed.

  As described above, the transport apparatus 1 includes the first shaft 14 and the second shaft 15, and the first stoppers 16 a to 16 c and the second stoppers 17 a to 17 c are respectively placed at desired positions. Each stop can be used to independently determine the lower stop position and the upper stop position of the three carriages 10a, 10b, and 10c. Therefore, the workpiece W can be held at different intervals on the lower side and the upper side and conveyed up and down even for the press device 2 in which the intervals in the height direction of the mold are not uniform.

  Further, the transport device 1 controls the first shaft 14 and the second shaft 15 to move together using the first and second cylinders 18 and 19 when the workpiece W is moved up and down. Yes. For this reason, the carriages 10a, 10b, and 10c that transport the workpiece smoothly move between the first stoppers 16a to 16c and the second stoppers 17a to 17c with a small speed difference during the vertical movement. Furthermore, the start and stop of the carriage that grips the workpiece can be controlled by a driving device including an actuator such as a cylinder via the first shaft 14 on the lower side and the second shaft 15 on the upper side. . For this reason, it is easy to perform control such that the acceleration is lowered by gradually changing the speed at start and stop. Therefore, the impact applied to the workpiece W when the workpiece W is conveyed can be reduced, and troubles during conveyance such as dropping of the workpiece W can be prevented.

  Furthermore, according to the said conveying apparatus 1 and the processing apparatus 4, since the 3rd cylinder 20 is provided, the operation | movement to which the workpiece | work W is attached to and detached from the shaping | molding die 41, 42, and 43 up and down is carried out. This can be done by three cylinders 20.

  In the present embodiment, a transport apparatus including three carriages 10a, 10b, and 10c is shown, but the number of carriages is not limited to this. Further, a configuration in which a plurality of carriages are consumed to transport one workpiece is also possible. Further, although an example in which a shaft is used as a guide for the carriage is shown, a guide structure capable of slidingly supporting another carriage such as a rail can also be adopted. Moreover, in the above, although the processing apparatus which conveys a workpiece | work with the conveying apparatus of this invention is shown with respect to the press apparatus with which the shaping | molding die was located in the up-down direction, the conveying apparatus is an apparatus provided with other various processing functions. The workpiece can also be conveyed.

The side view which shows the processing apparatus and conveying apparatus concerning one Embodiment of this invention. The flowchart for demonstrating control of the processing apparatus and conveyance apparatus of FIG. The side view shown in the state which hold | grips a workpiece | work with a conveying apparatus. The side view which shows the state which hold | maintained the workpiece | work with the conveying apparatus. The side view which shows the state in the middle of conveying a workpiece | work upward with a conveying apparatus. The side view which shows the state which conveyed the workpiece | work upward by the conveying apparatus. The side view shown in the state which set the workpiece | work to the upper shaping | molding die with the conveying apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Conveyance apparatus, 2 ... Press apparatus, 4 ... Processing apparatus 10a, 10b, 10c ... Carriage 14 ... 1st shaft (1st guide), 15 ... 2nd shaft (2nd guide)
16a, 16b, 16c ... first stopper, 17a, 17b, 17c ... second stopper 18 ... first cylinder (first driving device), 19 ... second cylinder (second driving device)
20 ... Third cylinder (third drive unit)
41, 42, 43 ... Mold W ... Workpiece

Claims (6)

A plurality of carriages for conveying workpieces;
A first guide and a second guide for guiding the vertical movement of the carriage;
The first guide and the second guide extend in parallel, and the plurality of carriages are slidable along the first and second guides,
The first guide includes a plurality of first stoppers that respectively determine a first stop position when the plurality of carriages move downward along the first guide, and the second guide includes A plurality of second stoppers for respectively determining second stop positions when the plurality of carriages move downward along the second guide;
A first driving device for moving the first guide up and down;
And a second driving device that moves the second guide up and down relative to the first guide.   The transport apparatus according to claim 1, further comprising a third drive device that moves the first guide and the second guide up and down synchronously.   3. The transport device according to claim 2, wherein the third driving device moves the first guide, the second guide, the first driving device, and the second driving device up and down. A transport apparatus according to any one of claims 1 to 3 ;
A press device provided with a plurality of molds arranged in the moving direction of the carriage,
The first stop position is a position for loading or unloading a workpiece onto the first mold, and the second stop position is a second position located above the first mold. A processing device that is a position for loading or unloading a workpiece into the mold. 5. The processing apparatus according to claim 4 , wherein the lower molds of the plurality of molding dies are movable between a first position that overlaps a movement range of the carriage and a second position that is out of the movement range of the carriage. . A control method of a transport device that guides the vertical movement of a plurality of carriages for transporting a workpiece by a first guide and a second guide,
From the state in which the plurality of carriages are stopped by the plurality of first stoppers that determine the first stop position when moving downward along the first guide, the first guide and the second guide, respectively. Each of the guides is driven upward, and the state is shifted to a state where the guides are stopped by a plurality of second stoppers that determine a second stop position when the plurality of carriages move downward along the second guide. Ascending process;
From the state where the plurality of carriages are stopped by the plurality of second stoppers, respectively, the first guide and the second guide are driven downward, and the plurality of carriages are moved to the plurality of first guides. And a descent process that shifts to a stopped state by the stopper.

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