Conveying device, conveying system, conveying method, and method for manufacturing press-molded product

Abstract

To improve shape stability of a plate material being conveyed and suppress a temperature of the plate material being conveyed from falling.SOLUTION: A conveying device comprises a plurality of gripping parts. Each of the plurality of gripping parts includes a first protruding part that forms at least one first support point B for supporting either of an upper surface and a lower surface of a plate material to be conveyed, in a dotted manner, and a second protruding part that forms at least two second support points C for supporting the other surface of the plate material, in a dotted manner, at a height different from the height of the first support point B. In each of the plurality of gripping parts, the first protruding part and second protruding part are arranged side by side in the first direction, and the at least one first support point B is arranged between the at least the two second support points C, in the first direction. The plurality of gripping parts are provided side by side in a second direction crossing the first direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a conveying device, a conveying system, a conveying method, and a method for manufacturing a press-formed product. [Background technology]

[0002] As a technology for transporting plate materials, for example, Japanese Patent Application Laid-Open No. 8-337329 discloses a transport method in which the plate material is curved into a convex or concave shape by an adsorption member, and then adsorbed and held in that state, thereby increasing the rigidity of the plate material and transporting it.

[0003] The microfilm of Japanese Utility Model Application No. 60-115902 (Japanese Utility Model Application Laid-Open No. 62-25023) discloses a feeding device that feeds sheet material to a press while holding both edge portions of the sheet material with holding means. The holding means has inclined guides that engage both edge portions of the sheet material to curve the sheet material convexly upward.

[0004] Japanese Patent Application Laid-Open Publication No. 2007-175722 discloses a conveying device for heated metal plates. This conveying device includes a support member that supports the heated metal plate from below. The support member has a convex curved surface that is convex upward or downward relative to the supported metal plate, or a wavy curved surface that includes both. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 8-337329 [Patent Document 2] Microfilm of the contents of the specification and drawings attached to the application of Utility Model Application No. 115902 / 1985 (Unexamined Utility Model Application No. 25023 / 1987) [Patent Document 3] Japanese Patent Application Laid-Open No. 2007-175722 Summary of the Invention [Problem to be solved by the invention]

[0006] In the above-described conventional technology, a conveying device conveys plate materials in a curved state. Curving the plate materials increases the rigidity of the plate materials. Therefore, deflection of the plate materials during conveyance is suppressed. However, when the plate materials are large or thin, they tend to bend easily, so the support members that support the plate materials must have a large contact area with the plate materials. On the other hand, when the contact area of the support members with the plate materials increases, the amount of heat dissipated from the plate materials to the support members increases. Therefore, the temperature of the plate materials tends to decrease during conveyance.

[0007] Therefore, the present application discloses a conveying device, a conveying system, a conveying method, and a method for manufacturing a press-formed product that can improve the shape stability of a plate material during conveyance and suppress a temperature drop of the plate material during conveyance. [Means for solving the problem]

[0008] The conveying device according to an embodiment of the present invention includes: A plurality of gripping portions are provided, Each of the plurality of gripping portions is a first protrusion that forms at least one first support point B that supports one of the upper and lower surfaces of the plate material to be conveyed in a point-like manner; a second protrusion that forms at least two second support points C that support the other surface of the plate material at a height different from the first support points B; In each of the plurality of gripping portions, the first protrusion and the second protrusion are arranged side by side in a first direction, and in the first direction, the at least one first support point B is disposed between the at least two second support points C; The plurality of gripping portions are arranged side by side in a second direction intersecting the first direction. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to improve the shape stability of the plate material during transportation and suppress a drop in temperature of the plate material during transportation. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a transport system according to this embodiment. [Figure 2] FIG. 2 is a top view showing an example of the configuration of the transport device shown in FIG. [Figure 3] FIG. 3 is a diagram showing an example of the arrangement of grippers in the transport device. [Figure 4] FIG. 4 is an enlarged view of the conveying device shown in FIG. [Figure 5] FIG. 5 is a side view showing a modified example of the transport device. [Figure 6] FIG. 6 is a side view showing a modified example of the transport device. [Figure 7] FIG. 7 is a side view showing a modified example of the transport device. [Figure 8] FIG. 8 is a side view showing a modified example of the transport device. [Figure 9] FIG. 9 is a top view showing a configuration example of the transfer machine shown in FIG. [Figure 10] FIG. 10 is a top view showing an example of the configuration of the plate material holding unit in the heating device shown in FIG. [Figure 11] FIG. 11 is a diagram showing the dimensions of the transport device and plate materials used in the experiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] (Configuration 1) The conveying device according to an embodiment of the present invention includes: A plurality of gripping portions are provided, Each of the plurality of gripping portions is a first protrusion that forms at least one first support point B that supports one of the upper and lower surfaces of the plate material to be conveyed in a point-like manner; a second protrusion that forms at least two second support points C that support the other surface of the plate material at a height different from the first support points B; In each of the plurality of gripping portions, the first protrusion and the second protrusion are arranged side by side in a first direction, and in the first direction, the at least one first support point B is disposed between the at least two second support points C; The plurality of gripping portions are arranged side by side in a second direction intersecting the first direction.

[0012] According to the above-mentioned configuration 1, the conveying device conveys the plate material by point-supporting one side of the plate material with the first support point B of each gripping unit and point-supporting the other side with the second support point C. The first support point B of each gripping unit is disposed between the second support points C, and the height of the first support point B is different from the height of the second support point C. Therefore, the plate material point-supported with the first support point B and the second support point C is held by the conveying device in a curved state in the cross section of the plane perpendicular to the second direction of the plate material. Since the plate material is supported from both the top and bottom by the first support point B and the second support point C, the curved state is stabilized. Furthermore, point-support reduces the area of contact between the first protrusion and the second protrusion of the conveying device and the plate material, thereby suppressing heat dissipation. Furthermore, the first protrusion and the second protrusion of each gripping unit are configured so that the first support point B and the second support point C do not overlap when viewed in the thickness direction of the plate material. Therefore, the shape stability of the plate material during transportation can be improved, and the temperature drop of the plate material during transportation can be suppressed.

[0013] The configuration in which at least two second support points C point-support the other surface of the plate material at a height different from that of the first support points B can be a configuration in which each of the at least two second support points C point-supports the other surface of the plate material at a height different from that of the adjacent first support points B. In other words, the first protrusion and the second protrusion may be configured in each gripping portion so that the heights of the at least one first support point B and the adjacent first support point B and second support point C of the at least two second support points C are different.

[0014] The first direction is defined as the direction of a straight line passing through the midpoints of two C-line segments connecting a first support point B of one gripping unit (first reference gripping unit) among the multiple gripping units and two adjacent second support points C of another gripping unit (second reference gripping unit). The first and second reference gripping units are the gripping units at both ends of the multiple gripping units. In other words, the two outermost gripping units among the multiple gripping units aligned in the second direction are defined as the first and second reference gripping units. If the first or second reference gripping unit has three or more second support points C adjacent to a first support point B, the two second support points farthest apart among the three or more second support points are defined as the two second support points that determine the two C-line segments. The two C-interval lines are a line segment connecting the second support point C on one end side of the first reference gripping portion and the second support point C on one end side of the second reference gripping portion, and a line segment connecting the second support point C on the other end side of the first reference gripping portion and the second support point C on the other end side of the second reference gripping portion.

[0015] The second direction is the direction of a straight line passing through the midpoint of a line segment connecting the first support point B of the first reference gripping part to two adjacent second support points C, and the midpoint of a line segment connecting the first support point B of the second reference gripping part to two adjacent second support points C. As an example, the second direction may be a direction perpendicular to the first direction.

[0016] The direction of the height of the support point is perpendicular to both the first direction and the second direction.

[0017] In each of the multiple gripping units, the first protrusion and the second protrusion are arranged side by side in the first direction, and the first support point B and the second support point C are located within a first imaginary band-like area extending in the first direction when viewed from the height direction. The width of the first imaginary band-like area is half the minimum distance in the first direction between the first support point B and the second support point C on the first reference gripping unit and the second reference gripping unit. The width of the first imaginary band-like area is the dimension in the direction perpendicular to the first direction when viewed from a direction perpendicular to the first and second directions. The minimum distance in the first direction between the first support point B and the second support point C on the first reference gripping unit and the second reference gripping unit is the minimum distance between the distance in the first direction between the first support point B and the second support point C on the first reference gripping unit and the distance in the first direction between the first support point B and the second support point C on the second reference gripping unit.

[0018] In a configuration in which multiple gripping parts are arranged side by side in the second direction, at least two corresponding second support points C of the multiple gripping parts are located within a second imaginary band-like area extending in the second direction. The width of the second imaginary band-like area is half the smallest distance in the first direction between the first support point B and the second support point C of the first reference gripping part and the second reference gripping part. The width of the second imaginary band-like area is the dimension in the direction perpendicular to the second direction when viewed from a direction perpendicular to the first and second directions.

[0019] Point support is a form in which the plate material is supported by a protrusion of the first protrusion, the second protrusion, or the third protrusion, which protrudes toward the plate material and is columnar or thin ridge-like protrusion extending along a first direction. The dimension of the columnar protrusion in the extending direction of the column may be longer or shorter than the longitudinal dimension of the cross section perpendicular to the extending direction. Point support forms are distinguished from point support by forms in which the plate surface of the plate-like member is supported in a planar manner, or by forms in which ridge-like protrusions extending along a second direction are supported in a linear manner. The support point of one point support is the point at which one protrusion supports the plate material. The support point of one point support may be a form in which the plate material is in contact with the plate material at one location, or may be a form in which the plate material is in contact with multiple locations that are close enough to be considered as one support point. As a guideline, when the contact area of the actual contact part of the first protrusion, the second protrusion, or the third protrusion with the plate material is 50 mm2 The following forms are considered point supports. In addition, the area of the area (contactable area) at the tip of the protrusion of the first protrusion, the second protrusion, or the third protrusion that may come into contact with the plate material is 200 mm 2 The following forms are referred to as point support. Note that when the protrusion of the first protrusion, the second protrusion, or the third protrusion is columnar, the protrusion is not limited to a cylinder, and may be, for example, a rectangular column (a column with a polygonal cross section) or other columnar shapes. Furthermore, the tip of the protrusion of the first protrusion, the second protrusion, or the third protrusion may be rounded or flat. In other words, the surface shape of the contactable area of the tip of the protrusion may be a curved surface or a flat surface. Furthermore, the form of the ridge of the protrusion extending along the first direction includes cases where the extension direction of the ridge strictly coincides with the first direction, as well as cases where the extension direction of the ridge is slightly different from the first direction.

[0020] The first support point B and the second support point C formed by the first protrusion and the second protrusion of one of the multiple gripping parts may be arranged in the same manner as the first support point B and the second support point C formed by the first protrusion and the second protrusion of another of the multiple gripping parts. For example, the first support point B and the second support point C of two of the multiple gripping parts at both ends in the second direction may be arranged in the same manner. Here, the same arrangement means that the distance in the first direction between the first support point B and the second support point C of one of the gripping parts and the difference in height between the first support point B and the second support point C are within an allowable range with respect to the distance between the first support point B and the second support point C and the difference in height between the first support point B and the second support point C of the other gripping parts. The tolerance for the distance between the first support point B and the second support point C of one gripping unit relative to the distance between the first support point B and the second support point C of the other gripping unit shall be half the smallest distance between the first support point B and the second support point C of the one gripping unit and the other gripping unit. The tolerance for the difference in height between the first support point B and the second support point C of the one gripping unit relative to the difference in height between the first support point B and the second support point C of the other gripping unit shall be half the smallest difference in height between the first support point B and the second support point C of the one gripping unit and the other gripping unit.

[0021] (Configuration 2) The conveying device of the above configuration 1 In each of the plurality of gripping units, the first protrusion may form at least two of the first support points B. This increases the shape stability of the plate material during transportation. In this case, in each of the plurality of gripping units, the at least two first support points B are disposed between the at least two second support points C in the first direction.

[0022] For example, in each of the plurality of gripping parts, the first support point B and the second support point C may be adjacent to each other in the first direction, with no other point-like support point disposed therebetween, and the at least two first support points B may be adjacent to each other, with no other point-like support point disposed therebetween. This simplifies the configuration of the gripping part.

[0023] (Configuration 3) The conveying device of the above configuration 1 or 2 In each of the plurality of gripping portions, The first support point B of the first protrusion supports the lower surface of the plate material in a point-like manner, The second support point C of the second protrusion supports the upper surface of the plate material in a point-like manner, The first support point B may be higher than the second support point C. This allows the conveying device to grip and convey the plate material in a state where it is curved upwardly, thereby improving the shape stability of the plate material during conveyance.

[0024] (Configuration 4) In the conveying device of the above configuration 2, Each of the multiple gripping portions may have at least two of the first support points B, and may have a third protrusion that forms at least one third support point A that supports one side of the plate material at a point-like position at a height different from that of the first support points B between the at least two first support points B. This allows one side of the plate to be point-supported by at least two first support points B and a third support point A between them, between the second support points that provide point support on the other side of the plate. This increases the shape stability of the plate during transport. The third support point A is an example of a first support point B. For example, two first support points B and the third support point A between them can be considered as three first support points B.

[0025] In any of the above configurations 1 to 4, in each of the multiple gripping units, the distance Dbc in the first direction between the first support point B and the second support point C is preferably, for example, 20 mm or more and 300 mm or less. By setting the distance Dbc to 20 mm or more, the heat dissipation suppression effect is further enhanced. From this perspective, the distance Dbc is more preferably 30 mm or more, and even more preferably 40 mm or more. By setting the distance Dbc to 300 mm or less, the shape stability of the plate material during transportation can be further improved. From this perspective, the distance Dbc is more preferably 270 mm or less, and even more preferably 250 mm or less. For example, in a configuration in which two first support points B are located between two second support points C in each gripping unit, the distance Dbc in the first direction between adjacent first support points B and second support points C of each gripping unit can be set as described above.

[0026] In any of the above configurations 1 to 4, in each of the multiple gripping units, the angle θbc between the reference plane and a line connecting the first support point B and the second support point C closest to the first support point B among the second support points C adjacent to the first support point B is preferably, for example, 2.58 degrees or more. The angle θbc is preferably 26.6 degrees or less. The reference plane is a plane including the first direction and the second direction, i.e., a plane defined by a vector in the first direction and a vector in the second direction. For example, in a configuration in which two first support points B are located between two second support points C in each gripping unit, the angle θbc between the reference plane and a line connecting the adjacent first support points B and second support points C of each gripping unit can be set as described above.

[0027] In any of the above configurations 1 to 4, in each of the multiple gripping units, the distance Dbba in the first direction between the first support point B and another point-like support point other than the closest second support point C (e.g., another first support point B or third support point A) is preferably, for example, 100 mm or more and 1000 mm or less. For example, in a configuration in which two first support points B are located between two second support points C in each gripping unit, the distance Dbba in the first direction between the two first support points B in each gripping unit can be set as described above. Alternatively, in a configuration in which two first support points B are located between two second support points C in each gripping unit and a third support point A is located between the two first support points B, the distance Dbba in the first direction between the first support point B and the third support point A in each gripping unit can be set as described above.

[0028] (Configuration 5) The transport system according to an embodiment of the present invention includes: A conveying device according to any one of the above configurations 1 to 4, and a transfer machine that supports the plate material before it is transported by the transport device. the transfer machine includes a plurality of support parts arranged in a second corresponding direction corresponding to the second direction, Each of the plurality of support portions has a support protrusion that forms at least one support point that supports the underside of the plate material in a point-like manner. The second corresponding direction is a direction that coincides with the second direction of the conveying device in a gripping operation in which the conveying device grips the plate material that is supported by the transfer machine and not gripped by the gripping unit with the gripping unit. By gripping the plate material whose underside is point-supported by the transfer machine, the conveying device can easily grip the plate material in an upwardly curved state. Note that the form in which the second corresponding direction coincides with the second direction in the gripping operation includes not only a case in which these directions exactly coincide, but also a case in which these directions are slightly deviated within a range in which the gripping operation is possible.

[0029] (Configuration 6) In the conveyance system of the above configuration 5, each of the plurality of support portions of the transfer machine includes a pair of positioning portions provided at positions corresponding to both ends of the plate material in a first corresponding direction corresponding to the first direction, In each of the plurality of support parts of the transfer machine, the support protrusion may be provided at a position shifted from the center of the pair of positioning parts in the first corresponding direction. The first corresponding direction is a direction that coincides with a first direction of the transport device in a gripping operation in which the transport device brings the plate material supported by the transfer machine and not gripped by the gripping part into a state of being gripped by the gripping part. This allows the transfer machine to support the plate material with the support protrusion and one of the pair of positioning parts, the one farthest from the support protrusion, in contact with the plate material, while the other positioning part is not in contact with the plate material. This facilitates the plate material gripping operation by the conveying device. Note that the form in which the first corresponding direction coincides with the first direction in the gripping operation includes not only a case in which these directions exactly coincide, but also a case in which these directions are slightly deviated within a range in which the gripping operation is possible.

[0030] (Method 1) A conveying method according to an embodiment of the present invention includes: A method for conveying a plate material using the conveying device or conveying system according to any one of the above configurations 1 to 6. a gripping operation step in which the conveying device brings the unclamped plate material at a conveyance start position into a gripping state with the gripping unit; a moving step in which the conveying device moves the plate material while gripping the plate material; a releasing step in which the conveying device releases the plate material at a conveyance destination position, In the gripping operation step, the conveying device point-supports one side of the plate material at the first support points B of the first protrusions of each of the gripping sections, and point-supports the other side of the plate material at the second support points C of the second protrusions, thereby gripping the plate material in a state where a cross section of the plane perpendicular to the second direction of the plate material is curved. For example, the conveying device may grip the plate material with the gripping sections in a state where a cross section including the first direction and a direction perpendicular to the first direction and the second direction is curved.

[0031] (Method 2) In the above method 1, In the gripping operation step, the transport device may grip the plate material supported by a transfer machine having a plurality of support portions. The transfer machine may support the underside of the plate material at at least one support point using support protrusions on each of the multiple support parts, so that the cross section of the plate material perpendicular to a second corresponding direction that coincides with the second direction of the conveying device in the gripping operation process is curved.

[0032] (Method 3) In the above method 2, Each of the multiple support parts of the transfer machine may be provided at a position where both ends in a direction corresponding to a first corresponding direction that coincides with the first direction of the conveying device in the gripping operation process are positioned, and may have a pair of positioning parts that hold at least one of both ends of the plate material. In each of the plurality of support portions of the transfer machine, the support protrusion may be provided at a position shifted from the center of the pair of positioning portions in the first corresponding direction. In the gripping operation process, the plate material may be point-supported by the support protrusion of the transfer machine, and one end of both ends in the first corresponding direction may be held by the positioning portion, and the other end may be gripped by the conveying device in a state where it is not held by the positioning portion.

[0033] In this case, in the gripping operation process, the plate material is point-supported by the support protrusion of the transfer machine, and one end of both ends in the first corresponding direction is held by the positioning portion, while the other end is not held by the positioning portion, and then, through the gripping operation, transitions to a state where it is gripped by the conveying device.

[0034] (Method 4) A method for manufacturing a press-molded product according to an embodiment of the present invention includes: a heating step of heating the plate material with a heating device; a conveying step of conveying the plate material from the heating device to a press machine by any one of the conveying methods 1 to 3; and a forming step of press-forming the plate material with the press machine.

[0035] Note that the above descriptions of the arrangement of the first support point B, the second support point C, and the third support point A all refer to the arrangement of the first support point B, the second support point C, and the third support point A when the conveying device is holding the plate material.

[0036] The conveying device according to any one of the above configurations 1 to 4 is A base frame; The device may include a pair of arms rotatably attached to a base frame, the arms being provided on each of the plurality of gripping portions. In each of the plurality of gripping portions, at least one of the first protrusion and the second protrusion may be provided on the arm. The pair of arms may be movable in the first direction. The pair of arms may be configured to be movable between a position in which the plate material is point-supported in a curved state at the first support point B and the second support point C of the first protrusion and the second protrusion, and a position in which the plate material is released.

[0037] The orientation of the conveying device may be variable as viewed from a moving mechanism, such as a manipulator, that moves the conveying device. For example, as viewed from the moving mechanism, the first direction during the gripping operation of the conveying device and the first direction when the plate material is released may be different. The first direction and the second direction are directions based on the conveying device. Even if the orientation of the conveying device as viewed from the moving mechanism changes during conveyance, the relative positional relationship of the second direction with respect to the first direction does not change. For example, the first direction and the second direction with respect to the base frame do not change.

[0038] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference numerals, and the description thereof will not be repeated. The dimensional ratios between the components shown in each drawing do not necessarily represent the actual dimensional ratios.

[0039] (Example of transport system configuration) 1 is a diagram showing an example of the configuration of a conveying system in this embodiment. The conveying system includes a conveying device 30 and a transfer machine 70. The conveying device 30 conveys a plate material W1 while gripping it. The transfer machine 70 supports the plate material W1 before it is transported by the conveying device 30. The conveying device 30 approaches the plate material W1 supported by the conveying device 30, grips the plate material W1, transports it to a target position while still gripping it, and releases it.

[0040] In the example of FIG. 1 , the transfer machine 70 is capable of moving between the heating device 60 and a lifting position. The transfer machine 70 supports the heated plate material W1 in the heating device 60, and moves the plate material W1 from the heating device 60 to the lifting position while still supporting the plate material W1. At the lifting position, the plate material W1 is gripped and lifted by the conveying device 30. The conveying device 30 transports the plate material W1 to the press machine 80 while gripping it, and releases the plate material W1 at the pressing position. The conveying device 30 is capable of gripping the plate material W1, moving while gripping the plate material W1, and releasing the plate material W1.

[0041] As an example, the conveying device 30 may be an end effector of a manipulator 41. The manipulator 41 includes a base (not shown) that is rotatable around at least one axis, and an operating arm that extends from the base and has at least one joint. The conveying device 30 is rotatably attached to the end of the operating arm. The manipulator 41 moves the conveying device 30 between a lifted position and a position between a pair of dies 81a, 81b (upper and lower dies) of the press 20. Note that the movement mechanism that moves the conveying device 30 is not limited to a manipulator. For example, the movement mechanism may include a rail and a suspension device that suspends the conveying device 30 on the rail so that it can move up and down.

[0042] (Example of transport device configuration) In the example shown in FIG. 1, the conveying device 30 includes a base frame 31 and a pair of arms 5a rotatably attached to the base frame 31 around a rotation axis J1. The pair of arms 5a are movable in a first direction F1. The conveying device 30 includes multiple gripping units for gripping the plate material W1. Each gripping unit has a first protrusion 1a that supports one side of the plate material W1 and a second protrusion 2a that supports the other side. The first protrusion 1a forms a first support point B that provides point support for one side of the plate material W1. The second protrusion 2a forms a second support point C that provides point support for the other side of the plate material W1. The second support point C supports the plate material W1 at a different height from the first support point B. The first protrusion 1a and the second protrusion 2a are arranged side by side in the first direction F1. In the first direction F1, the first support point B is located between the two second support points C.

[0043] The second protrusions 2a of each gripping unit are provided on a base frame 31, and the first protrusions 1a are provided on a pair of arms 5a. The pair of arms 5a are configured to be movable between a gripping position where the plate material W1 is gripped and a release position where the plate material W1 is released. The gripping position is a position where the plate material W1 is point-supported in a curved state by a first support point B of the first protrusions 1a and a second support point C of the second protrusions 2a. The conveying device 30 has a drive unit 6a that rotates the pair of arms 5a around a rotation axis J1. The drive unit includes, for example, a motor that serves as a power source and a transmission member that transmits the rotation of the motor to the arms.

[0044] The conveying device 30 approaches the plate material W1 supported by the transfer machine 70 with the pair of arms 5a of each gripping section in the release position, and moves the pair of arms 5a from the release position to the gripping position, thereby entering a gripping state in which the plate material W1 is point-supported by the first support point B of the first protrusion 1a and the second support point C of the second protrusion 2a. In the gripping state, the plate material W1 is gripped by the conveying device 30 in a curved state in a cross section perpendicular to the second direction F2.

[0045] In the example of FIG. 1, in each of the multiple gripping units, the first protrusion 1a forms two first support points B, and the second protrusion 2a forms two second support points C. In each gripping unit, the two first support points B are located between the two second support points C. This increases the shape stability of the plate material during transport. Also, in each gripping unit, the two first support points B are adjacent to the second support points C. No other point-like support points are located between adjacent first support points B and second support points C. This simplifies the configuration of the gripping units.

[0046] In the example of Fig. 1, in each of the multiple gripping parts, the first support point B of the first protrusion 1a provides point support to the underside of the plate material W1, and the second support point C of the second protrusion 2a provides point support to the upper surface of the plate material W1. In other words, the first protrusion 1a supports the lower surface of the plate material W1, and the second protrusion 2a supports the upper surface of the plate material W1. The first support point B is higher than the second support point C. With this configuration, the conveying device 30 can grip and convey the plate material W1 in an upwardly curved convex state.

[0047] As a modified example, in each of the multiple gripping units, the first support point B of the first protrusion 1a may provide point support to the upper surface of the plate material W1, and the second support point C of the second protrusion 2a may provide point support to the lower surface of the plate material W1. In this case, the second support point C may be higher than the first support point B. With this configuration, the conveying device 30 can grip and convey the plate material W1 in a convexly curved state. As in these examples, the first and second protrusions may be configured so that the first support point B protrudes further in the convex direction of the curve of the plate material than the second support point C. This results in a configuration in which the first protrusion pushes the plate material in the convex direction of the curve at the first support point B, which is located inside the second support point C. This allows a convex force to be applied to the plate material at the first support point B, which is closer to the center, where it is difficult to impart a curved shape. This facilitates curvature of the cross section of the gripped plate material. From a similar perspective, when a third support point A is provided between first support points B, the first protrusion, second protrusion, and third protrusion may be configured so that the third support point A protrudes in the convex direction of the curvature of the plate material more than the second support point C.

[0048] In the example of FIG. 1, each of the multiple grippers has a third protrusion 3a that forms a third support point A. The third support point A supports one side of the plate material W1 between two first support points B at a different height than the first support points B. This allows one side of the plate material W1 to be point-supported by the two first support points B and the third support point A between them, between second support points C that support the other side of the plate material W1. This improves the shape stability of the plate material during transportation. Note that in the example of FIG. 1, only one third support point A is formed by the third protrusion 3a of each gripper. However, multiple third support points A may be formed between the two first support points B. Furthermore, the third protrusion 3a may be omitted. In this case, the two first support points B of each gripper are adjacent to each other, and no other point-like support points are located between them.

[0049] FIG. 2 is a top view of the conveying device 30 shown in FIG. 1, i.e., viewed from above, i.e., in the height direction. As shown in FIG. 2, the conveying device 30 has multiple gripping units 10a, 10b. The multiple gripping units 10a, 10b are arranged side by side in a second direction F2 that intersects with the first direction F1. In the example of FIG. 2, the first direction F1 is perpendicular to the second direction F2. This can further improve the shape stability of the gripped plate material. The first direction being perpendicular to the second direction includes not only a case where the first direction is strictly perpendicular, but also a case where the first direction is approximately perpendicular within a range that can be considered perpendicular from the perspective of the shape stability of the plate material. Note that the first direction F1 and the second direction F2 are not limited to being perpendicular to each other.

[0050] A pair of arms 5a, 5b is provided corresponding to each of the multiple gripping units 10a, 10b. In the example of Fig. 2, a drive unit 6a, 6b is provided for each pair of arms 5a, 5b of each gripping unit 10a, 10b. As a variant, one drive unit may be provided for the arms of the multiple gripping units.

[0051] The first direction F1 and the second direction F2 will be described with reference to Figure 2. Of the multiple gripping units of the conveying device 30, the gripping units 10a and 10b at both ends are defined as the first reference gripping unit and the second reference gripping unit, respectively. The first direction F1 is defined as the direction of a straight line L3 passing through the midpoint CL2 of two inter-C line segments L2 that respectively connect the first support point B of the first reference gripping unit (gripping unit 10a) and two adjacent second support points C, and the first support point B of the second reference gripping unit (gripping unit 10b) and two adjacent second support points C. The two line segments L2 between C are a line segment connecting a second support point C on one end side of the first reference gripping portion (gripping portion 10a) and a second support point C on the same end side of the second reference gripping portion (gripping portion 10b), and a line segment connecting a second support point C on the other end side of the first reference gripping portion (gripping portion 10a) and a second support point C on the same other end side of the second reference gripping portion (gripping portion 10b).

[0052] The second direction F2 is the direction of a straight line L4 passing through the midpoint CL1 of the line segment L1 connecting the two second support points C adjacent to the first support point B of the first reference gripping portion (gripping portion 10a) and the midpoint CL1 of the line segment L1 connecting the two second support points C adjacent to the first support point B of the second reference gripping portion (gripping portion 10b).

[0053] An example of the arrangement of the first protrusions and second protrusions of each gripping part will be described with reference to Figure 3. In each of the multiple gripping parts, the first protrusions 1a, 1b and the second protrusions 2a, 2b are arranged side by side in the first direction F1, and in each of the gripping parts 10a, 10b, the first support point B and the second support point C are located within a first imaginary band-shaped area B1 extending in the first direction F1 when viewed from the height direction. The width of the first imaginary band-shaped area B1 (the dimension in the direction perpendicular to the first direction when viewed from a direction perpendicular to the first and second directions) is set to half (Dbc / 2) of the minimum value (Dbc in the example of Figure 3) of the distance Dbc in the first direction between the first support point B and the second support point C of the first reference gripping part and the second reference gripping part (grip part 10a and grip part 10b).

[0054] In the configuration in which multiple gripping parts are arranged side by side in the second direction F2, at least two corresponding second support points C of the multiple gripping parts are located within a second imaginary strip-shaped area B2 extending in the second direction F2. The width of the second imaginary strip-shaped area B2 (the dimension in the direction perpendicular to the second direction when viewed from a direction perpendicular to the first and second directions) is set to half (Dbc / 2) of the minimum value (Dbc in the example of FIG. 3) of the distance Dbc in the first direction between the first support point B and the second support point C of the first reference gripping part and the second reference gripping part (grip part 10a and grip part 10b).

[0055] 2 and 3, the line segments L1 connecting the two second support points C of each of the gripping portions 10a, 10b all extend in the first direction F1. In this manner, the line segments L1 connecting the two second support points C of the multiple gripping portions may be parallel to each other. Furthermore, the line segments L2 connecting the corresponding second support points C of the multiple gripping portions 10a, 10b all extend in the second direction F2. In this manner, the line segments L2 connecting the corresponding second support points C of the multiple gripping portions may be parallel to each other.

[0056] Note that at least one of the line segments L1 and L2 of the multiple gripping portions does not have to be parallel. This also falls within the category of a configuration in which the first protrusion and the second protrusion of each gripping portion are arranged side by side in the first direction, and the first support point B is disposed between two second support points C in the first direction. From the viewpoint of stably gripping the plate material, it is preferable that the difference between the direction of a line connecting the second support points C that are furthest apart in the first direction in one gripping portion and the direction of a line connecting the second support points C that are furthest apart in the first direction in the other gripping portions is, for example, 10 degrees or less. From the same viewpoint, it is also preferable that the difference between the first direction and the second direction is 85 degrees to 90 degrees.

[0057] In each of the multiple gripping parts, the distance Dbc in the first direction F1 between the first support point B and the second support point C is not particularly limited, but is preferably, for example, 20 mm or more and 300 mm or less. The distance Dbc is more preferably 30 mm or more, and even more preferably 40 mm or more. The distance Dbc is more preferably 270 mm or less, and even more preferably 250 mm or less.

[0058] In each of the multiple gripping parts, the distance Dbba in the first direction between the first support point B and another point support point other than the second support point C that is the closest of the point support points adjacent to the first support point B (the third support point A in the example of FIG. 3) is preferably, for example, 100 mm or more and 1000 mm or less. In a configuration where there is no third support point A and two first support points B are adjacent to each other (see FIG. 5, for example), the other point support point closest to the first support point B is the adjacent first support point B. In this case, the distance between two adjacent first support points B is Dbba.

[0059] 4 is an enlarged side view of the conveying device 30 shown in FIG. 1. In each of the multiple gripping units, the angle θbc between the reference plane and a line L5 connecting the first support point B and the closest second support point C among the second support points C adjacent to the first support point B is preferably, for example, 2.58 degrees or more. That is, the slope (tan θbc) of the line L5 is preferably 0.045 or more. Furthermore, the angle θbc is preferably 26.6 degrees or less. That is, the slope (tan θbc) of the line L5 is preferably 0.5 or less. The reference plane is a plane that includes the first direction and the second direction.

[0060] FIG. 5 is a side view showing a modified example of the conveying device 30. The configuration shown in FIG. 5 is the same as the configuration shown in FIG. 1 except that the third protrusion 3a is not included. In the example of FIG. 5, in each gripping section, the first support point B and the second support point C are adjacent to each other in the first direction, i.e., no other point-like support points are located between them. Also, two first support points B are adjacent to each other, i.e., no other point-like support points are located between them. This simplifies the configuration of the conveying device. Furthermore, by reducing the number of support points, the effect of suppressing temperature drops in the plate material can be improved.

[0061] FIG. 6 is a side view showing a modified example of the conveying device 30. In the example shown in FIG. 6, a pair of arms 5a of each gripper are provided with a first protrusion 1a and a second protrusion 2a. In the example shown in FIG. 6, each of the pair of arms 5a of each gripper includes a base 51 extending in the vertical direction, and a first inner protrusion 53 and a second inner protrusion 54 extending from the base 51 toward the inside in the opposing direction of the pair of arms 5a. The first inner protrusion 53 is provided above the second inner protrusion 54. The second inner protrusion 54 protrudes more inward than the first inner protrusion 53. A columnar pin protruding downward from the first inner protrusion 53 constitutes the second protrusion 2a, and a columnar pin protruding upward from the second inner protrusion 54 constitutes the first protrusion 1a. In the gripped state, the second support point C of the second protrusion 2a supports the upper surface of the plate material W1, and the first support point B of the first protrusion 1a supports the lower surface of the plate material W1.

[0062] As shown in Fig. 6, the gripping position can be set to a position where the pair of arms 5a are rotated so that the second inner protrusions 54 are positioned upward as they move inward. In this case, in the gripping state, the first support point B is higher than the adjacent second support point C. This allows the plate material W1 to be stably gripped in an upwardly curved convex state.

[0063] FIG. 7 illustrates a modified example of an arm having a first protrusion and a second protrusion. In the example shown in FIG. 7, in each of the pair of arms 5a of each gripper, the first inner protrusion 53 serves as the second protrusion 2a forming the second support point C, and the second inner protrusion 54 serves as the first protrusion 1a forming the first support point B. The second support point C supports the edge of the upper surface of the plate, i.e., the ridge between the upper surface and the side surface. This is also an example of a form of point support for the plate surface. In the example shown in FIG. 7, the outline of the first inner protrusion 53, as viewed from the inside in the direction facing the arms 5a, has a shape that includes a downwardly convex curve. The outline of the second inner protrusion 54, as viewed from the inside in the direction facing the arms 5a, has a shape that includes an upwardly convex curve. This results in the first inner protrusion 53 and the second inner protrusion 54 having shapes suitable for point support of the plate W1. 7 is an example in which the first protrusion and the second protrusion are formed as ridge-like protrusions extending in a first direction. In this case, the linearly extending portion of the tip (edge) of the ridge becomes the contactable area for point support.

[0064] FIG. 8 illustrates a modified example of an arm having a first protrusion and a second protrusion. In the example of FIG. 8, a protrusion member constituting the first protrusion 1a and the second protrusion 2a is provided between the first inner protrusion 53 and the second inner protrusion 54 of each pair of arms 5a of each gripping section. The protrusion member is continuously formed from below the first inner protrusion 53 to above the second inner protrusion 54. The protrusion member has a shape in which the vertical space increases toward the inside. This enlarges the opening through which the sheet material W1 is inserted. This facilitates the operation of rotating the pair of arms 5a to grip the sheet material W1. For example, the protrusion member may have a shape whose outline when viewed from the inside includes a downward convex curve. This allows for a shape suitable for point support. The example of FIG. 8 illustrates a case in which the first protrusion and the second protrusion are formed as ridge-like protrusions extending in a first direction.

[0065] 8, the second protrusion 2a is configured to contact the edge of the upper surface of the plate material W1. This allows the second protrusion 2a to support the plate material W1 from above and from the sides. In this case, the plate material W1 is supported by the second protrusion 2a receiving force not only from above but also from the sides.

[0066] The configuration of the conveying device 30 is not limited to the above example. In the above example, the conveying device 30 has two gripping units, but the conveying device 30 may have three or more gripping units. The configuration of the gripping units is not limited to the above example. In the above example, the configuration of the first protrusions 1a and second protrusions 2a of one gripping unit 10a among the multiple gripping units is the same as the configuration of the first protrusions 1b and second protrusions 2b of another gripping unit 10b. As a modified example, the configurations of the first protrusions and second protrusions may be different among the multiple gripping units. For example, the distance Dbc between the first support point B of the first protrusion and the second support point C of the second protrusion of adjacent first protrusions of one gripping unit may be different from the distance Dbc between the first support point B of the first protrusion and the second support point C of the second protrusion of adjacent first protrusions of another gripping unit. Furthermore, the number of at least one of the first support points B and the second support points C may vary depending on the gripping unit.

[0067] In the above example, two first support points B are arranged between two second support points C in each gripping portion. The first protrusions and second protrusions may be configured so that one first support point B is arranged between two second support points C. Furthermore, the first protrusions of one gripping portion may form three or more first support points B. The second protrusions of one gripping portion may form three or more second support points C. The third protrusions of one gripping portion may form two or more third support points A. In the above example, the heights of at least two second support points C in each gripping portion are the same. Furthermore, the heights of at least two first support points B in each gripping portion are the same. In contrast, the heights of at least two second support points C in each gripping portion may be different. Furthermore, the heights of at least two first support points B in each gripping portion may be different. In this case, the first protrusions and second protrusions can be configured so that the heights of adjacent first support points B and second support points C in each gripping portion are different.

[0068] In the above example, the pair of arms 5a rotatably attached to the base frame 31 move in a first direction relative to the base frame 31, thereby performing the gripping action and the releasing action. As a variation, the pair of arms may be configured to move in a direction other than the first direction (for example, a second direction). Alternatively, instead of the arms, at least one of the first protrusion and the second protrusion may be provided on a moving member that is slidably provided relative to the base frame.

[0069] (Example of transfer machine configuration) An example configuration of a transfer machine 70 will be described with reference to FIG. 1. In the example of FIG. 1, the transfer machine 70 has a platform 9a and a support portion provided on the platform 9a. The support portion has a support protrusion 7a and a pair of positioning portions 8a1, 8a2. The support protrusion 7a forms at least one support point that provides point support to the underside of the plate material W1. The pair of positioning portions 8a1, 8a2 are provided at positions corresponding to both ends of the plate material W1 in the direction F11 corresponding to the first direction F1. The support protrusion 7a is provided between the pair of positioning portions 8a1, 8a2. In the example of FIG. 1, the support protrusion 7a and the pair of positioning portions 8a1, 8a2 are both protrusions provided on the upper surface of the platform 9a.

[0070] By providing point support to the underside of the plate material W1 with the support protrusions 7a, the plate material W1 can be supported in a curved, upwardly convex state. The plate material W1 is supported in a curved state at the lifting position by the transfer machine 70. This allows the plate material to be shaped in advance (pre-shaped) before being gripped by the conveying device. Pre-shaping makes it easier to form a cross-section, including the center of the plate surface of the plate material. This improves the shape stability of the plate material W1 gripped by the conveying device 30.

[0071] FIG. 9 is a top view of the transfer machine 70 shown in FIG. 1. In the example shown in FIG. 9, the transfer machine 70 has a plurality of support parts. The support parts are aligned in a second corresponding direction F22 corresponding to the second direction F2. In the example shown in FIG. 9, the transfer machine 70 has a plurality of platforms 9a, 9b, and 9c aligned in the second corresponding direction F22. A support part is provided on each of the platforms 9a, 9b, and 9c. Each support part has a pair of positioning parts 8a1, 8a2, 8b1, 8b2, 8c1, and 8c2 and support protrusions 7a, 7b, and 7c. Each of the support protrusions 7a, 7b, and 7c is positioned at a position offset from the center of the pair of positioning parts (line CL3 in the example shown in FIG. 9) in the first corresponding direction F11 corresponding to the first direction. The offset direction of the support protrusions 7a, 7b, and 7c relative to the center of the pair of positioning parts is the same. In the example of Fig. 9, one of the plurality of pairs of positioning units, 8a1, 8b1, 8c1, and the other of the pair of positioning units, 8a2, 8b2, 8c2, are arranged on a straight line when viewed from above. That is, the centers of the plurality of pairs of positioning units are on the straight line CL3. The first corresponding direction F11 coincides with the first direction of the conveying device during the gripping operation. The second corresponding direction coincides with the second direction of the conveying device during the gripping operation.

[0072] With this support structure, the plate material W1 is point-supported by the support protrusions 7a, 7b, and 7c, and one end of the plate material W1 in the first corresponding direction F11 is held by the positioning portions 8a1, 8b1, and 8c1, while the other end is not held by the positioning portions 8a2, 8b2, and 8c2 (see FIG. 1). This ensures that the plate material W1 is always held at one end on the same side and not held at the other end. This stabilizes the holding position of the second support point C when the plate material W1 is gripped by the conveying device 30. This means that the position of the second support point C is less likely to shift, and the plate material W1 can be supported at a substantially constant position. This ensures that the cross section of the plate material W1 is stably formed during conveyance. This means that the conveying device 30 can easily grip the plate material W1 in a curved state. In the above example, during the gripping operation, one end of the plate material W1 is held by the positioning portion, and the other end is not held. Before the plate material is supported by the support part of the transfer machine, the support position of the plate material, both ends of which are temporarily held by the positioning part, may be adjusted. Also, both ends of the plate material may be held by the positioning part when the plate material is supported by the support part of the transfer machine (for example, immediately before the gripping operation).

[0073] In the example of FIG. 9, the support protrusions 7a, 7b, and 7c of the multiple support parts are all offset in the same direction relative to the center of the pair of positioning parts. By making the offset directions of the multiple support protrusions the same in this way, it becomes easier to impart a pre-shape to the plate material W1. From the same perspective, it is preferable to arrange the support protrusions 7a, 7b, and 7c of the multiple support parts on a single straight line when viewed from above, as in the example of FIG. 9. The amount of offset of the support protrusions relative to the center of the positioning parts is not particularly limited, but is preferably, for example, 5 to 15% of the length of the plate material in the first corresponding direction. Note that the offset directions of the multiple support protrusions relative to the center of the positioning parts do not necessarily have to be the same.

[0074] The tables 9a, 9b, and 9c of the transfer machine 70 shown in FIG. 9 may be configured to be movable. For example, the tables 9a, 9b, and 9c of the transfer machine 70 may have guides and drives for moving the transfer machine 70 between the inside and outside of the heating chamber of the heating device 60. This allows the transfer machine 70 to place the plate material W1 heated in the heating chamber of the heating device 60 on the table of the transfer machine 70 within the heating chamber, and then transport the table and plate material W1 out of the heating chamber and move them to a lifting position. In the example of FIG. 9, multiple tables are provided, each supporting one of the multiple support parts. As a variation, two or more of the multiple support parts may be provided on a single table. Also, there may be a table without a support part. The table is an example of a moving member that moves between the heating device 60 and the lifting position. The table is sometimes referred to as a transfer arm.

[0075] FIG. 10 is a top view showing an example of the configuration of the heating tables in the heating chamber of the heating device 60. In the example of FIG. 10, the heating device 60 includes multiple heating tables 61 in the heating chamber. The multiple heating tables 61 are arranged side by side in a direction F22 corresponding to the second direction F2. Each of the multiple heating tables 61 has multiple protrusions 63 that provide point support to the underside of the plate material W1. The plate material W1 is heated while supported by the protrusions 63 of the table 1. In the example of FIG. 10, tables 9a, 9b, and 9c of the transfer machine 70 are inserted between the multiple heating tables 61 when viewed from above. The tables 9a, 9b, and 9c of the transfer machine 70 are inserted below the plate material W1 supported by the heating tables 61. When the positioning portions 8a2, 8b2, and 8b3 of the tables 9a, 9b, and 9c reach positions corresponding to the edges of the plate material W1, the tables 9a, 9b, and 9c move upward, allowing the support protrusions 7a, 7b, and 7c to lift the plate material W1 from below. The transfer machine 70 supports the underside of the plate material W1 with the support protrusions 7a, 7b, and 7c, and carries the plate material W1 out of the heating chamber while holding the edges of the plate material W1 with the positioning portions 8a1, 8b1, and 8c1. As a result, the plate material W1 is carried out of the heating chamber in an upwardly curved state and is transported to the lifting position.

[0076] In this embodiment, the conveying device 30 can convey the plate material W1 in a curved state by sandwiching it from above and below. By sandwiching it from above and below, it becomes easier to form the curved cross-sectional shape of the plate material. Furthermore, the cross-sectional shape of the plate material is more easily maintained while being gripped. Furthermore, since the plate material W1 is supported at points, temperature drop is suppressed. Furthermore, the plate material W1 can be supported so that point support points are not located at the same positions on both surfaces (front and back) of the plate material W1 in the thickness direction. Thus, according to this embodiment, the conveying device 30 can convey the plate material W1 while maintaining shape stability in a curved state and suppressing temperature drop. As a result, in the process of heating and press-forming the plate material W1, temperature drop of the plate material during conveyance can be suppressed, and the plate material is less likely to fall off or interfere with other components due to deflection.

[0077] (Experimental results) FIG. 11 shows the conditions for the point support points C, B, and A of the conveying device used in the experiment. The inventors conducted an experiment using a conveying device 30 configured as shown in FIG. 11. A steel plate with a thickness of 0.8 mm (the width and length are shown in FIG. 10) was used as the plate material W1. The values in FIG. 11 are in mm. In the experiment, the steel plate was heated to 950°C using a heating device, and then removed from the heating device using a transfer machine configured as shown in FIGS. 1 and 9 and transported to a lifting position. The steel plate was gripped and lifted by the conveying device 30 and suspended for 10 seconds. In the experiment, the steel plate was gripped by varying the offset amounts ΔCB1, ΔCA, and ΔCB2, which are the height differences between point support points A and B relative to point support point C. Additionally, as a comparative example, an experiment was also conducted in which only the underside of the steel plate was point-supported and gripped. In the comparative example, point support point C was not used, and point support points B and A were set to the same height. The amount of deflection of the plate material during transportation was measured, and shape stability was evaluated based on the amount of deflection. Table 1 below shows the experimental results. The angle units in the table are degrees. In Table 1, the evaluation results for shape stability are expressed in four levels according to the amount of deflection: excellent (black circle), excellent (double circle), good (circle), and fair (triangle). Excellent (black circle) means that the amount of deflection can be considered to be zero when viewed from both the first and second directions, and excellent (double circle) means that the amount of deflection can be considered to be zero when viewed from the first direction. [Table 1]

[0078] In the experimental results shown in Table 1 above, conditions 1 to 3 and 5 to 7 are all conditions in which the upper and lower surfaces of the plate material W1 are supported at points and held in a curved state. Conditions 1 to 3 and 5 to 7 all show significantly improved shape stability compared to the comparative example. This shows that gripping the upper and lower surfaces of the plate material W1 in a curved state with point support improves shape stability during transportation.

[0079] Comparing conditions 2, 6, and 7 in Table 1 above, we can see that even when the distance between two first support points is as long as 250 mm, increasing the difference in height between first support point B and second support point C improves shape stability. In other words, the greater the ratio of the difference in height to the distance Dbc between adjacent first support points B and second support points C, i.e., the greater the slope (angle with respect to the reference plane) of the line connecting first support point B and second support point C, the more likely shape stability improves. In particular, comparing conditions 2 and 7, where there are two first support points B between second support points C, with conditions 3 and 5, where there is one point support point between second support points C, we can see that shape stability improves dramatically when the slope is 0.045 or more (i.e., an angle of 2.58 degrees or more).

[0080] Comparing Condition 1 and Condition 2 in Table 1 above, it can be seen that if the distance between two first support points B is as long as 250 mm and the difference in height of the first support point B relative to the second support point C is not that large (about 10 mm), then providing a third support point A between the two first support points B will further improve shape stability. Note that, if there is only one point support point between two second support points C, as in Conditions 3 and 5, the point support point between the two second support points C can be considered as a first support point.

[0081] Although one embodiment of the present invention has been described above, the above-described embodiment is merely an example for carrying out the present invention. Therefore, the present invention is not limited to the above-described embodiment, and the above-described embodiment can be appropriately modified and carried out within the scope of the spirit of the present invention. [Explanation of symbols]

[0082] 1a, 1b: 1st protrusion 2a, 2b: 2nd protrusion 30 Conveyor device B: 1st support point C: 2nd support point A: 3rd support point

Claims

1. A plurality of gripping portions are provided, Each of the plurality of gripping portions is a first protrusion that forms at least one first support point B that supports one of the upper and lower surfaces of the plate material to be conveyed in a point-like manner; a second protrusion that forms at least two second support points C that support the other surface of the plate material at a height different from the first support points B, In each of the plurality of gripping portions, the first protrusion and the second protrusion are arranged side by side in a first direction, and in the first direction, the at least one first support point B is disposed between the at least two second support points C; A conveying device, wherein the plurality of gripping portions are arranged side by side in a second direction intersecting the first direction.

2. The conveying device according to claim 1 , A conveying device in which, in each of the plurality of gripping portions, the first protrusion forms at least two first support points B that provide point support to one of the upper and lower surfaces of the plate material to be conveyed.

3. 3. The conveying device according to claim 1 or 2, In each of the plurality of gripping portions, The first support point B of the first protrusion supports the lower surface of the plate material in a point-like manner, the second support point C of the second protrusion supports the upper surface of the plate material in a point-like manner, A conveying device, wherein the first support point B is higher than the second support point C.

4. 3. The conveying device according to claim 1 or 2, A conveying device, wherein each of the plurality of gripping portions has at least two of the first support points B, and has a third protrusion that forms at least one third support point A that supports one side of the plate material at a height different from the first support points B between the at least two first support points B.

5. A conveying system comprising: The conveying device according to claim 1 or 2; a transfer machine for supporting the plate material before being transported by the transport device, the transfer machine includes a plurality of support parts aligned in a second corresponding direction corresponding to the second direction, Each of the plurality of support portions has a support protrusion that forms at least one support point that supports the lower surface of the plate material in a point-like manner, A conveying system, wherein the second corresponding direction is a direction that coincides with the second direction of the conveying device during a gripping operation in which the conveying device brings the plate material, which is supported by the transfer machine and not gripped by the gripping section, into a state where it is gripped by the gripping section.

6. 6. The transport system according to claim 5, each of the plurality of support portions of the transfer machine includes a pair of positioning portions provided at positions corresponding to both ends of the plate material in a first corresponding direction corresponding to the first direction, In each of the plurality of support portions of the transfer machine, the support protrusion is provided at a position shifted from the center of the pair of positioning portions in the first corresponding direction, A conveying system, wherein the first corresponding direction is a direction that coincides with the first direction of the conveying device during a gripping operation in which the conveying device brings the plate material, which is supported by the transfer machine and not gripped by the gripping section, into a state where it is gripped by the gripping section.

7. A method for conveying a plate material using the conveying device according to claim 1 or 2, a gripping operation step in which the conveying device brings the unclamped plate material located at a conveyance start position into a gripping state with the gripping unit; a moving step in which the conveying device moves the plate material while gripping the plate material; a releasing step in which the conveying device releases the plate material at a conveyance destination position, In the gripping operation process, the conveying device point-supports one side of the plate material at the first support point B of each of the first protrusions of the gripping section, and point-supports the other side of the plate material at the second support point C of the second protrusion, thereby gripping the plate material in a state where the cross section of the surface perpendicular to the second direction of the plate material is curved.

8. The conveying method according to claim 7, In the gripping operation step, the conveying device grips the plate material supported by a transfer machine having a plurality of support parts, A conveying method in which the transfer machine supports the underside of the plate material at at least one support point using support protrusions on each of a plurality of support parts, thereby supporting the plate material in a state in which the cross section of the plate material perpendicular to a second corresponding direction that coincides with the second direction of the conveying device in the gripping operation process is curved.

9. The transport method according to claim 8, each of the plurality of support parts of the transfer machine is provided at a position where both ends in a first corresponding direction that coincides with the first direction of the transport device in the gripping operation step are disposed, and has a pair of positioning parts that hold at least one of both ends of the plate material; In each of the plurality of support portions of the transfer machine, the support protrusion is provided at a position shifted from a center of the pair of positioning portions in a direction corresponding to the first corresponding direction, In the gripping operation process, the plate material is point-supported by the support protrusion of the transfer machine, and one end of both ends in the first corresponding direction is held by the positioning portion, and the other end is gripped by the conveying device in a state where it is not held by the positioning portion.

10. A method for manufacturing a press-formed product, comprising the conveying method according to claim 7, a heating step of heating the plate material with a heating device; a conveying step of conveying the plate material from the heating device to a press machine by the conveying method according to claim 7; a forming step of press-forming the plate material using the press machine.

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