CN111071676B - Article carrying device - Google Patents
Article carrying device Download PDFInfo
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- CN111071676B CN111071676B CN201910983379.5A CN201910983379A CN111071676B CN 111071676 B CN111071676 B CN 111071676B CN 201910983379 A CN201910983379 A CN 201910983379A CN 111071676 B CN111071676 B CN 111071676B
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- frame
- thin plate
- end portion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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Abstract
The article transport device transports an article having a rectangular frame body when viewed in a vertical direction and a thin plate material attached to the frame body, and is provided with a transfer unit for performing transfer operation of the article, and a1 st sensor and a2 nd sensor for detecting the thin plate material of the article to be transferred by the transfer unit as an inspection object, wherein the transfer unit supports the article in a state where one side of the frame body is along a1 st direction or a2 nd direction, the 1 st sensor detects whether the thin plate material has a1 st end portion protruding outward relative to the frame body along the 1 st direction, and the 2 nd sensor detects whether the thin plate material has a2 nd end portion protruding outward relative to the frame body along the 2 nd direction.
Description
Technical Field
The present invention relates to an article transport apparatus for transporting an article, the article having a rectangular frame body when viewed in a vertical direction and a thin plate member attached to the frame body.
Background
In an article to be conveyed by such an article conveying apparatus, an end portion of a thin plate member (thin plate member) protrudes laterally with respect to a housing. For example, japanese patent application laid-open No. 2018-127721 discloses an article (vapor deposition mask device 10) including a rectangular frame (frame 15) and a thin plate member (vapor deposition mask 20) attached to the frame, wherein an end of the thin plate member protrudes outward from the frame along a short side of the frame. Note that, in the description of the background art, the component names and reference numerals shown in parentheses are those of japanese patent laid-open No. 2018-127721.
In general, a cutting step of cutting off an end portion of a thin plate material protruding laterally with respect to a frame is performed with respect to an article such as the above. Therefore, the article transport apparatus needs to transport the article to the cutting device that performs the cutting process. However, the article conveying device may erroneously select an article, which has been subjected to a cutting process or the like and whose end portion of the thin plate does not protrude laterally with respect to the housing, as an article to be conveyed to the cutting device. In such a case, if an unnecessary conveyance operation is performed to convey the article to the cutting device, the work efficiency of the article conveyance device is reduced.
Disclosure of Invention
Therefore, it is desirable to realize an article transport apparatus capable of inspecting whether or not an end portion of a thin plate protruding laterally with respect to a frame is present at an article to be transported.
In view of the above, the article transport apparatus transports an article having a frame body and a thin plate material, the frame body being rectangular when viewed in a vertical direction, the thin plate material being attached to the frame body, the article transport apparatus comprising a transfer unit that performs a transfer operation of storing the article in a storage unit or taking out the article from the storage unit, a1 st sensor and a2 nd sensor that take the thin plate material of the article subjected to the transfer operation by the transfer unit as an inspection target, wherein a direction orthogonal to a transfer direction of the article by the transfer unit when viewed in the vertical direction is a1 st direction, the transfer direction is a2 nd direction, the transfer unit supports the article in a state where one side of the frame body is along the 1 st direction or the 2 nd direction, the 1 st sensor inspects whether the thin plate material has a1 st end portion protruding outward of the frame body in the 1 st direction, and the 2 nd sensor inspects whether the thin plate material has a2 nd end portion protruding outward of the frame body in the 2 nd direction.
According to this aspect, the presence or absence of the 1 st end portion of the thin plate material can be checked by the 1 st sensor and the presence or absence of the 2 nd end portion of the thin plate material can be checked by the 2 nd sensor with respect to the article to be transferred by the transfer unit. Therefore, it is possible to appropriately check whether or not the end portion of the thin plate protruding laterally from the frame is present in the article to be conveyed. As a result, unnecessary conveyance of the article can be avoided, and a drop in the operating efficiency of the article conveyance device can be suppressed.
Drawings
Fig. 1 is a plan view of an article transport facility including an article transport device according to an embodiment.
Fig. 2 is a diagram showing an article.
Fig. 3 is a perspective view of the article transport apparatus according to the embodiment.
Fig. 4 is a plan view showing the transfer unit in the projected state and the retracted state.
Fig. 5 is a front view showing a main part of the article carrying device according to the embodiment.
Fig. 6 is a side view showing a main part of the article transport apparatus according to the embodiment.
Fig. 7 is a perspective view showing a main part of the article transport apparatus according to the embodiment.
Fig. 8 is a control block diagram of the article transport apparatus according to the embodiment.
Detailed Description
Hereinafter, the article carrier device 1 according to the embodiment will be described with reference to the drawings. As shown in fig. 1, the article transport apparatus 1 transports an article W. In the present embodiment, the article transport device 1 is provided in the article transport facility 100.
The article transport facility 100 includes a travel rail 2 and a storage rack 3 in addition to the article transport device 1, the travel rail 2 constituting a travel path of the article transport device 1, and the storage rack 3 having a plurality of storage units 31 arranged along the travel rail 2. In the present embodiment, the article transport device 1, the travel rail 2, and the storage rack 3 are disposed in an area surrounded by the side wall portion 4.
The article transport device 1 includes a transfer unit 11 that performs a transfer operation of storing an article W in the storage unit 31 or taking out the article W from the storage unit 31.
In the following description, a direction orthogonal to the transfer direction of the article W by the transfer unit 11 in a vertical direction view is referred to as a "left-right direction X", and the transfer direction of the article W by the transfer unit 11 is referred to as a "front-rear direction Y". In the front-rear direction Y, the storage rack 3 side is referred to as "front side Y1" and the opposite side is referred to as "rear side Y2" with respect to the article transport device 1. Further, in a state where the front side Y1 is viewed from the rear side Y2 of the article transport device 1, the right side and the left side of the article transport device 1 are referred to as "right side X1" and "left side X2", respectively. The vertical direction is referred to as "vertical direction Z". The left-right direction X corresponds to the "1 st direction", and the front-back direction Y corresponds to the "2 nd direction".
In the present embodiment, the travel rail 2 extends in the left-right direction X. The travel rail 2 is configured to allow the article transport device 1 to travel on the travel rail 2. In the illustrated example, the pair of travel rails 2 are disposed at intervals in the front-rear direction Y.
The storage rack 3 is disposed adjacent to the article transport device 1 on the travel rail 2 on the front side Y1. The storage rack 3 has a storage unit 31 for storing the articles W. In the present embodiment, the plurality of housing portions 31 are arranged in the horizontal direction X and the vertical direction Z.
In the present embodiment, the article transport device 1 includes a travel carriage 12 guided by the travel rail 2 to travel, a pair of rods 13 provided to the travel carriage 12 so as to extend in the vertical direction Z, and a lifting body 14 guided by the pair of rods 13 to move in the vertical direction Z.
Here, an article W to be conveyed by the article conveying device 1 will be described. As shown in fig. 2, the article W includes a frame W1 having a rectangular shape as viewed in the vertical direction Z, and a thin plate W2 attached to the frame W1. In the present application, "rectangular" includes both rectangular and square shapes. In the present embodiment, the frame W1 is formed in a rectangular shape when viewed in the vertical direction Z.
In the present embodiment, the article W is a vapor deposition mask used for manufacturing an organic Electroluminescence (EL) display, and the frame W1 and the thin plate W2 are made of metal such as stainless steel. In this case, the article transport facility 100 is installed in the production line of the organic electroluminescent display.
In the present embodiment, the frame W1 includes the 1 st frame portion W11 and the 2 nd frame portion W12 disposed above the 1 st frame portion W11. The 1 st frame portion W11 and the 2 nd frame portion W12 are each formed in a rectangular frame shape when viewed in the vertical direction Z. The upper surfaces of the 1 st frame portion W11 and the 2 nd frame portion W12 are formed in a flat shape along the left-right direction X and the front-rear direction Y. The 1 st frame portion W11 has a larger outer dimension in the left-right direction X and the front-rear direction Y than the 2 nd frame portion W12. The 1 st frame portion W11 and the 2 nd frame portion W12 are arranged such that their centers coincide with each other when viewed in the vertical direction Z. In this example, the 1 st frame portion W11 and the 2 nd frame portion W12 are integrally formed.
In the present embodiment, the thin plate W2 includes the 1 st plate W21 and the 2 nd plate W22. The 1 st plate material W21 is formed in a belt shape extending in the left-right direction X. The 1 st plate material W21 is fixed to the upper surface of the 2 nd frame portion W12 by welding or the like.
The article W is configured such that a plurality of 1 st plate materials W21 can be arranged side by side in the front-rear direction Y. The number and position of the 1 st plate W21 of one article W can be changed as appropriate. Therefore, there are a plurality of articles W having different numbers and positions of the 1 st plate members W21. In the illustrated example, the 1 st plate members W21, which can be arranged in the maximum number with respect to one article W, are arranged side by side in the front-rear direction Y.
The 2 nd plate material W22 extends in the front-rear direction Y. The width (dimension in the left-right direction X) of the 2 nd plate W22 is smaller than the width (dimension in the front-rear direction Y) of the 1 st plate W21. Here, the 2 nd plate W22 is formed in a band shape having a width narrower than that of the 1 st plate W21. The 2 nd plate material W22 is fixed to the upper surface of the 2 nd frame portion W12 by welding or the like. The 2 nd plate members W22 are arranged in the left-right direction X so that the adjacent 2 nd plate members W22 are spaced apart from each other.
The 1 st plate material W21 has a1 st end portion W21a protruding outward from the 1 st frame portion W11 of the frame W1 in the right direction X. The 2 nd plate material W22 has a2 nd end portion W22a protruding outward from the 2 nd frame portion W12 of the frame W1 in the front-rear direction Y. In the present embodiment, when the 1 st end portion W21a protruding from the 1 st frame portion W11 of the frame W1 to one side in the left-right direction X is present in the 1 st plate material W21, the 1 st end portion W21a protruding from the 1 st frame portion W11 of the frame W1 to the other side in the left-right direction X is also present. That is, in the present embodiment, the 1 st plate material W21 has a pair of 1 st end portions W21a protruding to the right side X1 and the left side X2 from the 1 st frame portion W11 of the frame W1. In addition, the 2 nd plate W22 is also the same as the 1 st plate W21, and in the present embodiment, the 2 nd plate W22 has a pair of 2 nd end portions W22a protruding from the 2 nd frame portion W12 of the frame W1 toward the front side Y1 and the rear side Y2.
The article W stored in the storage section 31 is conveyed by the article conveying device 1 to a cutting-out means not shown, and the 1 st end portion W21a and the 2 nd end portion W22a are cut out by the cutting-out means. However, there is a possibility that the article W not existing in the 1 st end portion W21a and the 2 nd end portion W22a is already cut off or the like including the article W accommodated in the accommodation portion 31. Further, as described above, since the number and the position of the 1 st plate material W21 can be changed as appropriate, the number and the position of the 1 st end portion W21a vary. Therefore, in the following description, the arrangement region of the 1 st end W21a of the article W, i.e., the region where the 1 st end W21a is likely to exist is referred to as "1 st arrangement region A1", and the arrangement region of the 2 nd end W22a of the article W, i.e., the region where the 2 nd end W22a is likely to exist is referred to as "2 nd arrangement region A2".
The structure of the article transport apparatus 1 will be described in detail below. As shown in fig. 3 and 4, the transfer unit 11 supports the article W with one side of the frame W1 along the left-right direction X or the front-back direction Y. In the present embodiment, the transfer unit 11 supports the article W with the short side of the frame W1 along the left-right direction X and the long side of the frame W1 along the front-rear direction Y.
The transfer unit 11 includes a holding body 111 for holding the article W. As shown in fig. 4, the transfer unit 11 is configured to be freely changed to a protruding state (see the position of the article W indicated by the two-dot chain line in fig. 4) in which the article W is positioned inside the storage unit 31 and a retracted state (see the position of the article W indicated by the solid line in fig. 4) in which the article W is positioned outside the storage unit 31 by moving the holding body 111 in the front-rear direction Y.
In the present embodiment, the holding body 111 is formed in a plate shape capable of placing the article W on the upper surface of the holding body 111, and movement of the article W in the left-right direction X and the front-back direction Y is regulated by a protrusion or the like provided on the upper surface.
As shown in fig. 3 and 4, in the present embodiment, the transfer unit 11 includes a pair of flexion and extension arms 112 for moving the holding body 111 in the front-rear direction Y, and a rotary table 113 for rotating the pair of flexion and extension arms 112 about an axial center in the vertical direction Z.
The pair Qu Shenbei 112 includes link mechanisms. Specifically, the pair Qu Shenbei has the 1 st arm portion 112a and the 2 nd arm portion 112b, respectively.
The 1 st arm 112a is provided to be rotatable about a1 st axis along the vertical direction Z with respect to the turntable 113. The 2 nd arm portion 112b is disposed above the 1 st arm portion 112 a. The 2 nd arm portion 112b is provided to be rotatable about a2 nd axial center along the up-down direction Z different from the 1 st axial center with respect to the 1 st arm portion 112 a. Further, the 2 nd arm portion 112b is disposed below the holding body 111. The 2 nd arm portion 112b is provided so as to be rotatable with respect to the holding body 111 about the 3 rd axial center along the vertical direction Z, which is different from the 1 st axial center and the 2 nd axial center.
The rotating table 113 is provided inside the elevating body 14 so that an upper portion of the rotating table 113 is exposed. The turntable 113 has a planar upper surface extending in the horizontal direction X and the longitudinal direction Y. The 1 st arm 112a is rotatably attached to the upper surface of the turntable 113.
As shown in fig. 3, in the present embodiment, the lifting body 14 is attached to the pair of rods 13 via a pair of lifting frames 14a. The pair of elevating frames 14a are formed to protrude upward from the elevating body 14. The pair of lifting frames 14a are disposed at both ends of the lifting body 14 in the left-right direction X so as to face the pair of rods 13 from the inside in the left-right direction X. A plurality of lifting rollers 14b are provided in the vertical direction Z on each of the pair of lifting frames 14a. Each of the plurality of lifting rollers 14b is configured to be rotatable about an axial center along the left-right direction X. The plurality of lifting rollers 14b are disposed in a lifting groove formed in the rod 13 in the vertical direction Z. The plurality of lift rollers 14b roll in the lift groove by the movement of the lift body 14 in the vertical direction Z.
As shown in fig. 3 and 4, the article transport device 1 includes a1 st sensor 51 and a2 nd sensor 52. The 1 st sensor 51 and the 2 nd sensor 52 are sensors to be inspected with respect to the thin plate material W2 of the article W transferred by the transfer unit 11. The 1 st sensor 51 checks whether the 1 st end portion W21a is present in the thin plate W2 of the article W. The 2 nd sensor 52 checks whether the 2 nd end portion W22a is present in the thin plate material W2 of the article W.
As shown in fig. 4, in the present embodiment, the 1 st sensor 51 is disposed between the 1 st disposition area A1 of the article W (see the article W indicated by the two-dot chain line in fig. 4) supported by the transfer unit 11 in the protruding state and the 1 st disposition area A1 of the article W (see the article W indicated by the solid line in fig. 4) supported by the transfer unit 11 in the retracted state, when viewed in the vertical direction Z. In the illustrated example, the 1 st arrangement region A1 in the projected state and the 1 st arrangement region A1 in the retracted state are separated from each other in the front-rear direction Y. In this case, the 1 st sensor 51 is disposed in a region between the 1 st disposition region A1 in the projected state and the 1 st disposition region A1 in the retracted state (specifically, an end portion on the rear side Y2 of the 1 st disposition region A1 in the projected state and an end portion on the front side Y1 of the 1 st disposition region A1 in the retracted state). On the other hand, when the 1 st arrangement region A1 in the projected state and the 1 st arrangement region A1 in the retracted state are in contact with each other or overlap each other in the front-rear direction Y, the 1 st sensor 51 is arranged in the center portion of the end portion on the front side Y1 of the 1 st arrangement region A1 in the projected state and the end portion on the rear side Y2 of the 1 st arrangement region A1 in the retracted state.
As shown in fig. 4 and 5, in the present embodiment, the 1 st sensor 51 is disposed at a position facing the movement trajectory of the 1 st disposition area A1 in the vertical direction Z when the state of the transfer unit 11 changes between the projected state and the retracted state.
As shown in fig. 5, in the present embodiment, the 1 st sensor 51 includes an upper sensor portion 51a disposed on the upper side with respect to the 1 st disposition area A1 and a lower sensor portion 51b disposed on the lower side with respect to the 1 st disposition area A1. In this example, the 1 st sensor 51 is a reflective optical sensor. Specifically, the upper sensor unit 51a is a light emitter and receiver having a light emitting element and a light receiving element, and the lower sensor unit 51b is a reflector that reflects light from the upper sensor unit 51a toward the upper sensor unit 51 a.
Since the 1 st sensor 51 is configured as described above, when the transfer unit 11 changes its state between the projected state and the retracted state, the entire region in the front-rear direction Y of the 1 st arrangement region A1 passes through the inspection region of the 1 st sensor 51. As a result, during the transfer operation of the article W by the transfer unit 11, the presence or absence of the 1 st end portion W21a of the 1 st arrangement region A1 can be appropriately checked regardless of the length of the 1 st arrangement region A1 in the front-rear direction Y.
In the present embodiment, one of the 1 st sensors 51 is provided to check the presence or absence of the 1 st end portion W21a of the 1 st arrangement region A1 of one (here, the right side X1) of the pair of 1 st arrangement regions A1. This is because, as described above, in the present embodiment, when the 1 st end portion W21a protruding from the 1 st frame portion W11 of the frame W1 to one side in the left-right direction X is present, the 1 st end portion W21a protruding from the 1 st frame portion W11 of the frame W1 to the other side in the left-right direction X is also present.
As shown in fig. 3 to 5, in the present embodiment, the 1 st sensor 51 is supported by the 1 st frame 61. The 1 st frame 61 is fixed to one (here, the right side X1) of the pair of ascending and descending frames 14a. The 1 st frame 61 projects from a fixed portion with respect to the elevating frame 14a toward the front side Y1 and toward the left side X2, further projecting toward the upper side. The 1 st sensor 51 is attached to a distal end portion (upper end portion) of the 1 st frame 61.
As shown in fig. 4 and 6, in the present embodiment, the 2 nd sensor 52 is disposed at a position facing the 2 nd disposition area A2 of the article W (see the article W indicated by the solid line in fig. 4) supported by the transfer unit 11 in the retracted state. Here, the 2 nd sensor 52 is disposed at a position facing the 2 nd disposition area A2 in the retracted state in the left-right direction X.
As shown in fig. 4, in the present embodiment, the 2 nd sensor 52 includes a left sensor portion 52a disposed on the left side X2 with respect to the 2 nd disposition area A2 in the retracted state, and a right sensor portion 52b disposed on the right side X1 with respect to the 2 nd disposition area A2 in the retracted state. In this example, the 2 nd sensor 52 is a reflective optical sensor. Specifically, the left sensor unit 52a is a light emitter and receiver having a light emitting element and a light receiving element, and the right sensor unit 52b is a reflector that reflects light from the left sensor unit 52a toward the left sensor unit 52a.
In the 2 nd sensor 52 as described above, it may be difficult to appropriately check the presence or absence of the 2 nd end portion W22a of the 2 nd arrangement region A2 depending on the length of the 2 nd arrangement region A2 in the left-right direction X. On the other hand, as described above, according to the 1 st sensor 51, the presence or absence of the 1 st end portion W21a of the 1 st arrangement region A1 can be appropriately checked regardless of the length of the 1 st arrangement region A1 in the front-rear direction Y. Therefore, as in the present embodiment, when the casing W1 of the article W is formed in a rectangular shape when viewed in the vertical direction Z, the article W is preferably supported by the transfer unit 11 in a state where the long side of the casing W1 is along the front-rear direction Y.
As shown in fig. 6, an inspection region D of the 2 nd sensor 52 (in this example, a region corresponding to the width of the light irradiated from the left sensor portion 52 a) is set to be sufficiently larger than the thickness (the dimension in the vertical direction Z) of the 2 nd end portion W22a. Thus, the presence or absence of the 2 nd end W22a of the 2 nd arrangement region A2 can be appropriately checked by the 2 nd sensor 52.
In the present embodiment, one of the 2 nd sensors 52 is set to check the presence or absence of the 2 nd end portion W22a of the 2 nd arrangement region A2 of one (here, the rear side Y2) of the pair of 2 nd arrangement regions A2. This is because, as described above, in the present embodiment, even when there is the 2 nd end portion W22a protruding from the 2 nd frame portion W12 of the frame W1 to one side in the front-rear direction Y, there is always the 2 nd end portion W22a protruding from the 2 nd frame portion W12 of the frame W1 to the other side in the front-rear direction Y.
As shown in fig. 6 and 7, in the present embodiment, the 2 nd sensor 52 is supported by the 2 nd frame 62. The 2 nd frame 62 includes a base 62a fixed to the rotation table 113, a left side support 62b supporting the left side sensor 52a, and a right side support 62c supporting the right side sensor 52b.
The base 62a is fixed to a rear end portion in the front-rear direction Y, which is a central portion in the left-right direction X on the upper surface of the turntable 113. As shown in fig. 6, the base portion 62a is disposed below the pair of 2 nd arm portions 112b. Therefore, the base portion 62a overlaps the pair of 1 st arm portions 112a when viewed in the left-right direction X. Here, regarding the arrangement of the two elements, "overlap when viewed in a specific direction" means that, when a virtual straight line parallel to the visual line direction is moved in each direction orthogonal to the virtual straight line, there is a region where the virtual straight line intersects both of the two members.
Since the base 62a and the pair of 1 st arm portions 112a are in the positional relationship as described above, the base 62a is formed so as not to interfere with the pair of 1 st arm portions 112a when the state of the transfer unit 11 changes between the projected state and the retracted state. In the example shown in fig. 7, the base portion 62a is formed in a V-shape that widens in the left-right direction X toward the rear side Y2 when viewed in the vertical direction Z.
The left side support portion 62b projects upward from the rear end and left end of the base portion 62a, and further projects toward the front side Y1. The left sensor portion 52a is attached to a distal end portion (distal end portion) of the left support portion 62 b. On the other hand, the right side support portion 62c projects upward from the rear end and the right end of the base portion 62a, and further projects toward the front side Y1. Further, a right sensor portion 52b is attached to a distal end portion (front end portion) of the right support portion 62c.
As shown in fig. 8, the article transport apparatus 1 includes a control device 10. The control device 10 is configured to be able to control the transfer unit 11, the traveling carriage 12, and the vertically movable body 14. Specifically, the control device 10 is configured to be able to control a flexion-extension motor for driving the pair of flexion arms 112 of the transfer unit 11, a rotation motor for driving the rotation table 113 of the transfer unit 11, a travel motor for driving the wheels of the traveling carriage 12, a lifting motor for driving the lifting body 14, and the like.
The control device 10 is electrically connected to the 1 st sensor 51 and the 2 nd sensor 52. The control device 10 controls the transfer unit 11, the traveling carriage 12, and the vertically movable body 14 based on signals from the 1 st sensor 51 and the 2 nd sensor 52.
When the transfer unit 11 takes out the article W from the storage unit 31, that is, when the transfer unit 11 changes from the protruding state to the retracted state, the control device 10 determines the presence or absence of the 1 st end portion W21a and the 2 nd end portion W22a based on the signals from the 1 st sensor 51 and the 2 nd sensor 52. When determining that the thin-plate material W2 of the article W has at least one of the 1 st end portion W21a and the 2 nd end portion W22a, the control device 10 controls the traveling carriage 12 to convey the article W to a cutting-out facility, not shown. On the other hand, when determining that the thin-plate material W2 of the article W does not have the 1 st end portion W21a nor the 2 nd end portion W22a, the control device 10 controls the traveling carriage 12 to convey the article W to another apparatus (for example, a vapor deposition apparatus using the article W as a vapor deposition mask) other than the above-described cutting apparatus.
[ other embodiments ]
(1) In the above embodiment, a configuration in which each of the 1 st sensor 51 and the 2 nd sensor 52 is a reflective optical sensor is described as an example. However, the types of the 1 st sensor 51 and the 2 nd sensor 52 are not limited. For example, a transmission type optical sensor may be used, and an ultrasonic sensor, a sensor using electromagnetic waves, or the like may be used.
(2) In the above embodiment, the configuration in which the 1 st sensor 51 has the upper sensor portion 51a and the lower sensor portion 51b arranged on the upper side and the lower side with respect to the 1 st arrangement region A1, respectively, has been described as an example. However, the present invention is not limited to this configuration, and the 1 st sensor 51 may be disposed on one of the upper side and the lower side with respect to the 1 st disposition region A1. For example, the 1 st sensor 51 may be disposed at a position facing the 1 st disposition region A1 in the left-right direction X. Alternatively, the 1 st sensor 51 may be disposed at a position facing the 1 st disposition area A1 in the front-rear direction Y. In this case, the 1 st sensor 51 is preferably configured to retreat in the left-right direction X in accordance with the movement of the article W so as not to interfere with the transfer operation of the article W by the transfer unit 11.
(3) In the above embodiment, the configuration in which the 2 nd sensor 52 includes the left sensor portion 52a and the right sensor portion 52b arranged so as to sandwich the 2 nd arrangement region A2 in the retracted state in the left-right direction X has been described as an example. However, the configuration is not limited to this, and the 2 nd sensor 52 may be disposed on one of the right side X1 and the left side X2 with respect to the 2 nd disposition area A2. For example, the 2 nd sensor 52 may be disposed at a position facing the 2 nd arrangement region A2 in the retracted state from the rear side Y2, or may be disposed so as to sandwich the 2 nd arrangement region A2 in the retracted state in the vertical direction Z. In these cases, the 2 nd sensor 52 may be configured to check the presence or absence of the 2 nd end portion W22a while moving in the left-right direction X along the 2 nd arrangement region A2.
(4) In the above embodiment, the description has been given taking as an example a configuration in which one 1 st sensor 51 is provided to inspect the presence or absence of the 1 st end W21a of the 1 st arrangement region A1 on the right side X1, and one 2 nd sensor 52 is provided to inspect the presence or absence of the 2 nd end W22a of the 2 nd arrangement region A2 on the rear side Y2. However, the present invention is not limited to this configuration, and for example, two 1 st sensors 51 may be provided to check the presence or absence of the 1 st end portion W21a of the pair of 1 st arrangement regions A1, and two 2 nd sensors 52 may be provided to check the presence or absence of the 2 nd end portion W22a of the pair of 2 nd arrangement regions A2.
(5) The configurations disclosed in the above embodiments can be combined with the configurations disclosed in the other embodiments as long as no contradiction occurs. The embodiments disclosed in the present specification are merely exemplary in all respects with respect to other configurations. Therefore, various modifications can be made as appropriate within the scope not departing from the gist of the present application.
[ brief summary of the above embodiments ]
The outline of the article carrying device described above will be described below.
An article transport apparatus for transporting an article having a frame body which is rectangular when viewed in a vertical direction and a thin plate material attached to the frame body, the article transport apparatus comprising a transfer unit for performing a transfer operation of storing the article in a storage unit or taking out the article from the storage unit, a1 st sensor and a2 nd sensor for setting a direction orthogonal to a transfer direction of the article transferred by the transfer unit as a1 st direction and a2 nd direction with respect to the transfer direction of the article to be transferred by the transfer unit as an inspection target, the transfer unit supporting the article in a state where one side of the frame body is along the 1 st direction or the 2 nd direction, the 1 st sensor detecting whether the thin plate material has a1 st end portion protruding outward from the frame body in the 1 st direction, and the 2 nd sensor detecting whether the thin plate material has a2 nd end portion protruding outward from the frame body in the 2 nd direction.
According to this aspect, the presence or absence of the 1 st end portion of the thin plate material can be checked by the 1 st sensor and the presence or absence of the 2 nd end portion of the thin plate material can be checked by the 2 nd sensor with respect to the article to be transferred by the transfer unit. Therefore, it is possible to appropriately check whether or not the end portion of the thin plate protruding laterally from the frame is present on the article to be conveyed. As a result, unnecessary conveyance operation of the article can be avoided, and a decrease in the operating efficiency of the article conveyance device can be suppressed.
Here, it is preferable that the transfer unit includes a holding body for holding the article, and the state is freely changed by moving the holding body in the 2 nd direction to a projected state in which the article is located inside the storage unit and a retracted state in which the article is located outside the storage unit, the arrangement region of the 1 st end of the article is set as a1 st arrangement region, the arrangement region of the 2 nd end of the article is set as a2 nd arrangement region, the 1 st sensor is arranged at a position between the 1 st arrangement region in the projected state and the 1 st arrangement region in the retracted state when viewed in the up-down direction, and at a position opposite to the 2 nd arrangement region in the up-down direction with respect to a movement trajectory of the 1 st arrangement region when the state changes between the projected state and the retracted state, and the 2 nd sensor is arranged at a position opposite to the 2 nd arrangement region in the retracted state.
According to this embodiment, when the state of the transfer unit is changed between the projected state and the retracted state, the entire area of the 1 st arrangement area in the 2 nd direction passes through the inspection area of the 1 st sensor. Therefore, the presence or absence of the 1 st end of the 1 st arrangement region can be appropriately checked with a simple configuration regardless of the 2 nd direction length of the 1 st arrangement region. Further, according to this aspect, while the transfer unit is in the retracted state, the presence or absence of the 2 nd end of the 2 nd disposition region can be appropriately checked by the 2 nd sensor. As described above, according to this aspect, during the transfer operation of the article by the transfer unit, it can be appropriately checked whether or not the end portion of the thin plate material of the article protrudes laterally from the frame.
Industrial applicability
The technology of the present application can be used for an article transport device that transports an article having a rectangular frame body when viewed in the vertical direction and a thin plate member attached to the frame body.
Description of the reference numerals
1: article carrying device
11: transfer part
111: holding body
51: 1 st sensor
52: no. 2 sensor
W: article with a cover
W1: frame body
W2: sheet material
W21a: 1 st end part
W22a: 2 nd end part
A1: 1 st configuration area
A2: 2 nd configuration area
X: left and right direction (1 st direction)
Y: front-back direction (2 nd direction)
Z: and (4) the up-down direction.
Claims (2)
1. An article transport apparatus for transporting an article having a frame body and a thin plate material, the frame body being rectangular when viewed in a vertical direction, the thin plate material being attached to the frame body, the article transport apparatus having a transfer unit for performing a transfer operation of storing the article in a storage unit or taking out the article from the storage unit, and a1 st sensor and a2 nd sensor for taking out the thin plate material of the article on which the transfer operation is performed by the transfer unit as an inspection object, characterized in that,
the direction orthogonal to the transfer direction of the article by the transfer unit is set as the 1 st direction, and the transfer direction is set as the 2 nd direction,
the transfer unit supports the article in a state where one side of the frame is along the 1 st direction or the 2 nd direction,
the 1 st sensor checks whether the thin plate material has a1 st end portion protruding outward in the 1 st direction with respect to the frame body,
the 2 nd sensor checks whether the thin plate material has a2 nd end portion protruding outward in the 2 nd direction with respect to the frame body.
2. The article handling device of claim 1,
the transfer unit is provided with a holding body for holding the article, and is configured to be freely changed into a protruding state in which the article is positioned inside the storage unit and a retracted state in which the article is positioned outside the storage unit by moving the holding body in the 2 nd direction,
setting the arrangement region of the 1 st end of the article as a1 st arrangement region, setting the arrangement region of the 2 nd end of the article as a2 nd arrangement region,
the 1 st sensor is disposed at a position between the 1 st disposition region in the projected state and the 1 st disposition region in the retracted state when viewed in the vertical direction, and at a position facing in the vertical direction with respect to a movement trajectory of the 1 st disposition region when the state changes between the projected state and the retracted state,
the 2 nd sensor is disposed at a position facing the 2 nd disposition region in the retracted state.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018-196796 | 2018-10-18 | ||
| JP2018196796A JP6962306B2 (en) | 2018-10-18 | 2018-10-18 | Goods transport device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111071676A CN111071676A (en) | 2020-04-28 |
| CN111071676B true CN111071676B (en) | 2023-01-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910983379.5A Active CN111071676B (en) | 2018-10-18 | 2019-10-16 | Article carrying device |
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| Country | Link |
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| JP (1) | JP6962306B2 (en) |
| CN (1) | CN111071676B (en) |
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| JP2016053192A (en) * | 2014-09-03 | 2016-04-14 | 大日本印刷株式会社 | Dimensional measurement method of vapor deposition mask, tension application device of vapor deposition mask, and dimension measuring device of vapor deposition mask |
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| JPS5948307A (en) * | 1982-09-10 | 1984-03-19 | Daifuku Co Ltd | Method of conveying into and out of automatic warehouse |
| JPH07187328A (en) * | 1993-12-27 | 1995-07-25 | Murata Mach Ltd | Stacker crane |
| JP4284611B2 (en) * | 2003-07-11 | 2009-06-24 | 株式会社ダイフク | Transport device |
| JP5262226B2 (en) * | 2007-08-24 | 2013-08-14 | 大日本印刷株式会社 | Vapor deposition mask and method of manufacturing vapor deposition mask |
| TWI657025B (en) * | 2010-12-15 | 2019-04-21 | 辛波提克有限責任公司 | Autonomous transport robot |
| JP5884507B2 (en) * | 2012-01-23 | 2016-03-15 | 株式会社ダイフク | How to learn goods storage facilities |
| JP6202385B2 (en) * | 2013-09-30 | 2017-09-27 | 大日本印刷株式会社 | Deposition mask inspection method and deposition mask inspection apparatus |
| JP6786976B2 (en) * | 2016-09-09 | 2020-11-18 | 株式会社ダイフク | Goods transport equipment |
| JP6531856B2 (en) * | 2018-05-09 | 2019-06-19 | 大日本印刷株式会社 | Method of measuring dimension of vapor deposition mask, tension applying device of vapor deposition mask and dimension measuring device of vapor deposition mask |
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2018
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- 2019-10-16 CN CN201910983379.5A patent/CN111071676B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101234701A (en) * | 2007-01-12 | 2008-08-06 | 株式会社大福 | Article transmission device and method for detecting article positioning error |
| JP2016053192A (en) * | 2014-09-03 | 2016-04-14 | 大日本印刷株式会社 | Dimensional measurement method of vapor deposition mask, tension application device of vapor deposition mask, and dimension measuring device of vapor deposition mask |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111071676A (en) | 2020-04-28 |
| JP2020063134A (en) | 2020-04-23 |
| JP6962306B2 (en) | 2021-11-05 |
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