CN115477163A - Conveying system and processing system - Google Patents

Abstract

The invention provides a conveying system capable of loading and unloading a plurality of trays while suppressing the burden of an operator. A conveying system (1) comprises: a first carriage (9) for providing an empty tray, on which a plurality of empty trays (20A) on which display panels (100) are not mounted are stacked; a first lift (3) capable of adjusting the height positions of a plurality of empty pallets (20A); a second cart (10) for discharging load trays, wherein a plurality of load trays (20B) having display panels (100) mounted thereon are stacked; a second lifter (4) capable of adjusting the height positions of the plurality of load trays (20B); a first tray conveying mechanism (5) which conveys a plurality of empty trays (20A) on a first trolley (9) stopped at an empty tray supply position (9A), in order to stack the uppermost empty tray (20A) on a plurality of load trays (20B) on a second trolley (10) stopped at a load tray discharge position (10A); and a workpiece transfer mechanism (6) for placing the display panel (100) on the empty tray (20A) conveyed by the first tray conveying mechanism (5).

Description

Conveying system and processing system

Technical Field

The present invention relates to a conveyance system for conveying display panels such as liquid crystal panels, and a processing system provided with the conveyance system.

Background

A transport system incorporated in an assembly line of a liquid crystal display device used in a portable device or the like is known (for example, see patent document 1). The conveying system described in patent document 1 includes: a carry-in conveyor for carrying in the trays containing the display panels in a stacked state; a first tray table and a second tray table on which the tray is placed; a first robot that takes out the display panel from the tray placed on the first tray table and the second tray table; a discharge conveyor that discharges empty trays in a stacked state; and a second robot that transfers the tray from the carry-in conveyor to the first tray table and the second tray table, and transfers the tray from the first tray table and the second tray table to the discharge conveyor.

In the conveying system described in patent document 1, an operator manually carries a plurality of stacked pallets into a carry-in conveyor. Further, the worker manually carries out the stacked plurality of trays from the discharge conveyor.

[ Prior art documents ]

[ patent document ]

Patent document 1: japanese patent laid-open publication No. 2018-127332

In the conveying system described in patent document 1, there is a problem that a burden on an operator is large when a plurality of pallets are carried in and out by manual work of the operator. In addition, when the display panel is accommodated in the tray, there are problems as follows: when a worker erroneously sets the tray down during carrying in and out, the display panel housed therein is damaged.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a transport system capable of carrying in and out a plurality of pallets while suppressing the burden on the operator.

In order to solve the above problem, a conveyance system according to the present invention includes: a first carriage for empty pallet supply, the first carriage stacking a plurality of empty pallets on which workpieces are not loaded; a first elevator capable of adjusting the height positions of the plurality of empty pallets; a second carriage for discharging the load tray, the second carriage having a plurality of load trays stacked thereon, the load trays having the work pieces placed thereon; a second lifter capable of adjusting height positions of the plurality of load trays; a first tray conveying mechanism that conveys an uppermost empty tray among the plurality of empty trays on the first carriage stopped at an empty tray supply position so as to be stacked on the plurality of load trays on the second carriage stopped at a load tray discharge position; and a workpiece transfer mechanism that places the workpiece on the empty tray conveyed by the first tray conveying mechanism.

In the present invention, a plurality of empty pallets on which no work is placed are carried into a conveying system by using a first carriage for providing empty pallets. Further, the plurality of load trays on which the workpieces are placed are carried out of the conveying system by using the second carriage for discharging the load trays. The conveying system places the workpiece on an empty tray carried in by the first carriage, and conveys the loaded tray on which the workpiece is placed to the second carriage. Therefore, the conveying system conveys empty pallets from a state in which pallets are stacked on the first carriage, and stacks load pallets on which workpieces are placed on the second carriage, so that the burden on the operator when loading and unloading a plurality of pallets into and out of the conveying system can be reduced. Further, the first pallet conveying mechanism conveys the uppermost empty pallet among the plurality of empty pallets on the first carriage so as to be stacked on the plurality of load pallets on the second carriage, and thus the first carriage and the second carriage can be shared.

In the present invention, it is preferable that a moving direction of the first carriage to the empty tray supply position, a moving direction of the first carriage from the empty tray supply position, a moving direction of the second carriage to the load tray discharge position, and a moving direction of the second carriage from the load tray discharge position are directions along a first direction, and an arrangement direction of the empty tray supply position and the load tray discharge position is a second direction intersecting the first direction. With this configuration, when the first carriage and the second carriage are moved, the operator can move in the same direction with respect to the conveyance system.

In the present invention, it is preferable that a plurality of load tray discharging mechanisms using the second carriage are arranged along the second direction. In this case, in the present invention, it is preferable that each of the plurality of load tray discharge mechanisms corresponds to a result of inspecting the workpiece. Therefore, if a plurality of load tray discharge mechanisms using the second carriage are arranged in the case where the workpiece transfer mechanism moves the workpiece in accordance with the inspection result of the workpiece, the second carriage corresponding to the inspection result can be arranged. Thus, the conveying system can simultaneously convey a plurality of workpieces with different inspection results.

In the present invention, the workpiece transfer mechanism may be a horizontal articulated robot.

In the present invention, it is preferable that, in a first discharge mechanism of the plurality of load tray discharge mechanisms and a second discharge mechanism of the plurality of load tray discharge mechanisms different from the first discharge mechanism, the position of the empty tray when the workpiece transfer mechanism places the workpiece is shifted in the first direction, in the first discharge mechanism, the workpiece transfer mechanism places the workpiece on the empty tray stacked on the plurality of load trays on the second carriage stopped at the load tray discharge position, and in the second discharge mechanism, the empty tray conveyed by the first tray conveying mechanism is conveyed in the first direction to the position where the workpiece is placed by the workpiece transfer mechanism by a second tray conveying mechanism, and then the empty tray is stacked on the plurality of load trays on the second carriage stopped at the load tray discharge position. Here, in the case of the load tray discharge mechanism in which the first discharge mechanism and the second discharge mechanism are arranged in the second direction, the movement range of the workpiece transfer mechanism needs to be increased in the second direction, and the workpiece transfer mechanism needs to be increased in size. However, in the present invention, in the second discharge mechanism, the empty tray conveyed by the first tray conveying mechanism is conveyed to the position where the workpiece is placed by the workpiece transfer mechanism in the first direction by the second tray conveying mechanism, and therefore, in the first discharge mechanism and the second discharge mechanism, the position of the empty tray when the workpiece is placed by the workpiece transfer mechanism is shifted in the first direction. As a result, the range of movement of the workpiece transfer mechanism in the second direction is reduced as compared to the case where the second discharge mechanism does not include the second tray conveyance mechanism. As a result, even when the conveying system includes a plurality of load tray discharge mechanisms, the work transfer mechanism can be prevented from being increased in size.

The conveying system of the present invention is characterized by comprising: a first carriage for providing a load tray, the first carriage having a plurality of load trays stacked thereon, the load trays having a workpiece placed thereon; a first lifter capable of adjusting height positions of the plurality of load trays; a second carriage for discharging empty pallets, the second carriage stacking a plurality of empty pallets on which no work is placed; a second elevator capable of adjusting the height positions of the plurality of empty pallets; a tray conveying mechanism that conveys a topmost load tray of the plurality of load trays on the first carriage stopped at a load tray supply position to a workpiece take-out position, and stacks an empty tray from which the workpiece has been taken out at the workpiece take-out position on the plurality of empty trays on the second carriage stopped at an empty tray discharge position; and a workpiece transfer mechanism that picks up a workpiece from a load tray at the workpiece takeout position.

In the present invention, a plurality of load pallets on which workpieces are placed are carried into a conveying system using a first carriage for providing a load pallet. Further, a plurality of empty pallets on which no workpieces are placed are carried out of the conveying system by using a second carriage for empty pallet discharge. The conveying system conveys the load pallet carried in by the first carriage to the workpiece takeout position, and conveys the empty pallet from which the workpiece is taken out at the workpiece takeout position to the second carriage. Therefore, the conveying system conveys the load tray from a state in which the trays are stacked on the first carriage, and stacks the empty tray from which the workpiece is taken out on the second carriage, so that it is possible to reduce the burden on the operator when carrying in and out the plurality of trays to the conveying system. Further, the first pallet conveying mechanism conveys the uppermost empty pallet among the plurality of empty pallets on the first carriage so as to be stacked on the plurality of load pallets on the second carriage, and thus the first carriage and the second carriage can be shared.

In the present invention, it is preferable that the moving direction of the first carriage to the load tray supply position, the moving direction of the first carriage from the load tray supply position, the moving direction of the second carriage to the empty tray discharge position, and the moving direction of the second carriage from the empty tray discharge position are all directions along a first direction, and the arrangement direction of the load tray supply position and the empty tray discharge position is a second direction intersecting the first direction. With this configuration, when the first carriage and the second carriage are moved, the operator can move in the same direction with respect to the conveyance system.

In the present invention, the workpiece transfer mechanism may be a horizontal articulated robot.

The processing system according to the present invention is a processing system including the above-described conveying system, and is characterized by including an inspection device that inspects the workpiece until the workpiece is conveyed from the load tray supply position to the load tray discharge position.

In the present invention, since the plurality of pallets can be carried in and out by the first carriage and the second carriage, the burden on the operator can be suppressed. In addition, when a plurality of trays are carried in and out, the trays can be prevented from being placed down by mistake.

Drawings

Fig. 1 is a plan view of a conveying system according to a first embodiment of the present invention.

Fig. 2 is a front view of the delivery system.

Fig. 3 is a side view of the delivery system.

Fig. 4 is a diagram showing the separation mechanism and the stacking mechanism, fig. 4 (a) is a diagram showing the separation mechanism, and fig. 4 (b) is a diagram showing the stacking mechanism.

Fig. 5 is a plan view of a conveying system according to a second embodiment of the present invention.

Fig. 6 is a front view of the delivery system.

Fig. 7 is a side view of the delivery system.

(symbol description)

1, 8230, a conveying system, 2, 8230, a main body, 3, 8230, a first lifter, 4A, 4B, 4C, 8230, a second lifter, 5, 6, 8230, a first tray conveying mechanism, 6, 8230, a workpiece transfer mechanism, 7, 8230, a separating mechanism, 8A, 8B, 8C, 8230, a stacking mechanism, 9, 8230, a first trolley, 9A, 8230, an idle tray providing position, 9B, 8230, a load tray providing position, 10, 101, 102, 103, 8230, a second trolley, 10A, 8230, a load tray discharging position, 10B, 8230, an idle tray providing position 11 method 8230, a carrying-in mechanism 12 method 8230, an object stage 13 method 8230, a driving portion 15 method 8230, a second tray conveying mechanism 15A method 8230, a first position 15B method 8230, a second position 16 method 8230, a load tray discharge mechanism 16A method 8230, a first discharge mechanism 16B method 8230, a second discharge mechanism 16A method 8230, a discharge mechanism 16B method 8230, a discharge mechanism 17 method 8230, a detection device 19 method 8230, a carrier portion 19A method 8230, a workpiece taking-out position 20 method 8230, a tray 20A method 8230, an idle tray, a carrier portion 15A method 8230, a workpiece taking-out position 20 method 8230, a carrier portion 20A method 8230, and an idle tray 20B 8230, a loading tray 31 8230, an object stage 32 8230, a lifting part 41 8230, an object stage 42 8230, a lifting part 51 8230, a holding part 52 8230, a driving part 61 8230, a holding part 62 8230, an arm main body part 70 8230, a separating part 71 8230, a supporting part 72 8230, a positioning part 73 8230, a separating claw 74 8230, a driving part 75A 8230, a connecting part 76 8230, a holding part 76A 8230, an adsorption part 77 8230, a supporting part 77a 8230, a first supporting part 77B \ 8230, a second support member 78 \ 8230, a drive section 78A \ 8230, a first drive section 78B \ 8230, a second drive section 79 \ 8230, a drive section 81 \ 8230, a first tray receiving section 82 \ 8230, a second tray receiving section 83 \ 8230, a receiving member 84 \ 8230, a drive section 85 \ 8230, a receiving member 86 \ 8230, a drive section 87a \ 8230, a connecting member 91 \ 8230, a carrying section 100 \ 8230, a display panel 151 \ 8230, a carrying platform 152 \ 8230, a drive section 171 \ 8230, a conveying section, 172 \ 8230, object stage 173 \ 8230, drive section 191 \ 8230, object stage 192 \ 8230, positioning component 193 \ 8230, drive section 521 \ 8230, Z-axis drive section 522 \ 8230, Y-axis drive section 611 \ 8230, adsorption section 911 \ 8230and support component.

Detailed Description

(first embodiment)

Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. In the following description, a case where a workpiece is used as the display panel 100 will be mainly described. Fig. 1 is a plan view of a conveying system according to a first embodiment of the present invention. Fig. 2 is a front view of the delivery system. Fig. 3 is a side view of the delivery system. Fig. 4 is a diagram showing the separation mechanism and the stacking mechanism, fig. 4 (a) is a diagram showing the separation mechanism, and fig. 4 (b) is a diagram showing the stacking mechanism.

(integral construction of conveying System)

The transport system 1 of the present embodiment shown in fig. 1 is incorporated into a production line for manufacturing a small-sized liquid crystal display used in a portable device or the like. When the display panel 100 as a workpiece to be inspected in a preceding step is carried in by the carrying-in mechanism 11, the conveying system 1 conveys the display panel 100 to the tray 20 based on the inspection result of the carried-in display panel 100. The display panel 100 is a liquid crystal panel, an organic EL panel, or the like. The display panel 100 is formed in a rectangular shape. In the present embodiment, the preceding step is a step of lighting inspection of the display panel 100, and the display panel 100 is classified into one of a non-defective product, a defective product, and a re-inspection product based on the inspection result of the lighting inspection.

As shown in fig. 1 to 3, the conveyance system 1 includes a main body 2, a first carriage 9 on which a plurality of empty trays 20A on which display panels 100 are not mounted are stacked, and a second carriage 10 on which a plurality of load trays 20B on which display panels 100 are mounted are stacked. The first carriage 9 and the second carriage 10 are carried out from the main body 2 along a predetermined moving direction and are carried into the main body 2. In the present embodiment, a second carriage 101, a second carriage 102, and a second carriage 103 are provided as the second carriage 10.

Here, in the drawing, directions orthogonal to each other are referred to as an X-axis direction, a Y-axis direction, and a Z-axis direction. The moving direction of the first carriage 9 and the second carriage 10 is defined as an X-axis direction, the direction in which the first carriage 9 and the second carriage 10 are carried out of the main body 2 is defined as an X1 direction, and the direction in which the first carriage 9 and the second carriage 10 are carried into the main body 2 is defined as an X2 direction. The first carriage 9 and the second carriage 10 are aligned in the Y-axis direction. In the Z-axis direction, the upper side is defined as the Z1 direction, and the lower side is defined as the Z2 direction.

The main body 2 includes: a first lift 3 capable of adjusting the height positions of a plurality of empty pallets 20A mounted on the first carriage 9; a second lift 4 capable of adjusting the height positions of the plurality of load trays 20B placed on the second carriage 10; a first pallet feeding mechanism 5 that feeds a plurality of empty pallets 20A on the first carriage 9 stopped at the empty pallet supply position 9A to the second carriage 10 stopped at the loaded pallet discharge position 10A; and a workpiece transfer mechanism 6 for placing the display panel 100 on the empty tray 20A conveyed by the first tray conveying mechanism 5. In the present embodiment, a second lifter 4A, a second lifter 4B, and a second lifter 4C are provided as the second lifter 4.

The main body 2 includes: a separating mechanism 7 for separating the empty tray 20A on the uppermost layer from the plurality of empty trays 20A on the first lifter 3; and a stacking mechanism 8 for stacking the load tray 20B on which the display panel 100 is placed by the workpiece transfer mechanism 6 on the plurality of load trays 20B on the second lifter 4. The stacking mechanism 8 includes: a stacking mechanism 8A that stacks the load tray 20B on the second carriage 101; a stacking mechanism 8B that stacks the load tray 20B on the second carriage 102; a stacking mechanism 8C that stacks the load tray 20B on the second carriage 103.

Here, the second carriage 10, the second lifter 4, and the stacking mechanism 8 constitute a load tray discharge mechanism 16. In the present embodiment, a plurality of load tray discharge mechanisms 16 are provided. More specifically, the load tray discharge mechanism 16 includes a first discharge mechanism 16A and a second discharge mechanism 16B. The first ejection mechanism 16A includes a second carriage 101, a second lifter 4A, a stacking mechanism 8A, a second carriage 102, a second lifter 4A, and a stacking mechanism 8B. The second discharge mechanism 16B is constituted by the second carriage 103, the second lifter 4C, and the stacking mechanism 8C. The second discharge mechanism 16B includes a second tray conveying mechanism 15.

The empty tray 20A and the load tray 20B as the tray 20 of the present embodiment are constituted by the same tray. The empty tray 20A and the load tray 20B are formed in a substantially rectangular flat plate shape. A recess for accommodating the display panel 100 is formed in the upper surface of the empty tray 20A and the load tray 20B.

(carrying-in mechanism)

As shown in fig. 1 and 2, the loading mechanism 11 conveys the display panel 100 inspected in the previous step to the conveyance system 1. The carrying-in mechanism 11 includes a stage 12 on which the display panel 100 is mounted, and a driving unit 13 that reciprocates the stage 12 in the X-axis direction. The stage 12 has a quadrangular outer shape. The driving unit 13 is constituted by an electric cylinder or the like, and extends in the X-axis direction. The loading mechanism 11 conveys the display panel 100, which is placed on the stage 12 at an end in the X2 direction, to an end in the X1 direction.

(first carriage)

As shown in fig. 1 to 3, the first carriage 9 is used to carry a plurality of empty pallets 20A into the main body 2. The first carriage 9 includes a placement portion 91 on which the plurality of empty trays 20A are placed. The placement unit 91 includes three support members 911. The support members 911 extend in the X-axis direction and are arranged apart from each other in the Y-axis direction. The first carriage 9 includes a connection portion to be connected to the main body 2 when stopped at the empty tray supply position 9A. Except for the case where the first carriage 9 is moved from the main body 2, the first carriage 9 is fixed to the main body 2 by coupling the coupling portion to the main body 2.

(first Elevator)

The first lifter 3 overlaps the placement portion 91 of the first carriage 9 in the Z-axis direction at the empty tray supply position 9A. The first lifter 3 includes a stage 31 on which the plurality of empty pallets 20A are placed, and a lifter 32 that moves the stage 31 in the Z-axis direction. The stage 31 is provided with two stages 41, and the stages 31 are respectively located between the three support members 911 as viewed in the Z-axis direction. The elevating unit 32 is positioned in the Z2 direction from the placement unit 91 of the first carriage 9. The first lifter 3 moves the stage 31 in the Z-axis direction by the lifter 32, and thereby the stage 31 passes between the support members 911 and reciprocates in the Z-axis direction.

In the present embodiment, when the first carriage 9 is located at the empty pallet feeding position 9A, the stage 31 is located at a position closer to the Z2 direction than the support member 911. When the first carriage 9 is set at the empty tray supply position 9A, the first lifter 3 moves the stage 31 upward from below the support member 911 by the lifter 32. Thereby, the plurality of empty pallets 20A placed on the first carriage 9 are moved to the stage 31 and lifted upward.

(separation means 7)

The separating mechanism 7 separates the empty tray 20A on the uppermost level from the plurality of empty trays 20A lifted by the first lifter 3. As shown in fig. 2 and 3, the separation mechanism 7 is disposed at a position closer to the Z1 direction than the first lifter 3, and overlaps the first lifter 3 in the Z-axis direction. As shown in fig. 1 to 4 (a), the separating mechanism 7 includes a separating unit 70 that separates the empty tray 20A at the uppermost layer and moves the separated empty tray 20A in the Z1 direction. The separating mechanism 7 includes a support portion 71 that supports the empty tray 20A moved in the Z1 direction by the separating portion 70, and a positioning member 72 that abuts a corner portion of the empty tray 20A supported by the support portion 71.

The separation unit 70 includes: a separating claw 73 for separating the empty tray 20A on the uppermost layer; a driving unit 74 that moves the separation claw 73 in the Y-axis direction; a driving unit 75 for moving the driving unit 74 in the Z-axis direction via a coupling member 75 a; and a holding portion 76 for holding the separated empty tray 20A.

The separating claws 73 are arranged to be sandwiched between the uppermost empty tray 20A on both sides in the Y axis direction. The driving unit 74 is constituted by an air cylinder or the like. The drive unit 74 moves the separation claw 73 in the Y axis direction, and the separation claw 73 moves from the position where the uppermost empty tray 20A is held to the position where the upper empty tray 20A is not held at both ends in the Y axis direction of the uppermost empty tray 20A. The holding portions 76 are fixed to the coupling member 75a and are disposed so as to be sandwiched between the empty tray 20A on both sides in the Y axis direction. After the separation claw 73 moves to the interval for holding the empty tray 20A, the holding portion 76 is positioned above the empty tray 20A, and holds the upper surface of the empty tray 20A separated by the suction portion 76 a.

The driving unit 75 is constituted by an electric cylinder or the like. The drive unit 75 moves the separation claw 73 in the Z-axis direction by moving the drive unit 74 in the Z-axis direction. Therefore, the driving unit 75 separates the empty tray 20A on the uppermost level from the plurality of empty trays 20A by moving the separating claw 73 in the Z1 direction in a state where the separating claw 73 holds the empty tray 20A on the uppermost level. At this time, the holding portion 76 is moved in the Z1 direction by the driving portion 75 together with the separating claw 73 in a state of holding the upper surface of the empty tray 20A after separation.

The support portion 71 includes: a support member 77 for supporting the lower surface of the empty tray 20A moved in the Z1 direction by the separating unit 70; and a driving portion 78 for moving the supporting member 77. The support member 77 includes: first support members 77a disposed so as to be sandwiched on both sides of the empty tray 20A in the X-axis direction; and second supporting members 77b disposed so as to be sandwiched between the empty tray 20A on both sides in the Y axis direction. The driving unit 78 is constituted by an air cylinder or the like. The driving unit 78 includes a first driving unit 78a for moving the first support member 77a in the X-axis direction and a second driving unit 78b for moving the second support member 77b in the Y-axis direction. The first and second driving portions 78a and 78b respectively move the first and second support members 77a and 77b, whereby the first and second support members 77a and 77b respectively move from an interval supporting the lower surface of the empty pallet 20A to an interval not supporting the lower surface of the empty pallet 20A.

The positioning member 72 is moved by the driving portion 79 from a position in contact with a corner portion of the empty tray 20A supported by the supporting portion 71 to a position not in contact therewith. The positioning member 72 abuts on a corner of the empty tray 20A, thereby positioning the empty tray 20A with respect to the support portion 71.

(second carriage)

The second carriage 10 is used to carry out the plurality of load trays 20B from the main body 2. Since the second carriage 10 has the same configuration as the first carriage 9, the same reference numerals are given thereto and the description thereof is omitted. The second carriage 10 includes a connection portion that is connected to the main body 2 when stopped at the load tray discharge position 10A. Except for the case where the second carriage 10 is moved from the main body 2, the second carriage 10 is fixed to the main body 2 by the coupling portion being coupled to the main body 2.

In the present embodiment, as shown in fig. 1 and 3, a second carriage 101, a second carriage 102, and a second carriage 103 are provided as the second carriage 10. The second carriage 101, the second carriage 102, and the second carriage 103 are arranged in this order along the Y1 direction. The second carriage 101 mounts thereon the load tray 20B in which the display panel 100 determined as "good product" in the previous step is stored. The load tray 20B containing the display panel 100 determined as "defective" in the previous step is placed on the second carriage 102. The second carriage 103 mounts the load tray 20B accommodating the display panel 100 determined as a "reinspection product" in the previous step.

(second Elevator)

As shown in fig. 1 and 3, the second lifter 4 overlaps the placing section 91 of the second carriage 10 in the Z-axis direction at the load tray discharge position 10A. The second lifter 4 includes a stage 41 on which the plurality of load trays 20B are placed, and a lifter 42 that moves the stage 41 in the Z-axis direction. The two stages 41 are provided, and are respectively located between the three support members 911 when viewed from the Z-axis direction. The elevating unit 32 is positioned in the Z2 direction from the placement unit 91 of the second carriage 10. The second lifter 4 moves the stage 41 in the Z-axis direction by the lifter 42, and thereby the stage 41 passes between the support members 911 and reciprocates in the Z-axis direction.

In the present embodiment, when the second carriage 10 is set at the load tray discharge position 10A, the stage 41 is positioned in the Z2 direction with respect to the support member 911. When the second carriage 10 is set at the load tray discharge position 10A, the second lifter 4 moves the stage 41 upward from below the support member 911 by the lifting unit 42. Then, the load tray 20B is stacked on the stage 41 by the stacking mechanism 8. After that, when the predetermined number of load trays 20B are stacked on the stage 41, the second lifter 4 moves the stage 41 in the Z2 direction from the support member 911 via the lifter 42. Thereby, the plurality of load trays 20B mounted on the stage 41 are mounted on the mounting portion 91 of the second carriage 10.

In the present embodiment, a second lifter 4A, a second lifter 4B, and a second lifter 4C are provided as the second lifter 4. The second lifter 4A is disposed at a position corresponding to the second carriage 101, the second lifter 4B is disposed at a position corresponding to the second carriage 102, and the second lifter 4C is disposed at a position corresponding to the second carriage 103.

(Stacking mechanism)

The stacking mechanism 8 receives the empty tray 20A, and stacks the load tray 20B, on which the display panel 100 is placed on the empty tray 20A by the workpiece transfer mechanism 6, on the plurality of load trays 20B on the second lifter 4. As shown in fig. 1, 3, and 4 (b), the stacking mechanism 8 is disposed in the Z1 direction from the second lifter 4 and overlaps with the second lifter 4 in the Z-axis direction. The stacking mechanism 8 includes a first tray receiving portion 81 for receiving the empty tray 20A (the loaded tray 20B) and a second tray receiving portion 82 for receiving the empty tray 20A (the loaded tray 20B) and stacking the loaded tray 20B.

The first tray receiving portion 81 includes a receiving member 83 for receiving the empty tray 20A (the loaded tray 20B), and a driving portion 84 for moving the receiving member 83 in the X-axis direction. The receiving members 83 are disposed so as to be sandwiched between the empty tray 20A (load tray 20B) on both sides in the X-axis direction. The driving unit 84 is constituted by an air cylinder or the like. The drive unit 84 moves the receiving member 83 in the X-axis direction, and the receiving member 83 moves from the interval of receiving the lower surface of the empty tray 20A (load tray 20B) to the interval of not receiving the empty tray 20A (load tray 20B) at both ends of the empty tray 20A (load tray 20B) in the X-axis direction.

The second tray receiving portion 82 includes: a receiving member 85 for receiving the empty tray 20A (load tray 20B); a driving unit 86 for moving the receiving member 85 in the Y-axis direction; and a driving unit 87 for moving the driving unit 86 in the Z-axis direction via a coupling member 87 a. The receiving members 85 are disposed so as to be sandwiched between the empty tray 20A (load tray 20B) on both sides in the Y axis direction. The driving unit 86 is constituted by an air cylinder or the like. The drive unit 86 moves the receiving member 85 in the Y-axis direction, and the receiving member 85 moves from the interval of receiving the lower surface of the empty tray 20A (load tray 20B) to the interval of not receiving the empty tray 20A (load tray 20B) at both ends of the empty tray 20A (load tray 20B) in the Y-axis direction. The receiving member 85 receives the empty tray 20A (load tray 20B) such that the distance in the Y axis direction between the lower surfaces is wider than the width in the Y axis direction of the stage 41 of the second lifter 4.

The driving unit 87 is constituted by an electric cylinder or the like. The driving unit 87 moves the receiving member 85 in the Z-axis direction by moving the driving unit 86 in the Z-axis direction. Therefore, the driving unit 87 moves the receiving member 85 in the Z2 direction in a state where the load tray 20B is received, and stacks the load tray 20B on the plurality of load trays 20B on the second lifter 4.

In the present embodiment, as the stacking mechanism 8, a stacking mechanism 8A, a stacking mechanism 8B, and a stacking mechanism 8C are provided. The stacking mechanism 8A is disposed at a position corresponding to the second lifter 4A, the stacking mechanism 8B is disposed at a position corresponding to the second lifter 4B, and the stacking mechanism 8C is disposed at a position corresponding to the second lifter 4C. Further, as described later, the stacking mechanism 8C receives the load tray 20B, and stacks the received load tray 20B on the plurality of load trays 20B on the second lifter 4C.

(second tray conveying mechanism)

As shown in fig. 1 and 3, the second tray conveying mechanism 15 is disposed on the Y1 direction side of the second carriage 103. The second pallet feeding mechanism 15 includes a stage 151 on which the pallet 20 is placed, and a driving unit 152 that reciprocates the stage 151 in the X-axis direction. The stage 151 is located closer to the Z1 direction than the stacking mechanism 8C. The driving unit 152 moves the stage 151 so that the stage 151 is at the second position 15B where the stage 151 overlaps with the stacking mechanism 8C in the Z-axis direction from the first position 15A.

(first tray conveying mechanism)

As shown in fig. 1, 2, and 3, the first tray conveying mechanism 5 includes a holding unit 51 that holds the empty tray 20A, and a driving unit 52 that moves the holding unit 51. The driving unit 52 includes a Z-axis driving unit 521 for moving the holding unit 51 in the vertical direction, and a Y-axis driving unit 522 for moving the holding unit 51 in the Y direction via the Z-axis driving unit 521. The Z-axis drive unit 521 and the Y-axis drive unit 522 are configured by electric cylinders or the like. When the holding unit 51 is moved by the Z-axis driving unit 521 and the Y-axis driving unit 522, the first tray conveying mechanism 5 receives the empty tray 20A separated by the separating mechanism 7 from the supporting portion 71 of the separating mechanism 7, and places the empty tray 20A on the receiving members 83 and 85 of the stacking mechanism 8 or the stage 151 of the second tray conveying mechanism 15. Here, when the empty tray 20A is delivered by the first tray conveying mechanism 5, the position of the support portion 71 of the separating mechanism 7 in the Z axis direction is located at substantially the same height as the position of the receiving members 83 and 85 of the stacking mechanism 8 in the Z axis direction. Therefore, since the position of the support portion 71 of the separating mechanism 7 in the Z-axis direction is substantially the same height position as the position of the receiving members 83 and 85 of the stacking mechanism 8 in the Z-axis direction, the first tray conveying mechanism 5 does not need to move the holding portion 51 greatly in the Z-axis direction.

(work transfer mechanism)

The workpiece transfer mechanism 6 is a horizontal articulated robot. As shown in fig. 1 to 3, the workpiece transfer mechanism 6 is disposed on the X2 direction side of the first tray conveying mechanism 5. The workpiece transfer mechanism 6 includes a holding portion 61 for holding the display panel 100 and an arm main body portion 62 for moving the holding portion 61. The holding portion 61 includes a plurality of suction portions 611. The suction unit 611 sucks the display panel 100, and the holding unit 61 grips the display panel 100. The workpiece transfer mechanism 6 moves the display panel 100 mounted on the stage 12 to the empty tray 20A mounted on the stacking mechanism 8 or the empty tray 20A mounted on the second tray conveying mechanism 15 based on the inspection result of the display panel 100.

(action of conveying System)

Next, the operation of the conveyance system 1 will be described. First, the first carriage 9 on which the plurality of empty pallets 20A are mounted is set by the operator at the empty pallet supply position 9A of the main body 2. Similarly, the second carriage 10 on which the plurality of load trays 20B are placed is set by the operator at the load tray discharge position 10A of the main body 2.

When the first carriage 9 is set at the empty tray supply position 9A, the coupling portion is coupled to the main body portion 2, and the first carriage 9 is fixed to the main body portion 2. After the first carriage 9 is fixed to the main body 2, the first lifter 3 lifts the plurality of empty trays 20A placed on the first carriage 9 in the Z1 direction.

When the second carriage 10 is set at the load tray discharge position 10A, the coupling portion is coupled to the main body portion 2, and the second carriage 10 is fixed to the main body portion 2. After the second carriage 10 is fixed to the main body 2, the second lifter 4 moves the stage 41 in the Z1 direction from the placement portion 91 of the second carriage 10.

Next, when the plurality of empty trays 20A are lifted by the first lifter 3, the separation mechanism 7 moves the separation claw 73 to the interval for holding the empty tray 20A at the uppermost layer by the driving unit 74. Thereafter, the separating mechanism 7 positions the holding portion 76 above the empty tray 20A, and holds the upper surface of the uppermost empty tray 20A by the suction portion 76 a. Thereafter, the separation mechanism 7 moves the separation claw 73 and the holding portion 76 in the Z1 direction. Thereby, the empty tray 20A on the uppermost layer is separated from the plurality of empty trays 20A. The separated empty tray 20A moves to the position of the support portion 71 in the Z1 direction.

After the separated empty tray 20A moves to the position of the support portion 71, the separating mechanism 7 moves the first support member 77a and the second support member 77b to the interval for supporting the lower surface of the empty tray 20A. Further, the separating mechanism 7 releases the holding of the empty tray 20A by the suction portion 76a, and causes the holding portion 76 to retract to the outside of the empty tray 20A. Then, the separating mechanism 7 moves the separating claw 73 to a distance at which the empty tray 20A is not held, and then moves the separating claw 73 and the holding portion 76 in the Z2 direction.

After the separation claw 73 and the holding portion 76 are moved in the Z2 direction, the empty tray 20A supported by the support portion 71 is positioned with respect to the support portion 71 by the positioning member 72 coming into contact with the corner portion of the empty tray 20A. Then, the positioning member 72 is retracted to a position not abutting against the corner of the empty tray 20A. After the positioning member 72 retracts, the first tray conveying mechanism 5 receives the empty tray 20A from the supporting portion 71 of the separating mechanism 7.

The first tray conveying mechanism 5 places the received empty tray 20A on the stacking mechanism 8A, the stacking mechanism 8B, or the second tray conveying mechanism 15. Here, when the first tray conveying mechanism 5 places the empty tray 20A on the second tray conveying mechanism 15, the stage 151 of the second tray conveying mechanism 15 is located at the first position 15A. Further, the second pallet transfer mechanism 15 moves the stage 151 from the first position 15A to the second position 15B after the empty pallet 20A is placed on the stage 151. When the empty tray 20A is placed on the stacking mechanism 8A, the stacking mechanism 8A moves the receiving member 83 of the first tray receiving portion 81 and the receiving member 85 of the second tray receiving portion 82 so as to be spaced from the lower surface of the receiving tray 20. Similarly, when the empty tray 20A is placed on the stacking mechanism 8B, the stacking mechanism 8B moves the receiving member 83 of the first tray receiving portion 81 and the receiving member 85 of the second tray receiving portion 82 so as to be spaced from the lower surface of the receiving tray 20.

After the first tray conveying mechanism 5 receives the empty tray 20A from the supporting portion 71 of the separating mechanism 7, the separating mechanism 7 moves the first supporting member 77a and the second supporting member 77b to a space where the lower surface of the empty tray 20A is not supported, respectively. Thereafter, the separating mechanism 7 separates the empty tray 20A at the uppermost layer again by the separating unit 70.

Here, when all of the empty trays 20A placed on the first lifter 3 are conveyed by the first tray conveying mechanism 5, the empty tray 20A is detected to be used up by the tray detection sensor. When the tray detection sensor detects that the empty tray 20A is used up, the first lifter 3 moves the stage 31 in the Z2 direction from the placement portion 91 of the first carriage 9. When the stage 31 moves in the Z2 direction from the placement portion 91 of the first carriage 9, the connection between the connection portion and the main body portion 2 is released. Thereafter, the operator moves the first carriage 9 that is empty from the main body 2, and sets another first carriage 9 on which the plurality of empty trays 20A are placed at the empty tray supply position 9A.

Next, the workpiece transfer mechanism 6 moves the display panel 100 mounted on the stage 12 to the empty tray 20A based on the inspection result of the display panel 100. Specifically, when the inspection result of the display panel 100 is "good product", the workpiece transfer mechanism 6 moves the display panel 100 from the stage 12 to the empty tray 20A placed on the stacking mechanism 8A. When the inspection result of the display panel 100 is "defective", the workpiece transfer mechanism 6 moves the display panel 100 from the stage 12 to the empty tray 20A placed on the stacking mechanism 8B. When the inspection result of the display panel 100 is "re-inspection product", the workpiece transfer mechanism 6 moves the display panel 100 from the stage 12 to the empty tray 20A placed on the stage 151 located at the second position 15B. Here, after the workpiece transfer mechanism 6 moves the display panel 100 from the stage 12, the carry-in mechanism 11 moves the stage 12 to the end of the carry-in mechanism 11 in the X2 direction. After the stage 12 is moved to the end of the carrying-in mechanism 11 in the X2 direction, the next display panel 100 is placed on the stage 12. Then, the carrying-in mechanism 11 again moves the stage 12 to the end of the carrying-in mechanism 11 in the X1 direction, and conveys the display panel 100.

After the display panel 100 is moved to the empty tray 20A placed on the stacking mechanism 8A, the stacking mechanism 8A places the load tray 20B on which the display panel 100 is placed on the stage 41 of the second lifter 4A. Specifically, the stacking mechanism 8A moves the receiving member 83 to a distance not to receive the lower surface of the tray 20, and then moves the receiving member 85 in the Z2 direction until the receiving member 85 is positioned in the Z2 direction with respect to the stage 41 of the second lifter 4A. Thereby, the load tray 20B is placed on the stage 41 of the second lifter 4A. After the load tray 20B is placed on the stage 41 of the second lifter 4A, the stacking mechanism 8A moves the receiving member 85 to a distance not to receive the lower surface of the tray 20, and then moves the receiving member 85 in the Z1 direction. Thereafter, the stacking mechanism 8A moves the receiving members 83 and 85 so as to be spaced apart from the lower surface of the receiving tray 20. Thereafter, the first tray conveying mechanism 5 receives the empty tray 20A again from the separating unit 70 of the separating mechanism 7, and places the empty tray 20A on the stacking mechanism 8A. Thereafter, the workpiece transfer mechanism 6 again moves the display panel 100 of "good product" to the empty tray 20A placed on the stacking mechanism 8A. Thereafter, the stacking mechanism 8A again places the load tray 20B on the load tray 20B, and the load tray 20B is placed on the stage 41 of the second lifter 4A.

After the display panel 100 is moved to the empty tray 20A placed on the stacking mechanism 8B, the stacking mechanism 8B places the load tray 20B on which the display panel 100 is placed on the stage 41 of the second lifter 4B. Specifically, the stacking mechanism 8B moves the receiving member 83 to a distance not to receive the lower surface of the tray 20, and then moves the receiving member 85 in the Z2 direction until the receiving member 85 is positioned in the Z2 direction with respect to the stage 41 of the second lifter 4B. Thereby, the load tray 20B is placed on the stage 41 of the second lifter 4B. After the load tray 20B is placed on the stage 41 of the second lifter 4B, the stacking mechanism 8B moves the receiving member 85 so as to be spaced apart from the lower surface of the load tray 20, and then moves the receiving member 85 in the Z1 direction. After that, the stacking mechanism 8B moves the receiving members 83 and 85 so as to be spaced from the lower surface of the receiving tray 20. Thereafter, the first tray conveying mechanism 5 receives the empty tray 20A from the separating unit 70 of the separating mechanism 7 again, and places the empty tray 20A on the stacking mechanism 8B. Thereafter, the workpiece transfer mechanism 6 again moves the display panel 100 of "defective" to the empty tray 20A placed on the stacking mechanism 8B. Thereafter, the stacking mechanism 8B again places the load tray 20B on the load tray 20B, and the load tray 20B is placed on the stage 41 of the second lifter 4B.

After the display panel 100 is moved to the empty tray 20A placed on the stage 151, the second tray transfer mechanism 15 moves the stage 151 from the second position 15B to the first position 15A. After the stage 151 moves to the first position 15A, the first pallet conveying mechanism 5 receives the load pallet 20B from the stage 151. After the first tray conveying mechanism 5 receives the load tray 20B from the stage 151, the second tray conveying mechanism 15 moves the stage 151 from the first position 15A to the second position 15B. After the stage 151 moves to the second position 15B, the first tray conveying mechanism 5 places the received load tray 20B on the stacking mechanism 8C. At this time, the stacking mechanism 8C moves the receiving member 83 of the first tray receiving portion 81 and the receiving member 85 of the second tray receiving portion 82 so as to be spaced apart from the lower surface of the receiving tray 20.

After the load tray 20B is placed on the stacking mechanism 8C, the stacking mechanism 8C places the load tray 20B on the stage 41 of the second lifter 4C. Specifically, the stacking mechanism 8C moves the receiving member 83 to a distance not to receive the lower surface of the tray 20, and then moves the receiving member 85 in the Z2 direction until the receiving member 85 is positioned in the Z2 direction with respect to the stage 41 of the second lifter 4C. Thereby, the load tray 20B is placed on the stage 41 of the second lifter 4C. After the load tray 20B is placed on the stage 41 of the second lifter 4C, the stacking mechanism 8C moves the receiving member 85 to a distance not to receive the lower surface of the tray 20, and then moves the receiving member 85 in the Z1 direction. Thereafter, the stacking mechanism 8C moves the receiving members 83 and 85 so as to be spaced apart from the lower surface of the receiving tray 20. Thereafter, the second tray conveying mechanism 15 again moves the stage 151 from the second position 15B to the first position 15A, and the first tray conveying mechanism 5 receives the empty tray 20A from the separating unit 70 of the separating mechanism 7 and mounts the empty tray 20A on the stage 151. After the empty pallet 20A is placed on the stage 151, the second pallet feed mechanism 15 moves the stage 151 from the first position 15A to the second position 15B. Thereafter, the workpiece transfer mechanism 6 again moves the display panel 100 of the "re-inspection product" to the empty tray 20A placed on the stage 151. After that, the stacking mechanism 8C repeats the above operation, and places the load tray 20B on the load tray 20B, and the load tray 20B is placed on the stage 41 of the second lifter 4C.

Next, when a predetermined number (for example, 50) of load trays 20B are stacked on the stage 41 of the second lifter 4 (the second lifters 4A to 4C) by the stacking mechanism 8 (the stacking mechanisms 8A to 8C), the tray detection sensor detects that the predetermined number has been reached. When the tray detection sensor detects that the predetermined number of sheets has been reached, the second lifter 4 moves the stage 41 in the Z2 direction from the placement portion 91 of the second carriage 10 (the second carriages 10A to 10C). Thereby, the plurality of load trays 20B mounted on the stage 41 are mounted on the mounting portion 91 of the second carriage 10. After the stage 41 moves in the Z2 direction from the placement portion 91 of the second carriage 10, the connection between the connection portion and the main body portion 2 is released. Thereafter, the operator moves the second carriage 10 on which the predetermined number of load trays 20B are stacked from the main body 2, and sets another second carriage 10 at the load tray discharge position 10A.

(Effect)

In the present embodiment, a plurality of empty trays 20A on which no display panel 100 is mounted are carried into the conveyance system 1 by using the first carriage 9 for empty tray supply. Further, the plurality of load trays 20B on which the display panels 100 are placed are carried out of the conveying system 1 by using the second carriage 10 for discharging load trays. The transport system places the display panel 100 on the empty tray 20A carried in by the first carriage 9, and transports the load tray 20B on which the display panel 100 is placed to the second carriage 10. Therefore, since the conveying system 1 conveys the empty tray 20A from the state in which the trays 20 are stacked on the first carriage 9 and stacks the load tray 20B on which the display panel 100 is mounted on the second carriage 10, the burden on the operator when carrying in and out the plurality of trays 20 in the conveying system 1 can be reduced. The first tray conveying mechanism 5 conveys the plurality of empty trays 20A stopped at the empty tray supply position 9A so that the uppermost empty tray 20A of the plurality of empty trays 20A on the first carriage 9 is stacked on the plurality of load trays 20B stopped at the load tray discharge position 10A on the second carriage 10. That is, the plurality of empty trays 20A stacked on the first carriage 9 are conveyed from the empty tray 20A on the uppermost level, and the plurality of load trays 20B stacked on the second carriage 10 stack the load tray 20B on the uppermost level. Therefore, the first carriage 9 and the second carriage 10 can be shared.

In the present embodiment, the moving direction of the first carriage with respect to the empty tray feeding position 9A and the moving direction of the second carriage 10 with respect to the load tray discharging position 10A are both directions along the X-axis direction, and the arrangement direction of the empty tray feeding position 9A and the load tray discharging position 10A is the Y-axis direction. Therefore, when the first carriage 9 and the second carriage 10 are moved, the work area of the operator can be limited to the X1 direction side.

In the present embodiment, a plurality of load tray discharge mechanisms 16 using the second carriage 10 are arranged along the Y-axis direction. The plurality of load tray discharge mechanisms 16 correspond to the results of observation of the display panel 100. More specifically, a plurality of first discharge mechanisms 16A using the second carriage 101 and the second carriage 102 and a plurality of second discharge mechanisms 16B using the second carriage 103 are arranged along the Y-axis direction. The inspection results of the display panel 100 by the first discharge mechanism 16A correspond to "non-defective products" and "defective products", and the inspection results of the display panel 100 by the second discharge mechanism 16B correspond to "re-inspection products". Thereby, the transport system 1 can transport a plurality of display panels 100 having different inspection results at the same time.

In the present embodiment, in the second discharge mechanism 16B, the empty tray 20A conveyed by the first tray conveying mechanism 5 is conveyed in the X-axis direction to the second position 15B where the display panel 100 is placed by the workpiece transfer mechanism 6 by the second tray conveying mechanism 15, and therefore, in the first discharge mechanism 16A and the second discharge mechanism 16B, the position of the empty tray 20A when the display panel 100 is placed by the workpiece transfer mechanism 6 is shifted in the X-axis direction. Thus, the movement range of the workpiece transfer mechanism 6 in the Y-axis direction is smaller than in the case where the second discharge mechanism 16B does not include the second tray conveying mechanism 15. As a result, even when the conveying system 1 includes a plurality of load tray discharge mechanisms 16, the work transfer mechanism 6 can be prevented from increasing in size.

(second embodiment)

Hereinafter, a second embodiment of the present invention will be described with reference to the drawings. In the second embodiment, the same components as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and detailed description thereof is omitted.

Fig. 5 is a plan view of a conveying system according to a second embodiment of the present invention. Fig. 6 is a front view of the delivery system. Fig. 7 is a side view of the delivery system.

(integral construction of conveying System)

The transport system 1 of the present embodiment shown in fig. 5 supplies the display panel 100 to the inspection device 17 for inspecting the display panel 100. In the present embodiment, a plurality of load trays 20B on which the display panels 100 are placed are stacked on the first carriage 9. A plurality of empty trays 20A on which the display panels 100 are not mounted are stacked on the second carriage 10.

As shown in fig. 4 to 7, the conveyance system 1 includes a main body 2, a first carriage 9 on which a plurality of load trays 20B on which display panels 100 are placed are stacked, and a second carriage 10 on which a plurality of empty trays 20A on which display panels 100 are not placed are stacked. The first carriage 9 and the second carriage 10 are carried out of the main body 2 along a predetermined moving direction and are carried into the main body 2.

The main body 2 includes: a first lifter 3 capable of adjusting the height positions of the plurality of load trays 20B placed on the first carriage 9; a second lifter 4 capable of adjusting the height positions of the plurality of empty pallets 20A mounted on the second carriage 10; a first tray conveying mechanism 5 that conveys the uppermost load tray 20B of the plurality of load trays 20B on the first carriage 9 stopped at the load tray supply position 9B to the workpiece take-out position 19A, and conveys the empty load tray 20A from which the display panel 100 is taken out at the workpiece take-out position 19A to the second carriage 10 stopped at the empty tray discharge position 10B; a workpiece transfer mechanism 6 that takes out the display panel 100 from the load tray 20B at the workpiece take-out position 19A and conveys the display panel 100 to the inspection device 17; and a placement unit 19 located at the workpiece removal position 19A.

The main body 2 includes: a separating mechanism 7 for separating the uppermost load tray 20B from the plurality of load trays 20B on the first lifter 3; and a stacking mechanism 8 for stacking the empty tray 20A from which the display panel 100 is taken out by the work transfer mechanism 6 on the plurality of empty trays 20A on the second lifter 4.

(inspection apparatus)

The inspection device 17 performs a lighting inspection of the display panel 100. As shown in fig. 5 and 6, the inspection apparatus 17 includes a conveying unit 171 for conveying the display panel 100 to the inspection unit. In the present embodiment, two conveying units 171 are provided. The conveying unit 171 includes a stage 172 on which the display panel 100 is placed, and a driving unit 173 for reciprocating the stage 172 in the X-axis direction. The driving unit 173 is formed of an electric cylinder or the like, and extends in the X-axis direction. When the display panel 100 is placed on the stage 172 by the workpiece transfer mechanism 6, the conveyor 171 moves the stage 172 in the X2 direction to convey the display panel 100.

(first carriage)

The first carriage 9 is used to carry the plurality of load trays 20B into the main body 2. As shown in fig. 4, the first carriage 9 includes a coupling portion that couples with the main body 2 when stopped at the load tray supply position 9B. Except for the case where the first carriage 9 is moved from the main body 2, the first carriage 9 is fixed to the main body 2 by coupling the coupling portion to the main body 2.

(first Elevator)

As shown in fig. 5 to 7, the first lifter 3 overlaps the placement portion 91 of the first carriage 9 in the Z-axis direction at the load tray supply position 9B. When the first carriage 9 is set at the load tray supply position 9B, the first lifter 3 moves the stage 31 upward from below the three support members 911 by the lifting unit 32. Thereby, the plurality of load trays 20B placed on the first carriage 9 are moved to the stage 31 and lifted upward.

(separation means 7)

The separating mechanism 7 separates the uppermost load tray 20B from the plurality of load trays 20B lifted by the first lifter 3. As shown in fig. 5 to 7, the separation mechanism 7 is disposed at a position closer to the Z1 direction than the first lifter 3, and overlaps the first lifter 3 in the Z-axis direction. The separating mechanism 7 includes a separating unit 70 that separates the uppermost load tray 20B and moves the separated load tray 20B in the Z1 direction. The separating mechanism 7 further includes a support portion 71, and the support portion 71 supports the load tray 20B moved in the Z1 direction by the separating portion 70.

The separation unit 70 includes: a separation claw 73 for separating the uppermost load tray 20B; a driving unit 74 that moves the separation claw 73 in the Y axis direction; a driving unit 75 for moving the driving unit 74 in the Z-axis direction via a coupling member 75 a; and a holding portion 76 for holding the separated load tray 20B.

The separation claws 73 are arranged to be sandwiched between the uppermost load tray 20B on both sides in the Y axis direction. The driving unit 74 is constituted by an air cylinder or the like. The drive unit 74 moves the separation claws 73 in the Y axis direction, and the separation claws 73 move at both ends of the uppermost load tray 20B in the Y axis direction from the position where the interval between the uppermost load tray 20B is held to the position where the upper load tray 20B is not held. The holding portions 76 are fixed to the coupling member 75a and are disposed so as to be sandwiched between both sides of the load tray 20B in the Y axis direction. After the separation claw 73 moves to the interval for holding the empty tray 20A, the holding portion 76 is positioned above the load tray 20B, and holds the upper surface of the empty tray 20A separated by the suction portion 76 a.

The driving unit 75 is constituted by an electric cylinder or the like. The drive unit 75 moves the separation claw 73 in the Z-axis direction by moving the drive unit 74 in the Z-axis direction. Therefore, the drive unit 75 moves the separating claw 73 in the Z1 direction while the separating claw 73 holds the empty tray 20A on the uppermost layer, thereby separating the load tray 20B on the uppermost layer from the plurality of load trays 20B. At this time, the holding portion 76 is moved in the Z1 direction by the driving portion 75 together with the separation claw 73 in a state of holding the upper surface of the load tray 20B after separation.

The support portion 71 includes: a support member 77 that supports the lower surface of the load tray 20B moved in the Z1 direction by the separating unit 70; and a driving unit 78 that moves the support member 77. The support member 77 includes: first support members 77a arranged to be sandwiched on both sides of the load tray 20B in the X-axis direction; and second support members 77B arranged to be sandwiched between the two sides of the load tray 20B in the Y-axis direction. The driving unit 78 is constituted by an air cylinder or the like. The driving unit 78 includes a first driving unit 78a for moving the first support member 77a in the X-axis direction and a second driving unit 78b for moving the second support member 77b in the Y-axis direction. The first drive portion 78a and the second drive portion 78B respectively move the first support member 77a and the second support member 77B, whereby the first support member 77a and the second support member 77B respectively move from an interval supporting the lower surface of the load tray 20B to an interval not supporting the lower surface of the load tray 20B.

(mounting part)

As shown in fig. 5 and 6, the mount portion 19 is disposed between the separation mechanism 7 and the stacking mechanism 8 in the Y-axis direction. The mounting unit 19 includes a stage 191 on which the load tray 20B is mounted, and a positioning member 192 that abuts a corner of the load tray 20B mounted on the stage 191. The positioning member 192 is moved by the driving unit 193 from a position abutting on a corner of the load tray 20B placed on the stage 191 to a position not abutting on the corner. The positioning member 192 abuts on a corner of the load tray 20B to position the load tray 20B with respect to the stage 191.

(second carriage)

The second carriage 10 is used to carry out a plurality of empty trays 20A from the main body 2. As shown in fig. 5 and 7, the second carriage 10 includes a connection portion that is connected to the main body 2 when stopped at the empty tray discharge position 10B. Except for the case where the second carriage 10 is moved from the main body 2, the coupling portion is coupled to the main body 2, and the second carriage 10 is fixed to the main body 2.

(second Elevator)

As shown in fig. 5 and 7, the second lifter 4 overlaps the placement portion 91 of the second carriage 10 in the Z-axis direction at the empty tray discharge position 10B. In the present embodiment, when the second carriage 10 is set at the empty tray discharge position 10B, the stage 41 is positioned in the Z2 direction with respect to the support member 911. When the second carriage 10 is set at the empty tray discharge position 10B, the second lifter 4 moves the stage 41 upward from below the support member 911 by the lifting unit 42. Then, the empty tray 20A is stacked on the stage 41 by the stacking mechanism 8. After that, when the predetermined number of load trays 20B are stacked on the stage 41, the second lifter 4 moves the stage 41 in the Z2 direction from the support member 911 by the lifting unit 42. Thereby, the plurality of empty trays 20A mounted on the stage 41 are mounted on the mounting portion 91 of the second carriage 10.

(Stacking mechanism)

The stacking mechanism 8 stacks the empty tray 20A on a plurality of empty trays 20A on the second lifter 4. As shown in fig. 5 and 7, the stacking mechanism 8 is disposed in the Z1 direction from the second lifter 4, and overlaps the second lifter 4 in the Z-axis direction. The stacking mechanism 8 includes a first tray receiving portion 81 for receiving the empty tray 20A and a second tray receiving portion 82 for receiving the empty tray 20A and stacking the empty tray 20A.

The first tray receiving portion 81 includes a receiving member 83 for receiving the empty tray 20A, and a driving portion 84 for moving the receiving member 83 in the X-axis direction. The receiving members 83 are disposed so as to be sandwiched between the empty tray 20A on both sides in the X-axis direction. The driving unit 84 is constituted by an air cylinder or the like. The drive unit 84 moves the receiving member 83 in the X-axis direction, and thereby the receiving member 83 moves at both ends of the empty tray 20A in the X-axis direction from the interval of receiving the lower surface of the empty tray 20A to the interval of not receiving the empty tray 20A.

The second tray receiving portion 82 includes a receiving member 85 that receives the empty tray 20A, a driving portion 86 that moves the receiving member 85 in the Y-axis direction, and a driving portion 87 that moves the driving portion 86 in the Z-axis direction via a coupling member 87 a. The receiving members 85 are disposed so as to be sandwiched between the empty tray 20A on both sides in the Y-axis direction. The driving unit 86 is constituted by an air cylinder or the like. The drive unit 86 moves the receiving member 85 in the Y axis direction, and the receiving member 85 moves from the interval of receiving the lower surface of the empty tray 20A to the interval of not receiving the empty tray 20A at both ends of the empty tray 20A in the Y axis direction. The receiving member 85 receives the empty tray 20A such that the distance in the Y axis direction of the lower surface is wider than the width in the Y axis direction of the stage 41 of the second lifter 4.

The driving unit 87 is constituted by an electric cylinder or the like. The driving unit 87 moves the receiving member 85 in the Z-axis direction by moving the driving unit 86 in the Z-axis direction. Therefore, the driving unit 87 moves the receiving member 85 in the Z2 direction in a state where the empty tray 20A is received, thereby stacking the empty tray 20A on the plurality of empty trays 20A on the second lifter 4.

(first tray conveying mechanism)

As shown in fig. 5 to 7, the first tray conveying mechanism 5 includes a holding portion 51 that grips the load tray 20B, and a driving portion 52 that moves the holding portion 51. The driving unit 52 includes a Z-axis driving unit 521 for moving the holding unit 51 in the vertical direction, and a Y-axis driving unit 522 for moving the holding unit 51 in the Y direction via the Z-axis driving unit 521. The Z-axis drive unit 521 and the Y-axis drive unit 522 are configured by electric cylinders or the like. By moving the holding portion 51 by the Z-axis drive portion 521 and the Y-axis drive portion 522, the first tray conveying mechanism 5 receives the load tray 20B separated by the separating mechanism 7 from the support portion 71 of the separating mechanism 7, and places the load tray 20B on the stage 191 of the placement portion 19. Further, when the holding unit 51 is moved by the Z-axis drive unit 521 and the Y-axis drive unit 522, the first tray conveying mechanism 5 receives the empty tray 20A from which the display panel 100 is taken out by the workpiece transfer mechanism 6 from the stage 191 of the placing unit 19, and places the empty tray 20A on the receiving members 83 and 85 of the stacking mechanism 8. Here, when the empty tray 20A (load tray 20B) is delivered by the first tray conveying mechanism 5, the position of the support portion 71 of the separating mechanism 7 in the Z-axis direction, the position of the stage 191 of the placing portion 19 in the Z-axis direction, and the positions of the receiving members 83 and 85 of the stacking mechanism 8 in the Z-axis direction are located at substantially the same height. Therefore, the position of the support portion 71 of the separating mechanism 7 in the Z-axis direction, the position of the stage 191 of the placing portion 19 in the Z-axis direction, and the position of the receiving members 83 and 85 of the stacking mechanism 8 in the Z-axis direction are substantially the same height position, and therefore the first tray conveying mechanism 5 does not need to move the holding portion 51 largely in the Z-axis direction.

(work transfer mechanism)

The workpiece transfer mechanism 6 is a horizontal articulated robot. As shown in fig. 5 to 7, the workpiece transfer mechanism 6 is disposed on the X1 direction side of the first tray conveying mechanism 5. The workpiece transfer mechanism 6 includes a holding portion 51 for holding the display panel 100 and an arm main body portion 62 for moving the holding portion 51. The workpiece transfer mechanism 6 moves the display panel 100 placed on the stage 191 of the placement unit 19 to the stage 172 of the conveyor 171.

(action of conveying System)

Next, the operation of the conveyance system 1 will be described. First, the first carriage 9 on which the plurality of load trays 20B are placed is set by the operator at the load tray supply position 9B of the main body 2. Similarly, the second carriage 10 on which the plurality of empty pallets 20A are placed is set at the empty pallet discharge position 10B of the main body 2 by the operator.

When the first carriage 9 is set at the load tray supply position 9B, the coupling portion is coupled to the main body portion 2, and the first carriage 9 is thereby fixed to the main body portion 2. After the first carriage 9 is fixed to the main body 2, the first lifter 3 lifts the plurality of load trays 20B placed on the first carriage 9 in the Z1 direction.

When the second carriage 10 is set at the empty tray discharge position 10B, the connection portion is connected to the main body portion 2, and the second carriage 10 is fixed to the main body portion 2. After the second carriage 10 is fixed to the main body 2, the second lifter 4 moves the stage 41 in the Z1 direction from the placement portion 91 of the second carriage 10.

Next, when the plurality of load trays 20B are lifted by the first lifter 3, the separation mechanism 7 moves the separation claw 73 to a position where the separation claw 73 holds the uppermost load tray 20B by the driving unit 74. Then, the separation mechanism 7 positions the holding portion 76 above the load tray 20B, and holds the upper surface of the uppermost load tray 20B by the suction portion 76 a. Thereafter, the separation mechanism 7 moves the separation claw 73 and the holding portion 76 in the Z1 direction. Therefore, the uppermost load tray 20B is separated from the plurality of load trays 20B. The separated empty tray 20A moves to the position of the support portion 71 in the Z1 direction.

After the separated load tray 20B is moved to the position of the support portion 71, the separation mechanism 7 moves the first support member 77a and the second support member 77B to the interval for supporting the lower surface of the load tray 20B. Further, the separation mechanism 7 releases the holding of the load tray 20B by the suction portion 76a, and causes the holding portion 76 to retreat to the outside of the empty tray 20A. Then, the separating mechanism 7 moves the separating claw 73 to a space where the load tray 20B is not held, and then moves the separating claw 73 and the holding portion 76 in the Z2 direction.

After the separating claw 73 and the holding portion 76 move in the Z2 direction, the first tray conveying mechanism 5 receives the load tray 20B from the support portion 71 of the separating mechanism 7. The first tray conveying mechanism 5 places the received load tray 20B on the stage 191 of the placement portion 19. When the load tray 20B is placed on the stage 191, the placing section 19 positions the load tray 20B by bringing the positioning member 192 into contact with the corner of the load tray 20B. After the positioning of the load tray 20B, the first tray conveying mechanism 5 moves the holding portion 51 in the Y2 direction, and then the workpiece transfer mechanism 6 moves the display panel 100 from the load tray 20B mounted on the stage 191 to the stage 172 of the conveying portion 171. After the display panel 100 moves from the load tray 20B placed on the stage 191, the placement unit 19 retracts the positioning member 192 to a position not to abut against the corner of the empty tray 20A. After the positioning member 192 is retracted, the first tray conveying mechanism 5 receives the empty tray 20A from the stage 191 of the placing portion 19, and places the empty tray 20A on the receiving members 83 and 85 of the stacking mechanism 8. When the empty tray 20A is placed on the stacking mechanism 8, the stacking mechanism 8 moves the receiving members 83 and 85 so as to form the interval between the lower surfaces of the receiving trays 20.

After the first tray conveying mechanism 5 receives the load tray 20B from the support portion 71 of the separating mechanism 7, the separating mechanism 7 moves the first support member 77a and the second support member 77B so that the space between the first support member 77a and the second support member 77B does not support the lower surface of the load tray 20B. Thereafter, the separating mechanism 7 separates the uppermost load tray 20B again by the separating unit 70.

Here, when all of the load trays 20B placed on the first lifter 3 are conveyed by the first tray conveying mechanism 5, the tray detection sensor detects that the load trays 20B are used up. When the tray detection sensor detects that the load tray 20B is used up, the first lifter 3 moves the stage 31 in the Z2 direction from the placement portion 91 of the first carriage 9. When the stage 31 moves in the Z2 direction from the placing portion 91 of the first carriage 9, the coupling between the coupling portion and the main body portion 2 is released. Thereafter, the operator moves the empty first carriage 9 from the main body 2, and sets another first carriage 9 on which the plurality of load trays 20B are placed at the load tray supply position 9B.

After the empty tray 20A is placed on the receiving members 83 and 85 of the stacking mechanism 8, the stacking mechanism 8 moves the receiving members 83 to a distance not to receive the lower surface of the tray 20. Then, the stacking mechanism 8 moves the receiving member 85 in the Z2 direction until the receiving member 85 is positioned in the Z2 direction with respect to the stage 41 of the second lifter 4. Thereby, the empty tray 20A is placed on the stage 41 of the second lifter 4. After the empty tray 20A is placed on the stage 41 of the second lifter 4, the stacking mechanism 8 moves the receiving member 85 to a space not to receive the lower surface of the tray 20, and then moves the receiving member 85 in the Z1 direction. Thereafter, the stacking mechanism 8 moves the receiving members 83 and 85 so as to be spaced apart from the lower surface of the receiving tray 20. Thereafter, the first tray conveying mechanism 5 receives the empty tray 20A from the stage 191 of the placing portion 19 again, and places the empty tray 20A on the receiving members 83 and 85 of the stacking mechanism 8.

When the empty tray 20A having a predetermined number of sheets (for example, 50 sheets) is stacked on the stage 41 of the second lifter 4 by the stacking mechanism 8, the tray detection sensor detects that the predetermined number of sheets has been reached. After the tray detection sensor detects that the predetermined number of sheets has been reached, the second lifter 4 moves the stage 41 in the Z2 direction from the placement portion 91 of the second carriage 10. Thereby, the plurality of empty trays 20A mounted on the stage 41 are mounted on the mounting portion 91 of the second carriage 10. After the stage 41 moves in the Z2 direction from the placing portion 91 of the second carriage 10, the coupling between the coupling portion and the main body portion 2 is released. Thereafter, the operator moves the second carriage 10 on which the predetermined number of empty trays 20A are stacked from the main body 2, and sets another second carriage 10 at the empty tray discharge position 10B.

(Effect)

In the present embodiment, the plurality of load trays 20B on which the display panels 100 are mounted are carried into the conveying system 1 by using the first carriage 9 for providing a load tray. Further, the plurality of empty trays 20A on which the display panels 100 are not mounted are carried out of the conveyance system 1 by using the second carriage 10 for empty tray discharge. Then, the transport system 1 transports the load tray 20B carried in by the first carriage 9 to the workpiece pickup position 19A, and transports the empty tray 20A from which the display panel 100 is picked up at the workpiece pickup position 19A to the second carriage 10. Therefore, since the conveying system 1 conveys the load tray 20B from the state in which the trays 20 are stacked on the first carriage 9 and stacks the empty tray 20A from which the display panel 100 is taken out on the second carriage 10, the burden on the operator when the plurality of trays 20 are carried in and out of the conveying system 1 can be reduced. The first tray conveying mechanism 5 conveys the uppermost one of the plurality of load trays 20B on the first carriage 9 stopped at the load tray supply position 9B to the workpiece pickup position 19A, and also conveys the empty tray 20A from which the display panel 100 is picked up at the workpiece pickup position 19A to be stacked on the plurality of empty trays 20A on the second carriage 10 stopped at the empty tray pickup position 10B. That is, the plurality of load trays 20B stacked on the first carriage 9 are conveyed from the uppermost load tray 20B, and the plurality of empty trays 20A stacked on the second carriage 10 stack the empty tray 20A on the uppermost layer. Therefore, the first carriage 9 and the second carriage 10 can be shared.

In the present embodiment, the direction of movement of the first carriage with respect to the load tray feeding position 9B and the direction of movement of the second carriage 10 with respect to the empty tray discharge position 10B are both directions along the X-axis direction, and the direction of arrangement of the load tray feeding position 9B and the empty tray discharge position 10B is the Y-axis direction. Therefore, when the first carriage 9 and the second carriage 10 are moved, the work area of the operator can be limited to the X1 direction side.

(treatment System)

The transport system 1 described in the first embodiment and the transport system 1 described in the second embodiment may be used in a processing system at the same time. More specifically, the conveyance system 1 according to the second embodiment may be disposed upstream of an inspection apparatus that performs inspection of the display panel 100, and the processing system of the conveyance system 1 according to the first embodiment may be disposed downstream of the inspection apparatus that performs inspection of the display panel 100. This makes it possible to lift the first carriage 9 and the second carriage 10 when the plurality of trays are carried into and out of the processing system, thereby reducing the burden on the operator.

Claims (11)

1. A conveyor system, comprising:

a first carriage for providing an empty pallet, the first carriage stacking a plurality of empty pallets on which no work is placed;

a first elevator capable of adjusting the height positions of the plurality of empty pallets;

a second carriage for discharging the load tray, the second carriage stacking a plurality of load trays on which the work is placed;

a second lifter capable of adjusting height positions of the plurality of load trays;

a first tray conveying mechanism that conveys an uppermost empty tray among the plurality of empty trays on the first carriage stopped at an empty tray supply position so as to be stacked on the plurality of load trays on the second carriage stopped at a load tray discharge position; and

and a workpiece transfer mechanism for placing a workpiece on the empty pallet conveyed by the first pallet conveying mechanism.

2. The delivery system of claim 1,

a moving direction of the first carriage to the empty tray supply position, a moving direction of the first carriage from the empty tray supply position, a moving direction of the second carriage to the load tray discharge position, and a moving direction of the second carriage from the load tray discharge position are directions along a first direction,

the arrangement direction of the empty tray supply position and the loaded tray discharge position is a second direction intersecting the first direction.

3. The conveying system according to claim 2,

a plurality of load tray discharge mechanisms using the second carriage are arranged along the second direction.

4. The delivery system of claim 3,

the workpiece transfer mechanism is a horizontal multi-joint robot.

5. Conveying system according to claim 3 or 4,

in a first discharging mechanism of the plurality of load tray discharging mechanisms and a second discharging mechanism different from the first discharging mechanism of the plurality of load tray discharging mechanisms, a position of the empty tray when the workpiece transfer mechanism carries the workpiece is shifted in the first direction,

in the first discharging mechanism, the workpiece transfer mechanism may place the workpiece on the empty tray stacked on the plurality of load trays on the second carriage stopped at the load tray discharging position,

in the second discharge mechanism, after the empty pallet conveyed by the first pallet conveying mechanism is conveyed in the first direction to the position where the workpiece is placed by the workpiece transfer mechanism by the second pallet conveying mechanism, the empty pallet is stacked on the plurality of load pallets on the second cart stopped at the load pallet discharge position.

6. Conveying system according to claim 3 or 4,

the plurality of load tray discharge mechanisms respectively correspond to results when the workpiece is inspected.

7. A processing system comprising the transport system of any one of claims 1 to 4,

the processing system includes an inspection device that performs inspection of the workpiece until the workpiece is conveyed from the load tray supply position to the load tray discharge position.

8. A conveyor system, comprising:

a first carriage for providing a load tray, the first carriage having a plurality of load trays stacked thereon, the load trays having a workpiece placed thereon;

a first lifter capable of adjusting height positions of the plurality of load trays;

a second carriage for discharging empty pallets, the second carriage stacking a plurality of empty pallets on which no work is placed;

a second elevator capable of adjusting the height positions of the plurality of empty pallets;

a tray conveying mechanism that conveys to convey an uppermost one of the plurality of load trays on the first carriage stopped at a load tray supply position to a workpiece take-out position, and stacks an empty tray from which the workpiece is taken out at the workpiece take-out position onto the plurality of empty trays on the second carriage stopped at an empty tray discharge position; and

a workpiece transfer mechanism that picks up a workpiece from a load tray at the workpiece takeout position.

9. The delivery system of claim 8,

a moving direction of the first carriage to the load tray supply position, a moving direction of the first carriage from the load tray supply position, a moving direction of the second carriage to the empty tray discharge position, and a moving direction of the second carriage from the empty tray discharge position are directions along a first direction,

the arrangement direction of the loaded tray supply position and the unloaded tray discharge position is a second direction intersecting the first direction.

10. The conveying system according to claim 8 or 9,

the workpiece transfer mechanism is a horizontal multi-joint robot.

11. A processing system comprising the transport system of claim 8 or 9,

the processing system includes an inspection device that performs inspection of the workpiece until the workpiece is conveyed from the load tray supply position to the load tray discharge position.

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