JP2013052940A - Pickup device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pickup device that can stably and sequentially pick up the uppermost tray even when a stack obtained by stacking a plurality of trays in a vertical direction is tilted.SOLUTION: The pickup device picks up the uppermost tray 11A for a plurality of trays 11 stacked in a vertical direction. The pickup device includes: a lift table 12 on which the plurality of trays 11 stacked in the vertical direction is placed; a plurality of tray holding mechanisms 13 holding the uppermost tray 11A elevated by the elevation of the lift table 12; and a following mechanism 14 displacing the position of each of the holding mechanisms in accordance with the tilt of the uppermost tray 11A relative to the horizontal surface.

Description

  The present invention relates to a pickup device, and more particularly to a pickup device that picks up an uppermost tray for a plurality of trays stacked in the vertical direction.

  As a device for sequentially transporting a plurality of trays stacked in the vertical direction from a plurality of trays, there is a crane-type transport mechanism as shown in Patent Document 1 (Patent Document). As shown in FIG. 7, the transport mechanism has a chuck portion 1. The chuck portion 1 has a pair of chuck claws 1 a, and the chuck claws 1 a are respectively engaged with engaging portions 3 located at side edges of the tray 2 facing each other.

  Therefore, when a plurality of trays 2 are stacked in the vertical direction and are carried into the factory, the chuck claws 1a of the chuck portions 1 in the transport mechanism are engaged with the engaging portions 3 of the tray 2 positioned at the top, It is inserted between the engaging portion 3 of the tray 2 positioned on the lower side and engaged with the engaging portion 3 of the tray 2 positioned on the uppermost portion. Thereafter, the entire chuck portion 1 is moved upward, whereby the tray 2 positioned at the top is separated from the other stacked trays 2. And the tray 2 separated by each chuck | zipper part 1 is conveyed to another site | part.

JP 2004-59116 A

  However, if a plurality of trays 2 are stacked in the vertical direction as shown in FIG. 7, they may tilt as shown in FIG. By tilting in this way, even if one chuck claw 1a (1a1) is at the height position of one engaging portion 3 (3a1) of the uppermost tray 2, it can be engaged with another chuck claw. There are cases where 1a (1a2) does not match the height position of the other engaging portion 3 (3a2) of the uppermost tray 2. In such a case, the uppermost tray 2 cannot be picked up.

  In order to cope with such an inclination, for example, a method of thinning the chuck claw 1a in anticipation of the inclination can be proposed. However, depending on the degree of inclination, there are cases where it is not possible to cope with such a thin chuck claw.

  Therefore, in view of such circumstances, the present invention provides a pickup device that can stably and sequentially pick up the uppermost tray even if the stacked body in which a plurality of trays are stacked in the vertical direction is inclined. It is something to try.

  The pickup device of the present invention is a pickup device that picks up the uppermost tray with respect to a plurality of trays stacked in the vertical direction, and a lifting platform on which the plurality of trays stacked in the vertical direction are placed A plurality of tray holding mechanisms that are arranged at least at four positions on the front, rear, left, and right with respect to the uppermost tray, and that hold the uppermost tray that has been lifted by the raising of the lifting platform, and correspond to the inclination of the uppermost tray with respect to the horizontal plane And a copying mechanism that displaces each holding mechanism position in the vertical direction.

  According to the pickup device of the present invention, it is possible to hold the uppermost tray that has been lifted by the raising of the lifting platform by the tray holding mechanism. In addition, since each tray holding mechanism can be displaced in the vertical direction corresponding to the inclination of the uppermost tray with respect to the horizontal plane via the copying mechanism, even if the uppermost tray is inclined with respect to the horizontal plane, The holding mechanism can hold the uppermost tray. In addition, if the upper and lower trays are lowered with the tray holding mechanism held in this manner, the uppermost tray is separated from the other trays, that is, the uppermost tray is picked up. Become.

  The tray holding mechanism engages with the uppermost tray that has been lifted via the lifting platform, and a presser claw that receives the upper surface of the uppermost tray, and when the upper surface is pressed by the presser claw, It has an engaging claw to do.

  As described above, when the tray holding mechanism has the pressing claw and the engaging claw, when the uppermost tray is inclined with respect to the horizontal plane, when the uppermost tray rises, first, The holding claw of the tray holding mechanism corresponding to the uppermost layer contacts the upper surface of the uppermost tray. That is, the upper surface is pressed against the uppermost tray by the pressing claw of the tray holding mechanism. In this state, the engaging claw of the tray holding mechanism engages with the engaging portion of the uppermost tray. At this time, the pressing claws of the other tray holding mechanisms are not in contact with the uppermost tray.

  Thereafter, when the uppermost tray is further lifted, the pressing claw of the tray holding mechanism corresponding to the next height position comes into contact with the upper surface of the uppermost tray. For this reason, the engaging claw of the tray holding mechanism engages with the engaging portion of the uppermost tray. At the time of the ascent, the tray holding mechanism first engaged by the engaging claw can be moved up and down by the copying mechanism, and therefore can be raised while maintaining this engaged state.

  Thereafter, when the uppermost tray is raised, the engaging claws of the other tray holding mechanisms are sequentially engaged with the engaging portions of the uppermost tray. Therefore, it is finally possible to engage with the engaging claws of all tray holding mechanisms. For this reason, the uppermost tray can be held at least at four locations, front, rear, left and right.

  There is an engaging portion on the lower surface side of the tray, and the engaging claw swings and engages with the engaging portion from the outside. In this engaged state, the engaging claw and the holding claw It can comprise so that the peripheral part of a tray may be clamped in cooperation. By comprising in this way, a peripheral part of a tray can be clamped in cooperation with an engaging claw and a press claw, and the holding state of a tray is stabilized. Moreover, when the engaging claw is engaged with the engaging portion, the engaging claw swings from the outside, so that the engaging claw does not hinder the vertical movement of the tray.

  It is preferable to include a cylinder mechanism arranged on the fixed side and a coupling mechanism that swings the engagement claw by driving the cylinder mechanism following the vertical displacement of the tray holding mechanism. With this configuration, the engaging claw can be swung via the coupling mechanism by driving the cylinder mechanism, and the engaging claw can be engaged with the engaging portion of the tray. Moreover, since the cylinder mechanism is arranged on the fixed side, it is not necessary to arrange such a drive source on the side of the tray holding mechanism that moves up and down, and the tray holding mechanism can be reduced in weight.

  In a state where the tray is held by the holding mechanism, a return mechanism for returning the tray to a horizontal state can be provided.

  In the pickup device of the present invention, each tray holding mechanism can hold the uppermost tray even when the uppermost tray is inclined with respect to the horizontal plane, and a stable tray pickup operation can be performed.

  When the tray holding mechanism has a pressing claw and an engaging claw, the uppermost tray can be received by the engaging claw of the all tray holding mechanism, and the uppermost tray can be held in a stable state.

  The peripheral edge of the tray can be clamped in cooperation with the engaging claw and the holding claw, and the holding state of the tray is stabilized. In addition, when the engaging claw engages with the engaging portion, the engaging claw does not hinder the vertical movement of the tray, and the pickup operation is stabilized.

  In the apparatus including the cylinder mechanism and the coupling mechanism, the engagement claw can be engaged with the engagement portion of the tray by driving the cylinder mechanism, and this engagement operation is stabilized. Moreover, the weight of the tray holding mechanism can be reduced, the vertical movement of the tray holding mechanism is stable, and the tray tilting followability is excellent.

  In the case where the return mechanism is provided, the tray can be returned to a horizontal state while the tray is held by the holding mechanism, and the subsequent steps are stabilized. That is, since this tray is disposed horizontally, the substrate can be stably adsorbed when the work (for example, the substrate) stored in the tray is transported to another part by the adsorption device or the like. Because it can.

It is process drawing of the pip up operation | movement by the pick-up apparatus of embodiment of this invention. It is a top view of the pick-up apparatus shown in the said FIG. It is a principal part enlarged plan view of the pick-up apparatus shown in the said FIG. It is a principal part expanded side view of the pick-up apparatus shown in the said FIG. It is a front view of the pick-up apparatus shown in the said FIG. It is a simplified front view explaining the problem of the conventional pick-up apparatus. It is a simplified front view explaining a pickup operation in a conventional pickup device.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS.

  FIG. 1 shows a pickup device according to the present invention, which picks up the uppermost tray 11A of a plurality of trays 11 stacked in the vertical direction and stacked in the vertical direction. In accordance with the inclination of the uppermost tray with respect to the horizontal plane, the position of each holding mechanism is displaced in the vertical direction according to the elevator 12 on which the plurality of trays 11 are placed, the plurality of tray holding mechanisms 13 that hold the uppermost tray 11A. And a mechanism 14.

  As shown in FIGS. 2 to 5 and the like, the tray 11 in this case includes a storage portion 16 in which a plurality of square electronic components 15 and the like are stored. Specifically, the tray 11 includes a bottom wall 17 having a rectangular shape in plan view and a peripheral wall 18 standing on the outer peripheral edge of the bottom wall 17, and a plurality of (in this embodiment, 10 pieces) are provided on the bottom wall 17. ) Of the storage portion 16 is provided. In addition, notches are provided at four locations on the front, rear, left and right of the lower end of the peripheral wall 18, and the notches constitute an engaging portion 20 described later.

  As shown in FIG. 1, the lifting platform 12 includes a table 21 that receives a plurality of trays 11 stacked in the vertical direction, and a lifting mechanism that moves the table 21 up and down while maintaining a horizontal state. For example, the elevating mechanism can be configured by a pantograph mechanism and a drive mechanism that expands and contracts the pantograph mechanism. Further, the drive mechanism may be a cylinder mechanism or a ball screw mechanism.

  Four tray holding mechanisms 13 are arranged in the front, rear, left, and right on a frame 25 that surrounds the table 21 of the lifting platform 12. Each tray holding mechanism 13 includes a pressing claw 26 that receives the upper surface 11a (see FIG. 1) of the uppermost tray 11A that has been lifted via the lifting platform 12, and a state in which the upper surface 11a is pressed by the pressing claw 26. And the engaging claw 27 engaged with the engaging portion 20 of the uppermost tray 11A.

  That is, the frame body 25 has left and right holding frames 25a and 25a, and block bodies 28 and 28 that are movable up and down are attached to the front and rear of each holding frame 25a. Then, the extended portion 24b extends in the horizontal direction from the upper portion of each block body 28 toward the tray side, and the tip of the extended portion 24b serves as a pressing claw 26. For this reason, when the table 21 of the elevator 12 is raised, the upper surface 11a of the uppermost tray 11A, that is, a part of the peripheral wall 18 abuts (contacts) with the pressing claw 26. The block body 28 includes a main body base portion 28a and a sub body 28b attached to the main body base portion 28a. The sub body 28b extends from the rising piece portion 24a and the rising piece portion 24a. Part 24b.

  The engaging claw 27 is disposed at a position below the pressing claw 26 so as to face the pressing claw 26 (opposite to each other) when engaged with the engaging portion 20. Further, the engaging claw 27 swings (turns) around the shaft portion 33.

  The engagement claw 27 is swung (turned) by driving a cylinder mechanism 30 in which the cylinder body 30a is attached to the frame 25 on the fixed side. That is, the tip 32 of the piston rod 30 b of the cylinder mechanism 30 and the engaging claw 27 are connected via the connecting mechanism 31. As shown in FIG. 3, at this time, when the piston rod 30 b is extended, the engaging claw 27 is in a storage state where it does not engage with the engaging portion 20. In this retracted state, by retracting the piston rod 30b, the swing arm 33 in which the engagement claw 27 and the tip of the piston rod 30b are connected swings, and this swing causes the engagement claw 27 to pivot. It swings (rotates) around the support shaft 33 in the direction of arrow A (see FIG. 3) and engages with the engaging portion 20 corresponding to the engaging claw 27 from the outside.

  If the piston rod 30b extends from the engaged state as described above, the swing arm 33 swings. By this swing, the engaging claw 27 is centered on the pivot shaft 33 in the direction of arrow B (FIG. 3). The engaging claw 27 is disengaged from the engaging portion 20 by swinging (turning) as shown in FIG.

  The block body 28 is guided by rods 35, 35 standing from the frame body 25 and moves up and down, and is elastically pressed downward by an elastic member 36 made of a coil spring or the like. In this case, a receiving plate 37 is fixed to the upper ends of the rods 35, 35, and the elastic member 36 is interposed between the receiving plate 37 and the main body base portion 28 a of the block body 28.

  As shown in FIG. 4, the cylinder body 30 a of the cylinder mechanism 30 is pivotally supported by a shaft member 41 whose base support portion 40 is erected from the frame body 25. The coupling mechanism 31 coupled to the piston rod 30b of the cylinder mechanism 30 is configured to follow the vertical movement of the block body 28. In this case, the engaging claw 27 moves up and down integrally with the vertical movement of the block body 28, and the piston rod 30 b of the cylinder mechanism 30 does not move up and down with the vertical movement of the block body 28.

  For this reason, the pressing claw 26 and the engaging claw 27 move up and down integrally, and the vertical interval between them is constant. The cylinder mechanism 30 does not move up and down when the holding claw 26 and the engaging claw 27 move up and down.

  Thus, the block body 28 can move up and down with respect to the frame body 25, and the copying mechanism 14 can be formed with this configuration. In addition, the elastic member 36 can constitute a return mechanism 45 that returns the tray holding mechanism 13 to its original position, as will be described later.

  By the way, this apparatus is provided with position detecting means 50 for confirming the vertical position of the tray holding mechanism 13. The position detection means 50 includes a sensor main body 51 provided on the frame body 25 side and a light shielding plate 52 provided on the block body 28 side. The sensor main body 51 includes a light projecting unit 51a that projects detection light such as laser light, and a light receiving unit 51b that receives the detection light from the light projecting unit 51a. The light shielding plate 52 is configured by a flat plate projecting toward the sensor body.

  Therefore, as shown in FIGS. 3 and 4, when the light shielding plate 52 is positioned between the light projecting unit 51 a and the light receiving unit 51 b of the sensor body 51, between the light projecting and receiving devices facing each other. The light shielding plate 52 blocks the optical axis. Accordingly, it can be confirmed that the tray holding mechanism 13 is returned to the original position, that is, the block body 28 is lowered.

  Next, a method of picking up a plurality of trays 11 stacked in the vertical direction using the pickup device configured as described above will be described with reference to FIG. First, as shown in FIG. 1A, a plurality of trays 11 stacked on the table 21 of the lifting platform 12 are placed. Further, each engaging claw 27 is set in a stored state so as not to protrude to the tray side. The stacked trays 11 are inclined, that is, the uppermost tray 11A is inclined with respect to the horizontal plane.

  In this state, the table 21 of the lifting platform 12 is raised as shown by the arrow U. As a result of this rise, the pressing claw 26 (26A) of the tray holding mechanism 13 (13A) corresponding to the uppermost position of the uppermost tray 11A comes into contact (contact) with a part of the upper surface 11a of the uppermost tray 11A. In this state, the engaging claw 27 (27A) is swung and engaged with the engaging portion 20 corresponding to the engaging claw 27A. Thus, in the tray holding mechanism 13A, the pressing claw 26A and the engaging claw 27A cooperate to hold the peripheral edge of the tray 11A. That is, since the table 21 of the lifting platform 12 continues to rise, the upper surface 11a of the uppermost tray 11A is pressed by the pressing claws 26A, and thus the tray holding mechanism 13A is raised. For this reason, in the position detection means 50, it turns out that the light-shielding state of the detection light is canceled by the light-shielding plate 52, and the upper surface 11a of the uppermost tray 11A is pressed by the pressing claw 26A. Thereby, the engaging operation of the engaging claw 27A to the engaging portion 20 is performed.

  Thereafter, if the table 21 of the lifting platform 12 is further raised, the presser claw 26 (26B) of the tray holding mechanism 13 (13B) corresponding to the next height position becomes one of the upper surface 11a of the uppermost tray 11A. Contact (contact) the part. By this contact, the engaging claw 27A engages with the engaging portion 20. Thereby, in the tray holding mechanism 13B, the pressing claw 26B and the engaging claw 27B cooperate to sandwich the peripheral edge of the tray 11A.

  Thereafter, by further raising the table 21 of the lifting platform 12, the pressing claw 26A and the engaging claw 27A of the all tray holding mechanism cooperate to hold the peripheral edge of the tray 11A. That is, as shown in FIG. 1 (c), the four places on the top, bottom, left and right of the uppermost tray 11A are held by the tray holding mechanism 13.

  From the state shown in FIG. 1C, the table 21 of the lifting platform 12 is lowered as shown by the arrow D in FIG. In this case, since the uppermost tray 11A is held by each tray holding mechanism 13, if the table 21 of the lifting platform 12 is lowered, the other trays 11 are lowered, and this FIG. ), Only the uppermost tray 11A is picked up.

  Thus, when only the uppermost tray 11A is picked up, the lower surface side of the uppermost tray 11A is not restricted, and the tray holding mechanism 13 is lowered to the lowest position, which is the initial position, by the return mechanism. As a result, the tray 11A held by the tray holding mechanism 13 becomes horizontal. In this state, in the position detection means 50, it can be seen that the detection light is shielded by the light shielding plate 52 and the tray 11A is in the horizontal state. As described above, when the pickup of the uppermost tray 11A is completed, the tray can be transported to another part or transferred to the receiving member.

  Thereafter, the tray 11 that is the second stage from the top becomes the uppermost tray 11A, and the uppermost tray 11A can be picked up by repeating the above operation. For this reason, all the trays 11 on the table 21 of the lifting platform 12 can be picked up.

  In the pickup device of the present invention, the uppermost tray 11 </ b> A that has been raised by the raising of the lifting platform 12 can be held by the tray holding mechanism 13. Moreover, since each tray holding mechanism 13 can be displaced in the vertical direction corresponding to the inclination of the uppermost tray 11A with respect to the horizontal plane via the copying mechanism 14, the uppermost tray 11A is inclined with respect to the horizontal plane. In addition, each tray holding mechanism 13 can hold the uppermost tray 11A. Further, when the elevator 12 is lowered while the uppermost tray 11A is held by the tray holding mechanism 13 in this manner, the uppermost tray 11A is separated from the other trays 11, that is, the uppermost tray 11A is moved. Picked up.

  For this reason, in the pickup device of the present invention, each tray holding mechanism 13 can hold the uppermost tray 11A even if the uppermost tray 11A is inclined with respect to the horizontal plane. That is, the tray 11 can be held at four locations, front, rear, left, and right, and a stable pickup operation of the tray 11 can be performed.

  In the case where the tray holding mechanism 13 has the pressing claw 26 and the engaging claw 27, the uppermost tray 11A can be received by the engaging claw 27 of the all tray holding mechanism 13, and the uppermost tray 11A can be held in a stable state. Can hold.

  The peripheral edge of the tray 11 can be clamped in cooperation with the engaging claw 27 and the pressing claw 26, and the holding state of the tray is stabilized. In addition, when the engaging claw 27 engages with the engaging portion 20, it swings from the outside, so that the engaging claw 27 does not hinder the vertical movement of the tray 11 and the pickup operation is stable. To do.

  In the case where the cylinder mechanism 30 and the coupling mechanism 31 are provided, the engagement claw 27 can be engaged with the engagement portion 20 of the tray 11 by driving the cylinder mechanism 30, and this engagement operation is stabilized. Moreover, since the cylinder mechanism 30 is disposed on the fixed side, it is not necessary to dispose such a drive source on the side of the tray holding mechanism 13 that moves up and down, and the tray holding mechanism 13 can be reduced in weight. . For this reason, the vertical movement of the tray holding mechanism 13 is stable, and the followability of the inclination of the tray 11 is excellent.

  In the case where the return mechanism 45 is provided, the tray 11 can be returned to the horizontal state while the tray 11 is held by the holding mechanism 13, and the subsequent steps are stabilized. That is, since the tray 11 is disposed horizontally, the substrate (eg, a substrate) stored in the tray 11 is stably adsorbed when the workpiece (for example, the substrate) stored in the tray 11 is transported to another part by an adsorption device or the like. Because it can.

  As described above, the embodiment of the present invention has been described, but various modifications are possible without being limited to the above-described embodiment. For example, the number of the tray holding mechanisms 13 is at least the front, rear, left, and right of the tray 11. What is necessary is just to be able to hold | maintain four places, but the thing provided four or more may be sufficient. Further, the number of trays 11 to be stacked can be arbitrarily set. When the engaging claw 27 of the tray holding mechanism 13 is engaged with the engaging portion 20, it may be performed in a state where the tray 11 is pressed by the pressing claw 26 of the all tray holding mechanism 13.

11A Uppermost tray 11a Upper surface 12 Lifting table 13 Tray holding mechanism 14 Copying mechanism 26 Pressing claw 27 Engaging claw 30 Cylinder mechanism 31 Connection mechanism 45 Return mechanism

Claims (5)

A pickup device that picks up the uppermost tray for a plurality of trays stacked in the vertical direction,
A lifting platform on which a plurality of trays stacked in the vertical direction are placed, and at least four positions on the front, rear, left and right with respect to the uppermost tray, and holds the uppermost tray raised by the raising of the lifting platform. 1. A pickup apparatus comprising: a plurality of tray holding mechanisms; and a copying mechanism for displacing each holding mechanism position in the vertical direction corresponding to the inclination of the uppermost tray with respect to a horizontal plane.   The tray holding mechanism engages with the uppermost tray that has been lifted via the lifting platform, and a presser claw that receives the upper surface of the uppermost tray, and when the upper surface is pressed by the presser claw, The pick-up device according to claim 1, further comprising an engaging claw for engaging the pick-up device.   There is an engaging portion on the lower surface side of the tray, and the engaging claw swings and engages with the engaging portion from the outside. In this engaged state, the engaging claw and the holding claw The pickup device according to claim 2, wherein the peripheral portion of the tray is clamped in cooperation.   The cylinder mechanism disposed on the fixed side, and a coupling mechanism that swings the engagement claw by driving the cylinder mechanism following the vertical displacement of the tray holding mechanism. The pickup device according to claim 3.   5. The pickup device according to claim 1, further comprising a return mechanism that returns the tray to a horizontal state while the tray is held by the tray holding mechanism.

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