JP2013154968A - Holding device and holding method - Google Patents

Holding device and holding method Download PDF

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JP2013154968A
JP2013154968A JP2012014540A JP2012014540A JP2013154968A JP 2013154968 A JP2013154968 A JP 2013154968A JP 2012014540 A JP2012014540 A JP 2012014540A JP 2012014540 A JP2012014540 A JP 2012014540A JP 2013154968 A JP2013154968 A JP 2013154968A
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sheet
holding
work
workpiece
holding means
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JP5932365B2 (en
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Minoru Ikeda
稔 池田
Masahiro Koizumi
正弘 小泉
Yasuyoshi Miyauchi
康好 宮内
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Hirata Corp
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Abstract

PROBLEM TO BE SOLVED: To simultaneously hold a workpiece member, and a sheet member of the same size as the workpiece member, above the workpiece member, while preventing an increase in a facility size.SOLUTION: A holding device that holds a plate-like workpiece member and a sheet-like sheet member superposed on the workpiece member includes a sheet holding means having sheet holding portions for holding inner sides of one edge of the sheet member and the other edge on the opposite side of the one edge so that these edges hang down, a workpiece holding means having workpiece holding portions for holding one edge of the workpiece member superposed on the one edge of the sheet member and the other edge of the workpiece member superposed on the other edge of the sheet member, and a lifting means for moving relatively at least either the workpiece holding means or the sheet holding means toward that superposing direction.

Description

本発明は、板状のワークと該ワークの上面を覆うシートを保持する保持装置に関する。   The present invention relates to a holding device that holds a plate-shaped workpiece and a sheet that covers the upper surface of the workpiece.

近年、ガラス基板やプリント基板等の各種基板の製造において低コスト化が要求されている。その対策として、安価な材料の開発または選択、ロボットの導入等による自動化、タクトタイムの短縮等が考えられる。   In recent years, there has been a demand for cost reduction in the production of various substrates such as glass substrates and printed circuit boards. Possible countermeasures include the development or selection of inexpensive materials, automation through the introduction of robots, reduction of tact time, and the like.

これらの対策の中で、タクトタイムの短縮、特に処理工程間のタクトタイムの短縮について着目する。基板の製造工程において、各処理工程の前または後において、基板（ワーク）を重ねて載置または運搬することがある。このとき、ワークに傷が付かないように合紙（シート）を間に入れて積み重ねる。   Among these measures, attention is focused on shortening tact time, particularly shortening tact time between processing steps. In the manufacturing process of the substrate, the substrate (work) may be stacked or transported before or after each processing step. At this time, slip sheets (sheets) are put in between and stacked so that the work is not damaged.

処理ラインで所定の処理が終了し搬出されてきたワークは、シートを間に入れて積層した状態でカート（載置部）に載せ、次の処理工程に移動させる（これを載置工程とする）。具体的には、ロボット（保持装置）が、（１）処理ラインまで移動し、（２）ワークを保持して載置部まで移動し、（３）ワークを載置した後、シート置き場まで移動してシートを保持し、（４）ワークを載置した位置まで移動し、載置されたワークの上にシートを重ねる。このシートの上に、次に搬送されてきたワークをさらに載置し、さらに、その上にシートを重ねる作業を交互に行う。   The work that has been carried out after the predetermined processing is completed on the processing line is placed on the cart (mounting unit) with the sheets stacked and stacked, and moved to the next processing step (this is referred to as the mounting step). ). Specifically, the robot (holding device) moves (1) to the processing line, (2) holds the work and moves to the placement section, and (3) moves to the sheet placement place after placing the work. Then, the sheet is held, and (4) the sheet is moved to the position where the workpiece is placed, and the sheet is stacked on the placed workpiece. The work that has been transported next is further placed on the sheet, and the operation of stacking the sheet thereon is alternately performed.

また、移動した先では、次の処理工程のために、積み重ねられたシートとワークとを分離し、ワークのみを処理ラインに投入する（これを投入工程とする）。具体的には、ロボットが、（１）シートとワークとが積み重ねられた載置部まで移動し、最上部のシートを保持し、（２）シート置き場まで移動して、ここでシートを載置する。次に、ロボットは（３）再び載置部まで移動してワークを保持し、（４）処理ラインまで移動して、ここでワークを解放する。   At the destination, the stacked sheets and the workpiece are separated for the next processing step, and only the workpiece is input to the processing line (this is referred to as an input step). Specifically, the robot (1) moves to the placement section where the sheets and workpieces are stacked, holds the uppermost sheet, and (2) moves to the sheet placement place, where the sheets are placed. To do. Next, the robot (3) moves again to the placement unit and holds the workpiece, and (4) moves to the processing line and releases the workpiece here.

上記の通り載置工程及び投入工程はいずれも（１）〜（４）の４回にわたってロボットを移動させることになる。これらの工程のタクトタイムを短縮する方法として、例えば、ロボット（保持装置）にワーク及びシートを同時に保持させることが考えられる。ロボットがワーク及びシートを同時に保持できれば、上記の（１）〜（４）の工程を減らす、あるいは何れかを同時進行させることが可能である。   As described above, the placement process and the loading process both move the robot four times (1) to (4). As a method for shortening the tact time of these steps, for example, it is conceivable to cause a robot (holding device) to simultaneously hold a workpiece and a sheet. If the robot can hold the workpiece and the sheet at the same time, it is possible to reduce the steps (1) to (4) described above, or to proceed at the same time.

ワークとシートを同時に保持する装置として、特許文献１乃至３のような技術が提案されている。   As an apparatus for simultaneously holding a workpiece and a sheet, techniques such as Patent Documents 1 to 3 have been proposed.

実開平６−１４１５５号公報Japanese Utility Model Publication No. 6-14155 特開平８−１６９５４４号公報JP-A-8-169544 特開２００７−１１５７８８号公報JP 2007-115788 A

例えば、特許文献１及び２のようにワークとシートを同時に保持できる装置を用いて、保持装置の移動回数を減らすことが考えられる。   For example, it is conceivable to reduce the number of movements of the holding device by using a device that can simultaneously hold the workpiece and the sheet as in Patent Documents 1 and 2.

しかし、特許文献１及び２の装置では、構造上、シートの外形はワークの外形より大きいものでなくてはならない。さらに、これらの装置では、シートの上にワークを保持しているため、載置工程において、最上部のワークにシートを載置する場合、最上部のワークの上にシートを載置する工程が必要となる。また、投入工程においては、ワークの上にシートが重ねられている場合、まず一旦、最上部のシートを取り除くための工程が必要となる。   However, in the apparatuses of Patent Documents 1 and 2, the outer shape of the sheet must be larger than the outer shape of the workpiece due to the structure. Further, in these apparatuses, since the work is held on the sheet, in the placing process, when placing the sheet on the uppermost work, there is a process of placing the sheet on the uppermost work. Necessary. In addition, in the loading process, when a sheet is stacked on the workpiece, a process for removing the uppermost sheet is first required.

また、特許文献３の装置のように、ワークを保持する装置と、シートを保持する装置とを別々に設ける装置も考えられる。この場合、ワークを移動させる工程と、シートを移動させる工程とで、少なくとも一部を同時進行させることができる。しかし、この技術では、設備が大掛かりとなり、広いスペースが必要となるだけでなくコストの増加も大きなものとなる。   In addition, a device that separately provides a device that holds a workpiece and a device that holds a sheet, such as the device of Patent Document 3, is also conceivable. In this case, at least a part can be simultaneously advanced in the step of moving the workpiece and the step of moving the sheet. However, this technology requires a large facility and requires not only a large space but also a large increase in cost.

そこで、本発明は、設備の大型化を防止しつつ、ワーク部材、及び該ワーク部材の上方で該ワーク部材と同サイズのシート部材を同時に保持することを目的とする。   Accordingly, an object of the present invention is to simultaneously hold a workpiece member and a sheet member having the same size as the workpiece member above the workpiece member while preventing an increase in size of the facility.

そこで、本発明によれば、板状のワーク部材と、前記ワーク部材に重ねられるシート状のシート部材と、を保持する保持装置であって、前記シート部材の一方の端部と、該一方の端部の反対側の他方の端部と、が垂れ下がるように、これらの端部よりも内側を保持するシート保持部を有するシート保持手段と、前記シート部材の前記一方の端部に重ねられる前記ワーク部材の一方の端部と、前記シート部材の前記他方の端部に重ねられる前記ワーク部材の他方の端部と、を保持するワーク保持部を有するワーク保持手段と、前記ワーク保持手段及び前記シート保持手段の少なくともいずれか一方を、前記重ねられる方向に向けて相対的に移動させる昇降手段と、を備えたことを特徴とする保持装置が提供される。   So, according to this invention, it is a holding | maintenance apparatus holding a plate-shaped workpiece member and the sheet-like sheet member piled up on the said workpiece member, Comprising: One edge part of the said sheet member, and this one A sheet holding means having a sheet holding portion for holding the inner side of these end portions so as to hang down from the other end portion on the opposite side of the end portions; A work holding means having a work holding part for holding one end of the work member and the other end of the work member overlaid on the other end of the sheet member; the work holding means; and There is provided a holding device comprising: lifting and lowering means for relatively moving at least one of the sheet holding means in the overlapping direction.

また、本発明によれば、板状のワーク部材と、前記ワーク部材に重ねられたシート状のシート部材とを、保持装置によって保持する方法であって、前記保持装置は、シート保持手段とワーク保持手段とを備え、前記保持装置が前記シート部材の上面に対向するように、第１移動手段が、前記保持装置及びワーク部材の少なくとも一方を移動させる第１工程と、前記ワーク保持手段を前記シート部材から離隔させた状態で、前記シート保持手段と前記シート部材とを接近させるように、第２移動手段が、前記シート保持手段及び前記ワーク部材の少なくとも一方を移動させて、前記シート保持手段を、前記シート部材の一方の端部及び該一方の端部の反対側の他方の端部よりも内側に当接させる第２工程と、前記シート保持手段と前記シート部材とが当接した状態で、前記シート保持手段が、前記シート部材を保持する第３工程と、前記シート保持手段が前記シート部材を保持した状態で、前記シート保持手段を前記ワーク部材から離隔させるように、前記第２移動手段が、前記シート保持手段及び前記ワーク部材の少なくとも一方を移動させて、前記保持したシート部材の前記一方の端部及び前記他方の端部を垂れ下げる第４工程と、前記ワーク保持手段と前記ワーク部材とを接近させるように、第４移動手段が、前記ワーク保持手段及び前記ワーク部材の少なくとも一方を移動させて、前記ワーク保持手段を、前記シート部材の前記一方の端部に重ねられる前記ワーク部材の一方の端部と、前記シート部材の前記他方の端部に重ねられる前記ワーク部材の他方の端部とに当接させる第６工程と、前記ワーク保持手段と前記ワーク部材とが当接した状態で、前記ワーク保持手段が、前記ワーク部材を保持する第７工程と、を含むことを特徴とする方法が提供される。   According to the present invention, there is also provided a method for holding a plate-like workpiece member and a sheet-like sheet member stacked on the workpiece member by a holding device, wherein the holding device includes a sheet holding means and a workpiece. A first step of moving at least one of the holding device and the work member so that the holding device faces the upper surface of the sheet member; and The second moving means moves at least one of the sheet holding means and the work member so as to bring the sheet holding means and the sheet member close to each other while being separated from the sheet member, and the sheet holding means A second step of bringing the sheet member into contact with one end of the sheet member and the other end on the opposite side of the one end, and the sheet holding means and the sheet portion The sheet holding means separates the sheet holding means from the work member in a state where the sheet holding means holds the sheet member and the sheet holding means holds the sheet member. As described above, the second moving means moves at least one of the sheet holding means and the work member, and hangs down the one end portion and the other end portion of the held sheet member; The fourth moving means moves at least one of the work holding means and the work member so that the work holding means and the work member approach each other, and the work holding means is moved to the one of the sheet members. The one end of the work member overlaid on the end of the sheet member and the other end of the work member overlaid on the other end of the sheet member. There is provided a method comprising: a sixth step; and a seventh step in which the workpiece holding means holds the workpiece member in a state where the workpiece holding means and the workpiece member are in contact with each other. .

さらに、本発明によれば、板状のワーク部材と、前記ワーク部材と異なる位置に積み重ねられたシート状のシート部材とを、保持装置によって保持する方法であって、前記保持装置は、シート保持手段とワーク保持手段とを備え、前記保持装置が前記シート部材の上面に対向するように、第１移動手段が、前記保持装置及び前記シート部材の少なくとも一方を移動させる第１工程と、前記ワーク保持手段を前記シート部材から離隔させた状態で、前記シート保持手段と前記シート部材とを接近させるように、第２移動手段が、前記シート保持手段及び前記シート部材の少なくとも一方を移動させて、前記シート保持手段が、前記シート部材の一方の端部及び該一方の端部の反対側の他方の端部よりも内側に当接させる第２工程と、前記シート保持手段と前記シート部材とが当接した状態で、前記シート保持手段が、前記積み重ねられたシート部材のうち最上部のシート部材のみを保持する第３Ａ工程と、前記シート保持手段が前記最上部のシート部材を保持した状態で、前記シート保持手段を前記積み重ねられたシート部材から離隔させるように、前記第２移動手段が、前記シート保持手段及び前記積み重ねられたシート部材の少なくとも一方を移動させて、前記保持したシート部材の前記一方の端部及び前記他方の端部を垂れ下げる第４Ａ工程と、前記保持装置が前記ワーク部材の上面に対向するように、第３移動手段が、前記保持装置及び前記ワーク部材の少なくとも一方を移動させる第５工程と、前記ワーク保持手段と前記ワーク部材とを接近させるように、第４移動手段が、前記ワーク保持手段及び前記ワーク部材の少なくとも一方を移動させて、前記ワーク保持手段を、前記シート部材の前記一方の端部に重ねられる前記ワーク部材の一方の端部と、前記シート部材の前記他方の端部に重ねられる前記ワーク部材の他方の端部とに当接させる第６工程と、前記ワーク保持手段と前記ワーク部材とが当接した状態で、前記ワーク保持手段が、前記ワーク部材を保持する第７工程と、を含むことを特徴とする方法が提供される。   Furthermore, according to the present invention, a plate-like workpiece member and a sheet-like sheet member stacked at a position different from the workpiece member are held by a holding device, and the holding device holds the sheet. A first step of moving at least one of the holding device and the sheet member such that the holding device faces the upper surface of the sheet member, and the work In a state where the holding means is separated from the sheet member, the second moving means moves at least one of the sheet holding means and the sheet member so that the sheet holding means and the sheet member approach each other. A second step in which the sheet holding means abuts on the inner side of one end of the sheet member and the other end opposite to the one end; and the sheet In the state where the holding means and the sheet member are in contact, the sheet holding means holds only the uppermost sheet member among the stacked sheet members, and the sheet holding means is the uppermost part. The second moving means moves at least one of the sheet holding means and the stacked sheet members so as to separate the sheet holding means from the stacked sheet members while holding the sheet member. And a fourth moving step of hanging the one end and the other end of the held sheet member, and a third moving means so that the holding device faces the upper surface of the work member. A fourth step of moving at least one of the apparatus and the workpiece member, and a fourth moving means so as to bring the workpiece holding means and the workpiece member closer to each other. At least one of the workpiece holding means and the workpiece member is moved so that the workpiece holding means is overlapped with the one end portion of the sheet member and the other end of the sheet member. A sixth step of contacting the other end of the work member that is overlaid on the end of the workpiece, and in a state where the workpiece holding means and the work member are in contact with each other, the workpiece holding means A seventh step of holding.

本発明により、設備の大型化を防止しつつ、ワーク部材、及び該ワーク部材の上方で該ワーク部材と同サイズのシート部材を同時に保持できる。   According to the present invention, it is possible to simultaneously hold a workpiece member and a sheet member having the same size as the workpiece member above the workpiece member while preventing an increase in size of the facility.

本発明の一実施形態に係る搬送装置を示す斜視図。The perspective view which shows the conveying apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る保持装置を示す平面図。The top view which shows the holding | maintenance apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る保持装置がシート部材を保持する構成を示す側面図。The side view which shows the structure which the holding | maintenance apparatus which concerns on one Embodiment of this invention hold | maintains a sheet | seat member. 本発明の一実施形態に係る保持装置がワーク部材を保持する構成を示す側面図。The side view which shows the structure where the holding | maintenance apparatus which concerns on one Embodiment of this invention hold | maintains a workpiece member. 保持装置により保持可能なワーク部材の形状の例を示す図。The figure which shows the example of the shape of the workpiece | work member which can be hold | maintained with a holding | maintenance apparatus. 本発明の一実施形態に係る搬送装置の制御ユニットのブロック図。The block diagram of the control unit of the conveying apparatus which concerns on one Embodiment of this invention. 搬送装置が（ａ）シート部材及び（ｂ）ワーク部材を保持するために行われる処理の一例を示すフロー図。The flowchart which shows an example of the process performed in order that a conveying apparatus hold | maintains (a) sheet | seat member and (b) workpiece | work member. 本発明の一実施形態に係るワーク部材及びシート部材の保持方法を示す図。The figure which shows the holding | maintenance method of the workpiece | work member and sheet | seat member which concern on one Embodiment of this invention. 本発明の他の実施形態に係るワーク部材及びシート部材の保持方法を示す図。The figure which shows the holding | maintenance method of the workpiece | work member and sheet member which concern on other embodiment of this invention. 本発明の一実施形態に係るワーク部材及びシート部材の載置方法を示す図。The figure which shows the mounting method of the workpiece | work member and sheet | seat member which concern on one Embodiment of this invention. 本発明の他の実施形態に係るワーク部材及びシート部材の載置方法を示す図。The figure which shows the mounting method of the workpiece | work member which concerns on other embodiment of this invention, and a sheet | seat member.

以下、本発明の実施形態について図１乃至１０を参照しながら説明する。なお、これらの図面は概略図であり、各図面においてｘ軸、ｙ軸、ｚ軸の示す方向はそれぞれ同じ方向を示す。   Hereinafter, an embodiment of the present invention will be described with reference to FIGS. These drawings are schematic views, and in each drawing, the directions indicated by the x-axis, the y-axis, and the z-axis indicate the same direction.

＜搬送装置＞
図１は、本発明の一実施形態に係る搬送装置１００を示す斜視図である。搬送装置１００は、板状のワーク部材Ｗと、ワーク部材Ｗに重ねられるシート状のシート部材Ｓと、を保持する保持装置１と、保持装置１及び本体３に接続され、保持装置１を移動させるための移動ユニット２、保持装置１及び移動ユニット２を制御するための制御ユニット３１を搬送装置本体３に備える。移動ユニット２は、本実施形態では多関節ロボットであるが、例えば、上下方向をシリンダ、水平方向をコンベアまたは直交ロボットによって移動させるようなものでもよい。また、ワーク部材Ｗは、例えば、ガラス基板、プリント基板等であり、シート部材Ｓは、例えば、紙、ＰＥＴフィルム等の可とう性を有する材料からなる。本実施形態では、ワーク部材Ｗ及びシート部材Ｓは同一の矩形であるが、これに限らず、実施条件によっては、例えば円形でもよく、また、ワーク部材Ｗとシート部材Ｓの形は異なっていてもよい。 <Conveyor>
FIG. 1 is a perspective view showing a transport apparatus 100 according to an embodiment of the present invention. The conveying device 100 is connected to the holding device 1 that holds the plate-like workpiece member W and the sheet-like sheet member S that is stacked on the workpiece member W, the holding device 1, and the main body 3, and moves the holding device 1. The transfer device main body 3 is provided with a control unit 31 for controlling the moving unit 2, the holding device 1, and the moving unit 2. Although the moving unit 2 is an articulated robot in this embodiment, for example, the moving unit 2 may be moved by a cylinder in the vertical direction and moved by a conveyor or an orthogonal robot in the horizontal direction. The work member W is, for example, a glass substrate or a printed board, and the sheet member S is made of a flexible material such as paper or PET film. In the present embodiment, the workpiece member W and the sheet member S are the same rectangle, but the shape is not limited thereto, and may be, for example, a circle depending on the implementation conditions, and the shapes of the workpiece member W and the sheet member S are different. Also good.

＜保持装置＞
保持装置１は、保持装置本体１０と、シート部材Ｓを保持するシート保持装置４と、ワーク部材Ｗを保持するワーク保持装置５と、ワーク保持装置５をシート部材Ｓ及びワークＷに対して垂直（本実施形態ではｚ方向）に移動させる昇降装置６とを備える。 <Holding device>
The holding device 1 includes a holding device main body 10, a sheet holding device 4 that holds the sheet member S, a workpiece holding device 5 that holds the workpiece member W, and the workpiece holding device 5 perpendicular to the sheet member S and the workpiece W. And a lifting device 6 that moves in the z direction in this embodiment.

＜シート保持装置＞
図２は、本発明の一実施形態に係る保持装置１を示す平面図である。シート保持装置４は、シート部材Ｓの一方の端部Ｓ１、及び反対側の他方の端部Ｓ２よりも内側でシート部材Ｓを保持する。そのため、図１に示すように、シート保持装置４が、シート部材Ｓを保持した場合、シート部材Ｓの一方の端部Ｓ１と他方の端部Ｓ２とが垂れ下がる。 <Sheet holding device>
FIG. 2 is a plan view showing the holding device 1 according to the embodiment of the present invention. The sheet holding device 4 holds the sheet member S inside one end S1 of the sheet member S and the other end S2 on the opposite side. Therefore, as shown in FIG. 1, when the sheet holding device 4 holds the sheet member S, one end S1 and the other end S2 of the sheet member S hang down.

さらに、シート保持装置４は、第１グループのシート保持部４１、第２グループのシート保持部４２、第３グループのシート保持部４３、第４グループのシート保持部４４からなる複数のシート保持部を備える。第１及び第２グループのシート保持部４１、４２は、シート部材Ｓの一辺側、（ＳＬ１側）を保持する一辺側シート保持部を形成する。一方、第３及び第４グループのシート保持部４３、４４は、シート部材Ｓの一辺ＳＬ１と対向する他辺側、（ＳＬ２側）を保持する他辺側シート保持部を形成する。この配置により、シート保持装置４は、シート部材Ｓの重心の両側でシート部材Ｓを保持できるため、安定性が向上する。すなわち、シート部材Ｓの重心の両側のシート保持部の間は水平に保つことができる。加えて、端部Ｓ１またはＳ２の垂れ下がり量が小さくなるため、水平方向における空気抵抗や気流等の影響を軽減でき、保持、移動中においてシート部材Ｓの体勢が崩れることを防止できる。以上のことから、この構成ではシート部材Ｓの解放の際に、所定の位置にシート部材Ｓを載置しやすくなる。 Further, the sheet holding device 4 includes a plurality of sheet holding units including a first group of sheet holding units 41, a second group of sheet holding units 42, a third group of sheet holding units 43, and a fourth group of sheet holding units 44. Is provided. The sheet holding portions 41 and 42 of the first and second groups form one side sheet holding portion that holds one side of the sheet member S (the S L1 side). On the other hand, the sheet holding parts 43 and 44 of the third and fourth groups form the other side sheet holding part that holds the other side (S L2 side) facing the one side S L1 of the sheet member S. With this arrangement, the sheet holding device 4 can hold the sheet member S on both sides of the center of gravity of the sheet member S, so that stability is improved. That is, the sheet holding portions on both sides of the center of gravity of the sheet member S can be kept horizontal. In addition, since the amount of sag of the end S1 or S2 is reduced, the influence of air resistance, airflow, etc. in the horizontal direction can be reduced, and the posture of the sheet member S can be prevented from collapsing during holding and moving. From the above, in this configuration, when the sheet member S is released, the sheet member S can be easily placed at a predetermined position.

第１グループのシート保持部４１は、一辺ＳＬ１（ｙ方向）に沿って複数（本図においては４か所）配列されるシート保持体４１ａ〜ｄからなる（なお、これらのシート保持体を総称する場合はシート保持部４１とする）。第２グループのシート保持部４２は、一辺ＳＬ１に沿って、かつ第１グループのシート保持部４１よりも一辺ＳＬ１に近い位置に複数（本図においては４か所）配列されるシート保持体４２ａ〜ｄからなる（なお、これらのシート保持体を総称する場合はシート保持部４２とする）。第３グループのシート保持部４３は、他辺ＳＬ２に沿って複数（本図においては４か所）配列されるシート保持体４３ａ〜ｄからなる（なお、これらのシート保持体を総称する場合はシート保持部４３とする）。第４グループのシート保持部４４は、他辺ＳＬ２に沿って、かつ第３グループのシート保持部４３よりも他辺ＳＬ２に近い位置に複数（本図においては４か所）配列されるシート保持体４４ａ〜ｄからなる（なお、これらのシート保持体を総称する場合はシート保持部４４とする）。このように、シート部材Ｓのｘ方向における両側にそれぞれｙ方向に沿って２列のシート保持部を配列することにより、シート保持装置４は、シート部材Ｓのｘ方向における両側に加えて中心側も保持できるため、シート部材Ｓの中心側が撓む（下方に垂れる）ことを防止できる。 The first group of sheet holding units 41 includes sheet holding bodies 41a to 41d arranged in a plurality (four in the drawing) along one side S L1 (y direction). When collectively referred to as the sheet holding portion 41). Sheet holding portion 42 of the second group along the side S L1, and (four in the figure) more closer to the side S L1 than the sheet holding portion 41 of the first group sheet holding arrayed It consists of bodies 42a to 42d (when these sheet holders are generically referred to as sheet holder 42). Sheet holding portion 43 of the third group (four in the figure) more along the other side S L2 consist of a sheet holding member 43a~d arranged (In the case of collectively these sheets holders Is a sheet holding portion 43). Sheet holding portion 44 of the fourth group along the other side S L2, and is (four in the figure) arranged more at a position closer to the other side S L2 than the sheet holding portion 43 of the third group It consists of sheet holders 44a to 44d (note that these sheet holders are collectively referred to as sheet holder 44). In this way, by arranging two rows of sheet holding portions along the y direction on both sides in the x direction of the sheet member S, the sheet holding device 4 can be placed on the center side in addition to both sides in the x direction of the sheet member S. Therefore, it is possible to prevent the center side of the sheet member S from being bent (dripping downward).

さらに、図２からわかるように、これらのシート保持装置４における各グループのシート保持部４１〜４４は、一辺ＳＬ１の中点と、他辺ＳＬ２の中点とを通る第１直線Ｌ１に線対称かつ、第１直線Ｌ１の中点を通り第１直線Ｌ１に直交する第２直線Ｌ２に線対称に配置される。そのため、シート保持装置４は、より安定してシート部材Ｓを保持できる。また、第１及び第３グループのそれぞれのシート保持体４１ａ〜ｄ、及び４３ａ〜ｄは、第２及び第４グループの両端のシート保持体４２ａ、４２ｄ、及び４４ａ、４４ｄよりも第１直線Ｌ１に近い。中心側を保持する第１及び第３グループのシート保持体４１ａ〜ｄ、及び４３ａ〜ｄの列方向（ｙ方向）の広がりは、第２及び第４グループのシート保持体４２ａ〜ｄ、４４ａ〜ｄの列方向の広がりと比べて小さいが、シート部材Ｓの中心側の撓みを防止することはできる。したがって、この配置により、無駄なシート保持体を省略でき、シート保持体の数を抑えて、コスト削減を図れる。また、第２グループのシート保持部４２は、シート保持体４２ａ〜ｄと一辺ＳＬ１との距離、及び各シート保持体４２ａ〜ｄ間の離間距離を、第４グループのシート保持部４４は、シート保持体４４ａ〜ｄと他辺ＳＬ２との距離、及び各シート保持体４４ａ〜ｄ間の離間距離を、それぞれ調整できる構成としてもよい。これらの調整装置としては、例えば、ＬＭガイド（登録商標）などを用いたスライド機構が挙げられ、この他にも位置調整機構として周知慣用の技術が全て適用可能である。この構成によってシート部材Ｓの端部Ｓ１及びＳ２の垂れ具合を調節できる。 Further, as can be seen from FIG. 2, the sheet holding portions 41 to 44 of each group in the sheet holding device 4 are on a first straight line L1 passing through the middle point of one side S L1 and the middle point of the other side S L2. It is arranged symmetrically with respect to a second straight line L2 that is line-symmetric and passes through the midpoint of the first straight line L1 and is orthogonal to the first straight line L1. Therefore, the sheet holding device 4 can hold the sheet member S more stably. In addition, the sheet holders 41a to 41d and 43a to 43d of the first and third groups have a first straight line L1 than the sheet holders 42a and 42d and 44a and 44d at both ends of the second and fourth groups. Close to. The first and third groups of sheet holders 41a to 41d and 43a to 43d that hold the center side expand in the row direction (y direction). The second and fourth groups of sheet holders 42a to 42d and 44a to 44a. Although it is smaller than the spread of d in the column direction, it is possible to prevent the deflection of the sheet member S on the center side. Therefore, with this arrangement, useless sheet holders can be omitted, the number of sheet holders can be reduced, and cost can be reduced. The sheet holding unit 42 of the second group, the distance between the sheet holding member 42A～d to one side S L1, and the distance between the sheet holding member 42A～d, sheet holding portion 44 of the fourth group, the distance between the sheet holding member 44A～d other side S L2, and the distance between the sheet holding member 44A～d, may be configured to adjust, respectively. As these adjusting devices, for example, a slide mechanism using an LM guide (registered trademark) or the like can be cited, and besides this, any well-known and commonly used technique can be applied as a position adjusting mechanism. With this configuration, the degree of sag of the end portions S1 and S2 of the sheet member S can be adjusted.

図３Ａは、本発明の一実施形態に係る保持装置１がシート部材Ｓを保持する構成を示す側面図である。図３Ａ（ａ）に示すように、本実施形態において各シート保持部４１〜４４は、共通の構造である。シート保持部４１〜４４は、例えばシリコーンゴム等の弾性材料からなり、下側が解放され、上側に円筒状の接続部を有する半球状の形状を有する。この接続部にコネクタ４５の下部４５１が差し込まれる。コネクタ４５は、下部４５１と上部４５２と枝部４５３それぞれに孔が開けられており、下部４５１の孔と枝部４５３の孔は通気可能につながっている。コネクタ４５の上部４５２は、保持装置本体１０の下面側に垂設される支持部材４６に取り付けられる。これによりシート保持部４１〜４４は、保持装置本体１０に固定される。コネクタ４５の枝部４５３は、弾性材料からなるホース４７の一端に接続される。ホース４７の他端は３方向に分岐するバルブ４８の一方の接続部４８１に接続される。バルブ４８のもう一方の接続部４８２は減圧ポンプ７に接続され、残りの一方の接続部４８３は外気を流入させるために大気解放状態とされる。バルブ４８は制御ユニット３１と電気的に接続され、制御ユニット３１からの信号により切り替え操作を行う。   FIG. 3A is a side view showing a configuration in which the holding device 1 according to the embodiment of the present invention holds the sheet member S. FIG. As shown in FIG. 3A (a), in the present embodiment, the sheet holding portions 41 to 44 have a common structure. The sheet holding parts 41 to 44 are made of an elastic material such as silicone rubber, for example, and have a hemispherical shape with a lower side released and a cylindrical connection part on the upper side. A lower portion 451 of the connector 45 is inserted into this connection portion. The connector 45 has holes in the lower part 451, the upper part 452, and the branch part 453, and the hole in the lower part 451 and the hole in the branch part 453 are connected to allow ventilation. The upper portion 452 of the connector 45 is attached to a support member 46 that is suspended from the lower surface side of the holding device body 10. Thereby, the sheet holding portions 41 to 44 are fixed to the holding device body 10. A branch portion 453 of the connector 45 is connected to one end of a hose 47 made of an elastic material. The other end of the hose 47 is connected to one connecting portion 481 of a valve 48 that branches in three directions. The other connection portion 482 of the valve 48 is connected to the decompression pump 7, and the remaining one connection portion 483 is opened to the atmosphere to allow outside air to flow in. The valve 48 is electrically connected to the control unit 31 and performs a switching operation according to a signal from the control unit 31.

この構造において、シート部材Ｓを保持する場合、図３Ａ（ａ）に示すように、シート保持部４１〜４４がシート部材Ｓに当接した状態で、制御ユニット３１がバルブ４８を操作して接続部４８１と４８２とを接続し、減圧ポンプ７とシート保持部４１〜４４の間で通気可能にする。このとき、減圧ポンプ７により、コネクタ４５及びホース４７を介して、シート保持部４１〜４４とシート部材Ｓによって閉ざされた部分の空気が吸引される。そのため、この部分の圧力が下がり、結果シート部材Ｓが、シート保持部４１〜４４に吸着される。一方、保持されているシート部材Ｓを解放する時は、図３Ａ（ｂ）に示すように、制御ユニット３１がバルブ４８を操作して接続部４８１と４８３とを接続し、外部とシート保持部４１〜４４の間で通気可能にする。このとき、外気がシート保持部４１〜４４に流入し、閉ざされた部分の圧力が上昇し、シート部材Ｓが解放される。   In this structure, when the sheet member S is held, the control unit 31 operates and connects the valve 48 with the sheet holding portions 41 to 44 in contact with the sheet member S as shown in FIG. 3A (a). The parts 481 and 482 are connected to allow ventilation between the pressure reducing pump 7 and the sheet holding parts 41 to 44. At this time, the air in the portion closed by the sheet holding portions 41 to 44 and the sheet member S is sucked by the decompression pump 7 via the connector 45 and the hose 47. Therefore, the pressure in this portion is reduced, and the resulting sheet member S is attracted to the sheet holding portions 41 to 44. On the other hand, when releasing the held sheet member S, as shown in FIG. 3A (b), the control unit 31 operates the valve 48 to connect the connection portions 481 and 483, and the outside and the sheet holding portion. Allow ventilation between 41-44. At this time, outside air flows into the sheet holding portions 41 to 44, the pressure in the closed portion increases, and the sheet member S is released.

＜ワーク保持装置＞
再び図２を参照する。ワーク保持装置５は、シート部材Ｓの一方の端部Ｓ１に重ねられるワーク部材Ｗの一方の端部Ｗ１と、シート部材Ｓの他方の端部Ｓ２に重ねられるワーク部材Ｗの他方の端部Ｗ２と、を保持するワーク保持部５１、５２を備える。両ワーク保持部５１、５２は、ｙ方向に沿って複数（各４か所）配列されるワーク保持体５１ａ〜ｄ、５２ａ〜ｄからなる（なお、これらのワーク保持体を総称する場合はワーク保持部５１、５２とする）。ワーク保持装置５をこのように配置することにより、ワーク部材Ｗの両端部Ｗ１、Ｗ２でワーク部材Ｗを保持できるため、保持の安定性が向上する。 <Work holding device>
Refer to FIG. 2 again. The work holding device 5 includes one end W1 of the work member W that is overlaid on one end S1 of the sheet member S and the other end W2 of the work member W that is overlaid on the other end S2 of the sheet member S. And workpiece holding parts 51 and 52 for holding Both the work holding parts 51 and 52 are composed of work holding bodies 51a to 51d and 52a to 52d arranged in a plurality (four places each) along the y direction (note that these work holding bodies are collectively referred to as work pieces). Holding parts 51 and 52). By disposing the work holding device 5 in this way, the work member W can be held by the both end portions W1 and W2 of the work member W, so that the holding stability is improved.

図３Ｂは、本発明の一実施形態に係る保持装置１がワーク部材Ｗを保持する構成を示す側面図である。図３Ｂ（ａ）に示すように、弾性部材からなるワーク保持部５１、５２は、シート保持部４１〜４４と同様、コネクタ５５の下部５５１に接続され、枝部５５３は、ホース５７の一端に接続される。ホース５７の他端は３方向に分岐するバルブ５８の一方の接続部５８１に接続される。バルブ５８のもう一方の接続部５８２は減圧ポンプ７に接続され、残りの一方の接続部５８３は外気を流入させるために大気解放状態とされる。バルブ５８は制御ユニット３１と電気的に接続され、制御ユニット３１からの信号により切り替え操作を行う。   FIG. 3B is a side view showing a configuration in which the holding device 1 according to the embodiment of the present invention holds the workpiece member W. As shown in FIG. 3B (a), the work holding parts 51 and 52 made of an elastic member are connected to the lower part 551 of the connector 55 and the branch part 553 is connected to one end of the hose 57, like the sheet holding parts 41 to 44. Connected. The other end of the hose 57 is connected to one connection portion 581 of a valve 58 that branches in three directions. The other connecting portion 582 of the valve 58 is connected to the decompression pump 7, and the remaining one connecting portion 583 is opened to the atmosphere in order to allow outside air to flow in. The valve 58 is electrically connected to the control unit 31 and performs a switching operation according to a signal from the control unit 31.

ワーク保持装置５がワーク部材Ｗを保持する動作について、図３Ｂ（ａ）に示すように、シート部材Ｓは保持された状態でその端部Ｓ１及びＳ２が垂れ下がっている。この状態で、昇降装置６によってワーク保持部５１、５２を下降させて、図３Ｂ（ｂ）に示すように、ワーク部材Ｗに当接させる。次にバルブ５８の接続部５８１と５８２とを接続し、ワークＷを保持する。逆に、ワーク部材Ｗを解放する時は、接続部５８１と５８３とを接続する。   Regarding the operation in which the workpiece holding device 5 holds the workpiece member W, as shown in FIG. 3B (a), the end portions S1 and S2 of the sheet member S are suspended while being held. In this state, the work holding portions 51 and 52 are lowered by the lifting device 6 and brought into contact with the work member W as shown in FIG. 3B (b). Next, the connecting portions 581 and 582 of the valve 58 are connected to hold the workpiece W. On the contrary, when the work member W is released, the connecting portions 581 and 583 are connected.

＜昇降装置＞
昇降装置６は、エアシリンダ式で、エアシリンダ６１は汎用のものを用いているため詳細な構造は省略する。保持装置本体１０に対してシリンダ軸６３が上下に伸縮するようエアシリンダ６１が取り付けられる。エアシリンダ６１のシリンダ軸６３の先端には、可動部６２が取り付けられる。可動部６２の下面側には支持部材５６が垂設され、この支持部材５６にコネクタ５５の上部５５２が取り付けられる。また、エアシリンダ６１は制御ユニット３１と電気的に接続されており、制御ユニット３１からの信号によって、可動部６２を、第１位置（上方）と第２位置（下方）の間で、ワーク部材Ｗに対して垂直に（ｚ方向に）動作させる。なお、昇降装置６は油圧シリンダ、モータ等を用いてもよい。 <Elevating device>
The elevating device 6 is an air cylinder type, and the air cylinder 61 uses a general-purpose device, and therefore a detailed structure is omitted. An air cylinder 61 is attached so that the cylinder shaft 63 extends and contracts with respect to the holding device body 10. A movable portion 62 is attached to the tip of the cylinder shaft 63 of the air cylinder 61. A support member 56 is suspended from the lower surface side of the movable portion 62, and the upper portion 552 of the connector 55 is attached to the support member 56. The air cylinder 61 is electrically connected to the control unit 31, and the movable member 62 is moved between the first position (upper) and the second position (lower) by a signal from the control unit 31. Operate perpendicular to W (z direction). The lifting device 6 may use a hydraulic cylinder, a motor, or the like.

図３Ｂ（ａ）に示すように、エアシリンダ６１が収縮しているとき（可動部６２が第１位置にあるとき）は、ワーク保持部５１、５２は、シート保持部４１〜４４よりも上にあり、図３Ｂ（ｂ）に示すように、エアシリンダ６１が伸長しているとき（可動部６２が第２位置にあるとき）は、ワーク保持部５１、５２は、シート保持部４１〜４４よりも下にある。   As shown in FIG. 3B (a), when the air cylinder 61 is contracted (when the movable part 62 is in the first position), the work holding parts 51 and 52 are higher than the sheet holding parts 41 to 44. 3B (b), when the air cylinder 61 is extended (when the movable part 62 is in the second position), the work holding parts 51 and 52 are the sheet holding parts 41 to 44, respectively. Is below.

なお、本実施形態では、ワーク保持装置５と昇降装置６とを接続することで、ワーク保持装置５及びシート保持装置４を相対的に移動させたが、シート保持装置４を移動させてもよく、また、両方を移動させてもよい。   In this embodiment, the workpiece holding device 5 and the lifting device 6 are connected to move the workpiece holding device 5 and the sheet holding device 4 relatively. However, the sheet holding device 4 may be moved. Alternatively, both may be moved.

＜保持装置の効果＞
保持装置１では、シート部材Ｓを先に保持し、シート部材Ｓの端部Ｓ１、Ｓ２を垂れ下げて、その端部に上からワーク部材Ｗを保持するためのスペース（Ｗ１、Ｗ２）を設けている。そのため、保持装置１は、ワーク部材Ｗ、及びワーク部材Ｗの上方でワーク部材Ｗと同サイズのシート部材Ｓを同時に保持できる。別の言い方をすれば、保持装置１は、ワーク部材Ｗと同サイズのシート部材Ｓを保持した状態で、上下二段にワーク部材Ｗを保持することができる。また、保持装置１によるワーク部材Ｗの保持領域は、シート部材Ｓの保持領域の下側に位置（シート部材Ｓの保持領域とオーバーラップ）していることから、両保持領域に要する保持装置１のスペースは小さくすることができる。また、ワーク部材Ｗ及びシート部材Ｓを保持するのは１つの保持装置１であることから、設備は必要以上に大きなものとはならず、設備の大型化を防止できる。 <Effect of holding device>
In the holding device 1, the sheet member S is held first, the end portions S <b> 1 and S <b> 2 of the sheet member S are hung down, and spaces (W <b> 1 and W <b> 2) for holding the work member W from above are provided at the end portions. ing. Therefore, the holding device 1 can simultaneously hold the workpiece member W and the sheet member S having the same size as the workpiece member W above the workpiece member W. In other words, the holding device 1 can hold the workpiece member W in two upper and lower stages while holding the sheet member S having the same size as the workpiece member W. Further, since the holding area of the work member W by the holding device 1 is positioned below the holding area of the sheet member S (overlaps with the holding area of the sheet member S), the holding device 1 required for both holding areas. The space can be small. Moreover, since it is the one holding | maintenance apparatus 1 which hold | maintains the workpiece | work member W and the sheet | seat member S, an installation does not become large more than necessary, and the enlargement of an installation can be prevented.

ここでは、ワーク部材Ｗ及びシート部材Ｓは水平に載置されたものを水平に保持しているが、シート部材Ｓの端部Ｓ１、Ｓ２を垂れ下げて、上からワーク部材Ｗを保持するためのスペースが確保できれば、各部材が載置、保持される角度は水平でなくてもよい。   Here, although the workpiece member W and the sheet member S are horizontally held, the workpiece member W and the sheet member S are held horizontally, so that the end portions S1 and S2 of the sheet member S are suspended and the workpiece member W is held from above. As long as this space can be secured, the angle at which each member is placed and held may not be horizontal.

＜本発明に係る保持装置の他の構成＞
まず、シート保持部の配置については、シート部材Ｓを保持した状態で、ワーク保持部が直接ワーク部材Ｗに当接できるように、シート部材Ｓの端部を垂れ下げられる配置であればよく、シート部材Ｓの中心のみを保持する例も考えられる。ワーク保持部については、シート部材Ｓの端部が垂れ下がることにより、ワーク保持部がワーク部材Ｗに当接できるようになる部分を保持する構造であればよい。 <Another configuration of the holding device according to the present invention>
First, as for the arrangement of the sheet holding portion, it is sufficient if the end portion of the sheet member S is hung down so that the work holding portion can directly contact the work member W in a state where the sheet member S is held. An example in which only the center of the sheet member S is held is also conceivable. The work holding part may have a structure that holds a part where the work holding part can come into contact with the work member W when the end of the sheet member S hangs down.

次に、シート部材Ｓ及びワーク部材Ｗの形状について、矩形のものに限らず、その他の多角形、または円形等であってもよい。   Next, the shape of the sheet member S and the workpiece member W is not limited to a rectangular shape, but may be other polygonal shapes, circular shapes, or the like.

さらに、図４に、保持装置１により保持可能なワーク部材Ｗの形状の例を示す。図に示す通り、ワーク部材Ｗの形状は図４（ａ）のような瓦型、または図４（ｂ）のような波打つ形状でもよい。   FIG. 4 shows an example of the shape of the work member W that can be held by the holding device 1. As shown in the drawing, the shape of the work member W may be a roof shape as shown in FIG. 4A or a wavy shape as shown in FIG.

＜制御ユニット＞
図５は、本発明の一実施形態に係る搬送装置１００の制御ユニット３１のブロック図である。制御ユニット３１は、ＣＰＵ等の処理部５０１と、ＲＡＭ、ＲＯＭ、ハードディスク等の記憶部５０２と、外部デバイスと処理部５０１とをインタフェースするインタフェース部５０３、とを備える。インタフェース部５０３には、ホストコンピュータ等、上位のコンピュータや周辺装置（不図示）との通信を行う通信インタフェースも含まれる。 <Control unit>
FIG. 5 is a block diagram of the control unit 31 of the transport apparatus 100 according to an embodiment of the present invention. The control unit 31 includes a processing unit 501 such as a CPU, a storage unit 502 such as a RAM, a ROM, and a hard disk, and an interface unit 503 that interfaces an external device and the processing unit 501. The interface unit 503 includes a communication interface that performs communication with a host computer or a peripheral device (not shown) such as a host computer.

制御ユニット３１は、移動ユニット２、バルブ４８、５８、昇降装置６、及び各種センサ５１０に接続されている。各種センサ５１０には、保持装置１と、シート部材Ｓ及びワーク部材Ｗとの位置関係を検出する位置センサ５１１と、シート保持部４１〜４４がシート部材Ｓに当接したこと及びワーク保持部５１、５２がワーク部材Ｗに当接したことを検知する感圧センサ５１２と、が含まれる。位置センサ５１１は、例えば、シート部材Ｓ及びワーク部材Ｗの角位置や、シート部材Ｓ及びワーク部材Ｗに印刷されたトンボ等の目印を、保持装置１に備えられたカメラで検出する。感圧センサ５１２は、シート保持部４１〜４４及びワーク保持部５１、５２の底面に取り付けられ、これらの保持部がシート部材Ｓ及びワーク部材Ｗを押す力を検知する。   The control unit 31 is connected to the moving unit 2, valves 48 and 58, the lifting device 6, and various sensors 510. The various sensors 510 include a holding device 1, a position sensor 511 that detects a positional relationship between the sheet member S and the work member W, and that the sheet holding portions 41 to 44 are in contact with the sheet member S and the workpiece holding portion 51. , 52 that detects that the workpiece 52 is in contact with the workpiece member W. The position sensor 511 detects, for example, the angular positions of the sheet member S and the workpiece member W and marks such as register marks printed on the sheet member S and the workpiece member W with a camera provided in the holding device 1. The pressure-sensitive sensor 512 is attached to the bottom surfaces of the sheet holding units 41 to 44 and the work holding units 51 and 52, and detects the force with which these holding units press the sheet member S and the work member W.

＜制御例＞
図６は、搬送装置１００が（ａ）シート部材Ｓ及び（ｂ）ワーク部材Ｗを保持するために行われる処理の一例を示すフロー図である。これらの処理は、処理部５０１が記憶部５０２に記憶されたプログラムを実行することにより行われる。 <Control example>
FIG. 6 is a flowchart illustrating an example of processing performed in order for the conveying device 100 to hold the (a) sheet member S and (b) the work member W. These processes are performed when the processing unit 501 executes a program stored in the storage unit 502.

シート部材Ｓの保持のための処理に関して、Ｓ６０１において、位置センサ５１１により検出された、保持装置１と、シート部材Ｓとの位置関係が所定の範囲内にあるか否かを判定する。保持装置１と、シート部材Ｓとの位置関係が所定の位置関係になければ（Ｓ６０１でＮｏ）、これらが所定の位置関係になるまで、Ｓ６０２において移動ユニット２により保持装置１を移動させる。   Regarding the process for holding the sheet member S, in S601, it is determined whether the positional relationship between the holding device 1 and the sheet member S detected by the position sensor 511 is within a predetermined range. If the positional relationship between the holding device 1 and the sheet member S is not a predetermined positional relationship (No in S601), the holding device 1 is moved by the moving unit 2 in S602 until these are in a predetermined positional relationship.

保持装置１と、シート部材Ｓとの位置関係が所定の位置関係であれば（Ｓ６０１でＹｅｓ）、Ｓ６０３において、ワーク保持部５１、５２が上昇しているか（可動部６２が第１の位置にあるか）否かを判定する。ワーク保持部５１、５２が下降していれば（可動部６２が第２の位置にあれば）、Ｓ６０３でＮｏとなり、Ｓ６０４で昇降装置６によってワーク保持部５１、５２を上昇させる。   If the positional relationship between the holding device 1 and the sheet member S is a predetermined positional relationship (Yes in S601), in S603, whether the workpiece holding units 51 and 52 are raised (the movable unit 62 is at the first position). Whether or not) is determined. If the work holding parts 51 and 52 are lowered (if the movable part 62 is in the second position), the result becomes No in S603, and the work holding parts 51 and 52 are raised by the lifting device 6 in S604.

ワーク保持部５１、５２が上昇していれば（Ｓ６０３でＹｅｓ）、Ｓ６０５で、感圧センサ５１２が、シート保持部４１〜４４とシート部材Ｓとが当接したことを検知するまで（Ｓ６０６でＹｅｓとなるまで）、移動ユニット２により保持装置１を下降させる。シート保持部４１〜４４がシート部材Ｓと接触すると（Ｓ６０６でＹｅｓ）、Ｓ６０７で、処理部５０１はバルブ４８に信号を送信し、上記のように、シート保持部４１〜４４側と減圧ポンプ７を通気可能に接続して、シート部材Ｓを保持する。   If the workpiece holders 51 and 52 are raised (Yes in S603), in S605, the pressure-sensitive sensor 512 detects that the sheet holders 41 to 44 and the sheet member S are in contact (in S606). The holding device 1 is lowered by the moving unit 2 until it becomes Yes. When the sheet holding units 41 to 44 come into contact with the sheet member S (Yes in S606), in S607, the processing unit 501 transmits a signal to the valve 48, and as described above, the sheet holding units 41 to 44 side and the decompression pump 7 are transmitted. Are connected so as to allow ventilation, and the sheet member S is held.

ワーク部材Ｗの保持のための処理に関して、Ｓ６１１において、位置センサ５１１により検出された、保持装置１と、ワーク部材Ｗとの位置関係が所定の範囲内にあるか否かを判定する。保持装置１と、ワーク部材Ｗとの位置関係が所定の位置関係になければ（Ｓ６１１でＮｏ）、これらが所定の位置関係になるまで、Ｓ６１２において移動ユニット２により保持装置１を移動させる。   Regarding the process for holding the workpiece W, in S611, it is determined whether or not the positional relationship between the holding device 1 and the workpiece W detected by the position sensor 511 is within a predetermined range. If the positional relationship between the holding device 1 and the workpiece member W is not a predetermined positional relationship (No in S611), the moving device 2 moves the holding device 1 in S612 until these are in a predetermined positional relationship.

保持装置１と、ワーク部材Ｗとの位置関係が所定の位置関係であれば（Ｓ６１１でＹｅｓ）、Ｓ６１３において、感圧センサ５１２が、ワーク保持部５１、５２とワーク部材Ｗとが当接したことを検知するまで（Ｓ６１４でＹｅｓとなるまで）、昇降装置６によりワーク保持部５１、５２を下降させる。ワーク保持部５１、５２がワーク部材Ｗと接触すると（Ｓ６１４でＹｅｓ）、Ｓ６１５で、処理部５０１はバルブ５８に信号を送信し、上記のように、ワーク保持部５１、５２側と減圧ポンプ７を通気可能に接続して、ワーク部材Ｗを保持する。   If the positional relationship between the holding device 1 and the workpiece member W is a predetermined positional relationship (Yes in S611), the pressure sensor 512 causes the workpiece holding portions 51 and 52 and the workpiece member W to contact each other in S613. The work holding parts 51 and 52 are lowered by the elevating device 6 until this is detected (until S614 is Yes). When the workpiece holding parts 51 and 52 come into contact with the workpiece member W (Yes in S614), in S615, the processing unit 501 transmits a signal to the valve 58, and as described above, the workpiece holding parts 51 and 52 side and the decompression pump 7 are connected. Are connected so as to allow ventilation, and the work member W is held.

＜ワーク部材及びシート部材の保持方法１＞
図７は、本発明の一実施形態に係るワーク部材Ｗ及びシート部材Ｓの保持方法を示す図である。本実施形態では、載置部７００に載置されたワーク部材Ｗと、ワーク部材Ｗに重ねられたシート部材Ｓとを、保持装置１によって保持する。 <Work member and sheet member holding method 1>
FIG. 7 is a view showing a method for holding the workpiece member W and the sheet member S according to the embodiment of the present invention. In the present embodiment, the work member W placed on the placement unit 700 and the sheet member S stacked on the work member W are held by the holding device 1.

第１工程では、保持装置１がシート部材Ｓの上面に対向するように、移動ユニット２が、保持装置１を載置部７００にあるシート部材Ｓの上方まで移動させる（矢印Ａ）。なお、このとき、移動ユニット２の水平方向の移動と独立して載置部７００を保持装置１に向かって自走できるよう、載置部７００にも移動ユニット（例えば、水平移動ユニット）を設けるようにしてもよい。   In the first step, the moving unit 2 moves the holding device 1 to above the sheet member S in the placement unit 700 so that the holding device 1 faces the upper surface of the sheet member S (arrow A). At this time, the mounting unit 700 is also provided with a moving unit (for example, a horizontal moving unit) so that the mounting unit 700 can move toward the holding device 1 independently of the horizontal movement of the moving unit 2. You may do it.

第２工程では、ワーク保持装置５をシート部材Ｓから離隔させた状態で、移動ユニット２が、保持装置１（シート保持装置４）をシート部材Ｓに向かって移動させ、シート保持装置４（シート保持部４１〜４４）と、シート部材Ｓとが当接するまで、これらを接近させる。なお、このとき、移動ユニット２の下方向の移動と独立して載置部７００が上方向等に移動できるよう、載置部７００にも移動ユニット（例えば、昇降ユニット）を設けるようにしてもよい。   In the second step, the moving unit 2 moves the holding device 1 (sheet holding device 4) toward the sheet member S in a state where the workpiece holding device 5 is separated from the sheet member S, and the sheet holding device 4 (sheet) These are made to approach until the holding | maintenance part 41-44) and the sheet | seat member S contact | abut. At this time, a moving unit (for example, an elevating unit) may be provided in the mounting unit 700 so that the mounting unit 700 can move upward or the like independently of the downward movement of the moving unit 2. Good.

第３工程では、シート保持装置４とシート部材Ｓとが当接した状態で、バルブ４８を操作して、シート保持装置４がシート部材Ｓを保持する。   In the third step, the valve 48 is operated while the sheet holding device 4 and the sheet member S are in contact with each other, so that the sheet holding device 4 holds the sheet member S.

第４工程では、シート保持装置４がシート部材Ｓを保持した状態で、移動ユニット２が、保持装置１（シート保持装置４）を上方に移動させ、シート保持装置４をワーク部材Ｗから離隔させる。ここで、シート部材Ｓの一方の端部Ｓ１及び他方の端部Ｓ２（図７中では左右方向の両端部）が垂れ下がる。ここでも第２工程のように、載置部７００を下方向等に移動させてもよい。   In the fourth step, with the sheet holding device 4 holding the sheet member S, the moving unit 2 moves the holding device 1 (sheet holding device 4) upward to separate the sheet holding device 4 from the work member W. . Here, one end S1 and the other end S2 of the sheet member S (both ends in the left-right direction in FIG. 7) hang down. Here, as in the second step, the placement unit 700 may be moved downward.

第６工程（後で述べる保持方法２と対応（区別）させるため、ここでは第５工程とはしない）では、昇降装置６が、ワーク保持装置５をワーク部材Ｗに向かって移動させ、ワーク保持装置５（ワーク保持部５１、５２）と、ワーク部材Ｗとが当接するまで、これらを接近させる。なお、このとき、載置部７００を上方向等に移動させてもよい。   In the sixth step (which is not the fifth step here in order to correspond (distinguish) from the holding method 2 described later), the lifting device 6 moves the workpiece holding device 5 toward the workpiece member W to hold the workpiece. These are brought close to each other until the device 5 (work holding portions 51 and 52) and the work member W come into contact with each other. At this time, the placement unit 700 may be moved upward.

第７工程では、ワーク保持装置５とワーク部材Ｗとが当接した状態で、バルブ５８を操作して、ワーク保持装置５がワーク部材Ｗを保持する。   In the seventh step, the workpiece holding device 5 holds the workpiece member W by operating the valve 58 while the workpiece holding device 5 and the workpiece member W are in contact with each other.

その後、移動ユニット２により、保持装置１を上昇させてシート部材Ｓ及びワーク部材Ｗを搬送する。   Thereafter, the holding unit 1 is raised by the moving unit 2 to convey the sheet member S and the work member W.

＜ワーク部材及びシート部材の保持方法２＞
図８は、本発明の他の実施形態に係るワーク部材及びシート部材の保持方法を示す図である。本実施形態では、処理ライン８００にあるワーク部材Ｗと、シート載置部８１０に積み重ねられたシート部材とを、保持装置１によって保持する。 <Work member and sheet member holding method 2>
FIG. 8 is a diagram illustrating a work member and sheet member holding method according to another embodiment of the present invention. In the present embodiment, the work device W in the processing line 800 and the sheet members stacked on the sheet placement unit 810 are held by the holding device 1.

第１工程では、保持装置１がシート部材Ｓの上面に対向するように、移動ユニット２が、保持装置１をシート載置部８１０にあるシート部材Ｓの上方まで移動させる（矢印Ｂ）。なお、このとき、移動ユニット２の水平方向の移動と独立してシート載置部８１０を保持装置１に向かって自走できるよう、シート載置部８１０にも移動ユニット（例えば、水平移動ユニット）を設けるようにしてもよい。   In the first step, the moving unit 2 moves the holding device 1 to above the sheet member S in the sheet placement portion 810 so that the holding device 1 faces the upper surface of the sheet member S (arrow B). At this time, the sheet placement unit 810 also has a movement unit (for example, a horizontal movement unit) so that the sheet placement unit 810 can self-travel toward the holding device 1 independently of the movement of the movement unit 2 in the horizontal direction. May be provided.

第２工程では、ワーク保持装置５をシート部材Ｓから離隔させた状態で、移動ユニット２が、保持装置１（シート保持装置４）をシート部材Ｓに向かって移動させ、シート保持装置４（シート保持部４１〜４４）と、シート部材Ｓとが当接するまで、これらを接近させる。なお、このとき、移動ユニット２の下方向の移動と独立してシート載置部８１０が上方向等に移動できるよう、シート載置部８１０にも移動ユニット（例えば、昇降ユニット）を設けるようにしてもよい。   In the second step, the moving unit 2 moves the holding device 1 (sheet holding device 4) toward the sheet member S in a state where the workpiece holding device 5 is separated from the sheet member S, and the sheet holding device 4 (sheet) These are made to approach until the holding | maintenance part 41-44) and the sheet | seat member S contact | abut. At this time, a moving unit (for example, an elevating unit) is also provided in the sheet placing unit 810 so that the sheet placing unit 810 can move upward or the like independently of the downward movement of the moving unit 2. May be.

第３Ａ工程では、シート保持装置４とシート部材Ｓとが当接した状態で、バルブ４８を操作して、シート保持装置４が積み重ねられたシート部材Ｓｓｔのうち最上部のシート部材Ｓを保持する。   In the third A step, the valve 48 is operated in a state where the sheet holding device 4 and the sheet member S are in contact with each other, and the uppermost sheet member S is held among the stacked sheet members Sst. .

第４Ａ工程では、シート保持装置４が最上部のシート部材Ｓを保持した状態で、移動ユニット２が、保持装置１（シート保持装置４）を上方に移動させ、シート保持装置４を積み重ねられたシート部材Ｓｓｔから離隔させる。ここで、シート部材Ｓの一方の端部Ｓ１及び他方の端部Ｓ２（図８中では左右方向の両端部）が垂れ下がる。ここでも第２工程のように、シート載置部８１０を下方向等に移動させてもよい。   In the step 4A, the moving unit 2 moves the holding device 1 (sheet holding device 4) upward while the sheet holding device 4 holds the uppermost sheet member S, and the sheet holding devices 4 are stacked. Separated from the sheet member Sst. Here, one end S1 and the other end S2 (both ends in the left-right direction in FIG. 8) of the sheet member S hang down. Also here, as in the second step, the sheet placing portion 810 may be moved downward.

第５工程では、保持装置１がワーク部材Ｗの上面に対向するように、移動ユニット２が、保持装置１を処理ライン８００にあるワーク部材Ｗの上方まで移動させる（矢印Ｃ）。なお、このとき、処理ライン８００がワーク部材Ｗを、保持装置１に向かって搬送するようにすることもできる。   In the fifth step, the moving unit 2 moves the holding device 1 to above the work member W in the processing line 800 so that the holding device 1 faces the upper surface of the work member W (arrow C). At this time, the processing line 800 can also transport the work member W toward the holding device 1.

第６工程では、昇降装置６が、ワーク保持装置５をワーク部材Ｗに向かって移動させ、ワーク保持装置５（ワーク保持部５１、５２）と、ワーク部材Ｗとが当接するまで、これらを接近させる。なお、このとき、移動ユニット２の下方向の移動と独立して処理ライン８００がワーク部材を上方向等に移動させるよう、処理ライン８００にも移動ユニット（例えば、昇降ユニット）を設けるようにしてもよい。   In the sixth step, the lifting device 6 moves the workpiece holding device 5 toward the workpiece member W, and approaches them until the workpiece holding device 5 (work holding portions 51 and 52) and the workpiece member W come into contact with each other. Let At this time, the processing line 800 is also provided with a moving unit (for example, a lifting unit) so that the processing line 800 moves the work member upward or the like independently of the downward movement of the moving unit 2. Also good.

第７工程では、ワーク保持装置５とワーク部材Ｗとが当接した状態で、バルブ５８を操作して、ワーク保持装置５がワーク部材Ｗを保持する。   In the seventh step, the workpiece holding device 5 holds the workpiece member W by operating the valve 58 while the workpiece holding device 5 and the workpiece member W are in contact with each other.

その後、移動ユニット２により、保持装置１を上昇させてシート部材Ｓ及びワーク部材Ｗを搬送する。   Thereafter, the holding unit 1 is raised by the moving unit 2 to convey the sheet member S and the work member W.

＜ワーク部材及びシート部材の載置方法１＞
図９は、本発明の一実施形態に係るワーク部材及びシート部材の載置方法を示す図である。本実施形態では、保持装置１が保持しているワーク部材Ｗ及びシート部材Ｓを、所定の載置部９００に載置する。 <Work Member and Sheet Member Placement Method 1>
FIG. 9 is a diagram showing a work member and sheet member placing method according to an embodiment of the present invention. In the present embodiment, the work member W and the sheet member S held by the holding device 1 are placed on a predetermined placement unit 900.

第８工程では、保持装置１が載置部９００に対向するように、移動ユニット２が、保持装置１を載置部９００の上方まで移動させる（矢印Ｄ）。なお、このとき、移動ユニット２の水平方向の移動と独立して載置部９００を保持装置１に向かって自走できるよう、載置部９００にも移動ユニット（例えば、水平移動ユニット）を設けるようにしてもよい。   In the eighth step, the moving unit 2 moves the holding device 1 to above the mounting portion 900 so that the holding device 1 faces the mounting portion 900 (arrow D). At this time, the mounting unit 900 is also provided with a moving unit (for example, a horizontal moving unit) so that the mounting unit 900 can self-travel toward the holding device 1 independently of the horizontal movement of the moving unit 2. You may do it.

第９工程では、移動ユニット２が、ワーク保持装置５を載置部９００に向かって移動させ、ワーク保持装置５と、載置部９００とを接近させる。なお、このとき、移動ユニット２の下方向の移動と独立して載置部９００が上方向等に移動できるよう、載置部９００にも移動ユニット（例えば、昇降ユニット）を設けるようにしてもよい。   In the ninth step, the moving unit 2 moves the work holding device 5 toward the placement unit 900 to bring the work holding device 5 and the placement unit 900 closer to each other. At this time, a moving unit (for example, an elevating unit) may be provided in the mounting unit 900 so that the mounting unit 900 can move upward or the like independently of the downward movement of the moving unit 2. Good.

第１０工程では、バルブ５８を操作して、ワーク保持装置５がワーク部材Ｗを解放し、ワーク部材Ｗを載置部９００に載置する。   In the tenth step, the valve 58 is operated, the work holding device 5 releases the work member W, and the work member W is placed on the placement unit 900.

第１１工程では、昇降装置６が、ワーク保持装置５を上方に移動させ、ワーク保持装置５と、載置部９００とを離隔させる。なお、このとき、載置部９００を下方向等に移動させてもよい。   In the eleventh step, the lifting device 6 moves the workpiece holding device 5 upward to separate the workpiece holding device 5 from the placement unit 900. At this time, the placement unit 900 may be moved downward or the like.

第１３工程（後で述べる載置方法２と対応（区別）させるため、ここでは第１２工程とはしない）では、移動ユニット２が、保持装置１（シート保持装置４）を載置されたワーク部材Ｗに向かって移動させ、シート保持装置４と、載置部９００に載置されたワーク部材Ｗとを接近させる。なお、このとき、載置部９００を上方向等に移動させてもよい。   In the thirteenth step (which is not the twelfth step in order to correspond (distinguish) from the placement method 2 described later), the moving unit 2 is a workpiece on which the holding device 1 (sheet holding device 4) is placed. The sheet holding device 4 is moved toward the member W, and the workpiece member W placed on the placement unit 900 is brought close to the member W. At this time, the placement unit 900 may be moved upward.

第１４工程では、バルブ４８を操作して、シート保持装置４がシート部材Ｓを解放し、ワーク部材Ｗに重ねてシート部材Ｓを載置する。   In the fourteenth step, the valve 48 is operated, the sheet holding device 4 releases the sheet member S, and the sheet member S is placed on the work member W.

第１５工程では、移動ユニット２が、保持装置１（シート保持装置４）を上方に移動させ、シート保持装置４と、シート部材Ｓとを離隔させる。なお、このとき、載置部９００を下方向等に移動させてもよい。   In the fifteenth step, the moving unit 2 moves the holding device 1 (sheet holding device 4) upward to separate the sheet holding device 4 and the sheet member S from each other. At this time, the placement unit 900 may be moved downward or the like.

以上が本実施形態における一連の動作である。なお、実施条件によっては、第１０工程において、ワーク部材Ｗが載置部９００と離隔した状態で、ワーク部材Ｗを載置部９００に落下させるように解放してもよい。第１４工程においても、シート部材Ｓが載置されたワーク部材Ｗと離隔した状態で、シート部材Ｓをワーク部材Ｗ上に落下させるように解放してもよい。   The above is a series of operations in the present embodiment. Depending on the execution conditions, in the tenth step, the work member W may be released so as to drop onto the placement unit 900 in a state where the work member W is separated from the placement unit 900. Also in the 14th step, the sheet member S may be released so as to drop onto the work member W in a state of being separated from the work member W on which the sheet member S is placed.

＜ワーク部材及びシート部材の載置方法２＞
図１０は、本発明の他の実施形態に係るワーク部材及びシート部材の載置方法を示す図である。本実施形態では、保持装置１が保持しているワーク部材Ｗを処理ライン１０００に投入（またはワーク載置部に載置）し、シート部材Ｓをシート載置部１０１０に積み重ねるように（図中、積み重ねられたシート部材をＳｓｔとする）載置する。 <Work Member and Sheet Member Placement Method 2>
FIG. 10 is a diagram showing a work member and sheet member placing method according to another embodiment of the present invention. In the present embodiment, the work member W held by the holding device 1 is put into the processing line 1000 (or placed on the work placement unit), and the sheet member S is stacked on the sheet placement unit 1010 (in the drawing). The stacked sheet members are set as Sst).

第８Ａ工程では、保持装置１が処理ライン１０００に対向するように、移動ユニット２が、保持装置１を処理ライン１０００の上方まで移動させる（矢印Ｅ）。なお、処理ライン１０００がパレット等を保持装置１に向かって移動させてもよい。   In step 8A, the moving unit 2 moves the holding device 1 to above the processing line 1000 so that the holding device 1 faces the processing line 1000 (arrow E). Note that the processing line 1000 may move the pallet or the like toward the holding device 1.

第９Ａ工程では、移動ユニット２が、ワーク保持装置５を処理ライン１０００に向かって移動させ、ワーク保持装置５と、処理ライン１０００とを接近させる。なお、このとき、移動ユニット２の下方向の移動と独立して処理ライン１０００がパレット等を上方向等に移動できるよう、処理ライン１０００にも移動ユニット（例えば、昇降ユニット）を設けるようにしてもよい。   In step 9A, the moving unit 2 moves the work holding device 5 toward the processing line 1000 to bring the work holding device 5 and the processing line 1000 closer to each other. At this time, the processing line 1000 is also provided with a moving unit (for example, a lifting unit) so that the processing line 1000 can move the pallet or the like upwards independently of the downward movement of the moving unit 2. Also good.

第１０Ａ工程では、バルブ５８を操作して、ワーク保持装置５がワーク部材Ｗを解放し、ワーク部材Ｗを処理ライン１０００に投入する。   In the 10A process, the valve 58 is operated, the work holding device 5 releases the work member W, and the work member W is put into the processing line 1000.

第１１工程では、昇降装置６が、ワーク保持装置５を上方に移動させ、ワーク保持装置５と、処理ライン１０００とを離隔させる。なお、このとき、処理ライン１０００がパレット等を下方向等に移動させてもよい。   In the eleventh step, the lifting device 6 moves the workpiece holding device 5 upward to separate the workpiece holding device 5 from the processing line 1000. At this time, the processing line 1000 may move the pallet or the like downward.

第１２工程では、保持装置１がシート載置部１０１０に対向するように、移動ユニット２が、保持装置１をシート載置部１０１０の上方まで移動させる（矢印Ｆ）。なお、このとき、移動ユニット２の水平方向の移動と独立してシート載置部１０１０を保持装置１に向かって自走できるよう、シート載置部１０１０にも移動ユニット（例えば、水平移動ユニット）を設けるようにしてもよい。   In the twelfth step, the moving unit 2 moves the holding device 1 to above the sheet placing portion 1010 so that the holding device 1 faces the sheet placing portion 1010 (arrow F). At this time, the sheet placing unit 1010 also has a moving unit (for example, a horizontal moving unit) so that the sheet placing unit 1010 can move toward the holding device 1 independently of the horizontal movement of the moving unit 2. May be provided.

第１３Ａ工程では、移動ユニット２が、保持装置１（シート保持装置４）をシート載置部１０１０に向かって移動させ、シート保持装置４と、シート載置部１０１０とを接近させる。なお、このとき、移動ユニット２の下方向の移動と独立してシート載置部１０１０が上方向等に移動できるよう、シート載置部１０１０にも移動ユニット（例えば、昇降ユニット）を設けるようにしてもよい。   In the thirteenth step A, the moving unit 2 moves the holding device 1 (sheet holding device 4) toward the sheet placing unit 1010, and brings the sheet holding device 4 and the sheet placing unit 1010 closer to each other. At this time, a movement unit (for example, an elevating unit) is also provided in the sheet placement unit 1010 so that the sheet placement unit 1010 can move upward or the like independently of the downward movement of the movement unit 2. May be.

第１４Ａ工程では、バルブ４８を操作して、シート保持装置４がシート部材Ｓを解放し、シート部材Ｓをシート載置部１０１０に載置する。   In the 14th step, the valve 48 is operated, the sheet holding device 4 releases the sheet member S, and the sheet member S is placed on the sheet placing portion 1010.

第１５工程では、移動ユニット２が、保持装置１（シート保持装置４）を上方に移動させ、シート保持装置４と、シート部材Ｓとを離隔させる。なお、このとき、シート載置部１０１０を下方向等に移動させてもよい。   In the fifteenth step, the moving unit 2 moves the holding device 1 (sheet holding device 4) upward to separate the sheet holding device 4 and the sheet member S from each other. At this time, the sheet placing unit 1010 may be moved downward.

以上が本実施形態における一連の動作である。なお、実施条件によっては、第１０Ａ工程において、ワーク部材Ｗが処理ライン１０００と離隔した状態で、ワーク部材Ｗを処理ライン１０００に落下させるように解放してもよい。第１４Ａ工程においても、シート部材Ｓがシート載置部１０１０と離隔した状態で、シート部材Ｓをシート載置部１０１０に落下させるように解放してもよい。   The above is a series of operations in the present embodiment. Depending on the implementation conditions, the work member W may be released so as to drop into the processing line 1000 in the state where the work member W is separated from the processing line 1000 in the 10A step. Also in the 14th step, the sheet member S may be released so as to be dropped onto the sheet placement unit 1010 in a state where the sheet member S is separated from the sheet placement unit 1010.

＜ワーク部材及びシート部材の搬送方法＞
ここで、上記の保持方法及び載置方法の組み合わせによるワーク部材Ｗ及びシート部材Ｓの搬送方法について以下に説明する。 <Conveying method of work member and sheet member>
Here, a method for conveying the workpiece member W and the sheet member S by a combination of the above-described holding method and placement method will be described below.

まず、ワーク部材Ｗ及びシート部材Ｓの保持方法２と、同載置方法１との組み合わせ（図８→図９の流れ）によって、処理ライン８００から搬出されてきたワーク部材Ｗに、シート部材Ｓを間に入れて積層して載置部９００に載置する載置工程について説明する。この工程では、１サイクルにおいて保持装置１が移動するのは、（図９の載置部９００から）シート載置部８１０までの移動（第１工程：図８の矢印Ｂ）、シート載置部８１０から処理ライン８００までの移動（第５工程：図８の矢印Ｃ）、処理ライン８００から載置部９００までの移動（第８工程：図９の矢印Ｄ）の３回である。   First, the sheet member S is transferred to the workpiece member W carried out from the processing line 800 by the combination of the holding method 2 for the workpiece member W and the sheet member S and the mounting method 1 (the flow of FIGS. 8 to 9). A placing process in which the layers are stacked and placed on the placing unit 900 will be described. In this step, the holding device 1 moves in one cycle (from the placement unit 900 in FIG. 9) to the sheet placement unit 810 (first step: arrow B in FIG. 8), the sheet placement unit. The movement from 810 to the processing line 800 (fifth step: arrow C in FIG. 8) and the movement from the processing line 800 to the placement unit 900 (eighth step: arrow D in FIG. 9) are three times.

背景技術についての記載で述べたように、従来の搬送装置では、載置工程１サイクルにおける保持装置の移動は４回である。したがって、本実施形態の搬送装置１００によって、処理ライン８００から搬出されたワーク部材Ｗの載置部９００への載置工程において保持装置１の移動回数を減らすことができる。   As described in the description of the background art, in the conventional transfer apparatus, the movement of the holding device in one cycle of the loading process is four times. Therefore, the number of movements of the holding device 1 can be reduced in the placement process of the work member W carried out of the processing line 800 onto the placement unit 900 by the transport device 100 of the present embodiment.

次に、ワーク部材Ｗ及びシート部材Ｓの保持方法１と、同載置方法２との組み合わせ（図７→図１０の流れ）によって、載置部７００に積み重ねられたシート部材Ｓとワーク部材Ｗとを分離し、ワーク部材Ｗのみを処理ライン１０００に投入する投入工程について説明する。この工程では、１サイクルにおいて保持装置１が移動するのは、（図１０のシート載置部１０１０から）載置部７００までの移動（第１工程：図７の矢印Ａ）、載置部７００から処理ライン１０００までの移動（第８Ａ工程：図１０の矢印Ｅ）、処理ライン１０００からシート載置部１０１０までの移動（第１２工程：図１０の矢印Ｆ）の３回である。   Next, the sheet member S and the workpiece member W stacked on the placement portion 700 by a combination of the holding method 1 for the workpiece member W and the sheet member S and the placement method 2 (flow of FIG. 7 to FIG. 10). And a charging process for loading only the workpiece member W into the processing line 1000 will be described. In this step, the holding device 1 moves in one cycle (from the sheet placement unit 1010 in FIG. 10) to the placement unit 700 (first step: arrow A in FIG. 7), and the placement unit 700. To the processing line 1000 (step 8A: arrow E in FIG. 10), and movement from the processing line 1000 to the sheet placement unit 1010 (step 12: arrow F in FIG. 10).

背景技術についての記載で述べたように、従来の搬送装置では、投入工程１サイクルにおける保持装置の移動は４回である。したがって、本実施形態の搬送装置１００によって、ワーク部材Ｗの処置ライン８００への投入工程において保持装置１の移動回数を減らすことができる。   As described in the description of the background art, in the conventional transfer device, the holding device moves four times in one cycle of the charging process. Therefore, the number of movements of the holding device 1 can be reduced in the loading process of the work member W to the treatment line 800 by the transport device 100 of the present embodiment.

Claims (9)

板状のワーク部材と、前記ワーク部材に重ねられるシート状のシート部材と、を保持する保持装置であって、
前記シート部材の一方の端部と、該一方の端部の反対側の他方の端部と、が垂れ下がるように、これらの端部よりも内側を保持するシート保持部を有するシート保持手段と、
前記シート部材の前記一方の端部に重ねられる前記ワーク部材の一方の端部と、前記シート部材の前記他方の端部に重ねられる前記ワーク部材の他方の端部と、を保持するワーク保持部を有するワーク保持手段と、
前記ワーク保持手段及び前記シート保持手段の少なくともいずれか一方を、前記重ねられる方向に向けて相対的に移動させる昇降手段と、
を備えたことを特徴とする保持装置。 A holding device for holding a plate-like workpiece member and a sheet-like sheet member stacked on the workpiece member,
A sheet holding means having a sheet holding part for holding the inner side of these one end part and the other end part opposite to the one end part so as to hang down;
A work holding portion that holds one end of the work member that is overlaid on the one end of the sheet member and the other end of the work member that is overlaid on the other end of the sheet member. A workpiece holding means having
Elevating means for relatively moving at least one of the work holding means and the sheet holding means in the overlapping direction;
A holding device comprising: 前記ワーク部材及び前記シート部材は矩形であり、
前記シート保持手段は、前記シート部材の一辺側を保持する一辺側シート保持部と、前記シート部材の前記一辺と対向する他辺側を保持する他辺側シート保持部と、において前記シート部材を保持する
ことを特徴とする請求項１に記載の保持装置。 The work member and the sheet member are rectangular,
The sheet holding means includes: the one side sheet holding portion that holds one side of the sheet member; and the other side sheet holding portion that holds the other side facing the one side of the sheet member. The holding device according to claim 1, wherein the holding device is held. 前記一辺側シート保持部は、
前記一辺に沿って複数のシート保持部が配列された第１グループと、
前記一辺に沿って、かつ前記第１グループのシート保持部よりも前記一辺に近い位置で複数のシート保持部が配列された第２グループと、
を含み、
前記他辺側シート保持部は、
前記他辺に沿って複数のシート保持部が配列された第３グループと、
前記他辺に沿って、かつ前記第３グループのシート保持部よりも前記他辺に近い位置で複数のシート保持部が配列された第４グループと、
を含むことを特徴とする請求項２に記載の保持装置。 The one side sheet holding portion is
A first group in which a plurality of sheet holding portions are arranged along the one side;
A second group in which a plurality of sheet holding parts are arranged along the one side and at a position closer to the one side than the sheet holding part of the first group;
Including
The other side sheet holding portion is
A third group in which a plurality of sheet holding portions are arranged along the other side;
A fourth group in which a plurality of sheet holding portions are arranged along the other side and at a position closer to the other side than the sheet holding portion of the third group;
The holding device according to claim 2, comprising: 前記シート保持部は、前記一辺の中点と前記他辺の中点とを結ぶ第１直線について、対称に配置され、
さらに、前記シート保持部は、前記第１直線の中点を通り前記第１直線に直交する前記シート部材に沿った第２直線に対して対称に配置され、
前記第１グループのシート保持部は、前記第２グループの両端のシート保持部よりも前記第１直線に近く、
前記第３グループのシート保持部は、前記第４グループの両端のシート保持部よりも前記第１直線に近い
ことを特徴とする請求項３に記載の保持装置。 The sheet holding portion is arranged symmetrically with respect to a first straight line connecting the midpoint of the one side and the midpoint of the other side,
Further, the sheet holding portion is arranged symmetrically with respect to a second straight line along the sheet member passing through the midpoint of the first straight line and orthogonal to the first straight line,
The sheet holding portions of the first group are closer to the first straight line than the sheet holding portions at both ends of the second group,
The holding device according to claim 3, wherein the sheet holding portions of the third group are closer to the first straight line than the sheet holding portions at both ends of the fourth group. 請求項１乃至４のいずれか１項に記載の保持装置と、前記保持装置を移動させる移動手段と、を備えることを特徴とする搬送装置。   A conveying device comprising: the holding device according to claim 1; and a moving unit that moves the holding device. 板状のワーク部材と、前記ワーク部材に重ねられたシート状のシート部材とを、保持装置によって保持する方法であって、
前記保持装置は、シート保持手段とワーク保持手段とを備え、
前記保持装置が前記シート部材の上面に対向するように、第１移動手段が、前記保持装置及びワーク部材の少なくとも一方を移動させる第１工程と、
前記ワーク保持手段を前記シート部材から離隔させた状態で、前記シート保持手段と前記シート部材とを接近させるように、第２移動手段が、前記シート保持手段及び前記ワーク部材の少なくとも一方を移動させて、前記シート保持手段を、前記シート部材の一方の端部及び該一方の端部の反対側の他方の端部よりも内側に当接させる第２工程と、
前記シート保持手段と前記シート部材とが当接した状態で、前記シート保持手段が、前記シート部材を保持する第３工程と、
前記シート保持手段が前記シート部材を保持した状態で、前記シート保持手段を前記ワーク部材から離隔させるように、前記第２移動手段が、前記シート保持手段及び前記ワーク部材の少なくとも一方を移動させて、前記保持したシート部材の前記一方の端部及び前記他方の端部を垂れ下げる第４工程と、
前記ワーク保持手段と前記ワーク部材とを接近させるように、第４移動手段が、前記ワーク保持手段及び前記ワーク部材の少なくとも一方を移動させて、前記ワーク保持手段を、前記シート部材の前記一方の端部に重ねられる前記ワーク部材の一方の端部と、前記シート部材の前記他方の端部に重ねられる前記ワーク部材の他方の端部とに当接させる第６工程と、
前記ワーク保持手段と前記ワーク部材とが当接した状態で、前記ワーク保持手段が、前記ワーク部材を保持する第７工程と、
を含むことを特徴とする方法。 A method of holding a plate-like workpiece member and a sheet-like sheet member stacked on the workpiece member by a holding device,
The holding device includes a sheet holding unit and a workpiece holding unit,
A first step in which the first moving means moves at least one of the holding device and the work member so that the holding device faces the upper surface of the sheet member;
In a state where the work holding means is separated from the sheet member, the second moving means moves at least one of the sheet holding means and the work member so as to bring the sheet holding means and the sheet member closer to each other. A second step of bringing the sheet holding means into contact with the inner side of the one end of the sheet member and the other end opposite to the one end;
A third step in which the sheet holding means holds the sheet member in a state where the sheet holding means and the sheet member are in contact with each other;
With the sheet holding means holding the sheet member, the second moving means moves at least one of the sheet holding means and the work member so as to separate the sheet holding means from the work member. A fourth step of hanging down the one end and the other end of the held sheet member;
The fourth moving means moves at least one of the work holding means and the work member so as to bring the work holding means and the work member closer, and the work holding means is moved to the one of the sheet members. A sixth step of contacting one end of the work member overlaid on the end and the other end of the work member overlaid on the other end of the sheet member;
A seventh step in which the workpiece holding means holds the workpiece member in a state where the workpiece holding means and the workpiece member are in contact with each other;
A method comprising the steps of: 板状のワーク部材と、前記ワーク部材と異なる位置に積み重ねられたシート状のシート部材とを、保持装置によって保持する方法であって、
前記保持装置は、シート保持手段とワーク保持手段とを備え、
前記保持装置が前記シート部材の上面に対向するように、第１移動手段が、前記保持装置及び前記シート部材の少なくとも一方を移動させる第１工程と、
前記ワーク保持手段を前記シート部材から離隔させた状態で、前記シート保持手段と前記シート部材とを接近させるように、第２移動手段が、前記シート保持手段及び前記シート部材の少なくとも一方を移動させて、前記シート保持手段が、前記シート部材の一方の端部及び該一方の端部の反対側の他方の端部よりも内側に当接させる第２工程と、
前記シート保持手段と前記シート部材とが当接した状態で、前記シート保持手段が、前記積み重ねられたシート部材のうち最上部のシート部材のみを保持する第３Ａ工程と、
前記シート保持手段が前記最上部のシート部材を保持した状態で、前記シート保持手段を前記積み重ねられたシート部材から離隔させるように、前記第２移動手段が、前記シート保持手段及び前記積み重ねられたシート部材の少なくとも一方を移動させて、前記保持したシート部材の前記一方の端部及び前記他方の端部を垂れ下げる第４Ａ工程と、
前記保持装置が前記ワーク部材の上面に対向するように、第３移動手段が、前記保持装置及び前記ワーク部材の少なくとも一方を移動させる第５工程と、
前記ワーク保持手段と前記ワーク部材とを接近させるように、第４移動手段が、前記ワーク保持手段及び前記ワーク部材の少なくとも一方を移動させて、前記ワーク保持手段を、前記シート部材の前記一方の端部に重ねられる前記ワーク部材の一方の端部と、前記シート部材の前記他方の端部に重ねられる前記ワーク部材の他方の端部とに当接させる第６工程と、
前記ワーク保持手段と前記ワーク部材とが当接した状態で、前記ワーク保持手段が、前記ワーク部材を保持する第７工程と、
を含むことを特徴とする方法。 A method of holding a plate-like workpiece member and a sheet-like sheet member stacked at a position different from the workpiece member by a holding device,
The holding device includes a sheet holding unit and a workpiece holding unit,
A first step in which the first moving means moves at least one of the holding device and the sheet member so that the holding device faces the upper surface of the sheet member;
In a state where the work holding means is separated from the sheet member, the second moving means moves at least one of the sheet holding means and the sheet member so as to bring the sheet holding means and the sheet member closer to each other. A second step in which the sheet holding means abuts on the inner side of one end of the sheet member and the other end opposite to the one end; and
In the state where the sheet holding means and the sheet member are in contact with each other, the sheet holding means holds only the uppermost sheet member among the stacked sheet members;
In a state where the sheet holding means holds the uppermost sheet member, the second moving means is configured to separate the sheet holding means from the stacked sheet members. A 4A step of moving at least one of the sheet members and hanging down the one end and the other end of the held sheet member;
A fifth step in which the third moving means moves at least one of the holding device and the work member so that the holding device faces the upper surface of the work member;
The fourth moving means moves at least one of the work holding means and the work member so as to bring the work holding means and the work member closer, and the work holding means is moved to the one of the sheet members. A sixth step of contacting one end of the work member overlaid on the end and the other end of the work member overlaid on the other end of the sheet member;
A seventh step in which the workpiece holding means holds the workpiece member in a state where the workpiece holding means and the workpiece member are in contact with each other;
A method comprising the steps of: 請求項６または７の方法により保持されたワーク部材及びシート部材を、所定の載置部に載置する方法であって、
前記保持装置が前記載置部に対向するように、第５移動手段が、前記保持装置を移動させる第８工程と、
前記ワーク保持手段と前記載置部とを接近させるように、第６移動手段が、前記ワーク保持手段及び前記載置部の少なくとも一方を移動させる第９工程と、
前記ワーク保持手段が前記ワーク部材を解放し、前記ワーク部材を前記載置部に載置する第１０工程と、
前記ワーク保持手段と前記載置されたワーク部材とを離隔させるように、前記第６移動手段が、前記ワーク保持手段及び前記載置部の少なくとも一方を移動させる第１１工程と、
前記シート保持手段と前記載置されたワーク部材とを接近させるように、第８移動手段が、前記シート保持手段及び前記載置部の少なくとも一方を移動させる第１３工程と、
前記シート保持手段が前記シート部材を解放し、前記載置されたワーク部材の上に前記シート部材を載置する第１４工程と、
前記シート保持手段と前記載置されたシート部材とを離隔させるように、前記第８移動手段が、前記シート保持手段及び前記載置部の少なくとも一方を移動させる第１５工程と、
を含むことを特徴とする方法。 A method of placing the work member and the sheet member held by the method of claim 6 or 7 on a predetermined placement portion,
An eighth step in which the fifth moving means moves the holding device so that the holding device faces the mounting portion;
A ninth step in which the sixth moving means moves at least one of the work holding means and the placement section so as to bring the workpiece holding means and the placement section close together;
A tenth step in which the workpiece holding means releases the workpiece member and places the workpiece member on the placement portion;
An eleventh step in which the sixth moving means moves at least one of the workpiece holding means and the placement portion so as to separate the workpiece holding means and the workpiece member placed previously;
A thirteenth step in which an eighth moving means moves at least one of the sheet holding means and the placement section so as to bring the sheet holding means and the workpiece member placed in advance into close proximity;
A fourteenth step in which the sheet holding means releases the sheet member and places the sheet member on the workpiece member placed as described above;
A fifteenth step in which the eighth moving means moves at least one of the sheet holding means and the placement section so as to separate the sheet holding means from the previously placed sheet member;
A method comprising the steps of: 請求項６または７の方法により保持されたワーク部材をワーク載置部に載置し、前記保持されたシート部材をシート載置部に載置する方法であって、
前記保持装置が前記ワーク載置部に対向するように、第５移動手段が、前記保持装置を移動させる第８Ａ工程と、
前記ワーク保持手段と前記ワーク載置部とを接近させるように、第６移動手段が、前記ワーク保持手段及び前記ワーク載置部の少なくとも一方を移動させる第９Ａ工程と、
前記ワーク保持手段が前記ワーク部材を解放し、前記ワーク部材を前記ワーク載置部に載置する第１０Ａ工程と、
前記ワーク保持手段と前記載置されたワーク部材とを離隔させるように、前記第６移動手段が、前記ワーク保持手段及び前記ワーク載置部の少なくとも一方を移動させる第１１工程と、
前記保持装置が前記シート載置部に対向するように、第７移動手段が、前記保持装置及び前記シート載置部の少なくとも一方を移動させる第１２工程と、
前記シート保持手段と前記シート載置部とを接近させるように、第８移動手段が、前記シート保持手段及び前記シート載置部の少なくとも一方を移動させる第１３Ａ工程と、
前記シート保持手段が前記シート部材を解放し、前記シート載置部に前記シート部材を載置する第１４Ａ工程と、
前記シート保持手段と前記載置されたシート部材とを離隔させるように、前記第８移動手段が、前記シート保持手段及び前記シート載置部の少なくとも一方を移動させる第１５工程と、
を含むことを特徴とする方法。 A method of placing the workpiece member held by the method of claim 6 or 7 on a workpiece placement unit, and placing the held sheet member on the sheet placement unit,
An eighth step A in which the fifth moving means moves the holding device so that the holding device faces the workpiece placement unit;
A ninth moving step in which the sixth moving means moves at least one of the work holding means and the work placing portion so that the work holding means and the work placing portion are brought close to each other;
A 10A step in which the work holding means releases the work member and places the work member on the work placing portion;
An eleventh step in which the sixth moving means moves at least one of the work holding means and the work placing portion so as to separate the work holding means from the workpiece member placed above;
A twelfth step in which the seventh moving means moves at least one of the holding device and the sheet placing portion so that the holding device faces the sheet placing portion;
A 13th A step in which an eighth moving means moves at least one of the sheet holding means and the sheet placement section so as to bring the sheet holding means and the sheet placement section close to each other;
A step 14A in which the sheet holding means releases the sheet member and places the sheet member on the sheet placing portion;
A fifteenth step in which the eighth moving means moves at least one of the sheet holding means and the sheet placing portion so as to separate the sheet holding means and the sheet member placed above;
A method comprising the steps of:
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