JP2019034821A - Work-piece conveying system and method for conveying workpiece - Google Patents

Abstract

To provide a work-piece conveying system and method, capable of effectively reducing the interference between a conveying device and placing tables or work-pieces placed on the placing tables, when the work-pieces are assorted to be conveyed onto a plurality of the placing tables by the conveying device.SOLUTION: A work-piece conveying system 1 has a holding part 11 of holding a work-piece W by sucking, and comprises: a conveying device 2 for conveying the work-piece W by moving the holding part 11 in the horizontal direction and lifting it up/down; placing tables 3a-3c having the respective placing faces 24a-24c disposed adjacently so as to place the work-pieces conveyed by the conveying device 2, and a lifting drive unit for lifting the placing faces up/down; and a controller C for controlling the lifting drive unit and the conveying device 2 so as to convey the work-piece W onto the placing face of a target placing table X, or onto the upper face of another work-piece W when the another work-piece W is placed on the placing faces 24a-24c; or otherwise so as to convey the work-piece W onto the placing faces 24a-24c of the target placing table X by lowering the placing faces of placing tables other than the target placing table X, or the other work-pieces W when the other work-pieces W are placed on said placing faces.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a workpiece transfer system and a workpiece transfer method.

  2. Description of the Related Art There is known a work conveyance system in which a plate-shaped workpiece processed by a processing apparatus such as a laser processing apparatus or a punch press is sorted and loaded on a placement unit by a conveyance apparatus. In such a workpiece conveyance system, the conveyance device is controlled so as not to interfere with the placement unit or the workpiece loaded on the placement unit when the workpiece is conveyed. For example, Patent Document 1 describes that when the transfer device loads a work on a placement unit, the transfer device is controlled so that the transfer device does not interfere with the placement unit or the work loaded on the placement unit. Has been.

Japanese Patent No. 4051846

  The transport device is required to improve operational stability. For this reason, the transfer device is required to more effectively suppress the above interference. Further, the processed workpiece may be carried out in a nesting state by a carrying device, sorted by a human hand, and then carried to different places depending on the type. In this case, by providing a plurality of placement units on which the workpieces are loaded by the transfer device, the transfer efficiency of the workpieces after sorting can be improved.

  In view of the circumstances as described above, the present invention can sort and transport a workpiece into a plurality of placement units by the transport device, and when the transport device transports the workpiece to the placement unit, It is an object of the present invention to provide a workpiece transfer system and a workpiece transfer method that effectively suppress the interference with a placement unit or a workpiece loaded on the placement unit.

  A workpiece transfer system according to the present invention includes a holding unit that holds a workpiece, and a plurality of transfer devices that are adjacent to the transfer device that transfers the workpiece by moving the holding unit in the horizontal direction and moving up and down are arranged, each of which is transferred. A mounting surface having a mounting surface on which a work conveyed by the apparatus is loaded, a mounting unit having a lifting drive unit that lifts and lowers the mounting surface, and a mounting surface in one target mounting unit among a plurality of mounting units When a workpiece is loaded on the placement surface, the placement surface of the placement portion other than the target placement portion relative to the upper surface of the workpiece, or when the workpiece is loaded on the placement surface, And a controller that controls the lifting and lowering drive unit and the transfer device so that the upper surface is lowered and the workpiece is transferred to the target placement unit.

  Further, the control unit lowers the mounting surfaces of all the mounting units other than the target mounting unit with respect to the mounting surfaces of the target mounting unit when the transfer device transfers the workpiece to the target mounting unit. You may control as follows. Further, the control unit raises the placement surface of the target placement unit relative to the placement surfaces of all placement units other than the target placement unit when the transport device transports the workpiece to the target placement unit. You may control as follows. In addition, when the transport device transports the workpiece to the target placement unit, the control unit changes the placement surface of the placement unit disposed next to the target placement unit with respect to the placement surface of the target placement unit. You may control so that it may descend | fall.

  The holding unit conveys the workpiece to the target placement unit in a state of spanning the target placement unit and the placement unit other than the target placement unit, and the control unit conveys the workpiece to the target placement unit. A determination unit that determines whether the holding unit interferes with the mounting surface of the mounting unit other than the target mounting unit or when the workpiece is loaded on the mounting surface. When it is determined that the interference is caused by the determination unit, the placement surface in the placement unit specified by the determination unit may be controlled to be lowered with respect to the placement surface in the target placement unit. In addition, the determination unit may determine whether the holding unit has a mounting surface on the mounting unit other than the target mounting unit or the mounting surface thereof based on the workpiece holding position information on the holding unit and the workpiece mounting position information on the mounting unit. When a workpiece is loaded on the placement surface, it may be determined whether or not the workpiece interferes with the upper surface of the workpiece. Further, the control unit lowers the placement surface of the placement unit other than the target placement unit based on a preset lowering amount, and the lowering amount is determined when the transport device transports the workpiece to the target placement unit. When the work is loaded on the placement surface of the placement portion other than the target placement portion or the placement surface, the holding portion may be an amount that does not interfere with the upper surface of the work.

  Further, the placement unit may include a plurality of wheels and be able to travel on the floor surface. Moreover, as for the mounting part, the part containing a mounting surface may be removable.

  In addition, the work transport method according to the present invention includes a holding unit that holds the work, and a plurality of transfer devices that are adjacent to the transport device that transports the work by moving the holding unit in the horizontal direction and moving up and down, respectively, A work transport method in a work transport system, comprising: a mounting surface on which a work transported by a transporting device is loaded; and a mounting unit having a lift drive unit that lifts and lowers the mounting surface. When a workpiece is loaded on the placement surface or the placement surface of any one of the target placement portions, the placement surface of the placement portion other than the target placement portion or the surface thereof with respect to the upper surface of the workpiece When the work is loaded on the placement surface, the upper surface of the work is lowered, and the elevating drive unit and the transport device are controlled so as to transport the work to the target placement unit.

  In the workpiece conveyance system and the workpiece conveyance method according to the present invention, the conveyance device can convey the workpiece to a plurality of placement units, and the conveyance device places the workpiece when the conveyance device conveys the workpiece to the placement unit. It is possible to effectively suppress the interference with the work loaded on the part or the placement part.

  In addition, when the transport device transports the workpiece to the target mounting unit, the control unit lowers the mounting surfaces of all the mounting units other than the target mounting unit with respect to the mounting surfaces of the target mounting unit. When controlling in this way, it can suppress by simple control that a conveying apparatus interferes with the mounting part or the workpiece | work loaded on the mounting part. In addition, when the transport device transports the workpiece to the target placement unit, the control unit raises the placement surface of the target placement unit relative to the placement surfaces of all the placement units other than the target placement unit. In the case of controlling in this way, only the placement surface of the target placement unit is raised and lowered, so that the raising and lowering operation of the placement surface can be reduced. In addition, when the transport device transports the workpiece to the target placement unit, the control unit changes the placement surface of the placement unit disposed next to the target placement unit with respect to the placement surface of the target placement unit. In the case of controlling to be lowered, only the placement surface of the placement portion arranged next to the target placement portion is raised and lowered, so that the raising and lowering operation of the placement surface can be reduced.

  The holding unit conveys the workpiece to the target placement unit in a state of spanning the target placement unit and the placement unit other than the target placement unit, and the control unit conveys the workpiece to the target placement unit. A determination unit that determines whether the holding unit interferes with the mounting surface of the mounting unit other than the target mounting unit or when the workpiece is loaded on the mounting surface. When it is determined by the determination unit that the interference is determined, the determination unit controls the lowering of the mounting surface of the mounting unit specified by the determination unit with respect to the mounting surface of the target mounting unit. Then, since only the placement surface of the placement unit determined is lifted, the lifting operation of the placement surface can be reduced. In addition, the determination unit is configured to place the holding unit on a mounting unit other than the target mounting unit based on the workpiece holding position information on the holding unit and the workpiece mounting position information on the mounting surface of the mounting unit. When a workpiece is loaded on the surface or its mounting surface, when determining whether or not to interfere with the upper surface of the workpiece, the determination unit determines the interference based on the holding position information and the mounting position information. The determination unit can accurately determine the interference. Further, the control unit controls to lower the placement surface in the placement unit other than the target placement unit based on a preset lowering amount, and the lowering amount is determined by the transfer device by the transfer device to the target placement unit. When transporting, if the workpiece is loaded on the placement surface of the placement unit other than the target placement unit or the placement surface, if the amount does not interfere with the upper surface of the workpiece, the lowering amount is Since it is not necessary to calculate each time, the processing of the system can be simplified.

  Moreover, when a mounting part is provided with a some wheel and can drive | work a floor surface, a mounting part can be drive | worked by simple structure. Further, when the portion including the placement surface is detachable, the placement portion can be moved with a simple configuration.

It is a figure which shows notionally the workpiece conveyance system which concerns on 1st Embodiment. It is a perspective view of the workpiece conveyance system which concerns on 1st Embodiment. It is a figure which shows a holding | maintenance part, (A) is a perspective view, (B) is a side view. It is a figure which shows a conveyance program. It is a figure which shows mounting part information. (A) is explanatory drawing of a mounting position information management part. (B) is a figure which shows mounting position information. It is a flowchart which shows operation | movement of a workpiece conveyance system. (A) And (B) is a figure which shows operation | movement of a workpiece conveyance system. (A) And (B) is a figure which shows operation | movement of a workpiece conveyance system. It is a figure which shows operation | movement of a workpiece conveyance system. It is a figure which shows the workpiece conveyance system which concerns on a 1st modification. It is a figure which shows the workpiece conveyance system which concerns on a 2nd modification. It is a figure which shows the workpiece conveyance system which concerns on a 3rd modification. It is a figure which shows the workpiece conveyance system which concerns on 2nd Embodiment. It is a flowchart which shows operation | movement of a workpiece conveyance system. (A) And (B) is a figure which shows operation | movement of a workpiece conveyance system. It is a figure which shows the workpiece conveyance system which concerns on 3rd Embodiment. It is explanatory drawing of a determination part. It is a flowchart which shows operation | movement of a workpiece conveyance system. (A) And (B) is a figure which shows operation | movement of a workpiece conveyance system.

  Hereinafter, embodiments will be described with reference to the drawings. In the following drawings, directions in the drawings will be described using an XYZ coordinate system. In this XYZ coordinate system, the vertical direction is the Z direction, and the horizontal direction is the X direction and the Y direction. For each of the X direction, the Y direction, and the Z direction, the side of the arrow is appropriately referred to as a + side (eg, + X side), and the opposite side is referred to as a − side (eg, −X side).

[First embodiment]
FIG. 1 and FIG. 2 are views showing a workpiece transfer system (hereinafter referred to as “transfer system”) according to the first embodiment. FIG. 1 is a diagram conceptually. FIG. 2 is a perspective view.

  The conveyance system 1 of this embodiment sorts and conveys the workpiece | work W processed with the processing apparatus M (refer FIG. 2) to the some mounting parts 3a-3c with the conveying apparatus 2. FIG.

  The processing apparatus M (see FIG. 2) is a laser processing apparatus that performs laser processing on the plate-like workpiece W. On the + X side of the processing apparatus M, a loading / unloading area AR1 for loading / unloading the workpiece W into / from the processing apparatus M is provided. A rail 4 is provided between the inside of the processing apparatus M and the carry-in / out area AR1. The workpiece W is placed on a processing pallet 5 including wheels that can move along the rail 4. The workpiece W is conveyed by the machining pallet 5 between the inside of the machining apparatus M and the carry-in / out area AR1. The mechanism for moving the processing pallet 5 may be a tow type or a self-propelled type. The processing pallet 5 includes a base plate 5a and a plurality of support plates 5b provided on the upper surface of the base plate 5a. Each of the plurality of support plates 5b has a plate shape having an upper end portion formed in a sawtooth shape. The plurality of support plates 5b are each arranged at a predetermined interval in the X direction. The plurality of support plates 5b support the lower surface of the work W at a plurality of points (sawtooth tips).

  The processing apparatus M performs laser processing on the workpiece W placed on the processing pallet 5 and carried into the inside. The workpiece W is cut into a plurality of products Wa and a remaining material Wb (skeleton, peripheral portion of the product Wa) by laser processing of the processing apparatus M. In addition, in this specification, the workpiece | work W contains the workpiece | work W before a process, the workpiece | work W after a process (product Wa, the remaining material Wb).

  The machining apparatus M is controlled by a numerically controlled machining apparatus control unit 7. The processing device control unit 7 numerically controls each unit of the processing device M based on the processing program Pm. The machining program Pm is an NC program (NC data). The machining program Pm is created by the automatic program creation device 8. The automatic program creation device 8 inputs graphic data related to the processing of the workpiece W, the thickness and material of the workpiece W, the processing conditions of the processing device M, the transport conditions of the workpiece W after processing by the transport system 1 of the present embodiment, and the like. Thus, the machining program Pm and the conveyance program Pt are created as a pair. The automatic program creation device 8 is a so-called CAD / CAM device. The automatic program creation device 8 transfers the created machining program Pm and transfer program Pt to the scheduler 9. The machining program Pm and the conveyance program Pt are stored (saved) in the scheduler 9. The scheduler 9 causes the machining apparatus control unit 7 to execute the machining program Pm based on a predetermined schedule, and causes the control unit C to execute the transfer program Pt that forms a pair with the machining program Pm.

  The plurality of products Wa and the remaining material Wb formed by the processing apparatus M are carried out from the inside of the processing apparatus M to the carry-in / out area AR <b> 1 while being placed on the processing pallet 5. The product Wa and the remaining material Wb carried out to the carry-in / out area AR1 are sorted and transported by the transport system 1 to the placement units 3a to 3c.

  In addition, the processing apparatus M is not limited to a laser processing apparatus, For example, a complex processing apparatus provided with shaping | molding processing apparatuses, such as a punch press, a laser processing apparatus, and a shaping | molding processing apparatus may be sufficient. In addition, a pallet changer may be provided in the carry-in / out area AR1. Moreover, when the processing apparatus M includes a load port for loading and unloading the workpiece W, the workpiece W may be loaded and unloaded between the load port and the loading / unloading area AR1. Further, the carry-in / out area AR1 may be omitted. For example, the transport system 1 does not include the carry-in / out area AR1, and the transport device 2 described later transports the product Wa processed by the processing device M from the processing device M to the plurality of placement units 3a to 3c. But you can.

  The conveyance system 1 of this embodiment is provided with the conveying apparatus 2, several mounting parts 3a-3c, and the control part C, as shown in FIG.1 and FIG.2. The transport device 2 sorts and transports the plurality of products Wa carried out to the carry-in / out area AR1 to the plurality of placement units 3a to 3c (see FIG. 2). The conveyance device 2 includes a holding unit 11 that holds the workpiece W, and transfers the product Wa by moving the holding unit 11 in the horizontal direction and moving it up and down. The holding unit 11 conveys the product Wa to the target mounting unit X in a state of straddling the target mounting unit X and the mounting units 3 a to 3 c other than the target mounting unit X. The holding | maintenance part 11 has a dimension over several mounting parts 3a-3c. The holding part 11 has a dimension capable of holding the workpiece W before processing. In addition, the dimension of the holding | maintenance part 11 is not limited to this example, but is arbitrary.

  The transport device 2 of the present embodiment includes a Y rail 13, a Y moving body 14 that can travel on the Y rail 13, and a transfer device 15 (see FIG. 2). The Y rail 13 extends in the crossing direction (Y direction) with respect to the movement direction (X direction) of the processing pallet 5. The Y moving body 14 is provided with an X rail 17 extending in the X direction. The transfer device 15 is attached to the X rail 17. The transfer device 15 includes an X moving body 19 that can move along the X rail 17, a Z moving body 20 provided on the X moving body 19, and a holding unit 11 provided on the lower end of the Z moving body 20. . The X rail 17 extends in the X direction from above the carry-in / out area AR1 to above the product placement area AR2 provided on the + X side of the carry-in / out area AR1. The X moving body 19 is movable between the carry-in / out area AR1 and the product placement area AR2. The Z moving body 20 is movable in the vertical direction (Z direction) with respect to the Z moving body 20 while holding the holding unit 11. The holding unit 11 moves in the Y direction by the Y moving body 14, moves in the X direction by the X moving body 19, and moves up and down in the Z direction by the Z moving body 20.

  3A and 3B are diagrams illustrating an example of the holding unit, where FIG. 3A is a perspective view and FIG. 3B is a side view as viewed from the −Y direction. The holding unit 11 sucks and holds the product Wa by vacuum or reduced pressure. A plurality of suction pads 11 a are provided on the lower surface side (−Z side) of the holding unit 11. The holding unit 11 is controlled by the control unit C and sucks a predetermined product Wa to a predetermined position of the holding unit 11. As shown in FIG. 3B, the holding unit 11 can adsorb and hold a plurality of products Wa. The holding unit 11 can individually release the adsorbed products Wa.

  The transport device 2 is connected to the control unit C so as to be communicable by wire or wirelessly, and is controlled by the control unit C. For example, for the X moving body 19, the Y moving body 14, the Z moving body 20, and the holding unit 11, operation timing, position, moving speed, suction operation of the holding unit 11, and the like are controlled by the control unit C. The control of the transport device 2 will be described later.

  Under the control of the control unit C, the above-described transfer device 2 sucks and holds the product Wa carried out to the carry-in / out area AR1 by the holding unit 11, and moves the holding unit 11 in the horizontal direction (X direction, Y direction). And by moving it up and down, it is sorted and transported to a plurality of placement parts 3a-3c. The operation of the transport device 2 will be described later with reference to FIGS.

  The transport device 2 described above is an example, and other configurations may be used. For example, the holding unit 11 may be configured to attract the product Wa by magnetism. The holding unit 11 may be configured to hold the workpiece W (product Wa) by chucking (gripping). For example, the holding unit 11 may be configured to chuck and hold the inner wall of the hole in which the workpiece W (product Wa) is formed.

  Next, the placement unit will be described. The conveyance system 1 includes a plurality of placement units 3a to 3c. Each mounting part 3a-3c is arrange | positioned along with the X direction in the product mounting area AR2 (refer FIG. 2). Each mounting part 3a-3c is arrange | positioned in the predetermined position of product mounting area AR2. Each mounting part 3a-3c is provided with the some wheel 23 (refer FIG. 1), the mounting surfaces 24a-24c, and the raising / lowering drive parts 25a-25c (refer FIG. 1). The placement units 3a to 3c have the same configuration. Each mounting part 3a-3c can drive | work the floor surface F (refer FIG. 1) with the some wheel 23. FIG. When the mounting parts 3a to 3c include a plurality of wheels 23, the mounting parts 3a to 3c can be caused to travel with a simple configuration. The placement units 3a to 3c may be configured to self-run.

  The work surfaces W can be placed on the placement surfaces 24a to 24c. The mounting surfaces 24a to 24c are loaded with the product Wa. The products Wa sorted and transported by the transport device 2 are stacked (placed) on the mounting surfaces 24a to 24c. For example, on the placement surfaces 24a to 24c, stacking mountains on which a plurality of products Wa are stacked are formed. In addition, a plurality of stacking mountains may be formed on each of the mounting surfaces 24a to 24c like the mounting surface 24a of FIG. Although this load mountain is comprised from the product Wa with the same size, shape, and kind, it is not limited to this, You may be comprised from different product Wa.

  The raising / lowering drive parts 25a-25c raise / lower the mounting surfaces 24a-24c, respectively. Each raising / lowering drive part 25a-25c contains drive sources, such as an electric motor which raises / lowers the mounting surfaces 24a-24c. Each raising / lowering drive part 25a-25c is each connected to the control part C so that communication is possible by wire or radio | wireless. Each raising / lowering drive part 25a-25c is individually controlled by the mounting part control part 35 demonstrated later. For example, the lifting / lowering driving units 25a to 25c are individually controlled by the placement unit control unit 35, respectively, for the lifting / lowering amount and the timing of the lifting / lowering.

  The placement units 3a to 3c described above are controlled by the control unit C, respectively, when the transport device 2 transports the product Wa to the placement surfaces 24a to 24c. Control is performed so as not to interfere with the product Wa (loading mountain) loaded (mounted) on the surfaces 24a to 24c (hereinafter also simply referred to as “interference of the conveying device”). In the present embodiment, the placement surfaces 24a to 24c or the placement surfaces 24a to 24c of any one of the plurality of placement portions 3a to 3c in the target placement portion X (the placement portion 3b in the example of FIG. 1). When the product Wa is loaded, the product Wa is placed on the placement surfaces 24a to 24c or the placement surfaces 24a to 24c of the placement portions 3a to 3c other than the target placement portion X with respect to the upper surface of the product Wa. When loaded, the control unit C controls the elevation drive units 25a to 25c and the conveyance device 2 so that the upper surface of the product Wa is lowered and the product Wa is conveyed to the target placement unit X. Moreover, in this embodiment, as shown in FIG. 1, when the conveyance apparatus 2 conveys the product Wa to the target placement part X (placement part 3b), other than the target placement part X (placement part 3b). The placement surfaces 24a and 24c in all the placement portions 3a and 3c are controlled by the control unit C so as to be lowered with respect to the placement surface 24b in the target placement portion X (the placement portion 3b) (see FIG. 1). The target placement unit X will be described later in the determination unit 33. Further, the operation of the placing portions 3a to 3c will be described later with reference to FIGS.

  Next, the control unit will be described. The control part C of FIG. 1 controls the conveying apparatus 2 and the some mounting parts 3a-3c. The control unit C is a computer device including, for example, a CPU, a main memory, a storage device, a communication device, an interface with an external device, and the like. An input device such as a keyboard, a mouse, and a touch panel is connected to the control unit C. The input device can input information to the control unit C. The control unit C is connected to a display device such as a display or a touch panel. The display device displays information output from the control unit C. In addition, each part of the control part C may be comprised by a different computer.

  The control unit C includes a storage unit 30, a communication unit 31, a transport device control unit 32, a determination unit 33, a placement position information management unit 34, and a placement unit control unit 35. The storage unit 30 is a storage device such as a hard disk, and stores various information. The communication unit 31 performs various communications with the outside.

  The transport device control unit 32 controls each unit of the transport device 2. The transport device control unit 32 includes an X-axis control unit 32a, a Y-axis control unit 32b, a Z-axis control unit 32c, and a holding unit control unit 32d. The X-axis control unit 32a, the Y-axis control unit 32b, and the Z-axis control unit 32c control the X moving body 19, the Y moving body 14, and the Z moving body 20, respectively. For example, the X-axis control unit 32a, the Y-axis control unit 32b, and the Z-axis control unit 32c control the positions, moving speeds, and operation timings of the X moving body 19, the Y moving body 14, and the Z moving body 20, respectively. . The holding unit control unit 32d controls switching between the suction state and the suction release state of the holding unit 11.

  The transport apparatus control unit 32 outputs an operation command to the X moving body 19, the Y moving body 14, the Z moving body 20, and the holding unit 11 by executing the transport program Pt, and controls them. The conveyance program Pt is stored in the storage unit 30 in advance. The transport program Pt is created by the automatic program creation device 8 as described above. The conveyance program Pt is an NC program (NC data).

  FIG. 4 is a diagram illustrating an example of the conveyance program. The conveyance program Pt is, for example, information (X1, Y1, Z1, X2, Y2, Z2 in FIG. 4) for instructing the positions of the X moving body 19, the Y moving body 14, and the Z moving body 20, and the product in the holding unit 11. Information (x, y, z in FIG. 4) indicating the position at which Wa is adsorbed (held), information for instructing operation to bring the holding unit 11 into an adsorbed state or an adsorbed released state (in FIG. 4, “adsorption”, “ Such as "cancellation"). The information for instructing the positions of the X moving body 19, the Y moving body 14, and the Z moving body 20 is expressed by, for example, absolute coordinates (hereinafter simply referred to as “absolute coordinates”) indicating the positions in the transport system 1. The information indicating the position at which the product Wa is sucked in the holding unit 11 is represented by, for example, relative coordinates indicating the position (relative position) in the holding unit 11. The information indicating the position at which the product Wa is adsorbed in the holding unit 11 is, for example, the coordinates of the four vertices of the minimum rectangle including the portion of the holding unit 11 that adsorbs the product Wa. Information indicating the position where the product Wa is sucked in the holding unit 11 is stored (stored) in the storage unit 30 as holding position information D3 (see FIG. 1) indicating the holding position of the product Wa in the holding unit 11.

  For example, in the transfer program Pt of FIG. 4, the command C1 moves the X moving body 19 to the coordinate X1, moves the Y moving body 14 to the coordinate Y1, moves the Z moving body 20 to the coordinate Z1, and holds the holding unit 11. Is an operation command for bringing the predetermined position into the suction state. For example, after the X moving body 19, the Y moving body 14, and the Z moving body 20 are moved to predetermined positions by the command C <b> 1, the holding unit 11 moves the predetermined product Wa in the carry-in / out area AR <b> 1 at the predetermined position of the holding unit 11. Adsorb and hold. Further, for example, the command C2 is a command to move the X moving body 19 to the coordinate X2, move the Y moving body 14 to the coordinate Y2, move the Z moving body 20 to the coordinate Z2, and set the holding unit 11 in the release state. It is. For example, the product Wa held by the holding unit 11 after the X moving body 19, the Y moving body 14, and the Z moving body 20 are moved to predetermined positions by the command C2 is placed on the mounting surfaces 24a to 24c or the mounting surface. It is transported to a predetermined position such as on the product Wa loaded on the surfaces 24a to 24c. The transport device 2 is controlled by the transport device control unit 32 and repeats these operations, whereby a plurality of products Wa are sequentially sucked by the holding unit 11 and placed on the placement surfaces 24a to 3c of the placement units 3a to 3c. 24e is sorted and transported.

  Note that the Z-axis control unit 32c sets the coordinates Wa (see FIG. 4) of the Z moving body 20 indicating the height when the transport device 2 transports the product Wa to the product Wa loaded on the placement surfaces 24a to 24c. The Z moving body 20 is moved to the coordinates corrected according to the height of (loading mountain). The Z-axis control unit 32c performs this correction based on mounting position information D2 described later. This correction may be included in advance in the transport program Pt.

  The determination unit 33 specifies the target placement unit X, to which the transport device 2 transports the product Wa. The determination unit 33 specifies the target placement unit X based on the transport program Pt and the placement unit information D1. The placement unit information D1 includes information indicating the positions of the placement surfaces 24a to 24c. FIG. 5 is a diagram illustrating an example of placement unit information. The placement unit information D1 is information representing, for example, the positions of the placement surfaces 24a to 24c in absolute coordinates. The placement unit information D1 is represented by, for example, coordinates of four vertices of a rectangle including the placement surfaces 24a to 24c. The placement unit information D1 is stored in the storage unit 30 in advance.

  When the conveyance program Pt of FIG. 4 is taken as an example, the determination unit 33 is information indicating the positions to which the X moving body 19, the Y moving body 14, and the Z moving body 20 move (eg, X2, Y2, Z2 in FIG. 4). ), Placement unit information D1 (eg, X, Y, Z in FIG. 5), and holding position information D3 indicating the holding position of the product Wa in the holding unit 11 is specified. To do. For example, the determination unit 33 determines which horizontal position (for example, X, Y (absolute coordinates)) of the transport destination (mounting destination) of the product Wa is the horizontal position (for example, X, Y (absolute coordinates)). X, Y (absolute coordinates)) is determined to determine the target placement portion X. The horizontal position of the transport destination of the product Wa is, for example, information indicating the positions of the X moving body 19, the Y moving body 14, and the Z moving body 20 in the transport program Pt (eg, X2, Y2, Z2 in FIG. 4). And the holding position information D3. The determination unit 33 specifies the target placement unit X when the transport device 2 transports the product Wa, for example.

  The placement position information management unit 34 manages the position and height of the product Wa (loading mountain) loaded on the placement surfaces 24a to 24c. FIG. 6A is an explanatory diagram of the placement position information management unit. FIG. 6B is a diagram showing placement position information. The placement position information management unit 34 obtains placement position information D2 indicating the position and height of the product Wa (loading mountain) loaded on the placement surfaces 24a to 24c. For example, the placement position information management unit 34 divides the placement surfaces 24a to 24c into vertical and horizontal matrices as shown in FIG. 6A, and each division b11 as shown in FIG. 6B. Information indicating the height h for each of .about.bmn (m, n is an arbitrary natural number) is obtained, and the placement position information D2 associated with each segment b11 to bmn is converted to absolute coordinates. The placement position information D2 is stored in the storage unit 30. The placement position information management unit 34 updates the placement position information D2 when the transport device 2 transports the product Wa to the placement surfaces 24a to 24c.

  The operation of the placement position information management unit 34 will be described. When the transport device 2 transports the product Wa to the mounting surfaces 24a to 24c, the mounting position information management unit 34 transports the positions (eg, coordinates) of the mounting surfaces 24a to 24c of the transport destination of the Wa to be transported, and the transport. Information on the size of the product Wa to be performed in the horizontal direction (X direction, Y direction) and the thickness of the product Wa is acquired. Such information is acquired from the conveyance program Pt or the machining program Pm. The size of the product Wa in the horizontal direction is, for example, the minimum rectangular size in which the product Wa can be accommodated regardless of the shape of the product Wa (the portion indicated by a two-dot chain line in FIG. 6A) in order to simplify processing. (A hatched portion in FIG. 6A). Subsequently, the placement position information management unit 34 adds the thickness of the product Wa to the height H of the sections b11 to bmn where portions overlapping in a plane with respect to the position where the product Wa is transported are placed. The position information D2 is updated. In the example shown in FIG. 6A, the placement position information management unit 34 updates the placement position information D2 by adding the thickness of the product Wa to each height H of the sections b11 to b43. .

  In addition, management of the height of the product Wa stacked on the placement surfaces 24a to 24c by the placement position information management unit 34 described above is an example, and the present invention is not limited to this example, and other modes may be used. For example, the transport system 1 includes a sensor that measures the height of a product Wa (loading mountain) loaded on the placement surfaces 24a to 24c, and the placement position information management unit 34 is based on the measurement result of the sensor. You may obtain | require mounting position information D2 which shows the position and height of the product Wa loaded on the mounting surfaces 24a-24c.

  The placement unit control unit 35 in FIG. 1 individually controls the heights of the placement surfaces 24a to 24c. The placement unit control unit 35 controls the heights of the placement surfaces 24a to 24c by controlling the elevation drive units 25a to 25c. In the present embodiment, when the product Wa is loaded on the placement surfaces 24a to 24c or the placement surfaces 24a to 24c in the target placement portion X, other than the target placement portion X with respect to the upper surface of the product Wa. When the product Wa is loaded on the placement surfaces 24a to 24c or the placement surfaces 24a to 24c of the placement portions 3a to 3c, the placement portion control unit 35 is configured to lower the upper surface of the product Wa. The elevating drive units 25a to 25c are controlled. Moreover, in this embodiment, when the conveying apparatus 2 conveys the product Wa to the target placement unit X, the placement unit control unit 35 places the placement units 3a to 3c on all the placement units 3a to 3c other than the target placement unit X. The raising / lowering drive parts 25a-25c and the conveying apparatus 2 are controlled so that the surface 24a-24c may be lowered | hung with respect to the mounting surfaces 24a-24c in the target mounting part X. In this case, it can suppress by simple control that the conveying apparatus 2 interferes with the mounting parts 3a-3c or the products Wa stacked on the mounting parts 3a-3c.

  In the present embodiment, the placement unit controller 35 first controls the heights of the placement surfaces 24a to 24c to a predetermined height H1 (see FIG. 9A) so that the transport device 2 can perform the target placement. When the product Wa is transported to the part X, the placement surfaces 24a to 24c other than the target placement part X are controlled to be lowered by a predetermined lowering amount L1, and the parts other than the target placement part X are controlled. The mounting surfaces 24a to 24c are controlled to a predetermined height H2. When the conveying device 2 conveys the product Wa to the target placement portion X, the lowering amount L1 is determined by the holding portion 11 on the placement surfaces 24a to 24c on the placement portions 3a to 3c other than the target placement portion X or the placement thereof. When the product Wa is loaded on the placement surfaces 24a to 24c, an amount that does not interfere with the upper surface of the product Wa (hereinafter, also simply referred to as “interference of the holding portion”) (hereinafter, simply “the holding portion does not interfere with”). May be referred to as “amount”). When the descending amount L1 is set in advance, it is not necessary to calculate the descending amount L1 each time, so that the processing of the transport system 1 can be simplified. For example, the descending amount L1 is set to a value equal to or greater than the maximum height of the product Wa loaded on the placement surfaces 24a to 24c.

  Next, a work transfer method according to the present embodiment (hereinafter referred to as “transfer method”) will be described based on the operation of the transfer system 1 of the present embodiment. FIG. 7 is a flowchart showing the operation of the transport system. 8 and 9 are diagrams illustrating the operation of the transport system. In addition, the following description is an example and does not limit the conveying method of this embodiment. Further, in the following description, the description of the above-described portions is omitted or simplified as appropriate.

  In the transport method of the present embodiment, in step S1 of FIG. 7, the product Wa is placed on the placement surfaces 24a to 24c or the placement surfaces 24a to 24c in the target placement portion X of any one of the placement portions 3a to 3c. Is mounted on the mounting surfaces 24a to 24c or the mounting surfaces 24a to 24c of the mounting units 3a to 3c other than the target mounting unit X on the upper surface of the product Wa. If there is, the elevating drive units 25 a to 25 c and the transport device 2 are controlled so that the upper surface of the product Wa is lowered and the product Wa is transported to the target placement unit X.

  First, the processing apparatus M (see FIG. 2) performs laser processing on the workpiece W to form a plurality of products Wa. The plurality of products Wa are carried out from the processing apparatus M to the carry-in / out area AR1. Each of the plurality of products Wa is transported to the target placement part X (any one of the placement parts 3 a to 3 c) by the transport device 2. The product Wa is transported by the transport device 2 under the control of the control unit C. In the transport of the product Wa by the transport device 2, first, as shown in FIG. 8A, the X moving body 19 and the Y moving body 14 are controlled by the X axis control unit 32a and the Y axis control unit 32b, respectively. Move to a predetermined position. At the predetermined positions of the X moving body 19 and the Y moving body 14, the position of the holding unit 11 is directly above the target product Wa to be attracted by the holding unit 11. Subsequently, the Z moving body 20 is lowered to a predetermined position under the control of the Z-axis control unit 32c. This position is set to a position where the holding unit 11 can suck the product Wa at a predetermined position of the holding unit 11. Subsequently, the holding unit 11 sucks and holds a predetermined product Wa at a predetermined position in the holding unit 11 under the control of the holding unit control unit 32d. Subsequently, the Z moving body 20 rises.

  Subsequently, as shown in FIG. 8B, the X moving body 19 and the Y moving body 14 move to predetermined positions under the control of the X axis control unit 32a and the Y axis control unit 32b, respectively. At the predetermined positions of the X moving body 19 and the Y moving body 14, the position of the product Wa held by the holding unit 11 is directly above the position of the transport destination of the product Wa. For example, in the example of FIG. 8B, at the predetermined positions of the X moving body 19 and the Y moving body 14, the position of the product Wa held by the holding portion 11 is loaded on the placement surface 24b in the target placement portion X. Directly above the product Wa.

  Subsequently, as illustrated in FIG. 9A, the placement surface 24 a in all the placement units 3 a and 3 c other than the target placement unit X (the placement unit 3 b) is controlled by the placement unit control unit 35. When the product Wa is stacked on the 24c or the mounting surfaces 24a and 24c, the product Wa is stacked on the mounting surface 24b of the target mounting portion X or the mounting surface 24b with respect to the upper surface of the product Wa. If so, it moves so that the upper surface of the product Wa is lowered. First, the determination unit 33 specifies the mounting surface 24b in the target mounting unit X and the mounting surfaces 24a and 24c in the mounting units 3a and 3c other than the target mounting unit X. Subsequently, the placement unit control unit 35 performs control so that the placement surfaces 24a and 24c of all the placement units 3a and 3c other than the target placement unit X are lowered by a predetermined lowering amount L1. Then, the heights of the placement surfaces 24a and 24c in the placement portions 3a and 3c other than the target placement portion X are controlled to a predetermined height H2. In addition, the height of each mounting surface 24a-24c is controlled to height H1 by the mounting part control part 35 in the step before the conveying apparatus 2 conveys the product Wa to the mounting surfaces 24a-24c. .

  Subsequently, in the transport method of the present embodiment, the transport device 2 transports the product Wa to the placement surfaces 24a to 24c in the target placement portion X in step S2 of FIG.

  For example, as shown in FIG. 9B, the Z moving body 20 is lowered to a predetermined position under the control of the Z-axis control unit 32c. The predetermined position is set to a position where the product Wa held by the holding unit 11 can be placed on the placement surface 24b of the target placement unit X or the upper surface of the product Wa stacked on the placement surface 24b. Is done. At this time, as described above, the Z-axis control unit 32c corrects the movement amount of the Z moving body 20 in accordance with the placement surface 24b or the height of the product Wa stacked on the placement surface 24b. Subsequently, the holding unit 11 releases the adsorption of the product Wa under the control of the holding unit control unit 32d. Thereby, the product Wa is placed on the placement surface 24b in the target placement portion X or the upper surface of the product Wa stacked on the placement surface 24b.

  By the way, when the transport device 2 transports the product Wa to the placement surface 24b in the target placement portion X, the placement surfaces 24a and 24c move (elevate) as shown by a two-dot chain line in FIG. 9B. Otherwise, the holding unit 11 interferes with the product Wa stacked on the mounting unit 3c. In the present embodiment, when the product Wa is loaded on the placement surfaces 24a to 24c or the placement surfaces 24a to 24c in the standard placement portion X, other than the target placement portion X with respect to the upper surface of the product Wa. When the product Wa is loaded on the placement surfaces 24a to 24c or the placement surfaces 24a to 24c of the placement portions 3a to 3c, the upper surface of the product Wa is lowered and the product Wa is set to the target placement portion X. Since the elevating drive units 25a to 25c and the transport device 2 are controlled so as to be transported to each other, the interference of the transport device 2 can be easily and reliably suppressed.

  Conventionally, when the transport device 2 places the product Wa on the placement surfaces 24a to 24c or the product Wa stacked on the placement surfaces 24a to 24c, the product Wa is dropped from a relatively distant (high) position. Therefore, the product Wa may be placed (loaded) on the placement surfaces 24a to 24c. In this case, the load of the product Wa may collapse, the position of the placed product Wa may be displaced, and the like. In the present embodiment, when the transport device 2 transports the product Wa to the target mounting portion X, the mounting surfaces 24a to 24c other than the target mounting portion X are controlled as described above. On the other hand, the product Wa by the holding part 11 can be performed at a relatively close position. Thereby, the above-described collapse of the product Wa, displacement of the placed product Wa, and the like can be suppressed.

  Subsequently, as shown in FIG. 10, the Z moving body 20 is raised to a predetermined position under the control of the Z-axis control unit 32c. And the conveying apparatus 2 and the mounting parts 3a-3c repeat the operation | movement shown in FIGS. 8-10, and the some product Wa is sorted into the mounting surfaces 24a-24c in the mounting parts 3a-3c. Be transported.

  As described above, according to the transport system 1 and the transport method of the present embodiment, the transport device 2 can transport the product Wa to the plurality of placement units 3a to 3c, and the transport device 2 mounts the product Wa. When transporting to the placement units 3a to 3c, it is possible to effectively suppress the transport device 2 from interfering with the placement units 3a to 3c or the product Wa placed on the placement units 3a to 3c.

  In addition, in this embodiment, although the conveyance system 1 showed the example provided with the above-mentioned mounting parts 3a-3c, it is not limited to this example, Another structure may be sufficient. For example, the number of placement units is not limited to three, and may be two, or four or more. Further, for example, at least one of the plurality of placement units 3 a to 3 c may not include the wheel 23. In addition, for example, the plurality of placement units 3a to 3c have been illustrated as being arranged in a row, but the placement units may be arranged in two or more rows.

  Moreover, in this embodiment, when the conveyance apparatus 2 conveys the product Wa to the target placement part X (placement part 3b), the control part C performs all the operations other than the target placement part X (placement part 3b). Although the example which controls the mounting surfaces 24a and 24c in the mounting units 3a and 3c to be lowered with respect to the mounting surface 24b in the target mounting unit X has been shown, the present invention is not limited to this example, and other modes But you can. FIG. 11 is a diagram illustrating a transport system 1A according to the first modification. For example, like the transport system 1A in FIG. 11, when the transport device 2 transports the product Wa to the target placement unit X (placement unit 3b), the control unit C (see FIG. 1) The mounting surface 24b may be controlled to be raised with respect to the mounting surfaces 24a and 24c in all the mounting units 3a and 3c other than the target mounting unit X. In this case, since only the mounting surface 24b in the target mounting portion X moves up and down, the lifting operation of the mounting surfaces 24a to 24c can be reduced.

  Moreover, in this embodiment, although the mounting parts 3a-3c showed the example which has the some wheel 23 (refer FIG. 1), the mounting parts 3a-3c do not need to be equipped with the wheel 23. FIG. FIG. 12 is a diagram illustrating a transport system 1B according to a second modification. For example, like the conveyance system 1B of FIG. 12, the placement units 3 a to 3 c may be fixed to the floor surface F without the wheels 23. Moreover, in this conveyance system 1B, as for mounting part 3a-3c, the part containing mounting surface 24a-24c is detachable. In this case, the placement surfaces 24a to 24c can be moved with a simple configuration.

  In the present embodiment, the placement unit controller 35 first controls the heights of the placement surfaces 24a to 24c to a predetermined height H1, and the transport device 2 controls the target placement unit X (the placement unit 3b). ), When the product Wa is conveyed, the placement control unit 35 moves the placement surfaces 24a and 24c of the placement units 3a and 3c other than the target placement unit X with a predetermined lowering amount L1. Although the example of lowering and controlling the placement surfaces 24a and 24c in the placement parts 3a and 3c other than the target placement part X to the predetermined height H2 is shown, the present invention is not limited to this example, and other aspects But you can.

  FIG. 13 is a diagram illustrating a transport system 1C according to a third modification. For example, like the conveyance system 1C of FIG. 13, the placement unit control unit 35 controls the heights of the placement surfaces 24a to 24c in the placement units 3a to 3c to different heights H3 to H5, and When the transport device 2 transports the product Wa to the target placement unit X, the placement unit control unit 35 sets the placement surface 24a to 24c of the target placement unit X or the product Wa to the placement surface 24a to 24c. When loaded, the product Wa is loaded on the placement surfaces 24a to 24c or the placement surfaces 24a to 24c of the placement portions 3a to 3c other than the target placement portion X on the upper surface of the product Wa. If it is, the upper surface of the product Wa may be controlled to be lower. In this case, as shown in FIG. 13, the heights H3 to H5 of the mounting surfaces 24a to 24c are set so as to gradually increase or decrease in the direction in which the mounting surfaces 24a to 24c are arranged (X direction). May be. For example, in the example shown in FIG. 13, since the heights H4 and H5 of the placement surfaces 24b and 24c are set lower than the height H3 of the placement surface 24a, the transport device 2 transports the product Wa. The operation (movement amount) of the mounting surfaces 24b and 24c at the time can be reduced, and as a result, the conveyance time can be shortened. For example, as shown in FIG. 13, when the target placement part X is the placement part 3a, when the transport device 2 transports the product Wa to the target placement part X, the placement surface 24b in the placement parts 3b and 3c. , 24c need not be lowered, so that the operation (movement amount) of the placement surfaces 24a to 24c can be reduced.

  Moreover, in this embodiment, when the conveying apparatus 2 conveys the product Wa to the target placement unit X, the placement unit control unit 35 places the placement surface 24a in the placement units 3a to 3c other than the target placement unit X. Although an example in which ˜24c is controlled to be lowered by a preset lowering amount L1 is shown, it is not limited to this example, and other modes may be used. For example, when the transport device 2 transports the product Wa to the target placement unit X, the amount of lowering that lowers the placement surfaces 24a to 24c in the placement units 3a to 3c other than the target placement unit X is set in advance. The lowering amount L1 may not be required. For example, the amount of lowering may be a variable amount that is set each time the transport device 2 transports the product Wa to the target placement unit X. For example, the lowering amount may be set to an amount that does not interfere with the holding unit 11 at a predetermined timing based on the placement position information D2.

[Second Embodiment]
A second embodiment will be described. In the present embodiment, the same components as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof is omitted or simplified.

  FIG. 14 is a diagram illustrating a transport system 1D according to the second embodiment. In the transport system 1D according to the present embodiment, when the transport device 2 transports the product Wa to the target placement unit X, the control unit CD is placed in the placement units 3a to 3e arranged next to the target placement unit X. The placement surfaces 24a to 24e are controlled to be lowered with respect to the placement surfaces 24a to 24e in the target placement portion X.

  The transport system 1D is different from the transport system 1 of the first embodiment in the placement units 3a to 3e and the control unit CD, and other configurations are the same as those of the first embodiment.

  The transport system 1D includes a plurality of placement units 3a to 3e. The placement units 3d and 3e have the same configuration as the placement units 3a to 3c of the first embodiment. The placement units 3a to 3e are arranged in the X direction in this order. The placement units 3a to 3e are respectively arranged at predetermined positions. The placement units 3a to 3e include placement surfaces 24a to 24e and elevation drive units 25a to 25e, respectively.

  The control unit CD includes a storage unit 30, a communication unit 31, a transport device control unit 32, a determination unit 33D, a mounting position information management unit 34, and a mounting unit control unit 35D. The memory | storage part 30, the communication part 31, the conveying apparatus control part 32, and the mounting position information management part 34 are the same as that of 1st Embodiment.

  The determination unit 33D specifies the target placement unit X and the placement units 3a to 3e (hereinafter referred to as “adjacent placement unit XA”) arranged next to the target placement unit X. Similar to the determination unit 33 of the first embodiment, the determination unit 33D specifies the target placement unit X and the adjacent placement unit XA based on the transport program Pt and the placement unit information D1.

  The placement unit controller 35D controls the heights of the placement surfaces 24a to 24e by controlling the elevation drive units 25a to 25e. When the transport device 2 transports the product Wa to the target placement unit X, the placement unit control unit 35D includes an adjacent placement unit XA (placement unit 3b, 3d) disposed next to the target placement unit X. The placement surfaces 24a to 24e (the placement surfaces 24b and 24d in the example of FIG. 14) are lowered with respect to the placement surfaces 24a to 24e (the placement surface 24c in the example of FIG. 14) of the target placement portion X. In addition, the elevation drive units 25a to 25e are controlled.

  Next, the transport method according to the present embodiment will be described based on the operation of the transport system 1D of the present embodiment. FIG. 15 is a flowchart showing the operation of the transport system of the present embodiment. FIG. 16 is a diagram illustrating the operation of the transport system of the present embodiment.

  In the transport method of the present embodiment, when the transport device 2 transports the product Wa to the target placement unit X in step S4 of FIG. 15, the control unit CD uses the placement surfaces 24a to 24e in the adjacent placement unit XA. Then, control is performed so as to lower the placement surfaces 24a to 24e of the target placement portion X.

  For example, as shown in FIG. 16A, the X moving body 19 and the Y moving body 14 move to predetermined positions under the control of the X axis control unit 32a and the Y axis control unit 32b, respectively. At these predetermined positions, the position of the product Wa held by the holding unit 11 is above the product Wa stacked on the placement surface 24c in the target placement part X. At this time, the heights of the placement surfaces 24a to 24e are controlled to the height H1 as in the first embodiment by the control of the placement portion control unit 35D.

  Subsequently, as illustrated in FIG. 16B, the placement surfaces 24b and 24d in the adjacent placement unit XA are controlled with respect to the placement surface 24c of the target placement unit X by the control of the placement unit control unit 35D. Descend. In this case, first, the determination unit 33D specifies the target placement unit X (the placement unit 3c in FIG. 16B) and the adjacent placement unit XA (the placement units 3b and 3d in FIG. 16B). . Subsequently, the placement unit controller 35D controls the placement surfaces 24b and 24d in the adjacent placement unit XA so as to descend by a predetermined lowering amount L1, and sets the heights of the placement surfaces 24b and 24d. The height is controlled to the height H2.

  Subsequently, in the transport method of the present embodiment, the transport device 2 transports the product Wa to the placement surfaces 24a to 24e in the target placement portion X in the same step S2 as in the first embodiment. Then, when the transport device 2 and the placement units 3a to 3e repeat the above-described operation, the plurality of products Wa are sorted and transported to the placement surfaces 24a to 24e in the placement units 3a to 3e.

  As described above, in the transport system 1D and the transport method according to the present embodiment, when the transport device 2 transports the product Wa to the target placement portion X, the control unit CD places the placement surface 24b of the adjacent placement portion XA. , 24d is controlled to be lowered with respect to the placement surface 24c of the target placement portion X. In this case, since only the mounting surfaces 24b and 24d of the adjacent mounting portion XA are moved up and down, the lifting operation of the mounting surfaces 24a to 24e can be reduced.

  In addition, the magnitude | size (length of a X direction) of the holding | maintenance part 11 of this embodiment is set so that it may not straddle the 3 or more mounting surfaces 24a-24e. In other words, the length in the X direction of the holding portion 11 of the present embodiment is set to be equal to or less than the length in the X direction of the two placement surfaces 24a to 24e. For this reason, in this embodiment, the adjacent mounting part XA is set to the mounting parts 3a to 3e adjacent to the target mounting part X. For example, when the length of the holding unit 11 in the X direction is set to be equal to or longer than the length of the three or more placement surfaces 24a to 24e in the X direction, the transport device 2 transports the product Wa to the target placement unit X. When determining, the determination unit 33 identifies the placement units 3a to 3e arranged at a distance equal to or less than the length of the transport device 2 from the target placement unit X, and descends the placement units 3a to 3e identified by the determination unit 33. You may control to make it.

[Third Embodiment]
A third embodiment will be described. In the present embodiment, the same components as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof is omitted or simplified.

  FIG. 17 is a diagram illustrating a transport system 1E according to the third embodiment. In the transport system 1E according to the present embodiment, when the transport device 2 transports the product Wa to the target placement unit X, the holding unit 11 places the placement surface 24a on the placement units 3a to 3c other than the target placement unit X. -24c or when the product Wa is loaded on the placement surfaces 24a-24c, the control unit CE changes the interference placement surfaces 24a-24c to the target placement portion X when the product Wa interferes with the upper surface of the product Wa. It controls so that it may descend | lower with respect to mounting surface 24a-24c.

  The transport system 1E is different from the transport system 1 of the first embodiment in the control unit CE, and the other configuration is the same as that of the first embodiment.

  The control unit CE includes a storage unit 30, a communication unit 31, a transport device control unit 32, a determination unit 33E, a mounting position information management unit 34, and a mounting unit control unit 35E. The memory | storage part 30, the communication part 31, the conveying apparatus control part 32, and the mounting position information management part 34 are the same as that of 1st Embodiment.

  In the determination unit 33E, when the transport device 2 transports the product Wa to the target mounting unit X, the holding unit 11 mounts the mounting surfaces 24a to 24c on the mounting units 3a to 3c other than the target mounting unit X or the mounting surfaces thereof. When the product Wa is loaded on the surfaces 24a to 24c, it is determined whether or not the product Wa interferes with the upper surface of the product Wa (hereinafter referred to as “interference of the holding portion”).

  In the present embodiment, the determination unit 33E determines that the holding unit 11 has the target placement based on the holding position information D3 of the product Wa in the holding unit 11 and the placement position information D2 of the product Wa on the placement surfaces 24a to 24c. When the product Wa is loaded on the placement surfaces 24a to 24c or the placement surfaces 24a to 24c other than the part X, it is determined whether or not the product Wa interferes with the upper surface of the product Wa. FIG. 18 is an explanatory diagram of the determination unit. The determination unit 33E obtains the position P1 of the holding unit 11 when the transport device 2 illustrated in FIG. 18 places the product Wa on the target placement unit X. The position P1 of the holding unit 11 is, for example, the absolute coordinates (Xa, Ya, Za), (Xb, Yb, Zb), (Xc, Yc, Zc), (Xd, Yd, Zd). The determination unit 33E holds the position P1 of the holding unit 11 with information (X2, Y2, Z2 in FIG. 4) indicating the positions of the X moving body 19, the Y moving body 14, and the Z moving body 20 in the transport program Pt. This is calculated based on the size of the unit 11. Subsequently, the determination unit 33E identifies the placement units 3a to 3c other than the target placement unit X and the target placement unit X, similarly to the determination unit 33 of the first embodiment. Subsequently, the determination unit 33E determines that the position P1 of the holding unit 11 is a placement other than the target placement unit X based on the position P1, the placement unit information D2, and the placement position information D2 of the holding unit 11. When the product Wa is loaded on the positions of the parts 3a to 3c or on the placement parts 3a to 3c, it is determined whether or not the product Wa is included in the position of the upper surface of the product Wa. Thereby, the determination part 33E determines the presence or absence of the interference of the said holding | maintenance part 11. FIG. The determination unit 33E specifies the placement units 3a to 3c with the interference of the holding unit 11 based on the determination result.

  When the placement unit control unit 35E determines that the determination unit 33E interferes, the placement surface 24a to 24c in the placement units 3a to 3c specified by the determination unit 33E is used as the placement surface of the target placement unit X. It controls so that it may descend | fall with respect to 24a-24c.

  Next, the transport method according to the present embodiment will be described based on the operation of the transport system 1E of the present embodiment. FIG. 19 is a flowchart showing the operation of the transport system of this embodiment. FIG. 20 is a diagram illustrating the operation of the transport system of the present embodiment.

  In the transport method of the present embodiment, in step S5 of FIG. 19, the determination unit 33E causes the holding unit 11 to place the placement surfaces 24a to 24c or the placement surface 24a in the placement portions 3a to 3c other than the target placement portion X. When the product Wa is loaded on ˜24c, it is determined whether or not the product Wa interferes with the upper surface of the product Wa. In the determination unit 33E, as described above, the holding unit 11 performs the target mounting based on the holding position information D3 of the product Wa in the holding unit 11 and the mounting position information D2 of the product Wa on the mounting surfaces 24a to 24c. When the product Wa is stacked on the placement surfaces 24a to 24c other than the placement portion X or the placement surfaces 24a to 24c, it is determined whether or not the product Wa interferes with the upper surface of the product Wa. The determination unit 33E performs this determination when the transport device 2 transports the product Wa to the target placement unit X. The determination unit 33E determines, for example, before the Z moving body 20 is lowered. For example, in the case of the example illustrated in FIG. 20A, the determination unit 33E determines that the product Wa stacked on the mounting surface 24c interferes, and loads the mounting surface 24a and the mounting surface 24a. The determined product Wa is determined not to interfere.

  If the determination unit 33E determines that there is no interference (NO in step S5), the transport device 2 transports the product Wa to the placement surface 24b in the target placement unit X in step S2 similar to the first embodiment. In this case, the placement surfaces 24a to 24c do not descend.

  If the determination unit 33E determines that interference occurs (YES in step S5), in step S6, the determination unit 33E specifies the placement units 3a to 3c other than the target placement unit X that interferes with the holding unit 11. For example, in the case of the example shown in FIG. 20A, the determination unit 33E specifies the placement surface 24c as the placement units 3a to 3c other than the target placement unit X that interferes with the holding unit 11.

  Subsequently, in step S <b> 7 of FIG. 19, the placement unit controller 35 </ b> E lowers the placement surfaces 24 a to 24 c specified by the determination unit 33 </ b> E with respect to the placement surfaces 24 a to 24 c of the target placement unit X. To control. For example, in the example illustrated in FIG. 20B, the placement surface 24c specified by the determination unit 33E is controlled by the placement unit control unit 35E with respect to the placement surfaces 24a to 24c in the target placement unit X. And descend. Subsequently, in step S2 similar to the first embodiment, the transport device 2 transports the product Wa to the placement surface 24b of the target placement portion X.

  As described above, in the transport system 1E and the transport method according to the present embodiment, only the mounting surfaces 24a to 24c determined to interfere with each other by the determination unit 33E are lifted and lowered, so that the lifting operation of the mounting surfaces 24a to 24c is reduced. be able to. In the present embodiment, the determination unit 33E determines the interference of the holding unit 11 based on the holding position information D3 and the placement position information D2. In this case, since the determination unit 33E determines interference based on the holding position information D3 and the placement position information D2, the determination unit 33E can accurately determine the interference.

  The technical scope of the present invention is not limited to the aspects described in the above-described embodiments. One or more of the requirements described in the above embodiments and the like may be omitted. In addition, the requirements described in the above-described embodiments and the like can be combined as appropriate. In addition, as long as it is permitted by law, the disclosure of all documents cited in the above-described embodiments and the like is incorporated as a part of the description of the text.

  For example, in the above-described embodiment, the example in which the transport device 2 transports the product Wa after processing the workpiece W to the placement units 3a to 3c is shown, but the present invention is not limited to this example. For example, the conveyance apparatus 2 may be configured to transport the workpiece W before processing to the placement units 3a to 3c, and the placement units 3a to 3c load the workpiece W before processing.

1, 1A-1E ... Work transfer system (transfer system)
2 ... Conveying devices 3a to 3e ... Placement unit 11 ... Holding unit 23 ... Wheels 24a-24e ... Placement surfaces 25a-25e ... Lifting drive unit 32 ... Conveying device Control unit (control unit)
33, 33D, 33E ... determination unit (control unit)
34: Mounting position information management unit (control unit)
35... Placement unit control unit (control unit)
C, CD, CE ... Control unit F ... Floor W ... Work Wa ... Product (work)
Wb: Remaining material (work)
X: Target placement portion XA ... Adjacent placement portion D1 ... Placement portion information D2 ... Placement position information D3 ... Holding position information L1 ... Lowering amount

Claims (10)

A holding device for holding the workpiece, a transfer device for transferring the workpiece by moving the holding portion in the horizontal direction and moving it up and down; and
A plurality of adjacent ones, each having a placing surface on which a work carried by the conveying device is loaded, and a placing unit having a lifting drive unit that raises and lowers the placing surface;
When a work is loaded on the placement surface or the placement surface of any one of the plurality of placement units, the front of the workpiece other than the target placement unit When the work is loaded on the placement surface or the placement surface in the placement section, the upper surface of the work is lowered, and the lift drive unit and the transport so as to transport the work to the target placement section And a control unit that controls the apparatus.   When the transport device transports a workpiece to the target placement unit, the control unit is configured to place the placement surface in all the placement units other than the target placement unit in the previous placement in the target placement unit. The workpiece transfer system according to claim 1, wherein the workpiece transfer system is controlled to be lowered with respect to the surface.   When the transport device transports a workpiece to the target placement unit, the control unit is configured to place the placement surface in the target placement unit in the previous placement units other than the target placement unit. The workpiece transfer system according to claim 1, wherein the workpiece transfer system is controlled to be raised with respect to the surface.   When the transport device transports a workpiece to the target placement unit, the control unit moves the previous placement surface in the previous placement unit disposed next to the target placement unit to the front in the target placement unit. The workpiece transfer system according to claim 1, wherein the workpiece transfer system is controlled to be lowered with respect to the writing surface. The holding unit conveys the workpiece to the target mounting unit in a state spanning the target mounting unit and the mounting unit other than the target mounting unit,
When the transport device transports the workpiece to the target placement unit, the control unit loads the workpiece on the placement surface in the placement unit other than the target placement unit or on the placement surface. A determination unit for determining whether or not to interfere with the upper surface of the workpiece,
When it is determined by the determination unit that interference occurs, control is performed so that the mounting surface in the mounting unit specified by the determining unit is lowered with respect to the mounting surface in the target mounting unit. Item 2. The workpiece transfer system according to Item 1.   The determination unit is based on the holding position information of the workpiece in the holding unit and the mounting position information of the workpiece on the mounting surface in the previous mounting unit, and the holding unit is described above other than the target mounting unit. The workpiece conveyance system according to claim 5, wherein when a workpiece is loaded on the placement surface or the placement surface of the placement portion, it is determined whether or not the workpiece interferes with the upper surface of the workpiece. The control unit controls to lower the mounting surface in the mounting unit other than the target mounting unit based on a preset lowering amount,
When the transport device transports the workpiece to the target placement unit, the lowering amount is determined by the holding unit loaded on the placement surface or the placement surface of the placement unit other than the target placement unit. The workpiece conveyance system according to any one of claims 1 to 6, which is an amount that does not interfere with an upper surface of the workpiece when the workpiece is applied.   The workpiece transfer system according to any one of claims 1 to 7, wherein the placement unit includes a plurality of wheels and is capable of traveling on a floor surface.   The workpiece transfer system according to any one of claims 1 to 8, wherein a part including the mounting surface is detachable from the mounting unit. A holding device for holding the workpiece, a transfer device for transferring the workpiece by moving the holding portion in the horizontal direction and moving it up and down; and
Work transfer in a work transfer system comprising: a plurality of adjacently arranged mounting surfaces each having a work surface on which a work transported by the transport device is loaded; and a mounting unit having a lifting drive unit that lifts and lowers the mounting surface. A method,
When a work is loaded on the placement surface or the placement surface of any one of the plurality of placement units, the front of the workpiece other than the target placement unit When the work is loaded on the placement surface or the placement surface in the placement section, the upper surface of the work is lowered, and the lift drive unit and the transport so as to transport the work to the target placement section Controlling the apparatus.

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