JP6663708B2 - Transfer device and transfer method - Google Patents

Description

  The present invention relates to a transfer device and a transfer method.

  For assembly equipment that assembles products and processing equipment that performs predetermined processing on parts, multiple parts are supplied or collected in a single container from the viewpoint of improving work efficiency. To carry parts. In addition, when efficiently supplying and collecting such components, in order to supply and collect components as continuously as possible, a plurality of storage containers are continuously prepared, and the storage container and the outside of the storage container are prepared. It is common practice to transfer components to and from a provided component placement unit.

  As the storage container, for example, a flat storage container (hereinafter, referred to as a tray) provided with a plurality of storage portions capable of storing a plurality of components arranged in order on the same plane is employed. These trays are configured to be stackable in a plurality, and are supplied to an assembling apparatus, a processing apparatus, or the like as a group of stacked trays, or are transferred between different processes.

  As an apparatus for supplying components using such a tray, there is an apparatus described in Patent Document 1 or 2. In this apparatus, the stacked tray group is supplied, the trays of the tray group are separated one by one, and the components are transferred between the separated tray accommodating portion and the component transfer position provided outside the accommodating portion. The trays on which the components have been loaded and the components have been transferred are stacked again to form a tray group.

JP-A-06-127697 No.3012606

  The apparatus described in Patent Document 1 or 2 transfers a group of stacked containers (trays), separates and holds the uppermost tray, transfers components to the separated and held containers, and completes the transfer processing. Thereafter, the holding of the separated container (tray) is released, and the container is discharged. After the discharge is completed, the container at the top of the stacked container is separated and held again, and the component is transferred by performing the component transfer operation. For this reason, in this apparatus, during the container replacement operation, the components cannot be transferred, and the transfer efficiency may be reduced.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a technique for improving the efficiency of a component transfer operation on a tray held at a component transferable position.

The present invention is a transfer device for transferring the components between a transport area where a tray storing a plurality of components at predetermined intervals is transported and a component loading / unloading position, provided in the transport area, A first transport unit that transports the tray along the transport direction, a second transport unit that is provided in the transport area and transports the tray along the transport direction, and the first transport unit or the second transport A transfer unit that transfers the component between the tray held by a unit and the component loading / unloading position, and a control unit that controls the first transport unit, the second transport unit, and the transport unit When, wherein the transfer area comprises a range of movement capable of moving side by side two of said tray in the transporting direction, wherein the control unit, the first transport unit below said transfer unit Therefore, control of a transfer operation for causing the transfer unit to transfer the component between the one tray stopped and held and the component carry-in / out position, and during the transfer operation of the transfer unit And performing a holding operation for causing the second transport unit to hold the one tray and a releasing operation for releasing the holding of the tray to the first transport unit. It is characterized by the following.

The present invention is also a transfer method of a transfer device for transferring components between a transfer area in which a tray storing a plurality of components at predetermined intervals is transferred and a component loading / unloading position, wherein the transfer area In, a first transporting step of transporting the tray to a first transport unit on a transport surface along a transport direction, and in the transport area, the tray transported by the first transporting step along the transport direction. A second transfer step of transferring the second transfer unit on the transfer surface, and the transfer device between the tray held in the first transfer step or the second transfer step and the component loading / unloading position; And a transfer step performed between the first transfer step and the second transfer step, wherein the transfer step includes transferring the component to the first transfer unit. One Holding one side of the tray that is the upstream side of the tray and transporting the tray to the second transport unit side, and causing the second transport unit to hold the other side of the tray that is the downstream side in the transport direction, It passes receiving said tray to said second conveying unit from the first conveyance unit, the first transport step, a first holding step of holding the tray, a first hold releasing step of releasing the retention of the tray, The second transporting step includes a second holding step of holding the tray, and a second holding release step of releasing the holding of the tray, wherein the delivery step is performed during the transfer of the component. Performing the first holding release step and the second holding step, or performing the second holding release step and the first holding step .

  ADVANTAGE OF THE INVENTION According to this invention, the efficiency of the component transfer operation with respect to the tray hold | maintained in the component transferable position can be improved.

FIG. 1 is a perspective view of a system using a transfer device according to an embodiment of the present invention. FIG. 3 is a perspective view of a transfer device. FIG. 2 is an exploded perspective view of the transfer device. FIG. 2 is an exploded perspective view of the transfer device. FIG. 3 is a perspective view of a transfer unit and a transport unit. The block diagram of a control unit. FIG. FIG. FIG. FIG. FIG. FIG.

  Hereinafter, exemplary embodiments of the present invention will be described with reference to the drawings. In each of the drawings, the same reference numerals indicate the same elements, and the up, down, left, and right directions with respect to the paper are used as the up, down, left, and right directions of the device or member in the present embodiment in the description of the text.

  FIG. 1 is a perspective view of a system S including a transfer device A according to an embodiment of the present invention. In FIG. 1, arrows X and Y indicate two directions that are horizontal and orthogonal to each other, and arrow Z indicates a vertical direction. The system S includes a component transfer unit (component loading / unloading position) PT, a transfer device A, and a transport device C, which are arranged side by side in a direction along arrow Y in the drawing. The component transfer unit PT is arranged adjacent to the transfer device A. The transfer device C is arranged on the opposite side of the component transfer unit PT with the transfer device A interposed therebetween and adjacent to the transfer device A.

  The outline of the operation of the system S will be described. The transfer device C supplies a tray T containing components P to a transfer device A, and the transfer device A transfers the components P from the tray T to the component transfer unit PT, and outputs The transporting device C collects the tray T that has become from the transfer device A. At this time, the component P is transferred from the transport device C disposed on the upstream side, which is one side of the transfer device A, to the downstream component transfer unit PT disposed on the other side of the transfer device A. It is transported via the transfer device A. The component S is supplied to the transfer device A by the transfer device C in a state of being stored in the tray T, taken out of the tray T by the transfer device A, and supplied to the downstream side. I can say.

  Note that the component transfer unit PT and the transport device C may each have a configuration capable of transferring the component P to and from the transfer device A and a configuration capable of transferring the tray T to and from the transfer device A. The present invention is not limited to the embodiment described below.

<Parts transfer unit PT>
The component transfer unit PT receives the component P from the transfer device A at a transfer position where the component P is transferred, and conveys or transfers the component P one by one to an assembly device or a processing device (not shown). This is a transfer unit that transports the components P one by one to a take-out position of the components P which is a carry-out position to the apparatus A, and is provided with a component carry-in / out position. The component transfer unit PT can be exemplified by, for example, a belt conveyor that mounts and transfers the component P.

<Tray T>
As shown in the enlarged view of FIG. 2, the tray T handled by the present invention includes a housing portion Ts for housing the component P, and a flange-shaped protrusion Tt that protrudes outward from the periphery (upper edge) of the housing portion Ts. Are provided. The accommodation portion Ts is, for example, a bottomed cylindrical portion having a rectangular shape in a plan view. In the stacking trays T1 and T2 configured by stacking a plurality of trays T, the centers of the respective accommodation portions Ts are located on the same vertical line, and the corners of the respective protruding portions Tt are the accommodation portions Ts. Are stacked on each other on a vertical line different from the vertical line. When a plurality of trays T are stacked, a gap that is vertically separated is formed between the protruding portions Tt of the respective trays T.

<Transport device C>
FIG. 2 is a perspective view of the entire transfer device C. In the present embodiment, an automatic guided vehicle such as an AGV (Automatic Guided Vehicle) can be used as the transport device C. The transport device C includes a mounting section C1 on which a tray T described later is mounted, and a traveling section C2 below the mounting section C1. The transport device C can travel in a factory, for example, by the traveling unit C2, and can be moved appropriately and stopped adjacent to the transport device A. The transfer device C can mount a stacking tray T1 supplied to the transfer device A in a state where a plurality of trays T are stacked or a stacking tray T2 collected from the transfer device A in a state where a plurality of trays T are stacked. It is mounted on a suitable mounting section C1 and transported. The mounting section C1 includes a mounting surface on which the tray T is mounted, and a tray transfer mechanism C3 (for example, a slide moving mechanism) for transferring the stacking tray T1 or the stacking tray T2 described below.

  In the transport device C having the above configuration, for example, the stacking tray T1 can be mounted at a predetermined location in a factory, moved, and connected to one end of the transfer device A. After the connection, the transfer device C transfers the unprocessed stacked tray T1 from the mounting surface to the transfer device A side. After the transfer of the components P between the tray T and the component transfer unit PT by the transfer device A, the stacked tray T2 after the transfer processing is transferred from the transfer device A to the transfer device C. Surface, and can move within the factory and be transported to a predetermined location. In this embodiment, an example is described in which an AGV is employed as the transport device C. However, the present invention is not limited to this mode. For example, a work vehicle operated by a work vehicle may be used. The transfer of the tray T to and from the transfer device A may be performed by an operator.

<Transfer device A>
Referring to FIG. 1 again, the transfer device A will be described. The transfer device A is arranged adjacent to the component transfer unit PT. When the transfer device C is placed sideways on the transfer device A, the transfer device A is disposed between the component transfer unit PT and the transfer device C. In the present embodiment, one side of the transfer device A adjacent to the transport device C will be referred to as an upstream side, and the other side adjacent to the component transfer unit PT will be referred to as a downstream side in the following description.

  The transfer device A receives the stacked trays T1 in which the plurality of trays T1 are stacked from the transport device C, and transports the stacked trays T1 from the upstream side to the downstream side (from the receiving side of the stacked trays T1 to the component transfer unit PT side). The unit A1 and the stacking tray T2 on which the transfer-processed trays T are stacked are transferred from the downstream side to the upstream side (from the component transfer unit PT side to the transfer side of the stacking tray T2), and transferred to the transfer device C. And a collection unit A2. In the present embodiment, the supply unit A1 is disposed on the back side in the X direction of the transfer device A in FIG. Further, in this embodiment, the collection unit A2 is disposed on the near side in the X direction of the transfer device A in FIG. That is, the supply unit A1 and the collection unit A2 are arranged in parallel to the transport direction of the stacking trays T1 and T2 (Y direction in FIG. 1). The supply unit A1 and the collection unit A2 constitute a supply / collection block A3 in the transfer device A.

  The transfer apparatus A further includes a transport / transfer block A4 disposed above the supply / recovery block A3 in the Z direction on the downstream side (on the component transfer unit PT side). The transport / transfer block A4 transports the tray T from the supply unit A1 to the collection unit A2, and performs component transfer between the tray T and the component transport unit PT. The transfer / transfer block A4 includes a first transfer unit 200, a transfer unit 300, and a second transfer unit 400. The first transport unit 200 is disposed above the supply unit A1 on the downstream side (on the component transfer unit PT side) in the Z direction, and receives the tray T from the stack tray T1. The transfer unit 300 transfers the components P between the component transfer unit PT and the mounting portion of the components P in the tray T received by the first transport unit 200. The second transport unit 400 is disposed in the Z direction on the downstream side (on the component transfer unit PT side) of the collection unit A2, and delivers the tray T on which component transfer processing has been completed to the collection unit A2. When the transfer unit 300 continuously transfers the components P, the first transport unit 200 and the second transport unit 400 cooperate with each other in a direction orthogonal to the transport direction of the stacking trays T1 and T2 ( The tray T is transported in the direction X in FIG.

<Main frame 100>
The transfer device A includes a main body frame 100. The main body frame 100 is a base member that supports a supply / collection block A3 including a supply unit A1 and a collection unit A2, and a transport / transfer block A4.

  The main body frame 100 includes at least a main frame 101 formed in a rectangular shape in a plan view, and two portal sub-frames 102 and 103 extending upward from the main frame 101. These frames may be appropriately connected via a plurality of intermediate frames (not shown). The two gate-shaped sub-frames 102 and 103 are arranged at a predetermined interval in the Y direction on the downstream side in the longitudinal direction (Y direction) of the main frame 101, and a transport / transfer block A4 is arranged above them. Is done. Further, a supply / recovery block A3 is arranged between the gate-shaped inner space of the sub-frames 102 and 103 and the space above the main frame. Therefore, the main body frame 100 is a two-tiered frame structure in which the transport / transfer block A4 is arranged in the upper stage and the supply / collection block A3 is arranged in the lower stage.

<Supply / recovery block A3>
FIG. 3 is a partially exploded perspective view showing a state where the stacking trays T1 and T2 are not mounted in the transfer device A of FIG. In the main frame 101, a supply unit A1 and a collection unit A2 are arranged over substantially the entire area in the longitudinal direction (the direction of the arrow Y). As described above, in the present embodiment, the supply unit A1 and the recovery unit A2 of the supply / recovery block A3 are arranged in parallel along the Y direction in the drawing. In FIG. 3, the supply unit A1 is arranged on the back side in the X direction, and the collection unit A2 is arranged on the front side in the X direction. However, the present invention is not limited thereto. It may be arranged on the back side in the direction. In FIG. 3, the components denoted by the same reference numerals indicate that the same components are used as the components of the supply unit A1 and the recovery unit A2. Therefore, when the transfer unit 110 and the elevating unit 120 are arranged in the supply unit A1, the transfer unit 110 becomes a supply moving mechanism, and the tray elevating unit 120 becomes a supply elevating mechanism. When the transfer unit 110 is disposed in the collection unit A2, the transfer unit 110 functions as a discharge and movement mechanism, and the tray elevating unit 120 functions as a collection and elevating mechanism.

<Supply unit A1>
Hereinafter, the detailed configuration of the supply unit A1 will be described. FIG. 4 is an exploded perspective view in which components constituting the supply unit A1 and the recovery unit A2 are disassembled in detail. The supply unit A1 includes a transfer unit (supply moving mechanism) 110, a tray elevating unit (supply elevating mechanism) 120, and a stack tray receiving unit 130. The transfer unit 110 is attached to a predetermined position of the main frame 101 where the supply unit A1 is arranged. The tray elevating unit 120 and the stack tray receiving unit 130 are arranged inside the main frame 101 where the supply unit A1 is arranged, and inside a pair of transfer rails R of the transfer unit 110 described later. Further, the supply unit A1 has a tray supply standby position SA (see FIG. 3) for receiving the stacking tray T1 with the transfer device C at one of the positions, and is provided below the transfer / transfer block A4 and stacked. The tray preparation position RA (see FIG. 3) for preparing the tray T1 is set to the other position. The transfer unit 110 arranged in the supply unit A1 is arranged so as to be able to transfer the stacked trays T1 between the tray supply position SA and the tray preparation position RA. Further, the tray elevating unit 120 disposed in the supply unit A1 is disposed at the tray preparation position RA, supports and supports the stacked trays T1, and has the supply position provided at the tray preparation position RA and the transport / transfer block A4. It is arranged so that it can be transferred to and from the FA (see FIG. 3). Further, the stacked tray receiving unit 130 arranged in the supply unit A1 is arranged in the tray supply standby position SA.

<Transfer unit 110>
The transfer unit 110 includes a pair of transfer rails R, and a drive unit D including a drive motor for driving the transfer rails R and the like. The transfer rails R are arranged on the main frame 101 at intervals along the Y direction, and are arranged over substantially the entire main frame 101 in the Y direction. The drive unit D is disposed at a substantially central portion of the pair of transfer rails R in the Y direction in the drawing, and includes a drive force transmission mechanism such as a shaft connecting the drive motor and the transfer rails R. Thus, a pair of transfer rails R can be driven synchronously by one drive motor.

<Transport rail R>
The transfer rail R can be exemplified by a configuration including a mounting portion on which a tray is mounted, and a conveyor unit (moving body) having, for example, an endless belt capable of transporting the mounted work. However, the transfer rail R is not limited to the above-described embodiment. For example, a ball screw mechanism for moving a nut (moving body) formed on a mounting portion on which the tray is mounted along a ball screw, or a tray mounted thereon. A mechanism for moving a moving body connected to the mounting portion by an actuator such as an air cylinder may be employed.

<Tray lifting unit 120>
The tray elevating unit 120 includes a mounting portion 121 on which the tray T is mounted, and a moving mechanism 122 for moving the mounting portion 121 up and down. The placing section 121 is formed in a plate shape, and places a tray on the upper surface thereof. The moving mechanism 122 can employ a moving mechanism capable of stopping the mounting portion 121 at a predetermined position. Specifically, when the tray elevating unit 120 is disposed in the supply unit A1, the mounting unit 121 includes at least two positions, a tray preparation position RA and a tray supply position FA, which will be described later, and is set between them. There is no particular limitation as long as it can be stopped at many stop positions. For example, as the moving mechanism 122, an elevating mechanism using an air cylinder or a hydraulic cylinder, or an elevating mechanism using a ball screw or the like driven by a position controllable motor or the like can be exemplified.

<Laminated tray receiving unit 130>
The stacking tray receiving unit 130 includes a mounting portion 131 on which the stacking tray T1 or the stacking tray T2 is mounted, and a moving mechanism 132 for moving the mounting portion 131. The mounting portion 131 is composed of a pair of long members having a U-shaped cross section, and these long members are placed side by side and separated by a predetermined distance back to back, and are arranged along the longitudinal direction of the pair of transfer rails R. Is done.

  The moving mechanism 132 may be any mechanism that can stop the mounting portion 131 at a predetermined position. For example, the moving mechanism 132 is configured such that at least the upper surface of the mounting portion 131 is located above the transfer surface of the transfer rail R (a transfer position at which the stacking tray is transferred to and from the transfer device C) and the transfer of the transfer rail R is performed. Examples that can be stopped at a position below the surface can be given. Further, as the moving mechanism 132, an elevating mechanism using an air cylinder or a hydraulic cylinder, or an elevating mechanism using a motor or the like as a driving source, such as a ball screw, can be exemplified.

<Recovery unit A2>
The collection unit A2 includes a transfer unit (discharge movement mechanism) 110, a tray elevating unit (collection elevating mechanism) 120, and a stack tray receiving unit 130. The collection unit A2 is disposed at a predetermined position on the main frame 101, and a tray discharge standby position ESA (see FIG. 3) for receiving the stacked trays T2 with the conveyance device C is set to one of the collection units A2. The tray discharge position EA (see FIG. 3) below the transfer block A4 for preparing to discharge the stacking tray T2 is set to the other position. The transfer unit 110 arranged in the collection unit A2 is arranged so as to be able to transfer the stacked trays T2 between the tray discharge position EA and the tray discharge standby position ESA.

  The tray elevating unit 120 disposed in the collection unit A2 is disposed at the tray discharge position EA, supports and supports the stacked trays T2, and has a collection position provided at the tray discharge position EA and the transport / transfer block A4. It is arranged so that it can be transferred to and from a PA (see FIG. 3). As the moving mechanism 122 of the tray elevating unit 120 arranged in the collection unit A2, a moving mechanism capable of stopping the mounting portion 121 at a predetermined position can be adopted. Specifically, the mounting portion 121 is not particularly limited as long as it can be stopped at at least two stop positions set between the collecting position PA and the tray discharge position EA which will be described later. Absent. Further, the stacked tray receiving unit 130 disposed at the tray discharge standby position ESA set in the collection unit A2 supports the stacking tray T2 so as to be able to move up and down.

  Each configuration of the transfer unit 110, the tray elevating unit 120, and the stack tray receiving unit 130 included in the collection unit A2 employs the same configuration as the configuration employed in the supply unit A1 described above. The configurations of the transfer unit 110, the transfer rail R, the tray elevating unit 120, and the stack tray receiving unit 130 are the same as those described for the supply unit A1, and a description thereof will be omitted.

<Guide member>
In addition, the supply unit A1 includes a guide member 140 extending in the Z direction at the tray supply standby position SA in order to regulate the position of the stacking tray T1 in the horizontal direction (XY direction). The guide members 140 may be arranged at least in the vicinity of four corners of the rectangular stacked tray T1. The trays T1 and T2 may be tilted inside the sub-frame 103 where the tray preparation position RA and the tray discharge position EA are set when the tray lifting / lowering units 120 and 120 arranged respectively perform the lifting / lowering operation. In order to prevent the above, the lifting guide units 104 may be respectively arranged. In the present embodiment, an example in which four guide members 140 are provided has been described. However, the present invention is not limited to this as long as it can guide the stacking tray T1 so that there is no displacement in the horizontal direction. May be omitted.

  With the above configuration, in the supply / recovery block A3, the supply unit A1 and the recovery unit A2 are arranged in parallel along the transport direction (Y direction). The supply unit A1 receives the stacking tray T1 from the transport device C at the tray supply standby position SA, and transports the tray T1 to the tray preparation position RA on the downstream side. The collection unit A2 conveys the stacking tray T2 stacked at the tray discharge position EA to the tray discharge standby position ESA on the upstream side, and delivers it to the transfer device C.

<Transport / Transfer block A4>
The transfer / transfer block A4 includes a first transfer unit 200, a transfer unit 300, and a second transfer unit 400. The transport / transfer block A4 is disposed above a pair of portal subframes 102 and 103 disposed downstream of the main frame 101. The first transport unit 200 is arranged above the tray preparation position RA set in the supply unit A1. The second transport unit 400 is disposed above the tray discharge position EA set in the collection unit A2.

  As shown in FIG. 3, a supply position FA where the first transport unit 200 receives the tray T and a collection position PA where the tray T of the second transport unit 400 is collected are set above the sub-frames 102 and 103. . The supply position FA is set above a tray preparation position RA in a transfer area CA of the first transfer unit 200 which will be described later. The collection position PA is located above the tray discharge position EA in a transfer area CA of the second transfer unit 400 which will be described later. The supply position FA and the collection position PA are set on the same plane, and are set side by side in the X direction in the drawing. In the present embodiment, the supply position FA is set on the back side in the X direction, and the collection position PA is set on the front side in the X direction.

  The rectangular frames 200a and 400a are arranged over the upper parts of the sub-frames 102 and 103. The upper surface of the frame 200a is the supply position FA, and the upper surface of the frame 400a is the collection position PA. The first transport unit 200 is placed on the frame 200a corresponding to the supply position FA. The second transport unit 400 is placed on the frame 400a corresponding to the collection position PA. The openings of the frames 200a and 400a are provided in a size that allows the tray T to pass through.

  A plurality of (for example, four) which are connected to the tray T and define the position of the tray T with respect to the first and second transport units 200 and 400 are provided at predetermined positions (for example, four corners of the inner peripheral edge) of each of the frames 200a and 400a. ) Are provided. Examples of the defining portions 200b, 400b include, for example, a guide member configured to be engageable with the tray T, in addition to a rod member erected from the frames 200a, 400a. In addition, the locations of the defining portions 200b and 400b with respect to the frames 200a and 400a and the number of the locations can be appropriately set according to the form of the tray T.

  FIG. 5 is a perspective view of the first transport unit 200, the transfer unit 300, and the second transport unit 400. In the first transport unit 200 and the second transport unit 400, a transport area CA is set as an area for transporting the tray T. The transfer unit 300 of the transfer device A transfers the component P between the tray T that stops at the position where the component P is picked up on the transfer surface in the transfer area CA and the component transfer unit PT (see FIG. 9). .

  The first transport unit 200 is provided on the far side of the transport area CA in the X direction, holds one side (the far side in FIG. 5) of the tray T in the transport direction (the X direction in FIG. 5), and transports the tray T. . The second transport unit 400 is provided on the front side in the X direction of the transport area CA, holds the other side (the forward side in FIG. 5) of the tray T in the transport direction (X direction in FIG. 5), and transports the tray T. I do. The transfer unit 300 transfers components between the tray T held by one of the first transport unit 200 and the second transport unit 400 and the component transport unit PT.

  The transport area CA includes a horizontal plane (transport surface) in which different trays T can be arranged and moved in the transport direction, and has, for example, a movement range MR over the entire length of the first transport unit 200 to the second transport unit 400 in the X direction in FIG. . The control unit 500, which will be described later, performs the parallel movement in which the trays T are moved side by side in the movement range MR and the transfer movement in which the tray T is transferred between the two transfer units 200 and 400 by the first transfer unit 200 and the second transfer. The program is executed by the unit 400.

  The movement range MR includes a first transport route MR1 and a second transport route MR2. The first transport path MR1 includes one path that is a half path on the far side in the X direction in the drawing in the movement range MR, and includes a movement range of the first holding mechanism 210 described later. On the other hand, the second transport route MR2 includes the other route that is a half route on the near side in the X direction in the drawing in the moving range MR, and includes a moving range of the second holding mechanism 410 described later. The tray T is transported from the first transport path MR1 to the second transport path MR2 by a transport mechanism described later. In the following description, the first transport route MR1 may be referred to as the upstream side, and the second transport route MR2 may be referred to as the downstream side.

<First transport unit 200>
The first transport unit 200 is provided on the first transport path MR1 and includes a first holding mechanism 210 that holds one side of the tray T, and a first transport mechanism 220 that transports the first holding mechanism 210, and includes a transport area. It is located upstream in CA. The first transport unit 200 includes a pair of first holding mechanisms 210, 210 and a pair of first transfer mechanisms 220, 220. The first transfer mechanisms 220, 220 are respectively arranged on members extending in the Y direction on the frame 200a. The pair of first holding mechanisms 210 are provided on the first transfer mechanisms 220 and 220 so as to face each other, and are transferred along the extension direction of the first transfer mechanism 220.

  The first holding mechanism 210 moves in the X direction with respect to the first transfer mechanism 220, and moves in a direction (Y direction in FIG. 5) that is parallel to the transport surface and intersects the moving direction of the moving unit 211. And a holding section 212 provided on the moving section 211 as possible. In other words, the moving unit 211 can be moved in the X direction along the first transfer mechanism 220 by a drive mechanism (not shown) arranged inside a box-shaped member shown as the first transfer mechanism 220 in FIG. is there. Further, the holding units 212, 212 are movable by a drive mechanism (not shown) mounted on the moving unit 211 in a direction in which they come close to each other (Y direction) with a small stroke so as to be able to freely advance and retreat.

  The pair of first holding mechanisms 210, 210 hold the tray T by moving in a direction in which the pair of holding portions 212, 212 approach each other (inward of the pair of subframes 102, 103 in the Y direction). Can be. Specifically, when the holding unit 212 moves in the Y direction, a part of the holding unit 212 is between two overlapping trays T, T of the stacking tray T1 (specifically, between the respective projecting portions Tt, Tt). And the holding portion 212 and the protruding portion Tt of the tray T above the holding portion 212 can be engaged with each other, so that the holding can be performed. In the case of the present embodiment, the uppermost tray T of the stacking trays T1 is engaged with the holding unit 212 by lowering the stacking trays T1 placed on the tray elevating unit 120 of the supply unit A1, and the stacking trays T1 is held by the holding unit 212. When the holding of the tray T by the holding unit 212 is released, the pair of holding units 212 and 212 are moved in a direction away from each other (outside the pair of sub-frames 102 and 103 in the Y direction).

  A space is formed between the pair of first holding mechanisms 210, and a storage when the stacking tray T <b> 1 including the tray T mounted on the mounting portion 121 of the tray elevating unit 120 located immediately below is raised. It becomes space. The first holding mechanism 210 holds the tray T with a pair of holding units 212, 212 for the tray T arranged in this space (supply position FA), and the moving unit 211 moves to the second transport unit 400 side. I do. By doing so, the first transport unit 200 can transport the tray T to the second transport unit 400 side.

<Detection unit 230>
As shown by a two-dot chain line in FIG. 5, the detection unit 230 may be provided at a position outside the first transport unit 200 in the Y direction and near the transfer unit 300. The pair of detection units 230 are arranged at arbitrary positions in the X direction of the sub-frames 102 and 103, and detect the presence / absence state of the tray T on the transport area CA and in the first transport path MR1. . In the present embodiment, the transfer unit 300 is disposed adjacent to the first transport unit 200 side.

  Specifically, the detection unit 230 detects the tray T being transported when the tray T present in the first transport path MR1 is transported by the first transport unit 200 or a second transport unit 400 described later. For example, when a pair of optical sensors is employed as the detection unit 230, light emitted from one of the detection units 230 disposed on the sub-frame 102 may be received by the other detection unit 230 disposed on the sub-frame 103. Thus, the presence or absence of the tray T can be detected.

  Further, the detection unit 230 can detect that the tray T being transported has been discharged from the first transport path MR1. From this detection, it is possible to determine the timing of raising the tray T located immediately below the supply position FA. Note that, as the detection unit 230, for example, an optical sensor that can detect visible light, infrared light, ultraviolet light, or the like without contact can be used, and a contact switch that can detect contact with light, such as a limit switch, can be used. .

<Second transport unit 400>
The second transport unit 400 is provided on the second transport path MR2, and includes a second holding mechanism 410 that holds the other side of the tray T, and a second transfer mechanism 420 that transfers the second holding mechanism 410. The second transport unit 400 is located on the downstream side in the transport area CA. The second transport unit 400 includes a pair of second holding mechanisms 410 and 410 and a pair of second transfer mechanisms 420 and 420. The second transfer mechanisms 420 are each disposed on a member extending in the Y direction of the frame 400a. The pair of second holding mechanisms 410 are arranged so as to face each other with a space therebetween. The first transfer mechanisms 220, 220 are respectively arranged on members extending in the Y direction on the frame 200a. The pair of first holding mechanisms 210 are provided to face each other on the second transfer mechanisms 420, 420, and are transferred along the extension direction of the second transfer mechanism 420.

  The second holding mechanism 410 moves the moving unit 411 that can move in the X direction with respect to the second transfer mechanism 420, and moves in a direction (Y direction in FIG. 5) that is parallel to the transport surface and intersects the moving direction of the moving unit 411. And a holding unit 412 provided on the moving unit 411 as possible. In other words, the moving unit 411 can be moved in the X direction along the second transfer mechanism 420 by a drive mechanism (not shown) arranged inside a box-shaped member shown as a second transfer mechanism 420 in FIG. is there. The holding units 412 and 412 are movable by a drive mechanism (not shown) mounted on the moving unit 411 in a direction in which the holding units 412 and 412 approach each other (Y direction) with a small stroke.

  The pair of second holding mechanisms 410, 410 hold the tray T by moving the pair of holding portions 412, 412 toward each other (inside the pair of sub-frames 102, 103 in the Y direction). be able to. Specifically, when the holding unit 412 is moved in the direction (Y direction) approaching the tray T, a part of the holding unit 412 is engaged with the protrusion Tt of the tray T held by the first transport unit 200. The tray T is held by the holding unit 412. When the holding of the tray T by the holding unit 412 is released, the moving unit 412 is moved in a direction away from the tray T (outward in the Y direction).

  A space is formed between the pair of second holding mechanisms 410, and the housing space when the stacking tray T <b> 2 including the tray T mounted on the mounting portion 121 of the tray elevating unit 120 located immediately below is moved. Become. The second holding mechanism 410 releases the holding of the tray T by the pair of holding units 412 and 412 in this space (recovery position PA), thereby mounting the tray T on the mounting unit 121 of the tray elevating unit 120. .

<Parts transfer unit 300>
The component transfer unit 300 is located between the first transport unit 200 and the second transport unit 400 at the center of the sub-frames 102 and 103 in the X direction and straddling the sub-frames 102 and 103 in the Y direction. Is done. That is, the component transfer unit 300 includes a pair of columns 301, 301 extending in the Z direction from the central portion in the X direction (subframes 102, 103) in FIG. 5, and a Y direction extending between the pair of columns 301, 301 in the Y direction. A rail 302 (part transfer rail) is provided. The holding unit 303 is attached to a side surface of the Y-direction rail 302. Accordingly, the holding unit 303 transfers the component P along the Y-direction rail 302 and at a position higher than the first and second holding mechanisms 210 and 410 in the Z direction (a position above the transport area CA). Actions can be taken. The Y-direction rail 302 includes a component storage position of at least the entire Y direction of the tray in which the holding unit 303 is arranged in the transport area CA and a component delivery position of the component transfer unit PT. It is a long member extending in the direction.

  The holding unit 303 is reciprocally movable in the Y direction by a driving mechanism (not shown), and includes a holding nozzle 304 that is connected to a negative pressure generating source (not shown), generates a negative pressure inside, and sucks and holds the component P. The holding nozzle 304 is configured in the holding unit 303 so as to be movable in a vertical direction (Z direction) by a driving mechanism (not shown). Therefore, the holding nozzle 304 moves from one end (the left end in FIG. 5) to the other end (the right end in FIG. 5) of the tray T conveyed in the conveyance area CA in the Y direction, and transfers the components of the component transfer unit PT. The part P can be moved by grasping it above the position.

  The drive mechanism (not shown) for driving the holding unit 303 and the holding nozzle 304 may be, for example, a combination of a drive source such as a ball screw mechanism or a motor and a mechanism such as a rack-pinion mechanism. The holding nozzle 304 is driven by a drive source (not shown) and adopts a configuration for sucking the component P. However, the holding nozzle 304 is not limited to the above configuration, and may adopt, for example, a mode in which a hand unit that grips the component P by a drive source (not shown) or a mode in which the component P is held by the adhesive force of an adhesive member. .

  Below the transfer unit 300, a tray support unit 305 that supports a tray that is transported in the transport area CA from below is disposed. The tray support unit 305 is provided between the bases of the pair of columns 301 and 301, for example, a rotatable shaft member 306 extending in the Y direction, and at least two ring portions 307 inserted through the shaft member 306 and spaced apart from each other. , 307. The tray support unit 305 is configured to be freely rotatable, and thereby can support the lower surface of the tray T transported from the first transport unit 200 to the second transport unit 400. Therefore, the transport of the tray T from the first transport unit 200 to the second transport unit 400 and the operation of switching the tray T by the first and second holding mechanisms 210 and 410 described later can be performed smoothly. In addition, the tray support unit 305 can support a portion on the opposite side of the portion holding the tray T by the first and second holding mechanisms 210 and 410. That is, the cooperation of the first and second holding mechanisms 210 and 410 and the tray support unit 305 makes it possible to stably hold the tray T at the component extracting position.

<Control unit 500>
FIG. 6 is a block diagram of a control unit 500 that controls the system S of the present embodiment. The control unit 500 includes a processing unit 510, a storage unit 520, and an interface unit 530, and these are connected to each other by a bus (not shown). Processing unit 510 executes a program stored in storage unit 520. The processing unit 510 is, for example, a CPU. The storage unit 520 is, for example, a RAM, a ROM, a hard disk, or the like. The interface unit 530 is provided between the processing unit 510 and external devices (a host computer 540, an input device (for example, a sensor) 550, and an output device (for example, an actuator of each driving mechanism) 560). And an I / O interface.

  The input device 550 includes, for example, an optical sensor of the detection unit 230, a pressure sensor of the transfer nozzle 304, and the like. The output device 560 includes a drive source for a drive mechanism such as the transfer rail R, the tray elevating unit 120, the first and second holding mechanisms 210 and 410, the first and second transfer mechanisms 220 and 420, and the transfer unit 300. It is. The drive control unit 500 communicates with the host computer 540 and controls at least the first transport unit 200, the transfer unit 300, and the second transfer unit 400 of the transfer device A. Hereinafter, a control example will be described.

<Transfer process>
The operation of the system S (component supply system) including the transfer device A will be described with reference to FIGS. The state shown in ST1 of FIG. 7 shows a state in which the transport device C mounted with a stacking tray (tray group) T1 in which a plurality of trays T storing components P are stacked is connected to the supply unit A1. In the stacking tray T1 of the present embodiment, the uppermost tray T is the first tray TU, the lower tray T of the first tray TU is the second tray TL, and the lowermost tray T of the stacking tray T1. The description will be made with the tray T as the last tray TF. By driving the transfer mechanism C3 included in the mounting portion C1 of the transport device C to enter between the mounting portions 131 of the stack tray receiving unit 130, the stacking tray T1 is mounted on the mounting portion 131. Is placed. Therefore, the stacking tray T1 is supplied from the transport device C to the tray supply standby position SA of the supply unit A1 (the direction indicated by the rightward arrow D1 in the figure).

  The state shown in ST2 of FIG. 7 shows a state in which the stacking tray T1 has been moved to the tray supply standby position SA and has been stored in the supply unit A1. Thereafter, the stacking tray T1 placed on the transfer rail R of the transfer unit (supply moving mechanism) 110 of the supply unit A1 is transferred from the tray supply standby position SA to the tray preparation position RA by the transfer mechanism of the transfer rail R. (The direction indicated by the right arrow D2 in the figure). Further, the transfer device C indicated by a two-dot chain line in the figure is moved away from the transfer device A, and is moved to a predetermined location in the factory in order to mount the stacking tray T1 storing the components P to be supplied next.

  The state shown in ST3 of FIG. 7 shows a state where the stacking tray T1 has been moved from the tray supply standby position SA to the tray preparation position RA. Immediately after the stacking tray T1 is transferred to the tray preparation position RA, the bottom surface of the stacking tray T1 is supported by the upper surfaces of the pair of transfer rails R. In addition, the height of the mounting portion 121 of the tray elevating unit 120 in the supply unit A1 is located at a standby position below the height of the upper surface (transfer surface) of the transfer rail R. Thereafter, the mounting portion 121 of the tray elevating unit 120 is moved up by the moving mechanism 122 (in the direction indicated by the upward arrow D3 in the figure).

  When the mounting portion 121 is raised beyond the height of the transfer surface of the transfer rail R at the tray preparation position RA, the stacking tray T1 is transferred from the transfer rail R to the mounting portion 121. When the stacking tray T1 is placed on the placing portion 121, the defining portion (not shown) arranged on the placing portion 121 is fitted to a fitting portion (not shown) provided on the lower surface of the final tray TF. Then, the stacking tray T1 may be configured to be positioned at a predetermined mounting position on the mounting portion 121 and mounted.

  The state shown in ST4 of FIG. 8 shows a state where the first tray TU is arranged at the supply position FA. From the state shown in ST3 of FIG. 7, the moving mechanism 122 of the tray elevating unit 120 of the supply unit A1 is further driven to raise the mounting portion 121 (the direction indicated by the upward arrow D4 in the figure). When the first tray TU reaches the supply position FA, the raising operation of the mounting portion 121 is stopped. Whether or not the first tray TU has reached the supply position FA is determined by, for example, detecting the presence of the first tray TU at the supply position FA by a detection unit 230 (not shown).

  In the state shown in ST5 of FIG. 8, the holding units 212 of the pair of first holding mechanisms 210 operate, and the holding units 212 are moved between the protrusion Tt of the first tray TU and the protrusion Tt of the second tray TL. This shows the state in which it is performed. FIG. 8 is a schematic diagram for the purpose of explanation. For convenience, for example, the first holding mechanism 212 indicates that the holding portion 212 of the first holding mechanism 210 is in a holding state with respect to the tray T inside the outer peripheral edge of the tray T. It is expressed by drawing 210. The control unit 500 activates the pair of holding units 212 based on the detection signal from the detection unit 230 (in the direction indicated by the inwardly directed arrow D6 in the drawing), and holds the first tray TU by the pair of holding units 212. Let it. In the present embodiment, the case where the detection unit 230 detects the first tray TU has been described as an example. However, the present invention is not limited to this. For example, the detection unit 230 may detect the first tray TU. A dedicated detection unit may be provided separately. Alternatively, the holding position for holding the first tray TU may be stored in advance, and the driving of the moving mechanism 122 may be controlled such that the mounting portion 121 of the supply unit A1 stops at the stored stop position.

  In the state shown in ST6 of FIG. 8, after the holding portions 212 of the pair of first holding mechanisms 210 hold the first tray TU, the driving mechanism 122 of the supply unit A1 is driven to slightly lower the mounting portion 121. This shows the state in which it has been made (the direction shown by the downward arrow D7 in the figure). In order to move the first tray TU to a position where components can be transferred by the transfer unit 300, the protrusion Tt of the first tray TU is engaged with the pair of holding portions 212, and the standby is performed. Further, by lowering the driving mechanism 122 of the supply unit A1, the mounting portion 121 is lowered, the stacking tray T1 including the second tray TL is lowered, and the stacking tray T1 including the first tray TU and the second tray TL is lowered. The stacking tray T1 is separated. The lowering drive of the drive mechanism 122 of the supply unit A1 is stopped when the position of the second tray TL included in the stacking tray T1 reaches a predetermined position (second tray TL standby position), and the loading operation is stopped. The lowering operation of the placing section 121 is stopped.

  9 and 10 are plan views of the transport / transfer block A4 viewed from the direction of arrow A (vertical direction downward) shown in ST6 of FIG. 9 and 10 are schematic diagrams in which the component transfer unit PT side is described below. For convenience, for example, it is indicated from the outer peripheral edge of the tray T that the holding units 212 and 412 are in the holding state with respect to the tray T. It is expressed by drawing the holding parts 212 and 412 inside. Further, the state in which the holding units 212 and 412 are in the holding release state with respect to the tray T is expressed by drawing the holding units 212 and 412 outside the outer peripheral edge of the tray T.

  The state shown in ST7 of FIG. 9 is the same as the state shown in ST6 of FIG. The first tray TU waits at the supply position FA in a state where one side (the right side in the figure, 9) in the transport direction (the left-right direction in FIG. 9 and the movement range MR direction in FIG. 5) is held by the first holding mechanism 210. You. More specifically, one side of two sides of the first tray TU parallel to the transport direction is held by the holding unit 212. The holding unit 303 of the transfer unit 300 is waiting at one end (the upper part in FIG. 9) of the Y-direction rail 302. The second holding mechanism 410 of the second transport unit 400 is waiting at a position near the first transfer unit 200.

  The state shown in ST8 of FIG. 9 shows a state where the transfer unit 300 is transferring components between the first tray TU and the component transfer unit PT. At this time, the control unit 500 controls the first transport unit 200 to intermittently repeat the movement (in the direction indicated by the arrow D8 in the left direction in the drawing) or the stop operation according to the arrangement interval of the components P on the first tray TU ( Intermittent operation).

  Specifically, with the first holding mechanism 210 holding the first tray TU, the first transfer mechanism 220 of the first transport unit 200 is driven to move the first holding mechanism 210 in the direction of arrow D8. At this time, the first holding mechanism 210 is moved until the component P (first row) placed on the first tray TU is located at the component removal position below the transfer unit 300. When the component P placed on the first tray TU is located at a position where it can be taken out by the transfer unit 300, the drive control unit 500 moves the holding unit 303 along the Y-direction rail 302 (in the figure). The holding nozzle 304 is moved downward (Z direction in FIG. 5) together with the vertical arrow D9). After the holding nozzle 304 is attracted to the predetermined component P and the predetermined component P is held by the holding nozzle 304, the holding nozzle 304 is raised and the holding unit 303 is moved from the first tray TU along the Y-direction rail 302. Move to the transfer unit PT side. Thereafter, the suction of the component P by the holding nozzle 304 is released, and the component P is transferred from the holding nozzle 304 to the component transfer unit PT. Thereafter, the drive control unit 500 again moves the holding unit 303 from the component transfer unit PT to the first tray TU side along the Y-direction rail 302, and the next component P is sucked and transferred. By repeating this, the transfer of the components P in one row (row arranged in parallel with the Y-direction rail 302) in the first tray TU is completed.

  Subsequently, in order to execute the transfer of the component P in the next row of the first tray TU, the first holding mechanism 210 moves the first tray TU in the direction indicated by the leftward arrow D8 in the drawing by the component arrangement interval. The component P in the next row is moved by the transfer unit 300.

  The state shown in ST9 of FIG. 9 indicates, for example, a state in which the transfer of the components P in the second column from the left in the drawing is completed and the transfer of the components P in the third column from the left is being performed. At this time, the first tray TU is transferred between the first and second transport units 200 and 400. Specifically, in the transfer operation of the first tray TU, the control unit 500 holds the second transport unit while holding one side (the right side in the drawing) of the first tray TU in the holding unit 212 of the first transport unit 200. The other side (the left side in the figure) of the first tray TU is held by the holding section 412 of 400. Thereafter, the holding of the first tray TU on one side (the right side in the figure) by the holding unit 212 of the first transport unit 200 is released (the state of ST9), whereby the second transport from the first transport unit 200 of the first tray TU is performed. The delivery to the transport unit 400 is completed.

  More specifically, the control unit 500 continues from the state shown in ST8 between the one first tray TU stopped and held below the transfer unit 300 by the first transport unit 200 and the component transfer unit PT. To control the transfer operation for causing the transfer unit 300 to transfer the component P. During the transfer operation of the transfer unit 300, the control unit 500 causes the second transfer unit 400 to hold the other side of the first tray TU, and causes the first transfer unit 200 to hold one side of the first tray TU. And a release operation for releasing the holding of the first tray TU.

  As the transfer operation of the components P on the first tray TU proceeds, the first tray TU is sequentially transferred to the left side in the figure. At this time, the other end (left side in the figure) of the first tray TU reaches a position where the second transport unit 400 that is waiting can be held by the second holding mechanism 410, and the holding unit of the second holding mechanism 410. 412 moves inward to engage the other side of the first tray TU. Further, the holding portion 212 of the first holding mechanism 210 is moved outward to release the engagement with one side of the first tray TU. In this way, the first tray TU is switched from the first transport unit 200 to the second transport unit 400. Then, after releasing the holding of the first tray TU, the holding unit 212 of the first transport unit 200 is returned to the standby position on the right side in the drawing (the direction indicated by the right arrow D10 in the drawing) of the first transfer mechanism 220. Is prepared for holding the next second tray TL.

  In the state shown in ST10 of FIG. 10, the transfer unit 300 (indicated by a chain line in the figure) is moved to the last row (the rightmost row in the figure) of the first tray TU carried by the second carrying unit 400. This is a state in which the loading operation is being performed. At this time, the detection unit 230 detects that the first tray TU being transported has been discharged from the first transport path MR1. Next, as described in the states ST3 to ST6, the tray elevating unit 120 of the supply unit A1 raises the mounting portion 121 and raises the second tray TL to the supply position RA.

  The state shown in ST11 of FIG. 10 indicates a state in which the holding unit 212 of the first transport unit 200 holds (one side of) the second tray TL. The control unit 500 moves the holding unit 212 of the first transport unit 200 toward the engagement position of the second tray TL disposed at the supply position RA (the direction indicated by the up-down arrow D11 in the drawing) and places the same. The placing section 121 is lowered, and the holding section 212 holds the second tray TL. Even during the operation of holding the second tray TL by the first transport unit 200, the operation of transferring the components P in the last row stored in the first tray TU is continuously performed by the transfer unit 300.

  In the state shown in ST12 of FIG. 10, the transfer unit 300 completes the transfer operation on the first tray TU held by the second transport unit 400 (the transfer of the components P in the last row of the first tray TU is completed). Then, a state in which the transfer operation is performed on the second tray TL held by the first transport unit 200 is shown. Specifically, the control unit 500 controls the first transport unit 200 to move the second tray TU and the second tray TL in the parallel movement in which the two first trays TU and the second tray TL are moved side by side in the movement direction of the trays in the movement range MR. Holding the TU, the second transport unit 400 moves the first tray TU and the second tray TL while holding the first tray TU (in the direction indicated by the leftward arrow D12 in the figure). The control unit 500 causes the first holding mechanism 210 to hold one side (the right side in the drawing) of the second tray TL on one side of the movement range MR, and the other side of the first tray TU (the figure on the other side of the movement range MR). (The middle left side) is held by the second holding mechanism 410. Then, the control unit 500 simultaneously moves the first transfer mechanism 220 and the second transfer mechanism 420 in the same direction (indicated by an arrow D12 in the left direction in the figure) in order to transport the first tray TU and the second tray TL side by side. Direction).

  In other words, the control unit 500 transfers the component P to the transfer unit 300 between the first tray TU stopped and held by the second transport unit 400 below the transfer unit 300 and the component transfer unit PT. The transfer operation to be performed is controlled. Further, the control unit 500 causes the first transport unit 200 to hold a second tray TL different from the first tray TU held by the second transport unit 400, and arranges the second tray TL with the first tray TU. The control of the preparation operation for preparing the arrangement and the simultaneous movement of operating the first transport unit 200 and the second transport unit 400 during the transfer operation of the transfer unit 300 and simultaneously moving the first tray TU and the second tray TL. And control.

  The first tray TU for which transfer by the transfer unit 300 has been completed is transported to the collection position PA by the second transport unit 400. After that, the mounting portion 121 of the tray elevating unit 120 disposed in the collection unit A2 is moved to the receiving position of the first tray TU, and is brought into contact with the bottom of the first tray TU. Thereafter, in order to release the holding of the first tray TU, the holding portion 412 of the second holding mechanism 410 is moved outward (in a direction to separate from the first tray TU). By this operation, the first tray TU is delivered and placed on the placement portion 121 of the tray elevating unit 120 waiting below. By repeating the above-described operations from ST7 to ST12, the transfer operation is performed on the trays T sequentially supplied to the supply position FA, and the empty tray T is discharged from the collection position PA. After the first tray TU is mounted on the mounting portion 121 of the tray elevating unit 120 disposed in the collection unit A2, the subsequent trays T (second tray TL... Last tray TF) are The trays T which are already placed on the placing portion 121 are placed so as to be stacked, and the stack trays T2 are formed by this operation. Therefore, every time the tray T is moved from the second holding mechanism 410, the tray elevating unit 120 of the collection unit A2 is stopped at the receiving position lower by the height of the tray T, and the tray T is placed. .

  The states shown in ST13 to ST15 in FIG. 11 and ST16 to ST18 in FIG. 12 are as follows. In the collecting unit A2, a plurality of empty trays T are collected from the collecting position PA to be stacked trays T2, and the transfer device C is set from the tray discharge standby position ESA. The process of discharging the stack tray T2 is shown. This process follows the reverse process of the states shown in ST1 to ST3 in FIG. 7 and ST4 to ST6 in FIG. 8 in the supply unit A1, and a detailed description thereof will be omitted.

  In brief, the state shown in ST13 of FIG. 11 is a state in which the state shown in ST12 of FIG. 10 is viewed from the side of the collection unit A2. In the state shown in ST14 of FIG. 11, the tray elevating unit 120 of the collection unit A2 raises the mounting portion 121 (in the direction indicated by the upward arrow D13 in the drawing), and collects the already stacked empty stacking tray T2. This is a state where it has been raised to the position PA. In the state shown in ST15 of FIG. 11, the holding unit 412 of the second holding mechanism 410 moves outward (in the direction indicated by the arrow D14 in the left and right direction in the figure) to release the engagement with the tray T and release the state. is there. In the state shown in ST16 of FIG. 12, the tray elevating unit 120 of the collection unit A2 lowers the mounting portion 121 (in the direction indicated by the downward arrow D15 in the figure) until the next empty tray T comes to the collection position. It is in a state of waiting. At this time, when a predetermined number of empty trays T are stacked on the stacking tray T2, the stacking tray T2 is moved from the tray discharge position EA to the tray discharge standby position ESA by the transfer rail R as shown in ST17 of FIG. (The direction indicated by the arrow D16 in the left direction in the figure). Thereafter, in the state shown in ST18 of FIG. 12, the stacking tray T2 is moved from the discharge standby position ESA to the transporting device C which has been waiting adjacent to the transfer device A (in the direction indicated by the leftward arrow D16 in the drawing). ). Thereafter, the transfer device C moves away from the transfer device A to transfer the stacking tray T2 to a predetermined location in the factory.

  Through the steps described above, the transfer device A in which the new stacking tray T1 has been refilled conveys the tray to the supply unit A1, the first conveyance unit 200, the second conveyance unit 400, and the collection unit A2. At this time, the transfer unit 300 of the transfer device A performs the transfer operation of the component P while transferring the tray T between the first transfer unit 200 and the second transfer unit 400. Therefore, the transfer unit 300 of the present embodiment does not interrupt the transfer operation until the supply of the untransferred tray T is prepared while the transfer-processed tray T is being discharged. Thus, the transfer operation can be continued. Therefore, the transfer device A can improve the transfer work efficiency of the component P.

  In addition, the unloading of the stacking tray T2 formed by stacking a plurality of transfer-processed trays T and the supply of the stacking tray T1 formed by stacking a plurality of untransferred trays T are performed by unmanned conveyance such as an AGV. By using a car, tray supply and tray collection can be performed automatically, and as a result, the component P transfer operation can be performed automatically and continuously.

  In the above, the operation of the system S including the transfer device A has been described as a component supply system that is a component supply operation for supplying components, but the transport device C supplies an empty tray T to the transfer device A and performs the transfer. The device A may be used as a component collection system in which the component P is transferred and stored from the component transfer unit PT to the tray T, and the transfer device C collects the tray T in which the component P is stored from the transfer device A.

  When the system S is used as a component collection system, the flow of the component P is performed by moving the component transfer unit PT disposed on the other side of the transfer device A upstream and the transfer device disposed on one side of the transfer device A. With C as the downstream side, the component is transferred from the component transfer unit PT to the transfer device C via the transfer device A. Since the components P are transferred from the downstream side to the tray T by the transfer device A, and the transport device C collects the tray T storing the components P from the transfer device A, the system S is a component collection system. . Regarding the operation of component collection by the present system S, in the operation from ST7 in FIG. 9 to ST12 in FIG. 10, an empty tray T in which no components are stored (a tray T not yet processed for transfer) is supplied and the components are stored. The transfer unit 300 takes out the component P supplied to a predetermined position of the component transport unit PT to the part to be transferred to the position and the empty tray T transferred to the component storage position, transfers the component P to the tray T, and stores the component P in the storage position. It differs depending on the operation part to be stored. Other operations are the same as those of the component supply system.

  200 first transfer unit, 300 transfer unit, 400 second transfer unit, 500 control unit, A transfer device, P part, T tray, T1 stacking tray, T2 stacking tray

Claims (13)

A transfer device that transfers the component between a transport area in which a tray that stores a plurality of components at predetermined intervals is transported and a component loading / unloading position,
A first transport unit provided in the transport area and transporting the tray along a transport direction,
A second transport unit provided in the transport area and transporting the tray along the transport direction,
A transfer unit that transfers the component at the tray and the component loading / unloading position held by the first transport unit or the second transport unit,
The first transport unit, the second transport unit, and a control unit that controls the transfer unit,
The transfer area has a movable range in which the two trays can be arranged and moved in the transfer direction,
The control unit includes:
Control of a transfer operation for causing the transfer unit to transfer the component between one of the trays stopped and held by the first transport unit below the transfer unit and the component loading / unloading position. When,
During the transfer operation of the transfer unit, a holding operation of holding the one tray by the second transfer unit and a release operation of releasing the holding of the tray by the first transfer unit are performed. the control of the tray switching operation, characterized by performing transfer device. A transfer device that transfers the component between a transport area in which a tray that stores a plurality of components at predetermined intervals is transported and a component loading / unloading position,
A first transport unit provided in the transport area and transporting the tray along a transport direction,
A second transport unit provided in the transport area and transporting the tray along the transport direction,
A transfer unit that transfers the component at the tray and the component loading / unloading position held by the first transport unit or the second transport unit,
The first transport unit, the second transport unit, and a control unit that controls the transfer unit,
The transfer area has a movable range in which the two trays can be arranged and moved in the transfer direction,
The control unit includes:
Control of a transfer operation for causing the transfer unit to transfer the component between the other tray stopped and held by the second transport unit below the transfer unit and the component loading / unloading position. When,
A control of a preparation operation for holding the tray different from the other tray held by the second transfer unit in the first transfer unit, and preparing the another tray to be arranged side by side with the other tray,
During the transfer operation of the transfer unit, the first transfer unit and the second transfer unit are operated, and control of simultaneous movement for simultaneously moving the other tray and the another tray;
You and performing transfer device. Before SL control unit, the first transport unit, said on the upstream side in the transport direction to hold one side of the tray is conveyed to the second conveyance unit, the second conveying unit, in the transport direction 3. The transfer control according to claim 1 , wherein the other side of the tray on the downstream side is held to transfer the tray from the first transport unit to the second transport unit. 4. Loading device. The moving range is
A supply position where the first transport unit receives the tray,
A collection position for collecting the tray of the second transport unit,
A position at which delivery of the tray is performed between the first transport unit and the second transport unit,
The transfer device according to any one of claims 1 to 3 , further comprising: The moving range includes a first transport route and a second transport route,
The first transport unit is provided on the first transport path, comprises a first holding mechanism that holds one side of the tray, and a first transfer mechanism that transfers the first holding mechanism,
The second transport unit is provided on the second transport path that is continuous with the first transport path, and holds a second holding mechanism that holds the other side of the tray, and a second transport mechanism that transports the second holding mechanism. The transfer device according to claim 2 , comprising: The control unit includes:
6. The intermittent control according to claim 1, wherein the first transport unit and the second transport unit perform intermittent control of alternately moving and stopping operations in accordance with a component storage interval of the tray. The transfer device according to item 1. The transfer device according to any one of claims 1 to 6, further comprising a tray support unit disposed in the transport area and supporting the tray from below. A supply unit that supplies the tray to a supply position where the first transport unit receives the tray,
The transfer device according to any one of claims 1 to 7, further comprising: a collecting unit that receives and collects the tray at a collecting position of the second transport unit that collects the tray. The supply unit includes a preparation position provided below the supply position, and a supply lifting mechanism capable of moving the tray up and down between the supply position,
9. The transfer according to claim 8 , wherein the collection unit includes a collection elevating mechanism that can move the tray up and down between the discharge position provided below the collection position and the collection position. 10. apparatus. The supply unit includes:
A mounting portion for mounting the tray,
A moving body including the mounting portion;
A supply moving mechanism for moving the movable body between the preparation position and a supply standby position provided separately from the preparation position;
The collection unit,
A mounting portion for mounting the tray,
A moving body including the mounting portion; a discharge moving mechanism configured to move the moving body between the discharge position and a discharge standby position provided separately from the discharge position;
The transfer device according to claim 9 , further comprising: A transfer method of a transfer device for transferring components between a transfer area in which a tray storing a plurality of components at predetermined intervals is transferred and a component loading / unloading position,
In the transport area, a first transport step of transporting the tray to a first transport unit on a transport surface along a transport direction,
In the transport area, a second transport step of transporting the tray transported in the first transport step to a second transport unit on the transport surface along the transport direction,
A transfer step of transferring the component by the transfer device between the tray and the component carry-in / out position held in the first transfer step or the second transfer step;
Comprising a delivery step performed between the first transport step and the second transport step,
In the delivery step,
The first transport unit holds one side of the tray, which is an upstream side in the transport direction, and transports the tray to the second transport unit side, and the second transport unit has a downstream side in the transport direction. While holding the other side of the tray, deliver the tray from the first transport unit to the second transport unit,
The first transporting step includes a first holding step of holding the tray, and a first holding releasing step of releasing the holding of the tray,
The second transporting step includes a second holding step of holding the tray, and a second holding release step of releasing the holding of the tray,
The delivery step, during transfer of the component, moves you and performing whether to perform the first hold releasing step and the second holding step, or the second hold releasing step and the first holding step Loading method. 12. The transfer according to claim 11 , wherein the first transporting step and the second transporting step each include an intermittent operation step in which a movement and a stop operation are alternately repeated according to a component storage interval of the tray. Method. The transfer method ,
A supply step of supplying the tray to the transfer area, and a collection step of collecting the tray from the transfer area, further comprising:
During transfer of the component, the transfer method according to claim 11 or 12, characterized in that one of said supplying step and the recovery step.

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