KR101377829B1 - Container exchanging device and container exchanging method - Google Patents

Abstract

In the container exchange | replacement apparatus 90, the lifting mechanism 115 runs a 1st surface position of the lower surface of the container support part 122 in which the container 94 of the 2nd traveling truck 102 provided with the lifting mechanism 115 was mounted. The lift mechanism is raised to a position higher than the upper surface position of the container 92 loaded on the container support 106 of the cart 100, and the moving mechanism reverses the first and second travel carts 100 and 102 and the container 92. 2nd in which the delivery mechanism 56 which delivers a container between the 1st position which supplies or removes 94 to the container exchange apparatus 90, and the 1st or 2nd traveling truck 100, 102 is arrange | positioned By moving the respective containers 92 and 94 so that they cross at different heights in the same path in plan view between the positions, the container in the first position and the container in the second position are exchanged.

Description

Tare change device and tare change method {CONTAINER EXCHANGING DEVICE AND CONTAINER EXCHANGING METHOD}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a container exchange apparatus and a container exchange method for exchanging a container (pallet) for storing a large glass plate used in a flat plate, particularly a flat panel display (FPD) such as a liquid crystal display or a plasma display.

In the manufacturing process of a glass plate, the glass of the strip | belt-shaped board manufactured by the glass plate manufacturing kiln is cut | disconnected by the glass plate of a predetermined | prescribed size, and this cut rectangular glass plate is conveyed by a conveyor sequentially. Each of them is adsorbed and held by a robot or a dedicated device and stored one by one in a container. When the predetermined number of glass plates are accommodated in a container, the container is replaced and storage is repeated. In addition, when putting the glass plate accommodated in the container into a glass plate processing process, a glass plate is adsorbed-held one by one by a robot or an exclusive machine, and it supplies to a glass plate processing process. When the injection into the processing step of the glass plate stored from the container is finished, the container is replaced and the feeding is repeated.

As a type of container, the vertical container which accommodates a predetermined number of glass plates in the state arranged upright, and the flat container which laminated | stacks a predetermined number of glass plates in a horizontal arrangement are known. Since the flat container can be stacked, there is an advantage that the ratio of the number of sheets to the floor area occupying the container is high as compared with the vertical container which is difficult to stack. Under these circumstances, the equilibrium container is attracting attention now.

By the way, in the conventional container replacing apparatus, two containers to be replaced were disposed at opposite positions on the round table (turn table), and the container was replaced by rotating the round table 180 degrees. Therefore, since the space for the radius of rotation of the circular table is required, the larger the container becomes, the larger the exchange space (the occupied area of the container exchange device) required for replacing the container. For this reason, the conventional container exchange apparatus for large sized glass plates had a problem, such as taking large occupied area.

When storing and taking out a glass plate in a balance container, the balance container may be inclined in order to reduce the operation range of a storage take-out apparatus. In the case of storing and taking out the glass plate in the balance container by inclining the balance container, in the rotary table method, two mechanisms corresponding to the two containers to be replaced by a mechanism for retracting the container in order to store or take out the glass plate. As a result, the apparatus becomes complicated and the cost increases. In addition, with the enlargement of the container, the rotation operation time of the circular table is extended, and the play time which does not use a facility substantially increases.

Here, although there is no prior art document which directly relates to this invention, as a prior art document considered to be related to this invention, the following patent documents 1-3 etc. are mentioned, for example.

PTL 1 relates to an automatic pallet replacement storage take-out apparatus that automatically performs pallet replacement and storage. Said document discloses that the support frame is reciprocated between the storage station and the component entry and exit station, the elevating body is lifted along the supporting column of the supporting frame, supported by the elevating body, the pallet is clamped from both sides thereof, and synchronized to clamp direction. Or moving in an unclamped direction.

Patent document 2 relates to the supply / discharge apparatus of the pallet which supplies the pallet which mounted a component by a component supply part to a work part, and returns the pallet with a hole in the work part to discharge | emitted. In the above document, the pallet provided between the parts supply part and the work part is conveyed from the parts supply part to the work part, and the pedestals of the upper and lower two-stage arrangements for transferring the pallets from the work part to the parts supply part are located so as to face the parts supply part and the work part, respectively. Driving up and down is disclosed.

Patent document 3 is related with the conveying system provided with the replacement apparatus which changes the storing order of plate-shaped members, such as liquid crystal glass. In this document, a desired storage container is separated from the stacked storage containers, the desired storage container is temporarily evacuated to an evacuation site, and a space for carrying in the desired storage containers is formed so that the desired storage containers are in different stacking order, and the evacuation site It is disclosed to change the stacking order of the stacked storage containers by carrying in from.

Japanese Patent Laid-Open No. 6-255792 Japanese Patent Laid-Open No. 2002-185185 Japanese Patent Laid-Open No. 2006-347753

An object of the present invention is to provide a container exchange device and a container exchange method that can solve the problems of the prior art and reduce the space required for container replacement.

In order to achieve the above object, the present invention is a container exchange device for moving and replacing the first container and the second container, respectively, the plate-shaped body is accommodated,

First and second travel trucks on which the first and second containers are loaded, a delivery mechanism for delivering the container in the first or second travel truck, and the container is supplied to the container exchange device, or And a movement mechanism for reciprocating the first and second travel trucks in the same path in a plan view between the position taken out from the container exchange device and the position where the delivery mechanism is arranged,

At least one of the first and second travel trucks is provided with a lift mechanism for lifting and lowering the container,

The elevating mechanism raises the lower surface position of the container support portion on which the container of the traveling cart provided with the elevating mechanism is loaded to a position higher than the upper surface position of the container loaded on the container support portion of the other traveling cart,

Wherein the moving mechanism moves the first and second travel trucks in the reverse direction and the respective container positions intersect at different heights, thereby replacing the first container and the second container. To provide.

Here, the said delivery mechanism is provided with the airway machine which inclines the said container by the storage angle or extraction angle of the said plate-shaped object,

The airway machine is formed such that the rear support member and the vessel support member at the inclination for supporting the vessel, the rear support member and the vessel support member at the inclination are substantially orthogonal to the moving directions of the first and second travel trucks, It is preferable to provide the mechanism which rotates about the axis extended in the direction parallel to the upper surface of the container support part of a 1st and 2nd running truck.

In addition, it is preferable that the airway machine transmits the container to the first travel bogie or the second travel bogie and the delivery mechanism by rotating the rear support member and the container support member at the inclination.

Or both of the said 1st and 2nd running trucks are provided with the lifting mechanism which raises and lowers the said container,

It is preferable to transfer the container to the first travel cart or the second travel cart and the delivery mechanism by the elevating mechanisms of the first and second travel carts lifting the container.

Moreover, this invention is the container exchange method which moves and replaces the 1st container and 2nd container which a plate-shaped object is accommodated,

A first and a second travel truck on which the first and second containers are loaded, a delivery mechanism for delivering the container from the first or second travel truck, and the container is the first or second travel truck. And a moving mechanism for reciprocating the first and second traveling carts in the same path in a plan view between the position supplied to or taken out of the first or second traveling cart and the position where the transmission mechanism is arranged. ,

In the container exchange apparatus provided with the lifting mechanism which raises and lowers the said container, the at least one travel truck of the said 1st and 2nd running trucks,

The elevating mechanism raises the lower surface position of the container support portion on which the container of the traveling cart provided with the elevating mechanism is loaded to a position higher than the upper surface position of the container loaded on the container support portion of the other traveling cart,

And the moving mechanism moves the first and second travel trucks in the reverse direction and the respective container positions intersect at different heights so as to replace the first container and the second container. to provide.

According to the present invention, one of the first and second travel trucks is lifted, and each travel truck is planar between the position at which the container is supplied or taken out to the container changer in a reverse direction and the position at which the delivery mechanism is arranged. The container is repositioned by moving it to cross the same path and at different heights. Therefore, if there are two container lengths and approximately one container width, two containers can be replaced, so that the space required for changing containers can be significantly reduced compared to the conventional round table method. Can be.

For example, compared with the glass plate of the 8th generation size, the space required in the conventional round table system is about 36 m <2>. On the other hand, in the case of the container exchange system which concerns on this invention, it is about 21 m <2>, and the difference of both and the superiority of the container exchange system of this invention are clear. The superiority of the container change system of the present invention becomes clearer as the size of the container increases.

In addition, according to the present invention, since only one mechanism for tilting the container may be provided at the glass plate storage or take-out position, the mechanism for praying the container can be reduced, thereby simplifying the equipment and realizing cost reduction.

According to the present invention, while the plate-shaped body is stored in one container or the plate-shaped body is taken out from the container, the other container is taken out by the forklift from the container exchange device, and the plate-shaped body is stored or taken out next. The container can be supplied to the container changer by a forklift. That is, since two jobs can be advanced simultaneously, work efficiency can be improved.

Further, according to the present invention, even in the future, even when the container is further enlarged, the space of the length and width of the enlarged container is only increased, and the exchange time also only extends the time required for the moving distance of the length. Therefore, the increase in the occupied area can be suppressed as compared with the conventional rotary table system, and the container exchange efficiency can be improved.

1 is a side cross-sectional view of an equilibrium vessel.
FIG. 2 is a plan view of the pedestal of the balance container shown in FIG. 1. FIG.
3 is a schematic plan view of the storage takeout apparatus for a glass plate.
4 (a) and 4 (b) are front and side views of the airway, respectively.
It is a schematic perspective view of one Embodiment which shows the structure of the container exchange apparatus of this invention.
6 is a schematic view showing the operation of the container changer.
FIG. 7 is a schematic view showing the operation of the container changer following FIG. 6. FIG.
FIG. 8 is a schematic view showing the operation of the container changer following FIG. 7. FIG.
FIG. 9 is a schematic view showing the operation of the container changing apparatus following FIG. 8. FIG.
FIG. 10 is a schematic view showing the operation of the container changer following FIG. 9. FIG.
FIG. 11 is a schematic view showing the operation of the container changing apparatus following FIG. 10. FIG.
FIG. 12 is a schematic view showing the operation of the container changing apparatus following FIG. 11. FIG.

EMBODIMENT OF THE INVENTION Below, preferred embodiment of the container replacing apparatus and container replacing method of this invention is described in detail based on attached drawing.

The container exchange apparatus of this invention replaces the container which accommodates a predetermined number of plate-shaped objects, for example, the container of the equilibrium (horizontal arrangement) in which the predetermined number of glass plates were laminated | stacked and accommodated (henceforth a filled container), It replaces the empty container (henceforth empty container) in which the glass plate is not stored. Hereinafter, before explaining the container exchange apparatus of this invention, a container and the storage taking-out apparatus which accommodates a glass plate in this container or take out a glass plate from a container are demonstrated.

First, a container is demonstrated.

1 is a side cross-sectional view of the balance vessel 1. In the container 1, the glass plate 4 called a predetermined dimension, for example, what is called an 8th generation size (about 2,000 mm x about 2,300 mm or more) is accommodated. The container 1 is composed of a pedestal 3 and an upper padding member 5 provided on the pedestal 3 and is housed in a state where tens to hundreds of glass plates 4 are horizontally stacked.

2 is a plan view of the pedestal 3. In this pedestal 3, as shown in Fig. 2, the frame 30 is formed by assembling a plurality of steel beams in the shape of a lattice in the vertical and horizontal direction. In addition, the upper cover member (lower plate on which the glass plate is stacked) 5 on which the glass plate 4 is laminated is fixed on the upper surface of the frame 30, and the protective material of the glass plate 4 on the upper surface of the upper cover member 5 ( 6) (see FIG. 1) is fixed. The upper attachment member 5 is arranged for stably loading the glass plate 4 on the pedestal 3 and for preventing dust intrusion into the container interior space accommodating the glass plate 4.

In addition, the container 1 is comprised by the shape of the glass plate 4 accommodated, Comprising: It is comprised by the rectangle somewhat larger than the dimension of a glass plate in plan view. Moreover, when the container 1 is loaded with the predetermined number of glass plates 4, the structure and rigidity which can bear the weight are needed.

In addition, when storing or taking out the glass plate 4, since the container 1 is inclined in embodiment mentioned later, when the container 1 is inclined, the side plate 15 which is a member for fixing the position of the glass plate 4 is carried out. ) Is arranged and fixed in parallel to its side at the center of one side of the upper attachment member 5.

The protection material 17 of the glass plate 4 is being fixed to the inner side of the side plate 15. The glass end surface sliding member 20 with small frictional resistance is attached to the surface of the protective material 17 in order to improve the slipperiness | lubricacy of a glass plate. The glass plate 4 contacts the glass end surface sliding member 20 attached to the said protective material 17 fixed to the side plate 15, and is loaded in this state.

In addition, the side plate 15 may be provided in one place of the center part of one side of the upper mounting member 5 like an example of illustration, and may be divided into predetermined numbers, such as two division | segmentation, and spaced at predetermined intervals, for example. do. That is, as long as the side plate 15 is the structure which the glass plate 4 does not fall when the container 1 is inclined, what kind of structure may be sufficient.

The forklift hole 11 (refer FIG. 1) for receiving the fork of the forklift (not shown) is formed in the pedestal 3, for example, on each side of the pedestal 3, for example. As a result, the container 1 can receive the fork of the forklift from any length and width direction of the pedestal 3. In addition, the container 1 is not limited at all in material, dimensions, structure, and the like. That is, what is necessary is just to determine the characteristic of the container 1 according to the plate-shaped object accommodated in the container 1.

When storing the glass plate 4 in the container 1, in order to avoid the glass plate 4 contacting each other directly, the paper paper 18 (refer FIG. 3) which is a thin paper was sandwiched between the glass plates 4 and 4. In the glass plate 4 is laminated. In addition, you may use sheets, such as resin, instead of paper.

Next, the storage take-out apparatus for glass plates is demonstrated.

3 is a schematic plan view of the storage take-out apparatus 50 for a glass plate of the present example. The storage take-out apparatus 50 shown in FIG. 3 is provided adjacent to the conveyor 52 provided downstream of a glass plate manufacturing line (not shown), and is a conveying apparatus (conveying means) 54 and the container exchange apparatus mentioned later. It consists of 90 main parts. The storage take-out apparatus 50 functions as a take-out apparatus of the glass plate 4 accommodated in the container 1 at the time of putting into the processing process which reprocesses the glass plate 4, and at the time of plate collection from a glass plate manufacturing process, It functions as a storage apparatus which accommodates the glass plate 4 in the container 1 one by one.

The conveying apparatus 54 is a general-purpose robot, for example, and the suction hand 60 in which several suction pads (not shown) are arrange | positioned by the surface of the same height is connected to the front-end | tip of the arm 58. . When taking out the glass plate 4, the conveying apparatus 54 carries out the adsorption hand 60 when the glass plate 4 in which the paper 18 was loaded is conveyed to the downstream plate collection position of the conveyor 52. It moves in the direction of an arrow to a collection position, and the glass plate 4 is adsorb | sucked through the paper 18 by the suction hand 60, and thereafter, by the container exchange apparatus 90 (refer FIG. 4, FIG. 5). The glass plate 4 is accommodated together with the paper 18 in the container 1 which is previously inclined at a predetermined angle.

By the conveying apparatus 54 repeating this operation | movement, the glass plate 4 is accommodated in the container 1 one by one.

In addition, when putting the glass plate 4, the conveying apparatus 54 moves the suction hand 60 to the position of the glass plate 4 mounted in the container 1, and advances to a paper removal mechanism (not shown) previously. As a result, the glass plate 4 from which the paper 18 is removed is adsorbed by the suction hand 60, and then put into the delivery unit of the glass plate processing step. When the conveying apparatus 54 repeats this operation | movement, the glass plate 4 is thrown into the glass plate processing process one by one.

It is a figure explaining the state of the container 1 at the time of accommodating or taking out a glass plate in the storage take-out apparatus 50 for glass plates. The back plate 110 (back support member) and the bottom plate 112 (container support member at the time of inclination) of the container exchange apparatus 90 are installed in L shape, and are divided into the space (container loading part) partitioned by these plates. The container 1 is loaded. In the storage take-out apparatus 50 for glass plates of this example, when storing or taking out the glass plate 4, as shown to FIG. 4 (a), the positioning member 15 (refer FIG. 2) is made into a container ( 4B, the container 1 is positioned so that the angle formed by the upper padding member 5 and the horizontal surface H becomes a predetermined angle as shown in FIG. 4B. The axis 116 of FIG. 5.

In addition, it is not essential to incline the container 1 as mentioned above. In addition, the storage taking-out apparatus 50 is not limited at all by material, a dimension, a structure, etc., either. That is, the storage take-out apparatus 50 may determine the characteristic according to the container 1 to be used.

Next, the container exchange apparatus of this invention is demonstrated.

5 is a schematic perspective view of an embodiment showing the configuration of the container changer 90 of the present invention. 6 to 12 are diagrams for explaining the operation of the apparatus 90 shown in FIG. 5. Hereinafter, a description will be given with reference to these drawings.

The container exchange apparatus 90 shown in FIG. 5 replaces the filled container 92 (refer FIG. 6) which accommodated the predetermined number of glass plates, and the empty container 94 (refer FIG. 6) in which the glass plate is not accommodated. will be. The container exchange device 90 basically includes the first and second mounts 96 and 97, the delivery mechanism 56 (airway machine 98), the first and second travel trucks 100 and 102, and And first and second movement control units (not shown).

The first mount 96 has a rectangular parallelepiped shape in which a guide (rail) 104 which linearly moves along an airway machine 98 and a second traveling truck 100 to be described later is disposed, and a second movement control unit or the like is installed. It is a frame. One side of the first mount 96 in the longitudinal direction (left side in the left and right direction in FIG. 6) is a position for supplying and discharging containers to the first and second travel trucks 100 and 102 (hereinafter, referred to as a container supply and unloading position). Also called).

The 2nd mount 97 is a rectangular parallelepiped frame body in which the guide (rail) 105 which linearly moves along the 1st traveling cart 100 mentioned later is arrange | positioned, and a 1st movement control part etc. are provided. As shown in FIG. 5, the second mount 97 is provided in substantially parallel with the first mount 96, and both sides of the second mount 97 in the longitudinal direction (in FIG. 6, the left and right directions) of the second mount 97 are positioned. A predetermined length protrudes from both ends in the longitudinal direction. In addition, the lower surface of the 2nd stand 97 becomes higher than the guide 104 for the 2nd traveling cart 102 mentioned later, and the sliding mechanism 129 of the 2nd running truck.

The airway machine 98 combines the functions of the delivery mechanism 56 (see FIG. 3) and the container inclination mechanism (see FIG. 4), and as shown in FIG. 6, in the longitudinal direction of the first mount 96. It is arrange | positioned on the opposite side (right side of a left-right direction in FIG. 6) to the position which supplies and carries out a container. The back plate 110 (back support member) and the bottom plate 112 (container support member at the time of inclination) (refer to FIG. 6) of the airway machine 98 are installed in L shape, and the space partitioned by these plates (container) The container is loaded in the stacking section). The airway machine 98 is the first and second of the upper surface of the back plate 110 when the container is conveyed to a predetermined position above the airway machine 98 by the first and second travel trucks 100 and 102. The angle with respect to the upper surface of the container support part 106 and 122 of the traveling trolley | bogie 100 and 102 (henceforth an angle of the back plate 110) stops and waits in the position which becomes 0 to -10 degree | times. In addition, the airway device 98 is substantially orthogonal to the width direction of the first mount 96 (ie, the moving directions of the first and second travel trucks 100 and 102) by the elevating mechanism 114, and the first direction. And an inclination angle of the back plate 110 around the axis 116 extending in a direction parallel to the upper surfaces of the container supports 106 and 122 of the second travel trucks 100 and 102. By rotating the back plate 110 in the range shown in FIG. 4, the container is inclined (see FIG. 4), the container is transferred between the first travel truck 100 or the second travel truck 102, and the container is opened. It is installed in the storage position or extraction position of a glass plate.

In addition, although the airway machine 98 was illustrated as an example of the delivery mechanism 56, the delivery mechanism 56 is not limited to the airway machine 98 which functions as a container inclination mechanism. That is, if there is no need to incline the container, there is no need to install the airway device 98 (container inclination mechanism), and a pedestal is provided as the delivery mechanism 56, and the glass plate 4 is in the state in which the container is arranged in parallel on the pedestal. It is good also as a structure which performs storage and take-out of this. That is, the specific mechanism is not limited at all as long as the transmission mechanism 56 can transfer a container between the 1st or 2nd traveling carts 100 and 102. FIG.

In addition, although the container support member at the time of inclination may be a plate-like member like the said bottom plate 112, if it is a thing of the mechanism which can be supported by combining with a container so that a container may not fall or shift when the container is inclined, Its specific configuration is not limited at all.

The specific means of the lifting mechanism 114 are not limited as long as it can realize the lifting function. Examples thereof include a power cylinder, a hydraulic cylinder, an air cylinder, a screw jack, and the like. The same applies to the following.

In the first traveling cart 100, a sliding mechanism 127 is provided below the main body 126, and the guide 105 formed on the frame of the second mount 97 in parallel with the longitudinal direction thereof is provided. Therefore, it linearly moves to the longitudinal direction of the 2nd mount stand 97 under control of a 1st movement control part. The sliding mechanism 127 can illustrate an LM guide, a linear guide, or a wheel, for example, and may combine other sliding mechanisms. As shown in FIG. 5, the first travel truck 100 includes a container support 106 formed in a U shape to surround the back plate 110 of the airway machine 98. On the upper surface of the container support 106, a filled container 92 or an empty container 94 is loaded. As will be described later, the traveling cart 100 is a container support part 106 in order to prevent friction between the upper surface of the back plate 110 of the airway machine 98 and the bottom of the container, which are likely to occur during container delivery and container delivery. Lifting mechanisms may be provided at both end portions in the longitudinal direction of the second mount frame 97 of), and the container support portion 106 may be raised and lowered by this lifting mechanism to load the container 94 into the container support portion. In addition, the elevating mechanism may be provided at the center portion of the main body 126 and may be provided with a linear moving mechanism at both ends. As an anti-friction countermeasure, an elevating mechanism may be provided in the airway.

In addition, the shape of the container support part 106 of the 1st traveling cart 100 is not limited to a C shape, What kind of shape may be used as long as it can support a container, but by making a C shape, the contact area with the bottom of a container can be enlarged. There is an advantage to that. Moreover, by making a U shape, both container support parts can be connected, and it becomes possible to move the container support parts of both sides by the 1st movement control part in synchronization.

The first movement control unit moves the first travel cart 100. Although not shown, the 1st movement control part is a 1st servo motor provided in the 1st mount 96, the 1st control part which controls a 1st servo motor, and the 1st servo motor is driven, for example. Has a timing belt. In addition, the first travel truck 100 is connected to the first timing belt.

Under the control of the first movement control unit, the first servo motor performs forward and reverse rotation so that the first timing belt is driven left and right in FIG. 6, and the first travel truck 100 is in FIG. 6 in accordance with the movement of the first timing belt. Move left and right.

Similar to the first travel trolley 100, the second travel trolley 102 is provided with a sliding mechanism 129 (see FIG. 5) at the lower portion of the main body 128, and has a length of the first mount 96. Direction of the first mount 96 under the control of the second moving control unit along the guide 104 formed in the direction and substantially parallel to the guide 105 on the outside of the guide 105 for the first travel truck 100, respectively. Move in the longitudinal direction. The guide 105 for the first travel truck 100 and the guide 104 for the second travel truck 102 have substantially the same length. As shown in FIG. 5, the second travel cart 102 has a container support part 122 having a rectangular shape, respectively, outward from the width direction of the container support part 106 of the first travel cart 100. The filled container 92 or the empty container 94 is loaded on the upper surface of the container support 122. As shown in FIG. 5, the container support part 122 is extended by the predetermined length rather than the width | variety of a container in the outer direction of the width direction of the 1st mount 96, respectively. Moreover, since the main body 128 of the container support part 122 is connected under the 2nd mount 97, it can move both container support parts 122 in synchronization by control of a 2nd movement control part. Moreover, it is possible to raise and lower synchronously by the elevation control part (lift mechanism) 115 provided in the both ends of the longitudinal direction of the 1st mount 96 of each container support part 122. As shown in FIG. In addition, the elevating mechanism may be provided in the center portion of the main body 128, and the linear movement mechanism may be provided at both ends.

Here, the shape and the dimension of the both side container support part 122 are not limited at all as long as it can support a container.

The second movement control unit moves the second travel truck 102. Although not shown, the second movement control unit includes a second servo motor provided on the first mount 96, a second control unit for controlling the second servo motor, and a second timing belt driven by the second servo motor. Have In addition, the second travel truck 102 is connected to the second timing belt.

Under the control of the second movement control unit, the second servo motor performs forward and reverse rotation, so that the second timing belt is driven left and right in the same drawing, and the second travel truck 102 is moved in accordance with the movement of the second timing belt. Move left and right.

In this embodiment, when the container is replaced, the first and second movement control units rotate the first and second servo motors in the reverse direction. That is, when the first servo motor is rotated forward, the second servo motor is reverse rotated. For example, the first travel cart 100 is from right to left, and the second travel cart 102 is from left to right. Both move in the reverse direction. The reverse is also true. In order to simplify and compact the device, it is preferable that the first travel bogie and the second travel bogie move synchronously.

The 1st and 2nd movement control part comprises the movement mechanism of this invention, and if the 1st traveling cart 100 and the 2nd traveling cart 102 can be moved to the reverse direction, the specific structure is not limited at all.

Next, with reference to FIGS. 6-12, the container exchange method of this invention is demonstrated with operation | movement of the container exchange apparatus 90 as an example when taking out the filled container 92. As shown in FIG. In addition, in FIG. 6-12, the apparatus structure is abbreviate | omitted and shown for the purpose of demonstrating the operation | movement of the apparatus 90 clearly. In addition, when storing and taking out the glass plate 4, there is a difference between whether the container to be supplied or taken out is a filled container or an empty container, but since the operation is the same, in this embodiment, the empty pallet is replaced with a container replacement device ( The case where it supplies to the container 90 and carries out the filled container 92 with which the glass plate was loaded from the container exchange apparatus 90, ie, takes out a glass plate and stores it in a container, is demonstrated.

(Step 1)

In the following description, it is assumed that the container 92 is already loaded in the container loading portion of the airway machine 98 as an initial state. As shown in FIG. 6, the airway machine 98 is rotated clockwise in the figure by the lifting control unit 114 around its axis 116 and is pushed upwards. The angle is inclined at a predetermined angle (hereinafter referred to as the inclination angle of this embodiment) determined by the distance the robot hand touches in the range of 0 to 85 degrees.

When storing the glass plate 4 in the empty container 94 like this embodiment, the container in which the glass plate 4 was mounted on the airway machine 98 by the above-mentioned storage take-out apparatus 50 for glass plates ( 94 sheets are stored one by one. In addition, when supplying the glass plate 4 from the filled container 92, the glass plate 4 accommodated in the container 92 is taken out one by one by the storage taking-out apparatus 50. As shown in FIG.

When the container support part 106 lowers the back plate 110 of the airway machine 98, and the angle of the back plate 110 becomes about 0 degree | times, the 1st running cart 100 is a 1st run. The height of the upper surface of the container support part 106 of the trolley 100 is approximately equal to the height of the upper surface of the back plate 110, and the position to deliver the container to the right airway 98 and the container in FIG. 6 (hereinafter, (Also called a container delivery location).

On the other hand, in the second travel truck 102, an empty container 94 is mounted on the upper surface of the container support part 122, and is waiting in the container supply carrying-out position.

As shown in FIG. 5, the container supplied to this container exchange apparatus 90, or the container carried out from the container exchange apparatus 90 is conveyed by the forklift as mentioned above. In the case of this embodiment, the empty container 94 is mounted in the predetermined position of the container support part 122 of the 2nd running cart 102 at the time of supply of a container. On the other hand, when the container is taken out, the filled container 92 which is loaded on the first travel truck 100 and moved to the container supply take-out position is transported.

(Step 2)

As shown by the arrow in FIG. 7, the container support part 122 of the both sides of the 2nd running cart 102 is raised by the elevation control part 115 by predetermined height. Specifically, the container support part 122 of the both sides of the 2nd traveling cart 102 is a position whose lower surface position is higher than the upper surface position of the filled container 92 mounted on the 1st traveling cart 100 mentioned later. Is raised.

(Step 3)

As indicated by the arrow on the right side of FIG. 8, the airway machine 98 in which the filled container 92 is loaded is rotated counterclockwise in the figure and lowered downward, with the back plate ( It moves to the position (horizontal position) which the angle of 110 is about 0 degree. As a result, the filled container 92 is supported by the back plate 110 of the airway machine 98 and the first travel truck 100. In addition, when the airway machine 98 rotates such that the angle of the rear plate 110 becomes negative, the upper surface of the rear plate 110 is lowered from the upper surface position of the container support part 106 of the first travel truck 100, and the filled portion is filled. The container 92 is delivered by the container 92 supported and filled by the first travel truck 100.

In addition, when the elevating mechanism is provided in the first travel truck 100, the first travel truck 100 has the rear plate 110 of the airway machine 98 lowered at the container delivery position, and the rear plate. When the angle of the 110 is about 0 degrees, the height of the upper surface of the container support portion 106 of the first travel truck 100 is approximately equal to or higher than the height of the upper surface of the rear plate 110. Wait. Subsequently, after the airway machine 98 moves downward and stops at a position where the angle of the rear plate 110 is about 0 degrees, the upper surface of the vessel support part 106 of the first travel truck 100 is the airway machine 98. The container support part 106 may be raised so that it may become higher than the upper surface of the back plate 110 of (), and you may deliver a container. Thereby, the friction of the lower surface of the filled container 92 and the upper surface of the back plate 110 of the airway machine 98 can be prevented reliably at the time of container delivery and the movement of the 1st traveling cart 100. In addition, the container may be delivered by combining the airway device 98 and the lifting mechanism of the first travel truck 100.

(Step 4)

As shown in Fig. 9, the first and second servo motors are respectively rotated in the reverse direction, and accordingly, respective timing belts corresponding to the first and second servo motors are respectively driven in the reverse direction. As a result, as shown by the left and right arrows in FIG. 9, the first travel truck 100 moves from the right side to the position where the second travel truck 102 on the left is waiting (container supply carrying out position), and the second The traveling truck 102 moves in the reverse direction of the first traveling truck 100 to a position (vessel delivery position) where the first traveling truck 100 on the right side has been waiting.

(Step 5)

As indicated by the arrow on the right side of FIG. 10, the upper surface of the container support part 110 of the second travel cart 102 is moved by the elevating control unit 115 on both sides of the container support part 110 of the second travel cart 102. It is lowered to the height which is substantially the same as the upper surface of the back plate 110 of the base 98, or a downward position. When lowered to approximately the same height, the empty container 94 is supported by the back plate 110 and the second travel bogie 100 of the airway machine 98.

At the same time, when the first travel cart 100 is provided with a lifting mechanism, and the lifting operation is performed at the time of delivery of the container, the lifting portion 106 is lowered by the lifting mechanism (not shown).

At this point in time, the position of the first travel trolley 100 and the position of the second travel trolley 102 are switched. That is, the positions of the containers 92 and 94 stacked on the first and second travel trucks are switched.

(Step 6)

As indicated by the arrow on the right side of FIG. 11, the airway machine 98 is rotated clockwise in the figure and pushed upwards by the elevating control unit 114 about its axis 116. Inclined at an inclined angle. When the back plate 110 of the airway machine 98 is raised to be higher than the top surface of the vessel support part 122 of the second travel truck 102, the empty container 94 is the back plate 110 of the airway machine 98. The empty container 94 is mounted on the L-shaped container holding part of the airway machine 98 from the traveling truck 102. In this state, the collected glass plate 4 is sequentially laminated one by one in the empty container 94, and the predetermined number of glass plate 4 is accommodated. In addition, when the upper surface of the container support part 122 of the 2nd traveling cart 102 is moved below than the upper surface of the back plate 110 of the airway machine 98 before the operation | movement of the airway machine 98 mentioned above, When the upper surface of the vessel support part 110 of the second travel truck 102 is lower than the upper surface of the back plate 110 of the airway machine 98, the empty container 94 is the back plate of the airway machine 98 ( It is supported by 110 and mounted on the L-shaped container holding part.

On the other hand, while storing the glass plates one by one in the empty container 94, the filled container 92 loaded on the container support part 106 of the first travel truck 100 is carried out by forklift as described above. do.

When the lifting function is provided in the first travel truck 100, the container supply and unloading positions of the first mount 96 are, for example, one at a position corresponding to four corners in the bottom surface of the container loaded thereon. A pedestal for temporarily placing the four vessels 1 is provided, and the vessel 92 filled in the pedestal from the first travel cart 100 is temporarily placed (transmitted), and then the vessel filled by the forklift from the pedestal ( 92 is carried out, and the empty container 94 is temporarily arrange | positioned by a forklift on a pedestal, and the 2nd traveling truck 102 raises the container support part 122 of the traveling truck 102, and then empty container. You may mount 94 on the container support part 122. FIG.

(Step 7)

As indicated by the left and right arrows in Fig. 12, the first and second servo motors are rotated in the reverse direction, respectively, in the opposite direction as in step 4, and similarly each timing belt is driven in the reverse direction. As a result, as shown by the left and right arrows in FIG. 12, the first travel truck 100 moves from the left side to the position where the second travel truck 102 on the right side (the container delivery position) is waiting for the second travel. The trolley | bogie 102 moves (returns) to the position (vessel supply carrying-out position) where the 1st traveling trolley | bogie 100 of the left side waited in the reverse direction. That is, the first and second travel trucks 100 and 102 reciprocate in the same path in the plan view of the container supply take-out position and the container delivery position.

Thereby, it will be in the state of step 1, and the operation from said step 1 to step 7 is repeated after that.

In the container exchange apparatus 90 of this invention, the container support part 122 of both sides of the 2nd travel truck 102 is raised, and the 1st and 2nd travel trucks 100 and 102 are reversed, and the container 1 is reversed. The container is switched by moving it in the same path and at different heights in plan view between the container feed take-out position and the container delivery position. According to this exchange system, if there are lengths of two containers and width of one container, two containers can be replaced. Therefore, compared with the conventional round table system, the space required for replacing a container can be significantly reduced.

In addition, in the exchange method of the container exchange apparatus 90 of this invention, like the conventional rotary table system, it does not need an airway machine in each container on a rotary table, but only one place in the position which collects or takes out a glass plate It is sufficient, so that the airway can be reduced to simplify the installation, and cost reduction can be realized.

As in the case of the above embodiment, when the elevating mechanism is lifted from the lower side of the container, the elevating mechanism and the second traveling cart 102 are changed when the positions of the first and second traveling carts 100 and 102 are changed. In order not to collide with the container loaded on the container, a lifting mechanism is provided on the second travel truck 102 having the container support part 122 on the outside thereof, and the container support part 122 is attached to the container support part of the first travel truck 110. It is necessary to make it into the position higher than the container 1 loaded in 106.

In contrast, for example, when the first travel truck 100 is supported from the upper side of the container, the first travel truck 100 may be lifted.

Therefore, either of the first and second travel trucks 100 and 102 can raise the bottom surface of the container support part of one travel truck than the upper surface of the container mounted on the other travel truck. That is, the elevating mechanism for raising the bottom face of the container support part of one traveling cart may be provided in at least one of the 1st and 2nd traveling carts 100 and 102 for raising the lower surface than the upper surface of the container loaded in the other traveling cart. In addition, it is more preferable to set the lifting mechanism as a structure for lifting up and down from the lower side.

In addition, this invention is not limited to replacing a filled container and an empty container, It can be used also for the purpose of replacing a filled container and a filled container, or an empty container and an empty container. As in the embodiment, when replacing the filled container and the empty container, it is preferable to raise the light empty container side, but this is a problem of the power of the lifting mechanism and the rigidity of each member, and if the conditions are satisfied, the heavy filled It is also possible to set it as the structure which raises a container side. That is, when replacing a container in order to take out a glass plate from a container, you may move the filled container by crossing over the empty container.

In addition, when a container is rectangular shape, the loading direction of a container may be toward the width direction of the long side container support part, and the short side may be toward the width direction of a container support part. However, from the viewpoint of the moving distance of the first and second travel trucks, it is preferable to load the container on the travel trucks with the long side of the container toward the width direction of the container support part. Thereby, the movement distance of a 1st and 2nd running cart becomes short, and the working efficiency of container replacement can be improved.

In addition, in embodiment, although the glass plate was illustrated as a plate-shaped object, the material, dimension, weight, etc. of the plate-shaped object which this invention makes object are not limited at all, It is applicable also to various plate-shaped bodies, such as a resin plate and a metal plate. have. For example, this invention is suitable for the exchange of the container which conveys the large glass plate used especially for large FPDs, such as a liquid crystal display and a plasma display.

The present invention is basically as described above.

As mentioned above, although the container exchange apparatus and the container exchange method of this invention were demonstrated in detail, this invention is not limited to the said embodiment, A various improvement and change may be carried out in the range which does not deviate from the main point of this invention. Of course.

1: container
3: Pedestal
4: glass plate
5: upper padding member
6: protective material
11: hole for forklift
15: shroud
17: Protective material
18: Lamination
20: glass end face sliding member
30: frame
50: storage drawer for glass
52: conveyor
54: conveying device
56: delivery mechanism
58: arm
60: adsorption hand
62, 116: axis
90: container change device
92, 94: container
96, 97: trestle
98: prayer
100, 102: driving bogie
104, 105: guide (rail)
106, 122: vessel support
110: back plate
112: bottom plate
114, 115: elevating control unit
126, 128: main body
127, 129: sliding mechanism

Claims (5)

It is a container exchange apparatus which moves and replaces the 1st container and 2nd container which a plate-shaped object is accommodated in,
First and second travel trucks on which the first and second containers are loaded, respectively,
A delivery mechanism for delivering the container in the first or second travel cart;
The reciprocating movement of the first and second travel trucks in the same path in a plan view between the position where the container is supplied to or taken out of the container change device and the position where the delivery mechanism is disposed, in a plan view. With a moving mechanism,
At least one of the first and second travel trucks is provided with a lift mechanism for lifting and lowering the container,
The elevating mechanism raises the lower surface position of the container support portion on which the container of the traveling cart provided with the elevating mechanism is loaded to a position higher than the upper surface position of the container loaded on the container support portion of the other traveling cart,
The moving mechanism moves the first and the second travel trucks in the reverse direction to each other and the respective container positions intersect at different heights so as to replace the first container and the second container. . The said delivery mechanism is equipped with the airway machine which inclines the said container by the storage angle or the extraction angle of the said plate-shaped object, The said airway machine,
A back support member for supporting the container and a container support member when inclined;
The back support member and the container support member at the time of inclination are centered about an axis perpendicular to the moving direction of the first and second travel carts and extending in a direction parallel to the upper surfaces of the container support parts of the first and second travel carts. And a mechanism for rotating it. The container according to claim 2, wherein the airway machine delivers the container to the first travel cart or the second travel cart and the delivery mechanism by rotating the back support member and the container support member at the time of inclination. Exchange device. The said 1st and 2nd running bogie is provided with the elevating mechanism which raises and lowers the said container,
The elevating mechanism of the said 1st and 2nd traveling cart lifts the said container, and transfers the said container to the said 1st traveling cart or the 2nd traveling cart and the said transmission mechanism, It is characterized by the above-mentioned. It is a container exchange method using the container exchange device of Claim 1,
The elevating mechanism raises the lower surface position of the container support portion on which the container of the traveling cart provided with the elevating mechanism is loaded to a position higher than the upper surface position of the container loaded on the container support portion of the other traveling cart,
Wherein the moving mechanism moves the first and second travel carts in a reverse direction to each other and the respective container positions intersect at different heights so as to replace the first container and the second container. .

Images