KR102104611B1 - Tray feeder - Google Patents

Abstract

The tray feeder is started. The tray feeder can move in a vertical direction, a tray is placed on the top, and a first shelf filled with an object in the raised state is located adjacent to the first shelf in a horizontal direction, and can be moved in a vertical direction. And, the tray is placed on the top, the second shelf is filled with the object in the raised state, the gripper capable of picking the tray while moving in the horizontal and vertical directions, and the tray placed on the first shelf While filling the object, the tray filled with the object placed on the second shelf is picked and stacked in the first tray group under the first shelf, and then the empty tray of the second tray group under the second shelf is picked to obtain the second The second shelf and the gripper are controlled to be placed on the top of the shelf, and placed on the tray placed on the second shelf. While the object is being filled, the first shelf and the gripper are stacked so that the tray filled with the object placed on the first shelf is stacked on the first tray group, and then the empty tray of the second tray group is placed on top of the first shelf. It may be provided with a control unit to control.

Description

Tray feeder

The present invention relates to a tray feeder, and more particularly, to a tray feeder that minimizes tray replacement time by replacing a tray filled with an object placed on another shelf with an empty tray while filling an object with an empty tray placed on one shelf.

In general, components or products (hereinafter referred to as 'objects'), such as a PCB substrate, a battery, or a display panel, are transported while seated on a tray to prevent the efficiency of transportation and damage to components. Such a tray is discharged by stacking the trays filled with the objects in the tray feeder after the objects are filled in a predetermined number by the transfer robot or the like.

As described above, when all the objects are filled in the tray and then discharged, when the object is filled in one empty tray, the filled tray is discharged and the empty tray is transported and the object is filled again. However, in the case of using this method, there is a problem in that the object is not filled in the tray during the time of discharging the tray filled with the object and the time of transferring the empty tray, resulting in low efficiency.

The problem to be solved by the present invention is to provide a tray feeder that minimizes tray replacement time by replacing a tray filled with an object placed on another shelf with an empty tray while filling an object on an empty tray placed on one shelf.

The tray feeder according to an embodiment of the present invention for achieving the above-mentioned subject can move in a vertical direction, a tray is placed on the top, and a first shelf in which the object is filled in the tray in an elevated state, the first It is located adjacent to the shelf in the horizontal direction, can move in the vertical direction, the tray is placed on the top, and the second shelf in which the object is filled in the tray in an elevated state, picking the tray while moving in the horizontal and vertical directions While filling the object on the gripper and the tray placed on the first shelf, a tray filled with the object placed on the second shelf is picked and stacked in a first tray group under the first shelf, and then under the second shelf. Picking the empty tray of the second tray group of the second shelf and the draw so as to place it on top of the second shelf And stacking the trays filled with the objects placed on the first shelf to the first tray group while filling the objects on the trays placed on the second shelf, and then emptying the empty trays of the second tray group to the first shelves. It may be provided with a control unit for controlling the first shelf and the gripper so as to put on the top.

The control unit, while filling the object on the tray placed on the first shelf, lowers the second shelf on which the tray filled with the object is placed, moves the gripper to pick the tray of the second shelf to pick the first tray After stacking on the mass, the second shelf is raised, the gripper is moved to pick the empty tray of the second tray group, the second shelf is lowered, and then the gripper is moved to raise the tray on the second shelf. After placing and moving the gripper under the first shelf, it can be controlled to raise the second shelf.

When the gripper is positioned under the second shelf before lowering the second shelf, the controller may control the gripper to move below the first shelf and then lower the second shelf.

The control unit, while filling the object on the tray placed on the second shelf, lowers the first shelf on which the tray filled with the object is placed, moves the gripper to pick the tray of the first shelf to pick up the second shelf After moving down, and raising the first shelf, the gripper is moved to stack the picked tray on the first tray group, and the gripper is moved to pick the empty tray of the second tray group and pick up the first After lowering the shelf, the gripper may be moved to put a tray on the first shelf, and the gripper may be moved under the second shelf to control the first shelf to be raised.

When the gripper is positioned under the first shelf before lowering the first shelf, the control unit may control the gripper to move below the second shelf and then lower the first shelf.

When the tray feeder according to an embodiment of the present invention is filled with an object on an empty tray placed on one shelf, the tray filled with the object placed on the other shelf is replaced with an empty tray, and the operation of filling the existing object ends. There is an advantage in that the object can be continuously filled in the tray without a delay time by continuously filling the object in an empty tray placed on another shelf. That is, the tray feeder according to an embodiment of the present invention does not require a tray replacement time, and after filling all the objects in one tray, the objects can be filled in another empty tray immediately, thereby maximizing work efficiency. There are advantages.

BRIEF DESCRIPTION OF THE DRAWINGS In order to better understand the drawings cited in the detailed description of the present invention, a brief description of each drawing is provided.
1 is a schematic diagram of a tray feeder according to an embodiment of the present invention.
2 to 9 are views for explaining the operation of replacing the tray of the second shelf while filling the object on the tray placed on the first shelf in the tray feeder of FIG.
10 to 16 are views for explaining the operation of replacing the tray of the first shelf while filling the object on the tray placed on the second shelf in the tray feeder of FIG.

In order to fully understand the present invention, the operational advantages of the present invention, and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the contents described in the drawings, which illustrate preferred embodiments of the present invention.

Hereinafter, the present invention will be described in detail by explaining preferred embodiments of the present invention with reference to the accompanying drawings. The same reference numerals in each drawing denote the same members.

1 is a schematic diagram of a tray feeder 100 according to an embodiment of the present invention.

Referring to FIG. 1, the tray feeder 100 may include a first shelf 110, a second shelf 120, a gripper 130 and a control unit (not shown).

The first shelf 110 may move in the vertical direction along the first guide bar 115, and a tray may be placed on the top. When the first shelf 110 moves in the vertical direction along the first guide bar 115, when the first shelf 110 is raised, an object may be filled in a tray placed on the top of the first shelf 110. In the state where the first shelf 110 is lowered, the tray placed on the top of the first shelf 110 is picked by the gripper 130 or the tray picked by the gripper 130 is placed on the top of the first shelf 110. You can. Since the first shelf 110 may be fixed only in two positions in an elevated state and a descended state, the first shelf 110 may be moved in a vertical direction by using a driving unit such as a cylinder. However, the present invention is not limited to this case, and other various driving units may be used if the first shelf 110 can move in the vertical direction.

The second shelf 120 is located adjacent to the first shelf 110 in the horizontal direction, can be moved in the vertical direction along the second guide bar 125, the tray can be placed on the top. The second shelf 120 may be moved independently of the first shelf 110. When the second shelf 120 moves vertically along the second guide bar 125, when the second shelf 120 is raised, an object may be filled in a tray placed on the top of the second shelf 120. In the state where the second shelf 120 is lowered, the tray placed on the top of the second shelf 120 is picked by the gripper 130 or the tray picked by the gripper 130 is placed on the top of the second shelf 120. You can. Since the second shelf 120 may be fixed only in two positions in an elevated state and a descended state, the second shelf 120 may be moved vertically using a driving unit such as a cylinder. However, the present invention is not limited to this case, and other various driving units may be used if the second shelf 120 can move in the vertical direction.

The gripper 130 may pick the tray while moving in the horizontal and vertical directions. That is, the gripper 130 may move in the vertical direction along the third guide bar 133, and the space 150 in which the first tray group is placed and the space 160 in which the second tray group is placed in the vertical direction Can move. In addition, the gripper 130 may move in the horizontal direction along the fourth guide bar 135, and move horizontally between a position corresponding to the first shelf 110 and a position corresponding to the second shelf 120. You can. For example, in a state in which the first shelf 110 and the second shelf 120 are raised, the first shelf 110 and the second shelf 120 may move horizontally under the first shelf 110 and the first shelf 110 ) Is in an elevated state and the second shelf 120 is in a lowered state, it may move horizontally above and below the first shelf 110 and above the second shelf 120. A drive unit such as a motor may be used to move the gripper 130 in a horizontal or vertical direction. The operation of the gripper 130 will be described in more detail while explaining the control operation of the control unit.

The control unit may replace the tray by controlling the first shelf 110, the second shelf 120, and the gripper 130 to move. That is, while filling the object placed on the tray placed on the first shelf 110, the control unit picks up the tray filled with the object placed on the second shelf 120 to be in the space 150 below the first shelf 110. After stacking the first tray group, the second shelf 120 is placed on the top of the second shelf 120 by picking the empty tray of the second tray group in the space 160 below the second shelf 120. ) And the gripper 130 can be controlled. In addition, while filling the object placed on the tray placed on the second shelf 120, the control unit stacks the tray filled with the object placed on the first shelf 110 to the first tray group, and then emptys the second tray group. The first shelf 110 and the gripper 130 may be controlled to place a tray on top of the first shelf 110. That is, while filling the object on the tray placed on the first shelf 110, the control unit operates the second shelf 120 and the gripper 130 to replace the tray, and the tray placed on the second shelf 120 The tray may be replaced by operating the first shelf 110 and the gripper 130 while filling the object. Here, the first tray group means trays in which trays filled with an object are stacked, and the second tray group means trays in which empty trays are stacked.

Looking more specifically, while filling the object on the tray placed on the first shelf 110, the control unit lowers the second shelf 120 on which the tray filled with the object is placed, and moves the gripper 130 to move the second The tray of the shelf 120 is picked and stacked on the first tray group, the second shelf 120 is raised, and then the gripper 130 is moved to pick the empty tray of the second tray group and the second shelf ( After lowering 120), the gripper 130 is moved to put a tray on the second shelf 120, the gripper 130 is moved under the first shelf 110, and then the second shelf 120 is raised. Can be controlled. Here, if the gripper 130 is located under the second shelf 120 before lowering the second shelf 120, the control unit moves the gripper 130 below the first shelf 110 and then removes the gripper 130. 2 can be controlled to lower the shelf 120.

Next, while filling the object on the tray placed on the second shelf 120, the control unit lowers the first shelf 110 on which the tray filled with the object is placed, and moves the gripper 130 to move the first shelf 110 ) By picking the tray to move it under the second shelf 120, and after raising the first shelf 110, the gripper 130 is moved to stack the picked tray in the first tray group, and the gripper 130 ) To pick the empty tray of the second tray group, lower the first shelf 110, then move the gripper 130 to place the tray on the first shelf 110 and place the gripper 130 on the second. After moving below the shelf 120, it can be controlled to raise the first shelf (110). Here, if the gripper 130 is located under the first shelf 110 before lowering the first shelf 110, the control unit moves the gripper 130 below the second shelf 120 and then removes the gripper 130. 1 can be controlled to lower the shelf 110.

Hereinafter, the operation of the tray feeder according to an embodiment of the present invention will be described in more detail with reference to FIGS. 2 to 16.

2 to 9 are views for explaining the operation of replacing the tray of the second shelf 120 while filling the object placed in the tray placed on the first shelf 110 in the tray feeder 110 of FIG. 10 and 16 are views for explaining an operation of replacing the tray of the first shelf 110 while filling the object placed in the tray placed on the second shelf 120 in the tray feeder 110 of FIG. 1. .

Hereinafter, the tray of the second shelf 120 is replaced while filling the object in the empty tray E1 placed on the first shelf 110 with reference to FIGS. 1 to 16, and the empty tray placed on the second shelf 120 The operation of replacing the tray of the first shelf 110 while filling the object in (E2) will be described.

First, it is assumed that all the objects are filled in the tray F1 placed on the second shelf 120, and the tray E1 placed on the first shelf 110 is filled with the object. In this case, the control unit lowers the second shelf 120 as shown in FIG. 2 (①), and the gripper 130 as shown in FIG. 3 is positioned above the second shelf 120 from the lower position of the first shelf 110. After moving to (②), the gripper 130 can be controlled to pick the tray F1 of the second shelf 120 (③). Thereafter, the control unit controls the gripper 130 picking the tray F1 to move to the lower position of the first shelf 110 as shown in FIG. 4 (④), and the gripper 130 picks the tray F1 picked up. It is stacked on the first tray group (TG1) and the second shelf 120 can be controlled to rise (⑤). The two operations of ⑤ may occur simultaneously, or one of the two operations may be performed first and the rest of the operations may be performed sequentially. Thereafter, the control unit may control the gripper 130 to be picked up from the second tray group TG2 to pick the empty tray E2 by moving the gripper 130 to the lower position as shown in FIG. 5 (⑥, ⑦). . Thereafter, the control unit may move the gripper 130 picking the empty tray E2 to the lower position of the first shelf 110 (⑧) and control the second shelf 120 to descend as shown in FIG. 6. (⑨). Thereafter, the control unit moves the gripper 130 from the lower position of the first shelf 110 to the upper position of the second shelf 120 as shown in FIG. 7 (⑩), and then the gripper 130 is picked as shown in FIG. 8. One empty tray E2 may be placed on the second shelf 120 and the gripper 130 may be controlled to move to a lower position of the first shelf 110 (⑪). Then, by controlling the second shelf 120 to be raised as shown in FIG. 9 (⑫), the tray F1 filled with the object placed on the second shelf 120 is moved to the first tray group TG1. The operation of placing the empty tray E2 in the second tray group TG2 on the second shelf 120 may be completed.

). 이후 상기 제어부는 도 12와 같이 트레이(F2)를 피킹한 그리퍼(130)를 제 2 선반(120) 아래쪽 위치로 이동시키도록 제어하고(

), 제 1 선반(110)을 상승하도록 제어할 수 있다(

). 이후 상기 제어부는 도 13과 같이 그리퍼(130)를 제 1 선반(110)의 아래쪽 위치로 이동시킨 후 그리퍼(130)가 피킹한 트레이(F2)를 제 1 트레이집단(TG1)에 적층할 수 있다(

). 이후 상기 제어부는 도 14와 같이 그리퍼(130)를 제 2 선반(120)의 아래쪽 위치로 이동시켜 제 2 트레이집단(TG2)에서 빈 트레이(E3)를 피킹하도록 제어할 수 있다(

). 이후 상기 제어부는 도 15와 같이 제 1 선반(110)이 하강하도록 제어하고(

), 빈 트레이(E3)를 피킹한 그리퍼(130)를 제 2 선반(120)의 아래쪽 위치에서 제 1 선반(110)의 위쪽 위치로 이동시켜서 그리퍼(130)가 피킹한 빈 트레이(E3)를 제 1 선반(110) 위에 내려놓을 수 있다(

). 이후 상기 제어부는 도 16과 같이 그리퍼(130)를 제 2 선반(120)의 아래쪽 위치로 이동시키도록 제어하고(

), 제 1 선반(110)이 상승하도록 제어함으로써(

), 제 1 선반(110)에 놓여져 있던 대상물이 채워진 트레이(F2)를 제 1 트레이집단(TG1)으로 이동시키고 제 2 트레이집단(TG2)에 있던 빈 트레이(E3)를 제 1 선반(110)에 올려놓는 동작이 완료될 수 있다. 도 16의 상태에서 제 2 선반(120)의 트레이(E2)에 대상물이 가득채워지면 상기 제어부는 그리퍼(130)를 제 1 선반(110)의 아래쪽 위치로 이동시킴으로써 도 2와 동일한 상태를 만든 후 앞서 설명한 도 2 내지 도 16과 같은 동작을 반복하여 수행할 수 있다. 따라서 본 발명의 기술적 사상에 의한 일 실시예에 따른 트레이 피더(100)는 기존의 대상물을 채우는 동작이 끝나면 다른 선반에 놓여진 빈 트레이에 연속하여 대상물을 채움으로써 지연되는 시간없이 계속하여 트레이에 대상물을 채울수 있다.When the tray E1 of the first shelf 110 is filled with the object in the state of FIG. 9 and becomes the tray F2 filled with the object as shown in FIG. 10, the object is the empty tray E2 of the second shelf 120 Begins to fill in. Then, as shown in FIG. 10, the control unit may move the gripper 130 in the downward direction of the second shelf 120 (⑬) and control the first shelf 110 to descend (⑭). Thereafter, the control unit moves the gripper 130 from the lower position of the second shelf 120 to the upper position of the first shelf 110 as shown in FIG. 11 (⑮), and the gripper 130 moves to the first shelf 110. It can be controlled to pick the tray (F2) of (

). Thereafter, the control unit controls to move the gripper 130 picking the tray F2 to the lower position of the second shelf 120 as shown in FIG. 12 (

), The first shelf 110 can be controlled to rise (

). Thereafter, the control unit may move the gripper 130 to the lower position of the first shelf 110 as shown in FIG. 13, and then stack the tray F2 picked by the gripper 130 to the first tray group TG1. (

). Thereafter, the control unit may control the gripper 130 to be picked from the second tray group TG2 to pick the empty tray E3 by moving the gripper 130 to the lower position as shown in FIG. 14 (

). Thereafter, the control unit controls the first shelf 110 to descend as shown in FIG. 15 (

), By moving the gripper 130 picking the empty tray (E3) from the lower position of the second shelf (120) to the upper position of the first shelf (110) so that the empty tray (E3) picked by the gripper (130) It can be put down on the first shelf 110 (

). Thereafter, the control unit controls the gripper 130 to be moved to a lower position of the second shelf 120 as shown in FIG. 16 (

), By controlling the first shelf 110 to rise (

), The tray F2 filled with the object placed on the first shelf 110 is moved to the first tray group TG1, and the empty tray E3 in the second tray group TG2 is first shelf 110 Putting it on can be done. After the object is filled in the tray E2 of the second shelf 120 in the state of FIG. 16, the control unit moves the gripper 130 to the lower position of the first shelf 110, thereby creating the same state as in FIG. The above-described operations of FIGS. 2 to 16 may be repeatedly performed. Therefore, the tray feeder 100 according to an embodiment of the present invention, after the operation of filling an existing object, continuously fills the object in an empty tray placed on another shelf without delaying the object without delay. Can be filled.

As described above, optimal embodiments have been disclosed in the drawings and specifications. Although specific terms are used herein, they are used only for the purpose of describing the present invention and are not used to limit the scope of the present invention as defined in the claims or the claims. Therefore, those of ordinary skill in the art will understand that various modifications and other equivalent embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

Claims (5)

A first shelf that can move in a vertical direction, a tray is placed on the top, and the tray is filled with an object;
A second shelf positioned adjacent to the first shelf in a horizontal direction, movable in a vertical direction, a tray placed on top, and an object filled in the tray in an elevated state;
A gripper capable of picking the tray while moving in the horizontal and vertical directions; And
While filling the object placed on the tray placed on the first shelf, the tray filled with the object placed on the second shelf is picked and stacked on the first tray group below the first shelf, and then the second tray group below the second shelf Picking an empty tray of the second shelf and the gripper to be placed on top of the second shelf, while filling the object on the tray placed on the second shelf while the tray filled with the object placed on the first shelf And a control unit for controlling the first shelf and the gripper to stack the empty tray of the second tray group on top of the first shelf after being stacked on the first tray group,
The control unit,
While filling the object on the tray placed on the first shelf, the second shelf on which the object-filled tray is placed is lowered, the gripper is moved to pick the tray of the second shelf, and stacked on the first tray group. , After raising the second shelf, move the gripper to pick the empty tray of the second tray group, lower the second shelf, and then move the gripper to place the tray on the second shelf and place the gripper. The second shelf is controlled to be raised after being moved under the first shelf,
While filling the object on the tray placed on the second shelf, the first shelf on which the object-filled tray is placed is lowered, and the gripper is moved to pick the tray of the first shelf to move it under the second shelf. After the first shelf is raised, the gripper is moved to stack the picked tray on the first tray group, and the gripper is moved to pick the empty tray of the second tray group and lower the first shelf. After moving the gripper, the tray is placed on the first shelf, and after moving the gripper under the second shelf, the tray feeder is controlled to raise the first shelf. delete According to claim 1, The control unit,
If the gripper is located under the second shelf before lowering the second shelf, the tray feeder, characterized in that to control the lowering of the second shelf after moving the gripper under the first shelf. delete According to claim 1, The control unit,
If the gripper is located under the first shelf before lowering the first shelf, the tray feeder, characterized in that to control the lowering of the first shelf after moving the gripper under the second shelf.

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