TWI627116B - Transfer device and method - Google Patents

Abstract

To improve the position of the parts that can be transferred Part transfer operation efficiency of the pallet.

A transfer device The aforementioned parts are transferred between a transport area where a pallet for storing a plurality of parts is stored at a predetermined interval and a part carrying-in / out position; the transfer device includes: a first transfer unit, a second transfer unit, and a transfer unit And control unit; the first conveying unit is disposed in the conveying area and conveys the tray in the conveying direction; the second conveying unit is disposed in the conveying area and conveys the tray in the conveying direction; the transfer unit is being moved by the first The control unit performs control of the first transport unit, the second transport unit, and the transfer unit at the loading and unloading positions of the pallet and the parts held by the transport unit or the second transport unit; the transport The area has a moving range in which the two trays can move side by side in the conveying direction; the control unit performs the following handover control: the first conveying unit maintains the upstream side of the conveying direction, that is, the side of the pallet and faces the foregoing The second carrying unit carries the second carrying unit to keep the carrying I.e. the downstream side of the other side of the tray, transferred from the tray to the first conveying unit conveying the second unit.

Description

Transfer device and method

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

An assembly device for assembling products or a processing device that performs predetermined processing on parts is supplied from a viewpoint of improving work efficiency, etc., in a state where a plurality of parts are stored in one storage container, or a plurality of parts are recovered, and the parts are processed. Moving. In addition, when supplying or recovering such parts efficiently, in order to continuously supply and recover the parts as much as possible, generally, a plurality of storage containers are continuously prepared, and the storage containers and parts provided outside the storage containers are loaded. Transfer parts between placement units.

As the storage container, for example, a flat storage container (hereinafter referred to as a tray) is used, and the flat storage container is provided with a plurality of storage units capable of arranging and accommodating a plurality of parts on the same plane. These trays are configured to be able to be stacked in multiples, and as a tray group in which a plurality of trays are stacked, they are either supplied to an assembly device or a processing device, or are transferred between different processes.

As a device for supplying parts using such a tray, there is a device described in Patent Literature 1 or Patent Literature 2. On the device During the supply of the stacked tray group, the trays of the tray group are separated one by one, and the parts are transferred between the accommodating part of the separated tray and the part transfer position provided outside the accommodating part, and the The transferred trays are stacked again to form a tray group.

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open No. 06-127697

[Patent Document 2] Japanese Tengshi Patent No. 3012606

The device described in Patent Document 1 or 2 transfers the stacked container (tray) group, separates and holds the uppermost tray, transfers the separated and held container, and releases the separated and held container after the transfer process is completed. The container (tray) is held and discharged. After the discharge is completed, the container which becomes the uppermost part of the laminated container is separated and held again, and the component is transferred, whereby the component transfer operation is performed. Therefore, in this device, during the container changing operation, component transfer cannot be performed, and there is a concern that the transfer efficiency is reduced.

Accordingly, an object of the present invention is to provide a technology that can improve the efficiency of a part transfer operation for a pallet held at a part transferable position.

The present invention is a transfer device, which transfers the aforementioned parts between a transport area for transporting a tray that accommodates a plurality of parts at a predetermined interval and a position where the parts are carried in and out; and the feature is: A transport unit, a second transport unit, a transfer unit, and a control unit; the first transport unit is disposed in the transport area and transports the tray in the transport direction; the second transport unit is disposed in the transport area and is transported in the transport direction The pallet; the transfer unit transfers the parts at the loading and unloading positions of the pallet and the parts held by the first transport unit or the second transport unit; the control unit performs the first transport unit, the second Control of the transport unit and the transfer unit; the transport area has a movement range capable of moving the two pallets side by side in the transport direction; the control unit performs the following transfer control: the first transport unit maintains the transport direction The upstream side is the side of the pallet and is transported toward the second transport unit. Let the second conveying unit that is holding the other side of the pallet conveying direction downstream side, the transfer of the pallet to the second conveying unit from the first conveyance unit.

In addition, the present invention is a transfer method of a transfer device. The transfer device transfers a part between a transport area for transporting a tray that accommodates a plurality of parts at a predetermined interval and a part carry-in / out position; The transfer method includes: a first transfer process, a second transfer process, a transfer process, a transfer process, and a simultaneous movement process; the first transfer process is to place the first transfer unit in the aforementioned transfer area and on the transfer surface in the transfer direction. Carry the pallet; the second transport process is to let the second transport unit The transport area transports the pallets transported through the first transport process on the transport surface along the transport direction; the transfer process is the pallets held in the first transport process or the second transport process and The part is transferred by the transfer device between the parts being moved in and out; the transfer process is performed between the first transfer process and the second transfer process; in the transfer process, the first transfer is performed The unit holds the upstream side of the conveying direction, that is, one side of the tray, and conveys toward the second conveying unit side, and allows the second conveying unit to hold the downstream side of the conveying direction, that is, the other side of the pallet, from the first conveying The unit transfers the tray to the second transfer unit.

According to the present invention, it is possible to improve the efficiency of the part transfer operation with respect to the pallet held at the part transferable position.

200‧‧‧ the first handling unit

300‧‧‧ Transfer Unit

400‧‧‧ 2nd handling unit

500‧‧‧control unit

A‧‧‧ transfer device

P‧‧‧Parts

T‧‧‧tray

T1‧‧‧Layer tray

T2‧‧‧Layer tray

1 is a perspective view of a system using a transfer device according to an embodiment of the present invention.

Fig. 2 is a perspective view of a conveying device.

3 is an exploded perspective view of a transfer device.

4 is an exploded perspective view of a transfer device.

5 is a perspective view of a transfer unit and a transport unit.

Fig. 6 is a block diagram of a control unit.

FIG. 7 is an operation explanatory diagram of the system.

[Fig. 8] Fig. 8 is an operation explanatory diagram of the system.

[Fig. 9] Fig. 9 is an operation explanatory diagram of the system.

FIG. 10 is an operation explanatory diagram of the system.

[Fig. 11] Fig. 11 is an operation explanatory diagram of the system.

FIG. 12 is an operation explanatory diagram of the system.

Hereinafter, exemplary embodiments of the present invention will be described with reference to the drawings. In addition, in each figure, the same element symbol indicates the same component, and the vertical, horizontal, and left directions facing the paper surface are used as the vertical, horizontal, and left directions of the device or member in this embodiment, and are used in the description herein.

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 orthogonal to each other in the horizontal direction, and an arrow Z indicates the vertical direction. The system S is provided with a parts transfer unit (parts carry-in / out position) PT, a transfer device A, and a transfer device C, which are arranged in a line along the direction of arrow Y in the figure. The parts transfer unit PT is arranged adjacent to the transfer device A. The transfer device C is located on the opposite side of the component transfer unit PT with the transfer device A therebetween, and is disposed adjacent to the transfer device A.

In describing the operation outline of the system S, the transfer device C supplies the transfer device A with a tray T containing the components P, the transfer device A transfers the components P from the tray T to the component transfer unit PT, and the transfer device C moves from The loading device A collects the tray T that has become empty. At this time, the component P is transferred from the transfer device C disposed on the upstream side of the transfer device A to the component transfer unit PT disposed on the downstream side of the transfer device A via the transfer device A. Moving. The part P is supplied from the conveying device C to the transfer device A in a state of being accommodated in the tray T, and the transferred device A is taken out from the tray T and supplied to the downstream side. Therefore, the system S can be said to be a parts supply system .

In addition, as long as the parts transfer unit PT and the conveying device C have a structure capable of transferring the parts P between the transfer device A and the transfer device A, and a structure capable of transferring the tray T between the transfer device A and the transfer device A, either method may be adopted. It is not limited to the form of embodiment described below.

<Part Transfer Unit PT>

The part transfer unit PT is a transfer unit that receives the part P from the transfer device A at a carry-in position that becomes a transfer position of the part P, and provides an assembly device or processing device not shown in the figure. The parts P are conveyed one by one, or the parts P are conveyed one by one to a take-out position of the parts P which are the carry-out positions of the transfer device A, and the parts transfer unit PT is provided with parts carry-in and carry-out positions. Examples of the component transfer unit PT include a belt conveyor on which the component P is placed and transferred.

<Tray T>

As shown in the enlarged view shown in FIG. 2, the tray processed in the present invention is provided with a receiving portion Ts for accommodating the parts P, and the periphery (upper edge) of the receiving portion Ts Part) is a flange-shaped protrusion Tt protruding outward. The accommodating portion Ts is, for example, a bottomed cylindrical portion that is rectangular in plan view. In the stacked trays T1 and T2 formed by stacking a plurality of trays T, the centers of the respective accommodating portions Ts are located on the same vertical line, and the corners of the respective protruding portions Tt are located different from the vertical line of the accommodating portion Ts. They are stacked on vertical lines. In addition, when a plurality of trays T are stacked, a gap separated in the vertical direction is formed between the protruding portions Tt of the respective trays T.

<Transporter C>

FIG. 2 is a perspective view of the entire conveying device C. FIG. In the present embodiment, as the transport device C, an unmanned transport vehicle such as an AGV (Automatic Guided Vehicle) can be used. The transporting device C is equipped with a mounting portion C1 on which a tray T is described later, and a running portion C2 on the lower side of the mounting portion C1. The conveyance device C can travel, for example, in a factory by the traveling part C2, can move appropriately, and can stop adjacent to the transfer device A. The conveying device C is supplied to the stacked tray T1 of the transfer device A in a state where a plurality of trays T are stacked, or the stacked tray T2 is recovered from the transfer device A in a state where a plurality of trays T are stacked. It is mounted on a mountable mounting portion C1 and is carried. 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 mechanism) for transferring the stacked tray T1 or the stacked tray T2 described later.

The conveying device C configured as described above can, for example, mount and move the stacking tray T1 at a predetermined position in a factory, and be connected to one end portion of the transfer device A. After connection, the carrying device C will be transferred The unprocessed stacked tray T1 is transferred from the mounting surface to the transfer device A side. In addition, after the component P is transferred between the tray T and the component transfer unit PT using the transfer device A, the stacked tray T2 after the transfer processing is transferred from the transfer device A to the mounting surface of the transfer device C, It can be moved in a factory and transported to a predetermined place. In addition, in the present embodiment, an example in which the AGV is adopted as the conveying device C is not limited to this format. For example, it may be a work trolley operated by a work vehicle. In this case, The work trolley and the transfer of the tray T of the transfer device A may be performed by an operator.

<Transfer device A>

Referring to FIG. 1 again, the carrying device A will be described. The transfer device A is arranged adjacent to the parts transfer unit PT. In addition, when the conveying device C leans laterally on the transfer device A, the transfer device A is arranged between the parts transfer unit PT and the conveying device C. In the present embodiment, in the following description, the side of the transfer device A adjacent to the transfer device C is referred to as the upstream side, and the other side adjacent to the parts transfer unit PT is referred to as the downstream side.

The transfer device A is provided with a supply unit A1 and a recovery unit A2. The supply unit A1 receives a stacking tray T1 formed by stacking a plurality of trays T from the conveying device C, and moves it from the upstream side to the downstream side (from the stacking tray). The receiving side of T1 is transported to the part transfer unit PT side. The recycling unit A2 stacks the stacked tray T2 from the transferred tray T from the downstream side to the upstream side (from the part transfer unit PT side to the stacked tray T2. Transfer side), and transfer to transfer device C. In this embodiment, the supply unit A1 is arranged on the X-direction back side of the transfer device A in FIG. 1. In the present embodiment, the recovery unit A2 is disposed on the near side in the X direction of the transfer device A in FIG. 1. That is, the supply unit A1 and the collection unit A2 are arranged side by side with respect to the conveyance direction (the Y direction in FIG. 1) of the stacking trays T1 and T2. The supply unit A1 and the recovery unit A2 constitute a supply and recovery module in the transfer device A.

The transfer device A is further equipped with a transfer transfer unit A4 arranged in the Z direction on the downstream side (part transfer unit PT side) of the supply and recovery element A3. The transfer transfer element A4 transfers the tray T from the supply unit A1 to the recovery unit A2, and transfers parts between the tray T and the parts transfer unit PT. The transfer and transfer element A4 is equipped with a first transfer unit 200, a transfer unit 300, and a second transfer unit 400. The first conveyance unit 200 is arranged above the Z direction on the downstream side (part transfer unit PT side) of the supply unit A1 and receives the tray T from the stacking tray T1. The transfer unit 300 transfers the parts P between the placement part of the parts P in the tray T received by the first transfer unit 200 and the parts transfer unit PT. The second conveyance unit 400 is arranged above the Z direction on the downstream side (part transfer unit PT side) of the collection unit A2, and transfers the tray T on which the component transfer processing has been completed to the collection unit A2. When the transfer unit 300 continuously transfers the parts P, the first transfer unit 200 and the second transfer unit 400 cooperate in a direction orthogonal to the transfer direction of the stacked trays T1 and T2 (the X direction in FIG. 1). ) Carry the tray T.

<Body frame 100>

The transfer device A is equipped with a body frame 100. The main body frame 100 is a base member that supports the supply and recovery module A3 including the supply unit A1 and the recovery unit A2, and the transfer and transfer module A4.

The main body frame 100 is provided with at least a main frame 101 formed in a rectangular shape in plan view, and two door-type sub frames 102 and 103 extending upward from the main frame 101. These frames may also be appropriately connected via a plurality of intermediate frames not shown in the figure. The two door-type sub frames 102 and 103 are arranged at a predetermined interval from each other in the Y direction on the downstream side in the longitudinal direction (Y direction) of the main frame 101, and the transfer and transfer element A4 is arranged on the upper portion thereof. The supply and recovery element A3 is arranged between the inner space of the door type of the sub frames 102 and 103 and the space above the main frame. Therefore, the main body frame 100 is a frame structure in which the transfer and transfer element A4 is arranged at the upper stage and the supply and recovery element A3 is arranged at the upper and lower stages of the lower stage.

<Supply Recovery Unit A3>

FIG. 3 is a partially exploded perspective view showing a state where the stacking trays T1 and T2 are not mounted on the transfer device A of FIG. 1 and the transfer transfer element A4 is separated from the main body frame 100. In the main frame 101, a supply unit A1 and a recovery unit A2 are arranged in substantially the entire area in the longitudinal direction (the arrow Y direction). As described above, in the present embodiment, the supply unit A1 and the recovery unit A2 that supply the recovery element A3 are arranged in parallel along the Y direction in the figure. In FIG. 3, the supply unit A1 is arranged on the back side in the X direction, and returns The receiving unit A2 is arranged near the X direction, but it is not limited to this. The supplying unit A1 may be arranged near the X direction, and the collecting unit A2 may be arranged near the X direction. In addition, in FIG. 3, the structural components indicated by the same reference numerals indicate that the same components are used as the structural components of the supply unit A1 and the recovery unit A2. Therefore, when the transfer unit 100 and the lifting unit 120 are arranged in the supply unit A1, the transfer unit 110 becomes a supply moving mechanism, and the tray lifting unit 120 becomes a supply lifting mechanism. Moreover, when it arrange | positions in the collection | recovery unit A2, the transfer unit 100 becomes a discharge movement mechanism, and the tray raising / lowering unit 102 becomes a collection raising / lowering mechanism.

<Supply unit A1>

The detailed configuration of the supply unit A1 is described below. FIG. 4 is an exploded perspective view in which components constituting the supply unit A1 and the recovery unit A2 have been disassembled in detail. The supply unit A1 is equipped with a transfer unit (feed moving mechanism) 110, a tray lifting unit (supply lifting mechanism) 120, and a stacked tray receiving unit 130. The transfer unit 110 is mounted to a predetermined position where the main frame 101 of the supply unit A1 is arranged. The tray lifting unit 120 and the stacked tray receiving unit 130 are located inside the main frame 101 where the supply unit A1 is arranged, and are arranged inside a pair of transfer rails R of a transfer unit 110 described later. In addition, the supply unit A1 is provided with a tray supply standby position SA (see FIG. 3) that receives the stacking tray T1 between the supply unit A and the conveying device C, and the other side is provided with a ready-to-stack tray under the transfer transfer unit A4. T1 tray preparation position RA (see Figure 3). In addition, the transfer unit 110 arranged in the supply unit A1 is arranged so that the stacked tray T1 can be transferred at the tray supply position SA and the tray preparation position RA. In addition, the tray raising and lowering unit 120 arranged in the supply unit A1 is arranged at the tray preparation position RA so as to be able to mount and support the stacked tray T1 and to be able to be placed in the tray preparation position RA and the supply position FA provided in the transfer transfer module A4 ( Refer to Figure 3). In addition, 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 is provided with a pair of transfer guides R, and a driving unit D having a drive motor or the like that drives the transfer guides R. Each of the transfer rails R is arranged on the main frame 101 at intervals in the Y direction, and is disposed in substantially the entire Y direction of the main frame 101. The driving portion D is disposed at a substantially central portion in the Y direction in the figure of the pair of transfer rails R, and is provided with a driving force transmission mechanism such as a drive motor and a shaft connecting the two transfer rails R. Thereby, a pair of transfer rails R can be driven synchronously by one drive motor.

<Transfer rail R>

Examples of the configuration of the transfer rail R include a configuration in which a mounting portion provided with a mounting tray and a belt conveyor unit (moving body) including an endless belt capable of transporting a workpiece to be mounted are incorporated. However, the transfer guide R does not The method is limited to the above, and for example, a ball screw mechanism that moves a nut (moving body) constituting the mounting portion of the mounting tray along a ball screw, or an actuator connected to the mounting tray by an actuator such as an air cylinder may be used. A mechanism for moving the moving body on the mounting section.

<Tray Lifting Unit 120>

The tray raising / lowering unit 120 is provided with the mounting part 121 which mounts the tray T, and the moving mechanism 122 which moves the mounting part 121 up and down. The mounting portion 121 is formed in a plate shape, and a tray is placed on the mounting portion 121. As the moving mechanism 122, a moving mechanism capable of stopping the placing section 121 at a predetermined position may be used. Specifically, in the case where the tray lifting unit 120 is arranged in the supply unit A1, as long as it can be set between at least two parts of the tray preparation position RA and the tray supply position FA described later, it can be set between them. The mounting portion 121 may be stopped at a plurality of stopping positions, and there is no particular limitation. For example, examples of the moving mechanism 122 include a lifting mechanism including an air cylinder and a hydraulic cylinder, and a lifting mechanism including a ball screw having a position controllable motor or the like as a driving source.

<Layered tray receiving unit 130>

The stacked tray receiving unit 130 is provided with a mounting section 131 on which the stacked tray T1 or T2 is mounted, and a moving mechanism 132 that moves the mounting section 131. The mounting portion 131 is composed of a pair of elongated members having a U-shaped cross section, and these elongated members are arranged horizontally and spaced back to back at a predetermined interval along the longitudinal direction of the pair of transfer rails R.

The moving mechanism 132 only needs to be able to stop the placing section 131 at a predetermined predetermined position. For example, the moving mechanism 132 may include a position at least on the upper surface of the mounting portion 131 above the transfer surface of the transfer guide R (a transfer position where transfer of the laminated tray with the transfer device C is performed), and An example of a mechanism that stops below the transfer surface of the transfer guide R. Further, examples of the transfer mechanism 132 include a lifting mechanism including an air cylinder and a hydraulic cylinder, or a lifting mechanism including a ball screw having a motor or the like as a drive source.

<Recycling unit A2>

The recovery unit A2 is equipped with a transfer unit (discharge moving mechanism) 110, a tray lifting unit (recovering lifting mechanism) 120, and a stacked tray receiving unit 130. The recovery unit A2 is disposed at a predetermined position of the main frame 101. On one side, a tray discharge standby position ESA (see FIG. 3) that receives the stacked tray T2 from the conveying device C is set. A tray ejection position EA (see FIG. 3) for preparing for ejection of the stacked tray T2 is set below. In addition, the transfer unit 110 arranged in the recovery unit A2 is arranged so that the stacked tray T2 can be transferred at the tray discharge position EA and the tray discharge standby position ESA.

In addition, the tray elevating unit 120 arranged in the recovery unit A2 is arranged at a tray discharge position EA so as to be able to mount and support the stacking tray T2, and in the tray discharge position EA and the recycling position PA provided in the transfer transfer unit A4 (see Figure 3). For the moving machine of the tray lifting unit 120 arranged in the recycling unit A2 As the mechanism 122, a moving mechanism capable of stopping the placing section 121 at a predetermined predetermined position may be adopted. Specifically, any mechanism may be used as long as it can stop the mounting section 121 at a plurality of stop positions including at least two collection positions PA and a tray discharge position EA described later, and there are no stopping positions. Special restrictions. In addition, the stacked tray receiving unit 130 arranged in the tray discharge standby position ESA set in the recovery unit A2 supports the stacked tray T2 so as to be able to move up and down.

The respective configurations of the transfer unit 110, the tray lifting unit 120, and the stacked tray receiving unit 130 provided in the recovery unit A2 are the same as those used in the above-mentioned supply unit A1. In addition, since the structure of the transfer unit 110, the transfer guide R, and the tray lifting unit 120 and the stacked tray receiving unit 130 is the same as that described in the above-mentioned supply unit A1, description thereof is omitted.

<Guiding member>

In addition, the supply unit A1 is provided with a guide member 140 extending in the Z direction at the tray supply standby position SA in order to limit the position in the horizontal direction (X-Y direction) of the stacked tray T1. The guide member 140 may be disposed near at least four corners of the rectangular stacking tray T1. In addition, inside the sub-frame 103 for setting the tray preparation position RA and the tray discharge position EA, in order to prevent the stacked trays T1 and T2 from being tilted when the tray lifting units 120 and 120 are separately arranged, lifting guide units may be separately provided. 104. In this embodiment, an example in which four guide members 140 are provided will be described. However, as long as it can stack trays The guidance of T1 in a horizontal position is not shifted, and the present invention is not limited to this. In addition, if the stacking tray T1 is not shifted, the guide member 140 may be omitted.

With the above configuration, in the supply and recovery element A3, the supply unit A1 and the recovery unit A2 are arranged side by side along the conveyance direction (Y direction). The supply unit A1 receives the stacked tray T1 from the conveying device C at the tray supply standby position SA, and conveys the stacked tray T1 to the tray preparation position RA on the downstream side. In addition, the recovery unit A2 transfers the stacked tray T2 stacked on the tray discharge position EA to the tray discharge standby position ESA on the upstream side, and transfers it to the transfer device C.

<Transfer module A4>

The transfer and transfer element A4 is equipped with a first transfer unit 200, a transfer unit 300, and a second transfer unit 400. The transfer and transfer element A4 is arranged above a pair of door-type sub frames 102 and 103, and the pair of door-type sub frames 102 and 103 are arranged on the downstream side of the main frame 101. The first conveyance unit 200 is arranged above the tray preparation position RA set in the supply unit A1. The second conveyance unit 400 is arranged above the tray discharge position EA set in the recovery unit A2.

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

The rectangular frame-shaped frames 200 a and 400 a are arranged across the upper portions of the sub-frames 102 and 103. The upper surface of the frame 200a becomes the supply position FA, and the upper surface of the frame 400a becomes the recovery position PA. The first conveyance unit 200 is placed on the frame 200a corresponding to the supply position FA. The second conveyance unit 400 is placed on the frame 400a corresponding to the collection position PA. The openings of the frames 200a and 400a are set to a size through which the tray T can pass.

In addition, a plurality of (for example, four) connecting the tray T and defining a position of the tray T relative to the first and second conveying units 200, 400 are provided at predetermined positions (for example, four corners of the inner peripheral edge portion) of each of the frames 200a, 400a. (A) prescribed portions 200b, 400b. As the predetermined portions 200b and 400b, for example, in addition to a lever member erected from the frames 200a and 400a, a guide member and the like that can be configured to be engaged with the tray T can be cited. In addition, the installation locations and the number of the predetermined portions 200b and 400b with respect to the frames 200a and 400a can be appropriately set according to the form of the tray T.

FIG. 5 is a perspective view of the first transfer unit 200, the transfer unit 300, and the second transfer unit 400. The first conveyance unit 200 and the second conveyance unit 400 set a conveyance area as an area to convey the tray T CA. The transfer unit 300 of the transfer device A transfers the component P between the tray T and the component transfer unit PT stopped at the position where the component P is taken out on the transfer surface in the transfer area CA (see FIG. 9).

The first conveyance unit 200 is set on the back side in the X direction of the conveyance area CA, and holds one side (the back side in FIG. 5) of the tray T in the conveyance direction (the X direction in FIG. 5) and conveys the tray T. In addition, the second conveying unit 400 is provided on the near side in the X direction of the conveying area CA, and holds the other side (the near side in FIG. 5) of the tray T in the conveying direction (X direction in FIG. 5) and conveys Tray T. The transfer unit 300 transfers parts between the pallet T held by either the first transfer unit 200 or the second transfer unit 400 and the parts transfer unit PT.

The conveying area CA includes a horizontal surface (conveying surface) capable of moving the different trays T in parallel in the conveying direction, for example, the entire length from the first conveying unit 200 to the second conveying unit 400 in the X direction in FIG. 5. On the range of motion MR. The control device 500 described later causes the first conveyance unit 200 and the second conveyance unit 400 to perform side-by-side movement of moving the tray T side by side in the movement range MR and transfer movement of the tray T between the two conveyance units 200 and 400.

The moving range MR includes a first conveyance path MR1 and a second conveyance path MR2. The first conveyance path MR1 includes one path that is a half of the path on the back side in the X direction in the moving range MR, and includes the moving range of the first holding mechanism 210 described later. On the other hand, the second conveyance path MR2 includes another path which is half of the path near the front side in the X direction in the moving range MR, and includes a first path described later. 2 The moving range of the holding mechanism 410. The pallet 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, in some cases, the first conveyance path MR1 is referred to as an upstream side, and the second conveyance path MR2 is referred to as a downstream side.

<First conveyance unit 200>

The first conveyance unit 200 is provided on the first conveyance path MR1, and is equipped with a first holding mechanism 210 that holds the tray T and a first conveying mechanism 220 that conveys the first holding mechanism 210. It is located upstream in the conveying area CA. . The first transfer unit 200 is provided with a pair of first holding mechanisms 210 and 210 and a pair of first transfer mechanisms 220 and 220. The first transfer mechanisms 220 and 220 are respectively arranged on a member extending in the Y direction in 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 is provided with a moving portion 211 that can move in the X direction relative to the first transfer mechanism 220 and a holding portion 212 that can move in the moving direction with the moving portion 211 in parallel with the carrying surface. The direction of intersection (Y direction in FIG. 5) is movably provided in the moving part 211. In other words, the moving unit 211 can move in the X direction along the first transfer mechanism 220 by a drive mechanism (not shown) arranged inside the box-like member shown as the first transfer mechanism 220 in FIG. 5. The holding portions 212 and 212 are mounted on the moving portion 211. A driving mechanism not shown in the figure can move forward and backward with a small stroke in directions (Y direction) approaching each other.

The pair of first holding mechanisms 210 and 210 can move through the pair of holding portions 212 and 212 in directions approaching each other (inside of the pair of sub frames 102 and 103 in the Y direction) to hold the tray T. Specifically, when the holding portion 212 moves in the Y direction, a part of the holding portion 212 is inserted between the two overlapping trays T and T of the stacked tray T1 (specifically, between the respective protruding portions Tt and Tt), The holding portion 212 can be engaged with the protruding portion Tt of the tray T on the upper side of the holding portion 212 and can be held. In the case of this embodiment, by lowering the stacked tray T placed in the tray lifting unit 120 of the supply unit A1, the uppermost tray T of the stacked tray T1 is engaged with the holding portion 212, and the stacked tray T1 is held The section 212 is held. When the holding of the tray T by the holding portion 212 is released, the pair of holding portions 212 and 212 are moved in directions separated from each other (outside of 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 this space becomes a storage space when the stacked tray T including the tray T placed on the placement portion 121 of the tray lifting unit 120 located immediately below is raised. With respect to the tray T arranged in this space (feeding position FA), the first holding mechanism 210 holds the tray T by a pair of holding portions 212, 212, and the moving portion 211 moves to the second conveyance unit 400 side. In this way, the first transfer unit 200 can transfer the tray T to the second transfer 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 Y-direction of the first transfer unit 200 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 in the conveyance area CA, it is detected whether or not the tray T existing in the first conveyance path MR1 is in the position. In this embodiment, it is arrange | positioned adjacent to the 1st conveyance unit 200 side of the transfer unit 300.

Specifically, the detection unit 230 detects the pallet T being transported when the pallet T in its position on 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 light sensors is used as the detection unit 230, the light emitted from the other detection unit 230 disposed on the sub-frame 102 can be detected through one detection unit 230 disposed in the sub-space 103, and the detection can be performed. The presence or absence of the tray T.

In addition, the detection unit 230 may detect that the tray T being transported is discharged from the first transport path MR1. By this detection, the timing of raising the tray T located immediately below the supply position FA can be determined. In addition, as the detection unit 230, for example, an optical sensor capable of performing non-contact detection such as visible light, infrared light, or ultraviolet light may be used. In addition, as a contact sensor capable of performing contact detection, for example, an optical sensor may be used. Limit switches, etc.

<Second Transfer Unit 400>

The second conveyance unit 400 is provided on the second conveyance path MR2, and 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 are provided. The second conveyance unit 400 is located on the downstream side in the conveyance area CA. The second transfer unit 400 is provided with a pair of second holding mechanisms 410 and 410 and a pair of second transfer mechanisms 420 and 420. The second transfer mechanisms 420 and 420 are respectively arranged on a member extending in the Y direction in the frame 400a. The pair of second holding mechanisms 410 are opposed to each other with a space therebetween. The second transfer mechanisms 420 and 420 are respectively arranged on a member extending in the Y direction in the frame 200a. A pair of second holding mechanisms 410 are provided on the second transfer mechanisms 420 and 420 so as to face each other, and are transferred along the extension direction of the second transfer mechanism 420.

The second holding mechanism 410 is provided with a moving portion 411 that can move in the X direction relative to the second transfer mechanism 420 and a holding portion 412 that can move in the moving direction with the moving portion 411 in parallel with the carrying surface. The moving portion 411 is provided so as to move in a direction crossing (Y direction in FIG. 5). In other words, the moving unit 411 can move in the X direction along the second transfer mechanism 420 by a drive mechanism (not shown) arranged inside the box-shaped member shown as the second transfer mechanism 420 in FIG. In addition, the holding portions 412 and 412 can move forward and backward with a small stroke in a direction approaching each other (Y direction) by a driving mechanism (not shown) mounted on the moving portion 411.

The pair of second holding mechanisms 410 and 410 can move through the pair of holding portions 412 and 412 in directions approaching each other (inside of the pair of sub frames 102 and 103 in the Y direction) to hold the tray T. Specifically, when the holding portion 412 is moved in a direction (Y direction) close to the tray T, A part of the holding portion 412 is engaged with the protruding portion Tt of the tray T held by the first conveyance unit 200, and the tray T is held by the holding portion 412. When the holding of the tray T by the holding portion 412 is released, the moving portion 412 is moved in a direction away from the tray T (outside of the Y direction).

A space is formed between the pair of second holding mechanisms 410 and serves as a storage space during the movement of the stacked tray T2 including the tray T placed on the placement section 121 of the tray lifting unit 120 located immediately below. The second holding mechanism 410 releases the holding of the tray T by the pair of holding portions 412 and 412 in this space (recovery position PA), and thereby the tray T is placed by the placing portion 121 of the tray elevating unit 120.

<Part transfer unit 300>

The part transfer unit 300 is disposed between the first transfer unit 200 and the second transfer unit 400 in a central portion in the X direction of the sub frames 102 and 103 so as to span the sub frames 102 and 103 in the Y direction. That is, the part transfer unit 300 is provided with a pair of pillars 301 and 301 extending from the central portion of the X direction (sub-frames 102 and 103) in the Z direction in FIG. 5 and a Y direction between the pair of pillars 301 and 301. An extended Y-direction guide 302 (part transfer guide). The holding unit 303 is mounted on the side of the Y-direction guide 302. Thereby, the holding unit 303 can perform the transfer operation of the component P along the Y-direction guide 302 and at a position higher than the first and second holding mechanisms 210 and 410 in the Z direction (the position above the conveying area CA). The Y-direction guide 302 is a long member including at least the entire area of the tray including the holding unit 303 disposed in the conveying area CA. The component storage position and the component transfer position of the component transfer unit PT extend in the Y direction to the extent that the component P can be transferred.

The holding unit 303 is capable of reciprocating in the Y direction by a driving mechanism not shown in the figure, and is equipped with a holding nozzle 304 which is connected to a negative pressure generating source not shown in the figure and generates a negative pressure inside , Adsorption and holding part P. The holding nozzle 304 is configured on the holding unit 303 so as to be movable in the vertical direction (Z direction) by a driving mechanism (not shown). Therefore, the holding nozzle 304 can pass from one end (the left end in FIG. 5) of the tray T being conveyed in the conveying area CA in the Y direction to the other end (the right end in FIG. 5), and can be used at Hold and move the part P upward.

In addition, for a driving mechanism not shown in each drawing driven by the driving and holding unit 303 and the holding nozzle 304, for example, a combination of a driving source such as a ball screw mechanism, a motor, and a rack and pinion mechanism may be cited. The holding nozzle 304 is configured to be driven by a driving source (not shown) and suck the component P. However, the holding nozzle 304 is not limited to the above-mentioned structure, and for example, a method of holding the hand of the component P by a driving source not shown in the figure, or a method of holding the component P by an adhesive force of an adhesive structural member may be adopted.

Further, a tray support unit 305 is arranged below the transfer unit 300 to support a tray conveyed in the conveyance area CA from below. The tray support unit 305 is provided between the roots of a pair of pillars 301 and 301, and includes, for example, a rotatable shaft member 306 extending in the Y direction and at least two annular portions 307 inserted through the shaft member 306 and arranged separately. 307 composition. The tray support unit 305 is configured to be able to rotate freely, and thereby can support the lower surface of the tray T transferred from the first transfer unit 200 to the second transfer unit 400. Therefore, it is possible to smoothly perform the transfer of the tray T from the first conveying unit 200 to the second conveying unit 400 and the hand-changing operation of the tray T by the first and second holding mechanisms 210 and 410 described later. In addition, the tray support unit 305 can support a portion on the opposite side to a portion where the tray T is held by the first and second holding mechanisms 210 and 410. That is, it is possible to stably hold the tray T at the component taking-out position by the coordinated operation of the first and second holding mechanisms 210 and 410 and the tray support unit 305.

<Control unit 500>

FIG. 6 is a block diagram of a control unit 500 that controls the system S according to the present embodiment. The control unit 500 is provided with a processing section 510, a memory section 520, and an interface section 530, which are connected to each other by a bus bar not shown in the figure. The processing unit 510 executes a program stored in the memory 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 portion 530 is provided between the processing unit 510 and an external device (host computer 540, input device (for example, sensor) 550, output device (for example, actuator of each drive mechanism) 560), and is, for example, a communication interface Or I / O interface.

The input device 550 includes, for example, a light sensor including the detection unit 230, a pressure sensor of the transfer nozzle 304, and the like. The output device 560 includes a transfer guide R, a tray lifting unit 120, first and second Drive sources of drive mechanisms such as the holding mechanisms 210, 410, the first and second transfer mechanisms 220, 420, and the transfer unit 300. The drive control unit 500 communicates with the host computer 540 and controls at least the first transfer unit 200, the transfer unit 300, and the second transfer unit 400 of the transfer device A. A control example will be described below.

<Transfer process>

The operation of the system S (part supply system) including the transfer device A will be described with reference to FIGS. 7 to 12. The state shown in ST1 in FIG. 7 shows a state where the conveying device C is connected to the supply unit A1, and the conveying device C is provided with a stacking tray (tray group) T1 in which a plurality of trays T containing the parts P are stacked. In the stacked tray T1 of the present embodiment, the uppermost tray T is used as the first tray TU, the lower tray T of the first tray TU is used as the second tray TL, and the lowermost tray T of the stacked tray T1 is used. It will be described as the final tray TF. The transfer mechanism C3 constituted by the mounting section C1 of the conveying device C is driven between the placement sections 131 and 131 of the stack tray receiving unit 130 and the stack tray T1 is placed on the placement section 131. Accordingly, the stacking tray T1 (the direction indicated by the arrow D1 in the right direction in the figure) is supplied from the conveying device C to the tray supply standby position SA of the supply unit A1.

The state shown in ST2 of FIG. 7 shows a state where the stacked tray T1 is moved on the tray supply standby position SA and is accommodated in the supply unit A1. Thereafter, the stacked tray T1 placed on the transfer guide R of the transfer unit (feed moving mechanism) 110 of the supply unit A1 is transferred The transfer mechanism of the guide rail R moves from the tray supply standby position SA to the tray preparation position RA (the direction indicated by the right arrow D2 in the figure). In addition, the conveying device C shown by the double-dot chain line in the figure leaves the conveying device A, and is then moved to a predetermined place in the factory in order to mount the stacked tray T1 containing the supplied parts P.

The state shown in ST3 of FIG. 7 shows a state where the stacked tray T1 is moved from the tray supply standby position SA to the tray preparation position RA. Immediately after the stacked tray T1 is transferred to the tray preparation position RA, the bottom surface of the stacked 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 lifting unit 120 in the supply unit A1 is located at a standby position lower than the height of the upper surface (transfer surface) of the transfer guide R. After that, the placing section 121 of the tray elevating unit 120 is raised by the moving mechanism 122 (a direction indicated by an upward arrow D3 in the figure).

When the placement section 121 rises above the height of the transfer surface of the transfer guide R of the tray preparation position RA, the stacked tray T1 is transferred from the transfer guide R to the placement section 121. In addition, when the stacked tray T1 is placed on the placement portion 121, a predetermined portion (not shown) disposed on the placement portion 121 may be fitted to a portion provided on the final tray TF. On a mated portion (not shown in the figure below), the stacking tray T1 is positioned and placed on a predetermined placement position on the placement portion 121.

The state shown in ST4 of FIG. 8 indicates a state where the first tray TU is arranged at the supply position FA. The moving mechanism of the tray lifting unit 120 of the supply unit A1 is further driven from the state shown in ST3 in FIG. 7 122, raise the mounting part 121 (direction indicated by upward arrow D4 in the figure). When the first tray TU reaches the supply position FA, the raising operation of the placing section 121 is stopped. Whether the first tray TU reaches the supply position FA is determined by, for example, detecting that the first tray TU is in place at the supply position FA by a detection unit 230 (not shown).

The state shown in ST5 in FIG. 8 indicates that the holding portion 212 of the pair of first holding mechanisms 210 is operated to move the holding portion 212 between the protruding portion Tt of the first tray TU and the protruding portion Tt of the second tray TL. status. In addition, FIG. 8 is a schematic diagram for explanation. For convenience, for example, the holding portion 212 of the first holding mechanism 210 to the tray is represented by drawing the first holding mechanism 210 on the inner side than the outer peripheral edge of the tray T. T is on hold. The control unit 500 operates a pair of holding portions 212 (direction indicated by an arrow D6 inward in the figure) based on a detection signal from the detection unit 230, and holds the first tray TU through the pair of holding portions 212. In addition, in this embodiment, the case where the detection unit 230 performs the detection of the first tray TU has been described as an example, but it is not limited to this. For example, a dedicated one for detecting the first tray TU may be separately provided. Detection unit. In addition, the holding position of the first tray TU may be stored in advance, and the moving mechanism 122 may be driven and controlled to stop the placing section 121 of the supply unit A1 at the stored stop position.

The state shown in ST6 in FIG. 8 shows a state in which the driving unit 122 of the supply unit A1 is driven slightly after the holding unit 212 of the pair of first holding mechanisms 210 holds the first tray TU (FIG. The direction shown by the downward arrow D7 in the middle). To make the first One tray TU is moved to a position where the transfer unit 300 can transfer the parts, so that the protruding portion Tt of the first tray TU is engaged with the pair of holding portions 212 and is placed on standby. Further, by the drive mechanism 121 of the lower-driving supply unit A1, the placing section 121 is lowered, the stacked tray T1 including the second tray TL is lowered, and the first tray TU is separated from the stacked tray T1 including the second tray TL. . When the position of the second tray TL included in the stacked tray T1 reaches a predetermined position (standby position of the second tray TL), the lowering driving of the driving mechanism 122 of the supply unit A1 stops, and the lowering operation of the placing section 121 stops. .

9 and 10 show plan views of the transfer and transfer element A4 as viewed from the direction of the arrow A (toward the vertical direction) shown in ST6 of FIG. 8. 9 and 10 are schematic diagrams showing the part transfer unit PT side as a lower side. For convenience, for example, the holding portion 212 is expressed by drawing the holding portions 212 and 412 on the inner side than the outer peripheral edge of the tray T. , 412 is in a holding state for the tray T. In addition, the holding portions 212 and 412 are expressed in a state in which the holding portions 212 and 412 are released from the holding of the tray T by drawing the holding portions 212 and 412 on the outer side than 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. 8. The first tray TU is held on the first holding mechanism 210 with the one side (the right side in FIG. 9) in the conveying direction (the left-right direction in FIG. 9 and the moving range MR direction in FIG. 5) at the supply position FA. Standby. In detail, a portion of one side of the two sides of the first tray TU parallel to the conveyance direction is held by the holding portion 212. In addition, the holding unit 303 of the transfer unit 300 is at one end portion of the Y-direction guide rail 302 (Upper part in Fig. 9). In addition, the second holding mechanism 410 of the second conveyance unit 400 stands by at a position close to the first moving unit 200.

The state shown in ST8 in FIG. 9 shows a state in which the transfer unit 300 transfers parts between the first tray TU and the parts transfer unit PT. At this time, the control unit 500 performs intermittent control of the movement (the direction indicated by the arrow D8 in the left direction in the figure) or the stopped operation in the first conveying unit 200 alternately according to the arrangement interval of the parts P in the first tray TU. (Intermittent action).

Specifically, in a state where the first holding mechanism 210 holds the first tray TU, the first transfer mechanism 220 of the first conveying unit 200 is driven to move the first holding mechanism 210 in a direction of an arrow D8. At this time, the first holding mechanism 210 is moved until the parts P (the first row) placed on the first tray TU are located at the parts removal position below the transfer unit 300. When the part P placed on the first tray TU is at a position that can be taken out by the transfer unit 300, the drive control unit 500 moves the holding unit 303 along the Y-direction guide 302 (indicated by the arrow D9 in the up-down direction in the figure) Direction), and the holding nozzle 304 is moved downward (Z direction in FIG. 5). Then, after holding the holding nozzle 304 to a predetermined part P and holding the predetermined part P by the holding nozzle 304, the holding nozzle 304 is raised, and the holding unit 303 is moved from the first tray TU to the component along the Y-direction guide 302 The unit PT moves. 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. After that, the drive control unit 500 causes the holding unit 303 to move from the component transfer unit PT along the Y-direction guide rail 302 again. Move to the side of the first tray TU, and suction and transfer the next part P. By repeating the above operations, the transfer of the parts P in one row (the row arranged parallel to the Y-direction guide rail 302) in the first tray TU is completed.

Next, in order to perform the transfer of the parts P in the next column of the first tray TU, the first holding member 210 moves the first tray TU in the direction shown by the leftward arrow D8 in the figure by an amount corresponding to the arrangement interval of the parts. The components P in the next column are transferred by the transfer unit 300.

The state shown in ST9 in FIG. 9 shows, for example, a state in which the transfer of the parts P in the third row from the left is performed from the left in the figure to the completion of the transfer of the parts P in the second row. At this time, the first tray TU is transferred between the first and second transfer units 200 and 400. Specifically, during the transfer operation of the first tray TU, the control unit 500 holds the first tray TU (the right side in the figure) on the holding portion 212 of the first transfer unit 200 in a state in which the first tray TU is held. The other side (left side in the figure) of the tray TU is held by the holding portion 412 of the second conveyance unit 400. After that, by releasing the holding of the first tray TU (the right side in the figure) by the holding portion 212 of the first conveying unit 200 (the state of ST9), the first tray TU is moved from the first conveying unit 200 to the second The transfer of the transfer unit 400 is completed.

Specifically, the control unit 500 continues the control of the transfer operation from the state shown in ST8, that is, the transfer unit 300 is stopped by the first transfer unit 200 and held at a position below the transfer unit 300. A pallet TU and the component transfer unit PT transfer the component P. In addition, the control unit 500 performs a hand change operation of the first tray TU. In the transfer operation of the transfer unit 300, the holding operation of holding the other side of the first tray TU on the second transfer unit 400 and the holding of the first tray are performed. The release operation of the TU holding release on the first conveyance unit 200.

Through the transfer operation of the parts P in the first tray TU, the first tray TU is sequentially transferred to the left in the figure. At this time, the other end (left side in the figure) of the first tray TU reaches a position of the second transport unit 400 that can be held by the second holding mechanism 410, and the holding portion 412 of the second holding mechanism 410 moves inward. Engage with the other side of the first tray TU. The holding portion 212 of the first holding mechanism 210 is moved outward in order to release the engagement with the first tray TU. In this way, the first tray TU is changed hands from the first transfer unit 200 to the second transfer unit 400. Then, after the holding portion 212 of the first transfer unit 200 is released from the holding of the first tray TU, it returns to the standby position on the right side of the first transfer mechanism 220 in the figure (in the direction indicated by the rightward arrow D10 in the figure). In preparation for the next holding of the second tray TL.

The state shown in ST10 in FIG. 10 indicates that the transfer unit 300 (shown by a chain line in the figure) moves the last column (the column on the right end in the figure) of the first tray TU transferred by the second transfer unit 400. Load action status. At this time, the detection unit 230 detects that the first tray TU being transported is discharged from the first transport path MR1. Next, as described in the states ST3-ST6, the tray raising and lowering unit 120 of the supply unit A1 raises the placement portion 121 and raises the second tray TL to the supply position RA.

The state shown in ST11 in FIG. 10 shows a state where the holding portion 212 of the first conveyance unit 200 holds the second tray TL (on one side). The control unit 500 moves the holding portion 212 of the first conveyance unit 200 toward the engaging position of the second tray TL arranged in the supply position RA (the direction indicated by the arrow D11 in the vertical direction in the figure), and lowers the placing portion 121. The second tray TL is held by the holding portion 212. In the holding operation of the second tray TL by the first transfer unit 200, the transfer operation of the last-row parts P accommodated in the first tray TU is also continued by the transfer unit 300.

The state shown in ST12 in FIG. 10 indicates that the transfer unit 300 has completed the transfer operation of the first tray TU held by the second transfer unit 400 (the transfer of the parts P in the last row of the first tray TU is completed), The second tray TL held by the first conveyance unit 200 is in a state where the transfer operation is performed. Specifically, the control unit 500 holds the second tray through the first transfer unit 200 when the two first trays TU and the second tray TL are moved side by side in the moving direction of the trays in the moving range MR. In the TU, the second transfer unit 400 holds the first tray TU, and moves the first tray TU and the second tray TL in a parallel state, respectively (in the direction shown by the left arrow D12 in the figure). The control unit 500 holds one side (the right side in the figure) of the second tray TL on one side of the movement range MR on the first holding mechanism 210 and the other side of the first tray TU on the other side of the movement range MR ( (Left side in the figure) is held on the second holding mechanism 410. In addition, the control unit 500 performs the first transfer mechanism 220 and the second transfer in order to transfer the first tray TU and the second tray TL in a parallel state. The feeding mechanism 420 moves simultaneously in the same direction (the direction shown by the arrow D12 in the left direction in the figure).

In other words, the control unit 500 controls the transfer operation such that the transfer unit 300 stops the first tray TU and the parts transfer unit PT held below the transfer unit 300 by the second transfer unit 400. Part P is transferred at one time. In addition, the control unit 500 controls the preparation operation and the simultaneous movement control. The control of the preparation operation causes the first transfer unit 200 to hold a second tray TL different from the first tray PU held by the second transfer unit 400. The second tray TL is prepared in parallel with the first tray TU. This simultaneous movement control moves the first transfer unit 200 and the second transfer unit 400 during the transfer operation of the transfer unit 300, and causes the first tray TU to move. It moves simultaneously with the second tray TL.

The transferred first tray TU by the transfer unit 300 is transferred to the collection position PA by the second transfer unit 400. After that, the mounting portion 121 of the tray lifting unit 120 disposed on the recovery unit A2 is moved to the receiving position of the first tray TU, and abuts against the bottom of the first tray TU. After that, 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 of detaching from the first tray TU). With this operation, the first tray TU is transferred and placed on the placing section 121 of the tray elevating unit 120 waiting on the lower side. By repeating the operations shown from ST7 to ST12 described above, the transfer operation is performed on the trays T sequentially supplied to the supply position FA, and the empty trays T are discharged from the recovery position PA. In addition, the first tray TU is placed in the collection tray After the tray 121 of the tray lifting unit 120 on the unit A2 is placed on the tray T (the second tray TL ... the final tray TF), it overlaps with the tray T that has been placed on the placement section 121. The above method is placed, and by this operation, the stacking tray T2 is formed. Therefore, each time the tray T is received from the second holding mechanism 410, the tray elevating unit 120 of the recovery unit A2 stops in stages at a receiving position that lowers the height corresponding to the tray T, and the tray T is placed.

The states shown from ST13 to ST15 in FIG. 11 and ST16 to ST18 in FIG. 12 indicate that a plurality of empty trays T are recovered from the recovery position PA in the recovery unit A2, and are stacked from the tray discharge standby position ESA to the conveyance as a stacked tray T2. The process of the device C ejecting the stacking tray T2. Since this process follows the reverse process from the states shown in ST1 to ST3 in FIG. 7 and from ST4 to ST6 in FIG. 8 in the supply unit A1, detailed descriptions thereof are omitted.

In brief, the state shown in ST13 of FIG. 11 shows the state shown in ST12 of FIG. 10 in a side view of the recovery unit A2. The state shown by ST14 in FIG. 11 is that the tray lifting unit 120 of the recovery unit A2 raises the placement portion 121 (in the direction indicated by the upward arrow D13 in the figure) and causes the empty stacked tray T2 to be stacked. The state is raised to the recovery position PA. The state shown in ST15 in FIG. 11 is a holding release state in which the holding portion 412 of the second holding mechanism 410 is moved outward (in the direction shown by the arrow D14 in the left-right direction in the figure) and the engagement with the tray T is released. . In the state shown in ST16 in FIG. 12, the tray lifting unit 120 of the recovery unit A2 lowers the placement portion 121 (downward in the figure). In the direction shown by the arrow D15), the next empty tray T comes to the collection position and waits. At this time, when the stack tray T2 is stacked with a predetermined number of empty trays T, the stack tray T2 is moved from the tray discharge position EA to the tray discharge standby position ESA by the transfer guide R as shown in ST17 of FIG. 12 (FIG. The direction shown by the arrow D16 in the left direction). Thereafter, in a state shown in ST18 in FIG. 12, the stacking tray T2 is moved from the discharge standby position ESA to the conveying device C that is adjacent to the transfer device A and waits (the direction indicated by the arrow D16 in the left direction in the figure). After that, the conveyance device C moves from the transfer device A to leave the stacked tray T2 to a predetermined place in the factory.

By the above-described process, the transfer device A, which is a new stacking tray T1, supplements the trays to the supply unit A1, the first transfer unit 200, the second transfer unit 400, and the recovery unit A2. At this time, the transfer unit 300 of the transfer device A performs a transfer operation of the parts P between the first transfer unit 200 and the second transfer unit 400 while the tray T is being transferred. Therefore, the transfer unit 300 of the present embodiment does not interrupt the transfer operation during the discharge of the transferred tray T until the supply of the transfer unprocessed tray T is prepared, and the tray T can always be continued. Transfer action. Therefore, the transfer device A can improve the transfer operation efficiency of the component P.

In addition, by discharging multiple stacked trays T2 formed by stacking a plurality of transferred trays T using an unmanned carrier such as an AGV and supplying multiple stacked trays T1 formed by stacking a plurality of untransferred trays T, The tray can be supplied and recovered automatically. As a result Yes, the transfer operation of the parts P can be performed automatically and continuously.

The operation of the system S including the transfer device A has been described above as a parts supply system that serves as a part supply operation for supplying parts. However, it can also be used as a parts recovery system in which the conveying device C supplies the empty tray T to the transfer device A, the transfer device A transfers and holds the component P from the component transfer unit PT to the tray T, and the transfer device C recovers the tray T that has contained the component P from the transfer device A.

When the above-mentioned system S is used as a part recovery system, the flow of the parts P uses the parts transfer unit PT arranged on the other side of the transfer device A as the upstream side, and the parts arranged on the side of the transfer device A As the downstream side, the transfer device C is transferred from the component transfer unit PT to the transfer device C via the transfer device A. Since the component P is transferred from the downstream side to the tray T by the transfer device A and stored, and the transfer device C collects the tray T containing the component P from the transfer device A, the system S becomes a component recovery system. Regarding the operation of part recovery by this system S, from the operation ST7 in FIG. 9 to the operation ST12 in FIG. 10, the empty tray T (the unhandled tray T) without a component is supplied and transferred to the component storage In the part of the position, and for the empty tray T that has been transferred to the part storage position, the transfer unit 300 takes out the part P supplied to the predetermined position of the part transfer unit PT and transfers it to the tray T, and It is different in the action part accommodated in the accommodation position. The other operations are exactly the same as those of the parts supply system.

Claims (16)

A transfer device transfers the aforementioned parts between a transfer area for transporting a tray that accommodates a plurality of parts at a predetermined interval and a position for loading and unloading the parts; the transfer device includes: a first transfer unit, A second conveying unit, a transfer unit, and a control unit; the first conveying unit is provided in the conveying area and conveys the tray in the conveying direction; the second conveying unit is provided in the conveying area and conveys the tray in the conveying direction; the The transfer unit transfers the parts at the loading and unloading positions of the pallet and the parts held by the first transfer unit or the second transfer unit; the control unit performs the first transfer unit, the second transfer unit, and the transfer unit. Control of the transfer unit; the transfer area has a movement range capable of moving the two pallets side by side in the transfer direction; the control unit performs the following transfer control: the first transfer unit maintains the upstream side of the transfer direction, that is, One side of the tray is conveyed toward the second conveying unit, and the first Conveying means is holding the other side of the pallet conveying direction downstream side, the transfer of the pallet to the second conveying unit from the first conveyance unit. According to the transfer device of claim 1, wherein the control unit is in the transfer control, the second transport unit holds the pallet in a state in which the first transport unit holds the one side of the pallet. After the other side, the first conveying unit is caused to release the holding of the one side of the tray. The transfer device according to claim 1, wherein the moving range includes: a supply position at which the first transfer unit receives the tray; a collection position at which the tray of the second transfer unit is recycled; and A position at which the transfer of the pallet is performed between the second transport units. The transfer device according to claim 1, wherein the moving range includes a first conveying path and a second conveying path; the first conveying unit is provided on the first conveying path and includes a first holding mechanism that holds one side of the tray. And a first transfer mechanism that transfers the first holding mechanism; the second transfer unit is provided on the second transfer path that is continuous with the first transfer path, and includes a second holding mechanism that holds the other side of the tray and a transfer The second transfer mechanism of the second holding mechanism. As the transfer device of claim 4, wherein the control unit performs the following control: the first holding mechanism holds one side of one of the trays juxtaposed in the moving range; and the second holding mechanism holds the juxtaposition in the moving range. The other side of the other tray; the first transfer mechanism and the second transfer mechanism are moved in the same direction at the same time, and the different trays are carried side by side. The transfer device according to any one of claims 1 to 5, wherein the control unit performs intermittent control such that the first conveying unit and the second conveying unit are alternately and repeatedly performed in accordance with a component storage interval of the pallet. Move and stop motion. The transfer device according to claim 6, wherein the control unit performs the transfer operation control and the pallet handover operation control; the control of the transfer operation causes the transfer unit to be stopped by the first transfer unit and The transfer of the parts is performed between one of the trays held under the transfer unit and the parts carrying in and out position; the control of the hand change operation of the tray is performed during the transfer operation of the transfer unit. The second conveyance unit holds a holding operation of the one tray and the release operation of releasing the first conveyance unit from holding the tray. The transfer device according to claim 6, wherein the control unit controls the transfer operation, the preparation operation, and the simultaneous movement control; the control of the transfer operation causes the transfer unit to be stopped by the second transfer unit. And moving the parts between the other tray and the parts carrying in / out position held under the transferring unit; the control of the preparation operation keeps the first carrying unit held by the second carrying unit The other tray other than the other tray is arranged in parallel with the other tray to prepare the other tray; the control of the simultaneous movement is performed in the transfer operation of the transfer unit, so that the first transfer unit and the The second conveying unit operates to move the other tray and the other tray simultaneously. The transfer device according to claim 1, further comprising a tray support unit that is disposed in the transfer area and supports the tray from below. The transfer device according to claim 1, further comprising a supply unit and a recovery unit; the supply unit supplies the tray to a supply position where the first transport unit receives the tray; and the recovery unit recovers the tray at the second transport unit The recycling position accepts and recycles the aforementioned tray. The transfer device according to claim 10, wherein the supply unit includes a preparation position provided below the supply position, and a supply lifting mechanism capable of lifting and lowering the tray between the supply device and the supply unit. The recovery unit includes: A discharge position provided below the collection position, and a collection lifting mechanism capable of lifting and lowering the tray between the collection position and the collection position. The transfer device according to claim 11, wherein the supply unit includes: a mounting portion on which the tray is mounted; a moving body equipped with the mounting portion; and separating the moving body from the preparation position and from the preparation position. A supply moving mechanism that moves between the supply standby positions provided on the ground; the recovery unit includes: a mounting portion on which the tray is placed; a moving body provided with the mounting portion; and the moving body being in the discharge position and the The discharge moving mechanism that moves between the discharge standby positions provided separately from the discharge position. A transfer method of a transfer device is a transfer device that transfers components between a transfer area for transferring a tray that contains a plurality of components at a predetermined interval and a component loading and unloading position; the transfer method includes: A first conveying process, a second conveying process, a transfer process, a handover process, and a simultaneous moving process; the first conveying process is to allow the first conveying unit to convey the pallet on the conveying surface in the conveying area along the conveying direction; the The second conveying process is to allow the second conveying unit to convey the pallet conveyed through the first conveying process on the conveying surface along the conveying direction along the conveying direction; the conveying process is based on the first conveying process. Or between the pallet held by the second conveying process and the part moving in and out position, the part is transferred by the transfer device; the transfer process is performed between the first conveying process and the second conveying process. In the aforementioned transfer process, the first transport unit is maintained at the upstream side of the transport direction, that is, one of the pallets. And toward the second conveying unit conveying side, so that the second conveying unit that is holding the other side of the pallet conveying direction downstream side, the transfer from the first conveyance unit to the second tray conveyance unit. According to the transfer method of claim 13, wherein the first conveyance process and the second conveyance process each include an intermittent operation process: the movement and stop operations are alternately repeated according to the component storage interval of the pallet. The transfer method according to claim 13, wherein the first conveying process includes a first holding process for holding the pallet and a first holding and releasing process for releasing the holding of the pallet; and the second conveying process includes for holding the pallet. The second holding process and the second holding release process for releasing the holding of the tray; the transfer process, during the transfer of the parts, performs the first holding releasing process and the second holding process, or performs the second holding releasing process And the aforementioned first holding process. The transfer method according to claim 14 or 15, wherein the transfer device further includes a supply process for supplying the tray to the transfer area and a recycling process for recovering the tray from the transfer area; during the transfer of the part, Any one of the supply process and the recovery process.