TWI627116B - Transfer device and method - Google Patents
Transfer device and method Download PDFInfo
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- TWI627116B TWI627116B TW105142283A TW105142283A TWI627116B TW I627116 B TWI627116 B TW I627116B TW 105142283 A TW105142283 A TW 105142283A TW 105142283 A TW105142283 A TW 105142283A TW I627116 B TWI627116 B TW I627116B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G60/00—Simultaneously or alternatively stacking and de-stacking of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
- B65G2814/03—Loading or unloading means
- B65G2814/0301—General arrangements
- B65G2814/0308—Destacking devices
- B65G2814/031—Removing from the top
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Specific Conveyance Elements (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- De-Stacking Of Articles (AREA)
Abstract
用以提高對於被保持在零件的可以移載位置的 托盤的零件移載作業效率。 To improve the position of the parts that can be transferred Part transfer operation efficiency of the pallet.
一種移載裝置,係 在搬運以規定的間隔容納多個零件的托盤之搬運區域與零件搬入搬出位置之間移載前述零件;其特徵為:前述移載裝置具備:第一搬運單元、第二搬運單元、移載單元和控制單元;該第一搬運單元設置於前述搬運區域,沿搬運方向搬運前述托盤;該第二搬運單元設置於前述搬運區域,沿前述搬運方向搬運前述托盤;該移載單元在被前述第一搬運單元或前述第二搬運單元保持的前述托盤和前述零件的搬入搬出位置處移載前述零件;該控制單元進行前述第一搬運單元、前述第二搬運單元以及前述移載單元的控制;前述搬運區域具有能夠使兩格前述托盤在搬運方向上並列移動的移動範圍;前述控制單元係進行以下的交接控制:讓前述第一搬運單元保持前述搬運方向上游側也就是前述托盤的一側並朝前述第二搬運單元搬運,讓前述第二搬運單元保持前述搬運方向下游側也就是前述托盤的另一側,從前述第一搬運單元交接前述托盤到前述第二搬運單元。 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
本發明有關移載裝置及移載方法。 The invention relates to a transfer device and a transfer method.
對於組裝製品的組裝裝置或對零件進行規定的處理的處理裝置,從提高作業效率等的觀點出發,以將多個零件收容到一個收容容器中的狀態供給,或者回收多個零件,進行零件的搬運。另外,在高效率地進行這種零件的供給或回收時,為了盡可能連續地進行零件的供給回收,一般地,連續地準備多個收容容器,在收容容器和設置在收容容器外的零件載置部之間進行零件的移載作業。 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.
作為收容容器,例如,採用平面收容容器(下面稱之為托盤),該平面收容容器設置有能夠在同一平面上整齊地排列並收容多個零件的多個收容部。這些托盤以能夠多個堆疊的方式構成,作為將多個托盤堆疊起來的托盤組,或者被供給給組裝裝置或處理裝置等,或者在不同的製程之間被移送。 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.
作為利用這種托盤進行零件的供給的裝置,有在專利文獻1或專利文獻2中記載的裝置。在該裝置 中,供給被疊層的托盤組,托盤組的托盤被一個一個分離,在被分離的托盤的收容部與設置在收容部之外的零件移載位置之間進行零件的移載,將零件的移載完畢的托盤再次堆疊,形成托盤組。 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.
〔專利文獻1〕日本特開平06-127697號專利公報 [Patent Document 1] Japanese Patent Laid-Open No. 06-127697
〔專利文獻2〕日本登實3012606號專利公報 [Patent Document 2] Japanese Tengshi Patent No. 3012606
專利文獻1或2所記載的裝置,移送疊層的容器(托盤)組,並且,分離保持最上部的托盤,對分離保持的容器進行零件的移載,移載處理完畢之後,解除分離保持的容器(托盤)的保持,並將其排出。並且,排出完畢之後,透過再次分離保持變成疊層容器的最上部的容器,進行零件的移載,由此,進行零件的移載動作。因此,在該裝置中,在容器的轉換動作中,不能進行零件的移載,存在著移載效率降低的擔憂。 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.
從而,本發明的目的是提供一種可以提高對於被保持在零件的可以移載位置處的托盤的零件移載作業的效率的技術。 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.
本發明是一種移載裝置,係在搬運以規定的間隔容納多個零件的托盤之搬運區域、與零件搬入搬出位置之間,移載前述零件;其特徵為:前述移載裝置具備:第一搬運單元、第二搬運單元、移載單元和控制單元;該第一搬運單元設置於前述搬運區域,沿搬運方向搬運前述托盤;該第二搬運單元設置於前述搬運區域,沿前述搬運方向上搬運前述托盤;該移載單元在被前述第一搬運單元或前述第二搬運單元保持的前述托盤和前述零件的搬入搬出位置處移載前述零件;該控制單元進行前述第一搬運單元、前述第二搬運單元以及前述移載單元的控制;前述搬運區域具有能夠使兩個前述托盤在搬運方向上並列移動的移動範圍;前述控制單元係進行以下的交接控制:讓前述第一搬運單元保持前述搬運方向上游側也就是前述托盤的一側並朝前述第二搬運單元搬運,讓前述第二搬運單元保持前述搬運方向下游側也就是前述托盤的另一側,從前述第一搬運單元交接前述托盤到前述第二搬運單元。 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.
另外,本發明是一種移載裝置的移載方法,係該移載裝置在搬運以規定的間隔容納多個零件的托盤之搬運區域與零件搬入搬出位置之間移載零件;其特徵為:前述移載方法具備:第一搬運製程、第二搬運製程、移載製程、交接製程和同時移動製程;該第一搬運製程,係讓第一搬運單元在前述搬運區域,沿搬運方向在搬運面上搬運前述托盤;該第二搬運製程,係讓第二搬運單元在前述 搬運區域,沿前述搬運方向在前述搬運面上搬運經由前述第一搬運製程所搬運的前述托盤;該移載製程,係在前述第一搬運製程或者前述第二搬運製程中被保持的前述托盤與前述零件搬入搬出位置之間,由前述移載裝置移載前述零件;該交接製程,係進行在前述第一搬運製程與前述第二搬運製程之間;在前述交接製程中,讓前述第一搬運單元保持前述搬運方向上游側也就是前述托盤的一側並朝前述第二搬運單元側搬運,讓前述第二搬運單元保持前述搬運方向下游側也就是前述托盤的另一側,從前述第一搬運單元交接前述托盤到前述第二搬運單元。 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.
根據本發明,可以提高對於被保持在零件的可以移載位置處的托盤的零件移載作業的效率。 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‧‧‧第1搬運單元 200‧‧‧ the first handling unit
300‧‧‧移載單元 300‧‧‧ Transfer Unit
400‧‧‧第2搬運單元 400‧‧‧ 2nd handling unit
500‧‧‧控制單元 500‧‧‧control unit
A‧‧‧移載裝置 A‧‧‧ transfer device
P‧‧‧零件 P‧‧‧Parts
T‧‧‧托盤 T‧‧‧tray
T1‧‧‧層疊托盤 T1‧‧‧Layer tray
T2‧‧‧層疊托盤 T2‧‧‧Layer tray
[圖1]是使用本發明的一種實施方式的移載裝置的系統的立體圖。 1 is a perspective view of a system using a transfer device according to an embodiment of the present invention.
[圖2]是搬運裝置的立體圖。 Fig. 2 is a perspective view of a conveying device.
[圖3]是移載裝置的分解立體圖。 3 is an exploded perspective view of a transfer device.
[圖4]是移載裝置的分解立體圖。 4 is an exploded perspective view of a transfer device.
[圖5]是移載單元及搬運單元的立體圖。 5 is a perspective view of a transfer unit and a transport unit.
[圖6]是控制單元的方塊圖。 Fig. 6 is a block diagram of a control unit.
[圖7]是系統的動作說明圖。 FIG. 7 is an operation explanatory diagram of the system.
[圖8]是系統的動作說明圖。 [Fig. 8] Fig. 8 is an operation explanatory diagram of the system.
[圖9]是系統的動作說明圖。 [Fig. 9] Fig. 9 is an operation explanatory diagram of the system.
[圖10]是系統的動作說明圖。 FIG. 10 is an operation explanatory diagram of the system.
[圖11]是系統的動作說明圖。 [Fig. 11] Fig. 11 is an operation explanatory diagram of the system.
[圖12]是系統的動作說明圖。 FIG. 12 is an operation explanatory diagram of the system.
下面,參閱圖面對於本發明的例示的實施方式進行說明。另外,在各個圖中,同樣的元件符號表示同樣的零件,將面對紙面的上下左右方向作為本實施方式中的裝置或者構件的上下左右方向,在本文中的說明時使用。 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.
圖1是包含根據本發明的一種實施方式的移載裝置A的系統S的立體圖。在圖1中,箭頭X及Y表示在水平方向上相互正交的2個方向,箭頭Z表示垂直方向。系統S配備有零件移送單元(零件搬入搬出位置)PT、移載裝置A和搬運裝置C,它們在沿著圖中箭頭Y的方向上排列配置。零件移送單元PT與移載裝置A鄰接地配置。搬運裝置C中間隔著移載裝置A位於零件移送單元PT的相反側,與移載裝置A鄰接地配置。 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.
在說明系統S的動作概況時,搬運裝置C向移載裝置A供給容納有零件P的托盤T,移載裝置A從托盤T向零件移送單元PT移載零件P,搬運裝置C從移 載裝置A回收已經變成空的托盤T。這時,零件P經由移載裝置A被從配置在隔著移載裝置A的一側的上游側的搬運裝置C向配置在隔著移載裝置A的另一側的下游側的零件移送單元PT搬運。由於零件P以被容納在托盤T中的狀態由搬運裝置C向移載裝置A供給,被移載裝置A從托盤T取出,並被供給給下游側,所以,系統S可以說是零件供給系統。 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 .
另外,零件移送單元PT及搬運裝置C只要是分別能夠在與移載裝置A之間移載零件P的結構以及能夠在與移載裝置A之間交接托盤T的結構,可以是任何一種方式,並不被下面說明的實施方式的形態所限定。 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.
零件移送單元PT是如下所述移送單元,即,該移送單元在成為零件P的移載位置的搬入位置處從移載裝置A接收零件P,對圖中未示出的組裝裝置或處理裝置一個一個地搬運零件P,或者向成為對移載裝置A的搬出位置的零件P的取出位置一個一個地搬運零件P,該零件移送單元PT設置有零件的搬入搬出位置。零件移送單元PT例如可以列舉出載置並移送零件P的帶式輸送機等。 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.
如圖2中表示的放大圖所示,本發明中處理的托盤設有容納零件P的容納部Ts和從容納部Ts的周圍(上緣 部)向外方突出的凸緣狀的突出部Tt。容納部Ts例如是俯視成矩形的有底筒部。透過將多個托盤T疊層而構成的層疊托盤T1、T2,各自的容納部Ts的中心位於同一垂直線上,另外,各自的突出部Tt的角部分別位於與容納部Ts的垂直線不同的垂直線上並被疊層。另外,在將多個托盤T疊層時,在各個托盤T的突出部Tt之間形成在垂直方向上分離的間隙。 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.
圖2表示搬運裝置C的整體的立體圖。搬運裝置C在本實施方式中可以採用AGV(Automatic Guided Vehicle:自動導引車)等無人搬運車。搬運裝置C配備有後面描述的搭載托盤T的搭載部C1和在搭載部C1下側的行駛部C2。搬運裝置C借助行駛部C2能夠在例如工廠內行駛,能夠恰當地移動並且與移載裝置A鄰接地停止。搬運裝置C將以將多個托盤T疊層的狀態被供給給移載裝置A的層裝托盤T1、或者以將多個托盤T疊層的狀態被從移載裝置A回收的層裝托盤T2搭載於能夠搭載的搭載部C1,並對其進行搬運。搭載部C1由搭載托盤T的搭載面和後面描述的用於移送層疊托盤T1或者層疊托盤T2的托盤移送機構C3(例如,滑動機構)構成。 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.
如上所述構成的搬運裝置C,例如,能夠在工廠內的規定部位搭載並移動層疊托盤T1,與移載裝置A的一側的端部連接起來。連接之後,搬運裝置C將移載 而未處理的層疊托盤T1從搭載面向移載裝置A側移送。另外,在利用移載裝置A在托盤T和零件移送單元PT之間進行了零件P的移載之後,將移載處理完的層疊托盤T2從移載裝置A向搬運裝置C的搭載面移送,可以在工廠內移動並向規定的場所搬運。另外,在本實施方式中,作為搬運裝置C,列舉了採用AGV的形式的例子,但是,並不限定於這種形式,例如,也可以是作業車操作的作業台車,在這種情況下的作業台車和移載裝置A的托盤T的移送也可以由操作者來進行。 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.
再次參閱圖1對於搬運裝置A進行說明。移載裝置A鄰接零件移送單元PT地配置。另外,在搬運裝置C橫向靠在移載裝置A上的情況下,移載裝置A被配置在零件移送單元PT與搬運裝置C之間。在本實施方式中,在下面的說明中,將移載裝置A的與搬運裝置C鄰接的一側作為上游側,將與零件移送單元PT鄰接的另一側作為下游側。 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.
移載裝置A配備有供給單元A1和回收單元A2,該供給單元A1從搬運裝置C接收將多個托盤T疊層而成的層疊托盤T1,並將其從上游側向下游側(從層疊托盤T1的接收側向零件移送單元PT側)搬運,該回收單元A2將移載處理完的托盤T疊層而成的層疊托盤T2從下游側向上游側(從零件移送單元PT側向層疊托盤T2 的交接側)搬運,並向搬運裝置C交接。在本實施方式中,供給單元A1配置在圖1中的移載裝置A的X方向裡側。另外,在本實施方式中,回收單元A2配置在圖1中的移載裝置A的X方向的近前側。即,供給單元A1和回收單元A2相對於層疊托盤T1、T2的搬運方向(圖1中的Y方向)並列地配置。供給單元A1和回收單元A2構成移載裝置A中的供給回收組件。 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.
移載裝置A還配備有配置在供給回收元件A3的下游側(零件移送單元PT側)的Z方向的上方的搬運移載組件A4。搬運移載元件A4從供給單元A1向回收單元A2搬運托盤T,並且,在托盤T與零件搬運單元PT之間進行零件的移載。搬運移載元件A4配備有第1搬運單元200、移載單元300和第2搬運單元400。第1搬運單元200配置在供給單元A1的下游側(零件移送單元PT側)的Z方向的上方,從層疊托盤T1接收托盤T。移載單元300在第1搬運單元200接收的托盤T內的零件P的載置部與零件搬運單元PT之間進行零件P的移載。第2搬運單元400配置在回收單元A2的下游側(零件移送單元PT側)的Z方向的上方,將零件的移載處理完畢的托盤T向回收單元A2交接。另外,在移載單元300連續地移載零件P時,第1搬運單元200及第2搬運單元400協同地朝著與層疊托盤T1、T2的搬運方向正交的方向(圖1中的X方向)搬運托盤T。 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.
移載裝置A配備有本體框架100。本體框架100是支承包含供給單元A1及回收單元A2在內的供給回收組件A3、以及搬運移載組件A4的基座構件。 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.
本體框架100至少配備有:形成為俯視為矩形的主框架101、和從主框架101向上方延伸的兩個門型的副框架102、103。這些框架也可以經由圖中未示出的多個中間框架被適當地連接起來。兩個門型的副框架102、103在Y方向上相互隔開規定的間隔配置在主框架101的長度方向(Y方向)的下游側,搬運移載元件A4被配置在它們的上部。另外,供給回收元件A3被配置在副框架102、103的門型的內方空間與主框架的上方空間之間。從而,本體框架100為搬運移載元件A4被配置在上段、供給回收元件A3被配置在下段的上下兩段的框架結構體。 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.
圖3表示在圖1的移載裝置A中不搭載層疊托盤T1、T2並且將搬運移載元件A4從本體框架100分離出來的狀態的局部分解立體圖。在主框架101中,在其長度方向(箭頭Y方向)的大致整個區域,配置供給單元A1及回收單元A2。如上所述在本實施方式中,供給回收元件A3的供給單元A1及回收單元A2沿著圖中Y方向並列地配置。在圖3中,供給單元A1被配置在X方向裡側、回 收單元A2被配置在X方向近前側,但是,並不局限於此,也可以將供給單元A1配置在X方向近前側,將回收單元A2配置在X方向裡側。另外,在圖3中,用同一元件符號表示的結構零件,表示作為供給單元A1及回收單元A2的結構零件採用同樣的零件。因此,在移送單元100及升降單元120被配置在供給單元A1中的情況下,移送單元110成為供給移動機構,托盤升降單元120成為供給升降機構。另外,在被配置於回收單元A2的情況下,移送單元100成為排出移動機構,托盤升降單元102成為回收升降機構。 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.
下面,對於供給單元A1說明其詳細的結構。在圖4中表示已經將構成供給單元A1及回收單元A2的結構零件詳細地分解了的分解立體圖。供給單元A1配備有移送單元(供給移動機構)110、托盤升降單元(供給升降機構)120、和疊層托盤接收單元130。移送單元110被安裝到配置供給單元A1的主框架101的預定位置。托盤升降單元120及疊層托盤接收單元130位於配置供給單元A1的主框架101的內側,被配置在後面描述的移送單元110的一對移送導軌R的內側。另外,供給單元A1在其一方設定有在與搬運裝置C之間接收層疊托盤T1的托盤供給待機位置SA(參閱圖3),在其另一方在搬運移載組件A4的下方設定有準備層疊托盤T1的托盤準備位置 RA(參閱圖3)。另外,配置在供給單元A1中的移送單元110以能夠在托盤供給位置SA和托盤準備位置RA進行層疊托盤T1的移送的方式配置。另外,配置在供給單元A1中的托盤升降單元120被配置在托盤準備位置RA,以能夠載置支承層疊托盤T1並且能夠在托盤準備位置RA與設置在搬運移載組件A4中的供給位置FA(參閱圖3)之間進行移送的方式配置。另外,配置在供給單元A1中的疊層托盤接收單元130被配置在托盤供給待機位置SA。 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.
移送單元110配備有一對移送導軌R、以及具有驅動移送導軌R的驅動馬達等的驅動部D。各個移送導軌R在主框架101上沿著Y方向相互隔開間隔地配置,並且被配置在主框架101的大致整個Y方向上。驅動部D被配置在一對移送導軌R的圖中Y方向上的大致中央部,配備有將驅動馬達和將兩個移送導軌R連接起來的軸等驅動力傳遞機構。借此,可以利用一個驅動馬達同步地驅動一對移送導軌R。 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.
對於移送導軌R,可以列舉出配備有載置托盤的載置部和例如內置有能夠搬運被載置的工件的環形帶的帶式輸送單元(移動體)的結構的例子。但是,移送導軌R並不 局限於上述方式,例如,也可以採用使構成載置托盤的載置部的螺帽(移動體)沿著滾珠螺桿移動的滾珠螺桿機構、或者借助氣缸等致動器使連接到載置托盤的載置部上的移動體移動的機構。 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.
托盤升降單元120配備有載置托盤T的載置部121和使載置部121升降移動的移動機構122。載置部121被形成板狀,將托盤載置到其上面。移動機構122可以採用能夠將載置部121在規定的位置停止的移動機構。具體地說,在托盤升降單元120被配置在供給單元A1的情況下,只要是可以在至少包含後面描述的托盤準備位置RA及托盤供給位置FA之2個部位在內的、設定在它們之間的多個停止位置處將載置部121停止的即可,沒有特別的限制。例如,作為移動機構122,可以列舉出由氣缸、液壓缸構成的升降機構或者由將能夠進行位置控制的馬達等作為驅動源的滾珠螺桿等構成的升降機構的例子。 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.
疊層托盤接收單元130配備有載置層疊托盤T1或者層疊托盤T2的載置部131、以及使載置部131移動的移動機構132。載置部131由一對截面為U字形的長條構件構成,這些長條構件橫臥並且背靠背地離開規定的間隔沿著一對移送導軌R的長度方向配置。 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.
移動機構132只要是能夠將載置部131在預定的規定位置停止即可。例如,對於移動機構132,可以列舉出至少載置部131的上表面能夠在比移送導軌R的移送面靠上方的位置(在與搬運裝置C之間進行疊層托盤的交接的交接位置)以及比移送導軌R的移送面靠下方的位置停止的機構的例子。進而,作為移送機構132,可以列舉出由氣缸、液壓缸構成的升降機構或者由以馬達等作為驅動源的滾珠螺桿等構成的升降機構。 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.
回收單元A2配備有移送單元(排出移動機構)110、托盤升降單元(回收升降機構)120和疊層托盤接收單元130。回收單元A2配置在主框架101的預定位置,在其一方設定有在與搬運裝置C之間接收層疊托盤T2的托盤排出待機位置ESA(參閱圖3),在其另一方在搬運移載組件A4的下方設定有層疊托盤T2的進行排出準備的托盤排出位置EA(參閱圖3)。另外,配置在回收單元A2中的移送單元110以能夠在托盤排出位置EA和托盤排出待機位置ESA進行層疊托盤T2的移送的方式配置。 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.
另外,配置在回收單元A2中的托盤升降單元120被配置在托盤排出位置EA,以能夠載置支承層疊托盤T2並且在托盤排出位置EA與設置在搬運移載組件A4中的回收位置PA(參閱圖3)之間進行移送的方式配置。對於配置在回收單元A2中的托盤升降單元120的移動機 構122,可以採用能夠將載置部121在預定的規定位置停止的移動機構。具體地說,只要是能夠將載置部121在至少包含後面描述的回收位置PA及托盤排出位置EA兩個場所在內的、設置在它們之間的多個停止位置停止的機構即可,沒有特別的限制。另外,配置在被設定在回收單元A2中的托盤排出待機位置ESA的疊層托盤接收單元130能夠升降移送地支承層疊托盤T2。 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.
回收單元A2配備的移送單元110、托盤升降單元120、疊層托盤接收單元130的各個結構,採用和上述的供給單元A1中所採用的結構同樣的結構。並且,由於移送單元110、移送導軌R、托盤升降單元120,層疊托盤接收單元130的結構與在上述供給單元A1中說明的內容相同,所以省略其說明。 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.
另外,供給單元A1,為了限制疊層托盤T1的水平方向(X-Y方向)的位置,在托盤供給待機位置SA配備有向Z方向延伸的導引構件140。導引構件140只要配置在矩形的層疊托盤T1的至少四個角部附近即可。另外,在設定托盤準備位置RA及托盤排出位置EA的副框架103的內側,為了防止分別配置的托盤升降單元120、120進行升降動作時層疊托盤T1、T2傾斜,也可以分別配置升降導引單元104。在本實施方式中,列舉了設置4個導引構件140的例子進行說明。但是,只要是能夠以層疊托盤 T1的水平方向的位置不偏移的方式進行導引,並不局限於此,另外,如果是不產生位置偏移的層疊托盤T1,也可以省略導引構件140。 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.
透過上述結構,在供給回收元件A3中,供給單元A1和回收單元A2沿著搬運方向(Y方向)並列地配置。供給單元A1在托盤供給待機位置SA從搬運裝置C接收層疊托盤T1,並向下游側的托盤準備位置RA搬運。另外,回收單元A2將疊層於托盤排出位置EA的層疊托盤T2向上游側的托盤排出待機位置ESA搬運,並向搬運裝置C交接。 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.
搬運移載元件A4配備有第1搬運單元200、移載單元300和第2移送單元400。搬運移載元件A4配置在一對門型的副框架102、103的上部,該一對門型的副框架102、103配置在主框架101的下游側。第1搬運單元200被配置在設定於供給單元A1中的托盤準備位置RA的上方。第2搬運單元400被配置在設定於回收單元A2中的托盤排出位置EA的上方。 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.
如圖3所示,在副框架102、103的上部設定第1搬運單元200接收托盤T的供給位置FA和第2搬運單元400的回收托盤T的回收位置PA。供給位置FA在第1搬運單元200之如後面描述的搬運區域CA內設定在托盤準備位置RA的上方。回收位置PA在第2搬運單元400 之如後面描述的搬運區域CA內位於托盤排出位置EA的上方。供給位置FA和回收位置PA被設定在同一平面上,在圖中X方向上相互並列地設定。在本實施方式中,供給位置FA被設定在X方向裡側,回收位置PA被設定在X方向近前側。 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.
矩形框狀的框架200a、400a被跨越副框架102、103的上部地配置。框架200a的上表面成為供給位置FA,框架400a的上表面成為回收位置PA。在對應於供給位置FA的框架200a上載置第1搬運單元200。在對應於回收位置PA的框架400a上載置第2搬運單元400。各個框架200a、400a的開口被設定成托盤T能夠透過的大小。 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.
另外,在各個框架200a、400a的規定部位(例如,內周緣部的四角)設置與托盤T連接、規定托盤T相對於第1及第2搬運單元200、400的位置的多個(例如,四個)規定部200b、400b。作為規定部200b、400b,例如,除了從框架200a、400a豎立設置的桿構件之外,還可以列舉出能夠與托盤T卡合地構成的導引構件等例子。另外,規定部200b、400b相對於框架200a、400a的設置部位、設置個數可以根據托盤T的形態適當地設定。 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.
圖5中表示第1搬運單元200、移載單元300、第2搬運單元400的立體圖。第1搬運單元200及第2搬運單元400作為搬運托盤T的區域而設定搬運區域 CA。移載裝置A的移載單元300在停止於搬運區域CA內的搬運面上的零件P的取出位置處的托盤T和零件搬運單元PT之間移載零件P(參閱圖9)。 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).
第1搬運單元200設定在搬運區域CA的X方向裡側,保持托盤T的在搬運方向(圖5中的X方向)上的一側(圖5中的裡側),搬運托盤T。另外,第2搬運單元400設置在搬運區域CA的在X方向上的近前側,保持托盤T的在搬運方向(圖5中的X方向)的另一側(圖5中的近前側),搬運托盤T。移載單元300在被第1搬運單元200或者第2搬運單元400中的任一個保持的托盤T與零件搬運單元PT之間移載零件。 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.
搬運區域CA具有包含能夠在搬運方向上並列地移動不同的托盤T的水平面(搬運面)在內的,例如在圖5中X方向上從第1搬運單元200到第2搬運單元400的整個長度上的移動範圍MR。後面描述的控制裝置500使第1搬運單元200及第2搬運單元400在移動範圍MR中執行並列地移動托盤T的並列移動和在兩個搬運單元200、400之間交接托盤T的交接移動。 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.
移動範圍MR包含第1搬運路徑MR1和第2搬運路徑MR2。第1搬運路徑MR1在移動範圍MR中包含成為圖中X方向的裡側的一半的路徑的一個路徑,包括後面描述的第1保持機構210的移動範圍。另一方面,第2搬運路徑MR2在移動範圍MR中包含成為圖中X方向的近前側的一半的路徑的另一個路徑,包括後面描述的第 2保持機構410的移動範圍。並且,借助後面描述的搬運機構,托盤T被從第1搬運路徑MR1向第2搬運路徑MR2搬運。在下面的說明中,在有的情況下,將第1搬運路徑MR1稱作上游側,將第2搬運路徑MR2稱作下游側。 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.
第1搬運單元200設置在第1搬運路徑MR1上,配備有保持托盤T的一側的第1保持機構210和移送第1保持機構210的第1移送機構220,在搬運區域CA中位於上游側。第1搬運單元200配備有一對第1保持機構210、210及一對第1移送機構220、220。第1移送機構220、220分別配置在框架200a中的在Y方向上延伸的構件上。一對第1保持機構210對向地設置在第1移送機構220、220上,沿著第1移送機構220的延長方向被移送。 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.
第1保持機構210配備有移動部211和保持部212,該移動部211能夠相對於第1移送機構220向X方向移動,該保持部212能夠與搬運面平行地在與移動部211的移動方向交叉的方向(圖5中的Y方向)上移動地設置在移動部211。換句話說,移動部211借助配置在圖5中作為第1移送機構220表示的箱狀構件的內部的圖中未示出的驅動機構,能夠沿著第1移送機構220在X方向上移動。另外,保持部212、212借助搭載於移動部211 的圖中未示出的驅動機構能夠向相互接近的方向(Y方向)上以小的行程自由進退地移動。 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.
一對第1保持機構210、210透過一對保持部212、212分別向相互接近的方向(Y方向上的一對副框架102、103的內方)移動,可以保持托盤T。具體地說,保持部212當向Y方向移動時,它的一部分被插入到層疊托盤T1的重疊的兩個托盤T、T之間(具體地說,各自的突出部Tt、Tt之間),保持部212與保持部212的上方側的托盤T的突出部Tt變得能夠卡合,能夠進行保持。在本實施方式的情況下,透過使載置在供給單元A1的托盤升降單元120中的層疊托盤T下降,層疊托盤T1的最上段的托盤T被卡合於保持部212,層疊托盤T1被保持部212保持。另外,在解除保持部212對托盤T的保持時,使一對保持部212、212分別向相互分離的方向(Y方向上的一對副框架102、103的外方)移動。 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).
在一對第1保持機構210之間形成空間,該空間成為包括被載置在位於正下方的托盤升降單元120的載置部121上的托盤T在內的層疊托盤T上升時的容納空間。對於配置在該空間(供給位置FA)中的托盤T,第1保持機構210利用一對保持部212、212保持托盤T,移動部211向第2搬運單元400側移動。這樣,第1搬運單元200可以向第2搬運單元400側搬運托盤T。 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.
如在圖5中雙點鍊線所示,也可以在第1搬運單元200的Y方向外側的位置並且在移載單元300的附近設置檢測單元230。一對檢測單元230配置在副框架102、103的X方向上的任意位置處,在搬運區域CA上,檢測出存在於第1搬運路徑MR1內的托盤T是否處於其位置上的狀態。在本實施方式中,與移載單元300的第1搬運單元200側鄰接地配置。 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.
具體地說,檢測單元230在第1搬運路徑MR1上處於其位置上的托盤T被第1搬運單元200或者後面描述的第2搬運單元400搬運時,檢測出在搬運中的托盤T。例如,在採用一對光感測器作為檢測單元230的情況下,透過配置在副空間103中的一個檢測單元230接收從配置在副框架102上的另一個檢測單元230發出的光,可以檢測出托盤T的有無。 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.
另外,檢測單元230可以對在搬運中的托盤T被從第1搬運路徑MR1排出的情況進行檢測。透過該檢測,可以判斷使位於供給位置FA的正下方的托盤T上升的時機。另外,作為檢測單元230,例如,可以採用可見光線、紅外光、紫外線等能夠進行非接觸檢測的光學感測器,另外,作為能夠接觸地進行檢測的接觸式感測器,例如,也可以採用極限開關等。 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.
第2搬運單元400設置在第2搬運路徑MR2上,配 備有保持托盤T的另一側的第2保持機構410和移送第2保持機構410的第2移送機構420。第2搬運單元400在搬運區域CA中位於下游側。第2搬運單元400配備有一對第2保持機構410、410以及一對第2移送機構420、420。第2移送機構420、420分別配置在框架400a中的在Y方向上延伸的構件上。一對第2保持機構410相互空格間隔對向地配置。第2移送機構420、420分別配置在框架200a中的在Y方向上延伸的構件上。一對第2保持機構410對向地設置在第2移送機構420、420上,沿著第2移送機構420的延長方向被移送。 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.
第2保持機構410配備有移動部411和保持部412,該移動部411能夠相對於第2移送機構420向X方向移動,該保持部412能夠與搬運面平行地在與移動部411的移動方向交叉的方向(圖5中的Y方向)上移動地設置在移動部411。換句話說,移動部411借助配置在圖5中作為第2移送機構420表示的箱狀構件的內部的圖中未示出的驅動機構,能夠沿著第2移送機構420在X方向上移動。另外,保持部412、412借助搭載於移動部411的圖中未示出的驅動機構能夠向相互接近的方向(Y方向)上以小的行程自由進退地移動。 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.
一對第2保持機構410、410透過一對保持部412、412分別向相互接近的方向(Y方向上的一對副框架102、103的內方)移動,可以保持托盤T。具體地說,當使保持部412向接近托盤T的方向(Y方向)移動時,保 持部412的一部分卡合到第1搬運單元200所保持的托盤T的突出部Tt上,托盤T被保持部412保持。另外,在解除由保持部412對托盤T的保持時,使移動部412向脫離托盤T的方向(Y方向的外方)移動。 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).
在一對第2保持機構410之間形成空間,成為包含被載置在位於正下方的托盤升降單元120的載置部121上的托盤T在內的層疊托盤T2的移動時的容納空間。第2保持機構410在該空間(回收位置PA)解除由一對保持部412、412對托盤T的保持,由此,利用托盤升降單元120的載置部121載置托盤T。 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.
零件移載單元300在副框架102、103的X方向上的中央部分,以在Y方向上跨越副框架102、103的方式配置在第1搬運單元200與第2搬運單元400之間。即,零件移載單元300配備有從圖5中X方向(副框架102、103)的中央部分向Z方向延伸的一對支柱301、301、和在一對支柱301、301之間向Y方向延伸的Y方向導軌302(零件移載導軌)。保持單元303被安裝於Y方向導軌302的側面。借此,保持單元303可以沿著Y方向導軌302並且在Z方向上比第1、第2保持機構210、410高的位置(搬運區域CA的上方的位置)進行零件P的移載動作。Y方向導軌302是長條構件,包括保持單元303配置在搬運區域CA中的托盤的至少在Y方向上的整個區域的 零件容納位置及零件移送單元PT的零件交接位置在內、在Y方向上延伸到能夠進行零件P的移載的程度。 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.
保持單元303能夠利用圖中未示出的驅動機構在Y方向上往復移動,配備有保持嘴304,該保持嘴304被連接到圖中未示出的負壓產生源上,在內部產生負壓,吸附保持零件P。保持嘴304能夠借助圖中未示出的驅動機構在上下方向(Z方向)上移動地構成於保持單元303上。從而,保持嘴304從在搬運區域CA被搬運的托盤T在Y方向上的一端(圖5中的左端)越過另一端(圖5中的右端),能夠在零件移送單元PT的零件交接位置的上方把持並且移動零件P。 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.
另外,對於驅動保持單元303、保持嘴304驅動的各個圖中未示出的驅動機構,例如,可以列舉出滾珠螺桿機構、馬達等驅動源和齒條齒輪機構等機構的組合的例子。保持嘴304採用由圖中未示出的驅動源驅動並吸附零件P的結構。但是,保持嘴304並不局限於上述結構,例如,也可以採用借助圖中未示出的驅動源來把持零件P的手部的方式、或者借助黏結構件的黏結力保持零件P的方式。 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.
另外,在移載單元300的下方配置從下方支承在搬運區域CA被搬運的托盤的托盤支承單元305。托盤支承單元305設置在一對支柱301、301的根部之間,例如,由在Y方向上延伸的能夠旋轉的軸構件306和貫通插入於軸構件306且分開配置的至少兩個環形部307、 307構成。托盤支承單元305以能夠空轉的方式構成,借此,可以支承從第1搬運單元200向第2搬運單元400搬運的托盤T的下表面。從而,可以順暢地進行托盤T從第1搬運單元200向第2搬運單元400的搬運、以及後後面描述的各個第1、第2保持機構210、410進行的托盤T的換手動作。另外,托盤支承單元305能夠支承與由第1、第2保持機構210、410保持托盤T的部分相反側的部分。即,透過第1、第2保持機構210、410以及托盤支承單元305的協同動作,能夠在零件取出位置穩定地保持托盤T。 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.
圖6是進行本實施方式的系統S的控制的控制單元500的方塊圖。控制單元500配備有處理部510、記憶部520和介面部530,它們被圖中未示出的匯流排相互連接起來。處理部510執行儲存在記憶部520中的程式。處理部510例如是CPU。記憶部520,例如是RAM、ROM、硬碟等。介面部530設置在處理部510和外部設備(主機電腦540、輸入機器(例如,感測器)550、輸出機器(例如,各驅動機構的致動器)560)之間,例如,是通信介面或I/O介面等。 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.
在輸入機器550中,例如,包含檢測單元230的光感測器、移載嘴304的壓力感測器等。在輸出機器560中,包含移送導軌R、托盤升降單元120、第1、第2 保持機構210、410、第1、第2移送機構220、420、移載單元300等的驅動機構的驅動源。驅動控制單元500與主機電腦540進行通信,並且,控制移載裝置A的至少第1搬運單元200、移載單元300、和第2移送單元400。下面,對於控制例進行說明。 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.
參閱圖7至圖12,對於包含移載裝置A的系統S(零件供給系統)的動作進行說明。圖7的ST1所示的狀態表示搬運裝置C與供給單元A1連接起來的狀態,其中,該搬運裝置C搭載著把容納了零件P的多個托盤T重疊起來的層疊托盤(托盤組)T1。另外,在本實施方式的層疊托盤T1中,將最上層的托盤T作為第一托盤TU,將第一托盤TU下側的托盤T作為第二托盤TL,將層疊托盤T1的最下層的托盤T作為最終托盤TF進行說明。透過驅動在搬運裝置C的搭載部C1構成的移送機構C3,使之進入疊層托盤接收單元130的載置部131、131之間,將層疊托盤T1載置到載置部131上。從而,從搬運裝置C向供給單元A1的托盤供給待機位置SA供給層疊托盤T1(由圖中右方向的箭頭D1所示的方向)。 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.
圖7的ST2中所示的狀態展示層疊托盤T1在托盤供給待機位置SA上移動並且被容納到供給單元A1中的狀態。之後,被載置於供給單元A1的移送單元(供給移動機構)110的移送導軌R上的層疊托盤T1,被移送 導軌R的移送機構從托盤供給待機位置SA向托盤準備位置RA移送(圖中的右方向的箭頭D2表示的方向)。另外,圖中的雙點鍊線表示的搬運裝置C離開移送裝置A,接著,為了搭載容納了所供給的零件P的層疊托盤T1,被向工廠的規定的場所移動。 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.
圖7的ST3所示的狀態,展示層疊托盤T1被從托盤供給待機位置SA向托盤準備位置RA移動的狀態。在緊接在層疊托盤T1被向托盤準備位置RA移送之後,層疊托盤T1的底面被一對移送導軌R的上表面支承。另外,供給單元A1中的托盤升降單元120的載置部121的高度位於比移送導軌R的上表面(移送面)的高度靠下方的待機位置。之後,托盤升降單元120的載置部121被移動機構122上升(圖中朝向上方的箭頭D3所示的方向)。 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).
當載置部121越過托盤準備位置RA的移送導軌R的移送面的高度而上升時,層疊托盤T1被從移送導軌R向載置部121交接。另外,也可以按照下述方式構成,即,在將層疊托盤T1載置到載置部121上時,配置於載置部121的圖中未示出的規定部配合到設置在最終托盤TF的下面的圖中未示出的被配合部上,層疊托盤T1被定位並載置在載置部121上的規定的載置位置。 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.
圖8的ST4中所示的狀態表示第一托盤TU被配置在供給位置FA的狀態。從圖7的ST3所示的狀態進一步驅動供給單元A1的托盤升降單元120的移動機構 122,使載置部121上升(圖中朝上方的箭頭D4表示的方向)。當第一托盤TU到達供給位置FA時,停止載置部121的上升動作。第一托盤TU是否到達供給位置FA,例如,透過圖中未示出的檢測單元230在供給位置FA檢測第一托盤TU的就位來進行判斷。 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).
圖8的ST5中所示的狀態,表示一對第1保持機構210的保持部212動作,使保持部212在第一托盤TU的突出部Tt與第二個托盤TL的突出部Tt之間移動的狀態。另外,圖8是用於進行說明的概略圖,為了方便起見,例如,透過在比托盤T的外周緣靠內側處描繪第1保持機構210來表現第1保持機構210的保持部212對托盤T處於保持狀態。控制單元500基於來自於上述檢測單元230的檢測信號,使一對保持部212動作(圖中朝內方向的箭頭D6表示的方向),借助一對保持部212保持第一托盤TU。另外,在本實施方式中,列舉了檢測單元230進行第一托盤TU的檢測的情況作為例子進行了說明,但是,並不局限於此,例如,也可以另外設置檢測第一托盤TU的專用的檢測單元。另外,也可以預先儲存保持第一托盤TU的保持位置,驅動控制移動機構122,以使供給單元A1的載置部121在所儲存的停止位置停止。 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.
圖8的ST6中所示的狀態,表示在一對第1保持機構210的保持部212保持第一托盤TU之後,驅動供給單元A1的驅動機構122,稍稍使載置部121下降的狀態(圖中朝向下方的箭頭D7所示的方向)。為了使第 一托盤TU向能夠進行移載單元300對零件的移載的位置移動,使第一托盤TU的突出部Tt卡合於一對保持部212,並使之待機。進而,透過下降驅動供給單元A1的驅動機構121,載置部121下降,包含第二托盤TL在內的層疊托盤T1下降,第一托盤TU與包含第二托盤TL在內的層疊托盤T1被分離。另外,透過包含在層疊托盤T1中的第二托盤TL的位置到達預定的位置(第二托盤TL的待機位置),供給單元A1的驅動機構122的下降驅動停止,載置部121的下降動作停止。 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. .
圖9及圖10表示從圖8的ST6中所示的箭頭A方向(朝向上下方向)觀察的搬運移載元件A4的平面圖。另外,圖9及圖10是將零件移送單元PT側表示為下方的概略圖,為了方便起見,例如,透過在比托盤T的外周緣靠內側處描繪保持部212、412來表現保持部212、412對於托盤T處於保持狀態。另外,透過在比托盤T的外周緣靠外側處描繪保持部212、412來表現保持部212、412對於托盤T處於保持解除的狀態。 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.
圖9的ST7中所示的狀態與圖8的ST6中所示的狀態相同。第一托盤TU以在搬運方向(圖9中的左右方向,圖5的移動範圍MR方向)上的一側(圖9中的右側)被保持在第1保持機構210上的狀態在供給位置FA待機。詳細地說,第一托盤TU的與搬運方向平行的兩個邊中的一側的部分被保持部212分別保持。另外,移載單元300的保持單元303在Y方向導軌302的一個端部 (圖9中的上部)處待機。另外,第2搬運單元400的第2保持機構410在靠近第一移動單元200的位置待機。 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.
圖9的ST8所示狀態,表示移載單元300在第一托盤TU與零件移送單元PT之間進行零件的移載的狀態。這時,控制單元500進行根據第一托盤TU中的零件P的配置間隔在第1搬運單元200中交互地反復進行移動(圖中朝左方向的箭頭D8表示的方向)或者停止的動作的間歇控制(間歇動作)。 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).
具體地說,在第1保持機構210保持第一托盤TU的狀態下,使第1搬運單元200的第1移送機構220驅動,使第1保持機構210向箭頭D8的方向移動。這時,使第1保持機構210一直移動至被載置在第一托盤TU上的零件P(的最初的列)位於移載單元300的下方的零件取出位置為止。當被載置在第一托盤TU上的零件P位於能夠被移載單元300取出的位置時,驅動控制單元500使保持單元303沿著Y方向導軌302移動(圖中上下方向的箭頭D9表示的方向),並且,使保持嘴304向下方(圖5中的Z方向)移動。並且,在使保持嘴304吸附於規定的零件P而由保持嘴304保持規定的零件P之後,使保持嘴304上升,並且使保持單元303沿著Y方向導軌302從第一托盤TU向零件移送單元PT側移動。之後,解除由保持嘴304對零件P的吸附,零件P被從保持嘴304向零件移送單元PT移載。之後,驅動控制單元500再次使保持單元303沿著Y方向導軌302從零件移送單元PT 向第一托盤TU側移動,進行下一個零件P的吸附和移載。透過重複上述操作,完成第一托盤TU內的一列(與Y方向導軌302平行地配置的列)的零件P的移載。 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.
接著,為了執行第一托盤TU的下一列的零件P的移載,第一保持構件210將第一托盤TU向圖中朝左方向的箭頭D8所示的方向移動與零件的配置間隔相當的量,借助移載單元300進行下一列的零件P的移載。 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.
圖9的ST9中所示的狀態,例如,表示從圖中左起直到第2列的零件P的移載完畢而進行左起第3列的零件P的移載的狀態。這時,在第1及第2搬運單元200、400之間,進行第一托盤TU的交接。具體地說,控制單元500在第一托盤TU的交接動作中,在將第一托盤TU的一側(圖中右側)保持在第1搬運單元200的保持部212上的狀態下,將第一托盤TU的另一側(圖中左側)保持於第2搬運單元400的保持部412。之後,透過使由第1搬運單元200的保持部212對第一托盤TU的一側(圖中右側)的保持解除(ST9的狀態),第一托盤TU的從第1搬運單元200向第2搬運單元400的交接完畢。 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.
具體地說,控制單元500從ST8中所示的狀態繼續進行如下的移載動作的控制,即,使移載單元300在被第1搬運單元200停止保持在移載單元300的下方的一個第一托盤TU與零件移送單元PT之間進行零件P的移載。並且,控制單元500進行第一托盤TU的換手動作 的控制,該第一托盤TU的換手動作為,在移載單元300的移載動作中,進行將第一托盤TU的另一側保持在第2搬運單元400上的保持動作和將第一托盤TU的一側在第1搬運單元200上的保持解除的解除動作。 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.
透過第一托盤TU中的零件P的移載動作的進行,第一托盤TU被依次向圖中左側移送。這時,第一托盤TU的另一側(圖中左側)端部到達待機的第2搬運單元400的能夠由第2保持機構410保持的位置,第2保持機構410的保持部412向內側移動,與第一托盤TU的另一側卡合。另外,第1保持機構210的保持部212為了解除與第一托盤TU的一側的卡合而被向外側移動。這樣,第一托盤TU被從第1搬運單元200向第2搬運單元400換手。並且,第1搬運單元200的保持部212,在第一托盤TU的保持解除之後,向第1移送機構220的圖中右側(圖中的朝右方向的箭頭D10表示的方向)的待機位置返回,準備下次的第二個托盤TL的保持。 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.
圖10的ST10中所示的狀態,表示移載單元300(圖中點劃線所示)對於被第2搬運單元400搬運的第一托盤TU的最後的列(圖中右側端的列)進行移載動作的狀態。這時,檢測單元230檢測出在搬運中的第一個托盤TU被從第1搬運路徑MR1排出。其次,如在狀態ST3-ST6中所說明的那樣,供給單元A1的托盤升降單元120使載置部121上升,使第二托盤TL一直上升到供給位置RA。 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.
圖10的ST11中所示的狀態,表示第1搬運單元200的保持部212保持第二托盤TL(的一側)的狀態。控制單元500使第1搬運單元200的保持部212向配置在供給位置RA的第二托盤TL的卡合位置(圖中上下方向的箭頭D11表示的方向)移動,並且,使載置部121下降,利用保持部212保持第二托盤TL。在由該第1搬運單元200對第二托盤TL的保持動作中,也由移載單元300繼續進行容納在第一托盤TU中的最終列的零件P的移載動作。 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.
圖10的ST12中所示的狀態,表示移載單元300對第2搬運單元400保持的第一托盤TU的移載動作完畢(第一托盤TU的最終列的零件P的移載完畢)、對第1搬運單元200保持的第二托盤TL進行移載動作的狀態。具體地說,控制單元500,當兩個第一托盤TU及第二托盤TL在移動範圍MR中在托盤的移動方向上被並列地移動的並列移動時,透過第1搬運單元200保持第二托盤TU,第2搬運單元400保持第一托盤TU,使第一托盤TU及第二托盤TL以並列的狀態分別移動(圖中朝左方向的箭頭D12所示的方向)。控制單元500使移動範圍MR的一側的第二托盤TL的一側(圖中右側)保持在第1保持機構210上,使移動範圍MR的另一側的第一托盤TU的另一側(圖中左側)保持在第2保持機構410上。並且,控制單元500,為了使第一托盤TU及第二個托盤TL以並列的狀態被搬運,進行使第1移送機構220及第2移 送機構420同時向相同的方向(圖中朝左方向的箭頭D12所示的方向)移動。 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).
換句話說,控制單元500進行如下的移載動作的控制,即,使移載單元300在由第2搬運單元400停止保持在移載單元300的下方的第一托盤TU與零件移送單元PT之間進行零件P的移載。另外,控制單元500進行準備動作的控制和同時移動的控制,該準備動作的控制使第1搬運單元200保持與被第2搬運單元400保持的第一托盤PU不同的另外的第二托盤TL,與第一托盤TU並列地配置準備第二托盤TL,該同時移動的控制在移載單元300的移載動作中,使第1搬運單元200及第2搬運單元400動作,使在第一托盤TU和第二托盤TL同時移動。 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.
利用移載單元300進行的移載完畢的第一托盤TU被第2搬運單元400搬運到回收位置PA。之後,配置在回收單元A2上的托盤升降單元120的載置部121被向第一托盤TU的接收位置移動,與第一托盤TU的底部抵接。之後,為了解除第一托盤TU的保持,第2保持機構410的保持部412被向外側(從第一托盤TU脫離的方向)移動。借助該動作,第一托盤TU被交接並載置到在下方待機的托盤升降單元120的載置部121上。透過重複上述從ST7到ST12中所示的動作,對被依次供給到供給位置FA的托盤T進行移載動作,空的托盤T被從回收位置PA排出。另外,在第一托盤TU被載置到配置在回收 單元A2上的托盤升降單元120的載置部121上之後,對於之後的托盤T(第二托盤TL...最終的托盤TF),以重疊到已經被載置於載置部121的托盤T上的方式被載置,借助該動作,形成層疊托盤T2。因此,每當從第2保持機構410接收托盤T時,回收單元A2的托盤升降單元120階段式地在降低相當於托盤T的高度的量的接收位置停止,進行托盤T的載置。 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.
從圖11的ST13至ST15及從圖12的ST16至ST18所示的狀態,表示在回收單元A2從回收位置PA回收多個空的托盤T,作為疊層托盤T2從托盤排出待機位置ESA向搬運裝置C排出疊層托盤T2的過程。由於該過程遵循供給單元A1中的從圖7的ST1到ST3及從圖8的ST4到ST6所示的狀態的逆過程,所以,省略其詳細的說明。 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.
概略地說,圖11的ST13中所示的狀態是以回收單元A2的側視圖表示圖10的ST12所示狀態的狀態。圖11的ST14所示的狀態是回收單元A2的托盤升降單元120使載置部121上升(圖中的朝上方向的箭頭D13所示的方向)並使已經疊層的空的疊層托盤T2上升至回收位置PA的狀態。在圖11的ST15中所示的狀態,是第2保持機構410的保持部412向外側(圖中左右方向的箭頭D14所示的方向)移動並解除了與托盤T的卡合的保持解除狀態。在圖12的ST16中所示的狀態,是回收單元A2的托盤升降單元120使載置部121下降(圖中朝下方 向的箭頭D15所示的方向)、下一個空的托盤T來到回收位置進行待機的狀態。這時,在使層疊托盤T2疊層了規定數量的空的托盤T的情況下,如圖12的ST17所示,層疊托盤T2被移送導軌R從托盤排出位置EA移動到托盤排出待機位置ESA(圖中朝左方向的箭頭D16所示的方向)。之後,在圖12的ST18所示的狀態,使層疊托盤T2從排出待機位置ESA向鄰接移載裝置A而待機的搬運裝置C移動(圖中朝左方向的箭頭D16所示的方向)。之後,搬運裝置C為了將層疊托盤T2向工廠內的規定場所搬運而從移載裝置A移動並離開。 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.
借助上述那樣的製程,補充了新的層疊托盤Tl的移載裝置A向供給單元A1、第1搬運單元200、第2搬運單元400、回收單元A2搬運托盤。這時,移載裝置A的移載單元300,在第1搬運單元200和第2搬運單元400之間,在移送托盤T的期間進行零件P的移載動作。從而,本實施方式的移載單元300,在移載處理完的托盤T的排出中,直到移載未處理的托盤T的供給被準備為止,不中斷移載動作,對托盤T始終能夠繼續進行移載動作。從而,移載裝置A可以提高零件P的移載作業效率。 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.
另外,透過利用AGV等無人搬運車進行多個移載處理完的托盤T疊層而形成的層疊托盤T2的排出和多個未移載處理的托盤T疊層而形成的層疊托盤T1的供給,可以自動地進行托盤的供給和托盤的回收,其結果 是,可以自動地連續進行零件P的移載動作。 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.
上面,對於包含移載裝置A的系統S的動作,作為成為供給零件的零件供給動作的零件供給系統進行了說明,但是,也可以作為零件回收系統使用,在所述零件回收系統中,搬運裝置C向移載裝置A供給空的托盤T,移載裝置A從零件移送單元PT向托盤T移載並容納零件P,搬運裝置C從移載裝置A回收已經容納了零件P的托盤T。 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.
在將上述系統S作為零件回收系統使用的情況下,零件P的流動,將配置在移載裝置A的另一側的零件移送單元PT作為上游側,將配置在移載裝置A的一側的搬運裝置C作為下游側,從零件移送單元PT經由移載裝置A向搬運裝置C進行搬運。由於由移載裝置A從下游側將零件P向托盤T移載並容納,搬運裝置C從移載裝置A回收容納了零件P的托盤T,因此,系統S成為零件回收系統。對於由本系統S進行的零件回收的動作,在從圖9的ST7直到圖10的ST12的動作中,在供給沒有容納零件的空的托盤T(未移載處理的托盤T)並且移送到零件容納位置的部分中,和在對於被移送到了零件容納位置的空的托盤T,移載單元300取出被供給到零件搬運單元PT的規定位置上的零件P並將其移載到托盤T,並且將容納到容納位置上的動作部分中,是不同的。對於其它的動作,與零件供給系統的動作完全相同。 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.
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Also Published As
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CN106915634B (en) | 2019-04-05 |
JP2017114629A (en) | 2017-06-29 |
TW201730079A (en) | 2017-09-01 |
KR20170076569A (en) | 2017-07-04 |
KR101882914B1 (en) | 2018-07-27 |
JP6663708B2 (en) | 2020-03-13 |
CN106915634A (en) | 2017-07-04 |
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