WO2012004936A1 - 板状部材移載設備 - Google Patents
板状部材移載設備 Download PDFInfo
- Publication number
- WO2012004936A1 WO2012004936A1 PCT/JP2011/003301 JP2011003301W WO2012004936A1 WO 2012004936 A1 WO2012004936 A1 WO 2012004936A1 JP 2011003301 W JP2011003301 W JP 2011003301W WO 2012004936 A1 WO2012004936 A1 WO 2012004936A1
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- WO
- WIPO (PCT)
- Prior art keywords
- plate
- rack
- flip
- glass plate
- transport
- Prior art date
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/062—Easels, stands or shelves, e.g. castor-shelves, supporting means on vehicles
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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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/063—Transporting devices for sheet glass
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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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
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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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67706—Mechanical details, e.g. roller, belt
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67718—Changing orientation of the substrate, e.g. from a horizontal position to a vertical position
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67736—Loading to or unloading from a conveyor
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67763—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
- H01L21/67769—Storage means
Definitions
- the present invention includes a rack capable of storing a plurality of plate-shaped members arranged side by side, and a plate-shaped member transfer mechanism for inserting the plate-shaped member into the rack and taking out the plate-shaped member from the rack. It is related with the plate-shaped member transfer equipment provided.
- Patent Document 1 Conventionally, various transport devices for transporting a substrate are known.
- a robot that stores a substrate in a rack (or a cassette or the like) and takes out a substrate stored in the rack, as disclosed in Patent Document 1.
- the robot described in Patent Document 1 includes a robot arm.
- the robot arm has three links, and these three links are connected so as to be rotatable around a vertical axis extending in the vertical direction.
- An end effector is attached to the tip of the robot arm.
- the end effector is configured such that a substrate can be placed on the tip side portion thereof, and the tip portion is configured to be rotatable around a horizontal axis extending in the horizontal direction.
- the robot configured in this manner moves the end effect while rotating the three links, and inserts the board placed there into the rack or removes the board from the rack.
- the robot can raise or lower the substrate placed on the end effect by rotating the tip of the end effect about the horizontal axis. Therefore, the end effect can be inserted into the rack from various directions, and the substrate can be inserted into or removed from the rack regardless of the direction of the rack.
- the robot described in Patent Document 1 is configured to insert an end effector into a substrate accommodating portion for accommodating a substrate of the rack when the substrate is inserted into or removed from the rack.
- the plurality of substrates 51 to 53 are accommodated in the rack 54 side by side in the arrangement direction so as not to contact each other as shown in FIGS. Therefore, when the plurality of substrates 51 to 53 are sequentially carried out from the foremost substrate 51, an open space is formed in which the end effect 55 can be inserted in front of each of the substrates 51 to 53 to be carried out. There is no problem in carrying out even when using.
- the plurality of substrates 51 to 53 accommodated in the rack 54 are not necessarily carried out in order from the previous substrate 51, and the substrate 52 accommodated between the two substrates 51 and 53 is taken out first. There is often. In this case, the end effect 55 must be inserted between the two substrates 51 and 52 (or the substrates 52 and 53).
- the accommodation interval between adjacent substrates is as short as possible so that the number of substrates that can be accommodated with respect to the installation area of the rack 54 is made dense.
- the end effect is thick because it has a function of sandwiching the substrate or has to ensure rigidity. Therefore, even if it tries to insert between two board
- the present invention provides a new plate-like member between two plate-like members spaced apart from each other without inserting an end effect into the substrate receiving portion of the rack, even if the storage pitch of the plate-like members is dense. It aims at providing the plate-shaped member transfer equipment which can carry in and carry out any plate-shaped member out of the several plate-shaped member lined up.
- the plate-shaped member transfer facility of the present invention stores a plurality of plate-shaped members that are supported by a support portion and are erected so as to extend in the conveyance direction, arranged in an arrangement direction intersecting the conveyance direction, and the plurality A rack configured to be able to carry in and carry out the plate-like member in the transport direction, a plate-shaped member transfer mechanism for carrying the plate-like member into the rack in the transport direction, and carrying out from the rack,
- the plate-like member transfer mechanism includes a flip that supports the plate-like member and is rotatable about a rotation axis parallel to the transport direction.
- a flip rotation mechanism for raising or lowering a member a conveyance mechanism having a conveyance body formed with a feeding portion that extends in the conveyance direction and feeds the plate-like member standing in the conveyance direction; and the flip rotation Moving mechanism and transport mechanism A transfer mechanism that moves the plate member in a standing state between the rack and the flip by the feeding portion. is there.
- the plate-like member transfer mechanism can stand the plate-like member supported by the flip by turning the flip by the flip turning mechanism. Further, the flip-rotating mechanism and the transport mechanism are moved to arbitrary positions in the rack arrangement direction, and the plate-shaped member in the standing state is moved in the transport direction by the feed mechanism, so that the plate-shaped member is carried into the rack. Can be stored. As described above, the plate-like member transfer mechanism can store the plate-like member in the horizontal state by inserting it into the rack.
- the “horizontal state” includes not only a state of being in a truly horizontal posture but also a state of being slightly inclined from the horizontal posture.
- the plate-like member stored in the rack is moved in the transport direction and returned to the flip side. be able to.
- the plate-like member can be brought into a horizontal state by turning and flipping the flip by a flip turning mechanism.
- the plate-like member transfer mechanism can take out the plate-like member stored while standing in the rack and put it in a horizontal state.
- the plate-like member is moved in the carrying direction by the feeding portion and delivered, so that when carrying the plate-like member in and out, the carrier and the flip are directly put into the substrate housing portion of the rack. There is no need to insert. Accordingly, even if the interval between the plate-like members is narrowed to reduce the installation area of the equipment and the storage pitch in the arrangement direction of the plate-like members is made dense, the plate-like member and the end effect stored as in the prior art A new plate-like member is carried in between two plate-like members, and any plate-like member can be selected from a plurality of arranged plate-like members. Can be carried out. Therefore, the plate-like member can be carried into and out of the rack reliably and quickly.
- the transport mechanism is configured so that the transport body can be moved from the flip side in the transport direction to extend into the rack.
- the plate-shaped member can be moved to the back in a rack by the said feed part by extending the said conveyance body in a rack. Thereby, it is not necessary to provide a transport mechanism in the rack, and the number of parts can be reduced. Thereby, manufacturing cost can be reduced.
- the transport mechanism is configured to be able to move the transport body in the vertical direction.
- the step between the transport body and the rack when the plate-shaped member is delivered can be eliminated by moving the transport body in the vertical direction according to the position of the rack. Thereby, it can prevent that a plate-shaped member falls from a level
- the rack is provided with a plurality of support portions arranged at intervals in the transport direction, and the feeding portions of the transport body are disposed so as to be scattered in the transport direction of the transport body.
- a plurality of driving members for sending the plate-shaped member in the transport direction; and a plurality of recesses formed in the transport body corresponding to the plurality of support portions, and formed between adjacent recesses It is preferable that at least one driving member is provided on the convex portion.
- the drive member attached to the convex portion can be exposed from between adjacent support portions by inserting the support portion into the concave portion of the transport body. it can.
- the plate member can be smoothly moved in the rack by the drive member.
- the transport mechanism positions the transport body such that an upper end of the convex portion is positioned lower than a support portion of the rack at the reference position where the transport body is on the near side in the transport direction of the rack.
- the transport body is moved from the reference position in the transport direction so that the concave portion is positioned below the support portion of the rack, the transport position is raised from there, and the upper end of the drive member is connected to the rack at the upper end of the drive member. It is preferable that it is configured to be positioned higher than the support portion.
- the support portion can be put in the concave portion of the transport body, and the driving member provided on the convex portion can be exposed from the support portion.
- the flip is provided with a support portion that supports the plate-like member when the flip is raised, and the transport mechanism is supported by the support portion of the flip when the transport body is raised. It is preferable that the plate-like member is configured to be placed on the driving member.
- the plate-like member when the transport body is raised, the plate-like member is placed on the driving member. Since the plate member can be placed on the drive member by raising the carrier by raising the flip in this way, it is easy to transfer the plate member between the flip and the drive member.
- the flip has a plurality of rollable spherical rollers and the back of the plate-like member is supported by the plurality of spherical rollers.
- the plate-like member is supported by the rolling spherical roller, when the feed mechanism moves the plate-like member, the plate-like member moves smoothly even if the plate-like member is slid against the flip. be able to. Accordingly, when the plate-shaped member is transferred between the rack and the flip, the plate-shaped member can be slid along the flip, and the flip can be prevented from falling down.
- the flip rotation mechanism is configured to rotate the flip so as to tilt the plate member supported by the flip when moving.
- the flip rotation mechanism is moved in a state where the plate-shaped member is tilted, so that the amount of wind generated by the movement of the plate-shaped member can be suppressed.
- the wind generated at the time of movement may flutter and damage the plate-like members stored side by side in the rack, but in the present invention, since the wind can be suppressed, such fluttering of the plate-like members is suppressed. Damage to the plate member can be prevented.
- a new plate-like member is provided between two plate-like members spaced apart from each other without inserting an end effect into the substrate housing portion of the rack, even if the plate-like member is stored at a dense pitch.
- Any plate-like member can be carried out from a plurality of plate-like members arranged.
- FIG. 1 It is a perspective view which shows the stocker installation which concerns on embodiment of this invention. It is an expansion perspective view which expands and shows the stocker with which the stocker installation shown in FIG. 1 is provided. It is a perspective view which shows the movement of the flip of the stocker shown in FIG. It is a perspective view which shows the motion of the slide member of the stocker shown in FIG. It is an expansion perspective view which expands and shows the rack with which the stocker installation shown in FIG. 1 is provided. It is an expansion perspective view which expands and shows a part of lower end side support body of the rack shown in FIG. It is an expansion perspective view which expands and shows a part of upper end side support body of the rack shown in FIG. In the stocker equipment shown in FIG.
- FIG. 10 is a front view showing a state when a flip is raised from the state of FIG. 9.
- FIG. 11 is an enlarged perspective view showing the state when the stocker is moved from the state of FIG. 10 to the front of the rack storage position. It is the front view which looked at the stocker installation in the state of FIG. 11 from the front.
- FIG. 12 is an enlarged perspective view showing a state when a part of the slide member is submerged under the left rack from the state of FIG. 11.
- FIG. 13 It is the front view which looked at the stocker installation in the state of FIG. 13 from the front. It is the expansion perspective view which looked at the state after raising a slide member from the state of FIG. 13, and having passed the slide member between the rack and the flip from the right side. It is the expansion perspective view which looked at the state after lowering the support part from the state of FIG. 15, and mounting the glass plate on the drive member from the right side. It is an expansion perspective view which expands and shows a state when a drive member is rotated from the state of FIG. 16, and a glass plate is slid. It is the front view which looked at the stocker installation in the state of FIG. 17 from the front. It is the expansion perspective view which looked at the stocker installation in the state of FIG. 17 from the right side.
- FIG. 18 is an enlarged perspective view of the state when the glass plate is further slid and stored in the rack from the state of FIG. 17 and the slide member is lowered, as viewed from the right side. It is the front view which looked at the state which moved the slide member from the state of FIG. 20, and squeezed a part of slide member under the left rack. It is an enlarged front view which expands and shows the state when moving the glass plate accommodated in the left rack from the state of FIG. 21 to a flip. It is the front view which looked at the stocker installation in the state of FIG. 22 from the front. It is the front view which looked at the state when the glass plate was further slid from the state of FIG. 23 and moved to before the flip.
- FIG. 28 is a perspective view showing a state after the glass plate is slid backward from the state of FIG. 27 by the slide device.
- FIG. 29 is a perspective view showing a state when the downstream stopper is lowered from the state of FIG. 28 and the glass plate is moved downstream.
- the stocker facility 1 according to the embodiment of the present invention will be described with reference to the drawings described above.
- the concept of directions such as up and down, left and right, and front and back in the embodiment is used for convenience of explanation, and it is suggested that the arrangement and orientation of the configuration of the stocker facility 1 be limited to that direction. Not what you want.
- the stocker facility 1 described below is only one embodiment of the present invention, and the present invention is not limited to the embodiment, and can be added, deleted, and changed without departing from the spirit of the invention.
- the stocker facility 1 is provided in the middle of a conveyance path for conveying a plate member 2 from one processing apparatus to another processing apparatus, and temporarily stores the conveyed plate member 2. It is equipment to keep.
- the plate-like member 2 is a large glass plate used in, for example, a solar panel or a liquid crystal panel, and will be described below as the glass plate 2.
- the plate-like member 2 is not limited to a large glass plate, and may be a steel plate or a resin plate as long as it is a plate-like member.
- the stocker facility 1 is provided on a wheel conveyor 3 that conveys the glass plate 2 from one processing apparatus to another processing apparatus.
- the wheel conveyor 3 has a plurality of wheel shafts 3a that can rotate.
- the wheel shaft 3a extends in the front-rear direction and is rotated by a driving device (not shown), and the wheel conveyor 3 rotates the plurality of wheel shafts 3a to place the glass plate 2 placed thereon. It is configured to move in one direction (in this embodiment, the left direction).
- the wheel conveyor 3 has the downstream stopper member 3b.
- the downstream stopper member 3b is arranged in a line in the front-rear direction between the two adjacent wheel shafts 3a, and is provided so as to be able to appear and retract.
- the wheel conveyor 3 stops the glass plate 2 moving on the wheel conveyor 3 at the stop position by causing the downstream stopper member 3b to protrude from between the wheel shafts 3a, and the downstream stopper member 3b is interposed between the wheel shafts 3a. It is configured to allow the glass plate 2 to move from the stop position to the downstream side by being immersed.
- the wheel conveyor 3 has a slide device 3c and a plurality of alignment members 3d, and the glass plate 2 may be aligned by these.
- the slide device 3c is configured to slide the glass plate 2 at the stop position in the front-rear direction.
- the plurality of alignment members 3d are arranged in a line in the left-right direction on the front side of the wheel conveyor 3, and are disposed one by one between the adjacent wheel shafts 3a.
- the alignment member 3d is configured to be able to appear and retract, and is configured to stop the glass plate 2 that is slid by the slide device 3c by protruding the alignment member 3d from between the wheel shafts 3a.
- the stocker facility 1 is configured to store the glass plate 2 stopped at the stop position in the rack 21.
- the stocker facility 1 includes a stocker 4 and a rack 21 as shown in FIG.
- the stocker 4 includes a base 5 as shown in FIG.
- the base 5 is mounted on the base drive mechanism 6 and is configured to be slidable in the front-rear direction by the base drive mechanism 6.
- the base drive mechanism 6 has a casing 6a and a drive mechanism (not shown).
- the casing 6a extends in the front-rear direction, and a drive mechanism that includes a ball screw mechanism, a servo motor, and the like is housed therein.
- the base drive mechanism 6 having such a configuration extends forward from the vicinity of the wheel conveyor 3 and is attached to the floor or the like of the installation location.
- the base 5 is slidably attached to the base drive mechanism 6 (see arrow A in FIG. 2).
- the base 5 is generally formed in a rectangular parallelepiped shape.
- the base 5 is provided with a hinge lifting mechanism 7.
- the hinge elevating mechanism 7 is constituted by, for example, a piston mechanism.
- a hinge 9 is attached to the hinge lifting mechanism 7 and is configured to lift the hinge 9 up and down.
- a flip 8 serving as a so-called hand or end effector is attached to the rear portion of the base 5 via a hinge 9.
- the flip 8 is generally formed in a trident and is configured to be able to support the glass plate 2 placed thereon.
- the flip 8 is attached to the rear portion of the base 5 via a hinge 9 and is configured to be rotatable around the rotation axis L ⁇ b> 1 by the hinge 9.
- the hinge 9 is provided with a flip drive mechanism 10.
- the flip drive mechanism 10 is, for example, a servo motor, and is configured to rotate the flip 8 about the rotation axis L1 (see arrow B in FIG. 2).
- the configuration of the flip 8 will be described in detail based on a state in which the posture of the flip 8 is substantially horizontal as shown in FIG.
- the Flip 8 has a base 11 on the base end side (front side).
- the base 11 is a plate-like member that extends to the left and right, and is attached to the base 5 via a hinge 9.
- Three support plates 12 are attached to the upper surface 11 a of the base 11.
- the support plate 12 is a strip-shaped plate member extending in the front-rear direction, and the base end side thereof is fixed to the base portion 11 at substantially equal intervals on the left and right.
- the interval between the support plates 12 is adjusted to the interval between the wheel shafts 3a of the wheel conveyor 3, and each support plate 12 is placed between the adjacent wheel shafts 3a.
- the base 11 has a stopper 11b.
- the stopper 11 b is formed so as to extend downward on the lower surface 11 c of the base portion 11 and hits the casing 6 a of the base drive mechanism 6.
- the stopper 11b has a function of restricting the downward rotation of the base 11 by hitting the casing 6a and preventing the front end side of the support plate 12 from facing downward.
- a plurality of spherical rollers 13 are attached to the upper surface 12 a side of the support plate 12.
- the plurality of spherical rollers 13 are attached to the support plate 12 so as to be able to roll, and are arranged at intervals in the front-rear direction.
- a part of the spherical roller 13 protrudes upward from the upper surface 12 a of the support plate 12 and is exposed.
- a support portion 14 is attached to the upper surface 12 a side of the support plate 12.
- the support portion 14 is disposed on the base end side of the support plate 12 with respect to the spherical roller 13 and protrudes upward from the upper surface 12a.
- the support portion 14 is provided with a cylinder mechanism (not shown), and is configured to be movable in the front-rear direction by the cylinder mechanism.
- a transport mechanism 15 is attached to the front portion of the base 5.
- the transport mechanism 15 has a slide member 16.
- the slide member 16 which is a conveyance body is a horizontally long plate-like member.
- the slide member 16 is attached to the rear portion of the base 5 via a slide lifting mechanism 17.
- the slide elevating mechanism 17 includes, for example, a ball screw mechanism and a pneumatic cylinder, and is configured to slide the slide member 16 in the left-right direction (conveying direction) and to move the slide member 16 up and down (arrows in FIG. 2). C and D).
- a plurality of convex portions 16 a (six convex portions 16 a in this embodiment) are formed on the slide member 16.
- the convex portions 16a are arranged at substantially equal intervals in the left-right direction.
- a recess 16b that penetrates the slide member 16 in the front-rear direction is formed between the adjacent convex portions 16a.
- the recess 16b is formed so that a support member 26 of the
- a plurality of drive members 18 are dotted and attached to the rear portion of the slide member 16.
- the drive member 18 is constituted by, for example, a roller or a belt. In the present embodiment, a case where the driving member 18 is a roller will be described. Twelve drive members 18 are attached to the slide member 16.
- the drive member 18 is configured to be rotatable around a rotation axis parallel to the front-rear direction, and two drive members 18 are attached to each convex portion 16a.
- the slide member 16 is provided with a rotation interlocking mechanism 19.
- the rotation interlocking mechanism 19 includes a transmission mechanism constituted by, for example, a timing belt and a servo motor, and is provided in the slide member 16.
- the rotation interlocking mechanism 19 is configured to rotate a plurality of driving members 18 in the same direction and send the glass plate 2 placed on the driving member 18 leftward or rightward (in FIG. 2). (See arrow E).
- the stocker 4 has a control device 20 for controlling the operation of each component.
- the control device 20 is connected to the base drive mechanism 6, the hinge lifting mechanism 7, the flip drive mechanism 10, the slide lifting mechanism 17, and the rotation interlocking mechanism 19 via signal wiring.
- the control device 20 has a function of sending a signal to each of the mechanisms 6, 7, 10, 15, 19 based on a program stored in advance or a command input by an input means (not shown) to control their operation. ing.
- the control device 20 controls the operations of these seven mechanisms 6, 7, 10, 15, and 19 to cause the stocker 4 to achieve the following functions.
- the function of the stocker 4 will be described with reference to FIGS.
- the stocker 4 has a function of placing the glass plate 2 on the flip 8 by tilting the flip 8 into a horizontal state as shown in FIG. Further, the stocker 4 can turn the glass plate 2 on the flip 8 by turning the flip 8 by the hinge 9 (see FIG. 3), or can be brought down to a horizontal posture (horizontal state). Note that the horizontal state includes not only a truly horizontal state but also a state slightly tilted from the truly horizontal state. Further, the stocker 4 has a function of moving the glass plate 2 placed on the flip 8 in the front-rear direction by moving the base 5 by the base drive mechanism 6.
- the stocker 4 has a function of moving the slide member 16 to the left or right by the slide elevating mechanism 17 to raise the slide member 16.
- the lower end of the glass plate 2 erected by rotating the flip 8 is supported by a support portion 14, and the stocker 4 is supported by lowering the support portion 14 by a cylinder (not shown).
- the glass plate 2 has a function of placing it on the drive member 18 of the slide member 16.
- the stocker 4 is comprised so that the glass plate 2 can be sent to the left or right direction by rotating the several drive member 18 by the rotation interlocking mechanism 19.
- a plurality of racks 21 are arranged on both the left and right sides of the stocker 4 that can send the glass plate 2 in the left and right directions in this way.
- the racks 21 are arranged in a line in the front-rear direction on both the left and right sides, and in this embodiment, three racks 21 are arranged on each of the left and right sides.
- the configuration of each rack 21 is the same except for the arrangement position and orientation.
- only one rack 21 will be described, and the other racks 21 will be denoted by the same reference numerals and description thereof will be omitted.
- the rack 21 has a frame body 22 that is framed in a rectangular parallelepiped shape as shown in FIG.
- a lower end side support body 23 is fixed to the lower end side of the frame body 22, and an upper end side support body 24 is attached to the upper end side.
- the lower end side support body 23 has an outer frame 25 that is framed in the same rectangular shape as the frame body 22 in plan view.
- a plurality of support members 26 (three support members 26 in this embodiment) are fixed to the outer frame 25.
- the support member 26 extends in the front-rear direction, and is passed to members on the front and rear of the outer frame 25.
- the plurality of support members 26 are spaced apart from each other in the left-right direction on the outer frame 25, and the intervals are set according to the width of the glass plate 2 to be accommodated.
- the support member 26 has a plurality of separators 26a as shown in FIG.
- the plurality of separators 26 a are arranged at substantially equal intervals in the front-rear direction, and the interval between the two adjacent separators 26 a is slightly wider than the thickness of the glass plate 2.
- the upper end support 24 has a top frame 27 that is framed in the same rectangular shape as the frame 22 in plan view.
- a plurality of beam members 28 (four beam members 28 in this embodiment) are fixed to the top frame 27.
- the beam member 28 extends in the front-rear direction, and is passed to members that are in front of and behind the top frame 27.
- the plurality of beam members 28 are spaced apart from each other in the left-right direction, and the intervals are set according to the width of the glass plate 2 to be accommodated.
- a plurality of guide rollers 28 a as shown in FIG. 7 are attached to the lower surface of the beam member 28.
- the plurality of guide rollers 28a are arranged corresponding to the separators 26a and are positioned at substantially equal intervals in the front-rear direction.
- the guide roller 28a configured as described above is attached to the beam member 28 so as to be rotatable around a rotation axis extending in the vertical direction.
- the glass plate 2 is stored in a state where the lower end side of the glass plate 2 is passed between two adjacent separators 26a and the upper end side of the glass plate 2 is passed between two adjacent guide rollers 28a. ing. Thereby, the glass plate 2 is accommodated in a standing state between the lower end side support body 23 and the upper end side support body 24, and is supported by the separator 26a and the guide roller 28a so as not to fall down.
- the upper end side of the glass plate 2 housed in this way is passed through two guide rollers 28a located slightly behind the two separators 26a through which the lower end side is passed,
- the glass plate 2 is accommodated in the rack 21 in a state where it is slightly inclined rearward.
- the glass plates 2 are passed one by one between the two separators 26a and between the guide rollers 28a, and the adjacent glass plates 2 are partitioned by the separator 26a and the guide rollers 28a. By partitioning in this way, the glass plates 2 are separated from each other without being in contact with each other, and are arranged in the front-rear direction (arrangement direction) and accommodated in the rack 21.
- the rack 21 that can store a plurality of glass plates 2 is configured such that the upper end support 24 is not fixed to the frame 22 and the height of the upper end support 24 can be adjusted.
- an elevating mechanism such as a ball screw mechanism (not shown) is used.
- the upper end side support body 24 may be comprised so that it can adjust manually, without using a raising / lowering mechanism.
- the height of the glass plate 2 that can be stored for each rack 21 can be changed by adjusting the height of the upper end support 24 by the adjustment mechanism in accordance with the height of the glass plate 2 to be stored. .
- the height of the upper end side support 24 is adjusted in advance according to the height of the glass plate 2 to be stored.
- the glass plate 2 accommodated in the rack 21 positioned at the foremost side in each row is shorter than the glass plate 2 accommodated in the other rack 21 (upper end support shown by a two-dot chain line in FIG. 5). 24). Therefore, the upper end side support body 24 of the rack 21 positioned on the front side is disposed at a position lower than the upper end side support bodies 24 of the other racks 21.
- the height of the upper end side support body 24 can be adjusted according to the height of the glass plate 2 to be accommodated.
- the rack 21 configured in this way has an insertion port 21a into which the glass plate 2 is inserted on either one of the left and right sides.
- the insertion port 21a is formed on the right side of the rack 21, and in the case of the rack 21 arranged on the right side of the stocker 4, the insertion port 21a is It is formed on the left side of the rack 21. That is, the insertion port 21 a is open toward the stocker 4.
- the stocker 4 is configured to deliver the glass plate 2 to the rack 21 from the insertion port 21a configured as described above.
- the control device 20 Before receiving the glass plate 2 moving on the wheel conveyor 3, the control device 20 first controls the operation of the base drive mechanism 6 and moves the base 5 of the stocker 4 to the vicinity of the wheel conveyor 3. After the movement, the control device 20 controls the operation of the flip drive mechanism 10 to tilt the flip 8 backward. After the flip 8 is tilted and the posture of the flip 8 is leveled, the control device 20 controls the operation of the hinge lifting mechanism 7 to lower the flip 8, and the three support plates 12 of the flip 8 are moved between the wheel shafts 3a. Into each. At this time, the flip 8 is lowered to a position where the spherical roller 13 is positioned flush with or below the wheel shaft roller. Further, the wheel conveyor 3 projects a downstream stopper member 3b upward so as to stop the moving glass plate 2 at a predetermined position on the flip 8. The stocker 4 waits for the glass plate 2 moving on the wheel conveyor 3 to come to a predetermined position.
- the wheel conveyor 3 stops the glass plate 2 that has moved on the wheel conveyor 3 on the flip 8 by the downstream stopper member 3b (see FIG. 8). At this time, when the position of the glass plate 2 is shifted rearward with respect to a predetermined position, the wheel conveyor 3 may selectively use the slide member 3c or the alignment member 3d. That is, the alignment member 3d is protruded, and then the wheel conveyor 3 moves the glass plate 2 toward the alignment member 3d, that is, the front side by the slide device 3c (FIG. 9). Thereby, the glass plate 2 can be reliably located in a predetermined position.
- the control device 20 raises the flip 8 by the hinge lifting mechanism 7 and places the glass plate 2 on the flip 8.
- the control device 20 moves the support portion 14 to the rear side by the cylinder and applies the support portion 14 to the glass plate 2.
- the control device 20 rotates the flip 8 by an angle ⁇ (see FIG. 1) by the flip drive mechanism 10.
- the flip 8 in the horizontal state is raised by the angle ⁇ and placed on the support portion 14, and is prevented from slipping down from the flip 8.
- the angle ⁇ is set to an inclination angle at which the flip 8 is at least separated from the wheel conveyor 3 (positioned above).
- the base drive mechanism 6 slides the base 5 forward while maintaining the state (see FIGS. 1 and 10).
- FIG. 10 and subsequent drawings FIGS. 10, 12, 14, 18 to 21, 23, 24 and 26
- the rack 21 is shown in order to make it easy to understand the delivery of the glass plate 2 between the stocker 4 and the rack 21, the rack 21 is shown.
- the other glass plate 2 stored in the table may be omitted.
- the control device 20 stops the base 5 when the glass plate 2 is transported to the front of the storage position of the rack 21 in which the glass plate 2 is to be stored.
- an identifier indicating identification information of the glass plate 2 such as a QR code or a non-contact type IC is attached to the glass plate 2, and in this case, the storage position is determined by reading the identification information from the identifier. It has come to be decided.
- the control device 20 causes the flip drive mechanism 10 to turn the flip 8 to an angle ⁇ that is substantially vertical to stand the glass plate 2 (see FIGS. 11 and 12).
- the angle ⁇ is set in the range of 85 degrees or more and less than 90 degrees. However, the angle ⁇ is not limited to the angle range.
- the control device 20 lowers the slide member 16 by the slide elevating mechanism 17 and positions the plurality of drive members 18 below the lower end side support 23 of the rack 21. Thereafter, the control device 20 slides the slide member 16 toward the rack 21 in which the slide member 16 is to be accommodated, that is, the left rack 21 by the slide elevating mechanism 17.
- the control device 20 causes the left end side of the slide member 16 to dive below the lower end support 23, and the left end of the slide member 16 supports the left end of the glass plate 2 (in this embodiment, from the right).
- the operation of the slide elevating mechanism 17 is controlled to stop the slide member 16 (see FIGS. 13 and 14). At this time, the control device 20 controls the operation of the slide elevating mechanism 17 so that the recess 16b in the portion hidden in the lower end side support 23 overlaps the support member 26 in plan view.
- the control device 20 raises the slide member 16 by the slide lifting mechanism 17 and inserts the convex portion 16a of the slide member 16 between the two support members 26 on the right side. As it is further raised, the drive member 18 protrudes and appears from between the two support members 26. When the drive member 18 eventually rises to a position that is slightly higher than the position that is flush with the upper surface of the separator 26a, the control device 20 controls the operation of the slide lifting mechanism 17 to stop the slide member 16 from rising (FIG. 15). reference). By sliding and moving the slide member 16 in this manner, the left end portion of the slide member 16 is positioned in the rack 21 and the flip 8 is positioned on the right end portion side. A slide member 16 is passed between them. That is, the slide member 16 extends into the rack 21.
- the support portion 14 is at a higher position than the drive member 18, and the glass plate 2 supported by the support portion 14 and the drive member 18 are separated in the vertical direction. Therefore, after raising the slide member 16, the control device 20 slowly lowers the support portion 14 by the cylinder. As the glass plate 2 is lowered, the glass plate 2 is placed on the drive member 18 in the long run. After that, the control device 20 lowers the support portion 14 and separates the support portion 14 from the glass plate 2 (see FIG. 16).
- the control device 20 rotates the driving member 18 counterclockwise by the rotation interlocking mechanism 19.
- the drive member 18 rotates counterclockwise, the glass plate 2 placed thereon moves to the left.
- the glass plate 2 leans toward the flip 8, but since the back surface of the glass plate 2 is supported by the spherical roller 13, the glass plate 2 can be smoothly moved without falling to the rear side or the front side. Can move.
- the glass plate 2 When the glass plate 2 is moved to the left side, the glass plate 2 is eventually inserted into the insertion port 21a of the rack 21 (that is, carried into the rack 21). When the glass plate 2 is further moved, the upper end portion of the glass plate 2 is guided by a guide roller 28a (a guide roller 28a on the front side in FIG. 19) on the beam member 28 closest to the insertion port 21a. And the adjacent guide roller 28a. Thus, the glass plate 2 is supported so that it may not fall down by the guide roller 28a because the upper end part of the glass plate 2 is inserted between the two guide rollers 28a.
- a guide roller 28a a guide roller 28a on the front side in FIG. 19
- the control device 20 rotates the driving member 18 counterclockwise by the rotation interlocking mechanism 19 and slides the glass plate 2 to the left side. As the glass plate 2 advances further straight to the left, the upper end portions of the glass plate 2 are successively inserted between the guide rollers 28a of the other beam members 28 located further back left (FIGS. 17 to 17). 19). Even after that, the control device 20 causes the rotation interlock mechanism 19 to rotate the drive member 18 counterclockwise. When the glass plate 2 reaches the storage position, the control device 20 controls the rotation interlocking mechanism 19 to stop the rotation of the driving member 18.
- the control device 20 lowers the slide member 16 by the slide elevating mechanism 17, slowly drops the lower end of the glass plate 2 between the two adjacent separators 26a in each support member, and the glass The lower end portion of the plate 2 is supported by the support member 26 (see FIG. 20).
- the glass plate 2 is housed in the rack 21 by supporting the lower end of the glass plate 2 from below by the support member 26 and supporting the upper end of the glass plate 2 so as not to fall down by the guide roller 28a.
- the control device 20 lowers the slide member 16 by the slide elevating mechanism 17.
- the control device 20 stops the lowering operation of the slide member 16. Then, the control device 20 slides the slide member 16 to the right side by the slide lifting mechanism 17 and returns the slide member 16 to the center.
- FIGS ⁇ Glass plate removal operation>
- the control device 20 slides the slide member 16 to the right as it is after returning the slide member 16 to the center, and allows the control device 20 to lie under the right rack 21.
- the control device 20 operates the slide lifting mechanism 17.
- the slide movement of the slide member 16 is stopped by controlling (see FIG. 21).
- the control device 20 controls the operation of the slide elevating mechanism 17 so that the recess 16b in the portion hidden in the lower end side support 23 overlaps the support member 26 in plan view.
- the control device 20 raises the slide member 16 by the slide lifting mechanism 17 and inserts the convex portion 16a of the slide member 16 between the two support members 26 on the left side.
- the drive member 18 is protruded and exposed from between the two support members 26 as it is raised, the glass plate 2 housed in the rack 21 is placed on the drive member 18.
- the control device 20 raises the slide member 16 and raises the drive member 18 to a position slightly higher than the position that is flush with the upper surface of the separator 26a
- the control device 20 controls the operation of the slide lifting mechanism 17 to slide.
- the rising of the member 16 is stopped.
- the slide member 16 on which the glass plate 2 is placed is passed between the rack 21 and the flip 8.
- the slide member 16 extends into the rack 21.
- the glass plate 2 can be moved to the back of the rack 21, and it is not necessary to provide a transport mechanism in the rack 21. Thereby, the number of parts of the stocker facility 1 can be reduced, and the manufacturing cost of the stocker facility can be reduced.
- the control device 20 rotates the driving member 18 counterclockwise by the rotation interlocking mechanism 19, and moves the glass plate 2 placed thereon to the left (see FIG. 22 and FIG. 23). At this time, the glass plate 2 moves to the left while its upper end is supported by the guide roller 28a. Eventually, when the left end side of the glass plate 2 reaches the flip 8, the left end side leans on the spherical roller 13 and is supported by the spherical roller 13. When the right end side of the glass plate 2 is also removed from the rack 21, the glass plate 2 is supported only by the spherical roller 13, and is moved as it is to a predetermined position on the flip 8 (see FIG. 24). When the glass plate 2 moves to a predetermined position, the control device 20 controls the operation of the rotation interlocking mechanism 19 and stops the rotation of the driving member 18.
- the control device 20 After stopping the driving member 18, the control device 20 raises the support portion 14 by the cylinder and places the glass plate 2 on the support portion 14. The control device 20 continues to raise the support portion 14 as it is to release the glass plate 2 from the drive member 18, and when it is left, controls the operation of the cylinder to stop the rise of the support portion 14 (see FIG. 25). Thereafter, the control device 20 causes the flip drive mechanism 10 to tilt the flip 8 to the angle ⁇ , and then the base drive mechanism 6 slides the base 5 to the rear side (see FIG. 26). When the base 5 reaches the wheel conveyor 3, the control device 20 controls the operation of the base driving mechanism 6 to stop the sliding movement of the base 5, and further controls the operation of the flip driving mechanism 10 to turn the flip 8. Defeat until level.
- the control device 20 lowers the flip 8 by the hinge lifting mechanism 7 until the spherical roller 13 is positioned flush with or below the wheel shaft roller, and the glass The plate 2 is placed on the wheel conveyor 3 (see FIG. 27). Thereafter, the wheel conveyor 3 moves the glass plate 2 to the rear side by the slide device 3c and returns it to the center in the width direction (see FIG. 28). After returning, the wheel conveyor 3 moves the glass plate 2 to the downstream side (see FIG. 29).
- the stocker facility 1 slides the glass plate 2 by the slide member 16 passed between the flip 8 and the rack 21 and inserts the glass plate 2 into the insertion port 21a of the rack 21, thereby allowing the glass plate 2 to be inserted into the rack 21.
- the glass plate 2 can be stored in the rack 21 in a standing state without being tilted.
- the glass plate 2 stored in a standing state on the rack 21 can be slid by the slide member 16 passed between the flip 8 and the rack 21 and taken out from the rack 21.
- the slide member 16 and the flip 8 are directly inserted into the insertion port 21a of the rack 21 when the glass plate 2 is carried in and out. There is no need.
- the new glass plate 2 is carried in between the two glass plates 2 without causing a situation where they come into contact with each other, and any glass plate 2 is taken out from the plurality of glass plates 2 arranged side by side. can do. Therefore, the glass plate 2 can be carried into and out of the rack 21 reliably and quickly.
- the glass plate 2 moving on the wheel conveyor 3 is erected from the bottom, and the glass plate 2 is moved in that state.
- the upper surface (or front surface) of the glass plate 2 is not touched.
- the glass plate 2 moving on the wheel conveyor 3 with one surface facing up is erected from below, and the glass plate 2 is moved in that state. Therefore, in the stocker facility 1, the glass plate 2 can be moved between the wheel conveyor 3 and the rack 21 with its one surface up (or front) without damaging the configuration on the glass plate 2.
- the glass plate 2 can be moved.
- the slide member 16 is moved up and down by the slide lift mechanism 17 so that the position of the glass plate 2 and the lower end side support 23 of the rack 21 can be adjusted in the vertical direction. Since the adjustment can be made in this way, when the control device 20 delivers the glass plate 2 to the rack 21, the slide elevating mechanism 17 slightly moves the drive member 18 of the slide member 16 from the position where it is flush with the separator 26a. The glass plate 2 is slid and moved upward, and when the storage position is reached, the glass plate 2 is slowly lowered. By lowering the glass plate 2 in this way, the step between the slide member 16 and the separator 26a can be eliminated, and the glass plate 2 can be prevented from falling. In addition, by making the glass plate 2 higher than the separator 26a, the glass plate 2 can be prevented from moving while sliding on the rack 21 during delivery. Therefore, it is possible to prevent the glass plate 2 from being damaged or dust from being generated during storage.
- the convex portion 16 a is inserted between the two support members 26 arranged at intervals. Yes. Therefore, the drive member 18 can be exposed from between the support members 26. Thereby, the glass plate 2 can be smoothly moved in the left-right direction even in the rack 21, and the glass plate 2 can be smoothly transferred between the rack 21 and the flip 8.
- the glass plate 2 can be sent to the storage position even if the configuration is such that a part of the slide member 16 is hidden in the rack 21 and stacked as in the present embodiment.
- the configuration may be such that the end of the slide member 16 is slid to the front of the rack 21 and the slide member 16 is passed between the rack 21 and the flip 8. At this time, even if there is a gap between the slide member 16 and the rack 21, it may be a gap that allows the glass plate 2 to be transferred between the rack 21 and the slide member 16.
- the flip 8 supports the glass plate 2 by a plurality of spherical rollers 13. Therefore, when the glass plate 2 is slid by the driving member 18, the glass plate 2 can be moved smoothly even if the glass plate 2 is slid on the flip 8 while being slid against the flip 8. When the plate 2 is delivered, the glass plate 2 can be prevented from falling. In addition, sliding on the support plate 12 of the flip 8 may damage the glass plate 2 or generate dust, but this can also be prevented.
- the glass plate 2 when the base 5 is moved, the glass plate 2 is only supported by the support plate 12.
- the support plate 12 may be provided with an adsorption mechanism to adsorb the glass plate 2.
- a chuck or the like may be provided instead of the suction mechanism so that the glass plate 2 is gripped by the flip 8 only when the base 5 is moved.
- the inclination of the flip 8 when the base 5 is moved is set to the angle ⁇ , but it is not always necessary to slide to such an angle.
- the inclination of the flip 8 may be set to the angle ⁇ .
- the control device 20 controls the operation of the base drive mechanism 6, and the air volume caused by the glass plate 2 can be suppressed by slowing the moving speed of the base 5.
- the drive member 18 is not limited to a roller but may be a belt mechanism, and may be any configuration as long as the glass plate 2 can be slid in the left direction or the right direction.
- the base 5 is slid after the flip 8 is raised or tilted to the angle ⁇ .
- the base 5 may be slid and moved up to the angle ⁇ after reaching the storage position while the flip 8 is tilted. Further, after receiving the stored glass plate 2, the base 5 may be slid with the flip 8 kept at the angle ⁇ .
- the rack 21 is provided with a guide roller 28a, but it is not necessarily a roller.
- a configuration like a separator 26a may be used, and any configuration may be used as long as two glass plates 2 stored adjacent to each other can be separated.
- the rack 21 may not have the shape as described above.
- the transport mechanism 15 is provided between the two racks 21, but is not necessarily limited to the position, and may be provided under the rack 21, for example.
- another transfer device having the same configuration as the base 5 is provided under each rack 21, and the transport mechanism 15 is configured to be movable in the front-rear direction by this transfer device.
- the base 5 and the transfer device constitute a transfer mechanism.
- the slide member 16 of the transport mechanism 15 slides from the bottom of the rack 21 toward the flip 8, and the slide member 16 transfers between the rack 21 and the flip 8. it can.
- the slide lift 17 has a slide function of sliding the slide member 16 in the transport direction, but may not necessarily have a slide function.
- a structure having a driving member capable of feeding the glass plate 2 in the left-right direction is also provided under the rack 21.
- the glass plate 12 sent to the rack 21 by the drive member 18 of the slide member 16 can be slid in the rack 21 by the drive member provided in the rack 21.
- the present invention can be applied to a stocker facility including a rack that can store plate-like members side by side and a stocker that inserts the plate-like member into the rack.
Abstract
Description
図1に示すように、ストッカ設備1は、1つの処理装置から別の処理装置に板状部材2を搬送する搬送路の途中に設けられ、搬送されてくる板状部材2を一時的に蓄えておくための設備である。板状部材2は、例えば太陽光パネルや液晶パネル等で使用される大型のガラス板であり、以下では、ガラス板2として説明する。但し、板状部材2は、大型のガラス板に限定されず、鋼板や樹脂板であってもよく、板状の部材であればよい。本実施形態において、ストッカ設備1は、1つの処理装置から別の処理装置にガラス板2を搬送するホイールコンベア3に設けられている。
ストッカ4は、図2に示すように基台5を備えている。基台5は、基台駆動機構6上に取付けられ、基台駆動機構6により前後方向にスライド可能に構成されている。基台駆動機構6は、ケーシング6aと駆動機構(図示せず)とを有している。ケーシング6aは、前後方向に延在し、その中には、ボールねじ機構及びサーボモータ等により構成されている駆動機構が収納されている。このような構成を有する基台駆動機構6は、ホイールコンベア3付近から前方に延在しており、設置場所の床等に取付けられている。基台駆動機構6には、前述の通り、基台5がスライド移動可能に取付けられている(図2の矢符A参照)。基台5は、大略的に直方体状に形成されている。基台5には、ヒンジ昇降機構7が設けられている。ヒンジ昇降機構7は、例えばピストン機構によって構成されている。ヒンジ昇降機構7には、ヒンジ9が取付けられており、ヒンジ9を上下方向に昇降させるように構成されている。基台5の後部には、いわゆるハンド又はエンドエフェクタの役目をするフリップ8がヒンジ9を介して取付けられている。
ラック21は、図5に示すように直方体状に枠組みされた枠体22を有している。この枠体22の下端側には、下端側支持体23が固定され、上端側には、上端側支持体24が取付けられている。下端側支持体23は、平面視で枠体22と同じ矩形状に枠組みされた外枠25を有している。外枠25には、複数の支持部材26(本実施形態では3つの支持部材26)が固定されている。支持部材26は、前後方向に延在しており、外枠25の前後にある部材に渡されている。複数の支持部材26は、外枠25において左右方向に互いに間隔をあけて位置しており、それらの間隔は、収納されるガラス板2の幅に応じて設定されている。また、支持部材26は、上面に図6に示すような複数のセパレータ26aを有している。複数のセパレータ26aは、前後方向において略等間隔で配置されており、隣接する2つのセパレータ26aの間隔は、ガラス板2の厚みより少しだけ広くなっている。
制御装置20は、ホイールコンベア3上を移動するガラス板2を受け取る前に、まず基台駆動機構6の動作を制御し、ストッカ4の基台5をホイールコンベア3付近まで移動させる。移動させた後、制御装置20は、フリップ駆動機構10の動作を制御してフリップ8を後側へと倒す。フリップ8を倒してフリップ8の姿勢を水平にした後、制御装置20は、ヒンジ昇降機構7の動作を制御してフリップ8を下降させ、フリップ8の3つの支持板12をホイール軸3aの間に夫々入れる。この際、フリップ8は、球面ローラ13がホイール軸のローラと面一又はそれよりも下側に位置するところまで下げられる。また、ホイールコンベア3は、移動してくるガラス板2をフリップ8上の所定の位置で止めるべく下流側ストッパ部材3bを上方に突出させている。そして、ストッカ4は、ホイールコンベア3上を移動してくるガラス板2が所定の位置に来るのを待つ。
次に、反対側のラック21(つまり右側のラック21)からガラス板2を取り出す(つまり、ラック21からガラス板2を搬出する)場合のストッカ4の動作について、図1、図2、及び図21乃至図29を参照しながら説明する。制御装置20は、スライド部材16を中央まで戻した後もそのまま右側にスライド移動させ右側のラック21の下側に潜らせる。ガラス板2の右端を支持している支持部材26(本実施形態では、左から2番目の支持部材26)までスライド部材16の右端が到達すると、制御装置20は、スライド昇降機構17の動作を制御してスライド部材16のスライド移動を止める(図21参照)。この際、制御装置20は、下端側支持体23に潜らせた部分にある凹所16bが支持部材26に平面視で重なるようにスライド昇降機構17の動作を制御する。
本実施形態において、基台5を動かす際、ガラス板2が支持板12に支持されているだけであるが、支持板12に吸着機構を設けてガラス板2を吸着するようにしてもよい。また、吸着機構でなくチャック等を設けて、基台5を動かすときだけガラス板2をフリップ8に把持させるような構成であってもよい。
2 ガラス板
4 ストッカ
5 基台
6 基台駆動機構
7 ヒンジ昇降機構
8 フリップ
10 フリップ駆動機構
13 球面ローラ
14 支持部
15 搬送機構
16 スライド部材
16a 凸部
16b 凹所
17 スライド昇降機構
18 駆動部材
19 回動連動機構
20 制御装置
21 ラック
26 支持部材
Claims (8)
- 支持部で支持されて搬送方向に延在するように立てられた複数の板状部材を前記搬送方向に交差する配列方向に並べて収納し、且つ前記複数の板状部材を前記搬送方向に夫々搬入及び搬出可能に構成されたラックと、
前記板状部材を前記搬送方向に前記ラックに搬入し又は前記ラックから搬出する板状部材移載機構とを備える板状部材移載設備であって、
前記板状部材移載機構は、
前記板状部材を支持し、前記搬送方向に平行な回動軸線回りに回動可能なフリップを有し、前記フリップを回動させて前記板状部材を立て又は倒すフリップ回動機構と、
前記搬送方向に延在し、立った状態の前記板状部材を前記搬送方向に送る送り部が形成された搬送体を有する搬送機構と、
前記フリップ回動機構及び前記搬送機構を前記配列方向に移動させる移送機構と、を備えており、
前記搬送機構は、前記送り部により前記ラックと前記フリップとの間で前記板状部材を立った状態で受け渡しするように構成されている、板状部材移載設備。 - 前記搬送機構は、前記搬送体を前記フリップ側から搬送方向に移動させて前記ラック内まで延在させることができるように構成されている、請求項1に記載の板状部材移載設備。
- 前記搬送機構は、前記搬送体を前記上下方向に移動可能に構成されている、請求項1又は2に記載の板状部材移載設備。
- 前記ラックは、複数の前記支持部が前記搬送方向に間隔をあけて配置され、
前記搬送体の送り部は、該搬送体の前記搬送方向に点在するように配設された前記板状部材を前記搬送方向に送る複数の駆動部材を有し、
前記搬送体には、前記複数の支持部に対応させて複数の凹部が形成され、隣接する該凹部の間に形成された凸部に少なくとも1つの前記駆動部材が設けられている、請求項3に記載の板状部材移載設備。 - 前記搬送機構は、前記搬送体が前記ラックの搬送方向手前側にある基準位置において前記凸部の上端が前記ラックの支持部より低く位置するように前記搬送体を位置させ、前記基準位置から前記搬送方向に前記搬送体を移動させて前記凹部を前記ラックの支持部の下方に位置させ、そこから前記搬送位置を上昇させて前記駆動部材の上端が前記ラックの支持部より高く位置せるように構成されている、請求項4に記載の板状部材移載設備。
- 前記フリップには、前記フリップを立てたときに前記板状部材を支持する支持部が設けられ、
前記搬送機構は、前記搬送体が上昇すると、前記支持部に支持されている前記板状部材が前記駆動部材に載るように構成されている、請求項5に記載の板状部材移載設備。 - 前記フリップは、転動可能な複数の球面ローラを有し、前記複数の球面ローラにより前記板状部材の背面を支持するように構成されている、請求項1乃至6の何れか1つに記載の板状部材移載設備。
- 前記フリップ回動機構は、移動する際に前記フリップを回動させて該フリップに支持された前記板状部材を倒すように構成されている、請求項1乃至7の何れか1つに記載の板状部材移載設備。
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