WO2013042489A1

WO2013042489A1 - Device for changing pitch of stacked objects

Info

Publication number: WO2013042489A1
Application number: PCT/JP2012/070635
Authority: WO
Inventors: 政公加藤; 星羅加藤
Original assignee: プラス精機株式会社
Priority date: 2011-09-22
Filing date: 2012-08-13
Publication date: 2013-03-28
Also published as: CN103827005A; DE112012003973T5; WO2013042489A9; KR20140077882A; US20140219767A1

Abstract

The purpose of the invention is to efficiently perform the work of changing stacked objects, which are stacked in one container with one pitch, to another pitch and storing same in the stacked form in another container. Multiple workpieces (51) are juxtaposed in a stacked form with a prescribed pitch and attachment pads (25) for attaching the workpieces are provided on base plates (3). The pitch between the base plates can be varied by rotating variable spacers (17), which work in concert with a drive shaft (31). An airtight communicating channel (28), which communicates with the attachment pads, is formed within a group of base plates. The communicating channel (28) is formed by the consecutive installation of an expandable elastic packing (15) between the through holes of adjacent base plates. The elastic packing and the variable spacers move in concert with the base plates. The base plates are provided with springs (9) for releasing the fixing of an inter-base plate pitch. Areas of differing thickness are formed on the circumferential surface of the variable spacers (17).

Description

Laminate pitch changer

The present invention relates to an apparatus for changing the pitch between workpieces when a large number of thin workpieces are juxtaposed in a stack at a predetermined pitch.

For example, when transferring a thin object to be transferred (hereinafter referred to as "work") called a cell such as a solar panel from one container to another, it is arranged in a stack form for reasons of production process. There are times when the pitch between work pieces is different.

In such a case, conventionally, it has been manually transferred to containers of different pitches manually. However, such an approach is far from efficient. Not only that, for example, in the case of a thin work such as a solar panel, there has been a problem that the work is easily damaged if an unexpected external force is applied in the oblique direction.

In the case of carrying out the above-mentioned transfer by the robot, such an unexpected force can be prevented from being applied, but since the transfer is also made one by one, the efficiency can not be increased.

The present invention is an apparatus for changing only the stacking pitch while maintaining the stacking state of the work. With regard to such a device, when the technology related to "pitch", "adsorption" and "variable" was investigated in the international patent classification "B65H 3/00", no significant information could be found. The reference information is as follows.

Japanese Patent Application Laid-Open No. 5-253877

The present invention solves the above-mentioned drawbacks and changes the laminate laminated in one container with one pitch (for example, small pitch) to another pitch (for example, large pitch) to laminate in another container The purpose is to efficiently carry out the work of storing

Another object of the present invention is to carry out the above-mentioned transfer work reliably, stably and smoothly.

Another object is to detect whether or not the workpiece to be transferred is in an abnormal state.

In order to achieve the above object, a laminate pitch changing device according to the present invention is a device for changing the pitch between a large number of thin work pieces juxtaposed in a stack at a predetermined pitch, and a movable movable holding portion And a drive unit for driving the movable holding unit, wherein the movable holding unit comprises a large number of base plates juxtaposed in a stack at a predetermined pitch, and an operating member for holding the work is provided on each of the base plates. The operating member is operated by drive power sent from the communication passage to hold the work individually and each base plate is provided with a rotatable variable spacer interlocked with the drive shaft of the drive unit. The rotation makes the pitch between the base plates variable, and when the work is held by the base plates, the movement between the base plates and the group of base plates Wherein the communication passage telescopic airtight communicating with the timber is formed.
Further, in the laminate pitch changing device according to claim 1, the communication passage is formed by connecting an elastic packing which can extend and contract between the through holes of the adjacent base plates.
In the laminate pitch changing device according to claim 2, the elastic packings move in conjunction with the base plates.
In the laminate pitch changing device according to claim 1, the variable spacers move in conjunction with the base plates.
In the laminate pitch changing device according to the first aspect of the invention, the respective base plates are provided with springs for releasing the fixing of the pitch between the base plates.
In the laminate pitch changing device according to claim 2, the elastic packing is formed in a bellows shape.
Further, in the laminate pitch changing device according to claim 1, the variable spacer is formed with portions having different thicknesses on the circumferential surface, and portions having different thicknesses by rotation are in contact with the base plate. Is characterized in that the pitch of.
Further, in the laminate pitch changing device according to claim 5, the spring causes the fixed base plate side spring force to be larger than the movable base plate side spring force by the force for restoring the base plate in the contracted state. It features.
In the laminate pitch changing device according to the eighth aspect, the spring force of the spring is made smaller stepwise toward the movable base plate side for every predetermined number of base plates.
In the laminate pitch changing device according to the eighth aspect, the spring force of the spring is linearly reduced toward the movable base plate side.
In the laminate pitch changing device according to claim 5, the spring comprises a single spring.
Further, in the laminate pitch changing device according to claim 5, the spring is characterized in that a plurality of springs are stacked.
Further, in the laminate pitch changing device according to claim 1, when the work is adsorbed, a detection unit for detecting the state of the work such as cracking or chipping of the work is provided.
In the laminate pitch changing device according to claim 13, the detection unit is provided at an inlet and an outlet of the communication passage for opening and closing the communication passage, and the opening and closing valve is provided at the opening and closing valve and communicates with a vacuum pressure detection passage. And a sensor connected to the vacuum pressure detection path, and the drive power is input to the communication path to close the on-off valve, and then a pressure change in the communication path is detected. Do.
Further, in the laminate pitch changing device according to claim 1, the operating member is characterized by comprising a suction pad for suctioning the work.
Further, in the laminate pitch changing device according to claim 1, the operating member is characterized by comprising a clamping member for clamping the work.
Further, in the laminate pitch changing device according to claim 1, the group of base plates is formed into one group for every predetermined number.
In the laminate pitch changing device according to claim 1, a pair of operation members is provided on each of the base plates, and a pair of the communication path communicating with the variable spacer and the operation members is provided on each of the base plates. I assume.
In the laminate pitch changing device according to claim 1, the operation member holds the surface of the work in a direction orthogonal to the stacking direction.
In the laminate pitch changing device according to claim 1, the operation member holds the surface of the work in a direction along the stacking direction.
In the laminate pitch changing device according to the present invention, the suction device for a laminate pitch changing device is a means for holding a work, and an airtight and expandable communication passage is formed between the laminate pitch changing device and the base plate. Also provide a pad.

According to the present invention, it is possible to change only the lamination pitch while maintaining the lamination state of the work as the lamination. Therefore, the work (transfer) to change the laminates stacked in one container at one pitch (for example, small pitch) to another pitch (for example, large pitch) and store them in another container in the form of a stack Can be done efficiently.

The above-mentioned transfer can be performed at once while maintaining the stacked state of the work as a stacked product. Therefore, the transfer work can be performed reliably, stably and smoothly.

It is a partially omitted principal part notch front view showing an embodiment of a laminate pitch changing device according to the present invention. (A) is a cross-sectional view of FIG. 1A-B-C-D at the time of contraction of the spring, (B) is an enlarged view of a portion B of (A), and (C) is FIG. Sectional drawing of D, (D) is the D section enlarged view of (C). (A) is a cross-sectional view of FIG. 1E-F-G-H-I-J at a small pitch of the variable spacer, (B) is an enlarged view of a portion B of (A), (C) is a large pitch of the variable spacer FIG. 1E is a cross-sectional view of FIG. 1E-F-G-H-I-J in FIG. It is a top view of FIG. 3 (A). (A) is a front view showing a base plate and its attachment, (B) is a BB enlarged sectional view of (A). (A) is a front view of the suction pad of FIG. 1, (B) is a bottom view of (A), (C) is a right side view of (A). (A) is a front view of the variable spacer, (B) is a cross-sectional view taken along the line BB of (A), and (C) is an enlarged view of a portion C of (B). (A) is a figure which shows the position of a communicating channel, (B) is a figure which shows the other position of a communicating channel, (C) is a figure which shows the further another position of a communicating channel. It is a top view which shows the position of a communicating path. It is a partially sectioned front view which shows the release spring used for the laminated body pitch change apparatus of FIG. (A) is a right side view of FIG. 1, (B) is a view showing a combination of the release spring of (A) for each block, and (C) is a graph schematically showing a restoring force of the release spring. FIG. 2 shows the valve and the orifice for opening and closing the communication passage of the device of FIG. 1, (A) shows when the valve is in the open state, and (B) shows when the valve is in the closed state. FIG. 6 is a diagram showing an operation flow of a laminate pitch changing device according to the present invention. (A) is a front view of another operation member, (B) is a bottom view of (A), (C) is a right side view of (A).

Next, a laminate pitch changing device according to the present invention will be described in more detail based on the drawings showing the embodiments. For the sake of convenience, the same reference numerals are given to parts that perform the same function, and the descriptions thereof will be omitted.

As shown in FIGS. 1 to 4, the laminate pitch changing device E according to the present invention comprises a movable adsorption unit 1 as a movable movable holding unit and a drive unit for driving the movable adsorption unit 1. The movable adsorption portion 1 is formed by arranging a large number of base plates 3 in a stacked manner at a predetermined pitch. A group of base plates 3 constituting the movable suction unit 1 is formed of square plate-like pieces of the same configuration. Each base plate 3 is provided with a pair of holes 5 in the center as shown in detail in FIG. The hole 5 has a bottom and is formed in a square hole 5a larger than the radius of the variable spacer 17 so that the large pitch portion 20 can escape when the variable spacer 17 is the small pitch portion 19. A semicircular notch 5b is provided outward in the central portion on the outer side of the square hole 5a to form a relief when the drive shaft 31 rotates. In the illustrated embodiment, since the notch 5b of the hole 5 has a bottom, it is desirable to prevent excessive entry of the large pitch portion 20 located in the notch 5b at a small pitch. Two circular recesses 7 are provided at the upper and lower ends of the left and right ends of each base plate 3. As shown in detail in FIGS. 2 (B) and 2 (D), four disc-shaped springs 9o are stacked in the recess 7 and mounted as a bellows-shaped release spring 9. A circular hole 8 is provided between the recesses 7, and a slide guide 11 made of a round bar is inserted into the circular hole 8. Three circular through

holes

13a, 13b, 13c are provided in pairs at the lower end of each base plate 3, and

elastic packings

15a, 15b, 15c made of an elastic flexible material there (herein collectively Attach the elastic packing 15 "). Further, as shown in detail in FIGS. 2A to 2D, the through

holes

13a, 13b and 13c respectively have

joints

40a, 40b and 40c having through holes (referred to collectively as "joint 40"). Are connected freely to the air.

In each of the base plates 3, a variable spacer 17 is disposed at the center of the notch 5b. The variable spacer 17 is inserted into a rotatable drive shaft 31 formed of a square bar. The variable spacer 17 is a disc as shown in FIG. 7, and a square central hole 18 through which the drive shaft 31 is inserted is provided at the central portion. The variable spacer 17 have different thickness of the circumferential surface, formed by providing the large pitch portion 20 having a small pitch portion 19 and the thick thickness d ₂ which has a thin thickness d _1. The small pitch portion 19 and the large pitch portion 20 are continuous via the inclined portion 21.

The variable spacer 17 is disposed between the base plates 3 and is inserted into a rotatable drive shaft 31 formed of a square bar. As a result, the variable spacer 17 rotates in conjunction with the rotation of the drive shaft 31, and the working surface of the small pitch portion 19 or the large pitch portion 20 contacting the adjacent base plate 3 is changed. It moves horizontally along with the movement of the direction.

At the lower end of the through

holes

13a, 13b and 13c (collectively referred to as "through holes 13"), the distribution plate 23 is integrally fixed to the base plate 3 so as to be exchangeable. A suction pad 25 as an operating member is replaceably attached to the lower end of the distribution plate 23. A passage 26 is provided in the distribution plate 23, and the passage 26 is in communication with a small passage 27 provided in the suction pad 25.

An elastic communication passage 28 is formed by the elastic packing 15 attached to the through hole 13 of the base plate 3, the passage 26 provided in the distribution plate 23, and the small passage 27 provided in the suction pad 25. Be done. The communication passage 28 communicates with a suction port 29 provided in the suction pad 25. Desirably, the suction port 29 is provided at the site of the suction pad 25 corresponding to the site of the work 51 where cracking and chipping occur frequently. In the case of the present embodiment, each through hole 13 is a first through hole 13a for the first to tenth work piece 51, and a second through hole 13b is for the eleventh through twentieth work 51. The through hole 13c is configured to correspond to each of the 21st to 30th workpieces 51, and as shown by hatching in FIG. 8, the first communication passage 28a (FIG. 8A) and the second link, respectively. A passage 28b (FIG. 8B) and a third communication passage 28c (FIG. 8C) are formed. Reference numeral 27a denotes a constriction portion formed at the boundary between the small passage 27 and the suction port 29 (shown in FIGS. 5 and 6). The opening of the narrowed portion 27a is set to be larger than the opening of the orifice 46 described later in the ratio of the cross-sectional area.

In FIG. 2 and FIG. 9, reference numeral 32 denotes a guide rod which communicates the release springs 9; 33, a stopper provided on the base 34 and abutting against the open end of the group of base plates 3; 35 on the open end side of the push plate 41. A slide bush to be provided, 36 is a forward and backward pitching cylinder which determines the pitch between the workpieces 51. 40a is a first joint for the first to

tenth workpieces

51, 40b is a second joint for the eleventh to

twentieth workpieces

51, and 40c is for the 21st to 30th workpieces 51. It is the third joint. Each joint 40a, 40b, 40c is a first communication passage 28a for the first to tenth workpiece 51, a second communication passage 28b for the eleventh to twentieth workpiece 51, the 21st to 28th, respectively. It is connected to the third communication passage 28 c for the 30th workpiece 51. Each joint 40a, 40b, 40c is connected to a vacuum source (not shown), and transmits the drive power from the vacuum source to the

communication passages

28a, 28b, 28c. In FIG. 3 and FIG. 4, 37 is a rotary actuator for driving the

drive shaft

31, 38 is a coupling for transmitting the driving force of the rotary actuator 37 to the

drive shaft

31, and 39 is provided at both ends of the drive shaft 31. The bearings 41 are movable push plates provided at the open end of the group of base plates 3 and the fixed reference plates 43 provided at the base end of the group of base plates 3. In the figure, arrow A indicates the pressing direction of the pitch determining cylinder 36, and arrow B indicates the direction of the restoring force of the release spring 9.

Here, the release spring 9 will be described in detail. As shown in FIG. 10, the spring 9o constituting the release spring 9 has a hole formed in the central portion 9p, the peripheral portion 9q is inclined, and four sheets are stacked and mounted on the base plate 3 as described above. . As shown in FIGS. 11A and 11B, bottom surfaces 9r of two pairs of springs 9o facing each other at the central portion 9p are opposed to constitute one set of release springs 9. The spring force for restoring the base plate 3 in the contracted state is set such that the restoring force of the spring on the reference plate 43 side is larger than the restoring force of the spring on the push plate 41 side. The spring force of each set of release springs 9 is divided into three

blocks

10A, 10B and 10C in the case of the embodiment of FIG. Looking at the relationship of the spring force of the release springs 9 constituting the first block 10A to the third block 10C, the spring force is increased by a predetermined ratio for each unit number (five in the illustrated example) of the work 51, As shown in FIG. 11C, the restoring force of the release spring 9 is increased stepwise. That is, the spring force of the release spring 9A of the first block 10A P _1> second blocks 10B of the release spring 9B or each spring force of the release spring 9C P _2> each spring release spring 9D to release spring 9J of the third block 10C It has become a force P _3. Further, the release spring 9A of the first block 10A is configured such that the constituent spring 9a has high strength, the constituent spring 9b has medium strength, and the constituent springs 9c and 9d have small strength. The release spring 9B of the second block 10B is configured such that the configuration spring 9e has high strength, and the

configuration springs

9f, 9g, and 9h have low strength. The spring force of the spring constituting the release spring 9C is similarly configured. The spring force of the release spring 9D to the release spring 9J of the third block 10C is configured by the spring force of each of the four constituent springs with a small strength. Note that the number of base plates 3 shown in FIG. 11A does not exactly match the number of base plates 3 shown in FIGS. 2 to 4, but this is for convenience of explanation. . In FIG. 11C, the X axis indicates the position of the release spring 9 at the small pitch, and the Y axis indicates the spring force of the release spring 9 at the small pitch.

The communication passage 28 is provided in the vacuum supply chamber 44 of the chamber block 42, as shown in FIG. 12, and a valve 45 for opening and closing the vacuum supply chamber 44 is provided here. An orifice 46 is provided in the on-off valve 45. Reference numeral 47 denotes a vacuum pressure detection path provided in the chamber block 42. One end of the vacuum pressure detection path 47 is in communication with the orifice 46 through a passage 47a in communication with the vacuum supply chamber 44, and the other end is in communication with the other joint 40d and the vacuum pressure detection sensor 48 (shown in FIG. 11) Connected to). Reference numeral 49 denotes a cylinder for driving the on-off valve 45. The open / close valve 45, the orifice 46, the path 47a, the vacuum pressure detection path 47, and the vacuum pressure detection sensor 48 constitute a work state detection unit.

Incidentally, the opening ratio of the orifice 46 to the suction pad 25 is important. That is, the opening area of the orifice 46 needs to be smaller than the opening area of the narrowed portion 27 a provided in the suction pad 25. In the present embodiment, the opening of the orifice 46 is about 1⁄6 of the narrowed portion 27a in cross-sectional area ratio.

Next, based on FIG. 13, the laminate stored in the small container 52 in a stacked state at one pitch (for example, small pitch) is changed to another pitch (for example, large pitch) to be stacked in the large container 53. The operation in the case of storing in the state will be described. The dimension of the small pitch portion 19 of the variable spacer 17 is previously set to the pitch between the works 51 accommodated in the small container 52, and the dimension of the large pitch portion 20 of the variable spacer 17 is a workpiece accommodated in the large vessel 53. It is set to the pitch between 51.

First, the pitch setting cylinder 36 is extended, and the base plate 3 is pressed to the reference plate 43 side by the push plate 41, and the pitch between the base plates 3 is the pitch between the workpieces 51 stored in the small container 52 A) It corresponds to the small pitch shown in (B) (FIG. 13 (A)).

Next, the movable adsorption portion 1 is vertically moved in the direction of the arrow C shown in FIG. 13A, and is inserted into the small-pitch small container 52. Each base plate 3 of the movable suction unit 1 inserts each suction pad 25 between each work 51 and sucks each work 51 onto each suction pad 25. Each suction pad 25 sucks the surface of the work in the direction orthogonal to the stacking direction, that is, the front surface 51a (shown by a dashed dotted line in FIG. 1) or the back of the work 51.

In this adsorption, the pressure in the communication passage 28 is reduced by a vacuum source (not shown), and each work 51 is adsorbed to the adsorption port 29 of each adsorption pad 25. At this time, the pressure reduction in the communication passage 28 simultaneously operates the first communication passage 28a, the second communication passage 28b, and the third communication passage 28c. Thereby, the setting to the movable adsorption | suction part 1 of the laminated material 50 accommodated in the small container 52 in the lamination | stacking state is completed.

Next, after moving the movable suction unit 1 vertically in the direction of the reverse arrow C to take out the stack 50 from the small container 52, move the movable suction unit 1 in the horizontal direction, and the pitch between the work 51 and the movable suction unit 1 is different. Move to the large container 53.

During the movement to the large container 53, the pitch between the base plates 3 is changed to the large pitch shown in FIGS. 3 (C) and 3 (D). FIGS. 13B and 13C show this process.

First, since each base plate 3 is pressed toward the push plate 41 by the restoring force of the release spring 9 being set, the movable adsorption portion 1 expands from the contracted state to the open end. FIG. 13B shows this state. At this time, since the releasing spring 9 is set to have a restoring force of the spring on the reference plate 43 side larger than that of the spring on the push plate 41 side, the expansion of the movable adsorption portion 1 becomes smooth.

Then, the rotary actuator 37 is rotated. Then, each variable spacer 17 inserted in the rotary actuator 37 is rotated, and the large pitch portion 20 abuts on the base plate 3. FIG. 13C shows this state.

Then is extended pitch decided cylinder 36, to secure the working surface of each variable spacer 17 abutting on the base plate 3 to the large pitch d ₂ of shown in Figure 7 (B). FIG. 13D shows this state.

In this state, the movable suction unit 1 is vertically moved in the direction of arrow D shown in FIG. 13D, and then suction of the suction pads 25 is released, and the work 51 is stored in the large container 53 with a large pitch in the stacked state. (FIG. 13 (D)). Also at the time of the adsorption release in this transfer, the pressure reduction of the communication passage 28 is released simultaneously with the first communication passage 28a, the second communication passage 28b, and the third communication passage 28c.

Next, after moving the movable suction portion 1 vertically in the direction of the reverse arrow D shown in FIG. 13D, when the pitch determining cylinder 36 is reduced, the base plate 3 is restored by the restoring force of the release spring 9 set. The movable suction unit 1 is expanded to the open end because it is pressed to the push plate 41 side. As a result, the fixing of each variable spacer 17 that has been in contact with each base plate 3 is released. FIG. 13E shows this state. Also at this time, since the restoring force of the spring on the reference plate 43 side is set larger than the restoring force of the spring on the push plate 41 side, expansion of the movable adsorption portion 1 becomes smooth.

Then, the rotary actuator 37 is rotated. Then, each variable spacer 17 inserted in the rotary actuator 37 is rotated, and the small pitch portion 19 abuts on the base plate 3. FIG. 13F shows this state.

Then is extended pitch decided cylinder 36, fixed to the small pitch d ₁ shown in FIG. 7 (B) the working surface of each variable spacer 17 abutting on each base plate 3. As a result, the initial state shown in FIG. 13A is restored.

When the number of works stored in the container is large, the above steps are repeated until the transfer work is completed.

The same applies to the transfer from the container 53 set to the large pitch to the container 52 set to the small pitch, and in this case, starting from the state of FIG. 13 (D), FIG. 13 (E), FIG. 13 (F), FIG. 13 (A), FIG. 13 (B), and FIG. 13 (C), it returns to the state of FIG. 13 (D) through the above-mentioned step.

In the suction of each work 51 by each suction pad 25, the elastic packing 15 which can be expanded and contracted is attached to the through hole 13 of each base plate 3, and the above operation is performed via the communication passage 28 configured by this. Thus, the airtightness of the communication passage 28 is ensured, so that the transfer of the group of stacks 50 can be performed with the stacked state of the work 51 maintained. Therefore, the transfer in which the pitch of the laminate 50 is changed can be carried out smoothly, rapidly and efficiently.

This point will be described in more detail. Each communication passage 28 is communicated with the suction port 29 of each suction pad 25 via the elastic packing 15, and this elastic packing 15 moves its position in the horizontal direction in conjunction with the movement of the base plate 3. The expansion and contraction width of each elastic packing 15 is small for each one, but if each elastic packing 15 does not move, the movement amount of the elastic packing 15a adjacent to the reference plate 43 side and The movement amount of the elastic packing 15n adjacent to the push plate 41, which is the open end, is a large opening. For example, assuming that the elastic packing 15 does not move if the elastic width of each elastic packing 15 is 0.8 mm, the moving amount of the elastic packing 15 a is 0.8 mm, but the n th is 30 pieces. The amount of movement of the elastic packing 15n at the time of the eye is a large amount of movement of “0.8 mm × (30−1) = 23.2 mm” in this embodiment. Therefore, when the elastic packings 15 are not movable, the reduced pressure vacuum of the communication passage 28 having the elastic packings 15 apart from the reference plate 43 as a component breaks down, and adsorption of the work 51 is difficult. Become. However, in the present invention, since each elastic packing 15 is movable in the horizontal direction in conjunction with the movement of the base plate 3, the expansion and contraction width of this degree (0.8 mm) is absorbed by the elastic packing 15. Therefore, the expansion and contraction width of the elastic packing 15a (shown in (A) and (C) shown in FIG. 2) to the expansion and contraction width of the elastic packing 15n (shown in (A) and (C) shown in FIG. In this embodiment, it is 0.8 mm), and the amount of movement does not change depending on the installation site of the elastic packing 15, and the airtightness of the communication passage 28 is always ensured. Furthermore, the airtightness of the communication passage 28 is not affected by the number of elastic packings 15.

Further, according to the above embodiment, since the suction pads 25 are provided as a pair on each base plate 3, for example, when the work 51 is held by suction, the arrangement of the release spring 9 becomes left-right symmetrical and vertically symmetrical with respect to the slide guide 11. In addition, the arrangement of the variable spacers 17 is symmetrical in the left-right direction so that balance can be easily achieved, and the apparatus can be further stabilized mechanically.

Further, in the above-described embodiment, it is possible to carry out the transfer of 30 pieces of work 51 at a stretch while maintaining the stacked state of the work as the laminated body. Therefore, the transfer work can be performed reliably and stably.

Further, in the above embodiment, since a group of work 51 is processed under the control of three communication paths 28 for each group, even if some abnormality occurs in the base plate 3 belonging to one group, for example, the first communication path 28a, The operation of the second communication passage 28 b and the third communication passage 28 c belonging to the other group can be continued. Therefore, the transfer work can be made more efficient from this point as well. Moreover, it is also possible to change the content of transfer work for each group.

Furthermore, in the above embodiment, since the load applied to the release spring 9 on the reference plate 43 side is always greater than the load applied to the release spring 9 on the push plate 41 side, the release spring 9 pushes the restoring force on the reference plate 43 side. It is considered to be larger than the restoring force on the plate 41 side. Therefore, when the pitch between the base plates 3 is changed, that is, when the release spring 9 presses the base plate 3 from the position of FIG. 13 (A) to the position of FIG. 13 (B). Since the entire base plate 3 is pressed in a well-balanced manner when pressed to the position of (1), the base plate 3 can be smoothly restored to the position before transfer. In this regard, if the strength of the release spring is kept uniform, the release spring may not operate.

For the embodiment of FIG. 11, the pressing force P ₁ of the release spring 9A of the first block 10A of the reference plate 43 side 190 kg, release spring 9B of the second block 10B, the pressing force P ₂ of 9C is 170 kg, the third block the pressing force P ₃ of 10C release spring 9D ~ 9J is a 150 kg. Thus, if the release spring 9 having a difference in restoring force is provided on the base plate 3, the release spring 9 of the base plate 3 is simultaneously expanded and restored, so the group of base plates 3 reduced in the block shape is equally It is expanded and can move to the next step.

By the way, if there is an abnormal state such as cracking or chipping in the workpiece 51 in the suction step of the workpiece 51 by the suction pad 25, air will intrude from the cracking or chipping. In this case, when the work state detection unit shown in FIG. 12 is provided, the pressure in the communication passage 28 is increased by the air flowing from the crack or chip, so the vacuum pressure detection sensor 48 senses the pressure of the air. And emits an abnormal signal. The abnormal signal may or may not be displayed digitally on a display (not shown). When the work 51 is normal, the amount of air flowing out from the orifice 46 is small, so there is no influence on the suction and holding of the work 51 by the suction pad 25.

Further, when the work 51 has an abnormal state such as a crack or a chip, the vacuum pressure in the communication passage 28 changes, so that the change can be detected before the transfer. Therefore, the certainty of transfer is further improved.

The laminate pitch changing device according to the present invention is not limited to the embodiment described above. For example, the holding by the operation member may be holding of each work 51 not by suction by the suction pad 25 but by pinching by the pinching member 65 as shown in FIG. It can apply. In the case of FIG. 14, the clamping member 65 is composed of a pair of openable and closable

movable claws

65a and 65b connected by a spring 65c, and a passage 66 communicating with the communication passage 28 is provided at the base end. The spring 65c is always biased in the open state. When the inside of the communication passage 28 is depressurized by a vacuum source and overcomes the biasing force of the spring 65c, the

movable claws

65a and 65b become "closed", and as shown by dashed dotted lines in FIGS. 14 (A) and 14 (B). The

movable claws

65 a and 65 b clamp the side surface 51 b of the work 51.

In addition, the operation members such as the suction pad 25 and the sandwiching member 55 do not necessarily need to be in pairs, and may be one or three or more. The holding surface of the work by the operation member is optional, for example, as shown in FIG. 14A, even if the work 51 is sandwiched from the surface of the work in the direction along the stacking direction, that is, the both sides 51b of the work. Good.

The number of communication paths 28 is arbitrary, and can be appropriately increased or decreased depending on the number of workpieces to be applied.

When a plurality of communication paths 28 are provided, the operation can also be operated sequentially. This is advantageous, for example, when the volume of the vacuum source is small.

The elastic packing 15 is in the form of a bellows in the illustrated embodiment, but is not limited to this. For example, an elastic rubber packing, an O-ring or the like may be used. In any case, it can be moved in conjunction with the movement of the base plate 3.

The pitch portions formed on the circumferential surface of the variable spacer 17 can also be, for example, three or more large, medium, and small. For example, in the case where three pitch portions are provided, each pitch portion is provided every 120 °, and in the case of a plurality of pitch portions being installed, the installation site of the pitch portions is appropriately changed.

Further, the installation ratio of the pitch portion does not necessarily have to be equally divided. For example, in the case of forming the large and small pitch portions, the setting ratio of the large pitch portion may be 60%, and the setting ratio of the small pitch portion may be 40%. Further, in the case of using large, medium, and small pitch portions, the setting ratio of the large pitch portion may be 40%, the setting ratio of the middle pitch portion may be 35%, and the setting ratio of the small pitch portion may be 25%.

The time to change the pitch between the base plates 3 is arbitrary. As in the illustrated embodiment, it may be during conveyance of the work 51, but at the time of vertical movement of the movable holding portion to the small container 52 before conveyance, vertical movement of the movable holding portion to the large container 53 after conveyance Sometimes, the pitch between the base plates 3 may be changed.

Further, the moving direction of the movable holding portion is arbitrary. Although the case where the movable holding portion is moved in the horizontal direction has been described in the above embodiment, the movable holding portion may be moved in the vertical direction or may be moved in an oblique direction.

The stacking direction of the base plate 3 constituting the movable holding portion is arbitrary.

The shape of the base plate 3 is arbitrary.

Although the material of each part is arbitrary, the base plate 3, the variable spacer 17, and the release spring 9 are desirably materials having high durability, for example, metal-based materials. The elastic packing 15 is preferably a material having a large elastic force, such as a plastic material or a rubber material. The suction pad 25 is desirably made of a material having a lightness, processability, chemical resistance and hardness smaller than that of a work, for example, an appropriate plastic material. From the viewpoint of lightness and processability, the distribution plate 23 is preferably, for example, an appropriate plastic material or light weight metal material.

Furthermore, the driving power is optional, and not only by the vacuum source but also by, for example, a pressure source.

Further, with regard to the spring force of the release spring 9, the spring restoring force of the release spring 9 provided on the base plate 3 on the reference plate 43 side may be maximized and sequentially reduced linearly toward the release spring 9 on the push plate 41 side. Although it is desirable, as described above, it has been proved to be sufficient even when the predetermined number (unit number) of the base plates 3 is made smaller toward the push plate 41 side in a stepwise manner.

Further, the number of release springs 9 and the number of recesses 7 on which the release spring 9 is placed are also arbitrary, and can be appropriately increased or decreased depending on the size of the set pitch.

Furthermore, the laminate pitch changing device according to the present invention is not limited to the embodiment described above. For example, regarding the opening and closing of the on-off valve 45, although the example which makes the on-off valve 45 "open" always at the above-mentioned embodiment and makes it "closing" at the time of inspection was described, it is not restricted only to this.

The laminate pitch changing device according to the present invention is utilized for a device for changing the pitch between works when a large number of thin works are juxtaposed in a stack at a predetermined pitch, for example, for transferring solar panels. Can.

DESCRIPTION OF SYMBOLS 1 movable adsorption part 3 base plate 5 hole 5a square hole 5b notch 7 recessed part 8 circular hole 9 release spring 9o spring 9p central part 9q peripheral part 9r bottom part 10A first block 10B second block 10C third block 11 slide guide 13 Hole 13a First through hole 13b Second through hole 13c Third through hole 15 Elastic packing 15a First elastic packing 15b Second elastic packing 15c Third elastic packing 17 Variable spacer 18 Center hole 19 Small pitch part 20 Large pitch part 21 Inclination Part 23 distribution plate 25 suction pad 26 passage 27 small passage 27a narrowed portion 28 communication passage 28a first communication passage 28b second communication passage 28c third communication passage 29 suction opening 31 drive shaft 32 guide rod 33 stopper 34 pedestal 35 slide bush 6 pitch setting cylinder 37 rotary actuator 38 coupling 39 bearing 40a first joint 40b second joint 40c third joint 40d other joint 41 push plate 42 chamber block 43 reference plate 44 vacuum supply chamber 45 opening / closing valve 46 orifice 47 vacuum pressure detection Path 48 Vacuum pressure detection sensor 49 Cylinder 50 Laminate 51 Work 52 Small container 53 Large container 65 Clamping member 65a Movable claw 65b Movable claw 65c Spring 66 Passage

Claims

An apparatus for changing the pitch between a number of thin work pieces juxtaposed in a stack at a predetermined pitch,
The movable holding unit includes a movable holding unit and a driving unit that drives the movable holding unit.
In the movable holding portion, a large number of base plates are juxtaposed in a stack at a predetermined pitch,
Each of the base plates is provided with an operation member for holding the work, and the operation member is operated by a drive power sent from the communication passage to hold the work individually.
Each of the above base plates is provided with a rotatable variable spacer interlocking with the drive shaft of the drive unit, and the pitch between the base plates becomes variable by rotation of the variable spacer.
Furthermore, when the work is held on each of the base plates, an airtight and expandable communication path communicating with the operation member is formed between the group of base plates and the stack pitch changing device.
The laminate pitch changing device according to claim 1, wherein the communication passage is formed by connecting an elastic packing which can extend and contract between the through holes of the adjacent base plates.
The laminate pitch changing device according to claim 2, wherein the elastic packings move in conjunction with the base plates.
The laminate pitch changing device according to claim 1, wherein the variable spacers move in conjunction with the base plates.
The laminate pitch changing device according to claim 1, wherein each base plate is provided with a spring for releasing the fixed pitch between the base plates.
The laminate pitch changing device according to claim 2, wherein the elastic packing is formed in a bellows shape.
2. The laminate pitch changing device according to claim 1, wherein the variable spacer is formed with portions having different thicknesses on the circumferential surface, and the portions having different thicknesses by rotation are in contact with the base plate to thereby form the pitch between the base plates. A laminate pitch changing device characterized in that
6. The laminate pitch changing device according to claim 5, wherein the spring forms a fixed spring force on the base plate side greater than a spring force on the movable base plate side against a force for restoring the base plate in a contracted state. Stack pitch changer.
The laminate pitch changing device according to claim 8, wherein the spring force of the spring is reduced stepwise toward the movable base plate side for each predetermined number of the base plates.
9. A laminate pitch changing device according to claim 8, wherein the spring force of the spring is linearly reduced toward the movable base plate side.
6. A device as claimed in claim 5, wherein the spring comprises a single spring.
6. A laminate pitch changing device according to claim 5, wherein a plurality of springs are stacked on said spring.
2. The laminate pitch changing device according to claim 1, further comprising a detection unit for detecting a state of the workpiece such as cracking or chipping of the workpiece when the workpiece is adsorbed.
14. The laminate pitch changing device according to claim 13, wherein the detection unit is provided in an opening and closing port of the communication passage for opening and closing the communication passage, and the opening and closing valve is provided in the opening and closing valve and communicates with a vacuum pressure detection passage. A laminate comprising an orifice and a sensor connected to the vacuum pressure detection path, wherein the drive power is input to the communication path to close the on-off valve, and then a pressure change in the communication path is detected. Pitch change device.
The laminate pitch changing device according to claim 1, wherein the operating member comprises a suction pad for sucking the work.
The laminate pitch changing device according to claim 1, wherein the operation member comprises a clamping member for clamping the work.
The laminate pitch changing device according to claim 1, wherein a group of base plates is formed into one group every predetermined number.
2. The laminate pitch changing device according to claim 1, wherein each of the base plates is provided with a pair of operation members, and each of the base plates is provided with a pair of the variable spacer and the communication passage communicating with the operation members. Laminate pitch changer.
The laminate pitch changing device according to claim 1, wherein the operation member holds the surface of the work in a direction orthogonal to the stacking direction.
The laminate pitch changing device according to claim 1, wherein the operation member holds the surface of the work in a direction along the stacking direction.
A suction pad for a laminate pitch changing device, which is a means for holding a work in the laminate pitch changing device, and an airtight and stretchable communication path is formed between it and the base plate.