WO2014098115A1 - Workpiece conveyance device, and workpiece conveyance method - Google Patents

Workpiece conveyance device, and workpiece conveyance method Download PDF

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Publication number
WO2014098115A1
WO2014098115A1 PCT/JP2013/083858 JP2013083858W WO2014098115A1 WO 2014098115 A1 WO2014098115 A1 WO 2014098115A1 JP 2013083858 W JP2013083858 W JP 2013083858W WO 2014098115 A1 WO2014098115 A1 WO 2014098115A1
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WO
WIPO (PCT)
Prior art keywords
workpiece
unit
moving
transfer
conveyance
Prior art date
Application number
PCT/JP2013/083858
Other languages
French (fr)
Japanese (ja)
Inventor
弘和 奥村
Original Assignee
日本電気硝子株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本電気硝子株式会社 filed Critical 日本電気硝子株式会社
Priority to KR1020157016221A priority Critical patent/KR102074345B1/en
Priority to CN201380060098.3A priority patent/CN104797513B/en
Publication of WO2014098115A1 publication Critical patent/WO2014098115A1/en

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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
    • B65G13/00—Roller-ways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • B65G47/28—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor
    • B65G47/29—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor by temporarily stopping movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/53—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another
    • B65G47/54—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another at least one of which is a roller-way

Definitions

  • the present invention relates to a work transfer device and a work transfer method.
  • Patent Document 1 discloses a substrate (workpiece) transfer device.
  • a substrate is held by a substrate transfer section, and the substrate is transferred from the main conveyor to a branch conveyor on another path.
  • the substrate when the substrate is moving and on the main conveyor in order for the substrate transfer unit to transfer the substrate, the substrate becomes in the way and the subsequent substrate cannot pass on the main conveyor. As a result, the work sometimes has to be temporarily stopped on the conveyor line.
  • the present invention has been made in view of the above problems, and an object thereof is to provide a workpiece transfer device and a workpiece transfer method capable of reducing the possibility of temporary stop on the conveyor line and allowing the workpiece to flow. is there.
  • the workpiece conveyance apparatus by this invention is a workpiece conveyance apparatus which conveys the some workpiece
  • the said communication conveyance part is said 1st.
  • the second workpiece conveyed by one conveyance unit is conveyed to the second conveyance unit.
  • the moving unit includes a plurality of separating and moving units, and after the moving unit moves the first workpiece, the plurality of separating and moving units move in a direction toward the communication conveying unit or It moves individually in a direction away from the communication transport unit.
  • the said movement part moves the said 1st workpiece
  • the said communication conveyance part makes the said 2nd workpiece
  • the communication conveyance unit conveys the second workpiece to the second conveyance unit.
  • the communication conveyance unit conveys the second workpiece to the second conveyance unit.
  • the communication transport unit includes a plurality of rollers, and the moving unit is positioned between two adjacent rollers of the plurality of rollers.
  • the moving part includes a contact part that contacts one of the main surfaces of the first workpiece, and a connecting part that connects to the contact part, and the moving part includes the contact part and the connecting part. Is formed, and the second workpiece can pass inside the inner periphery.
  • the movement of the moving unit is vertical movement or horizontal movement.
  • the moving unit is a conveyor.
  • the workpiece conveyance method is a workpiece conveyance method for conveying a plurality of workpieces including a first workpiece and a second workpiece, and is conveyed by a first conveyance unit that conveys the plurality of workpieces and the first conveyance unit.
  • a moving unit is prepared for moving the workpiece from the communication conveyance unit along the normal direction of the main surface or moving the workpiece to the communication conveyance unit along the normal direction of the main surface of the plurality of workpieces.
  • the communication transfer after the process and the moving unit starts moving the first work from the communication transfer unit or before the moving unit moves the first work to the communication transfer unit.
  • the workpiece conveyance apparatus by this invention is a workpiece conveyance apparatus which conveys the some workpiece
  • the said movement part moves the said 1st workpiece
  • the said communication conveyance part makes the said 2nd workpiece
  • the communication conveyance unit conveys the second workpiece to the second conveyance unit.
  • the contact transport unit transports the second work to the second transport unit.
  • the second workpiece is conveyed.
  • the communication transport unit includes a plurality of rollers, and the moving unit is positioned between two adjacent rollers of the plurality of rollers.
  • the workpiece conveyance method is a workpiece conveyance method for conveying a plurality of workpieces including a first workpiece and a second workpiece, and is conveyed by a first conveyance unit that conveys the plurality of workpieces and the first conveyance unit.
  • a moving unit is prepared for moving the workpiece from the communication conveyance unit along the normal direction of the main surface or moving the workpiece to the communication conveyance unit along the normal direction of the main surface of the plurality of workpieces.
  • the moving unit has a plurality of separating and moving units, and after the moving unit moves the first workpiece, the plurality of separating and moving units move in the direction toward the communication conveying unit or the Comprising a step of individually moved in a direction away from the fault conveying unit.
  • the workpiece transfer device of the present invention transfers a plurality of workpieces including the first workpiece and the second workpiece.
  • the workpiece transfer apparatus of the present invention includes a transfer unit and a moving unit.
  • the transport unit includes a first transport unit, a communication transport unit, and a second transport unit. After the moving unit starts to move the first workpiece from the contact transfer unit or before the moving unit moves the first work to the contact transfer unit, the contact transfer unit is transferred to the second transfer unit by the first transfer unit. The workpiece is transferred to the second transfer unit. Therefore, it is possible to reduce the possibility of temporary stop of the second work in the transport unit and transport the second work. As a result, the line tact can be shortened.
  • FIG. 1 It is a schematic diagram which shows the workpiece conveyance apparatus which concerns on embodiment of this invention.
  • A is a schematic diagram which shows the state which the moving part has mounted the workpiece
  • (b) is a schematic diagram which shows the state which the movement part left
  • A), (c), (e), (g) is a side view of the workpiece conveyance apparatus which concerns on embodiment of this invention.
  • (B), (d), (f), (h) are front views of the workpiece transfer apparatus according to the embodiment of the present invention corresponding to (a), (c), (e), (g), respectively. is there.
  • FIG. 1 is a schematic diagram showing a workpiece transfer apparatus 100 according to an embodiment of the present invention.
  • the workpiece transfer apparatus 100 includes a transfer unit 110 and a moving unit 120.
  • the transport unit 110 includes a first transport unit 110A, a communication transport unit 110B, and a second transport unit 110C.
  • the transport unit 110 transports the workpiece W having the main surface along the transport path.
  • the conveyance path is formed by, for example, the first conveyance unit 110A, the communication conveyance unit 110B, and the second conveyance unit 110C.
  • 110 A of 1st conveyance parts convey the workpiece
  • the contact transfer unit 110B can transfer the workpiece W transferred by the first transfer unit 110A.
  • the second transport unit 110C transports the workpiece W transported by the communication transport unit 110B.
  • Each of the first transport unit 110A, the communication transport unit 110B, and the second transport unit 110C has a plurality of rollers 110a. As the roller 110a rotates, the workpiece W placed on the upper portion of the roller 110a is conveyed.
  • the conveyance speed of the workpiece W is, for example, 20 m / min to 30 m / min.
  • the moving unit 120 is located between two adjacent rollers 110B1 and 110B2 among the plurality of rollers 110a of the communication transport unit 110B.
  • the width of the moving unit 120 along the conveyance direction of the workpiece W is, for example, one half of the length of the long side of the workpiece W so that the workpiece W does not fall when the workpiece W is placed on the moving unit 120.
  • the above is preferable.
  • the length of the long side of the workpiece W is the length of the interval of three rollers
  • the width of the moving unit 120 along the conveyance direction of the workpiece W is the length of the interval of slightly less than two rollers. is there.
  • the moving unit 120 is movable along the normal direction of the main surface of the workpiece W.
  • the moving unit 120 comes into contact with the workpiece W at the communication transfer unit 110B.
  • One workpiece W is placed on the moving unit 120 so that the center of gravity of the workpiece W is near the center of the moving unit 120, and the moving unit 120 moves the workpiece W along the normal direction of the main surface of the workpiece W.
  • the ascending / descending speed of the moving unit 120 is, for example, 150 mm / second to 200 mm / second.
  • the moving part 120 is formed so that the work W can pass over the contact conveying part 110B when the moving part 120 rises to a position away from the contact conveying part 110B in the normal direction of the work W.
  • the workpiece W is a sheet-like plate.
  • the workpiece W is a glass substrate for a liquid crystal, a glass substrate for a flat panel display such as a plasma display, FED, or SED, and a glass substrate for a solar cell.
  • the workpiece W may be a metal other than a glass material, a resin, a ceramic, or the like.
  • the size of the workpiece W is, for example, 550 mm ⁇ 650 mm, 730 mm ⁇ 920 mm, 1,000 mm ⁇ 1,200 mm, and 2,000 mm ⁇ 2,500 mm.
  • the thickness of the workpiece W is, for example, 0.3 mm to 1.8 mm.
  • FIG. 2A is a schematic diagram illustrating a state where the moving unit 120 is placing the workpiece W on the contact conveyance unit 110B, and FIG. It is a schematic diagram which shows the state which left
  • FIG. 2A an operation in which the moving unit 120 moves the workpiece W from the communication conveyance unit 110B along the normal direction of the main surface of the workpiece W will be described.
  • the moving unit 120 comes into contact with the workpiece W conveyed by the first conveying unit 110A in the communication conveying unit 110B.
  • the moving unit 120 moves up, and the moving unit 120 transfers the work W to the communication transport unit 110B. It is possible to push up to a position away from the position shown in FIG. 2B. Thereafter, if necessary, the workpiece W is transferred to another path at a position away from the communication transfer unit 110B.
  • a position where the moving unit 120 contacts the workpiece W conveyed by the first conveying unit 110A in the communication conveying unit 110B is described as a conveying position. There are things to do.
  • a position where the moving unit 120 is separated from the communication conveyance unit 110 ⁇ / b> B in the normal direction of the workpiece W may be described as a separation position.
  • the moving unit 120 moves the workpiece W to the communication conveyance unit 110B along the normal direction of the main surface of the workpiece W.
  • the moving part 120 has mounted the workpiece
  • the moving unit 120 can move the work W down to the contact transfer unit 110B and move it to the transfer path, and the state shown in FIG. Thereafter, the workpiece W is transferred to the second transfer unit 110C by the communication transfer unit 110B. It is possible to transport the subsequent workpiece W so as to pass below the workpiece W while the moving unit 120 holds the workpiece W at a position away from the contact conveyance unit 110B in the normal direction of the workpiece W.
  • the moving unit 120 may move downward from the position of the moving unit 120 shown in FIG. Even when the moving unit 120 is below the position of the moving unit 120 shown in FIG. 2A, the workpiece W can pass above the moving unit 120.
  • FIG. 3A, FIG. 3C, FIG. 3E, and FIG. 3G are side views of the workpiece transfer apparatus 100 according to the embodiment of the present invention.
  • 3 (b), FIG. 3 (d), FIG. 3 (f) and FIG. 3 (h) are shown in FIG. 3 (a), FIG. 3 (c), FIG. 3 (e) and FIG.
  • It is a front view of the workpiece conveyance apparatus 100 which concerns on embodiment of this invention corresponding.
  • Work transfer device 100 transfers work W0, work W1, work W2, and work W3 in the order of work W0, work W1, work W2, and work W3.
  • the workpiece W1 and the workpiece W2 may be referred to as a first workpiece and a second workpiece, respectively.
  • the first transport unit 110A and the contact transport unit 110B transport the workpiece W1 to the transport position.
  • the workpiece W0 is located downstream from the workpiece W1.
  • the workpiece W2 is located upstream from the workpiece W1.
  • the moving unit 120 moves the workpiece W1 at the transfer position to the separated position.
  • the workpiece W0 is conveyed further downstream than the position of the workpiece W0 shown in FIGS. 3A and 3B by the second conveyance unit 110C.
  • the workpiece W2 is conveyed further downstream than the position of the workpiece W2 shown in FIGS. 3A and 3B by the first conveyance unit 110A and the communication conveyance unit 110B, and is positioned immediately before the conveyance position.
  • the contact transport unit 110B causes the work W2 to pass the transport position.
  • the workpiece W2 is transferred to the second transfer unit 110C.
  • the workpiece W1 moves to another route.
  • the workpiece W1 is transferred by a robot and moves to another path.
  • the moving unit 120 moves between the workpiece W2 and the workpiece W3 and moves below the conveyance position when the workpiece is not flowing to the conveyance position. Return to the position shown in FIG. For example, by monitoring the presence / absence of a workpiece with a photoelectric sensor (not shown), the moving unit 120 is returned to the lower position of the conveyance position when the period during which the workpiece is not in the conveyance position becomes longer than a certain period.
  • the moving unit 120 moves the workpiece from the contact transfer unit 110B along the normal direction of the main surface of the workpiece. After the moving unit 120 starts moving the first workpiece from the contact transfer unit 110B, the contact transfer unit 110B transfers the second workpiece transferred by the first transfer unit 110A to the second transfer unit 110C. Therefore, it is possible to reduce the possibility of temporary stop of the second work in the transport unit 110 and transport the second work. As a result, the line tact can be shortened.
  • Work transfer device 100 transfers work W0, work W1, work W2, and work W3.
  • FIG. 4A shows a state where the moving unit 120 is in the separated position.
  • a work W1 conveyed from another route is placed on the upper part of the moving unit 120.
  • the workpiece W0 is located downstream from the workpiece W1.
  • the workpiece W2 is located upstream from the workpiece W1.
  • the contact transport unit 110B has the work W2 below the work W1.
  • the workpiece W2 is transferred to the second transfer unit 110C so as to pass through the transfer position.
  • the moving unit 120 moves to the transfer position
  • the work W1 is placed on the contact transfer unit 110B, and the work W1 is transferred by the contact transfer unit 110B.
  • the workpiece W2 is conveyed further downstream than the position of the workpiece W2 shown in FIG. 4B by the second conveyance unit 110C.
  • Work W4 (not shown) is transported from another route and flows to the separation position next to the work W1. As shown in FIG. 4D, the moving unit 120 returns to the separated position through the space between the work W1 and the work W3 when the work is not flowing to the transfer position for receiving the work W4.
  • the moving unit 120 moves the workpiece to the contact transfer unit 110 ⁇ / b> B along the normal direction of the main surface of the workpiece.
  • the communication conveyance unit 110B conveys the second workpiece conveyed by the first conveyance unit 110A to the second conveyance unit 110C. Therefore, when transferring a workpiece
  • the moving unit 120 can be separated into a plurality of moving parts. With reference to FIG. 5, the workpiece conveyance apparatus 100 which concerns on other embodiment by this invention is demonstrated.
  • the moving unit 120 has a plurality of separation moving units.
  • the moving unit 120 illustrated in FIG. 5 includes a first separation moving unit 121, a second separation moving unit 122, and a third separation moving unit 123. Since the workpiece transfer apparatus 100 according to the present embodiment has the same configuration as the workpiece transfer apparatus 100 described with reference to FIG. 1 except that the moving unit 120 includes a plurality of separation moving units, the overlapping portion is described. Will not be described.
  • the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 are independently movable between the transport position and the separation position.
  • the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 are: It moves between the transport position and the separation position at the same timing so that the respective heights are the same at each time. Therefore, it is possible to prevent the workpiece W placed on the upper part of the moving unit 120 from falling from the moving unit 120 or cracking due to distortion.
  • the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 are It is possible to individually move between the transport position and the separation position. Thereby, the freedom degree of conveyance of a workpiece
  • work can be raised.
  • FIGS. 6A, 6C, and 6E are side views of the workpiece transfer apparatus 100 according to the present embodiment.
  • 6 (b), 6 (d) and 6 (f) show the workpiece transfer apparatus 100 according to the present embodiment corresponding to FIGS. 6 (a), 6 (c) and 6 (e), respectively. It is a front view.
  • Work transfer device 100 transfers work W0, work W1, work W2, and work W3 in the order of work W0, work W1, work W2, and work W3.
  • the communication transfer unit 110B transfers the workpiece W1 to the transfer position.
  • the workpiece W0 is located downstream from the workpiece W1.
  • the workpiece W2 is located upstream from the workpiece W1.
  • the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 have the same height at each time. In this way, the workpiece W1 at the transfer position is moved to the separation position by ascending at the same timing. Thereafter, the workpiece W1 is transferred to another route.
  • the work W2 is transported further downstream than the position of the work W2 shown in FIGS. 6A and 6B by the first transport unit 110A, and is positioned immediately before the transport position.
  • the moving unit 120 moves the workpiece W1
  • the rear end of the workpiece W2 is moved to the first separation moving unit 121, the second separation moving unit 122, and the third.
  • the first separation movement unit 121, the second separation movement unit 122, and the third separation movement unit 123 pass through the gap between the workpiece W2 and the workpiece W3, It individually moves in the direction toward the contact conveyance unit 110B, and returns from the separation position to the lower position of the conveyance position.
  • the first separation moving unit 121 and the second separation moving unit 122 after the workpiece W2 passes through the conveyance positions corresponding to each of the separation moving units and before the workpiece W3 reaches the conveyance position corresponding to each of the separation movement units. And the 3rd separation movement part 123 descends toward the lower part of a conveyance position.
  • the first separation moving unit 121 has been moved and returned to the lower position of the transport position.
  • the second separation moving unit 122 is moving below the transport position.
  • the workpiece W ⁇ b> 2 is passing the transport position corresponding to the third separation moving unit 123.
  • the third separating / moving unit 123 starts to move downward from the conveying position after the rear end of the workpiece W2 has passed the conveying position corresponding to the third separating / moving unit 123. Thereafter, the downward movement of the transfer position of all the separation moving units is completed, and the position returns to the position shown in FIG.
  • the first separation moving unit 121, the second separation moving unit 122, and the third separation movement are performed after the first workpiece is moved.
  • the unit 123 can be individually moved in the direction toward the communication conveyance unit 110B, and can be moved from the separation position to the conveyance position below. Therefore, the interval between the workpieces may be an interval for moving one separation moving unit, and the workpiece flow interval can be shortened. As a result, the production capacity of the entire line can be increased.
  • FIG. 7A, FIG. 7B, FIG. 7C, and FIG. 7D are side views of the workpiece transfer apparatus 100 according to the present embodiment.
  • the workpiece conveyance device 100 conveys the workpiece W1, the workpiece W2, the workpiece W3, and the workpiece W4.
  • FIG. 7A shows a state in which the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 are in the separated positions.
  • a work W1 conveyed from another path is placed on the upper part of the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123.
  • the communication transport unit 110B moves the work W2 to the second transport unit 110C so that the work W2 passes through the transport position below the work W1. And carry.
  • the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 descend at the same timing so that their heights are the same at each time. By doing so, the workpiece W1 in the separated position is moved to the transfer position.
  • the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 move below the transfer position, the workpiece W1 is placed on the contact transfer unit 110B, and the work W1 is connected to the contact transfer unit 110B. It is transported by.
  • the rear end of the workpiece W ⁇ b> 3 is the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123.
  • the first separation movement unit 121, the second separation movement unit 122, and the third separation movement unit 123 pass through the gap between the workpiece W3 and the workpiece W4, from the communication conveyance unit 110B. It moves individually in the direction of separation and returns from the lower side of the transport position to the separation position.
  • Each of the separation moving units rises toward the separation position until the workpiece W4 reaches the conveyance position of each separation moving unit after the workpiece W3 passes the conveyance position corresponding to each of the separation movement units. Go.
  • the movement of the first separation moving unit 121 is completed, and the first separation moving unit 121 has returned to the separation position.
  • the second separation moving unit 122 is in the process of moving to the separation position.
  • the workpiece W3 is passing over the third separation moving unit 123.
  • the third separation moving unit 123 starts moving to the separation position after the rear end of the work W3 has passed. Thereafter, the movement of all the separation movement units to the transport position is completed, and the first separation movement unit 121, the second separation movement unit 122, and the third separation movement unit 123 return to the positions shown in FIG. .
  • the workpiece W5 (not shown) is conveyed from another path, and flows to the separation position next to the workpiece W1.
  • the moving unit 120 waits at the separated position until the workpiece W5 is placed on the moving unit 120.
  • the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 communicate with each other. It is possible to individually move in the direction away from the section 110B and move from below the transport position to the separation position. Therefore, the interval between the workpieces may be an interval for moving one separation moving unit, and the workpiece flow interval can be shortened. As a result, the production capacity of the entire line can be increased.
  • the workpiece W is transferred such that the normal direction of the main surface of the workpiece W is a vertical direction. You may convey the workpiece
  • FIG. 8A and FIG. 8B are schematic diagrams illustrating the shape of the moving unit 120 of the workpiece transfer apparatus 100. With reference to FIG. 8A and FIG. 8B, the shape of the moving unit 120 of the workpiece transfer apparatus 100 will be described.
  • the moving unit 120 includes a contact unit 124, a connecting unit 125, and a bidirectional changing unit 126.
  • the contact portion 124 is in contact with one of the main surfaces of the workpiece W.
  • the connecting part 125 is connected to the contact part 124.
  • the bidirectional changing part 126 is connected to the contact part 124 via the connecting part 125.
  • the bidirectional changing unit 126 moves the contact unit 124 between the transport position and the separation position by moving the contact unit 124 and the coupling unit 125.
  • the bidirectional change unit 126 is, for example, a cylinder or a servo motor.
  • the contact part 124 and the connecting part 125 form the inner periphery of the moving part 120.
  • the workpiece W can pass inside the inner periphery of the moving unit 120. Accordingly, even when the moving unit 120 is in the separated position, the subsequent workpiece W can pass inside the inner periphery of the moving unit 120, and the possibility that the flow of the workpiece W is stagnated is reduced.
  • the moving unit 120 shown in FIG. 8A has a gate shape, and the moving unit 120 shown in FIG. 8B has an L shape. If the workpiece W can pass through the transfer position when the moving unit 120 is in the separated position, the shape of the moving unit 120 may be the portal shape shown in FIG. 8A or L shown in FIG. 8B. It is not limited to the shape of the mold.
  • the transport unit 110 of the workpiece transport apparatus 100 described in FIG. 1 has a plurality of rollers 110a
  • the transport unit 110 may be configured by a belt conveyor instead of the plurality of rollers 110a.
  • FIG. 9 is a schematic diagram showing a workpiece transfer apparatus 100 according to still another embodiment. With reference to FIG. 9, the workpiece conveyance apparatus 100 which concerns on other embodiment is demonstrated.
  • the transfer unit 110 of the workpiece transfer apparatus 100 is a belt conveyor 110b. Since the workpiece transfer apparatus 100 has the same configuration as the workpiece transfer apparatus 100 described with reference to FIG. 1 except that the transfer unit 110 is a belt conveyor 110b, the description of overlapping portions is omitted.
  • the communication conveyance unit 110B communicates with the first conveyance unit 110A at the upstream end 110B3 of the communication conveyance unit 110B, and communicates with the second conveyance unit 110C at the downstream end 110B4 of the communication conveyance unit 110B. Yes.
  • the belt conveyor 110b has a shape in which a portion of the moving unit 120 is recessed so as not to contact the moving unit 120.
  • the width of the recessed portion is a width that does not drop when the workpiece W is conveyed.
  • the conveyance unit 110 includes a roller 110c at a corner of the belt conveyor 110b.
  • FIG. 10 is a schematic diagram showing a workpiece transfer apparatus 100 according to still another embodiment.
  • a workpiece transfer apparatus 100 according to still another embodiment will be described with reference to FIG.
  • FIG. 10A is a schematic diagram illustrating a state where the moving unit 120 is in the transport position
  • FIG. 10B is a schematic diagram illustrating a state where the moving unit 120 is in the separated position.
  • the separation position is a position away from the transport position.
  • the moving unit 120 has a plurality of separation moving units.
  • the moving unit 120 includes a first separating / moving unit 127, a second separating / moving unit 128, and a third separating / moving unit 129.
  • the first separating / moving unit 127 is connected to the base 144 by a rotating shaft 141.
  • the second separating / moving unit 128 is connected to the base 144 by a rotating shaft 142.
  • the third separating / moving unit 129 is connected to the base 144 by a rotation shaft 143.
  • the workpiece conveyance device 100 can rotate the first separation moving unit 127 around the rotation shaft 141 at a predetermined inclination angle.
  • the workpiece conveyance device 100 can rotate the second separation moving unit 128 around the rotation shaft 142 at a predetermined inclination angle.
  • the workpiece transfer apparatus 100 can rotate the third separation moving unit 129 around the rotation shaft 143 at a predetermined inclination angle.
  • the first separation moving unit 127, the second separation moving unit 128, and the third separation moving unit 129 are each independently rotated by a predetermined inclination angle between the transport position and the separation position.
  • the separation movement unit 127, the second separation movement unit 128, and the third separation movement unit 129 are movable. Accordingly, the workpiece W being conveyed while maintaining the normal direction of the main surface in the vertical direction can be changed to be conveyed while maintaining the normal direction of the main surface in the horizontal direction. Can increase the degree of freedom.
  • FIG. 11A, FIG. 11B, and FIG. 11C are side views of a workpiece transfer apparatus 100 according to still another embodiment of the present invention.
  • Work transfer device 100 transfers work W0, work W1, work W2, and work W3 in the order of work W0, work W1, work W2, and work W3.
  • the first transport unit 110A and the contact transport unit 110B transport the workpiece W1 to the transport position.
  • the workpiece W0 is located downstream from the workpiece W1.
  • the workpiece W2 is located upstream from the workpiece W1.
  • the first separation moving unit 127, the second separation moving unit 128, and the third separation moving unit 129 are the first at the same timing so that the respective inclination angles are the same at each time.
  • the separation moving unit 127, the second separation moving unit 128, and the third separation moving unit 129 rotate to move the workpiece W1 at the transport position to the separation position. Thereafter, the workpiece W1 is transferred to another route.
  • the separation position in the present embodiment is a direction in which the normal direction of the main surface of the workpiece is horizontal.
  • the first separation moving unit 127, the second separation moving unit 128, and the third separation moving unit 129 are configured such that the rear end of the work W2 is separated from the first separation moving unit 127 and the second separation moving unit.
  • the separation movement unit rotates toward the lower portion of the transfer position until the workpiece W3 reaches the transfer position corresponding to each of the separation movement units. It moves.
  • FIG. 11C the movement of the first separation moving unit 127 is completed, and the first separation moving unit 127 has returned to the transport position.
  • the second separation moving unit 128 is moving to the transport position.
  • the workpiece W2 is passing by the side of the third separation moving unit 129.
  • the third separation movement unit 129 starts to move to the conveyance position after the rear end of the workpiece W2 passes through the conveyance position corresponding to the third separation movement unit 129.
  • the movement to the transfer positions corresponding to all the separation movement units is completed, and the first separation movement unit 127, the second separation movement unit 128, and the third separation movement unit 129 return to the positions shown in FIG. .
  • the work W being transported while maintaining the normal direction of the main surface in the horizontal direction is changed so as to be transported while maintaining the normal direction of the main surface to be vertical, and moved to another path. Is also possible.
  • FIG. 12 is a schematic diagram showing a transfer method from the transport route to another route. A transfer method to another route will be described with reference to FIG.
  • the 6-axis vertical articulated robot 160 transfers the workpiece W in the separated position to another path.
  • the arm of the 6-axis vertical articulated robot 160 is inserted below the workpiece W, and the lower surface of the workpiece is vacuum-sucked and transferred to another path.
  • the orthogonal XY robot 170 transfers the workpiece W at the separated position to another path.
  • the arm of the orthogonal XY robot 170 is inserted under the workpiece W, and the lower surface of the workpiece is scooped and transferred to another path.
  • the moving part 180 is a conveyor.
  • the moving unit 180 has a built-in driving roller. When the moving unit 180 is at the transport position, the drive roller does not rotate. When the moving unit 180 is in the separated position, the driving roller rotates and transfers the workpiece W to another path.
  • FIG. 13 is a schematic diagram showing a workpiece transfer system 300 according to an embodiment of the present invention.
  • the workpiece transfer system 300 according to the present embodiment includes a plurality of workpiece transfer devices (the workpiece transfer device 201 to the workpiece transfer device 208).
  • the work transfer device 201 to the work transfer device 208 are respectively a moving unit (moving unit 221 to moving unit 228), a contact transfer unit (contact transfer unit 211 to contact transfer unit 218), and a transfer unit (transfer unit 251 to transfer unit 260). And have.
  • the transfer unit 251 is a first transfer unit of the work transfer device 201.
  • the transport unit 256 is a second transport unit of the work transport device 205.
  • the transport unit 257 is a first transport unit of the work transport device 206.
  • the transport unit 260 is a second transport unit of the work transport device 208.
  • the transport unit 252, the transport unit 253, the transport unit 254, the transport unit 255, the transport unit 258, and the transport unit 259 are second transport units for the closest work transport device on the upstream side of each transport unit. This is the first transfer unit for the closest workpiece transfer device on the downstream side of the transfer unit.
  • the transport unit 252 is a second transport unit for the work transport device 201 closest to the upstream side, and a first transport unit for the work transport device 202 closest to the downstream side.
  • the workpiece transfer system 300 further includes a transfer unit 219a, a transfer unit 219b, and a transfer unit 219c.
  • the workpiece transfer system 300 includes a processing device 241, a processing device 242, and a processing device 243, and is provided in each of the transfer unit 219a, the transfer unit 219b, and the transfer unit 219c.
  • the processing device 241, the processing device 242, and the processing device 243 are, for example, workpiece W inspection processing devices.
  • the overall tact time is shortened.
  • the tact times of the transport unit 251 to the transport unit 256 and the transport unit 257 to the transport unit 260 are, for example, 10 seconds / sheet, and the tact times of the processing device 241, the processing device 242, and the processing device 243 are, for example, 30 seconds / sheet. .
  • the moving unit 221 is adjacent to a 6-axis vertical articulated robot 230.
  • the 6-axis vertical articulated robot 230 moves the work W to the transport path formed by the transport unit 251 to the transport unit 256 by placing the work W flowing from another path (not shown) on the moving unit 221.
  • the moving unit 223 is in a separated position, and the work W is placed on the upper part of the moving unit 223 (see also FIG. 6C). Thereafter, the workpiece W is moved toward the transport unit 219a on another branched path, and is processed by the processing device 241. Since the moving unit 223 is in the separation position, the subsequent workpiece W can pass through the conveyance position.
  • the moving unit 224 is in the separated position, and the communication transfer unit 214 transfers the workpiece W so that it passes through the transfer position (see also FIG. 6C). After the workpiece W passes through the transfer position, the moving unit 224 moves to a position below the transfer position, and waits until the next workpiece W is transferred by the transfer unit 254.
  • the moving unit 225 is in the separated position, and the workpiece W is placed on the upper part of the moving unit 225 (see also FIG. 6C). Thereafter, the workpiece W is moved toward the transport unit 219c and processed by the processing device 243.
  • the moving unit 226 is in a separated position, and the workpiece W that has been processed by the processing device is placed on top of the moving unit 226 (see also FIG. 7A). . Thereafter, when the moving unit 226 moves to the transfer position, the workpiece W moves to the contact transfer unit 216 and is transferred by the contact transfer unit 216.
  • the moving unit 227 is in the separated position, and the workpiece W is passing through the transfer position (see also FIG. 7B). Thereafter, the moving unit 227 waits for the workpiece W that has been processed by the processing device 242 to be conveyed to the separation position.
  • the moving unit 228 is in a separated position, and the workpiece W that has been processed by the processing device 243 is placed on top of the moving unit 228 (see also FIG. 7A). ). Since the workpiece W can pass through the conveyance position, the moving unit 226 moves to the conveyance position after the subsequent workpiece W passes through the conveyance position, so that the workpiece W moves to the communication conveyance unit 218 and moves to the communication conveyance unit 218. It will be conveyed by.
  • the workpiece transfer system 300 described with reference to FIG. 13 moves the workpiece W transferred by the contact transfer unit 213, the contact transfer unit 214, and the contact transfer unit 215 to the moving unit 223 and the moving unit 224. And the moving unit 225 move to another path, and transport the transport unit to the transport unit 219a, the transport unit 219b, and the transport unit 219c. Thereafter, the workpiece W is processed by the processing device 241, the processing device 242, and the processing device 243.
  • the workpiece transfer device 206, the workpiece transfer device 207, and the workpiece transfer device 208, the moving unit 226, the moving unit 227, and the moving unit 228 send the workpiece W to the contact transfer unit 216, the contact transfer unit 217, and the contact transfer unit 218.
  • time-consuming processing can be divided into a plurality of processing devices.
  • the line tact can be shortened.
  • the work transfer device of the present invention is suitably used as a work transfer device for moving a work from a transfer route to another transfer route.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Intermediate Stations On Conveyors (AREA)
  • Discharge Of Articles From Conveyors (AREA)
  • Relays Between Conveyors (AREA)
  • Automatic Assembly (AREA)

Abstract

　The workpiece conveyance device according to the present invention conveys a plurality of workpieces comprising a first workpiece and a second workpiece, and is provided with: a conveyance unit comprising a first conveyance part (110A) that conveys a plurality of workpieces, a connected conveyance part (110B) that can convey the plurality of workpieces conveyed by the first conveyance part, and a second conveyance part (110C) that conveys the plurality of workpieces conveyed by the connected conveyance part; and a transfer part (120) which either transfers the workpieces from the connected conveyance part along the normal line direction of the main surfaces of the plurality of workpieces, or, transfers the workpieces to the connected conveyance part along the normal line direction of the main surfaces of the plurality of workpieces. After the transfer part has started the transfer of a first workpiece from the connected conveyance part or before the transfer part has transfered the first workpiece to the connected conveyance part, the connected conveyance part conveys a second workpiece, which has been conveyed by the first conveyance part, to the second conveyance part.

Description

ワーク搬送装置およびワーク搬送方法Work conveying apparatus and work conveying method
　本発明は、ワーク搬送装置およびワーク搬送方法に関する。 The present invention relates to a work transfer device and a work transfer method.
　板状体のワークが一定間隔で流動するコンベアラインにおいて、搬送経路上のワークを別の経路に移動することがある。特許文献１には、基板（ワーク）搬送装置が開示されている。この搬送装置は、基板受渡部によって基板を把持し、メインコンベアから別経路の分岐コンベアへ基板を受け渡している。 In a conveyor line in which plate-shaped workpieces flow at regular intervals, the workpiece on the transfer route may move to another route. Patent Document 1 discloses a substrate (workpiece) transfer device. In this transfer device, a substrate is held by a substrate transfer section, and the substrate is transferred from the main conveyor to a branch conveyor on another path.
特開２００８－６６６６１号公報JP 2008-66661 A
　しかしながら、基板受渡部が基板の受け渡しを実施するために基板が移動中でメインコンベア上にあるとき、基板が邪魔になり後続の基板がメインコンベア上を通過することができない。その結果、ワークをコンベアライン上で一時停止させなければならないことがあった。 However, when the substrate is moving and on the main conveyor in order for the substrate transfer unit to transfer the substrate, the substrate becomes in the way and the subsequent substrate cannot pass on the main conveyor. As a result, the work sometimes has to be temporarily stopped on the conveyor line.
　本発明は上記課題を鑑みてなされたものであり、その目的はコンベアライン上での一時停止の可能性を低減しワークを流動させることが可能なワーク搬送装置及びワーク搬送方法を提供することにある。 The present invention has been made in view of the above problems, and an object thereof is to provide a workpiece transfer device and a workpiece transfer method capable of reducing the possibility of temporary stop on the conveyor line and allowing the workpiece to flow. is there.
　本発明によるワーク搬送装置は、第１ワークおよび第２ワークを含む複数のワークを搬送するワーク搬送装置であって、前記複数のワークを搬送する第１搬送部と、前記第１搬送部によって搬送された前記複数のワークを搬送可能な連絡搬送部と、前記連絡搬送部によって搬送された前記複数のワークを搬送する第２搬送部とを有する搬送ユニットと、前記複数のワークの主面の法線方向に沿って前記連絡搬送部からワークを移動させるか、または、前記複数のワークの主面の法線方向に沿って前記連絡搬送部までワークを移動させる移動部とを備える。そして前記移動部が前記連絡搬送部から前記第１ワークの移動を開始した後、または、前記移動部が前記第１ワークを前記連絡搬送部まで移動させる前に、前記連絡搬送部は、前記第１搬送部によって搬送された前記第２ワークを前記第２搬送部へと搬送する。 The workpiece conveyance apparatus by this invention is a workpiece conveyance apparatus which conveys the some workpiece | work containing a 1st workpiece | work and a 2nd workpiece | work, Comprising: The 1st conveyance part which conveys the said several workpiece | work, and conveyance by the said 1st conveyance part A transport unit having a contact transport unit capable of transporting the plurality of workpieces, a second transport unit transporting the plurality of workpieces transported by the contact transport unit, and a method of a principal surface of the plurality of workpieces A moving unit that moves the workpiece from the communication conveyance unit along a linear direction or moves the workpiece to the communication conveyance unit along a normal direction of a main surface of the plurality of workpieces. And after the said movement part starts the movement of the said 1st workpiece | work from the said communication conveyance part, or before the said movement part moves the said 1st workpiece | work to the said communication conveyance part, the said communication conveyance part is said 1st. The second workpiece conveyed by one conveyance unit is conveyed to the second conveyance unit.
　ある実施形態において、前記移動部は複数の分離移動部を有しており、前記移動部が前記第１ワークを移動させた後に、前記複数の分離移動部は、前記連絡搬送部に向かう方向または前記連絡搬送部から離れる方向に個別に移動する。 In one embodiment, the moving unit includes a plurality of separating and moving units, and after the moving unit moves the first workpiece, the plurality of separating and moving units move in a direction toward the communication conveying unit or It moves individually in a direction away from the communication transport unit.
　ある実施形態において、前記移動部が、前記連絡搬送部にある前記第１ワークを前記連絡搬送部から離れる方向に移動させる間に、前記連絡搬送部は、前記第２ワークを前記第２搬送部へと搬送する。 In a certain embodiment, while the said movement part moves the said 1st workpiece | work in the said communication conveyance part in the direction away from the said communication conveyance part, the said communication conveyance part makes the said 2nd workpiece | work a said 2nd conveyance part. Transport to.
　ある実施形態において、前記移動部が、前記第１ワークを保持している間に、前記連絡搬送部は、前記第２ワークを前記第２搬送部へと搬送する。 In one embodiment, while the moving unit is holding the first workpiece, the communication conveyance unit conveys the second workpiece to the second conveyance unit.
　ある実施形態において、前記移動部が、前記第１ワークを前記連絡搬送部に向かう方向に移動させる間に、前記連絡搬送部は、前記第２ワークを前記第２搬送部へと搬送する。 In one embodiment, while the moving unit moves the first workpiece in a direction toward the communication conveyance unit, the communication conveyance unit conveys the second workpiece to the second conveyance unit.
　ある実施形態において、前記連絡搬送部は複数のローラーを有しており、前記移動部は前記複数のローラーの隣接する２つのローラーの間に位置する。 In one embodiment, the communication transport unit includes a plurality of rollers, and the moving unit is positioned between two adjacent rollers of the plurality of rollers.
　ある実施形態において、前記移動部は、前記第１ワークの主面の一方と接触する接触部と、前記接触部と連結する連結部とを備え、前記接触部と前記連結部とで前記移動部の内周が形成されており、前記第２ワークは前記内周の内側を通過可能である。 In one embodiment, the moving part includes a contact part that contacts one of the main surfaces of the first workpiece, and a connecting part that connects to the contact part, and the moving part includes the contact part and the connecting part. Is formed, and the second workpiece can pass inside the inner periphery.
　ある実施形態において、前記移動部の前記移動は、上下移動または水平移動である。 In one embodiment, the movement of the moving unit is vertical movement or horizontal movement.
　ある実施形態において、前記移動部は、コンベアである。 In one embodiment, the moving unit is a conveyor.
　本発明によるワーク搬送方法は、第１ワークおよび第２ワークを含む複数のワークを搬送するワーク搬送方法であって、前記複数のワークを搬送する第１搬送部と、前記第１搬送部によって搬送された前記複数のワークを搬送可能な連絡搬送部と、前記連絡搬送部によって搬送された前記複数のワークを搬送する第２搬送部とを有する搬送ユニットを用意する工程と、前記複数のワークの主面の法線方向に沿って前記連絡搬送部からワークを移動させるか、または、前記複数のワークの主面の法線方向に沿って前記連絡搬送部までワークを移動させる移動部を用意する工程と、前記移動部が前記連絡搬送部から前記第１ワークの移動を開始した後、または、前記移動部が前記第１ワークを前記連絡搬送部まで移動させる前に、前記連絡搬送部は、前記第１搬送部によって搬送された前記第２ワークを前記第２搬送部へと搬送する工程とを包含する。 The workpiece conveyance method according to the present invention is a workpiece conveyance method for conveying a plurality of workpieces including a first workpiece and a second workpiece, and is conveyed by a first conveyance unit that conveys the plurality of workpieces and the first conveyance unit. Preparing a transport unit having a contact transport unit capable of transporting the plurality of workpieces and a second transport unit transporting the plurality of workpieces transported by the contact transport unit; and A moving unit is prepared for moving the workpiece from the communication conveyance unit along the normal direction of the main surface or moving the workpiece to the communication conveyance unit along the normal direction of the main surface of the plurality of workpieces. The communication transfer after the process and the moving unit starts moving the first work from the communication transfer unit or before the moving unit moves the first work to the communication transfer unit. Includes a step of conveying the second workpiece which is conveyed by the first conveyor to the second transporter.
　本発明によるワーク搬送装置は、第１ワークおよび第２ワークを含む複数のワークを搬送するワーク搬送装置であって、前記複数のワークを搬送する第１搬送部と、前記第１搬送部によって搬送された前記複数のワークを搬送可能な連絡搬送部と、前記連絡搬送部によって搬送された前記複数のワークを搬送する第２搬送部とを有する搬送ユニットと、前記連絡搬送部からワークを移動させるか、または、前記連絡搬送部までワークを移動させる移動部とを備え、前記移動部は複数の分離移動部を有しており、前記移動部が前記第１ワークを移動させた後に、前記複数の分離移動部は、前記連絡搬送部に向かう方向または前記連絡搬送部から離れる方向に個別に移動する。 The workpiece conveyance apparatus by this invention is a workpiece conveyance apparatus which conveys the some workpiece | work containing a 1st workpiece | work and a 2nd workpiece | work, Comprising: The 1st conveyance part which conveys the said several workpiece | work, and conveyance by the said 1st conveyance part A transport unit having a contact transport unit capable of transporting the plurality of workpieces, a second transport unit transporting the plurality of workpieces transported by the contact transport unit, and moving the work from the contact transport unit Or a moving unit that moves the workpiece to the contact conveyance unit, and the moving unit has a plurality of separation moving units, and after the moving unit moves the first workpiece, The separation moving unit individually moves in a direction toward the communication transfer unit or in a direction away from the communication transfer unit.
　ある実施形態において、前記移動部が、前記連絡搬送部にある前記第１ワークを前記連絡搬送部から離れる方向に移動させる間に、前記連絡搬送部は、前記第２ワークを前記第２搬送部へと搬送する。 In a certain embodiment, while the said movement part moves the said 1st workpiece | work in the said communication conveyance part in the direction away from the said communication conveyance part, the said communication conveyance part makes the said 2nd workpiece | work a said 2nd conveyance part. Transport to.
　ある実施形態において、前記移動部が、前記第１ワークを保持している間に、前記連絡搬送部は、前記第２ワークを前記第２搬送部へと搬送する。 In one embodiment, while the moving unit is holding the first workpiece, the communication conveyance unit conveys the second workpiece to the second conveyance unit.
　前記移動部が、前記連絡搬送部にある前記第１ワークを前記連絡搬送部に向かう方向に移動させる間に、前記連絡搬送部は、前記第２ワークを前記第２搬送部へと搬送する、前記第２ワークを搬送する。 While the moving unit moves the first work in the contact transport unit in a direction toward the contact transport unit, the contact transport unit transports the second work to the second transport unit. The second workpiece is conveyed.
　ある実施形態において、前記連絡搬送部は複数のローラーを有しており、前記移動部は前記複数のローラーの隣接する２つのローラーの間に位置する。 In one embodiment, the communication transport unit includes a plurality of rollers, and the moving unit is positioned between two adjacent rollers of the plurality of rollers.
　本発明によるワーク搬送方法は、第１ワークおよび第２ワークを含む複数のワークを搬送するワーク搬送方法であって、前記複数のワークを搬送する第１搬送部と、前記第１搬送部によって搬送された前記複数のワークを搬送可能な連絡搬送部と、前記連絡搬送部によって搬送された前記複数のワークを搬送する第２搬送部とを有する搬送ユニットを用意する工程と、前記複数のワークの主面の法線方向に沿って前記連絡搬送部からワークを移動させるか、または、前記複数のワークの主面の法線方向に沿って前記連絡搬送部までワークを移動させる移動部を用意する工程と、前記移動部は複数の分離移動部を有しており、前記移動部が前記第１ワークを移動させた後に、前記複数の分離移動部は、前記連絡搬送部に向かう方向または前記連絡搬送部から離れる方向に個別に移動する工程とを包含する。 The workpiece conveyance method according to the present invention is a workpiece conveyance method for conveying a plurality of workpieces including a first workpiece and a second workpiece, and is conveyed by a first conveyance unit that conveys the plurality of workpieces and the first conveyance unit. Preparing a transport unit having a contact transport unit capable of transporting the plurality of workpieces and a second transport unit transporting the plurality of workpieces transported by the contact transport unit; and A moving unit is prepared for moving the workpiece from the communication conveyance unit along the normal direction of the main surface or moving the workpiece to the communication conveyance unit along the normal direction of the main surface of the plurality of workpieces. And the moving unit has a plurality of separating and moving units, and after the moving unit moves the first workpiece, the plurality of separating and moving units move in the direction toward the communication conveying unit or the Comprising a step of individually moved in a direction away from the fault conveying unit.
　本発明のワーク搬送装置は、第１ワークおよび第２ワークを含む複数のワークを搬送する。本発明のワーク搬送装置は、搬送ユニットと移動部とを備える。搬送ユニットは、第１搬送部と連絡搬送部と第２搬送部とを有する。移動部が連絡搬送部から第１ワークの移動を開始した後、または、移動部が第１ワークを連絡搬送部まで移動させる前に、連絡搬送部は、第１搬送部によって搬送された第２ワークを第２搬送部へと搬送する。したがって、搬送ユニットでの第２ワークの一時停止の可能性を低減し第２ワークを搬送することができる。その結果、ラインタクトを短縮することができる。 The workpiece transfer device of the present invention transfers a plurality of workpieces including the first workpiece and the second workpiece. The workpiece transfer apparatus of the present invention includes a transfer unit and a moving unit. The transport unit includes a first transport unit, a communication transport unit, and a second transport unit. After the moving unit starts to move the first workpiece from the contact transfer unit or before the moving unit moves the first work to the contact transfer unit, the contact transfer unit is transferred to the second transfer unit by the first transfer unit. The workpiece is transferred to the second transfer unit. Therefore, it is possible to reduce the possibility of temporary stop of the second work in the transport unit and transport the second work. As a result, the line tact can be shortened.
本発明の実施形態に係るワーク搬送装置を示す模式図である。It is a schematic diagram which shows the workpiece conveyance apparatus which concerns on embodiment of this invention. （ａ）は移動部が連絡搬送部にてワークを載せている状態を示す模式図であり、（ｂ）は移動部が連絡搬送部からワークの法線方向に離れた状態を示す模式図である。(A) is a schematic diagram which shows the state which the moving part has mounted the workpiece | work in a communication conveyance part, (b) is a schematic diagram which shows the state which the movement part left | separated from the communication conveyance part in the normal line direction of the workpiece | work. is there. （ａ）、（ｃ）、（ｅ）、（ｇ）は、本発明の実施形態に係るワーク搬送装置の側面図である。（ｂ）、（ｄ）、（ｆ）、（ｈ）は、（ａ）、（ｃ）、（ｅ）、（ｇ）にそれぞれ対応した本発明の実施形態に係るワーク搬送装置の正面図である。(A), (c), (e), (g) is a side view of the workpiece conveyance apparatus which concerns on embodiment of this invention. (B), (d), (f), (h) are front views of the workpiece transfer apparatus according to the embodiment of the present invention corresponding to (a), (c), (e), (g), respectively. is there. 本発明の実施形態に係るワーク搬送装置の側面図である。It is a side view of the workpiece conveyance apparatus which concerns on embodiment of this invention. 本発明の他の実施形態に係るワーク搬送装置を示す模式図である。It is a schematic diagram which shows the workpiece conveyance apparatus which concerns on other embodiment of this invention. （ａ）、（ｃ）、（ｅ）は、本発明の他の実施形態に係るワーク搬送装置の側面図である。（ｂ）、（ｄ）、（ｆ）は、（ａ）、（ｃ）、（ｅ）にそれぞれ対応した本発明の他の実施形態に係るワーク搬送装置の正面図である。(A), (c), (e) is a side view of the workpiece conveyance apparatus which concerns on other embodiment of this invention. (B), (d), (f) is a front view of the workpiece conveyance apparatus which concerns on other embodiment of this invention corresponding to (a), (c), (e), respectively. 本発明の他の実施形態に係るワーク搬送装置の側面図である。It is a side view of the workpiece conveyance apparatus which concerns on other embodiment of this invention. ワーク搬送装置の移動部の形状を示す模式図である。It is a schematic diagram which shows the shape of the moving part of a workpiece conveyance apparatus. 本発明の更に他の実施形態に係るワーク搬送装置を示す模式図である。It is a schematic diagram which shows the workpiece conveyance apparatus which concerns on other embodiment of this invention. 本発明の更に他の実施形態に係るワーク搬送装置を示す模式図である。It is a schematic diagram which shows the workpiece conveyance apparatus which concerns on other embodiment of this invention. 本発明の更に他の実施形態に係るワーク搬送装置の側面図である。It is a side view of the workpiece conveyance apparatus which concerns on other embodiment of this invention. 別の経路への移送方法を示す模式図である。It is a schematic diagram which shows the transfer method to another path | route. 本発明の実施形態に係るワーク搬送システムを示す模式図である。It is a mimetic diagram showing a work conveyance system concerning an embodiment of the present invention.
　以下、図面を参照して本発明によるワーク搬送装置およびワーク搬送方法の実施形態を説明する。ただし、本発明は以下の実施形態に限定されない。 Hereinafter, embodiments of a workpiece transfer apparatus and a workpiece transfer method according to the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments.
　図１を参照して本発明によるワーク搬送装置１００の実施形態を説明する。図１は、本発明の実施形態に係るワーク搬送装置１００を示す模式図である。ワーク搬送装置１００は、搬送ユニット１１０と移動部１２０とを備える。搬送ユニット１１０は、第１搬送部１１０Ａと連絡搬送部１１０Ｂと第２搬送部１１０Ｃとを有する。 An embodiment of a workpiece transfer apparatus 100 according to the present invention will be described with reference to FIG. FIG. 1 is a schematic diagram showing a workpiece transfer apparatus 100 according to an embodiment of the present invention. The workpiece transfer apparatus 100 includes a transfer unit 110 and a moving unit 120. The transport unit 110 includes a first transport unit 110A, a communication transport unit 110B, and a second transport unit 110C.
　搬送ユニット１１０は、主面を有するワークＷを搬送経路に沿って搬送する。搬送経路は、例えば、第１搬送部１１０Ａと連絡搬送部１１０Ｂと第２搬送部１１０Ｃとで形成される。第１搬送部１１０Ａは、ワークＷを搬送する。連絡搬送部１１０Ｂは、第１搬送部１１０Ａによって搬送されたワークＷを搬送可能である。第２搬送部１１０Ｃは、連絡搬送部１１０Ｂによって搬送されたワークＷを搬送する。第１搬送部１１０Ａと連絡搬送部１１０Ｂと第２搬送部１１０Ｃとのそれぞれは、複数のローラー１１０ａを有している。ローラー１１０ａが回転することにより、ローラー１１０ａの上部に載置されているワークＷが搬送される。ワークＷの搬送速度は、例えば、２０ｍ／分～３０ｍ／分である。 The transport unit 110 transports the workpiece W having the main surface along the transport path. The conveyance path is formed by, for example, the first conveyance unit 110A, the communication conveyance unit 110B, and the second conveyance unit 110C. 110 A of 1st conveyance parts convey the workpiece | work W. FIG. The contact transfer unit 110B can transfer the workpiece W transferred by the first transfer unit 110A. The second transport unit 110C transports the workpiece W transported by the communication transport unit 110B. Each of the first transport unit 110A, the communication transport unit 110B, and the second transport unit 110C has a plurality of rollers 110a. As the roller 110a rotates, the workpiece W placed on the upper portion of the roller 110a is conveyed. The conveyance speed of the workpiece W is, for example, 20 m / min to 30 m / min.
　移動部１２０は、連絡搬送部１１０Ｂが有する複数のローラー１１０ａのうちの隣接する２つのローラー１１０Ｂ１とローラー１１０Ｂ２との間に位置している。移動部１２０のワークＷの搬送方向に沿った幅は、ワークＷを移動部１２０に載置したときにワークＷが落下しないように、例えば、ワークＷの長辺の長さの２分の１以上が好ましい。ここでは、ワークＷの長辺の長さはローラー３つ分の間隔の長さであり、移動部１２０のワークＷの搬送方向に沿った幅は、ローラー２つ分弱の間隔の長さである。移動部１２０は、ワークＷの主面の法線方向に沿って移動可能である。 The moving unit 120 is located between two adjacent rollers 110B1 and 110B2 among the plurality of rollers 110a of the communication transport unit 110B. The width of the moving unit 120 along the conveyance direction of the workpiece W is, for example, one half of the length of the long side of the workpiece W so that the workpiece W does not fall when the workpiece W is placed on the moving unit 120. The above is preferable. Here, the length of the long side of the workpiece W is the length of the interval of three rollers, and the width of the moving unit 120 along the conveyance direction of the workpiece W is the length of the interval of slightly less than two rollers. is there. The moving unit 120 is movable along the normal direction of the main surface of the workpiece W.
　移動部１２０は、連絡搬送部１１０ＢでワークＷと接触する。ワークＷの重心が移動部１２０の中央付近にくるように１枚のワークＷを移動部１２０に乗せ、移動部１２０はワークＷをワークＷの主面の法線方向に沿って移動させる。移動部１２０の昇降速度は、例えば、１５０ｍｍ／秒～２００ｍｍ／秒である。移動部１２０が連絡搬送部１１０ＢからワークＷの法線方向に離れた位置へ上昇した時に、ワークＷが連絡搬送部１１０Ｂ上を通過可能となるように、移動部１２０は形成されている。 The moving unit 120 comes into contact with the workpiece W at the communication transfer unit 110B. One workpiece W is placed on the moving unit 120 so that the center of gravity of the workpiece W is near the center of the moving unit 120, and the moving unit 120 moves the workpiece W along the normal direction of the main surface of the workpiece W. The ascending / descending speed of the moving unit 120 is, for example, 150 mm / second to 200 mm / second. The moving part 120 is formed so that the work W can pass over the contact conveying part 110B when the moving part 120 rises to a position away from the contact conveying part 110B in the normal direction of the work W.
　ワークＷは枚葉状の板状体である。例えば、ワークＷは液晶用ガラス基板やプラズマディスプレイ、ＦＥＤ、ＳＥＤなどのフラットパネルディスプレイ用ガラス基板および太陽電池用ガラス基板である。さらに、ワークＷは、ガラス材質以外の金属、樹脂、セラミック等でもあり得る。ワークＷがガラス基板の場合、ワークＷの大きさは、例えば、５５０ｍｍ×６５０ｍｍ、７３０ｍｍ×９２０ｍｍ、１，０００ｍｍ×１，２００ｍｍおよび２，０００ｍｍ×２，５００ｍｍである。ワークＷの厚さは、例えば、０．３ｍｍ～１．８ｍｍである。 Work W is a sheet-like plate. For example, the workpiece W is a glass substrate for a liquid crystal, a glass substrate for a flat panel display such as a plasma display, FED, or SED, and a glass substrate for a solar cell. Furthermore, the workpiece W may be a metal other than a glass material, a resin, a ceramic, or the like. When the workpiece W is a glass substrate, the size of the workpiece W is, for example, 550 mm × 650 mm, 730 mm × 920 mm, 1,000 mm × 1,200 mm, and 2,000 mm × 2,500 mm. The thickness of the workpiece W is, for example, 0.3 mm to 1.8 mm.
　図２（ａ）は、移動部１２０が連絡搬送部１１０ＢでワークＷを載せている状態を示す模式図であり、図２（ｂ）は、移動部１２０が連絡搬送部１１０ＢからワークＷの法線方向に離れた状態を示す模式図である。 FIG. 2A is a schematic diagram illustrating a state where the moving unit 120 is placing the workpiece W on the contact conveyance unit 110B, and FIG. It is a schematic diagram which shows the state which left | separated to the line direction.
　図２（ａ）および図２（ｂ）を参照して、移動部１２０がワークＷの主面の法線方向に沿って連絡搬送部１１０ＢからワークＷを移動させる動作を説明する。図２（ａ）において、移動部１２０は、連絡搬送部１１０Ｂで第１搬送部１１０Ａによって搬送されたワークＷと接触する。ワークＷの主面の法線方向に移動すべきワークＷが連絡搬送部１１０Ｂで移動部１２０の上方に流れて来ると、移動部１２０は上昇し、移動部１２０はワークＷを連絡搬送部１１０Ｂから離れた位置まで押し上げることが可能であり、図２（ｂ）に示す状態となる。その後必要に応じて、ワークＷは連絡搬送部１１０Ｂから離れた位置で別の経路に移送される。なお、本明細書の以下の説明において図２（ａ）で示したように、移動部１２０が連絡搬送部１１０Ｂで第１搬送部１１０Ａによって搬送されたワークＷと接触する位置を搬送位置と記載することがある。また、図２（ｂ）で示したように、移動部１２０が連絡搬送部１１０ＢからワークＷの法線方向に離れた位置を離間位置と記載することがある。 2A and 2B, an operation in which the moving unit 120 moves the workpiece W from the communication conveyance unit 110B along the normal direction of the main surface of the workpiece W will be described. In FIG. 2A, the moving unit 120 comes into contact with the workpiece W conveyed by the first conveying unit 110A in the communication conveying unit 110B. When the workpiece W to be moved in the normal direction of the main surface of the workpiece W flows above the moving unit 120 in the communication transport unit 110B, the moving unit 120 moves up, and the moving unit 120 transfers the work W to the communication transport unit 110B. It is possible to push up to a position away from the position shown in FIG. 2B. Thereafter, if necessary, the workpiece W is transferred to another path at a position away from the communication transfer unit 110B. In the following description of the present specification, as shown in FIG. 2A, a position where the moving unit 120 contacts the workpiece W conveyed by the first conveying unit 110A in the communication conveying unit 110B is described as a conveying position. There are things to do. In addition, as illustrated in FIG. 2B, a position where the moving unit 120 is separated from the communication conveyance unit 110 </ b> B in the normal direction of the workpiece W may be described as a separation position.
　続いて、図２（ａ）および図２（ｂ）を参照して、移動部１２０がワークＷの主面の法線方向に沿って連絡搬送部１１０ＢまでワークＷを移動させる動作を説明する。図２（ｂ）において、移動部１２０は、別の経路から流れてきたワークＷを載せている。移動部１２０は、ワークＷを連絡搬送部１１０Ｂまで下げて搬送経路に移動させることが可能であり、図２（ａ）に示す状態となる。その後、ワークＷは連絡搬送部１１０Ｂによって第２搬送部１１０Ｃに搬送される。なお移動部１２０が連絡搬送部１１０ＢからワークＷの法線方向に離れた位置でワークＷを保持した状態で、ワークＷの下方を通るように後続のワークＷを搬送させることが可能である。 Subsequently, with reference to FIG. 2A and FIG. 2B, an operation in which the moving unit 120 moves the workpiece W to the communication conveyance unit 110B along the normal direction of the main surface of the workpiece W will be described. In FIG.2 (b), the moving part 120 has mounted the workpiece | work W which flowed from another path | route. The moving unit 120 can move the work W down to the contact transfer unit 110B and move it to the transfer path, and the state shown in FIG. Thereafter, the workpiece W is transferred to the second transfer unit 110C by the communication transfer unit 110B. It is possible to transport the subsequent workpiece W so as to pass below the workpiece W while the moving unit 120 holds the workpiece W at a position away from the contact conveyance unit 110B in the normal direction of the workpiece W.
　なお、移動部１２０は、図２（ａ）で示した移動部１２０の位置よりも下方に移動することもある。移動部１２０が図２（ａ）で示した移動部１２０の位置よりも下方にある場合でも、ワークＷは、移動部１２０の上方を通過することが可能である。 Note that the moving unit 120 may move downward from the position of the moving unit 120 shown in FIG. Even when the moving unit 120 is below the position of the moving unit 120 shown in FIG. 2A, the workpiece W can pass above the moving unit 120.
　以下に、搬送ユニット１１０で搬送されているワークＷを搬送経路から分岐した別の経路に移動させるための動作を説明する。図３を参照して本発明によるワーク搬送装置１００の移動部１２０の移動を説明する。移動部１２０は搬送位置の下方から離間位置に移動することにより、移動部１２０はワークの主面の法線方向に沿って連絡搬送部１１０Ｂからワークを移動させる。図３（ａ）、図３（ｃ）、図３（ｅ）および図３（ｇ）は、本発明の実施形態に係るワーク搬送装置１００の側面図である。図３（ｂ）、図３（ｄ）、図３（ｆ）および図３（ｈ）は、図３（ａ）、図３（ｃ）、図３（ｅ）および図３（ｇ）にそれぞれ対応した本発明の実施形態に係るワーク搬送装置１００の正面図である。 Hereinafter, an operation for moving the workpiece W transported by the transport unit 110 to another path branched from the transport path will be described. With reference to FIG. 3, the movement of the movement part 120 of the workpiece conveyance apparatus 100 by this invention is demonstrated. The moving unit 120 moves from the lower part of the conveying position to the separated position, so that the moving unit 120 moves the workpiece from the communication conveying unit 110B along the normal direction of the main surface of the workpiece. FIG. 3A, FIG. 3C, FIG. 3E, and FIG. 3G are side views of the workpiece transfer apparatus 100 according to the embodiment of the present invention. 3 (b), FIG. 3 (d), FIG. 3 (f) and FIG. 3 (h) are shown in FIG. 3 (a), FIG. 3 (c), FIG. 3 (e) and FIG. It is a front view of the workpiece conveyance apparatus 100 which concerns on embodiment of this invention corresponding.
　ワーク搬送装置１００は、ワークＷ０、ワークＷ１、ワークＷ２、ワークＷ３をワークＷ０、ワークＷ１、ワークＷ２、ワークＷ３の順番に搬送する。なお、本明細書の以下の説明において、ワークＷ１、ワークＷ２をそれぞれ第１ワーク、第２ワークと記載することがある。 Work transfer device 100 transfers work W0, work W1, work W2, and work W3 in the order of work W0, work W1, work W2, and work W3. In the following description of the present specification, the workpiece W1 and the workpiece W2 may be referred to as a first workpiece and a second workpiece, respectively.
　図３（ａ）、図３（ｂ）に示すように、第１搬送部１１０Ａおよび連絡搬送部１１０ＢはワークＷ１を搬送位置に搬送する。ワークＷ０は、ワークＷ１より下流に位置している。ワークＷ２はワークＷ１より上流に位置している。 3A and 3B, the first transport unit 110A and the contact transport unit 110B transport the workpiece W1 to the transport position. The workpiece W0 is located downstream from the workpiece W1. The workpiece W2 is located upstream from the workpiece W1.
　図３（ｃ）、図３（ｄ）に示すように、移動部１２０が上昇することにより、移動部１２０は、搬送位置にあるワークＷ１を離間位置まで移動させる。ワークＷ０は、第２搬送部１１０Ｃよって図３（ａ）、図３（ｂ）で示すワークＷ０の位置よりさらに下流へ搬送されている。ワークＷ２は、第１搬送部１１０Ａおよび連絡搬送部１１０Ｂによって図３（ａ）、図３（ｂ）で示すワークＷ２の位置よりさらに下流に搬送され、搬送位置の直前に位置している。 3 (c) and 3 (d), when the moving unit 120 moves up, the moving unit 120 moves the workpiece W1 at the transfer position to the separated position. The workpiece W0 is conveyed further downstream than the position of the workpiece W0 shown in FIGS. 3A and 3B by the second conveyance unit 110C. The workpiece W2 is conveyed further downstream than the position of the workpiece W2 shown in FIGS. 3A and 3B by the first conveyance unit 110A and the communication conveyance unit 110B, and is positioned immediately before the conveyance position.
　図３（ｅ）、図３（ｆ）に示すように、移動部１２０が連絡搬送部１１０ＢからワークＷ１を移動を開始した後、連絡搬送部１１０Ｂは、ワークＷ２が搬送位置を通過するようにワークＷ２を第２搬送部１１０Ｃへ搬送する。一方、ワークＷ１は、別の経路へ移動する。例えば、ワークＷ１は、ロボットにより移送され、別の経路へ移動する。 As shown in FIGS. 3E and 3F, after the moving unit 120 starts moving the workpiece W1 from the contact transport unit 110B, the contact transport unit 110B causes the work W2 to pass the transport position. The workpiece W2 is transferred to the second transfer unit 110C. On the other hand, the workpiece W1 moves to another route. For example, the workpiece W1 is transferred by a robot and moves to another path.
　図３（ｇ）、図３（ｈ）に示すように、移動部１２０は搬送位置にワークが流れていないときに、ワークＷ２とワークＷ３との間を通って搬送位置の下方に移動し、図３（ａ）に示す位置に戻る。例えば、光電センサ（図示せず）によってワークの有無をモニタすることにより、ワークが搬送位置に無い期間が一定の期間以上になると、移動部１２０を搬送位置の下方に戻す。 As shown in FIGS. 3G and 3H, the moving unit 120 moves between the workpiece W2 and the workpiece W3 and moves below the conveyance position when the workpiece is not flowing to the conveyance position. Return to the position shown in FIG. For example, by monitoring the presence / absence of a workpiece with a photoelectric sensor (not shown), the moving unit 120 is returned to the lower position of the conveyance position when the period during which the workpiece is not in the conveyance position becomes longer than a certain period.
　以上、図３を参照して説明したように、ワーク搬送装置１００では、移動部１２０が、ワークの主面の法線方向に沿って連絡搬送部１１０Ｂからワークを移動させる。移動部１２０が連絡搬送部１１０Ｂから第１ワークの移動を開始した後、連絡搬送部１１０Ｂは、第１搬送部１１０Ａによって搬送された第２ワークを第２搬送部１１０Ｃへと搬送する。したがって、搬送ユニット１１０での第２ワークの一時停止の可能性を低減し第２ワークを搬送することができる。その結果、ラインタクトを短縮することができる。 As described above with reference to FIG. 3, in the workpiece transfer apparatus 100, the moving unit 120 moves the workpiece from the contact transfer unit 110B along the normal direction of the main surface of the workpiece. After the moving unit 120 starts moving the first workpiece from the contact transfer unit 110B, the contact transfer unit 110B transfers the second workpiece transferred by the first transfer unit 110A to the second transfer unit 110C. Therefore, it is possible to reduce the possibility of temporary stop of the second work in the transport unit 110 and transport the second work. As a result, the line tact can be shortened.
　以下に、図４を参照して、別の経路から来たワークＷを搬送経路に移動させるための動作を説明する。移動部１２０は離間位置から搬送位置の下方に移動することにより、移動部１２０はワークの主面の法線方向に沿って連絡搬送部１１０Ｂまでワークを移動させる。図４（ａ）、図４（ｂ）、図４（ｃ）および図４（ｄ）は、本発明の実施形態に係るワーク搬送装置１００の側面図である。 Hereinafter, the operation for moving the workpiece W coming from another route to the transfer route will be described with reference to FIG. When the moving unit 120 moves from the separation position to below the transfer position, the moving unit 120 moves the work to the contact transfer unit 110B along the normal direction of the main surface of the work. 4 (a), 4 (b), 4 (c), and 4 (d) are side views of the workpiece transfer apparatus 100 according to the embodiment of the present invention.
　ワーク搬送装置１００は、ワークＷ０、ワークＷ１、ワークＷ２、ワークＷ３を搬送する。 Work transfer device 100 transfers work W0, work W1, work W2, and work W3.
　図４（ａ）は、移動部１２０が離間位置にある状態を示す。移動部１２０の上部には、別の経路から搬送されたワークＷ１が載置されている。ワークＷ０は、ワークＷ１より下流に位置している。ワークＷ２はワークＷ１より上流に位置している。 FIG. 4A shows a state where the moving unit 120 is in the separated position. On the upper part of the moving unit 120, a work W1 conveyed from another route is placed. The workpiece W0 is located downstream from the workpiece W1. The workpiece W2 is located upstream from the workpiece W1.
　図４（ｂ）に示すように、ワークＷ１が離間位置にある状態で、移動部１２０がワークＷ１を連絡搬送部１１０Ｂまで移動させる前に、連絡搬送部１１０Ｂは、ワークＷ２がワークＷ１の下方の搬送位置を通過するようにワークＷ２を第２搬送部１１０Ｃへと搬送する。 As shown in FIG. 4B, before the moving unit 120 moves the work W1 to the contact transport unit 110B in a state where the work W1 is in the separated position, the contact transport unit 110B has the work W2 below the work W1. The workpiece W2 is transferred to the second transfer unit 110C so as to pass through the transfer position.
　図４（ｃ）に示すように、移動部１２０が搬送位置に移動することにより、ワークＷ１は連絡搬送部１１０Ｂに置かれ、ワークＷ１は連絡搬送部１１０Ｂで搬送されていく。ワークＷ２は、第２搬送部１１０Ｃよって図４（ｂ）で示すワークＷ２の位置よりさらに下流に搬送されている。 As shown in FIG. 4C, when the moving unit 120 moves to the transfer position, the work W1 is placed on the contact transfer unit 110B, and the work W1 is transferred by the contact transfer unit 110B. The workpiece W2 is conveyed further downstream than the position of the workpiece W2 shown in FIG. 4B by the second conveyance unit 110C.
　ワークＷ４（図示せず）は別の経路から搬送され、ワークＷ１の次に離間位置に流れてくる。図４（ｄ）に示すように、移動部１２０は、ワークＷ４の受け入れのため、搬送位置にワークが流れていないときに、ワークＷ１とワークＷ３の間を通って離間位置に戻る。 Work W4 (not shown) is transported from another route and flows to the separation position next to the work W1. As shown in FIG. 4D, the moving unit 120 returns to the separated position through the space between the work W1 and the work W3 when the work is not flowing to the transfer position for receiving the work W4.
　以上、図４を参照して説明したように、ワーク搬送装置１００では、移動部１２０が、ワークの主面の法線方向に沿って連絡搬送部１１０Ｂまでワークを移動させる。移動部１２０がワークＷ１を連絡搬送部１１０Ｂまで移動させる前に、連絡搬送部１１０Ｂは、第１搬送部１１０Ａによって搬送された第２ワークを第２搬送部１１０Ｃへと搬送する。したがって、ワークを別の経路から移送する際に、ワークの流動が停滞する可能性を低減する。 As described above with reference to FIG. 4, in the workpiece transfer device 100, the moving unit 120 moves the workpiece to the contact transfer unit 110 </ b> B along the normal direction of the main surface of the workpiece. Before the moving unit 120 moves the workpiece W1 to the contact conveyance unit 110B, the communication conveyance unit 110B conveys the second workpiece conveyed by the first conveyance unit 110A to the second conveyance unit 110C. Therefore, when transferring a workpiece | work from another path | route, possibility that the flow of a workpiece | work will stagnate is reduced.
　なお、移動部１２０を複数の移動部分に分離させることも可能である。図５を参照して本発明による他の実施形態に係るワーク搬送装置１００を説明する。 It should be noted that the moving unit 120 can be separated into a plurality of moving parts. With reference to FIG. 5, the workpiece conveyance apparatus 100 which concerns on other embodiment by this invention is demonstrated.
　移動部１２０は、複数の分離移動部を有する。図５に示す移動部１２０は、第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とを有している。本実施形態に係るワーク搬送装置１００は、移動部１２０が複数の分離移動部を有する点を除いて、図１を参照して説明したワーク搬送装置１００と同様な構成を有するため、重複部分については説明を省略する。 The moving unit 120 has a plurality of separation moving units. The moving unit 120 illustrated in FIG. 5 includes a first separation moving unit 121, a second separation moving unit 122, and a third separation moving unit 123. Since the workpiece transfer apparatus 100 according to the present embodiment has the same configuration as the workpiece transfer apparatus 100 described with reference to FIG. 1 except that the moving unit 120 includes a plurality of separation moving units, the overlapping portion is described. Will not be described.
　第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とは、それぞれ独立して、搬送位置と離間位置との間を移動可能である。ワークＷを移動部１２０の上部に載せた状態で搬送位置と離間位置との間を移動する場合は、第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とは、それぞれの高さが各時刻で同じになるように同じタイミングで搬送位置と離間位置との間を移動する。従って、移動部１２０の上部に載っているワークＷが、移動部１２０から落ちたり、歪むことにより割れたりすることを防ぐことができる。 The first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 are independently movable between the transport position and the separation position. When the workpiece W is moved between the transfer position and the separation position with the workpiece W placed on the upper part of the moving unit 120, the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 are: It moves between the transport position and the separation position at the same timing so that the respective heights are the same at each time. Therefore, it is possible to prevent the workpiece W placed on the upper part of the moving unit 120 from falling from the moving unit 120 or cracking due to distortion.
　ワークＷを移動部１２０の上部に載せていない状態で搬送位置と離間位置との間を移動する場合は、第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とは、個別に搬送位置と離間位置との間を移動することが可能である。これにより、ワークの搬送の自由度を上げることができる。 When the workpiece W is not placed on the upper part of the moving unit 120 and moves between the transfer position and the separation position, the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 are It is possible to individually move between the transport position and the separation position. Thereby, the freedom degree of conveyance of a workpiece | work can be raised.
　以下、搬送ユニット１１０に搬送されているワークＷを搬送経路から分岐した別の経路に移動させるための動作を説明する。図６を参照して本実施形態に係るワーク搬送装置１００の移動部１２０の移動を説明する。移動部１２０は搬送位置の下方から離間位置に移動することにより、移動部１２０はワークの主面の法線方向に沿って連絡搬送部１１０Ｂからワークを移動させる。図６（ａ）、図６（ｃ）および図６（ｅ）は、本実施形態に係るワーク搬送装置１００の側面図である。図６（ｂ）、図６（ｄ）および図６（ｆ）は、図６（ａ）、図６（ｃ）および図６（ｅ）にそれぞれ対応した本実施形態に係るワーク搬送装置１００の正面図である。 Hereinafter, an operation for moving the workpiece W transported to the transport unit 110 to another path branched from the transport path will be described. With reference to FIG. 6, the movement of the movement part 120 of the workpiece conveyance apparatus 100 which concerns on this embodiment is demonstrated. The moving unit 120 moves from the lower part of the conveying position to the separated position, so that the moving unit 120 moves the workpiece from the communication conveying unit 110B along the normal direction of the main surface of the workpiece. FIGS. 6A, 6C, and 6E are side views of the workpiece transfer apparatus 100 according to the present embodiment. 6 (b), 6 (d) and 6 (f) show the workpiece transfer apparatus 100 according to the present embodiment corresponding to FIGS. 6 (a), 6 (c) and 6 (e), respectively. It is a front view.
　ワーク搬送装置１００は、ワークＷ０、ワークＷ１、ワークＷ２、ワークＷ３をワークＷ０、ワークＷ１、ワークＷ２、ワークＷ３の順番に搬送する。 Work transfer device 100 transfers work W0, work W1, work W2, and work W3 in the order of work W0, work W1, work W2, and work W3.
　図６（ａ）、図６（ｂ）に示すように、連絡搬送部１１０ＢはワークＷ１を搬送位置に搬送する。ワークＷ０は、ワークＷ１より下流に位置している。ワークＷ２はワークＷ１より上流に位置している。 As shown in FIGS. 6A and 6B, the communication transfer unit 110B transfers the workpiece W1 to the transfer position. The workpiece W0 is located downstream from the workpiece W1. The workpiece W2 is located upstream from the workpiece W1.
　図６（ｃ）、図６（ｄ）に示すように、第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とが、それぞれの高さが各時刻で同じになるように同じタイミングで上昇することにより、搬送位置にあるワークＷ１を離間位置まで移動させる。その後、ワークＷ１は、別の経路に移送される。ワークＷ２は、第１搬送部１１０Ａによって図６（ａ）、図６（ｂ）で示すワークＷ２の位置よりさらに下流に搬送され、搬送位置の直前に位置している。 As shown in FIGS. 6C and 6D, the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 have the same height at each time. In this way, the workpiece W1 at the transfer position is moved to the separation position by ascending at the same timing. Thereafter, the workpiece W1 is transferred to another route. The work W2 is transported further downstream than the position of the work W2 shown in FIGS. 6A and 6B by the first transport unit 110A, and is positioned immediately before the transport position.
　図６（ｅ）、図６（ｆ）に示すように、移動部１２０がワークＷ１を移動させた後、ワークＷ２の後端が第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とのそれぞれに対応する搬送位置を通過後に、第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とは、ワークＷ２とワークＷ３の隙間を通って、連絡搬送部１１０Ｂに向かう方向に個別に移動して、離間位置から搬送位置の下方へ戻る。ワークＷ２が分離移動部のそれぞれに対応する搬送位置を通過後ワークＷ３が分離移動部のそれぞれに対応する搬送位置に到達するまでの間に、第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とは、搬送位置の下方に向けて下降していく。 As shown in FIGS. 6E and 6F, after the moving unit 120 moves the workpiece W1, the rear end of the workpiece W2 is moved to the first separation moving unit 121, the second separation moving unit 122, and the third. After passing through the transport positions corresponding to each of the separation movement unit 123, the first separation movement unit 121, the second separation movement unit 122, and the third separation movement unit 123 pass through the gap between the workpiece W2 and the workpiece W3, It individually moves in the direction toward the contact conveyance unit 110B, and returns from the separation position to the lower position of the conveyance position. The first separation moving unit 121 and the second separation moving unit 122 after the workpiece W2 passes through the conveyance positions corresponding to each of the separation moving units and before the workpiece W3 reaches the conveyance position corresponding to each of the separation movement units. And the 3rd separation movement part 123 descends toward the lower part of a conveyance position.
　図６（ｅ）において、第１分離移動部１２１は、移動が完了し搬送位置の下方に戻っている。図６（ｅ）において、第２分離移動部１２２は、搬送位置の下方へ移動中である。図６（ｅ）において、ワークＷ２は第３分離移動部１２３に対応する搬送位置を通過中である。第３分離移動部１２３は、ワークＷ２の後端が第３分離移動部１２３に対応する搬送位置を通過後に、搬送位置の下方への移動を開始する。その後、全ての分離移動部の搬送位置の下方への移動が完了し、図６（ａ）に示す位置に戻る。 In FIG. 6E, the first separation moving unit 121 has been moved and returned to the lower position of the transport position. In FIG. 6E, the second separation moving unit 122 is moving below the transport position. In FIG. 6 (e), the workpiece W <b> 2 is passing the transport position corresponding to the third separation moving unit 123. The third separating / moving unit 123 starts to move downward from the conveying position after the rear end of the workpiece W2 has passed the conveying position corresponding to the third separating / moving unit 123. Thereafter, the downward movement of the transfer position of all the separation moving units is completed, and the position returns to the position shown in FIG.
　図６を参照して説明したように、本実施形態のワーク搬送装置１００によれば、第１ワークを移動させた後に、第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とは連絡搬送部１１０Ｂに向かう方向に個別に移動して、離間位置から搬送位置の下方に移動することができる。したがって、ワークとワークとの間隔は、分離移動部１つ分を移動させる間隔であればよく、ワークの流動間隔を短くすることができる。その結果、ライン全体の生産能力を増大することが可能となる。 As described with reference to FIG. 6, according to the workpiece transfer apparatus 100 of the present embodiment, the first separation moving unit 121, the second separation moving unit 122, and the third separation movement are performed after the first workpiece is moved. The unit 123 can be individually moved in the direction toward the communication conveyance unit 110B, and can be moved from the separation position to the conveyance position below. Therefore, the interval between the workpieces may be an interval for moving one separation moving unit, and the workpiece flow interval can be shortened. As a result, the production capacity of the entire line can be increased.
　以下に、別の経路から流れて来たワークＷを搬送経路に移動させるための動作を説明する。図７を参照して本実施形態によるワーク搬送装置１００の移動を説明する。移動部１２０は離間位置から搬送位置の下方に移動することにより、移動部１２０はワークの主面の法線方向に沿って連絡搬送部１１０Ｂまでワークを移動させる。図７（ａ）、図７（ｂ）、図７（ｃ）および図７（ｄ）は、本実施形態に係るワーク搬送装置１００の側面図である。ワーク搬送装置１００は、ワークＷ１、ワークＷ２、ワークＷ３、ワークＷ４を搬送する。 Hereinafter, an operation for moving the workpiece W flowing from another route to the transfer route will be described. The movement of the workpiece transfer apparatus 100 according to the present embodiment will be described with reference to FIG. When the moving unit 120 moves from the separation position to below the transfer position, the moving unit 120 moves the work to the contact transfer unit 110B along the normal direction of the main surface of the work. FIG. 7A, FIG. 7B, FIG. 7C, and FIG. 7D are side views of the workpiece transfer apparatus 100 according to the present embodiment. The workpiece conveyance device 100 conveys the workpiece W1, the workpiece W2, the workpiece W3, and the workpiece W4.
　図７（ａ）は、第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とが離間位置にある状態を示す。第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３との上部には、別の経路から搬送されたワークＷ１が載置されている。 FIG. 7A shows a state in which the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 are in the separated positions. On the upper part of the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123, a work W1 conveyed from another path is placed.
　図７（ｂ）に示すように、ワークＷ１が離間位置にある状態で、連絡搬送部１１０Ｂは、ワークＷ１の下方の搬送位置をワークＷ２が通過するようにワークＷ２を第２搬送部１１０Ｃへと搬送する。 As shown in FIG. 7B, in a state where the work W1 is in the separated position, the communication transport unit 110B moves the work W2 to the second transport unit 110C so that the work W2 passes through the transport position below the work W1. And carry.
　図７（ｃ）に示すように、第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とが、それぞれの高さが各時刻で同じになるように同じタイミングで下降することにより、離間位置にあるワークＷ１を搬送位置まで移動させる。第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とが搬送位置の下方に移動することにより、ワークＷ１は連絡搬送部１１０Ｂに置かれ、ワークＷ１は連絡搬送部１１０Ｂで搬送されていく。 As shown in FIG. 7C, the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 descend at the same timing so that their heights are the same at each time. By doing so, the workpiece W1 in the separated position is moved to the transfer position. When the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 move below the transfer position, the workpiece W1 is placed on the contact transfer unit 110B, and the work W1 is connected to the contact transfer unit 110B. It is transported by.
　図７（ｄ）に示すように、移動部１２０がワークＷ１を移動させた後、ワークＷ３の後端が第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とのそれぞれに対応する搬送位置を通過後に、第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とは、ワークＷ３とワークＷ４との隙間を通って、連絡搬送部１１０Ｂから離れる方向に個別に移動して、搬送位置の下方から離間位置へ戻る。分離移動部のそれぞれは、ワークＷ３が分離移動部のそれぞれに対応する搬送位置を通過後ワークＷ４がそれぞれの分離移動部の搬送位置に到達するまでの間に、離間位置に向けて上昇していく。 As shown in FIG. 7D, after the moving unit 120 moves the workpiece W <b> 1, the rear end of the workpiece W <b> 3 is the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123. After passing through the corresponding transfer positions, the first separation movement unit 121, the second separation movement unit 122, and the third separation movement unit 123 pass through the gap between the workpiece W3 and the workpiece W4, from the communication conveyance unit 110B. It moves individually in the direction of separation and returns from the lower side of the transport position to the separation position. Each of the separation moving units rises toward the separation position until the workpiece W4 reaches the conveyance position of each separation moving unit after the workpiece W3 passes the conveyance position corresponding to each of the separation movement units. Go.
　図７（ｄ）において、第１分離移動部１２１の移動が完了し第１分離移動部１２１が離間位置に戻っている。図７（ｄ）において、第２分離移動部１２２は、離間位置へ移動している途中である。図７（ｄ）において、ワークＷ３が第３分離移動部１２３の上方を通過中である。第３分離移動部１２３は、ワークＷ３の後端が通過後に離間位置への移動を開始する。その後、全ての分離移動部の搬送位置への移動が完了し、第１分離移動部１２１、第２分離移動部１２２、および第３分離移動部１２３は図７（ａ）で示した位置に戻る。ワークＷ５（図示せず）は別の経路から搬送され、ワークＷ１の次に離間位置に流れてくる。ワークＷ５が移動部１２０の上部に載置されるまで移動部１２０は離間位置で待機する。 7D, the movement of the first separation moving unit 121 is completed, and the first separation moving unit 121 has returned to the separation position. In FIG. 7D, the second separation moving unit 122 is in the process of moving to the separation position. In FIG. 7D, the workpiece W3 is passing over the third separation moving unit 123. The third separation moving unit 123 starts moving to the separation position after the rear end of the work W3 has passed. Thereafter, the movement of all the separation movement units to the transport position is completed, and the first separation movement unit 121, the second separation movement unit 122, and the third separation movement unit 123 return to the positions shown in FIG. . The workpiece W5 (not shown) is conveyed from another path, and flows to the separation position next to the workpiece W1. The moving unit 120 waits at the separated position until the workpiece W5 is placed on the moving unit 120.
　図７を参照して説明したように、ワーク搬送装置１００において、第１ワークを移動させた後に、第１分離移動部１２１と第２分離移動部１２２と第３分離移動部１２３とは連絡搬送部１１０Ｂから離れる方向に個別に移動して、搬送位置の下方から離間位置へ移動することができる。したがって、ワークとワークとの間隔は、分離移動部１つ分を移動させる間隔であればよく、ワークの流動間隔を短くすることができる。その結果、ライン全体の生産能力を増大することが可能となる。 As described with reference to FIG. 7, after the first workpiece is moved in the workpiece transfer device 100, the first separation moving unit 121, the second separation moving unit 122, and the third separation moving unit 123 communicate with each other. It is possible to individually move in the direction away from the section 110B and move from below the transport position to the separation position. Therefore, the interval between the workpieces may be an interval for moving one separation moving unit, and the workpiece flow interval can be shortened. As a result, the production capacity of the entire line can be increased.
　なお、図１と図５を参照して説明したワーク搬送装置１００では、ワークＷの主面の法線方向が垂直方向になるようにワークＷを搬送したが、ワークＷの主面の法線方向が水平方向になるようにワークＷを搬送してもよい。その際移動部１２０は上下移動ではなく水平移動する。 In the workpiece transfer apparatus 100 described with reference to FIGS. 1 and 5, the workpiece W is transferred such that the normal direction of the main surface of the workpiece W is a vertical direction. You may convey the workpiece | work W so that a direction may become a horizontal direction. At that time, the moving unit 120 moves horizontally instead of moving up and down.
　図８（ａ）と図８（ｂ）とは、ワーク搬送装置１００の移動部１２０の形状を示す模式図である。図８（ａ）と図８（ｂ）とを参照してワーク搬送装置１００の移動部１２０の形状を説明する。 FIG. 8A and FIG. 8B are schematic diagrams illustrating the shape of the moving unit 120 of the workpiece transfer apparatus 100. With reference to FIG. 8A and FIG. 8B, the shape of the moving unit 120 of the workpiece transfer apparatus 100 will be described.
　移動部１２０は、接触部１２４と連結部１２５と双方向変化部１２６とを備える。接触部１２４は、ワークＷの主面の一方と接触する。連結部１２５は、接触部１２４と連結する。 The moving unit 120 includes a contact unit 124, a connecting unit 125, and a bidirectional changing unit 126. The contact portion 124 is in contact with one of the main surfaces of the workpiece W. The connecting part 125 is connected to the contact part 124.
　双方向変化部１２６は、連結部１２５を介して接触部１２４と連結している。双方向変化部１２６は、接触部１２４と連結部１２５とを移動させることにより、接触部１２４を搬送位置と離間位置の間で移動させる。双方向変化部１２６は、例えば、シリンダーやサーボモータである。接触部１２４と連結部１２５とで移動部１２０の内周が形成されている。ワークＷは移動部１２０の内周の内側を通過可能である。したがって、移動部１２０が離間位置にある間にも、後続のワークＷが移動部１２０の内周の内側を通過することができ、ワークＷの流動が停滞する可能性を低減する。 The bidirectional changing part 126 is connected to the contact part 124 via the connecting part 125. The bidirectional changing unit 126 moves the contact unit 124 between the transport position and the separation position by moving the contact unit 124 and the coupling unit 125. The bidirectional change unit 126 is, for example, a cylinder or a servo motor. The contact part 124 and the connecting part 125 form the inner periphery of the moving part 120. The workpiece W can pass inside the inner periphery of the moving unit 120. Accordingly, even when the moving unit 120 is in the separated position, the subsequent workpiece W can pass inside the inner periphery of the moving unit 120, and the possibility that the flow of the workpiece W is stagnated is reduced.
　図８（ａ）に示す移動部１２０は門型の形状をしており、図８（ｂ）に示す移動部１２０はＬ型の形状をしている。移動部１２０が離間位置にあるときに、搬送位置をワークＷが通過可能であれば、移動部１２０の形状は、図８（ａ）に示す門型の形状や図８（ｂ）に示すＬ型の形状に限定されない。 The moving unit 120 shown in FIG. 8A has a gate shape, and the moving unit 120 shown in FIG. 8B has an L shape. If the workpiece W can pass through the transfer position when the moving unit 120 is in the separated position, the shape of the moving unit 120 may be the portal shape shown in FIG. 8A or L shown in FIG. 8B. It is not limited to the shape of the mold.
　図１で説明したワーク搬送装置１００の搬送ユニット１１０は複数のローラー１１０ａを有していたが、搬送ユニット１１０を複数のローラー１１０ａの代わりにベルトコンベアで構成することも可能である。 Although the transport unit 110 of the workpiece transport apparatus 100 described in FIG. 1 has a plurality of rollers 110a, the transport unit 110 may be configured by a belt conveyor instead of the plurality of rollers 110a.
　図９は、更に他の実施形態に係るワーク搬送装置１００を示す模式図である。図９を参照して更に他の実施形態に係るワーク搬送装置１００を説明する。 FIG. 9 is a schematic diagram showing a workpiece transfer apparatus 100 according to still another embodiment. With reference to FIG. 9, the workpiece conveyance apparatus 100 which concerns on other embodiment is demonstrated.
　本実施形態に係るワーク搬送装置１００の搬送ユニット１１０は、ベルトコンベア１１０ｂである。ワーク搬送装置１００は、搬送ユニット１１０がベルトコンベア１１０ｂである点を除いて、図１を参照して説明したワーク搬送装置１００と同様な構成を有するため、重複部分については説明を省略する。連絡搬送部１１０Ｂは、連絡搬送部１１０Ｂの上流側の端部１１０Ｂ３で第１搬送部１１０Ａと連絡しており、連絡搬送部１１０Ｂの下流側の端部１１０Ｂ４で第２搬送部１１０Ｃと連絡している。 The transfer unit 110 of the workpiece transfer apparatus 100 according to the present embodiment is a belt conveyor 110b. Since the workpiece transfer apparatus 100 has the same configuration as the workpiece transfer apparatus 100 described with reference to FIG. 1 except that the transfer unit 110 is a belt conveyor 110b, the description of overlapping portions is omitted. The communication conveyance unit 110B communicates with the first conveyance unit 110A at the upstream end 110B3 of the communication conveyance unit 110B, and communicates with the second conveyance unit 110C at the downstream end 110B4 of the communication conveyance unit 110B. Yes.
　ベルトコンベア１１０ｂは、移動部１２０に接触しないように、移動部１２０の部分が凹んでいる形状となっている。この凹んでいる箇所の幅はワークＷが搬送されたときに落下しない程度の幅である。搬送ユニット１１０はベルトコンベア１１０ｂの曲がり角にローラー１１０ｃを備える。 The belt conveyor 110b has a shape in which a portion of the moving unit 120 is recessed so as not to contact the moving unit 120. The width of the recessed portion is a width that does not drop when the workpiece W is conveyed. The conveyance unit 110 includes a roller 110c at a corner of the belt conveyor 110b.
　図１０は、更に他の実施形態に係るワーク搬送装置１００を示す模式図である。図１０を参照して更に他の実施形態に係るワーク搬送装置１００を説明する。図１０（ａ）は、移動部１２０が搬送位置にある状態を示す模式図であり、図１０（ｂ）は、移動部１２０が離間位置にある状態を示す模式図である。離間位置は、搬送位置から離れた位置にある。 FIG. 10 is a schematic diagram showing a workpiece transfer apparatus 100 according to still another embodiment. A workpiece transfer apparatus 100 according to still another embodiment will be described with reference to FIG. FIG. 10A is a schematic diagram illustrating a state where the moving unit 120 is in the transport position, and FIG. 10B is a schematic diagram illustrating a state where the moving unit 120 is in the separated position. The separation position is a position away from the transport position.
　移動部１２０は、複数の分離移動部を有する。移動部１２０は、第１分離移動部１２７と第２分離移動部１２８と第３分離移動部１２９とを有している。第１分離移動部１２７は土台１４４に回転軸１４１で連結されている。第２分離移動部１２８は土台１４４に回転軸１４２で連結されている。第３分離移動部１２９は土台１４４に回転軸１４３で連結されている。ワーク搬送装置１００は、第１分離移動部１２７を回転軸１４１の回りに所定の傾斜角度に回動させることができる。ワーク搬送装置１００は、第２分離移動部１２８を回転軸１４２の回りに所定の傾斜角度に回動させることができる。ワーク搬送装置１００は、第３分離移動部１２９を回転軸１４３の回りに所定の傾斜角度に回動させることができる。 The moving unit 120 has a plurality of separation moving units. The moving unit 120 includes a first separating / moving unit 127, a second separating / moving unit 128, and a third separating / moving unit 129. The first separating / moving unit 127 is connected to the base 144 by a rotating shaft 141. The second separating / moving unit 128 is connected to the base 144 by a rotating shaft 142. The third separating / moving unit 129 is connected to the base 144 by a rotation shaft 143. The workpiece conveyance device 100 can rotate the first separation moving unit 127 around the rotation shaft 141 at a predetermined inclination angle. The workpiece conveyance device 100 can rotate the second separation moving unit 128 around the rotation shaft 142 at a predetermined inclination angle. The workpiece transfer apparatus 100 can rotate the third separation moving unit 129 around the rotation shaft 143 at a predetermined inclination angle.
　第１分離移動部１２７と第２分離移動部１２８と第３分離移動部１２９とを、それぞれ独立して、搬送位置と離間位置との間を所定の傾斜角度に回動させることにより、第１分離移動部１２７と第２分離移動部１２８と第３分離移動部１２９とは移動可能である。これにより、主面の法線方向を垂直方向に維持しながら搬送されているワークＷを、主面の法線方向を水平に維持しながら搬送するように変更することができるため、ワークの搬送の自由度を上げることができる。 The first separation moving unit 127, the second separation moving unit 128, and the third separation moving unit 129 are each independently rotated by a predetermined inclination angle between the transport position and the separation position. The separation movement unit 127, the second separation movement unit 128, and the third separation movement unit 129 are movable. Accordingly, the workpiece W being conveyed while maintaining the normal direction of the main surface in the vertical direction can be changed to be conveyed while maintaining the normal direction of the main surface in the horizontal direction. Can increase the degree of freedom.
　主面の法線方向を垂直方向に維持しながら搬送されているワークＷを、主面の法線方向を水平に維持しながら搬送するように変更して別の経路に移動させるための動作を以下説明する。図１１を参照して本発明によるワーク搬送装置１００の移動部１２０の搬送位置から離間位置への移動を説明する。図１１（ａ）、図１１（ｂ）および図１１（ｃ）は、本発明の更に他の実施形態に係るワーク搬送装置１００の側面図である。 The operation for changing the work W being transported while maintaining the normal direction of the main surface to the vertical direction so that the work W is transported while maintaining the normal direction of the main surface to be horizontal and moving to another path is performed. This will be described below. With reference to FIG. 11, the movement of the moving unit 120 of the workpiece transfer apparatus 100 according to the present invention from the transfer position to the separation position will be described. FIG. 11A, FIG. 11B, and FIG. 11C are side views of a workpiece transfer apparatus 100 according to still another embodiment of the present invention.
　ワーク搬送装置１００は、ワークＷ０、ワークＷ１、ワークＷ２、ワークＷ３をワークＷ０、ワークＷ１、ワークＷ２、ワークＷ３の順番に搬送する。 Work transfer device 100 transfers work W0, work W1, work W2, and work W3 in the order of work W0, work W1, work W2, and work W3.
　図１１（ａ）に示すように、第１搬送部１１０Ａおよび連絡搬送部１１０ＢはワークＷ１を搬送位置に搬送する。ワークＷ０は、ワークＷ１より下流に位置している。ワークＷ２はワークＷ１より上流に位置している。 As shown in FIG. 11A, the first transport unit 110A and the contact transport unit 110B transport the workpiece W1 to the transport position. The workpiece W0 is located downstream from the workpiece W1. The workpiece W2 is located upstream from the workpiece W1.
　図１１（ｂ）に示すように、第１分離移動部１２７と第２分離移動部１２８と第３分離移動部１２９とのそれぞれの傾斜角度が各時刻で同じになるように同じタイミングで第１分離移動部１２７、第２分離移動部１２８および第３分離移動部１２９が回動することにより、搬送位置にあるワークＷ１を離間位置まで移動させる。その後、ワークＷ１は、別の経路に移送される。本実施形態における離間位置は、ワークの主面の法線方向が水平になる方向である。 As shown in FIG. 11 (b), the first separation moving unit 127, the second separation moving unit 128, and the third separation moving unit 129 are the first at the same timing so that the respective inclination angles are the same at each time. The separation moving unit 127, the second separation moving unit 128, and the third separation moving unit 129 rotate to move the workpiece W1 at the transport position to the separation position. Thereafter, the workpiece W1 is transferred to another route. The separation position in the present embodiment is a direction in which the normal direction of the main surface of the workpiece is horizontal.
　図１１（ｃ）に示すように、第１分離移動部１２７と第２分離移動部１２８と第３分離移動部１２９とは、ワークＷ２の後端が第１分離移動部１２７と第２分離移動部１２８と第３分離移動部１２９とのそれぞれに対応する搬送位置を通過後に、ワークＷ２とワークＷ３との隙間を通って、個別に離間位置から搬送位置へ戻る。ワークＷ２が分離移動部のそれぞれに対応する搬送位置を通過後、ワークＷ３が分離移動部のそれぞれに対応する搬送位置に到達するまでの間に、分離移動部は搬送位置の下部に向けて回動していく。 As shown in FIG. 11C, the first separation moving unit 127, the second separation moving unit 128, and the third separation moving unit 129 are configured such that the rear end of the work W2 is separated from the first separation moving unit 127 and the second separation moving unit. After passing through the transfer positions corresponding to each of the part 128 and the third separation moving part 129, it individually returns from the separation position to the transfer position through the gap between the work W2 and the work W3. After the workpiece W2 passes through the transfer position corresponding to each of the separation moving units, the separation movement unit rotates toward the lower portion of the transfer position until the workpiece W3 reaches the transfer position corresponding to each of the separation movement units. It moves.
　図１１（ｃ）において、第１分離移動部１２７の移動が完了し第１分離移動部１２７が搬送位置に戻っている。図１１（ｃ）において、第２分離移動部１２８は、搬送位置へ移動中である。図１１（ｃ）において、ワークＷ２が第３分離移動部１２９の横を通過中である。第３分離移動部１２９は、ワークＷ２の後端が第３分離移動部１２９に対応する搬送位置を通過後に搬送位置への移動を開始する。その後、全ての分離移動部に対応する搬送位置への移動が完了し、第１分離移動部１２７、第２分離移動部１２８および第３分離移動部１２９は図１１（ａ）に示す位置に戻る。なお、主面の法線方向を水平方向に維持しながら搬送されているワークＷを、主面の法線方向を垂直に維持しながら搬送するように変更して、別の経路に移動させる動作も可能である。 In FIG. 11C, the movement of the first separation moving unit 127 is completed, and the first separation moving unit 127 has returned to the transport position. In FIG. 11C, the second separation moving unit 128 is moving to the transport position. In FIG. 11C, the workpiece W2 is passing by the side of the third separation moving unit 129. The third separation movement unit 129 starts to move to the conveyance position after the rear end of the workpiece W2 passes through the conveyance position corresponding to the third separation movement unit 129. Thereafter, the movement to the transfer positions corresponding to all the separation movement units is completed, and the first separation movement unit 127, the second separation movement unit 128, and the third separation movement unit 129 return to the positions shown in FIG. . Note that the work W being transported while maintaining the normal direction of the main surface in the horizontal direction is changed so as to be transported while maintaining the normal direction of the main surface to be vertical, and moved to another path. Is also possible.
　図１２は、搬送経路から別の経路への移送方法を示す模式図である。図１２を参照して別の経路への移送方法を説明する。 FIG. 12 is a schematic diagram showing a transfer method from the transport route to another route. A transfer method to another route will be described with reference to FIG.
　分岐部１５１では、６軸垂直多関節ロボット１６０は離間位置にあるワークＷを別の経路に移送する。ワークＷの下方に６軸垂直多関節ロボット１６０のアームを挿入して、ワーク下面を真空吸着して別の経路に移送する。 In the branching unit 151, the 6-axis vertical articulated robot 160 transfers the workpiece W in the separated position to another path. The arm of the 6-axis vertical articulated robot 160 is inserted below the workpiece W, and the lower surface of the workpiece is vacuum-sucked and transferred to another path.
　分岐部１５２では、直交型ＸＹロボット１７０は離間位置にあるワークＷを別の経路に移送する。直交型ＸＹロボット１７０のアームをワークＷの下に挿入してワーク下面をすくって別の経路に移送する。 In the branching section 152, the orthogonal XY robot 170 transfers the workpiece W at the separated position to another path. The arm of the orthogonal XY robot 170 is inserted under the workpiece W, and the lower surface of the workpiece is scooped and transferred to another path.
　分岐部１５３では、移動部１８０がコンベアになっている。移動部１８０は駆動ローラーを内蔵している。移動部１８０が搬送位置にあるときは、駆動ローラーは回転しない。移動部１８０が離間位置にあるときに駆動ローラーが回転し、ワークＷを別の経路へ移送する。 In the branch part 153, the moving part 180 is a conveyor. The moving unit 180 has a built-in driving roller. When the moving unit 180 is at the transport position, the drive roller does not rotate. When the moving unit 180 is in the separated position, the driving roller rotates and transfers the workpiece W to another path.
　図１３は、本発明の実施形態に係るワーク搬送システム３００を示す模式図である。本実施形態に係るワーク搬送システム３００は、複数のワーク搬送装置（ワーク搬送装置２０１～ワーク搬送装置２０８）を備える。ワーク搬送装置２０１～ワーク搬送装置２０８はそれぞれ、移動部（移動部２２１～移動部２２８）と連絡搬送部（連絡搬送部２１１～連絡搬送部２１８）と搬送部（搬送部２５１～搬送部２６０）とを有する。 FIG. 13 is a schematic diagram showing a workpiece transfer system 300 according to an embodiment of the present invention. The workpiece transfer system 300 according to the present embodiment includes a plurality of workpiece transfer devices (the workpiece transfer device 201 to the workpiece transfer device 208). The work transfer device 201 to the work transfer device 208 are respectively a moving unit (moving unit 221 to moving unit 228), a contact transfer unit (contact transfer unit 211 to contact transfer unit 218), and a transfer unit (transfer unit 251 to transfer unit 260). And have.
　搬送部２５１は、ワーク搬送装置２０１の第１搬送部である。搬送部２５６は、ワーク搬送装置２０５の第２搬送部である。搬送部２５７は、ワーク搬送装置２０６の第１搬送部である。搬送部２６０は、ワーク搬送装置２０８の第２搬送部である。搬送部２５２、搬送部２５３、搬送部２５４、搬送部２５５、搬送部２５８および搬送部２５９は、それぞれの搬送部の上流側の１番近いワーク搬送装置にとっては第２搬送部であり、それぞれの搬送部の下流側の１番近いワーク搬送装置にとっては第１搬送部である。例えば、搬送部２５２は、上流側の１番近いワーク搬送装置２０１にとっては第２搬送部であり、下流側の１番近いワーク搬送装置２０２にとっては第１搬送部である。ワーク搬送システム３００は、さらに搬送部２１９ａ、搬送部２１９ｂおよび搬送部２１９ｃを備える。 The transfer unit 251 is a first transfer unit of the work transfer device 201. The transport unit 256 is a second transport unit of the work transport device 205. The transport unit 257 is a first transport unit of the work transport device 206. The transport unit 260 is a second transport unit of the work transport device 208. The transport unit 252, the transport unit 253, the transport unit 254, the transport unit 255, the transport unit 258, and the transport unit 259 are second transport units for the closest work transport device on the upstream side of each transport unit. This is the first transfer unit for the closest workpiece transfer device on the downstream side of the transfer unit. For example, the transport unit 252 is a second transport unit for the work transport device 201 closest to the upstream side, and a first transport unit for the work transport device 202 closest to the downstream side. The workpiece transfer system 300 further includes a transfer unit 219a, a transfer unit 219b, and a transfer unit 219c.
　ワーク搬送システム３００は、処理装置２４１と処理装置２４２と処理装置２４３とを備え、搬送部２１９ａ、搬送部２１９ｂ、および搬送部２１９ｃに、それぞれ設けられている。処理装置２４１と処理装置２４２と処理装置２４３とは、例えば、ワークＷの検査処理装置である。複数の処理装置を設けることにより、全体のタクトタイムが短くなる。搬送部２５１～搬送部２５６と搬送部２５７～搬送部２６０とのタクトタイムは例えば１０秒／枚であり、処理装置２４１と処理装置２４２と処理装置２４３のタクトタイムは例えば３０秒／枚である。 The workpiece transfer system 300 includes a processing device 241, a processing device 242, and a processing device 243, and is provided in each of the transfer unit 219a, the transfer unit 219b, and the transfer unit 219c. The processing device 241, the processing device 242, and the processing device 243 are, for example, workpiece W inspection processing devices. By providing a plurality of processing devices, the overall tact time is shortened. The tact times of the transport unit 251 to the transport unit 256 and the transport unit 257 to the transport unit 260 are, for example, 10 seconds / sheet, and the tact times of the processing device 241, the processing device 242, and the processing device 243 are, for example, 30 seconds / sheet. .
　移動部２２１は隣接して６軸垂直多関節ロボット２３０が設けられている。６軸垂直多関節ロボット２３０は、別の経路（図示せず）から流れて来たワークＷを移動部２２１に載せることにより、搬送部２５１～搬送部２５６が形成する搬送経路にワークＷを移動させる。 The moving unit 221 is adjacent to a 6-axis vertical articulated robot 230. The 6-axis vertical articulated robot 230 moves the work W to the transport path formed by the transport unit 251 to the transport unit 256 by placing the work W flowing from another path (not shown) on the moving unit 221. Let
　図１３に示すように、ワーク搬送装置２０３において、移動部２２３は離間位置にあり、ワークＷを移動部２２３の上部に載せている（図６（ｃ）も参照）。その後、分岐した別の経路の搬送部２１９ａの方へワークＷは移動され、処理装置２４１で処理される。移動部２２３は離間位置にあるので、後続のワークＷが搬送位置を通過可能である。 As shown in FIG. 13, in the work transfer device 203, the moving unit 223 is in a separated position, and the work W is placed on the upper part of the moving unit 223 (see also FIG. 6C). Thereafter, the workpiece W is moved toward the transport unit 219a on another branched path, and is processed by the processing device 241. Since the moving unit 223 is in the separation position, the subsequent workpiece W can pass through the conveyance position.
　図１３に示すように、ワーク搬送装置２０４において、移動部２２４は離間位置にあり、連絡搬送部２１４はワークＷが搬送位置を通過するように搬送する（図６（ｃ）も参照）。ワークＷが搬送位置を通過後に、移動部２２４は搬送位置の下方まで移動し、次のワークＷが搬送部２５４によって搬送されるまで待機する。 As shown in FIG. 13, in the workpiece transfer device 204, the moving unit 224 is in the separated position, and the communication transfer unit 214 transfers the workpiece W so that it passes through the transfer position (see also FIG. 6C). After the workpiece W passes through the transfer position, the moving unit 224 moves to a position below the transfer position, and waits until the next workpiece W is transferred by the transfer unit 254.
　図１３に示すように、ワーク搬送装置２０５において、移動部２２５は、離間位置にあり、ワークＷを移動部２２５の上部に載せている（図６（ｃ）も参照）。その後、ワークＷは搬送部２１９ｃの方へ移動され、処理装置２４３で処理される。 As shown in FIG. 13, in the workpiece transfer device 205, the moving unit 225 is in the separated position, and the workpiece W is placed on the upper part of the moving unit 225 (see also FIG. 6C). Thereafter, the workpiece W is moved toward the transport unit 219c and processed by the processing device 243.
　図１３に示すように、ワーク搬送装置２０６において、移動部２２６は、離間位置にあり、処理装置で処理済のワークＷを移動部２２６の上部に載せている（図７（ａ）も参照）。その後、移動部２２６が搬送位置に移動することにより、ワークＷは連絡搬送部２１６へ移動して連絡搬送部２１６によって搬送されていく。 As shown in FIG. 13, in the workpiece transfer device 206, the moving unit 226 is in a separated position, and the workpiece W that has been processed by the processing device is placed on top of the moving unit 226 (see also FIG. 7A). . Thereafter, when the moving unit 226 moves to the transfer position, the workpiece W moves to the contact transfer unit 216 and is transferred by the contact transfer unit 216.
　図１３に示すように、ワーク搬送装置２０７において、移動部２２７は、離間位置にあり、ワークＷが搬送位置を通過中である（図７（ｂ）も参照）。その後、移動部２２７は、処理装置２４２で処理が完了したワークＷが離間位置まで搬送されるのを待つ。 As shown in FIG. 13, in the workpiece transfer device 207, the moving unit 227 is in the separated position, and the workpiece W is passing through the transfer position (see also FIG. 7B). Thereafter, the moving unit 227 waits for the workpiece W that has been processed by the processing device 242 to be conveyed to the separation position.
　図１３に示すように、ワーク搬送装置２０８において、移動部２２８は、離間位置にあり、処理装置２４３で処理済のワークＷを移動部２２８の上部に載せている（図７（ａ）も参照）。ワークＷが搬送位置を通過可能であるので、後続のワークＷが搬送位置を通過後、移動部２２６が搬送位置に移動することにより、ワークＷは連絡搬送部２１８へ移動して連絡搬送部２１８によって搬送されていく。 As shown in FIG. 13, in the workpiece transfer device 208, the moving unit 228 is in a separated position, and the workpiece W that has been processed by the processing device 243 is placed on top of the moving unit 228 (see also FIG. 7A). ). Since the workpiece W can pass through the conveyance position, the moving unit 226 moves to the conveyance position after the subsequent workpiece W passes through the conveyance position, so that the workpiece W moves to the communication conveyance unit 218 and moves to the communication conveyance unit 218. It will be conveyed by.
　以上説明したように、図１３を参照して説明したワーク搬送システム３００は、連絡搬送部２１３と連絡搬送部２１４と連絡搬送部２１５とによって搬送されているワークＷを移動部２２３と移動部２２４と移動部２２５とで別の経路に移動させ、搬送部２１９ａと搬送部２１９ｂと搬送部２１９ｃへ搬送する。その後、ワークＷは、処理装置２４１と処理装置２４２と処理装置２４３とで処理される。その後、ワーク搬送装置２０６とワーク搬送装置２０７とワーク搬送装置２０８とは、移動部２２６と移動部２２７と移動部２２８とでワークＷを連絡搬送部２１６と連絡搬送部２１７と連絡搬送部２１８とに移動させる。したがって、時間のかかる処理を複数の処理装置に分けて実施できる。その結果、ラインタクトを短縮することができる。 As described above, the workpiece transfer system 300 described with reference to FIG. 13 moves the workpiece W transferred by the contact transfer unit 213, the contact transfer unit 214, and the contact transfer unit 215 to the moving unit 223 and the moving unit 224. And the moving unit 225 move to another path, and transport the transport unit to the transport unit 219a, the transport unit 219b, and the transport unit 219c. Thereafter, the workpiece W is processed by the processing device 241, the processing device 242, and the processing device 243. Thereafter, the workpiece transfer device 206, the workpiece transfer device 207, and the workpiece transfer device 208, the moving unit 226, the moving unit 227, and the moving unit 228 send the workpiece W to the contact transfer unit 216, the contact transfer unit 217, and the contact transfer unit 218. Move to. Therefore, time-consuming processing can be divided into a plurality of processing devices. As a result, the line tact can be shortened.
　本発明のワーク搬送装置は、搬送経路から別の搬送経路へワークを移動するためのワーク搬送装置に好適に用いられる。 The work transfer device of the present invention is suitably used as a work transfer device for moving a work from a transfer route to another transfer route.
Ｗ、Ｗ０、Ｗ１、Ｗ２、Ｗ３、Ｗ４　　ワーク
１００　　　ワーク搬送装置
１１０　　　搬送ユニット
１１０Ａ　　第１搬送部
１１０Ｂ　　連絡搬送部
１１０Ｃ　　第２搬送部
１１０Ｂ１　ローラー
１１０Ｂ２　ローラー
１１０Ｂ３　連絡搬送部の上流側の端部
１１０Ｂ４　連絡搬送部の下流側の端部
１１０ａ　　ローラー
１１０ｂ　　ベルトコンベア
１１０ｃ　　ローラー
１２０　　　移動部
１２１　　　第１分離移動部
１２２　　　第２分離移動部
１２３　　　第３分離移動部
１２４　　　接触部
１２５　　　連結部
１２６　　　双方向変化部
１２７　　　第１分離移動部
１２８　　　第２分離移動部
１２９　　　第３分離移動部
１４１、１４２、１４３　　　回転軸
１４４　　　土台
１５１、１５２、１５３　　　分岐部
１６０　　　６軸垂直多関節ロボット
１７０　　　直交型ＸＹロボット
１８０　　　移動部
２０１、２０２、２０３、２０４、２０５、２０６、２０７、２０８　ワーク搬送装置
２１１、２１２、２１３、２１４、２１５、２１６、２１７、２１８　連絡搬送部
２１９ａ、２１９ｂ、２１９ｃ 搬送部
２２１、２２２、２２３、２２４、２２５、２２６、２２７、２２８　移動部
２３０　　　６軸垂直多関節ロボット
２４１、２４２、２４３　　　処理装置
２５１、２５２、２５３、２５４、２５５、２５６、２５７、２５８、２５９、２６０　搬送部 W, W0, W1, W2, W3, W4 Work 100 Work transport device 110 Transport unit 110A First transport unit 110B Contact transport unit 110C Second transport unit 110B1 Roller 110B2 Roller 110B3 End end 110B4 of the transport transport unit Contact transport 110a roller 110b belt conveyor 110c roller 120 moving part 121 first separating / moving part 122 second separating / moving part 123 third separating / moving part 124 contact part 125 connecting part 126 bidirectional changing part 127 first separation Moving unit 128 Second separating / moving unit 129 Third separating / moving unit 141, 142, 143 Rotating shaft 144 Base 151, 152, 153 Branching unit 160 6-axis vertical articulated robot 170 Orthogonal XY robot 180 Moving unit 201, 202, 203 2 4, 205, 206, 207, 208 Work transfer devices 211, 212, 213, 214, 215, 216, 217, 218 Contact transfer units 219a, 219b, 219c Transfer units 221, 222, 223, 224, 225, 226, 227 228 Moving unit 230 6-axis vertical articulated robot 241, 242, 243 Processing unit 251, 252, 253, 254, 255, 256, 257, 258, 259, 260 Conveying unit

Claims (10)

  1. 　第１ワークおよび第２ワークを含む複数のワークを搬送するワーク搬送装置であって、
    　前記複数のワークを搬送する第１搬送部と、前記第１搬送部によって搬送された前記複数のワークを搬送可能な連絡搬送部と、前記連絡搬送部によって搬送された前記複数のワークを搬送する第２搬送部とを有する搬送ユニットと、
    　前記複数のワークの主面の法線方向に沿って前記連絡搬送部からワークを移動させるか、または、前記複数のワークの主面の法線方向に沿って前記連絡搬送部までワークを移動させる移動部と
    を備え、
    　前記移動部が前記連絡搬送部から前記第１ワークの移動を開始した後、または、前記移動部が前記第１ワークを前記連絡搬送部まで移動させる前に、前記連絡搬送部は、前記第１搬送部によって搬送された前記第２ワークを前記第２搬送部へと搬送する、ワーク搬送装置。     A workpiece transfer device for transferring a plurality of workpieces including a first workpiece and a second workpiece,
    A first conveyance unit that conveys the plurality of workpieces; a communication conveyance unit that can convey the plurality of workpieces conveyed by the first conveyance unit; and the plurality of workpieces conveyed by the communication conveyance unit. A transport unit having a second transport unit;
    The workpiece is moved from the communication conveyance unit along the normal direction of the main surface of the plurality of workpieces, or the workpiece is moved to the communication conveyance unit along the normal direction of the main surface of the plurality of workpieces. A moving part,
    After the moving unit starts to move the first workpiece from the contact transfer unit, or before the moving unit moves the first workpiece to the contact transfer unit, the contact transfer unit has the first movement. A workpiece transfer device that transfers the second workpiece transferred by the transfer unit to the second transfer unit.
  2. 　前記移動部は複数の分離移動部を有しており、
    　前記移動部が前記第１ワークを移動させた後に、前記複数の分離移動部は、前記連絡搬送部に向かう方向または前記連絡搬送部から離れる方向に個別に移動する、請求項１に記載のワーク搬送装置。     The moving part has a plurality of separating and moving parts,
    2. The workpiece according to claim 1, wherein after the moving unit moves the first workpiece, the plurality of separation moving units individually move in a direction toward the communication conveyance unit or in a direction away from the communication conveyance unit. Conveying device.
  3. 　前記移動部が、前記連絡搬送部にある前記第１ワークを前記連絡搬送部から離れる方向に移動させる間に、前記連絡搬送部は、前記第２ワークを前記第２搬送部へと搬送する、請求項１または請求項２に記載のワーク搬送装置。 While the moving unit moves the first work in the contact transport unit in a direction away from the contact transport unit, the contact transport unit transports the second work to the second transport unit. The work conveyance apparatus of Claim 1 or Claim 2.
  4. 　前記移動部が、前記第１ワークを保持している間に、前記連絡搬送部は、前記第２ワークを前記第２搬送部へと搬送する、請求項１から請求項３のうちの１項に記載のワーク搬送装置。 The communication transfer unit transfers the second workpiece to the second transfer unit while the moving unit holds the first workpiece. The workpiece transfer device described in 1.
  5. 　前記移動部が、前記第１ワークを前記連絡搬送部に向かう方向に移動させる間に、前記連絡搬送部は、前記第２ワークを前記第２搬送部へと搬送する、請求項１から請求項４のうちの１項に記載のワーク搬送装置。 The said conveyance part conveys the said 2nd workpiece | work to the said 2nd conveyance part, while the said movement part moves the said 1st workpiece | work in the direction which goes to the said communication conveyance part. 5. The workpiece transfer apparatus according to 1.
  6. 　前記連絡搬送部は複数のローラーを有しており、前記移動部は前記複数のローラーのうちの隣接する２つのローラーの間に位置する、請求項１から請求項５のうちの１項に記載のワーク搬送装置。 The said communication conveyance part has a some roller, The said moving part is located between two adjacent rollers of the said some roller, The one of Claims 1-5. Work transfer device.
  7. 　前記移動部は、
    　前記第１ワークの主面の一方と接触する接触部と、
    　前記接触部と連結する連結部と
    を備え、
    　前記接触部と前記連結部とで前記移動部の内周が形成されており、前記第２ワークは前記内周の内側を通過可能である、請求項１から請求項６のうちの１項に記載のワーク搬送装置。     The moving unit is
    A contact portion that contacts one of the main surfaces of the first workpiece;
    A connecting portion connected to the contact portion,
    The inner periphery of the said moving part is formed by the said contact part and the said connection part, The said 2nd workpiece | work can pass the inner side of the said inner periphery, The 1st of Claims 1-6 The workpiece transfer device described.
  8. 　前記移動部の前記移動は、上下移動または水平移動である、請求項１から請求項７のうちの１項に記載のワーク搬送装置。 The workpiece transfer device according to claim 1, wherein the movement of the moving unit is vertical movement or horizontal movement.
  9. 　前記移動部は、コンベアである、請求項１から請求項８のうちの１項に記載のワーク搬送装置。 The workpiece transfer apparatus according to claim 1, wherein the moving unit is a conveyor.
  10. 　第１ワークおよび第２ワークを含む複数のワークを搬送するワーク搬送方法であって、
    　前記複数のワークを搬送する第１搬送部と、前記第１搬送部によって搬送された前記複数のワークを搬送可能な連絡搬送部と、前記連絡搬送部によって搬送された前記複数のワークを搬送する第２搬送部とを有する搬送ユニットを用意する工程と、
    　前記複数のワークの主面の法線方向に沿って前記連絡搬送部からワークを移動させるか、または、前記複数のワークの主面の法線方向に沿って前記連絡搬送部までワークを移動させる移動部を用意する工程と、
    　前記移動部が前記連絡搬送部から前記第１ワークの移動を開始した後、または、前記移動部が前記第１ワークを前記連絡搬送部まで移動させる前に、前記連絡搬送部は、前記第１搬送部によって搬送された前記第２ワークを前記第２搬送部へと搬送する工程と
    を包含する、ワーク搬送方法。     A workpiece transfer method for transferring a plurality of workpieces including a first workpiece and a second workpiece,
    A first conveyance unit that conveys the plurality of workpieces; a communication conveyance unit that can convey the plurality of workpieces conveyed by the first conveyance unit; and the plurality of workpieces conveyed by the communication conveyance unit. Preparing a transport unit having a second transport unit;
    The workpiece is moved from the communication conveyance unit along the normal direction of the main surface of the plurality of workpieces, or the workpiece is moved to the communication conveyance unit along the normal direction of the main surface of the plurality of workpieces. Preparing a moving part;
    After the moving unit starts to move the first workpiece from the contact transfer unit, or before the moving unit moves the first workpiece to the contact transfer unit, the contact transfer unit has the first movement. A workpiece conveying method including the step of conveying the second workpiece conveyed by the conveying unit to the second conveying unit.
PCT/JP2013/083858 2012-12-18 2013-12-18 Workpiece conveyance device, and workpiece conveyance method WO2014098115A1 (en)

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