WO2014098115A1 - ワーク搬送装置およびワーク搬送方法 - Google Patents

ワーク搬送装置およびワーク搬送方法 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
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English (en)
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/ko
Priority to CN201380060098.3A priority patent/CN104797513B/zh
Publication of WO2014098115A1 publication Critical patent/WO2014098115A1/ja

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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.

Landscapes

  • 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)
PCT/JP2013/083858 2012-12-18 2013-12-18 ワーク搬送装置およびワーク搬送方法 WO2014098115A1 (ja)

Priority Applications (2)

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CN201380060098.3A CN104797513B (zh) 2012-12-18 2013-12-18 工件输送装置和工件输送方法

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JP2012-275715 2012-12-18
JP2012275715A JP6011311B2 (ja) 2012-12-18 2012-12-18 ワーク搬送装置およびワーク搬送方法

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JP6297989B2 (ja) * 2015-01-27 2018-03-20 光洋サーモシステム株式会社 搬送装置
CN108502543B (zh) * 2017-02-28 2020-01-24 上海微电子装备（集团）股份有限公司 一种基板传输装置及方法

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JP6011311B2 (ja) 2016-10-19
KR102074345B1 (ko) 2020-02-06
JP2014118279A (ja) 2014-06-30
TWI630678B (zh) 2018-07-21
CN104797513B (zh) 2016-10-05
CN104797513A (zh) 2015-07-22
TW201432841A (zh) 2014-08-16

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