WO2022145317A1

WO2022145317A1 - Article conveyor

Info

Publication number: WO2022145317A1
Application number: PCT/JP2021/047641
Authority: WO
Inventors: 泰行石谷
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2020-12-28
Filing date: 2021-12-22
Publication date: 2022-07-07
Also published as: CN116602067A; JPWO2022145317A1

Abstract

This article conveyor conveys, over a plant floor, articles used in at least one piece of manufacturing equipment installed on the plant floor. This article conveyor comprises: an article accommodation body that accommodates at least one article; a base part having wheels for traveling over the plant floor; an accommodation rack that can be raised and lowered in relation to the base part, that has at least one holding table that holds the article accommodation body, and that has an opening through which the article accommodation body can be taken out and inserted from the lateral direction of the holding table; and a rack raising and lowering device that raises and lowers the accommodation rack.

Description

Goods transfer device

This disclosure relates to an article transport device.

A parts transfer device capable of appropriately managing parts has been proposed (see Patent Document 1). This parts transfer device is connected to a cart having a mounting portion on which a tray for supporting parts is mounted and wheels that can contact the traveling surface, and is movably connected to the cart via a connecting mechanism, and travels on the traveling surface. It is equipped with an automatic guided vehicle. The cart enters the aisle space provided in the elevator device having the elevating member capable of supporting the tray, and conveys the tray to and from the elevating member.

Japanese Patent Application Laid-Open No. 2019-91770

However, in the conventional component mounting system having a component transfer device, an attempt is made to automate the delivery of goods using an automatic guided vehicle, but a large-scale elevator device must be installed, which requires complicated and expensive equipment. It became necessary. In addition, practical techniques for delivering goods between manufacturing equipment and automatic guided vehicles are not disclosed.

The present disclosure is devised in view of the above-mentioned conventional situation, and an object of the present disclosure is to provide an article transporting device capable of automatically replenishing and collecting a component storage body with a manufacturing facility by using a simple mechanism.

The present disclosure is an article transport device for transporting articles used in at least one manufacturing facility installed on a factory floor on the factory floor, the article storage body for accommodating at least one article, and traveling on the factory floor. It has at least one holding table that can move up and down with respect to the base portion and holds the article storage body, and the article storage body is taken in and out from the lateral direction of the holding table. Provided is an article transport device including a storage rack having a possible opening and a rack elevating device for raising and lowering the storage rack.

According to the present disclosure, the parts storage body can be automatically replenished and collected from the manufacturing equipment by using a simple mechanism.

Top view of the factory floor where the component mounting system according to the first embodiment is installed. Overall configuration diagram of the component mounting system shown in FIG. Conceptual diagram showing the cross-sectional structure of the component mounting system shown in FIG. Perspective view of the pallet on which the tray is placed An exploded perspective view of the pallet shown in FIG. Perspective view of the magazine containing the pallets Perspective view of the magazine from diagonally below Perspective view of the tray component stocking apparatus shown in FIG. Schematic configuration diagram of the inside of the tray parts stock device as seen from the aisle side Plan view showing layout of tray parts stocking device and tray parts supply device Block diagram of tray parts stock equipment Operation explanatory diagram of the pallet transport section immediately before pulling out the pallet from the pallet stock section Operation explanatory diagram of the pallet transport unit that has finished pulling out the pallet from the pallet stock unit. Operational illustration of the pallet carrier with the drawer device rotated clockwise Operational illustration of the pallet carrier with the pallet inserted in the tray parts supply device Plan view of the slide table device in which the slide table is housed Side view of slide table Plan view of the slide table device in which the slide table has advanced Front view of the slide table device from the aisle side Conceptual diagram of an advancing / retreating mechanism using an air cylinder as an advancing / retreating drive source Conceptual diagram of the advancing / retreating mechanism using a motor as the advancing / retreating drive source Conceptual diagram showing the variable stroke structure of the advancing / retreating mechanism Perspective view of the magazine positioned and placed on the slide table Explanatory drawing of positioning operation mainly by X alignment guide on slide table Explanatory drawing of positioning operation mainly by Y alignment guide on slide table Overall configuration diagram of the article transport system including the article transport device according to the second embodiment. Perspective view of the article transfer device Side sectional view of the article transfer device BB sectional view of FIG. 28 Docking base perspective Perspective view of the docking part Plan view of the docking part provided in the article transporting device FIG. 32 is a sectional view taken along the line CC. Conceptual diagram of cushioning part and docking holding part before docking Explanatory drawing of horizontal positioning operation by docking Explanatory drawing of vertical positioning operation by docking Conceptual diagram of the docking holding part after docking Perspective view of magazine storage rack Explanatory drawing which shows the support area of the 1st support table and the 2nd support table Plan view showing the state where the slide table has advanced to the magazine storage rack Perspective view of holding table Enlarged perspective view of the main part showing the second alignment part provided in the magazine and the second alignment guide provided in the holding table. Perspective view of the magazine storage rack An enlarged plan view of a main part for explaining the operation of the slide lock part shown in FIG. 43. Block diagram showing the control system of the article transfer device Flow chart showing the procedure until the power supply for power is turned on after docking Explanatory drawing showing the positional relationship between the article transporting device and the tray parts stocking device after docking. Explanatory drawing of positioning height of magazine storage rack Explanatory diagram of magazine delivery operation Flowchart showing positioning height setting process Explanatory diagram of the detection principle of the reference height sign Flow chart of magazine delivery operation showing the procedure of carrying in to the first magazine holding table Explanatory drawing of the unloading operation from the tray parts stocking device by the processing of the first loading section Explanatory drawing of the loading operation to the first magazine holding table by the processing of the first loading section Explanatory drawing of the loading operation to the first magazine holding table by the processing of the first loading section Flow chart of magazine delivery operation showing the procedure of carrying in to the second magazine holding table Flow chart of magazine delivery operation showing the procedure of carrying out from the second magazine holding table Explanatory drawing of the operation of carrying out from the second magazine holding table by the processing of the second carrying out unit. Explanatory drawing of the operation of carrying out from the second magazine holding table by the processing of the second carrying out unit. Explanatory drawing of the loading operation to the tray parts stock device by the processing of the second unloading section Flow chart of magazine delivery operation showing the procedure of carrying out from the first magazine holding table

Hereinafter, embodiments in which the tray parts stock device, the parts mounting system, the article transfer device, and the article transfer system according to the present disclosure are specifically disclosed will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanations of already well-known matters and duplicate explanations for substantially the same configuration may be omitted. This is to avoid unnecessary redundancy of the following description and to facilitate the understanding of those skilled in the art. It should be noted that the accompanying drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

(Embodiment 1)
First, the first embodiment will be described.

FIG. 1 is a plan view of a factory floor on which the component mounting system 11 according to the first embodiment is installed. Hereinafter, in the figure with arrows indicating the directions, the X-axis indicates the left-right direction of the component mounting device 13, the Y-axis indicates the front-rear direction of the component mounting device 13, and the Z-axis indicates the vertical direction of the component mounting device 13. The X-axis and Y-axis are orthogonal to each other and are included in the horizontal plane. The Z axis is included in the vertical plane orthogonal to the horizontal plane.

As shown in FIG. 1, on the factory floor, each of the plurality of component mounting devices 13 is provided side by side so as to be close to each other along the passage 15 having the passage width W1. Each component mounting device 13 is provided with a plurality of parallel substrate transport conveyors 19 having the X-axis direction as the transport direction of the substrate 17 across each of the plurality of component mounting devices 13. A stick feeder 21, a tray component supply device 23, a tape component supply device 25, and the like are integrally connected to the component mounting device 13.

The plurality of component mounting devices 13 installed side by side constitute a mounting line 27 on the factory floor. Especially on the factory floor where the production volume is large, a plurality of mounting lines 27 are installed in parallel with the passage 15 in the direction along the X axis passing in front of and behind the component mounting device 13 interposed therebetween. Of the plurality of component mounting devices 13 installed side by side, the component mounting device 13 in which the tray component stock device 29 is integrally connected to the tray component supply device 23 constitutes the component mounting system 11.

In the component mounting system 11, since the longitudinal direction of the tray component stock device 29 is installed along the passage 15, the reduction rate of the effective passage width W2 between the tray component stocking device 29 and the adjacent mounting line 27 is minimized. There is.

FIG. 2 is an overall configuration diagram of the component mounting system 11 shown in FIG. In the component mounting system 11 according to the first embodiment, the component 33 (see FIG. 4) housed in the tray 31 (see FIG. 4) is taken out by the mounting head 35 (see FIG. 3), which is a component mounting portion, and is mounted on the substrate 17. It includes a component mounting device 13 to be mounted, a tray component supply device 23 that supplies the tray 31 to a position that can be taken out by the mounting head 35, and a tray component stock device 29 that replenishes the tray 31 to the tray component supply device 23.

The component mounting device 13 has a component mounting device main body 37. The tray component supply device 23 and the tape component supply device 25 are connected to the surface of the component mounting device main body 37 on the passage side. The tray component stock device 29 is integrally connected to the component mounting device main body 37 via the tray component supply device 23.

A tray as an example of a component stock device The component stock device 29 has a pallet 39 (see FIG. 4) on which a tray 31 containing a component 33 (see FIG. 4) is placed along a first axis (for example, an X axis). A magazine 41 that can be inserted and removed is provided. The tray component stock device 29 has a pallet stock section 43 that serves as a stocker. The pallet stock portion 43 allows the magazine 41 to be taken in and out along a second axis (for example, the Y axis) that intersects the X axis in a plane along the horizontal plane. The tray component stock device 29 has a pallet transport unit 45. The pallet transport section 45 transports the pallet 39 along the X-axis from the magazine 41 stored in the pallet stock section 43. The pallet 39 conveyed from the pallet stock unit 43 by the pallet transfer unit 45 is supplied to the tray parts supply device 23. Further, the pallet transport unit 45 collects the consumed pallet 39 of the component 33 from the tray component supply device 23 (that is, all the components 33 on the pallet 39 are used for mounting on the substrate 17) for collecting the pallet stock. The pallet 39 is conveyed to the unit 43.

FIG. 3 is a conceptual diagram showing a cross-sectional structure of the component mounting system 11 shown in FIG. The component mounting device main body 37 is provided with a substrate transfer section 49 having a substrate transfer conveyor 19 for transporting the substrate 17 in a direction along the X axis (board transfer direction) on the upper surface of the base 47. The board transporting unit 49 transports the board 17 to which the component is mounted, positions it at the working position of the component mounting device main body 37, and holds it. A tray component supply device 23 is arranged on the passage side of the base 47.

The tray parts supply device 23 has a replacement pallet storage unit 51. The replacement pallet storage unit 51 arranges and holds a plurality of magazines 41 in the vertical direction (direction along the Z axis). In the tray component supply device 23, a pallet changer 53 is provided between the replacement pallet storage unit 51 and the base 47. The pallet changer 53 raises and lowers the changer elevating table 55 by the pallet changer elevating portion 57 (see FIG. 11). The tray component supply device 23 moves the pallet 39 between the replacement pallet storage section 51 and the component take-out position by operating the pallet changer 53. The tray component supply device 23 attaches the component 33 to the mounting head 35 by moving the pallet 39 on which the tray 31 in which the component 33 (see FIG. 4) is stored in a grid pattern is placed to the component take-out position. Supply.

The mounting head 35 is a multi-unit type head provided with a plurality of unit transfer heads, and a suction nozzle is interchangeably mounted on the lower end of each unit transfer head. The mounting head 35 is movably mounted in the XY direction by an XY table 59 in a direction along the Y axis including a linear drive mechanism or the like. The mounting head 35 is movable between the component take-out position and the component mounting position on the board transfer unit 49 by the XY table 59.

The tray parts stock device 29 has a pallet stock unit 43 and a pallet transport unit 45. A plurality of magazines 41 are stored in the pallet stock portion 43 at predetermined intervals in the vertical direction (direction along the Z axis). Any pallet 39 can be inserted and removed from each magazine 41 stored in the vertical direction (direction along the Z axis) in the direction along the X axis by the pallet transport unit 45. The pallet 39 pulled out from the pallet stock unit 43 by the pallet transport unit 45 is moved to the tray component supply device 23 by the pallet transport unit 45. Further, the pallet transport unit 45 allows the pallet 39 to move in the opposite direction.

FIG. 4 is a perspective view of the pallet 39 on which the tray 31 is placed. FIG. 5 is an exploded perspective view of the pallet 39 shown in FIG.

The pallet 39 will be described. In the pallet 39, the pallet body 61 is formed in a rectangular plate shape in a plan view. In the pallet 39, one of the pair of parallel long side portions is the first long side portion 63, and the other is the second long side portion 65. In the first embodiment, the first long side portion 63 is the front portion of the pallet, and the second long side portion 65 is the rear portion of the pallet. The pallet 39 is transported with either the first long side portion 63 or the second long side portion 65 being the tip end side in the transport direction.

The pallet 39 is made of a magnetic material at least in a portion including the upper surface. A tray 31 made of a non-magnetic material such as resin is placed on the upper surface of the pallet 39. A plurality of parts 33 are arranged in an aligned state on the tray 31. The tray 31 is held in a state of being positioned at a predetermined position on the pallet 39 by the positioning device 67. The pallet 39 on which the tray 31 is placed constitutes the component storage body 69. The parts storage body 69 may be one in which parts are placed and stored on the pallet 39. Further, the outer shape of the tray 31 may be the same as that of the pallet 39, and the tray 31 itself may be used as the component storage body 69.

Two tray positioning pieces 71 parallel to each of the first long side portion 63 and one short side portion adjacent to the first long side portion 63 are orthogonally fixed to the upper surface of the pallet 39. The two tray positioning pieces 71 have an inside corner because they are arranged in the orthogonal direction. The tray 31 is positioned relative to the pallet 39 by pressing the two sides against the tray positioning piece 71 so that one corner is aligned with the inside corner of the pallet 39.

The tray 31 on the pallet positioned in this way is fixed to the pallet 39 by pressing the positioning device 67 against the surface opposite to the surface pressed against the tray positioning piece 71. The positioning device 67 has, for example, a magnet. The positioning device 67 is in a state of being strongly fixed to the upper surface of the pallet 39 made of a magnetic material by a magnetic force. As a result, the tray 31 is restricted from moving on the pallet 39 and fixed. At this time, the positioning device 67 has two lever portions 73 on both ends (see FIG. 5), and each lever portion 73 is located above the upper surface of the pallet 39. By pressing these lever portions 73 toward the upper surface of the pallet 39, the positioning device 67 can be easily removed from the pallet 39 by the principle of the lever.

Further, in the pallet 39, the first engaging portion 75 is provided on the first long side portion 63, and the second engaging portion 77 is provided on the second long side portion 65. The first engaging portion 75 and the second engaging portion 77 are arranged so that the opening sides of the engaging claws formed in a U-shape in a plan view face each other. The distance between the engaging claws of the first engaging portion 75 is larger than that of the second engaging portion 77. In the first embodiment, the first engaging portion 75 engages with the changer engaging rod 79 (see FIG. 10) of the pallet changer 53, and the second engaging portion 77 pulls the pallet transporting portion 45 as shown in FIG. It engages with the handler engagement rod 81, which is a portion.

FIG. 6 is a perspective view of the magazine 41 containing the pallet 39. FIG. 7 is a perspective view of the magazine 41 as viewed from diagonally below.

The magazine 41 will be explained. In the magazine 41, the upper ends of the pair of parallel side plates 83 are connected to each other by the top plate 85, and the lower ends of the pair of parallel side plates 83 are connected to each other by the bottom plate 87 (see FIG. 7), so that the inner storage space is on both sides. It is formed into an open square tube shape as an insertion / removal opening 89. The magazine 41 is stored in the pallet stock portion 43 so that both ends in the direction along the X axis are on the open side. In other words, the pair of side plates 83 are housed in the pallet stock portion 43 in a direction separated from each other along the Y axis.

On the inner surface of each side plate 83, ribs 91 having both ends extending over the insertion / removal opening 89 are provided. The gap between the ribs 91 adjacent to each other in the vertical direction (direction along the Z axis) inserts each of the pair of parallel short sides of the pallet 39. As a result, the magazine 41 stores a plurality of pallets 39 in a multi-stage shape in the vertical direction (direction along the Z axis) in the inner storage space (see above), and enables insertion and removal from the insertion / removal opening 89. ..

As shown in FIG. 6, a pair of X alignment rollers 93 are provided on the lower side on the outside of each side plate 83. Each of the pair of X alignment rollers 93 is rotatable around a center of rotation perpendicular to the side plate 83. Further, inside the pair of side plates 83, a Y alignment portion 95 is provided on the lower side close to the insertion / removal openings 89 at both ends. A tapered surface 97 is formed on the Y alignment portion 95, and the tapered surface 97 is formed by a slope formed with a thin side plate 83 toward the lower side.

As shown in FIG. 7, four Y alignment rollers 99 are provided on the lower surface of the bottom plate 87. Each Y alignment roller 99 is rotatably supported around a rotation center perpendicular to the mounting piece 101 with respect to the mounting piece 101 hanging from the lower surface of the bottom plate 87 in a direction perpendicular to the side plate 83. The X alignment roller 93 and the Y alignment roller 99 described above form a first alignment group 103.

The lower side portions of the pair of parallel openings in the insertion / removal openings 89 at both ends of the bottom plate 87 form the X alignment portion 105. The Y alignment unit 95 having the tapered surface 97 and the X alignment unit 105 as described above form a second alignment group 107.

FIG. 8 is a perspective view of the tray component stock device 29 shown in FIG. The pallet stock portion 43 has a housing (for example, a cover 109) that forms an internal space that allows the magazine 41 to be stored. The cover 109 is provided with an opening (for example, a magazine replacement window 111) through which the magazine 41 can be taken in and out along the second axis (Y axis). The lower part of the magazine replacement window 111 of the pallet stock portion 43 is the stock base portion 113. A docking base 115 is provided on the stock base portion 113. The docking base 115 is, for example, a connection portion when a self-propelled magazine transfer device (not shown) is used. The docking base 115 is electrically connected to the tray component stock device control unit 119 (see FIG. 11) by providing one connector 117. Further, on the outer surface of the pallet transport unit 45 on the aisle side, an operation unit 121 such as a touch panel electrically connected to the tray component stock device control unit 119 (see FIG. 11) is provided. The operation unit 121 may be omitted as a configuration of the tray component stock device 29.

In the tray parts stock device 29, the slide table device 123 is arranged in the internal space of the cover 109. The slide table device 123 mounts the magazine 41 and passes through the magazine replacement window 111 along the second axis (Y axis) so that the magazine can be placed between the internal space of the cover 109 and the outside of the cover 109. 41 can be moved (that is, put in and out).

FIG. 9 is a schematic configuration diagram of the inside of the tray parts stock device 29 as viewed from the aisle side. The tray component stock device 29 has a plurality of (for example, four stages) fixed shelves 125 separated in the vertical direction (direction along the Z direction). Of these, for example, the slide table device 123 is fixed to the fixed shelf 125 on the second stage from the bottom. That is, in the pallet stock unit 43, among the magazines 41 stored in the upper and lower four stages, the magazine 41 in the second stage from the bottom is placed on the slide table device 123. In the first embodiment, an example in which the slide table device 123 is installed in the second stage from the bottom will be described, but the slide table device 123 may be installed in any stage in the vertical direction. Further, in the first embodiment, an example in which the slide table device 123 is installed only in the second stage from the bottom will be described, but the slide table device 123 may be installed in a plurality of stages.

The slide table device 123 can manually drive the slide table 127 (see FIG. 17) on which the magazine 41 is placed. Further, the slide table device 123 may be configured to automatically project the slide table 127 on which the magazine 41 is placed to the outside of the cover 109 by providing the advance / retreat drive unit 129. In this case, the advancing / retreating drive unit 129 includes, for example, an air cylinder 131 (see FIG. 18) which is an advancing / retreating drive source, a valve for supplying operating air to the air cylinder 131, and the like.

The pallet transport unit 45 provided in the tray parts stock device 29 includes a pallet handler 133 that moves the pallet 39 between the pallet stock unit 43 and the tray parts supply device 23. The pallet transport unit 45 includes a pallet handler elevating unit 135 that moves up and down in the vertical direction (direction along the Z direction). The pallet handler elevating portion 135 is erected on the stock base portion 113 and has a height substantially equal to that of the pallet stock portion 43. The pallet handler elevating part 135 is provided with an upright stocker feed screw (not shown). This stocker feed screw is rotated by a handler elevating motor (not shown). An elevating base nut portion (not shown) is screwed into the stocker feed screw.

The elevating base 137 is fixed to the elevating base nut part. A drawer device 141 is rotatably supported on the upper surface of the elevating base 137 via a handler shaft 139 along the Z axis. A handler motor 145 whose output axis is along the Z axis is fixed to the upright base portion 143 of the elevating base 137. A belt 147 is stretched between the output shaft of the handler motor 145 and the handler shaft 139. The handler motor 145, the belt 147, and the handler shaft 139 constitute a swivel mechanism 149 (see FIG. 10). By driving the handler motor 145 of the swivel mechanism 149, the rotational force is transmitted to the handler shaft 139, and the pull-out device 141 is rotated around the handler shaft 139. The pull-out device 141 has a handler engaging rod 81 and a pair of parallel pallet guides 151.

The pallet handler 133 moves up and down along the pallet stock unit 43 by driving a handler elevating motor (not shown), for example, by a pallet transfer control unit 153 (see FIG. 11). At this time, the pallet handler 133 can arrange the drawer device 141 at the height position of the pallet 39 corresponding to this storage address by designating the storage address attached to the pallet storage unit of the pallet stock unit 43. At the lower part of the pallet transport unit 45, a tray component stock device control unit 119 for performing these controls is provided.

FIG. 10 is a plan view showing the layout of the tray parts stock device 29 and the tray parts supply device 23. The pallet stock portion 43 and the pallet transport portion 45 are arranged along the passage 15 (see FIG. 1). That is, the tray component stock device 29 is installed with the long side side facing along the passage 15. The pallet transport unit 45 of the tray component stock device 29 is connected to the component mounting device 13 in the direction along the Y axis via the tray component supply device 23. As a result, in the component mounting system 11, the pallet stock portion 43 and the pallet transport portion 45 on the long side are arranged side by side in the direction along the X axis, and the pallet stock portion 43 and the pallet transport portion 45 intersect the X axis. It is installed in an L-shaped space in a plan view connected to the tray component supply device 23 in the direction.

Therefore, in the component mounting system 11 according to the first embodiment, the component mounting device 13 for taking out the component 33 stored in the tray 31 by the component mounting unit (for example, the mounting head 35) and mounting the component 33 on the board 17, and the tray 31 are components. It includes a tray component supply device 23 that supplies the tray component to a position that can be taken out by a mounting unit (for example, a mounting head 35), and a tray component stock device 29 that replenishes the tray component supply device 23 with the tray 31. The tray parts stock device 29 is a pallet that can store a magazine 41 that allows the pallet 39 on which the tray 31 that stores the parts 33 is placed to be inserted and removed along the first axis (for example, the X axis) in the internal space of the cover 109. The parts storage body transport unit (for example, the pallet transport unit 45) for transporting the pallet 39 between the stock unit 43, the pallet stock unit 43, and the parts supply device (for example, the tray parts supply device 23), and the magazine 41 are placed. Move the magazine 41 between the inside and outside of the cover 109 along a second axis (eg, the Y axis) that intersects the first axis in a plane along the horizontal plane and project from the inside to the outside of the cover 109. It is configured with a slide table device 123 having a possible slide table 127.

Further, in the tray component stock device 29, the slide table device 123 may further include an advancing / retreating drive unit 129 that projects the slide table 127 to the outside of the cover 109.

Next, the configuration of the control system of the tray parts stock device 29 according to the first embodiment will be described.

FIG. 11 is a block diagram of the tray parts stock device 29. The tray parts stock device 29 includes a pallet transport unit 45, a slide table device 123, an operation unit 121, one connector 117, and a tray parts stock device control unit 119. An external power supply unit 155 is connected to the tray component stock device 29 to one of the connectors 117 by a power supply cable 157. An external power supply 159 is connected to the power supply unit 155 by a power supply cable 157. The power supply unit 155 is also directly connected to the tray component stock device control unit 119 by the signal line 161.

The tray component stock device control unit 119 includes a pallet transfer control unit 153, a slide table control unit 163, and a storage unit 165.

When the pallet transfer control unit 153 receives the request instruction of the component 33 from the component mounting device 13, the pallet transfer control unit 153 refers to the component stock information stored in the storage unit 165, and sets the pallet 39 of the tray 31 holding the component 33 as the pallet stock unit. Instructions for withdrawing from 43 are sent to the pallet carrier 45. The pallet transfer unit 45 pulls out the corresponding pallet 39 from the pallet stock unit 43 based on the instruction from the pallet transfer control unit 153, and the pulled out pallet 39 is used as a replacement pallet storage unit in the tray parts supply device 23. It is inserted into the magazine 41 of 51 to complete the supply of the pallet 39 to the tray component supply device 23. As a result of referring to the parts stock information stored in the storage unit 165, the pallet transfer control unit 153 does not have the required parts 33 or the remaining amount is low (for example, when the remaining amount is less than the specified amount), the tray parts stock device 29. The request instruction of the component 33 to the operation unit 121 is displayed on the operation unit 121 to notify that the component is out of order or the component is out of order in the near future.

For example, when a withdrawal command is input from the operation unit 121, the slide table control unit 163 gives an instruction to switch the port of the valve connected to the air cylinder 131 (see FIG. 18) to the withdrawal actuating side. Send to 123. The slide table device 123 switches the valve described above based on the instruction from the slide table control unit 163. By this switching, the drive shaft of the air cylinder 131 (see FIG. 18) advances, and the slide table 127 passes through the magazine replacement window 111 and advances to the aisle side. Further, when the storage command from the operation unit 121 is input, the slide table control unit 163 gives an instruction to switch the port of the valve connected to the air cylinder 131 (see FIG. 18) to the storage operation side. Send to device 123. The slide table device 123 switches the valve described above based on the instruction from the slide table control unit 163. By this switching, the drive shaft of the air cylinder 131 (see FIG. 18) is retracted, and the slide table 127 is housed in the pallet stock portion 43. The slide table control unit 163 may advance / retreat the slide table 127 by an advance / retreat command from the component mounting device 13 or the magazine transfer device (not shown).

The storage unit 165 is configured by using a data recording device such as a flash memory, an HDD (Hard Disk Drive), or an SSD (Solid State Drive), and stores stock information. The storage unit 165 includes a quantity of parts 33 to be replenished to the parts mounting device 13, a storage address (for example, a combination of a magazine 41, a pallet 39, a tray 31 number, etc. on which each part 33 is placed) and parts. Parts stock information indicating whether or not the mounting device 13 is replenished is stored.

Next, an example of a specific operation during pallet transfer will be described.

FIG. 12 is an operation explanatory view of the pallet transport unit 45 immediately before pulling out the pallet 39 from the pallet stock unit 43. The pallet stock portion 43 accommodates the pallet 39 so that the second engaging portion 77 is arranged on the surface facing the pallet transport portion 45. In order to supply the pallet 39 to the tray component supply device 23, the pull-out device 141 of the pallet transport unit 45 moves in the vertical direction (direction along the Z axis), and the handler engaging rod 81 provided in the pull-out device 141 moves. , Is engaged with a second engaging portion 77 provided on the desired pallet 39.

FIG. 13 is an operation explanatory view of the pallet transport unit 45 in which the pallet 39 has been pulled out from the pallet stock unit 43. The pull-out device 141 in which the handler engaging rod 81 is engaged with the second engaging portion 77 pulls out the pallet 39 together with the handler engaging rod 81 in the X direction by driving a traction motor (not shown). The pallet 39 pulled out to the pull-out device 141 is supported by a pair of pallet guides 151 at short sides on both sides from below.

FIG. 14 is an operation explanatory view of the pallet transport unit 45 in which the drawer device 141 is rotated clockwise. Next, the drawer device 141 supporting the pallet 39 is rotated 90 degrees clockwise by the drive of the handler motor 145. In the pallet 39 rotated 90 degrees clockwise, the first engaging portion 75 with which the handler engaging rod 81 is not engaged is arranged on the side of the replacement pallet accommodating portion 51. In the pull-out device 141, the handler engaging rod 81 engaged with the second engaging portion 77 is arranged on the passage side in the direction along the Y axis.

FIG. 15 is an operation explanatory view of the pallet transport unit 45 in which the pallet 39 is inserted into the tray parts supply device 23. The pull-out device 141 moves the handler engaging rod 81 in the Y direction. The pallet 39 is inserted into the replacement pallet storage unit 51 in the tray component supply device 23 while sliding the pallet guide 151 by moving the handler engaging rod 81 in the Y direction. At this time, when the pallets 39 are inserted at different heights, the elevating base 137 is moved up and down to a desired height by the pallet handler elevating unit 135. The drawer device 141 having the pallet 39 inserted into the tray component supply device 23 is moved up or down by the drive of the pallet handler elevating section 135 to disengage the engagement with the second engaging section 77, and then supplies the tray component. Evacuate in the direction away from the device 23. The pallet transport unit 45 returns the handler engaging rod 81 to the retracted position, and completes the supply of the pallet 39 to the tray component supply device 23.

In the tray component supply device 23, in order to collect the consumed empty pallet 39 of the component 33 to the pallet stock section 43, the empty pallet 39 is moved to the pallet stock section 43 by the reverse operation procedure as described above. Will be done.

Next, the slide table device 123 will be further described.

FIG. 16 is a plan view of the slide table device 123 in which the slide table 127 is housed. The tray component stock device 29 has a pallet stock section 43 and a slide table device 123. The pallet stock unit 43 allows the magazine 41, which allows the pallet 39 on which the tray 31 containing the parts 33 to be placed, to be inserted and removed along the first axis (for example, the X axis), to be stored in the internal space of the cover 109. .. The slide table device 123 has a slide table 127. The slide table 127 rests the magazine 41 and places the magazine 41 between the inside and outside of the cover 109 along a second axis (eg, the Y axis) that intersects the first axis in a plane along the horizontal plane. Move it. That is, the slide table 127 can protrude from the inside to the outside of the cover 109.

The slide table device 123 supports a slide table 127 and has a slide rail 167 that expands and contracts along a second axis (for example, the Y axis). The slide table 127 moves outside and inside the cover 109 as the slide rail 167 expands and contracts. The slide rail 167 has a fixed rail 169 (see FIG. 18), a connecting rail 171 (see FIG. 18), and a movable rail 173 (see FIG. 18).

In the slide rail 167, the fixed rail 169 is fixed to the fixed shelf 125 of the pallet stock portion 43 by the L metal fitting 175. The connecting rail 171 is connected in parallel with the fixed rail 169 and is slidable in the extending direction of the fixed rail 169. About half of the total length of the connecting rail 171 can advance from the fixed rail 169 in the Y direction. Almost half of the connecting rail 171 that has advanced from the fixed rail 169 is restricted from further advance by the stopper mechanism (not shown). The movable rail 173 is connected in parallel with the connecting rail 171 and is slidable in the extending direction of the connecting rail 171. About half of the total length of the movable rail 173 can advance in the Y direction from the connecting rail 171. The movable rail 173, which is almost half advanced from the connecting rail 171, is restricted from further advancement by the stopper mechanism (not shown).

Therefore, when the movable rail 173 is advanced, the slide rail 167 is supported by the connecting rail 171 which is advanced from the fixed rail 169 and the movable rail 173 by almost half the total length, and is supported by the connecting rail 171 which is approximately half the total length of the movable rail 173. Will be done. As a result, the movable rail 173 can be extended from the fixed rail 169 with a length corresponding to almost the entire length (see FIG. 18). As a result, the slide rail 167 can have almost the same extension length as the storage space.

The slide table device 123 may have one slide rail 167 or a plurality of slide rails 167. In the first embodiment, the slide table device 123 extends along the second axis (for example, the Y axis) and is arranged in parallel at intervals in the direction along the first axis (for example, the X axis). It has two slide rails 167. The two parallel slide rails 167 face each other with their movable rails 173 inside. Inside each movable rail 173, a slide base 177 (see FIG. 17) having an L-shaped cross section is fixed over the longitudinal direction of the movable rail 173. The pair of parallel slide bases 177 are connected to each other by a plurality of connecting plates 179. The slide base 177 and the connecting plate 179 constitute the slide table 127. The slide table 127 has a size in which at least one magazine 41 is placed.

FIG. 17 is a perspective view of the slide table 127. The slide base 177 has a first regulating unit that regulates the position of the magazine 41 in the direction of the first axis (for example, the X axis) with respect to the slide table 127, and a second axis (for example, the Y axis) for the magazine 41 with respect to the slide table 127. A second regulatory unit that regulates the position in the direction is provided. Each slide base 177 has an L-shaped cross section in which the horizontal piece is on the inside and the standing piece is on the outside.

The first regulatory unit is the X alignment guide 181. A total of four X-alignment guides 181 are fixed so as to be separated from each other in the extending direction of each slide base 177. The X alignment guide 181 is an upright plate perpendicular to the side plate 83 (see FIG. 6) of the magazine 41, and a pair of slide bases 177 provided at opposite positions of the two slide bases 177 are arranged so as to move upward. It has inclined surfaces 183 that are separated from each other. That is, the pair of X alignment guides 181 are inclined upward in a Y shape when viewed from the direction along the Y axis (see FIG. 19). The above-mentioned X alignment roller 93 (see FIG. 6) provided on the side plate 83 of the magazine 41 is fitted between the pair of X alignment guides 181 by being guided while sliding on the inclined surface 183.

The second regulatory section is the Y alignment guide 187 (see FIG. 25). A total of four Y alignment guides 187 are fixed inside the four X alignment guides 181 so as to be spaced apart from each other in the extending direction of the slide base 177. The Y alignment guide 187 is an upright plate perpendicular to the side plate 83 of the magazine 41, and a pair of slide bases 177 provided at opposite positions is one corner of a quadrangle on the X alignment guide 181 side. Is formed into a chamfered trapezoidal shape. That is, the pair of Y alignment guides 187 are inclined toward an A shape when viewed from the direction along the X axis (see FIG. 25). The pair of Y alignment guides 187 are positioned with respect to the slide table 127 by guiding the above-mentioned Y alignment roller 99 provided on the lower surface of the bottom plate 87 of the magazine 41 to the inclined surface 185 on both outer sides.

FIG. 18 is a plan view of the slide table device 123 to which the slide table 127 has advanced. The tray component stock device 29 may be provided with an advance / retreat drive unit 129 in the slide table device 123. The advance / retreat drive unit 129 automatically allows the slide table 127 to advance / retreat between the outside of the cover 109 and the internal space.

In the first embodiment, the advance / retreat drive unit 129 is arranged between the two slide rails 167 (see FIG. 18).

The advance / retreat drive unit 129 has a first rack gear 189, a second rack gear 191, a pinion gear 193, and an advance / retreat drive source.

The first rack gear 189 is fixed inside the cover 109 with the longitudinal direction oriented parallel to the second axis (for example, the Y axis). More specifically, the first rack gear 189 is fixed to the fixed shelf 125. The second rack gear 191 is mounted on the slide table 127 and is arranged parallel to the first rack gear 189. The pinion gear 193 meshes with the first rack gear 189 and the second rack gear 191. The advancing / retreating drive source moves the pinion gear 193 along a second axis (eg, the Y axis).

In the first embodiment, the advancing / retreating drive source is, for example, an air cylinder 131 that advances / retreats the advancing / retreating drive shaft from the cylinder. A valve or the like for supplying operating air is connected to the air cylinder 131. By switching a plurality of ports, the valve can be driven in a direction in which the advancing / retreating drive shaft of the air cylinder 131 is advanced or retracted.

In the air cylinder 131, a slider 195 is fixed to the tip of the advancing / retreating drive shaft. The slider 195 moves linearly guided by the slider rail 197 in the direction along the Y axis fixed to the fixed shelf 125. The pinion gear 193 is rotatably supported on the slider 195 with the direction along the Z axis as the center of rotation.

FIG. 19 is a front view of the slide table device 123 as viewed from the aisle side. When viewed from the direction along the Y axis, the slide table device 123 has a pair of parallel slide rails 167 extending outward along the Y axis fixedly arranged on the fixed shelf 125. A slide base 177 is fixed to the inside of each of the pair of slide rails 167 (that is, on the movable rail side). The pair of slide bases 177 constitutes a slide table 127 fixed by a connecting plate 179. The air cylinder 131, which is an advancing / retreating drive source, is housed in a space surrounded by a pair of slide bases 177 and a connecting plate 179, and is fixed to a fixed shelf 125. The pinion gear 193, which is moved forward and backward by the moving shaft of the air cylinder 131, is sandwiched between the first rack gear 189 fixed to the fixed shelf 125 and the second rack gear 191 fixed to the slide base 177. It is meshing with the rack gear of.

FIG. 20 is a conceptual diagram of an advancing / retreating mechanism using an air cylinder 131 as an advancing / retreating drive source. The advancing / retreating drive unit 129 moves along the second axis (Y axis) while rotatably supporting the pinion gear 193 on the slider 195. When the slide base 177 is housed inside the cover 109, the pinion gear 193 is located on the back side (opposite side of the slide table advance side) of the first rack gear 189 and meshes with the pinion gear 193. At this time, the tip side of the second rack gear 191 fixed to the slide base 177 in the advancing direction meshes with the pinion gear 193.

In the slide table device 123, when the air cylinder 131 is driven and the pinion gear 193 moves by A in the advancing direction while engaging with the first rack gear 189, the second rack gear 191 meshing with the pinion gear 193 changes to the pinion gear 193. The movement amount is twice the movement amount of (A + A = 2A), and the movement amount is set in the advance direction.

FIG. 21 is a conceptual diagram of an advancing / retreating mechanism using a motor as an advancing / retreating drive source. The advancing / retreating drive unit 129 may be configured by using the advancing / retreating drive motor 199 as the advancing / retreating drive source. In this case, the fixed shelf 125 rotatably supports a pair of sprockets 201 whose rotation center is in the direction along the X axis and is separated in the direction along the Y axis. An endless chain 203 is hung on the pair of sprockets 201. The chain 203 rotatably supports the pinion gear 193 that meshes with both the first rack gear 189 and the second rack gear 191. By driving one sprocket 201 with the advance / retreat drive motor 199, the pinion gear 193 is moved along with the movement of the chain 203. As a result, the pinion gear 193 can be moved in the direction along the Y axis in a state of being meshed with both rack gears in the same manner as in the case of movement by the air cylinder 131. According to the advancing / retreating drive unit 129 using the advancing / retreating drive motor 199 as the advancing / retreating drive source, the slide table 127 can be advanced / retreated without using pneumatic equipment.

FIG. 22 is a conceptual diagram showing a variable stroke structure of the advancing / retreating mechanism. Further, the advance / retreat drive unit 129 may coaxially fix the large-diameter pinion gear 205 and the small-diameter pinion gear 207. In this case, for example, the small diameter pinion gear 207 (outer peripheral length A) is meshed with the first rack gear 189, and the second rack gear 191 is meshed with the large diameter pinion gear 205 (outer peripheral length 2A) fixed coaxially. According to the advancing / retreating drive unit 129, if the moving distance of the small diameter pinion gear 207 is A, the feeding distance of the second rack gear 191 is A + 2A = 3A. In this way, the advance / retreat drive unit 129 can freely set the stroke expansion ratio by combining a plurality of pinion gears 193 having different diameters (outer peripheral lengths). As a result, the advancing / retreating drive unit 129 can realize a highly versatile advancing / retreating mechanism capable of supporting slide table devices 123 having different drawer lengths.

Next, the positioning operation of the slide table device 123 will be described.

FIG. 23 is a perspective view of the magazine 41 positioned and placed on the slide table 127. By placing the magazine 41 on the slide table 127, each direction of the X-axis direction, the Y-axis direction, and the Z-axis direction is positioned.

FIG. 24 is an explanatory diagram of the positioning operation mainly by the X alignment guide 181 on the slide table 127. In the slide table device 123, the magazine 41 is placed on the slide table 127 by being moved downward in the direction along the Z axis. This mounting operation may be manual (that is, performed by the worker) or automatic. When the magazine 41 is lowered in a direction approaching the slide table 127, the X alignment roller 93 of the magazine 41 comes into contact with the first regulating portion (for example, the X alignment guide 181). The position of the magazine 41 in the first axial direction (for example, the X-axis direction) is positioned with respect to the slide table 127 by guiding the X alignment roller 93 to the X alignment guide 181.

FIG. 25 is an explanatory diagram of the positioning operation mainly by the Y alignment guide 187 on the slide table 127. In the magazine 41, the Y alignment roller 99 comes into contact with the second regulating portion (for example, the Y alignment guide 187) almost at the same time as the contact between the X alignment guide 181 and the X alignment roller 93. In the magazine 41, the position in the second axial direction (for example, the Y-axis direction) is positioned with respect to the slide table 127 by guiding the Y alignment roller 99 to the inclined surface 185 of the Y alignment guide 187.

When the magazine 41 is moved to the final lowering position and placed, the lower surface of the bottom plate 87 comes into contact with the Y alignment guide 187. The position of the Z-axis of the magazine 41 is positioned with respect to the slide table 127 by abutting the lower surface of the bottom plate 87 on the four Y alignment guides 187. As a result, the magazine 41 is positioned in the XYZ direction with respect to the slide table 127 at the same time when the magazine 41 is placed on the slide table 127.

Next, the operation of the tray parts stock device 29 according to the first embodiment will be described.

The parts stock device (for example, the tray parts stock device 29) allows the parts storage body 69 (for example, the pallet 39 on which the tray 31 is placed) containing the parts 33 to be inserted and removed along the first axis (for example, the X axis). The magazine 41 is housed in a stocker (for example, a pallet stock portion 43) in which the magazine 41 can be taken in and out along a second axis (for example, the Y axis) that intersects the first axis in a plane along the horizontal plane. A parts storage body transport unit (for example, a pallet transport unit 45) for transporting a parts storage body 69 (for example, a pallet 39) from the magazine 41 along a first axis is provided. The stocker has a housing (for example, a cover 109) that forms an internal space that allows the magazine 41 to be stored. The housing has an opening (for example, a magazine replacement window 111) through which the magazine 41 can be taken in and out along the second axis.

In the tray parts stock device 29 according to the first embodiment, the tray 31 in which the parts 33 are stored is placed on the pallet 39. The pallet 39 can be inserted and removed along the first axis and is stored in the magazine 41. A plurality of pallets 39 are stored in the magazine 41 in a multi-stage manner in the vertical direction. The magazine 41 makes it possible to convey a plurality of stored pallets 39 at one time. A plurality of magazines 41 are stored in a stocker (for example, a pallet stock unit 43). A plurality of magazines 41 are stored in the pallet stock section 43 in a multi-stage manner in the vertical direction. The pallet transport section 45 is integrally connected to the pallet stock section 43 along the first axis. The pallet transport section 45 transports the pallets 39 one by one from the magazine 41 stored in the pallet stock section 43 along the first axis while inserting and removing the pallets 39.

In the tray parts stock device 29, the pallet stock unit 43 and the pallet transport unit 45 are integrally connected. The pallet stock unit 43 and the pallet transport unit 45 form a tray parts stock device 29. At least the pallet stock portion 43 requires an installation space for one pallet. Further, the pallet transport unit 45 also requires an installation space for at least one pallet. Therefore, the tray component stock device 29 composed of the pallet stock unit 43 and the pallet transport unit 45 has a rectangular shape that requires at least two pallet installation spaces in a plan view.

In this tray parts stock device 29, the pallet stock unit 43 and the pallet transport unit 45 are lined up along the aisle 15. That is, the tray component stock device 29 is installed so that the long side of the rectangle is oriented along the passage 15 in a plan view.

The tray parts stock device 29 is provided with an opening (for example, a magazine replacement window 111) in the housing (for example, the cover 109) of the pallet stock portion 43. The pallet stock portion 43 allows the magazine 41 to be taken in and out along the second axis (Y axis) through the magazine replacement window 111. The second axis is a direction that intersects the first axis along the passage 15. That is, as described above, the tray component stock device 29 having the long side installed along the passage 15 is the passage of the pallet stock portion 43 among the pallet stock portion 43 and the pallet transport portion 45 arranged along the passage 15. The magazine replacement window 111 is directed to the side surface facing the 15, and the magazine 41 can be taken in and out of the pallet stock portion 43 in the direction (front-back direction) along the second axis (Y-axis) from the passage 15.

The tray parts stock device 29 enables the magazine 41 to be replaced in the direction along the Y axis from the aisle side, so that the magazine 41 can be easily replaced by utilizing the wide space on the aisle. In addition, it does not interfere with the work of accessing the feeder mounted on the bogie (splicing work, feeder replacement or bogie replacement). Further, when the magazine is automatically replaced by the transfer robot, it is not necessary to wrap around to the side (left and right) of the tray parts stock device 29.

Further, the tray component stock device 29 is arranged in the internal space, mounts the magazine 41, and moves the magazine 41 between the internal space and the outside of the housing through the opening along the second axis. A slide table device 123 is provided.

In this tray parts stock device 29, the pallet stock unit 43 is provided with the slide table device 123 in the internal space covered by the cover 109. The slide table device 123 is provided corresponding to the position of the magazine replacement window 111. The slide table device 123 makes the magazine 41 movable between the internal space of the cover 109 and the outside of the cover 109 by passing through the magazine replacement window 111 along the second axis (Y axis).

A plurality of magazines 41 are stored in the pallet stock section 43 in multiple stages in the vertical direction. The pallets 39 stored in the respective magazines 41 can be taken in and out in the direction along the X axis by the pallet transport unit 45.

One of a plurality of magazines 41 stored in multiple stages in the vertical direction is placed on the slide table device 123. The magazine 41 can be moved in and out of the cover 109 from the magazine replacement window 111 by the slide table device 123. That is, in the tray parts stock device 29, only this one magazine 41 mounted on the slide table device 123 can be replaced. The slide table device 123 serves as a transfer unit (that is, an exchange unit) for exchanging magazines 41 one by one between the outside of the pallet stock unit 43 and the internal space.

From the magazine 41 mounted on the slide table device 123, the pallets 39 in which the parts 33 are stored in the tray 31 are sequentially pulled out by the pallet transport unit 45. In the empty space of the magazine 41 from which the pallet 39 is pulled out, the pallet 39 on which the tray 31 emptied by consuming the parts 33 is placed is stored by the pallet transport unit 45. That is, the replenished magazine 41 of the parts 33 mounted on the slide table device 123 is sequentially replaced with the empty pallet 39 by the pallet transport unit 45.

The magazine 41 mounted on the slide table device 123 is moved to the outside (on the aisle) of the cover 109 by the slide table device 123 when all the stored pallets 39 are replaced with empty pallets 39. By feeding out the slide table device 123, the magazine 41 whose parts have been consumed moved onto the aisle is replaced with the magazine 41 which has been replenished with the parts 33 together with the magazine 41 by hand or by the magazine transfer device.

In the tray parts stock device 29, the magazine 41 is further extended onto the aisle by the slide table device 123 from the magazine replacement window 111 provided on the passage side of the pallet stock portion 43, so that the magazine has a weight of, for example, about 20 kg. The 41 can be easily replaced.

The slide table device 123 may be manually pulled out from the aisle side. In this case, the slide table device 123 pulled out to the aisle side functions as a shelf, and a large space on the aisle becomes a work space, which facilitates manual replacement work.

Further, in the tray parts stock device 29, the slide table device 123 further includes an advancing / retreating drive unit 129 that projects the slide table 127 on which the magazine 41 is placed to the outside of the housing.

In this tray parts stock device 29, the slide table device 123 is provided with an advance / retreat drive unit 129. The advancing / retreating drive unit 129 automatically advances / retreats the slide table 127 between the outside and the inside space of the cover 109 via the magazine replacement window 111 by operating the advancing / retreating drive unit 129. As a result, the tray parts stock device 29 automates the replacement of the magazine 41 when the self-propelled magazine transfer device is run on the aisle at a low equipment cost without the need for a large-scale elevator device or the like. It will be easier.

Further, the component mounting system 11 according to the first embodiment is a component mounting device that takes out the component 33 stored in the component storage body 69 (for example, the tray 31) by the component mounting unit (for example, the mounting head 35) and mounts the component 33 on the substrate 17. A parts supply device (for example, a tray parts supply device 23) that supplies the parts storage body 69 (for example, a tray 31) to a position where it can be taken out by a parts mounting portion (for example, a mounting head 35), and a tray for the tray parts supply device 23. A parts stocking device (for example, a tray parts stocking device 29) for replenishing 31 is provided. The tray parts stock device 29 has a magazine 41 that allows a parts storage body 69 (for example, a pallet 39 on which a tray 31 is placed) for storing parts 33 to be inserted and removed along a first axis (for example, an X axis), and a horizontal plane. A stocker (for example, a pallet stock portion 43) that allows the magazine 41 to be taken in and out along a second axis (for example, the Y axis) that intersects the first axis in the horizontal plane, and a magazine 41 to the first from the magazine 41 stored in the stocker. It has a parts storage body transport unit (for example, a pallet transport unit 45) that transports a parts storage body 69 (for example, a pallet 39) along an axis (for example, an X-axis). The stocker (for example, the pallet stock portion 43) has a housing (for example, a cover 109) that forms an internal space that allows the magazine 41 to be stored. The housing comprises an opening (eg, magazine replacement window 111) through which the magazine 41 can be taken in and out along a second axis (eg, the Y axis).

In the component mounting system 11 according to the first embodiment, the pallet transport section 45 transports the pallet 39 between the pallet stock section 43 and the component mounting device 13. The pallet 39 is supplied in the order of the pallet stock section 43, the pallet transport section 45, and the component mounting device 13, and is collected in the order of the component mounting device 13, the pallet transport section 45, and the pallet stock section 43. That is, the pallet 39 is supplied from the pallet stock unit 43 to the component mounting device 13 via the pallet transport section 45, and after the component 33 is consumed and emptied, the component mounting device 13 via the pallet transport section 45. It is collected in the pallet stock section 43.

By the way, on the factory floor, a linear mounting line 27 is configured by installing a plurality of component mounting devices 13 side by side in the left-right direction (direction along the X-axis). Further, on a factory floor having a large production volume, a plurality of mounting lines 27 may be installed in parallel with a passage 15 along the X axis passing in front of and behind the component mounting device 13 interposed therebetween. In this case, the mounting lines 27 and the passages 15 are laid out in parallel with each other and alternately.

Here, when the pallet stock unit 43 and the pallet transport unit 45 are newly linearly connected to the rear portion of the component mounting device 13 with respect to the component mounting device 13 conventionally installed, the extending direction of the mounting line 27 The pallet stock portion 43 and the pallet transport portion 45 extend in a direction intersecting (direction along the X axis) and (direction along the Y axis).

As described above, since the passage 15 is laid out before and after the mounting line 27, the pallet stock portion 43 and the pallet transport portion 45 extending from the rear part of the component mounting device 13 are not a little protruding from the passage 15. Become. On the other hand, in the factory floor design at the time of new construction, if the installation space for this protrusion is expanded to the component mounting device 13 in order to secure the passage width, the factory floor area will be enlarged and the area production will be increased. Reduces sex.

In the parts mounting system 11, the pallet stock unit 43 and the pallet transport unit 45 are integrally connected to form the tray parts stock device 29. The pallet stock unit 43 requires an installation space for at least one pallet, and the pallet transport unit 45 also requires an installation space for at least one pallet. Therefore, the tray component stock device 29 composed of the pallet stock unit 43 and the pallet transport unit 45 has a rectangular shape that requires at least two pallet installation spaces in a plan view.

Therefore, in the tray parts stock device 29, the pallet stock unit 43 and the pallet transport unit 45 are lined up along the aisle 15. That is, the tray component stock device 29 is installed with the long side side facing along the passage 15. The pallet transport unit 45 of the tray component stock device 29 is connected to the component mounting device 13 in the direction along the Y axis via the tray component supply device 23. As a result, in the component mounting system 11, the pallet stock portion 43 on the long side and the pallet transport portion 45 are arranged side by side in the direction along the X axis, and the tray components on the component mounting device side are arranged in the direction in which they intersect the X axis. It is installed in an L-shaped space in a plan view connected to the supply device 23. As a result, the component mounting system 11 can make the pallet loading / unloading direction of the tray component supply device 23 orthogonal to the aisle 15 and the pallet loading / unloading direction of the pallet stock portion 43 parallel to the aisle 15.

By arranging the stock positions in such an L shape, the component mounting system 11 arranges the pallet stock section 43, the pallet transport section 45, and the tray component supply device 23 on a straight line intersecting the passage 15 between the lines of the equipment. Compared to the case where the pallet stock portion 43 is arranged in series, the position of the pallet stock portion 43 can be bent at a right angle and arranged, so that the jumping out to the aisle 15 can be suppressed (in other words, the width of the aisle can be expanded). ..

As described above, in the component mounting system 11, the pallet 39 has a direction (left-right direction) between the pallet stock unit 43 and the pallet transport unit 45 along the X axis and a Y axis between the pallet stock unit 43 and the tray component supply device 23. The direction is changed in the direction along (front-back direction) and reprinted. This makes it possible to secure both the passage width and the area productivity.

Further, in the parts stock device (for example, the tray parts stock device 29) according to the first embodiment, the parts storage body 69 (for example, the pallet 39 on which the tray 31 is placed) in which the parts 33 are stored is placed on the first axis (for example, the X axis). ), A stocker (for example, a pallet stock portion 43) that can store the magazine 41 that can be inserted and removed along the inner space of the housing (for example, the cover 109) and the magazine 41 are placed, and the first in the plane along the horizontal plane. A slide table having a slide table 127 that moves the magazine 41 between the inside and outside of the housing along a second axis (eg, the Y axis) that intersects the axis of the housing and can project from the inside to the outside of the housing. The device 123 is provided.

In the tray parts stock device 29 according to the first embodiment, the stocker (for example, the pallet stock portion 43) is provided with the slide table device 123 in the internal space covered with the housing (for example, the cover 109). The slide table device 123 allows the magazine 41 to be moved between the internal space of the cover 109 and the outside of the cover 109 along a second axis (eg, the Y axis).

A plurality of magazines 41 are stored in the pallet stock section 43 in multiple stages in the vertical direction. The pallets 39 stored in the respective magazines 41 can be taken in and out in the direction along the X axis.

One of a plurality of magazines 41 stored in multiple stages in the vertical direction is placed on the slide table device 123. This one magazine 41 can be moved in and out of the cover 109 by the slide table device 123. That is, in the tray parts stock device 29, only this one magazine 41 mounted on the slide table device 123 can be replaced. The slide table device 123 serves as a transfer unit (that is, an exchange unit) for exchanging magazines 41 one by one between the outside of the pallet stock unit 43 and the internal space.

In the internal space of the pallet stock unit 43, the pallet 39 in which the parts 33 are stored in the tray 31 is sequentially pulled out from the magazine 41 placed on the slide table 127. In the empty space of the magazine 41 from which the pallet 39 is pulled out, the pallet 39 on which the tray 31 emptied by consuming the parts 33 is placed is stored. That is, in the internal space of the pallet stock portion 43, the magazine 41 with the parts replenished placed on the slide table 127 is sequentially replaced with the empty pallet 39.

The magazine 41 placed on the slide table 127 is moved to the outside (on the aisle) of the cover 109 by the slide table device 123 when all the stored pallets 39 are replaced with empty pallets 39. By feeding out the slide table 127, the magazine 41 moved onto the aisle is replaced with a new parts-filled magazine 41 in which the parts 33 are filled together with the magazine 41 by hand or a magazine transfer device.

In this tray parts stock device 29, since the magazine 41 is fed out on the passage by the slide table device 123, the magazine 41 having a weight of, for example, about 20 kg can be easily replaced manually.

Further, in the tray component stock device 29, the slide table device 123 supports the slide table 127 and has a slide rail 167 that expands and contracts along a second axis (for example, the Y axis). The slide table 127 moves between the outside and the inside of the housing as the slide rail 167 expands and contracts.

In this tray parts stock device 29, the slide table 127 is supported by the slide rail 167. The slide rail 167 makes the slide table 127 movable between the internal space of the cover 109 and the outside of the cover 109. A single slide rail 167 may support the slide table 127, for example. That is, the slide table 127 may be moved back and forth between the inside and outside of the pallet stock portion 43 by one telescopic slide rail 167. When one slide rail 167 is used, the support structure of the slide table 127 is simplified.

Further, in the tray component stock device 29, the slide table device 123 extends along the second axis (for example, the Y axis) and is parallel to each other in the direction along the first axis (for example, the X axis). It has two slide rails 167 arranged.

In this tray parts stock device 29, the slide rails 167 are composed of two slide rails 167 that are parallel to each other and are separated in the direction along the X axis. In the tray component stock device 29, the slide table 127 is supported by the two slide rails 167, so that the load capacity of the slide table 127 is increased. Further, since the slide table 127 is supported by two slide rails 167 separated in a direction orthogonal to the advancing / retreating direction, the magazine 41 can be stably supported as compared with the support by one slide rail 167.

Further, in the tray component stock device 29, the slide table 127 includes a first regulating unit (for example, X alignment guide 181) that regulates the position of the magazine 41 in the first axial direction (for example, the X-axis direction) with respect to the slide table 127. The magazine 41 is provided with a second regulating unit (for example, a Y alignment guide 187) that regulates the position of the magazine 41 in the second axial direction with respect to the slide table 127.

In this tray parts stock device 29, the slide table 127 is provided with a first regulation unit and a second regulation unit. The first regulation unit (for example, X alignment guide 181) regulates the position of the magazine 41 with respect to the slide table 127 in the first axis (for example, X axis) direction. The second regulation unit (for example, Y alignment guide 187) regulates the position of the magazine 41 in the second axis (for example, Y axis) direction with respect to the slide table 127. The Y alignment guide 187 also serves as a magazine receiver 187 for receiving the magazine 41 placed from above. The Y alignment guide 187 also acts as a magazine receiver 187 to regulate the position of the magazine 41 in the Z-axis direction with respect to the slide table 127. As a result, the magazine 41 is positioned relative to the slide table 127 in the XYZ directions.

Further, the parts stock device (for example, the tray parts stock device 29) can insert and remove the parts storage body 69 (for example, the pallet 39 on which the tray 31 is placed) storing the parts 33 along the first axis (for example, the X axis). A stocker (for example, a pallet stock portion 43) capable of storing the magazine 41 in the internal space of the housing and a second axis (for example, a second axis) on which the magazine 41 is placed and intersecting the first axis in a plane along the horizontal plane. The magazine 41 is moved between the inside and the outside of the housing along the Y-axis), and the slide table 127 that can project from the inside to the outside of the housing and the slide table 127 that protrudes to the outside of the housing are driven forward and backward. A slide table device 123 including a unit 129 and a slide table device 123.

In this tray parts stock device 29, the slide table 127 is driven by the advancing / retreating drive unit 129. The advancing / retreating drive unit 129 automatically advances / retreats the slide table 127 between the outer side and the inner space of the cover 109 by operating. As a result, the tray parts stock device 29 automates the replacement of the magazine 41 when the self-propelled magazine transfer device is run on the aisle at a low equipment cost without the need for a large-scale elevator device or the like. It will be easier.

Further, in the tray component stock device 29, the slide table device 123 supports the slide table 127 and has a slide rail 167 that expands and contracts along the second axis. The slide table 127 moves between the outside of the housing (for example, the cover 109) and the inside of the housing (for example, the cover 109) as the slide rail 167 expands and contracts.

In this tray parts stock device 29, the slide table 127 is supported by the slide rail 167 in the slide table device 123 provided with the advance / retreat drive unit 129. The slide rail 167 makes the slide table 127 movable between the internal space of the cover 109 and the outside of the cover 109. A single slide rail 167 may support the slide table 127, for example. That is, the slide table 127 may be moved back and forth between the inside and outside of the pallet stock portion 43 by one telescopic slide rail 167. When one slide rail 167 is used, the support structure of the slide table 127 is simplified.

Further, in the tray component stocking device 29, the slide table 127 has two slide rails 167 extending along the second axis and arranged in parallel at intervals in the direction along the first axis.

In this tray parts stock device 29, in the slide table device 123 provided with the advance / retreat drive unit 129, the slide rails 167 are parallel to each other and are composed of two slide rails 167 separated in the direction along the X axis. In the tray component stock device 29, the slide table 127 is supported by the two slide rails 167, so that the load capacity of the slide table 127 is increased. Further, since the slide table 127 is supported by two slide rails 167 separated in a direction orthogonal to the advancing / retreating direction, the magazine 41 can be stably supported as compared with the support by one slide rail 167.

Further, in the tray parts stock device 29, the advance / retreat drive unit 129 is arranged between the two slide rails 167.

In this tray component stock device 29, the slide table device 123 includes two slide rails 167 that are parallel to each other and are separated in the direction along the X axis. In the slide table device 123, the advance / retreat drive unit 129 is installed by utilizing the space portion vacated between the two slide tables 127. As a result, the slide table device 123 can compactly configure the advance / retreat drive mechanism provided with the advance / retreat drive unit 129.

Further, in the tray component stock device 29, the advancing / retreating drive unit 129 is mounted on the first rack gear 189 fixed inside the housing and the slide table 127 in a state where the advancing / retreating drive unit 129 is oriented in the longitudinal direction parallel to the second axis. A second rack gear 191 arranged in parallel facing the first rack gear 189, a pinion gear 193 that meshes with the first rack gear 189 and the second rack gear 191 and an advancing / retreating drive that moves the pinion gear 193 along the second axis. It has a source (eg, an air cylinder 131).

In this tray parts stock device 29, the slide table 127 is driven forward and backward by the advance / retreat drive unit 129. The advancing / retreating drive unit 129 rotatably supports the pinion gear 193 and moves it along the second axis. The pinion gear 193 meshes with the first rack gear 189 fixed inside the cover 109. On the other hand, the pinion gear 193 is provided so as to be able to move forward and backward with respect to the cover 109 by the slide rail 167, and meshes with the second rack gear 191 arranged in parallel with the first rack gear 189. That is, the pinion gear 193 is sandwiched between the first rack gear 189 fixed in the cover and the second rack gear 191 mounted on the slide table 127 that can be moved forward and backward, and meshes with both of them.

The pinion gear 193 is moved along the Y axis by an advancing / retreating drive source (for example, an air cylinder 131) while being engaged with each other while being sandwiched between both rack gears. The pinion gear 193 is located on the back side (opposite side of the slide table advance side) of the first rack gear 189 and meshes with the slide table 127 when the slide table 127 is retracted inside the cover 109. At this time, the tip side of the second rack gear 191 mounted on the slide table 127 in the advancing direction meshes with the pinion gear 193.

When the advancing / retreating drive source (for example, an air cylinder 131) is driven and the pinion gear 193 rolls in the advancing direction while meshing with the first rack gear 189, the second rack gear 191 meshing with the pinion gear 193 becomes the pinion gear 193. It will be delivered in the direction of advance with twice the amount of movement.

As a result, in the tray parts supply device 23, it is possible to secure the moving stroke required for the slide table 127 while accommodating the slide table device 123 in a compact size. In the advance / retreat drive unit 129, by changing the gear ratio between the pinion gear 193 and the rack gear, it is possible to change the movement stroke of the slide table 127 with respect to the movement stroke of the pinion gear 193 by the advance / retreat drive source.

Further, in the tray component stock device 29, the slide table 127 has a first restricting unit (for example, an X alignment guide 181) that regulates a position in the first axial direction with respect to the magazine 41, and a second axial direction with respect to the magazine 41. A second regulating unit (for example, Y alignment guide 187) that regulates the position is provided.

In this tray component stock device 29, the magazine 41 is moved downward in the direction along the Z axis, so that the X alignment roller 93 of the magazine 41 comes into contact with the first regulation unit (for example, the X alignment guide 181). The position of the magazine 41 in the first axial direction (for example, the X-axis direction) is positioned with respect to the slide table 127 by guiding the X alignment roller 93 to the X alignment guide 181.

In the magazine 41, the Y alignment roller 99 comes into contact with the second regulation unit (for example, the Y alignment guide 187) at the same time as the contact between the X alignment guide 181 and the X alignment roller 93. In the magazine 41, the position in the second axial direction (for example, the Y-axis direction) is positioned with respect to the slide table 127 by guiding the Y alignment roller 99 to the inclined surface 185 of the Y alignment guide 187.

When the magazine 41 is moved to the final descending position and placed, the lower surface of the bottom plate 87 abuts on the four Y alignment guides 187. As a result, the position of the Z-axis of the magazine 41 is positioned with respect to the slide table 127. As a result, the magazine 41 is positioned in the XYZ direction with respect to the slide table 127 at the same time when the magazine 41 is placed on the slide table 127.

Further, the component mounting system 11 according to the first embodiment is a component mounting device that takes out the component 33 stored in the component storage body 69 (for example, the tray 31) by the component mounting unit (for example, the mounting head 35) and mounts the component 33 on the substrate 17. 13 and a parts supply device (for example, a tray parts supply device 23) that supplies a parts storage body 69 (for example, a tray 31) to a position where it can be taken out by a parts mounting portion (for example, a mounting head 35), and parts to the tray parts supply device 23. A parts stock device (for example, a tray parts stock device 29) for replenishing the storage body 69 (for example, the tray 31) is provided. The tray parts stock device 29 has a magazine 41 that allows the parts storage body 69 (for example, the pallet 39 on which the tray 31 is placed) for storing the parts 33 to be inserted and removed along the first axis (for example, the X axis). A parts storage body transport unit (for example, a pallet transport unit 45) that transports a parts storage body 69 (for example, a pallet 39) between a stocker (for example, a pallet stock unit 43) that can be stored in the internal space and the stocker and the tray parts supply device 23. ) And the magazine 41 are placed, and the magazine 41 is moved between the inside and the outside of the housing along a second axis (for example, the Y axis) that intersects the first axis in a plane along the horizontal plane. A slide table device 123 having a slide table 127 that can project from the inside to the outside of the housing.

In the component mounting system 11 according to the first embodiment, the pallet stock portion 43 is provided with the slide table device 123 in the internal space covered with the cover 109. The slide table device 123 allows the magazine 41 to be moved between the internal space of the cover 109 and the outside of the cover 109 along the second axis (Y axis).

A plurality of magazines 41 are stored in the pallet stock section 43 in multiple stages in the vertical direction. The pallets 39 stored in the respective magazines 41 can be inserted and removed in the direction along the X axis.

From the magazine 41 mounted on the slide table device 123, the pallet 39 in which the parts 33 are stored in the tray 31 is sequentially moved to the tray parts supply device 23. In the empty space of the magazine 41 from which the pallet 39 is pulled out, the pallet 39 on which the tray 31 emptied by consuming the parts 33 is placed is returned from the tray parts supply device 23 and stored. That is, the replenished magazine 41 of the parts 33 mounted on the slide table device 123 is sequentially replaced with the empty pallet 39.

In this component mounting system 11, the magazine 41 is further extended onto the aisle by the slide table device 123 from the aisle side of the pallet stock portion 43, so that the magazine 41 having a weight of, for example, about 20 kg can be easily replaced. It becomes.

Further, the component mounting system 11 has a component mounting device 13 for taking out the component 33 stored in the component storage body 69 (for example, the tray 31) by the component mounting unit (for example, the mounting head 35) and mounting the component 33 on the board 17, and the component storage body. A parts supply device (for example, a tray parts supply device 23) that supplies 69 (for example, a tray 31) to a position where it can be taken out by a parts mounting portion (for example, a mounting head 35), and a parts storage body 69 (for example, a tray) for the tray parts supply device 23. A parts stocking device (for example, a tray parts stocking device 29) for replenishing 31) is provided. The tray parts stock device 29 has a housing (for example, a magazine 41) that allows a parts storage body 69 (for example, a pallet 39 on which the tray 31 is placed) for storing parts 33 to be inserted and removed along a first axis (for example, an X axis). For example, a stocker (for example, a pallet stock unit 43) that can be stored in the internal space of the cover 109) and a parts storage body transport unit (for example, a parts storage unit transport unit) that conveys the parts storage body 69 (for example, the pallet 39) between the stocker and the tray parts supply device 23. For example, the pallet transport unit 45) and the inside of the housing (for example, the cover 109) along the second axis (for example, the Y axis) where the magazine 41 is placed and intersects with the first axis in the plane along the horizontal plane. A slide table device having a slide table 127 that moves the magazine 41 to and from the outside of the housing (for example, the cover 109) and can project from the inside of the housing (for example, the cover 109) to the outside of the housing (for example, the cover 109). 123 and. The slide table device 123 includes an advancing / retreating driving unit 129 that projects the slide table 127 to the outside of the housing.

In this component mounting system 11, the pallet stock portion 43 is provided with the slide table device 123 in the internal space covered by the cover 109. The slide table device 123 allows the magazine 41 to be moved between the internal space of the cover 109 and the outside of the cover 109 along the second axis (Y axis).

Then, in this component mounting system 11, the slide table 127 is driven by the advancing / retreating drive unit 129. The advancing / retreating drive unit 129 automatically advances / retreats the slide table 127 between the outer side and the inner space of the cover 109 by operating. As a result, in the component mounting system 11, the replacement of the magazine 41 when the self-propelled magazine transport device is run on the aisle can be easily automated at low equipment cost without the need for a large-scale elevator device or the like. Become.

(Embodiment 2)
Next, the second embodiment will be described.

FIG. 26 is an overall configuration diagram of an article transport system 211 provided with the article transport device 209 according to the second embodiment. In the second embodiment, the same members and parts as those shown in FIGS. 1 to 25 in the first embodiment are designated by the same reference numerals, and duplicate description will be omitted.

The article transfer device 209 conveys articles (for example, a pallet 39 as an example of a component storage body 69; the same applies hereinafter) used in at least one manufacturing facility (see below) installed on the factory floor. .. The article transfer device 209 is also referred to as a magazine transfer device.

Here, in the present specification, the manufacturing equipment includes not only the equipment for assembling, processing, processing, inspection, etc., but also the incidental equipment for storing and supplying the articles consumed by those members. In this specification, the tray parts supply device 23, the tape parts supply device 25, and the tray parts stock device 29 correspond to incidental equipment.

The article transfer device 209 can automatically travel in the passage 15 on the factory floor by connecting the transfer vehicle 213 to the side portion of the article transfer device 209. That is, the article transport device 209 is a traction type. The article transfer device 209 accommodates a magazine 41 loaded with articles (for example, a pallet 39) at a work place (not shown) away from the tray component stock device 29 connected to the tray component supply device 23, and a designated tray component. It can be transported and docked to the stock device 29 to collect and replenish the magazine 41.

FIG. 27 is a perspective view of the article transport device 209. The article transfer device 209 has an article storage body for accommodating at least one article. In the second embodiment, the article storage body is the magazine 41. Hereinafter, the article storage body is also referred to as a magazine 41. The component storage body 69 (see FIG. 4) described in the first embodiment may be a tray 31, a pallet 39, or may be composed of a tray 31 and a pallet 39. The article transfer device 209 has a base portion 217 provided with wheels 215 for traveling on the factory floor. The article transfer device 209 is covered with a rectangular parallelepiped cover 219 that is vertically long above the base portion 217.

Inside the cover 219, a magazine storage rack 223, which is a storage rack having an opening 221 is accommodated. At least one holding table for holding the magazine 41 is provided on the inner wall surface of the magazine storage rack 223. This holding table moves up and down integrally with the magazine storage rack 223 by raising and lowering the magazine storage rack 223 with respect to the base portion 217. The holding table includes, for example, a first magazine holding table 225 and a second magazine holding table 227. The number of holding tables is not limited to two. The magazine storage rack 223 allows the magazine 41 to be taken in and out from the lateral direction of the holding table by moving the slide table 127 of the tray parts stock device 29 back and forth from the opening 221.

FIG. 28 is a side sectional view of the article transport device 209. The article transporting device 209 includes a rack lifting device 229 that raises and lowers the storage rack. The rack elevating device 229 includes a rack elevating motor 231, a feed screw 233, and a rack elevating nut portion 235. The rack elevating motor 231 is fixed to a frame 237 extending up and down with the drive shaft in a posture along the Z axis. The lead screw 233 is coaxially connected to the drive shaft of the rack elevating motor 231 and is rotatably supported by a plurality of bearing plates 239. The rack elevating nut portion 235 is screwed into the feed screw 233, and the side surface of the rack elevating nut portion 235 is fixed to the back surface of the magazine storage rack 223 (that is, the surface opposite to the opening 221).

FIG. 29 is a sectional view taken along the line BB of FIG. 28. Therefore, when the rack elevating motor 231 is driven, the feed screw 233 rotates and the rack elevating nut portion 235 moves in the vertical direction, so that the slide portion 241 fixed to the back surface of the magazine storage rack 223 becomes the base portion. Guided by the slide guide 243 erected on the 217, the magazine storage rack 223 moves up and down. The operation of the rack elevating motor 231 housed in the unit inner space 245 shown in FIG. 28 is controlled by the magazine transfer device control unit 247 housed in the base unit 217. Further, inside the opening 221 is provided a wireless communication unit 249 connected to the magazine transport device control unit 247 at a position that does not interfere with the raising and lowering of the magazine storage rack 223.

As shown in FIGS. 27 and 28, the opening 221 of the magazine storage rack 223 is provided with a reference height detection sensor 251 which is a reference height detection unit described later. The reference height detection unit is not limited to the sensor alone, and may be, for example, a camera unit for image recognition or the like. Further, as shown in FIG. 28, on the inner wall surface of the magazine storage rack 223, a pair of slide table detection sensors 253 sandwiching each of the first magazine holding table 225 and the second magazine holding table 227 at the top and bottom is a total of four. There are two.

As shown in FIG. 29, each of the first magazine holding table 225 and the second magazine holding table 227 has an X alignment roller 255, a magazine receiving portion 257, and a Y alignment member, which will be described later, on both ends along the Y axis. 259 is provided. Each of the first magazine holding table 225 and the second magazine holding table 227 is supported on both sides by the facing inner wall surface of the magazine storage rack 223. The broken line in FIG. 29 shows the outline of the magazine 41 in a plan view. The X alignment roller 255, the magazine receiving portion 257, and the Y alignment member 259 are arranged at the four corners of the magazine 41, respectively. That is, four X alignment rollers 255, a magazine receiving portion 257, and a Y alignment member 259 are arranged.

A stopper 261 is provided between the back wall of the magazine storage rack 223 and the first magazine holding table 225, and between the back wall of the magazine storage rack 223 and the second magazine holding table 227. Each stopper 261 restricts each of the first magazine holding table 225 and the second magazine holding table 227 from retracting to the magazine storage rack 223 by a predetermined number or more. Further, a first magazine detection sensor 263, which will be described later, is provided between the back wall of the magazine storage rack 223 and the first magazine holding table 225. The first magazine detection sensor 263 detects the magazine 41 placed on the first magazine holding table 225. A second magazine detection sensor 265, which will be described later, is provided between the back wall of the magazine storage rack 223 and the second magazine holding table 227. The second magazine detection sensor 265 detects the magazine 41 placed on the second magazine holding table 227.

Each of the first magazine holding table 225 and the second magazine holding table 227 is provided with a static eliminating contact 267 for removing static electricity charged in the magazine 41.

As shown in FIG. 27, the base portion 217 has a docking base 115 (see FIG. 8) possessed by the manufacturing equipment by moving the base portion 217 in a first direction (for example, a direction along the Y axis) and approaching the manufacturing equipment. ) Further has a docking unit 269 for docking.

FIG. 30 is a perspective view of the docking base 115. FIG. 31 is a perspective view of the docking unit 269. The docking portion 269 moves in the first direction (direction along the Y axis) and approaches in contact with at least one alignment member provided on the docking base 115, so that the docking portion 269 is orthogonal to the first direction in the horizontal direction. It has at least one aligned member that adjusts the position of the base portion 217 (ie, the entire article transfer device 209) in two directions (eg, along the X-axis). The alignment member provided on the docking base 115 is an X guide 271 having a guide slope 425 shown in FIG. 30 and a positioning pin guide member 275 having a positioning pin guide hole 273. These alignment members regulate the position in the direction along the X axis. The aligned member included in the docking portion 269 is an X guide roller 277 and a positioning pin 279.

In the article transfer device 209, as shown in FIG. 31, these two aligned members are arranged at intervals in the second direction (direction along the X axis). Each of these aligned members individually contacts two alignment members provided on the docking base 115 at intervals in the second direction.

The base portion 217 further has a held member held by the docking holding portion 281 provided on the docking base 115. The docking holding portion 281 has a hook insertion port 283 arranged at a distance in a second direction (direction along the X axis). The held member included in the base portion 217 is a pair of hooks 285 arranged at intervals in the second direction (direction along the X axis) shown in FIG. 31.

The docking unit 269 has a other connector 287 for communication or power supply that is electrically connected to one connector 117 provided on the docking base 115. One connector 117 is arranged at an intermediate position between the pair of X guides 271. The other connector 287 is arranged at an intermediate position between the pair of X guide rollers 277. One connector 117 is a female connector in which a female terminal is housed in a female housing made of an insulating resin. The other connector 287 is a male connector in which a male terminal electrically connected to a female terminal is housed in a male housing made of an insulating resin. The sex of one connector 117 and the other connector 287 is not limited to this.

The other connector 287 makes it possible to connect two circuits, a communication circuit electric wire and a power supply circuit electric wire. In this case, the other connector 287 can be formed in the same male housing with a plurality of terminal accommodating chambers accommodating male terminals mounted on electric wires of different circuits. Further, the other connector 287 may be one in which a male housing for communication and a male housing for power supply formed separately are integrally joined.

The docking unit 269 has a connector position adjusting mechanism 289 that adjusts the vertical position of the other connector 287 at the time of docking. Alternatively, the docking base 115 has a connector position adjusting mechanism 289 that adjusts the vertical position of one connector 117 at the time of docking. That is, the connector position adjusting mechanism 289 may be provided on either the docking portion 269 or the docking base 115. The connector position adjusting mechanism 289 is operated by an alignment member provided on the docking partner. In the second embodiment, the connector position adjusting mechanism 289 is provided, for example, in the docking portion 269. Therefore, the alignment member for operating the connector position adjusting mechanism 289 is provided on the docking base 115.

The connector position adjusting mechanism 289 has an elevating member 291 shown in FIG. 31, a pushing member 293, and a cam follower 295. Further, the alignment member that operates the connector position adjusting mechanism 289 is a plate-shaped cam 297 having a working surface (for example, an inclined surface Sc) shown in FIG. 30.

In the docking section 269, the connector position adjusting mechanism 289 moves up and down together with the other connector 287. In the connector position adjusting mechanism 289, the cam follower 295 moves in the first direction (direction along the Y axis) while contacting the inclined surface Sc of the cam 297 provided on the docking base 115 of the tray component stock device 29. The height position of the elevating member 291 is adjusted by the cam 297.

The article transport system 211 includes at least one manufacturing facility (tray parts stock device 29) installed on the factory floor, and an article transport device 209 that moves the factory floor and transports articles used in the manufacturing facility. The article transfer system 211 is provided by a docking device 299 (see FIG. 35) including the docking base 115 shown in FIG. 30 of the tray parts stock device 29 and the docking unit 269 shown in FIG. 31 of the article transfer device 209. , The article transfer device 209 is docked to the tray parts stock device 29, and the article is delivered between the article transfer device 209 and the tray parts stock device 29. That is, it can be said that the docking device 299 is a joint portion for joining the article transport device 209 and the tray component stock device 29.

FIG. 32 is a plan view of the docking unit 269 provided in the article transport device 209. 33 is a sectional view taken along the line CC of FIG. 32. The docking device 299 has an induction unit 301, a cushioning unit 303 (see FIG. 30), a docking holding unit 281 (see FIG. 30), and a connector connecting unit 305 (see FIG. 35).

The guide portion 301 is composed of an alignment member (for example, X guide 271) and an aligned member (for example, X guide arm 307, X guide roller 277). The guide portion 301 has a second direction (in the X axis) orthogonal to the first direction of the article transport device 209 approaching from the first direction (direction along the Y axis) toward the tray component stock device 29 in the horizontal plane. Guidance is made while adjusting the position in the direction along the line). The guide portion 301 includes at least one alignment member (for example, X guide 271) provided on the docking base 115 and at least one aligned portion (for example, X guide arm 307, X guide roller 277) provided on the docking portion 269. Have. The guide portion 301 moves the X guide roller 277 in the first direction (direction along the Y axis) while contacting the guide slope 425 of the X guide 271, so that the trajectory of the X guide roller 277 is corrected by the X guide 271. This adjusts the position of the article transport device 209 in the second direction (direction along the X axis).

That is, the aligned portion includes a roller (for example, X guide roller 277) that comes into contact with the alignment member (for example, X guide 271).

FIG. 34 is a conceptual diagram of the shock absorber 303 and the docking holding portion 281 before docking. The cushioning portion 303 is composed of a bearing 309, a slide shaft 311, a large diameter portion 313, a receiving portion 315, and a cushion member (for example, a cushioning spring 317). The cushioning unit 303 absorbs the impact at the time of docking by pushing the article transporting device 209 in the direction away from the manufacturing equipment by utilizing the repulsive force of the cushioning spring 317. The cushioning portion 303 is arranged on one of the docking base 115 and the docking portion 269. On the other side of the docking base 115 or the docking portion 269, a protrusion 319 that abuts on the cushioning portion 303 from the first direction (direction along the Y axis) and deforms the cushioning spring 317 is arranged. In the second embodiment, the cushioning spring 317 is arranged on the docking base 115, and the protrusion 319 is arranged on the docking part 269.

The docking holding portion 281 is composed of a hook holding portion 321 and a cushioning portion 303. The docking holding portion 281 prevents the tray parts stocking device 29 and the docked article transporting device 209 from separating from the manufacturing equipment (for example, the tray parts stocking device 29) due to the repulsive force of the cushioning spring 317. The docking holding portion 281 is arranged on one of the docking base 115 and the docking portion 269. At least one held member (for example, hook 285) held by the docking holding portion 281 is provided on the other side of the docking base 115 or the docking portion 269. In the second embodiment, the docking holding portion 281 is arranged on the docking base 115, and the held member (for example, the hook 285) is arranged on the docking portion 269.

The docking holding portion 281 has a lever 323 and a holding force generating portion 325 (for example, a holding spring 327, a lever shaft 329, and a docking roller 331). The lever 323 provides a docking roller 331 that abuts on the held member (eg, hook 285) from a third direction (eg, along the X axis) that intersects the first direction (eg, along the Y axis). Have. The holding force generating unit 325 turns the lever 323 and presses the docking roller 331 against the hook 285. A thick portion 333 is formed at the tip of the hook 285 protruding toward the docking base 115. The thick portion 333 is formed in a wedge shape by the front taper 335 on the tip side and the rear taper 337 on the base end side of the front taper 335. The hook 285 makes the docking roller 331 in the direction opposite to the third direction as the article transport device 209 moves in the first direction (for example, along the Y axis) and approaches the tray component stock device 29. It has a roller operating surface (ie, rear taper 337) that is displaced in a direction and then displaced in a third direction.

The connector connecting portion 305 (see FIG. 35) is composed of a connector position adjusting mechanism 289 (for example, an elevating member 291 and a pushing member 293) shown in FIGS. 31 and 32, and an alignment member (for example, a cam follower 295). The connector connecting portion 305 positions the other connector 287 of the article transporting device 209 and the one connector 117 of the manufacturing facility as the article transporting device 209 approaches the manufacturing equipment (for example, the tray component stocking device 29). adjust.

The connector connecting portion 305 includes a connector position adjusting mechanism 289 arranged on one of the docking base 115 or the docking portion 269, and an alignment member (for example, cam 297) arranged on the other of the docking base 115 or the docking portion 269. The connector position adjusting mechanism 289 moves up and down together with the other connector 287. The connector position adjusting mechanism 289 has an elevating member 291 whose height position is adjusted by the alignment member by moving in a first direction (direction along the Y axis) while contacting the alignment member. In the second embodiment, the connector position adjusting mechanism 289 is arranged on the docking portion 269, and the alignment member is arranged on the docking base 115.

The connector connecting portion 305 includes the connector pressing portion 339 shown in FIGS. 32 and 33. The connector pressing portion 339 is arranged on one of the docking base 115 or the docking portion 269, and one connector 117 arranged on one of the docking base 115 or the docking portion 269 is pressed against the other connector 287. In the second embodiment, the connector pressing portion 339 is arranged on the docking portion 269. Therefore, the connector pressing portion 339 provided on the docking portion 269 presses the other connector 287 provided on the docking portion 269 against the one connector 117 (see FIG. 35) provided on the docking base 115.

The connector pressing portion 339 is provided on the elevating member 291 shown in FIGS. 32 and 33. The elevating member 291 is movable up and down by the elevating guide 341 and is supported by the base portion 217. The elevating member 291 is urged downward along the Z axis by the tension spring 343. Further lowering of the elevating member 291 is restricted by abutting on the lowering stopper 345. A pair of guide rods 347 separated in the direction along the X axis are projected from the surface of the elevating member 291 facing the docking base 115. Each guide rod 347 penetrates both sides in the longitudinal direction of the pushing member 293 formed in the shape of a rectangular plate.

The pushing member 293 through which the guide rod 347 penetrates becomes movable along the guide rod 347 in the direction of approaching and separating from the elevating member 291. A connector pressing spring 349 is extrapolated from the guide rod 347 between the elevating member 291 and the pushing member 293. The connector pressing spring 349 urges the pushing member 293 in a direction away from the elevating member 291. The push-in member 293 is restricted from being detached from the guide rod 347 by a detachment restricting portion formed at the protruding tip of the guide rod 347. That is, the pushing member 293 can be pushed in a direction approaching the elevating member 291 against the urging force of the connector pressing spring 349 and is supported.

As described above, one of the docking base 115 or the docking portion 269 has at least one positioning pin 279 protruding in the first direction (direction along the Y axis). The other of the docking base 115 or the docking portion 269 has a positioning pin guide member 275. The positioning pin guide member 275 has at least one positioning pin guide hole 273 into which the positioning pin 279 is inserted from the first direction. In the second embodiment, the positioning pin 279 is arranged in the docking portion 269, and the positioning pin guide member 275 is arranged in the docking base 115. As shown in FIG. 28, a transport vehicle 213 for pulling the article transport device 209 is connected to the base portion 217 formed of the docking portion 269 having the positioning pin 279 on the side surface opposite to the positioning pin 279. A claw portion 351 is provided.

Next, the docking operation will be described.

FIG. 35 is an explanatory diagram of the horizontal positioning operation by docking. FIG. 36 is an explanatory diagram of a vertical positioning operation by docking. Docking of the docking portion 269 with respect to the docking base 115 is started after the preliminary alignment of the tray component stock device 29 and the article transfer device 209 in the direction along the X axis is completed. In the docking operation, first, the article transport device 209 approaches the tray component stock device 29, so that the X guide roller 277 is displaced in the direction along the X axis following the X guide 271. As a result, the position of the article transport device 209 in the X direction is corrected and aligned with the tray component stock device 29.

In this state, the positioning pin 279 moves to a position where it can be inserted into the positioning pin guide hole 273, and the cam follower 295 also moves to a position where it can contact the cam 297.

If the article transfer device 209 is moved to the tray parts stock device 29 as it is, the positioning pin 279 is inserted into the positioning pin guide hole 273. At this time, the article transport device 209 moves in the direction of approaching the tray component stock device 29 while the X guide roller 277 abuts on the X guide 271.

The article transfer device 209 completes the alignment in the direction along the X axis by inserting the positioning pin 279 into the positioning pin guide hole 273. Further, in the connector position adjusting mechanism 289, the cam follower 295 rides on the inclined surface Sc of the cam 297 and moves to the flat surface of the cam 297, so that the alignment in the direction along the Z axis is completed. In this state, one connector 117 and the other connector 287 face each other at a position where they can be connected to each other. Further, when the article transfer device 209 is moved in the direction approaching the tray component stock device 29, the coupling between the one connector 117 and the other connector 287 is started. When the movement is continued, the connector pressing spring 349 is compressed, and the repulsive force of this spring firmly bonds the connectors to each other. As a result, the article transport device 209 completes the alignment in the XZ direction with respect to the tray component stock device 29.

After the alignment in the XZ direction is completed, the article transport device 209 is such that the protrusion 319 (see FIG. 34) presses the receiving portion 315 (see FIG. 34) of the buffer portion 303 (see FIG. 34). The tray component stocking device 29 is pushed by 213. When the receiving portion 315 retracts to a predetermined position against the urging force of the cushioning spring 317 (see FIG. 34), the cushioning portion 303 is restricted from further retreating.

FIG. 37 is a conceptual diagram of the docking holding portion 281 after docking. After docking, the article transport device 209 is pressed against the protrusion 319 by the repulsive force of the cushioning spring 317. The article transporting device 209 on which the protrusion 319 is pressed is about to be returned in the direction away from the tray component stocking device 29. At that time, in the article transfer device 209, the rear taper 337 formed on the hook 285 of the docking holding portion 281 is engaged with the docking roller 331 of the holding force generating portion 325. The displacement angle of the lever 323 of the docking roller 331 is regulated by the displacement angle regulating stopper 353 (see FIGS. 34 and 37). The holding spring 327 generates a spring force that can prevent the article transport device 209 and the tray component stock device 29 from being released from the docked state due to the repulsive force. That is, the docking holding unit 281 keeps the article transporting device 209 and the tray component stocking device 29 apart by a certain distance and holds them in the docked state. As a result, the article transport device 209 completes the alignment in the first direction (direction along the Y axis) with respect to the tray component stock device 29, and ends the docking operation.

As shown in FIG. 26, the article transport system 211 includes at least one manufacturing facility (tray component stock device 29) installed on the factory floor and at least one article transport device 209 moving on the factory floor, and is a tray component. The article is transported between the stock device 29 and the article transfer device 209.

FIG. 38 is a perspective view of the magazine storage rack 223. The article transport system 211 includes a magazine 41, a first support table, a second support table, a first support table moving device, and a second support table elevating device.

In the article transport system 211, the article is a pallet 39 holding a tray 31 for accommodating the component 33 shown in FIG. As shown in FIG. 6, the magazine 41 stores a plurality of pallets 39.

FIG. 39 is an explanatory diagram showing the support areas of the first support table and the second support table. The first support table is provided in the tray component stocking device 29. The first support table is the slide table 127 of the slide table device 123. Hereinafter, the first support table is also referred to as a slide table 127.

The slide table 127 supports a plurality of parts of the magazine 41 located in the first region F1 which is a part of the region where the magazine 41 is projected in a plane from below.

The second support table is provided in the article transport device 209. The second support table is a first magazine holding table 225 and a second magazine holding table 227 provided in the magazine storage rack 223. Hereinafter, the second support table is also referred to as a first magazine holding table 225 or a second magazine holding table 227.

The first magazine holding table 225 and the second magazine holding table 227 are other parts of the area where the magazine 41 is projected in a plane and are located in the second area F2 which does not overlap with the first area F1. Support several other parts from below.

FIG. 40 is a plan view showing a state in which the slide table 127 has advanced to the magazine storage rack 223. The first support table moving device is provided in the tray component stocking device 29 (see FIG. 26). The first support table moving device is configured to have an advancing / retreating driving unit 129 as a main unit. As described above, the advancing / retreating drive unit 129 includes an air cylinder 131, a pinion gear 193, a slider 195, a first rack gear 189, and a second rack gear 191. Hereinafter, the first support table moving device is also referred to as an advance / retreat drive unit 129.

Here, as shown in FIG. 40, the slide table 127 interferes with the first magazine holding table 225 and the second magazine holding table 227 even in a state where the slide table 127 slides into the inside of the magazine storage rack 223. Arranged so as not to.

FIG. 41 is a perspective view of the holding table. Each of the first magazine holding table 225 and the second magazine holding table 227 is a plane in which the base ends of a pair of parallel table movable plates 355 long in the direction along the Y axis are connected to each other by a table connecting plate 357. It is visually formed in a U-shape. Each of the first magazine holding table 225 and the second magazine holding table 227 moves up and down together with the magazine storage rack 223 which is raised and lowered by the rack raising and lowering device 229. As shown in FIG. 40, a slide table 127 advancing inside the magazine storage rack 223 is arranged inside the U-shape of the first magazine holding table 225 and the second magazine holding table 227.

Each of the first magazine holding table 225 and the second magazine holding table 227 can move up and down without interfering with the slide table 127 arranged inside the U-shape. Therefore, each of the first magazine holding table 225 and the second magazine holding table 227 has a U-shaped inside as a slide table passing space 359. The slide table 127 is stopped only by advancing in the horizontal direction. Therefore, as the magazine storage rack 223 moves up and down, the stopped slide table 127 passes relatively to each of the first magazine holding table 225 and the first magazine holding table 225 that move up and down. It will be. That is, the slide table 127 and each of the first magazine holding table 225 and the second magazine holding table 227 can be crossed in the vertical direction so as to be able to support the magazine 41 without interfering with each other.

As shown in FIG. 39, the advancing / retreating driving unit 129 (see FIG. 40) uses the slide table 127 supporting the magazine 41 as a vacant first magazine holding table 225 or a second magazine in which the magazine 41 is not placed. By moving towards the holding table 227, the second region F2 of the magazine 41 is positioned "above" the first magazine holding table 225 or the second magazine holding table 227. Alternatively, the advancing / retreating drive unit 129 moves the empty slide table 127 toward the first magazine holding table 225 or the second magazine holding table 227 to move the slide table 127 toward the first magazine holding table 225 or the second magazine holding table 225 or the second. It is located "below" the second region F2 of the magazine 41 supported by the magazine holding table 227.

The second support table elevating device is provided in the article transporting device 209. Hereinafter, the second support table elevating device is also referred to as a rack elevating device 229 (see FIG. 28). As shown in FIG. 39, the rack elevating device 229 supports the slide table 127 by moving the first magazine holding table 225 or the second magazine holding table 227 from a position lower than the slide table 127 to a higher position. The magazine 41 is delivered to the first magazine holding table 225 or the second magazine holding table 227.

Alternatively, the first magazine holding table 225 or the second magazine holding table 227 is supported by the first magazine holding table 225 or the second magazine holding table 227 by moving it from a position higher than the slide table 127 to a lower position. The magazine 41 is delivered to the slide table 127.

The magazine 41 has a plurality of first alignment portions in the first region F1. The first alignment unit is the above-mentioned first alignment group 103 shown in FIG. 39. As shown in FIG. 7, the first alignment group 103 has four X alignment rollers 93 and four Y alignment rollers 99.

FIG. 42 is an enlarged perspective view of a main part showing a second alignment portion provided in the magazine 41 and a second alignment guide 361 provided in the first magazine holding table 225 and the second magazine holding table 227.

Further, the magazine 41 has a plurality of second alignment portions in the second region F2. The second alignment unit is the above-mentioned second alignment group 107. The second alignment group 107 has four Y alignment units 95 and two X alignment units 105, as shown in FIGS. 7 and 42.

The slide table 127 has a plurality of first alignment guides 363 shown in FIG. 39 which are in contact with the plurality of first alignment groups 103 to adjust the position of the magazine 41 with respect to the slide table 127. The first alignment guide 363 has the four X alignment guides 181 shown in FIG. 17 and the four Y alignment guides 187.

The first magazine holding table 225 or the second magazine holding table 227 contacts a plurality of second alignment groups 107 to adjust the position of the magazine 41 with respect to the first magazine holding table 225 or the second magazine holding table 227. It has a plurality of second alignment guides 361 shown in FIG. 41. As shown in FIG. 42, the second alignment guide 361 has an X alignment roller 255 and a Y alignment member 259.

At least one of the plurality of first alignment guides 363 shown in FIG. 39 adjusts the position of the magazine 41 with respect to the slide table 127 in the horizontal first direction (direction along the X axis), and at least one of the other. First, the position of the magazine 41 is adjusted with respect to the slide table 127 in the second direction (direction along the Y axis) orthogonal to the first direction in the horizontal plane.

At least one of the plurality of second alignment guides 361 positions the magazine 41 in the horizontal third direction (for example, along the X-axis) on the first magazine holding table 225 and the second magazine holding table 227. The position of the magazine 41 is adjusted with respect to the position of the magazine 41 in the fourth direction (for example, the direction along the Y axis) orthogonal to the third direction in the horizontal plane, the first magazine holding table 225, and the second magazine. Adjust for retention table 227.

FIG. 43 is a perspective view of the magazine storage rack 223. In the article transfer device 209 used in the article transfer system 211, the holding tables (for example, the first magazine holding table 225 and the second magazine holding table 227) are laterally oriented with respect to the storage rack (for example, along the Y axis). It is mounted so that it can slide freely. Each of the first magazine holding table 225 and the second magazine holding table 227 can be pulled out from the magazine storage rack 223 by a pair of table slide rails 365 fixed to the facing inner walls of the magazine storage rack 223. ing. The storage rack (for example, the magazine storage rack 223) is provided with a slide lock portion 367 for preventing the holding table from sliding.

FIG. 44 is an enlarged plan view of a main part for explaining the operation of the slide lock portion 367 shown in FIG. 43. On the inner wall in the vicinity of the opening 221 in the magazine storage rack 223, a lever column 369 corresponding to each holding table projects vertically from the inner wall. The lever column 369 is swingable because the central portion of the table lock lever 371 is rotatably supported. The swing end of the table lock lever 371 on the side facing the opening 221 serves as the lock operation portion 373. The table lock lever 371 is rotatably supported by a rocking roller 375 which is rotatable about a rotation center axis in the direction along the Z axis at a swing end on the opposite side of the lock operation unit 373.

The table lock lever 371 is urged in the rotation direction (counterclockwise in FIG. 44) in which the locking roller 375 approaches the holding table by the lever urging spring 377 sandwiched between the table lock lever 371 and the magazine storage rack 223. There is. The table lock lever 371 urged counterclockwise by the lever urging spring 377 abuts on the regulation pin 379 provided on the lever strut 369 to restrict further counterclockwise rotation.

The table lock lever 371 is in a rotational position where the locking roller 375 abuts on the regulation pin 379, and the lock roller 375 abuts on the tip 381 of the table movable plate 355 in the pull-out direction. The holding table in which the locking roller 375 is in contact with the tip 381 in the pulling direction is in a locked state in which the pulling is restricted. When the lock operation unit 373 of the table lock lever 371 is rotated in the rotation direction (for example, the clockwise direction in FIG. 44) away from the inner wall of the magazine storage rack 223, the lock roller 375 is the tip of the table movable plate 355 in the pull-out direction. It deviates from 381. As a result, in the slide lock portion 367, the lock roller 375 rolls on the outer surface of the table movable plate 355, and the table movable plate 355 (that is, the holding table) can be pulled out.

In this way, the article transfer device 209 can manually unlock the slide lock portion 367. The holding table becomes slidable when the slide lock portion 367 is released. As a result, the storage rack can easily collect and replenish the magazine 41 manually by the operator by pulling out the holding table at the collection / replenishment place. Of course, the article transporting device 209 may be one in which the magazine 41 is automatically collected / replenished by the collection / replenishment device installed in the collection / replenishment place or the like.

Next, the control system of the article transport device 209 will be described.

FIG. 45 is a block diagram showing a control system of the article transport device 209. The article transfer device 209 includes a magazine transfer device control unit 247. The magazine transfer device control unit 247 includes a reference height detection unit (for example, a reference height detection sensor 251), four slide table detection sensors 253, a first magazine detection sensor 263, and a second magazine detection sensor 265. The wireless communication unit 249, the other connector 287, the power power supply unit 383, the motor driver 385 of the rack elevating device 229, and the rack elevating motor 231 and the encoder 387 connected to the motor driver 385 are connected.

It is connected to the magazine transfer device control unit 247 via the communication line 389 of the other connector 287. The power power supply unit 383 is connected to the other connector 287 and the motor driver 385 via the power supply cable 391.

A battery 393 is connected to the magazine transfer device control unit 247. The battery 393 supplies electric power to the magazine transfer device control unit 247 and the wireless communication unit 249. The battery 393 is charged when the connector is connected.

The magazine transfer device control unit 247 includes a power reception control unit 395, a reference height setting unit 397, a positioning height calculation unit 399, a first carry-in unit 401, a first carry-out unit 403, and a second carry-in unit 405. , A second carry-out unit 407 and a transfer device storage unit 409. The transport device storage unit 409 has a height difference storage unit 411, a Z0 storage unit 413, and a positioning height storage unit 415.

The power receiving control unit 395 performs a power input process after the tray parts stock device 29 and the parts mounting device 13 are docked, and shuts down before the docking is released.

The reference height setting unit 397 detects the reference height Lv0 shown in FIG. 48, which will be described later, and executes a process of setting the positioning height (for example, Z coordinate).

The positioning height calculation unit 399 calculates the positioning height (for example, Z coordinate) of the first level Lv1, the second level Lv2, the third level Lv3, and the fourth level Lv4 shown in FIG. 48, which will be described later.

The first loading unit 401 executes a process of loading the magazine 41 into the first magazine holding table 225. The first unloading unit 403 executes a process of unloading the magazine 41 from the first magazine holding table 225. The second carry-in unit 405 executes a process of carrying the magazine 41 into the second magazine holding table 227. The second unloading unit 407 executes a process of unloading the magazine 41 from the second magazine holding table 227.

The height difference storage unit 411 stores the height difference (for example, design value) of the first level Lv1 to the fourth level Lv4 with respect to the reference height Lv0.

The Z0 storage unit 413 acquires the positioning height (for example, Z coordinate) of the rack elevating device 229 with the reference height Lv0 by the reference height setting unit 397.

The positioning height storage unit 415 stores the positioning heights (for example, Z coordinates) of the first level Lv1 to the fourth level Lv4 obtained by the positioning height calculation unit 399.

FIG. 46 is a flowchart showing a procedure until the power supply for power is turned on after docking. In the article transfer device 209, when the docking unit 269 is docked to the docking base 115, the power supply for power is turned on. That is, when the docking base 115 and the docking unit 269 are docked, the magazine transfer device control unit 247 determines whether or not there is docking (Ast1). When docking is detected, the magazine transfer device control unit 247 confirms the docking state by the self-diagnosis function (Ast2).

The magazine transfer device control unit 247 determines whether the docking state is normal or abnormal (Ast3). When the docking state is abnormal, the magazine transfer device control unit 247 notifies the abnormality (Ast4) and ends the process without turning on the power supply for power. When the docking state is normal, the magazine transfer device control unit 247 transmits a power request command for power to the tray component stock device 29 (Ast5). The magazine transfer device control unit 247 determines whether or not power is received from the tray component stock device 29 (Ast6). When the power reception is confirmed, the magazine transfer device control unit 247 turns on the power supply for power (Ast7) and ends the process.

FIG. 47 is an explanatory diagram showing the positional relationship between the article transport device 209 and the tray parts stock device 29 after docking. The article transfer device 209 includes a position detection unit (for example, an encoder 387), a reference height detection unit (for example, a reference height detection sensor 251), and a control unit (for example, a magazine transfer device control unit 247).

The encoder 387 detects the position of the magazine storage rack 223 in the height direction. The reference height detection sensor 251 moves up and down together with the magazine storage rack 223 to detect a reference point (for example, a hole 419 of the reference height sign 417) provided in the tray component stock device 29. The magazine transfer device control unit 247 operates the rack elevating device 229 with the base unit 217 docked to the docking base 115 of the tray parts stock device 29 by the docking unit 269 to detect a reference point (for example, a hole 419) as a reference height. It is detected by a unit (for example, a reference height detection sensor 251). The magazine transfer device control unit 247 sets the position obtained by the encoder 387 to the reference height when the reference height detection sensor 251 detects the hole 419, and operates the rack elevating device 229 based on the reference height. The magazine 41 is transferred between the holding table and the manufacturing equipment.

The delivery work between the article transfer device 209 and the tray parts stock device 29 is the work of delivering the magazine 41 between the holding table and the slide table 127 protruding into the internal space of the magazine storage rack 223.

The magazine transfer device control unit 247 obtains the positioning height at which the holding table is located at the first level Lv1 lower than the slide table 127 and the second level Lv2 higher than the slide table 127 based on the reference height.

When the magazine 41 is transferred from the slide table 127 to the holding table, the magazine transfer device control unit 247 moves the magazine storage rack 223 from the first level Lv1 to the second level Lv2 by the rack elevating device 229.

When handing over from the holding table to the slide table 127, the magazine transfer device control unit 247 moves the magazine storage rack 223 from the second level Lv2 to the first level Lv1 by the rack elevating device 229.

The magazine transfer device control unit 247 has a reference height setting unit 397, a positioning height calculation unit 399, and a delivery work execution unit (for example, a first carry-in unit 401 and a first carry-out unit 403). The reference height setting unit 397 operates the rack elevating device 229 with the base unit 217 docked to the manufacturing equipment by the docking unit 269, and detects the reference point with the reference height detection sensor 251. The reference height setting unit 397 sets the position obtained by the encoder 387 when the reference height detection sensor 251 detects the reference point to the reference height.

The positioning height calculation unit 399 calculates a plurality of positioning heights of the magazine storage rack 223 for transferring the magazine 41 to and from the tray component stock device 29 based on the reference height.

The delivery work execution unit (for example, the first carry-in unit 401 and the first carry-out unit 403) controls the rack elevating device 229 based on a plurality of positioning heights to execute the delivery work.

The positioning height calculation unit 399 obtains at least the positioning height for positioning the holding table at the first level Lv1 lower than the slide table 127 and the second level Lv2 higher than the slide table 127.

The delivery work execution unit includes the first carry-in unit 401 and the first carry-out unit 403. The first carry-in unit 401 moves the magazine storage rack 223 from the first level Lv1 to the second level Lv2 by the rack elevating device 229, and transfers the magazine 41 from the slide table 127 to the holding table. The first carry-out unit 403 moves the storage rack from the second level to the first level by the rack elevating device 229, and transfers the magazine 41 from the holding table to the slide table 127.

FIG. 48 is an explanatory diagram of the positioning height of the magazine storage rack 223. The reference height detection sensor 251 sets the position obtained from the rack elevating device 229 when the reference height sign 417 (for example, hole 419) of the tray component stock device 29 is detected as the reference height Lv0, and sets the rack elevating device at that time. The positioning height (for example, Z coordinate) Zo at 229 is stored.

The height difference between the positioning height (for example, Z coordinate) Zo and each of the first level Lv1 to the fourth level Lv4 is stored in advance in the transport device storage unit 409 as setting data (for example, h1 to h4). Therefore, the positioning height calculation unit 399 uses the positioning height Z0 corresponding to the reference height Lv0 and the setting data (for example, h1 to h4) to obtain the respective positioning heights of the first level Lv1 to the fourth level Lv4 (for example, h1 to h4). For example, the Z coordinate) is calculated, and each of Z1 to Z4 (see FIG. 48) is stored.

FIG. 49 is an explanatory diagram of the magazine delivery operation. In the process of setting the reference height by the reference height setting unit 397, after the docking is completed, the magazine storage rack 223 is raised and lowered by the rack raising and lowering device 229, and the reference height indicator of the tray parts stock device 29 is used by the reference height detection sensor 251. 417 (hole 419) is detected.

FIG. 50 is a flowchart showing the positioning height setting process. In the positioning height setting process, first, the magazine storage rack 223 moves to the search operation start height (Bst1). The search for the reference height is started (Bst2).

FIG. 51 is an explanatory diagram of the detection principle of the reference height sign 417. The reference height detection sensor 251 provided in the magazine storage rack 223 has a light emitting unit 421 and a light receiving unit 423. On the other hand, the reference height sign 417 is provided on the pallet stock portion 43 facing the locus in which the reference height detection sensor 251 moves as the magazine storage rack 223 moves up and down. The reference height sign 417 has a hole 419 located at the reference height position. As the magazine storage rack 223 descends, the reference height detection sensor 251 irradiates the pallet stock unit 43 with the light from the light emitting unit 421. The reference height detection sensor 251 reflects the light emitted from the light emitting unit 421 to the pallet stock unit 43 and receives the light by the light receiving unit 423. Since this operation is continuously performed as the magazine storage rack 223 moves up and down, the reference height sign 417 is searched.

In the reference height detection sensor 251, when the light from the light emitting unit 421 is applied to the hole 419 of the reference height marker 417, the reflected light from the pallet stock unit 43 is not detected by the light receiving unit 423. The reference height detection sensor 251 detects the reference height Lv0 with this.

As shown in FIG. 50, when the reference height Lv0 is detected (Bst3), the reference height setting unit 397 stores the positioning height (for example, Z coordinate) Z0 in the transport device storage unit 409 (Bst4). The positioning height calculation unit 399 calculates each of the first level Lv1 to the fourth level Lv4 of the positioning height (for example, Z coordinate) based on the setting data (for example, h1 to h4) and the positioning height (for example, Z coordinate) Z0. (Bst5), the processing by the positioning height calculation unit 399 is completed.

Next, the magazine loading operation from the manufacturing equipment to the article transporting device 209 and the magazine loading operation from the article transporting device 209 to the manufacturing equipment will be described.

The magazine loading operation from the manufacturing equipment to the article transporting device 209 is a collecting operation of the magazine 41 that has consumed the article and is emptied. The magazine unloading operation from the article transport device 209 to the manufacturing equipment is a supply operation of the magazine 41 containing the articles.

(Delivery to the first magazine holding table)
FIG. 52 is a flowchart of a magazine delivery operation showing a procedure for carrying in the first magazine holding table 225. In the magazine unloading operation from the tray component stock device 29 (for example, the processing of the first loading section 401), the magazine storage rack 223 is first moved to the first level Lv1 by the rack elevating device 229 (Cst1). When Lv0 = Lv1, this operation is unnecessary.

The first magazine detection sensor 263 confirms that the magazine 41 does not exist in the first magazine holding table 225 (Cst2), and if it does not exist, the slide table 127 advance permission is transmitted to the tray parts stock device 29 (Cst3). If there is, the worker is notified and the process is terminated (Cst4).

FIG. 53 is an explanatory diagram of the unloading operation from the tray component stock device 29 by the processing of the first loading unit 401. The slide table device 123 is driven to advance the slide table 127 holding the magazine 41 to the upper side of the first magazine holding table 225 (state of FIG. 53).

FIG. 54 is an explanatory diagram of the loading operation to the first magazine holding table 225 by the processing of the first loading unit 401. If there is a notification of the completion of advancement of the slide rail 167 (Cst5), the magazine storage rack 223 is moved to the second level Lv2 by the rack elevating device 229, and the first magazine holding table 225 is positioned higher than the slide table 127. Move to (Cst6). When the first magazine holding table 225 and the slide table 127 pass each other up and down, the magazine 41 is transferred from the slide table 127 to the first magazine holding table 225 (state of FIG. 54).

Here, the first level Lv1 is a height position lower than the height position where the slide table 127 is located, and is at a height at which the magazine 41 held and moved by the slide table 127 and the holding table do not interfere with each other. be. The second level Lv2 is a height position higher than the height position where the slide table 127 is located, and is a height at which the slide table 127 can slide without interfering with the magazine 41 held by the holding table. In the operation of passing the magazine 41 from the slide table 127 to the holding table, the holding table rises from the first level Lv1 to the second level Lv2. The operation of passing the magazine 41 from the holding table to the slide table 127 is the opposite operation.

FIG. 55 is an explanatory diagram of the loading operation to the first magazine holding table 225 by the processing of the first loading unit 401. The storage permission of the slide table 127 is transmitted from the magazine transfer device control unit 247 to the tray parts stock device 29 (Cst7). The magazine transfer device control unit 247 determines whether or not there is a storage completion notification of the slide table 127 from the tray parts stock device 29 (Cst8). When the storage completion notification of the slide table 127 is received, the magazine transfer device control unit 247 detects the presence / absence of the slide table 127 with the slide table detection sensor 253 (Cst9). The magazine transfer device control unit 247 ends the process if the magazine storage rack 223 does not have the slide table 127. If the magazine storage rack 223 has a slide table 127, the magazine transfer device control unit 247 notifies the operator and ends the work. This completes the magazine unloading operation from the tray component stock device 29 to the first magazine holding table 225.

(Carrying to the second magazine holding table)
FIG. 56 is a flowchart of a magazine delivery operation showing a procedure for carrying in the second magazine holding table 227. In the magazine unloading operation (processing of the second loading unit 405) from the tray component stock device 29, first, the magazine storage rack 223 is moved to the third level Lv3 by the rack elevating device 229 (Dst1).

The second magazine detection sensor 265 confirms that the magazine 41 does not exist in the second magazine holding table 227 (Dst2), and if there is none, the slide table 127 advance permission is transmitted to the tray parts stock device 29 (Dst3). If there is, the worker is notified and the process is terminated (Dst4).

The slide table device 123 is driven to advance the slide table 127 holding the magazine 41 above the second magazine holding table 227.

If there is a notification of the completion of advancement of the slide rail 167 (Dst5), the magazine storage rack 223 is moved to the fourth level Lv4 by the rack elevating device 229, and the second magazine holding table 227 is positioned higher than the slide table 127. Move to (Dst6). When the second magazine holding table 227 and the slide table 127 pass each other up and down, the magazine 41 is transferred from the slide table 127 to the second magazine holding table 227.

Here, the third level Lv3 is a height position lower than the height position where the slide table 127 is located, and is at a height at which the magazine 41 held and moved by the slide table 127 and the holding table do not interfere with each other. be. The fourth level Lv4 is a height position higher than the height position where the slide table 127 is located, and is a height at which the slide table 127 can slide without interfering with the magazine 41 held by the holding table. In the operation of passing the magazine 41 from the slide table 127 to the holding table, the holding table rises from the third level Lv3 to the fourth level Lv4. The operation of passing the magazine 41 from the holding table to the slide table 127 is the opposite operation.

The storage permission of the slide table 127 is transmitted from the magazine transfer device control unit 247 to the tray parts stock device 29 (Dst7). The magazine transfer device control unit 247 determines whether or not there is a storage completion notification of the slide table 127 from the tray parts stock device 29 (Dst8). When the storage completion notification of the slide table 127 is received, the magazine transfer device control unit 247 detects the presence / absence of the slide table 127 with the slide table detection sensor 253 (Dst9). The magazine transfer device control unit 247 ends the process if the magazine storage rack 223 does not have the slide table 127. If the magazine storage rack 223 has a slide table 127, the magazine transfer device control unit 247 notifies the operator and ends the work. This completes the magazine unloading operation from the tray component stock device 29 to the second magazine holding table 227.

(Carrying out from the second magazine holding table)
FIG. 57 is a flowchart of a magazine delivery operation showing a procedure for carrying out from the second magazine holding table 227. In the unloading operation from the second magazine holding table 227 (processing of the second unloading unit 407), first, the magazine storage rack 223 is moved to the fourth level Lv4 by the rack elevating device 229. (Est1).

The second magazine detection sensor 265 confirms that the magazine 41 is on the second magazine holding table 227 (Est2), and if there is, the slide table advance permission is transmitted to the tray parts stock device 29 (Est3). If not, the worker is notified and the process is terminated (Est4).

FIG. 58 is an explanatory diagram of the unloading operation from the second magazine holding table 227 by the processing of the second unloading unit 407. The slide table device 123 is driven to advance the slide table 127 to the lower side of the second magazine holding table 227 holding the magazine 41 (state of FIG. 58).

FIG. 59 is an explanatory diagram of the unloading operation to the tray parts stock device 29 by the processing of the second unloading unit 407. If there is a notification of the completion of advancement of the slide rail 167 (Cst5), the magazine storage rack 223 is moved to the third level Lv3 by the rack elevating device 229, and the second magazine holding table 227 is positioned lower than the slide table 127. Move to (Est6). When the second magazine holding table 227 and the slide table 127 pass each other up and down, the magazine 41 is transferred from the second magazine holding table 227 to the slide table 127 (state in FIG. 59).

Here, the fourth level Lv4 is a height position higher than the height position where the slide table 127 is located, and is at a height at which the magazine 41 held and moved by the slide table 127 and the holding table do not interfere with each other. be. The third level Lv3 is a height position lower than the height position where the slide table 127 is located, and is a height at which the slide table 127 can slide without interfering with the magazine 41 held by the holding table. In the operation of passing the magazine 41 from the holding table to the slide table 127, the holding table descends from the fourth level Lv4 to the third level Lv3. The operation of passing the magazine 41 from the slide table 127 to the holding table is the opposite operation.

FIG. 60 is an explanatory diagram of the loading operation into the tray parts stock device 29 by the processing of the second unloading unit 407. The storage permission of the slide table 127 is transmitted from the magazine transfer device control unit 247 to the tray parts stock device 29 (Est7). The magazine transfer device control unit 247 determines whether or not there is a storage completion notification of the slide table 127 from the tray parts stock device 29 (Est 8). When the storage completion notification of the slide table 127 is received, the magazine transfer device control unit 247 detects the presence / absence of the slide table 127 with the slide table detection sensor 253 (Est9). The magazine transfer device control unit 247 ends the process if the magazine storage rack 223 does not have the slide table 127. If the magazine storage rack 223 has a slide table 127, the magazine transfer device control unit 247 notifies the operator and ends the work. This completes the magazine unloading operation from the second magazine holding table 227 to the tray parts stock device 29.

(Carrying out from the first magazine holding table)
FIG. 61 is a flowchart of a magazine delivery operation showing a procedure for carrying out from the first magazine holding table 225. In the unloading operation from the first magazine holding table 225 (for example, processing of the first unloading unit 403), the magazine storage rack 223 is first moved to the second level Lv2 by the rack elevating device 229 (Fst1).

The first magazine detection sensor 263 confirms that the magazine 41 is on the first magazine holding table 225 (Fst2), and if there is, the slide table advance permission is transmitted to the tray parts stock device 29 (Fst3). If not, the worker is notified and the process is terminated (Fst4).

The slide table device 123 is driven to advance the slide table 127 below the first magazine holding table 225 holding the magazine 41.

If there is a notification of the completion of advancement of the slide rail 167 (Fst5), the magazine storage rack 223 is moved to the first level Lv1 by the rack elevating device 229, and the first magazine holding table 225 is positioned lower than the slide table 127. Move to (Fst6). When the first magazine holding table 225 and the slide table 127 pass each other up and down, the magazine 41 is transferred from the first magazine holding table 225 to the slide table 127.

Here, the second level Lv2 is a height position higher than the height position where the slide table 127 is located, and is at a height at which the magazine 41 held and moved by the slide table 127 and the holding table do not interfere with each other. be. The first level Lv1 is a height position lower than the height position where the slide table 127 is located, and is a height at which the slide table 127 can slide without interfering with the magazine 41 held by the holding table. In the operation of passing the magazine 41 from the holding table to the slide table 127, the holding table descends from the second level Lv2 to the first level Lv1. The operation of passing the magazine 41 from the slide table 127 to the holding table is the opposite operation.

The storage permission of the slide table 127 is transmitted from the magazine transfer device control unit 247 to the tray parts stock device 29 (Fst7). The magazine transfer device control unit 247 determines whether or not there is a storage completion notification of the slide table 127 from the tray parts stock device 29 (Fst8). When the storage completion notification of the slide table 127 is received, the magazine transfer device control unit 247 detects the presence / absence of the slide table 127 with the slide table detection sensor 253 (Fst9). The magazine transfer device control unit 247 ends the process if the magazine storage rack 223 does not have the slide table 127. If the magazine storage rack 223 has a slide table 127, the magazine transfer device control unit 247 notifies the operator and ends the work. This completes the magazine unloading operation from the first magazine holding table 225 to the tray parts stock device 29.

Next, the operations of the article transfer device 209 and the article transfer system 211 according to the second embodiment will be described.

The article transport device 209 is an article transport device 209 that transports articles used in at least one manufacturing facility installed on the factory floor on the factory floor, and is an article storage body (magazine 41) that stores at least one article. A holding table (first magazine holding table 225, second magazine) that can be raised and lowered with respect to the base portion 217 having wheels 215 for traveling on the factory floor and holding the article storage body. A storage rack (magazine storage rack 223) having at least one holding table 227) and an opening 221 that allows the article storage body to be taken in and out from the lateral direction of the holding table, and a rack elevating device 229 for raising and lowering the storage rack. Be prepared.

According to this article transfer device 209, the article transfer device 209 travels in the passage 15 on the factory floor by the wheels 215 provided on the base portion 217. The article transfer device 209 includes a storage rack. The storage rack has a holding table for holding the magazine 41. This storage rack has an opening 221. In the storage rack, the magazine 41 held on the holding table can be taken in and out from the opening 221.

The storage rack can be raised and lowered by the rack raising and lowering device 229 with respect to the base portion 217 of the article transporting device 209. In the article transfer device 209, the magazine 41 held by the holding table exposed from the opening 221 is moved up and down by driving the rack elevating device 229. The article transfer device 209 moves the magazine 41 up and down for each storage rack so that the magazine 41 can be easily delivered to the slide table 127 from the manufacturing equipment that has entered the storage rack through the opening 221. It is possible.

That is, the manufacturing equipment has a slide table 127 that only advances and retreats in the horizontal direction in the storage rack of the article transport device 209. The article transfer device 209 raises and lowers the storage rack only up and down. As a result, the manufacturing equipment and the article transporting device 209 each have an extremely simple mechanism that is the minimum necessary, and the magazine 41 can be collected and supplied. As a result, the article transfer device 209 can automatically replenish and collect the magazine 41 with the manufacturing equipment by using a simple mechanism.

Further, in the article transfer device 209, the base portion 217 is docked to the docking base 115 of the manufacturing equipment by moving the base portion 217 in the first direction (direction along the Y axis) and approaching the manufacturing equipment. It further has a portion 269.

According to this article transfer device 209, the article transfer device 209 has a docking unit 269. On the other hand, the manufacturing equipment is provided with a docking base 115. The article transfer device 209 approaches the manufacturing equipment in the direction along the Y axis when docked with the manufacturing equipment. When the docking section 269 matches the docking base 115 of the manufacturing facility, the article transport device 209 close to the manufacturing facility has the docking section 269 docked to the docking base 115 and is interconnected with the manufacturing facility. After that, the article transfer device 209 is maintained in a state of being connected to the manufacturing equipment unless the docking unit 269 is undocked.

Further, in the article transport device 209, the docking portion 269 is in contact with at least one alignment member (X guide 271, positioning pin guide hole 273) provided on the docking base 115 in a first direction (direction along the Y axis). At least one aligned member (X guide roller 277,) that adjusts the position of the base portion 217 in the second direction (direction along the X axis) orthogonal to the first direction and the horizontal direction by moving to and approaching. It has a positioning pin 279).

According to this article transfer device 209, when the docking portion 269 approaches the docking base 115 from the direction along the Y axis, the aligned member of the docking portion 269 comes into contact with the alignment member provided on the docking base 115. When the docking portion 269 further approaches the docking base 115, the aligned member is displaced along the alignment member, and the docking portion 269 is aligned with the docking base 115 and docked. As a result, the article transfer device 209 is adjusted in position with respect to the manufacturing equipment via the docking unit 269 aligned with the docking base 115.

Further, in the article transfer device 209, two aligned members (X guide roller 277, positioning pin 279) are arranged at a distance in a second direction (direction along the X axis), and each aligned member is arranged. Individually contacts two alignment members (X guide 271, positioning pin guide hole 273) provided on the docking base 115 at intervals in the second direction.

According to the article transfer device 209, the base portion 217 of the article transfer device 209 includes two aligned members including an X guide roller 277 and a positioning pin 279. The two X-guide rollers 277 and the two positioning pins 279 are two X-guides 271 separated along the X-axis and two positioning pin guides separated along the X-axis from the docking base 115 of the manufacturing equipment. Positioned in each of the holes 273. As a result, the docking portion 269 can be positioned more reliably (with high accuracy) with respect to the docking base 115 as compared with the case where the alignment member and the alignment member are one.

Further, in the article transporting device 209, the base portion 217 further has a held member held by the docking holding portion 281 provided on the docking base 115.

According to this article transfer device 209, a docking holding portion 281 is provided on the docking base 115 of the manufacturing equipment. The docking holding portion 281 has a hook insertion port 283, a hook holding portion 321, and a cushioning portion 303. The held member provided in the docking portion 269 of the article transport device 209 has a hook 285 and a protrusion 319. In the article transfer device 209, when the docking portion 269 is docked to the docking base 115 from the direction along the Y axis, the hook 285 is engaged with and held by the hook holding portion 321. On the other hand, the protrusion 319 receives the reaction force from the cushioning portion 303 by pressing the cushioning portion 303. The reaction force presses the docking portion 269 in a direction away from the docking base 115, but the docking portion 269 in which the hook 285 is held by the hook holding portion 321 is restricted from being docked from the docking base 115. As a result, the position of the article transport device 209 is adjusted in the direction along the Y axis without causing rattling with respect to the manufacturing equipment.

Further, in the article transport device 209, the docking unit 269 has a other connector 287 for communication or power supply that is electrically connected to one connector 117 provided on the docking base 115.

According to this article transfer device 209, the docking unit 269 includes the other connector 287. On the other hand, the docking base 115 is provided with one connector 117. The other connector 287 provided on the docking portion 269 is provided on the docking base 115 by adjusting the position of the docking portion 269 with respect to the docking base 115 in the direction along the X axis and the direction along the Y axis. The position is adjusted so that it can be coupled to one of the connectors 117.

Further, in the article transporting device 209, the docking unit 269 has a connector position adjusting mechanism 289 that adjusts the vertical position of the other connector 287 at the time of docking, or a connector position adjusting mechanism 289 provided on the docking base 115. It has an alignment member (cam follower 295) to be operated.

According to this article transfer device 209, the docking unit 269 or the docking base 115 has a connector position adjusting mechanism 289. The connector position adjusting mechanism 289 adjusts the vertical position of the other connector 287 provided in the docking portion 269. In the second embodiment, the connector position adjusting mechanism 289 is provided in the docking portion 269. Further, the docking portion 269 includes an alignment member (cam follower 295). As a result, the position of the other connector 287 in the vertical direction with respect to the one connector 117 of the docking base 115 is automatically adjusted.

Further, in the article transport device 209, the docking portion 269 has a connector position adjusting mechanism 289, and the connector position adjusting mechanism 289 moves up and down together with the other connector 287 and comes into contact with an alignment member (cam 297) provided in the manufacturing equipment. However, it has an elevating member 291 whose height position is adjusted by the alignment member by moving in the first direction (direction along the Y axis).

According to this article transfer device 209, the connector position adjusting mechanism 289 has an elevating member 291. The height position of the elevating member 291 is adjusted by moving the elevating member 291 in the direction along the Y axis while the cam follower 295 is in contact with the cam 297 provided in the manufacturing equipment. That is, since the other connector 287 is provided on the elevating member 291, when the docking portion 269 is docked to the docking base 115, the cam follower 295 that follows the cam 297 causes the direction along the Z axis (that is, the height). Position) is adjusted.

Further, in the article transfer device 209, the holding tables (first magazine holding table 225, second magazine holding table 227) slide in the lateral direction (direction along the Y axis) with respect to the storage rack (magazine storage rack 223). It is freely mounted, and the storage rack is provided with a slide lock portion 367 that prevents the holding table from sliding.

According to this article transfer device 209, the storage rack is provided with a sliding holding table. The slide of the holding table is restricted by the slide lock portion 367 provided in the storage rack. The slide lock portion 367 can be manually unlocked. The holding table becomes slidable when the slide lock portion 367 is released. As a result, the storage rack can easily collect and replenish the magazine 41 manually by the operator by pulling out the holding table at the collection / replenishment place.

Further, the article transport system 211 includes at least one manufacturing facility (tray parts stock device 29) installed on the factory floor and an article transport device that moves the factory floor to transport articles (pallets 39) used in the manufacturing facility. The article transport device 209 is docked to the manufacturing facility by the docking device 299 including the docking base 115 of the manufacturing facility and the docking unit 269 of the article transport device 209, and the article transport device 209 and the manufacturing facility. In the article transport system 211 for delivering articles between, the docking device 299 is in the first direction of the article transport device 209 approaching the manufacturing equipment from the first direction (direction along the Y axis). Manufacturing equipment that utilizes the repulsive force of the cushion member (buffer spring 317) and the guide unit 301 that guides while adjusting the position in the second direction (direction along the X axis) orthogonal to each other in the horizontal plane. A cushioning unit 303 that absorbs the impact at the time of docking by pushing in a direction away from the docking unit, a docking holding unit 281 that prevents the docked article transporting device 209 from separating from the manufacturing equipment due to the repulsive force of the cushion member, and an article transporting device 209. With the approach to the manufacturing equipment, the connector connecting portion 305 for aligning and connecting the other connector 287 of the article transport device 209 and the one connector 117 of the manufacturing equipment is provided.

According to this article transport system 211, the manufacturing equipment is equipped with a docking base 115. The article transfer device 209 includes a docking unit 269. The docking base 115 and the docking unit 269 form a docking device 299 for joining the article transport device 209 to the manufacturing equipment. Therefore, the docking device 299 can be said to be a joint portion between the manufacturing equipment and the article transport device 209.

The docking unit 269 has a guiding unit 301. The guiding unit 301 guides docking while adjusting the position of the article transporting device 209 approaching the manufacturing equipment from the direction along the Y axis in the direction along the X axis. Further, the docking device 299 includes a docking holding portion 281 that prevents the article transporting device 209 docked in the direction along the Y axis from separating from the manufacturing equipment due to the repulsive force of the cushion member. That is, the positions of the docking base 115 and the docking portion 269 are adjusted in the horizontal plane by the guiding portion 301 and the docking holding portion 281 after docking.

In addition to this, the docking device 299 includes a connector connecting portion 305. The connector connecting portion 305 connects the other connector 287 of the article transporting device 209 and the one connector 117 of the manufacturing facility by relatively adjusting the positions as the article transporting device 209 approaches the manufacturing equipment. That is, the docking device 299 adjusts the position in the horizontal plane, and after the position adjustment in the horizontal plane is completed, the connector connecting portion 305 intersects the horizontal plane with one connector 117 and the other connector 287. Adjust the position in the direction (direction along the Z axis) and connect. Thereby, in the article transport system 211, the docking device 299 (joint portion) can absorb the variation in height between the manufacturing equipment and the article transport device 209 by using a simple mechanism.

Further, in the article transport system 211, the guide portion 301 has at least one alignment member (for example, X guide 271 and positioning pin guide hole 273) provided on the docking base 115 and at least one aligned portion (for example) provided on the docking portion 269. For example, it has an X guide roller 277 and a positioning pin 279). The guide portion 301 corrects the trajectory of the aligned portion by the alignment member by moving the aligned portion in the first direction (direction along the Y axis) while bringing the aligned portion into contact with the alignment member. As a result, the position of the article transport device 209 in the second direction (direction along the X axis) is adjusted.

According to the article transport system 211, the guide portion 301 includes an alignment member and an aligned member. When the docking portion 269 approaches the docking base 115 from the direction along the Y axis, the alignment member of the docking portion 269 comes into contact with the alignment member provided on the docking base 115. When the docking portion 269 further approaches the docking base 115, the aligned member is displaced along the alignment member, and the docking portion 269 is aligned with the docking base 115 and docked. As a result, the article transfer device 209 is aligned with and connected to the manufacturing equipment via the docking unit 269 aligned with the docking base 115.

Further, in the article transport system 211, the aligned portion (for example, X guide roller 277, positioning pin 279) has a roller (for example, X guide roller 277) that comes into contact with the alignment member (for example, X guide 271, positioning pin guide hole 273). include.

According to this article transport system 211, the aligned member of the docking portion 269 has an X guide roller 277. The X guide roller 277 rolls in contact with the X guide 271 provided on the docking base 115. A guide slope 425 (see FIG. 30) is formed on the X guide 271. The X guide roller 277 comes into contact with the X guide 271 as the docking portion 269 approaches the docking base 115, and then rolls the guide slope 425 to displace the docking portion 269 by the reaction force from the guide slope 425. As a result, the trajectory of the X guide roller 277 is corrected by the X guide 271, whereby the position of the article transport device 209 in the second direction (direction along the X axis) is adjusted.

Further, in the article transport system 211, the cushioning portion 303 is arranged on one of the docking base 115 and the docking portion 269, and the other has a protrusion 319 that abuts on the cushioning portion 303 from the first direction and deforms the cushion member. Have.

According to the article transport system 211, the cushioning portion 303 is arranged on one of the docking base 115 or the docking portion 269, and the protrusion 319 is arranged on the other side. In the second embodiment, the cushioning portion 303 is arranged on the docking base 115, and the protrusion 319 is arranged on the docking portion 269. The cushioning portion 303 is brought into contact with the protruding portion 319 when the docking portion 269 approaches. The cushioning portion 303 is displaced in a direction (−Y direction) opposite to the approaching direction (direction along the Y axis) of the protrusion 319, and absorbs the impact when the protrusion 319 collides. Further, the cushioning portion 303 is displaced in the direction opposite to the approaching direction of the protruding portion 319, and then pushes back the protruding portion 319 by the elastic rebound force.

Further, in the article transport system 211, the docking holding portion 281 is arranged on one of the docking base 115 or the docking portion 269, and at least one held member (hook 285) held by the docking holding portion 281 is arranged on the other side. Will be done.

According to the article transport system 211, the docking holding portion 281 is arranged on one of the docking base 115 or the docking portion 269, and the held member is arranged on the other. In the second embodiment, the docking holding portion 281 is arranged on the docking base 115, and the held member is arranged on the docking portion 269. In the article transfer device 209, when the docking portion 269 is docked to the docking base 115 from the direction along the Y axis, the held member is held by the docking portion 269. The protrusion 319 receives a reaction force from the cushioning portion 303 by pressing the cushioning portion 303. The reaction force presses the docking portion 269 in a direction away from the docking base 115, but the docking portion 269 in which the held member is held by the docking holding portion 281 is restricted from being docked from the docking base 115. As a result, the position of the article transfer device 209 is adjusted in the direction along the Y axis without causing rattling with respect to the manufacturing equipment.

Further, in the article transport system 211, the docking holding portion 281 abuts on the held member (for example, hook 285) from a third direction intersecting with the first direction (direction along the Y axis). The held member includes a holding force generating portion 325 that swivels the lever 323 and presses the docking roller 331 against the held member, and the held member is manufactured by moving the article transporting device 209 in the first direction. It has a roller operating surface (for example, a rear taper 337) that displaces the docking roller 331 in a direction opposite to the third direction and then displaces it in a third direction as it approaches.

According to the article transport system 211, when the article transport device 209 approaches the manufacturing facility, the docking roller 331 provided in the manufacturing facility abuts on the hook 285 of the article transport device 209 from the third direction. The docking roller 331 is supported by the lever 323. The lever 323 presses the docking roller 331 against the lever 323 by the holding force generating portion 325. When the hook 285 comes into contact with the docking roller 331, the hook 285 displaces the docking roller 331 in a direction opposite to the third direction. When the hook 285 further approaches the manufacturing equipment, the docking roller 331 displaced in the direction opposite to the third direction reaches the roller operation surface (for example, the rear taper 337) of the hook 285, and the holding force generating portion 325. It is displaced in the third direction again by the urging force of.

Further, in the article transport system 211, the connector connecting portion 305 includes a connector position adjusting mechanism 289 arranged on one of the docking base 115 or the docking portion 269 and an alignment member arranged on the other, and the connector position adjusting mechanism 289 includes. It has an elevating member 291 whose height position is adjusted by the alignment member by moving up and down together with the other connector 287 and moving in the first direction (direction along the Y axis) while contacting the alignment member (cam follower 295). ..

According to this article transport system 211, the connector position adjusting mechanism 289 has an elevating member 291. The elevating member 291 moves in the vertical direction when the connector position adjusting mechanism 289 moves in the direction along the Y axis and comes into contact with the alignment member. That is, the other connector 287 provided on the elevating member 291 also moves in the vertical direction. In the second embodiment, the connector position adjusting mechanism 289 and the alignment member are provided on the docking portion 269. As a result, the other connector 287 moves in the vertical direction together with the elevating member 291 as the docking portion 269 approaches the docking base 115, and the position in the vertical direction with respect to one connector 117 of the docking base 115 is set. It will be adjusted automatically.

Further, in the article transport system 211, the connector connecting portion 305 includes a connector pressing portion 339 which is arranged on one of the docking base 115 or the docking portion 269 and presses one of the arranged connectors 117 against the other connector 287.

According to this article transport system 211, the connector connecting portion 305 has a connector pressing portion 339. The connector pressing portion 339 is arranged on one of the docking base 115 or the docking portion 269, and one connector 117 arranged on one of the docking base 115 or the docking portion 269 is pressed against the other connector 287. In the second embodiment, the connector pressing portion 339 is arranged on the docking portion 269. Therefore, the connector pressing portion 339 provided on the docking portion 269 presses the other connector 287 provided on the docking portion 269 against the one connector 117 (see FIG. 35) provided on the docking base 115. The one connector 117 and the other connector 287 are urged in the coupling direction, so that the terminals are kept in a stable contact state.

Further, in the article transport system 211, at least one positioning pin 279 protruding in the first direction (direction along the Y axis) is provided on one of the docking base 115 or the docking portion 269, and the other is provided with the positioning pin from the first direction. A positioning pin guide member 275 having at least one positioning pin guide hole 273 into which the 279 is inserted is provided.

According to the article transport system 211, the docking base 115 or the docking portion 269 has a positioning pin 279, and the docking base 115 or the docking portion 269 has a positioning pin guide member 275 on the other side. In the second embodiment, the positioning pin 279 is arranged in the docking portion 269, and the positioning pin guide member 275 is arranged in the docking base 115. The positioning pin guide member 275 has at least one positioning pin guide hole 273 into which the positioning pin 279 is inserted from the first direction. The docking portion 269 is positioned along the X axis with respect to the docking base 115 by inserting the positioning pin 279 into the positioning pin guide hole 273.

Further, the article transfer system 211 includes at least one manufacturing facility installed on the factory floor and at least one article transfer device 209 moving on the factory floor, and includes a manufacturing facility (for example, a tray parts stock device 29) and an article transfer device 209. An article (eg, pallet 39) is transported to and from. The article transport system 211 is located in an article storage body (for example, a magazine 41) capable of storing at least one article and a first region provided in the manufacturing facility and which is a part of a plan-projected region of the article storage body. A first support table (for example, a slide table 127) that supports a plurality of parts of the article storage body from below, and another part of the plane projection area, which is provided on the article transfer device 209 and does not overlap with the first area. A second support table (for example, a first magazine holding table 225, a second magazine holding table 227) that supports other plurality of parts of the article storage body located in the second region from below, and an article storage body are supported. The second area of the article storage body is positioned above the second support table by moving the first support table to the empty second support table, or the empty first support table is moved to the second support table. A first support table moving device (advance / retreat drive unit 129) and a second support table that position the first support table below the second region of the article storage body supported by the second support table by moving toward. Is transferred from a position lower than the first support table to a higher position to deliver the article storage body supported by the first support table to the second support table, or the second support table is transferred from the first support table. It is provided with a rack elevating device 229 that transfers an article storage body supported by the second support table to the first support table by moving it from a high position to a low position.

According to this article transport system 211, the manufacturing equipment has a first support table that moves back and forth in the horizontal plane. The article transfer device 209 has a second support table that moves up and down in a direction orthogonal to the horizontal plane. The first support table and the second support table are arranged in one plane projection region in a state where the first support table is advanced into the article transport device. The first support table arranged in one plane projection area is located in the first area. The second support table arranged in one plane projection area is located in the second area which does not overlap with the first area.

That is, the second support table can move up and down relative to the first support table by driving the rack elevating device 229 while the first support table is in the article transport device. Become. More specifically, the second support table is formed in a U shape having a slide table passage space 359. The second support table allows the slide table passage space 359 to pass (pass) the first support table from above and below.

The article transfer system 211 is mounted on the first support table by raising and lowering the second support table by the rack elevating device 229 and passing the first support table through the slide table passage space 359 of the second support table. The magazine 41 can be delivered to the second support table. Further, the magazine 41 placed on the second support table can be delivered to the first support table.

As a result, the manufacturing equipment needs only be provided with the minimum necessary advance / retreat drive unit 129 for advancing / retreating the slide table 127 in the horizontal plane. Further, the article transporting device 209 also needs to be provided with only the minimum required rack lifting device 229 for raising and lowering the first support table. Further, in the article transport system 211, since the rack lifting device 229 is provided in the article transport device 209, the load of the load (for example, the magazine 41) does not move in the horizontal plane. As a result, the article transporting device 209 can be driven by suppressing the fall with the base portion 217 having a small area, as compared with the case where the robot arm or the crane that moves the load in the horizontal plane is adopted. That is, the article transport device 209 can be made compact.

As a result, according to the article transport system 211, the magazine 41 can be delivered between the manufacturing equipment and the automatic guided vehicle (for example, the article transport device 209) by using a simple mechanism. Further, since the article transfer system 211 only needs to be provided with the rack lifting device 229 as the transfer mechanism, the article transfer system 211 is significantly smaller than a system using an expensive and complicated device such as a robot arm or a crane. It becomes possible to change.

Further, in the article transport system 211, the article accommodating body (for example, the magazine 41) has a plurality of first alignment portions (for example, the first alignment group 103) in the first region F1 and a plurality of first alignment portions in the second region F2. It has two alignment portions (for example, a second alignment group 107), and a first support table (for example, a slide table 127) contacts a plurality of first alignment portions to adjust the position of the article storage body with respect to the first support table. The second support table (for example, the first magazine holding table 225 and the second magazine holding table 227) has a plurality of first alignment guides 363 and comes into contact with the plurality of second alignment portions to make the article storage body first. 2 It has a plurality of second alignment guides 361 for adjusting the position with respect to the support table.

According to the article transport system 211, the slide table 127 has a plurality of first alignment guides 363. The plurality of first alignment guides 363 come into contact with the plurality of first alignment portions to adjust the position of the magazine 41 with respect to the slide table 127. The second support table has a plurality of second alignment guides 361. The second alignment guide 361 contacts the plurality of second alignment portions and adjusts the position of the magazine 41 with respect to the second support table. As a result, the position of the magazine 41 is automatically adjusted and placed on the slide table 127, and the position of the magazine 41 is automatically adjusted and placed on the second support table.

Further, in the article transport system 211, at least one of the plurality of first alignment guides 363 adjusts the position of the article accommodating body in the horizontal first direction (direction along the X axis), and at least one of the other is. The position of the article storage body is adjusted in the second direction (direction along the Y axis) orthogonal to the first direction in the horizontal plane, and at least one of the plurality of second alignment guides 361 is the article in the horizontal third direction. The position of the housing is adjusted, and at least the other one adjusts the position of the article storage in the fourth direction orthogonal to the third direction in the horizontal plane.

According to the article transport system 211, the first alignment guide 363 has four X alignment guides 181 and four Y alignment guides 187 shown in FIG. At least one of the first alignment guides 363 (X alignment guide 181) adjusts the position of the magazine 41 with respect to the slide table 127 in the horizontal first direction (direction along the X axis). At least one of the first alignment guides 363 (Y alignment guide 187) positions the magazine 41 on the slide table 127 in the second direction (direction along the Y axis) orthogonal to the first direction in the horizontal plane. Adjust for.

Further, as shown in FIG. 42, the second alignment guide 361 has an X alignment roller 255 and a Y alignment member 259. At least one of the plurality of second alignment guides 361 (X alignment roller 93) positions the magazine 41 in a horizontal third direction (for example, a direction along the X axis), the first magazine holding table 225, and the second. Adjust with respect to the magazine holding table 227. At least one of the plurality of second alignment guides 361 (Y alignment member 259) positions the magazine 41 in a fourth direction (for example, a direction along the Y axis) orthogonal to the third direction in the horizontal plane. The magazine holding table 225 and the second magazine holding table 227 are adjusted.

Further, in the article transport system 211, the article is a pallet 39 holding a tray 31 containing the parts 33, and the article storage body is a magazine 41 storing a plurality of pallets 39.

According to the article transport system 211, the article is a pallet 39 holding a tray 31 containing a plurality of components 33 (for example, board-mounted components). The article storage body is a magazine 41 that stores a plurality of pallets 39. Therefore, the magazine 41 accommodates a large number of parts 33. The article transport system 211 delivers this large number of articles in magazine units. That is, the article transport system 211 enables the supply of articles in magazine units and the collection of magazines 41.

Further, in the article transport system 211, the article transport device 209 includes a base portion 217 having wheels 215 for traveling on the factory floor, and the base portion 217 is a manufacturing facility in which the base portion 217 moves in the first direction. Further has a docking section 269 that docks to the docking base 115 of the manufacturing equipment by approaching.

According to the article transfer system 211, the article transfer device 209 includes a docking unit 269. The docking unit 269 can be docked to the docking base 115 of the manufacturing equipment. As a result, the article transport system 211 is a simple mechanism because the article transport device 209 provided with the rack lifting device 229 and the manufacturing equipment provided with the slide table 127 are positioned with high accuracy by the docking device 299. The magazine 41 can be delivered between the manufacturing equipment and the automatic guided vehicle (article transport device 209).

Further, the article transport device 209 is an article transport device 209 that transports articles (pallets 39) used in at least one manufacturing facility (tray parts stock device 29) installed on the factory floor on the factory floor. It can be raised and lowered with respect to the base portion 217 having wheels 215 for traveling on the floor, the docking portion 269 for docking the base portion 217 to the manufacturing equipment, and the base portion 217, and holds the article storage body (magazine 41). A storage rack (magazine storage rack 223) having at least one holding table (first magazine holding table 225, second magazine holding table 227), a rack elevating device 229 for raising and lowering the storage rack, and the height of the storage rack. A position detection unit (encoder 387) that detects the position in the direction, and a reference height detection unit (reference height) that detects a reference point (hole 419 of the reference height marker 417) provided in the manufacturing equipment by moving up and down together with the storage rack. The rack elevating device 229 is operated with the base unit 217 docked to the manufacturing equipment by the detection sensor 251) and the docking unit 269 to detect the reference point by the reference height detection unit, and the reference height detection unit detects the reference point. The position obtained by the position detection unit at the time of detection is set to the reference height, and the rack elevating device 229 is operated based on the reference height to transfer the article storage body between the holding table and the manufacturing equipment. It includes a control unit (magazine transfer device control unit 247) for execution.

According to this article transfer device 209, the base unit 217 is docked to the manufacturing equipment by the docking unit 269. The article transfer device 209 can freely travel in the passage 15 on the factory floor by the wheels 215 provided on the base portion 217. The article transport device 209 that travels on the factory floor and arrives at the manufacturing equipment is integrally connected to the manufacturing equipment by docking with the docking unit 269.

The article transfer device 209 includes a storage rack for holding the magazine 41 on the holding table. The storage rack can be raised and lowered by driving the rack raising and lowering device 229 while holding the magazine 41 on the holding table. The article transfer device 209 has a position detection unit that detects a position in the height direction of the storage rack that moves up and down. Further, the article transfer device 209 includes a reference height setting unit 397 for detecting a reference point provided in the manufacturing equipment.

The article transfer device 209 includes a control unit that operates the rack elevating device 229 and detects a reference point by the reference height detection unit in a state where the base unit 217 is docked to the manufacturing equipment by the docking unit 269. The control unit sets the position obtained by the position detection unit to the reference height when the reference height detection unit detects the reference point. The control unit operates the rack elevating device 229 to a predetermined height (1st level Lv1 to 4th level Lv4) based on the reference height, and transfers the article storage body between the holding table and the manufacturing equipment. To execute.

As a result, in the article transport device 209, the manufacturing equipment and the article transport device 209, which are not necessarily located on the same plane, are first aligned in the horizontal plane by the docking unit 269, and then the relative position in the height direction with the manufacturing equipment. Can be obtained as the reference height. As a result, the delivery height of the magazine 41 can be adjusted between the manufacturing equipment and the automatic guided vehicle (article transfer device 209) by using a simple mechanism.

Further, in the article transport device 209, the manufacturing equipment has a slide table 127 that holds the article storage body and moves in the horizontal direction, and the delivery work is performed by the slide table 127 projecting into the internal space of the holding table and the storage rack. The control unit (magazine transfer device control unit 247) transfers the holding table to and from the first level Lv1 lower than the slide table 127 and the second level Lv2 higher than the slide table 127. When the positioning height to be positioned is determined based on the reference height and the article storage body is transferred from the slide table 127 to the holding table, the storage rack is moved from the first level to the second level by the rack lifting device 229 and held. When handing over from the table to the slide table 127, the storage rack is moved from the second level to the first level by the rack elevating device 229.

According to this article transfer device 209, the manufacturing equipment includes a slide table 127 for holding the magazine 41. The slide table 127 can move forward and backward into the internal space of the storage rack provided in the article transport device 209. The magazine 41 is delivered between the slide table 127 protruding into the internal space and the holding table of the storage rack. The transfer from the slide table 127 to the holding table can be performed by moving the storage rack from the first level to the second level. The transfer from the holding table to the slide table 127 can be performed by moving the storage rack from the second level to the first level. The height of the holding table (for example, the first level Lv1 and the second level Lv2) set at the time of these delivery is obtained by the control unit.

Further, the article transport device 209 is an article transport device 209 that transports articles (for example, pallets 39) used in at least one manufacturing facility (for example, tray parts stock device 29) installed on the factory floor on the factory floor. , An article storage body (for example, a magazine 41) for storing at least one article, a base portion 217 having wheels 215 for traveling on the factory floor, a docking portion 269 for docking the base portion 217 to a manufacturing facility, and a base portion. With a storage rack (for example, magazine storage rack 223) that can be raised and lowered with respect to 217 and has at least one holding table (for example, a first magazine holding table 225 and a second magazine holding table 227) for holding an article storage body. , A rack lifting device 229 that raises and lowers the storage rack, a position detection unit (for example, encoder 387) that detects the position of the storage rack in the height direction, and a reference that moves up and down together with the storage rack to detect a reference point provided in the manufacturing equipment. A height detection unit (for example, a reference height detection sensor 251) and a control unit (for example, a magazine transfer device control unit 247) that is connected to the position detection unit and the reference height detection unit and controls the rack elevating device 229 are provided. The control unit operates the rack elevating device 229 with the base unit 217 docked to the manufacturing equipment by the docking unit 269 to detect the reference point by the reference height detection unit, and the reference height detection unit detects the reference point. A storage rack for transferring an article storage body between the reference height setting unit 397, which sometimes sets the position obtained by the position detection unit to the reference height, and the manufacturing equipment based on the reference height. The positioning height calculation unit 399 that calculates a plurality of positioning heights, and the delivery work execution unit (for example, the first carry-in unit 401, the first carry-in unit 401, No. 1) that controls the rack elevating device 229 based on the plurality of positioning heights to execute the delivery work. 1 Carrying out unit 403) and.

The article transfer device 209 includes a storage rack for holding the magazine 41 on the holding table. The storage rack can be raised and lowered by driving the rack raising and lowering device 229 while holding the magazine 41 on the holding table. The article transfer device 209 has a position detection unit that detects a position in the height direction of the storage rack that moves up and down. Further, the article transfer device 209 includes a reference height setting unit 397 for detecting a reference point provided in the manufacturing equipment. The article transfer device 209 has a plurality of positioning heights (for example, first) of the storage rack for transferring the article storage body to and from the manufacturing equipment based on the reference height set by the reference height setting unit 397. Level Lv1 to 4th level Lv4) are calculated by the positioning height calculation unit 399. In the article transfer device 209, the rack elevating device 229 is controlled by the delivery work execution unit, and the delivery work of the magazine 41 is executed at a plurality of positioning heights.

As a result, the article transporting device 209 first aligns the manufacturing equipment and the article transporting device 209, which are not necessarily located on the same plane, in the horizontal plane by the docking unit 269, and then positions relative to the manufacturing equipment in the height direction. Can be obtained as the reference height. As a result, the delivery height of the magazine 41 can be adjusted between the manufacturing equipment and the automatic guided vehicle (for example, the article transfer device 209) by using a simple mechanism.

Further, in the article transport device 209, the manufacturing equipment has a slide table 127 that holds the article storage body and moves in the horizontal direction, and the delivery work is performed by the slide table 127 projecting into the internal space of the holding table and the storage rack. It is a work of handing over the article storage body to and from, and the positioning height calculation unit 399 at least holds the holding table at the first level lower than the slide table 127 (for example, the first level Lv1) and higher than the slide table 127. Obtaining the positioning height to be positioned at the second level (for example, the second level Lv2), the delivery work execution unit moves the storage rack from the first level to the second level by the rack elevating device 229, and slides the article storage body 127. The storage rack is moved from the second level to the first level by the loading unit (for example, the first loading unit 401) to be delivered from the holding table to the holding table, and the storage rack is transferred from the holding table to the slide table 127 by the rack elevating device 229. It includes a carry-out unit (for example, a first carry-out unit 403).

According to this article transfer device 209, the manufacturing equipment includes a slide table 127 for holding the magazine 41. The slide table 127 can move forward and backward into the internal space of the storage rack provided in the article transport device 209. The magazine 41 is delivered between the slide table 127 protruding into the internal space and the holding table of the storage rack. The transfer from the slide table 127 to the holding table can be performed by moving the storage rack from the first level to the second level. The transfer from the holding table to the slide table 127 can be performed by moving the storage rack from the second level to the first level. The height of the holding table (for example, the first level Lv1 and the second level Lv2) set at the time of these delivery is obtained by the control unit. Depending on the height of the holding table to be set, the carrying-in unit executes a process of loading the magazine 41 into the holding table, and the carrying-out unit executes a process of carrying out the magazine 41 from the holding table.

As a result, the article transport device 209 allows the slide table 127 that has entered the internal space of the magazine storage rack 223 to pass (pass) the holding table of the magazine storage rack 223 from above and below, and the slide table 127 and the holding table The transfer of the magazine 41 between the two is realized by using a simple mechanism.

Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It is clear that a person skilled in the art can come up with various modifications, modifications, substitutions, additions, deletions, and even examples within the scope of the claims. It is naturally understood that it belongs to the technical scope of the present disclosure. Further, each component in the various embodiments described above may be arbitrarily combined as long as the gist of the invention is not deviated.

Note that this application is based on a Japanese patent application filed on December 28, 2020 (Japanese Patent Application No. 2020-219409), the contents of which are incorporated herein by reference.

This disclosure is useful as an article transporting device that can automatically replenish and collect parts storage bodies with manufacturing equipment using a simple mechanism.

29 Tray parts stock equipment (manufacturing equipment)
39 pallets (articles)
41 Magazine (goods storage)
115 Docking base 117 One connector 209 Goods transfer device 215 Wheel 217 Base part 223 Magazine storage rack (storage rack)
225 First magazine holding table (holding table)
227 Second magazine holding table (holding table)
229 Rack lifting device 269 Docking part 271 X guide (alignment member)
273 Positioning pin guide hole (alignment member)
277 X guide roller (aligned member)
279 Positioning pin (aligned member)
281 Docking holding part 285 Hook (held member)
287 Other connector 289 Connector position adjustment mechanism 291 Lifting member 295 Cam follower (alignment member)
307 X guide arm (aligned member)
367 slide lock part

Claims

An article transport device that transports articles used in at least one manufacturing facility installed on the factory floor on the factory floor.
An article storage body that stores at least one article,
A base portion having wheels for traveling on the factory floor, and
A storage rack that can be raised and lowered with respect to the base portion, has at least one holding table for holding the article storage body, and has an opening that allows the article storage body to be taken in and out from the lateral direction of the holding table.
A rack elevating device for elevating and lowering the storage rack.
Goods transfer device.
The base portion further includes a docking portion that docks to the docking base of the manufacturing equipment by moving the base portion in the first direction and approaching the manufacturing equipment.
The article transporting device according to claim 1.
The docking portion moves in the first direction while contacting at least one alignment member provided on the docking base and approaches the docking portion in a second direction orthogonal to the first direction. It has at least one aligned member that adjusts the position of the base.
The article transporting device according to claim 2.
The two aligned members are spaced apart from each other in the second direction.
Each aligned member individually contacts two aligned members provided on the docking base at intervals in the second direction.
The article transporting device according to claim 3.
The base portion further has a held member held by the docking holding portion provided on the docking base.
The article transporting device according to claim 2.
The docking section has the other connector for communication or power supply that is electrically connected to one connector provided on the docking base.
The article transporting device according to claim 2.
The docking portion has a connector position adjusting mechanism for adjusting the vertical position of the other connector at the time of docking, or an alignment member for operating the connector position adjusting mechanism provided on the docking base.
The article transporting device according to claim 6.
The docking portion has the connector position adjusting mechanism.
The connector position adjusting mechanism moves up and down together with the other connector and moves in the first direction while contacting the alignment member provided in the manufacturing equipment, whereby the height position is adjusted by the alignment member. Has an elevating member,
The article transporting device according to claim 7.
The holding table is slidably mounted laterally with respect to the storage rack.
The storage rack is provided with a slide lock portion that prevents the holding table from sliding.
The article transporting device according to claim 1.