Accommodating device and accommodating method

Abstract

The invention provides a storage device and a storage method capable of ensuring a necessary gap between a workpiece and an end part of a bag body. This storage device (1, 1Z) stores a workpiece (W) in a bag body (B). The bag body is provided with an open end portion (B3), a bottom end portion (B4), and a pair of side end portions (B5, B6). The housing device has a pair of guide members (50, 51, 50Z, 51Z), a holding section (4, 4Z), a moving mechanism (52, 52Z), and a moving member (62). The guide member is provided with recesses (50a, 51a) disposed at the upper end of the guide member on the inner side, and protrusions (50b, 51b) disposed adjacent to the recesses in the outer direction. The recess is provided with a recess bottom surface (50f, 51f). The movement mechanism inserts the guide member from the open end toward the bottom end, and moves the guide member inserted into the bag so that the workpiece can be placed on the bottom surface of the recess of the guide member. The moving member slides the workpiece placed on the bottom surface of the recess of the guide member toward the inside of the bag body.

Description

Technical Field

[0001] The invention relates to a containing device and a containing method. Background Art

[0002] An isostatic pressing device called a so-called "warm water isostatic press" uses, for example, warm water or oil as a pressure medium to apply uniform pressure to a workpiece (for example, a laminate, a printed circuit board with electronic components bonded thereto, etc.) from all directions (for example, refer to Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature:

[0005] Patent Document 1: Japanese Patent Application Publication No. 2010-267874. Summary of the invention

[0006] Problem that the invention aims to solve

[0007] When the workpiece is pressurized by an isostatic pressure device, the workpiece is pre-accommodated in a bag for decompression and sealing. The bag is manufactured, for example, by welding three sides of two rectangular sheets. The workpiece is accommodated in the bag from the side that has not been welded, that is, the open end. At this time, if the workpiece is accommodated inside the bag toward the end, stress concentration may occur at this end of the bag when pressurized. As a result, failures such as bag damage or pressure medium entering the bag may occur. Therefore, a certain degree of gap (interval) needs to be left between the workpiece and the end of the bag. In the past, in order to ensure the necessary gap between the workpiece and the end of the bag, the workpiece was accommodated in the bag by manual operation.

[0008] An object of the present invention is to provide a storage device and a storage method capable of ensuring a necessary gap between a workpiece and an end portion of a bag body.

[0009] Solutions for solving problems

[0010] The housing device in one embodiment of the present invention is a housing device that houses a workpiece in a bag body. When three mutually orthogonal axes are the X-axis, the Y-axis, and the Z-axis, the X-axis and the Y-axis are parallel to the horizontal direction. The direction along the X-axis is the X-axis direction, the direction along the Y-axis is the Y-axis direction, and the direction along the Z-axis is the Z-axis direction parallel to the up-and-down direction. The bag body includes: a rectangular sheet-like upper half portion and a lower half portion that face each other in the Z-axis direction; an opening end portion that is parallel to the X-axis direction; a bottom end portion that is disposed at a position facing the opening end portion; and a pair of side end portions that are respectively continuous with the opening end portion and the bottom end portion. The housing device has: a pair of long guide members that are arranged in the X-axis direction and are parallel to the Y-axis direction; a holding portion that is configured to hold the upper half portion and the lower half portion in a state where the opening end portion is open; a moving mechanism that moves the pair of guide members in the X-axis direction and the Y-axis direction; and a moving member that is configured to be able to move in the Y-axis direction between the pair of guide members. In the X-axis direction, with respect to one of the guide members, the direction in which the other guide member is located is the inner direction, and the direction opposite to the inner direction is the outer direction. The guide member includes: a concave portion that is disposed along the Y-axis direction at the upper end portion on the inner direction side of the guide member; and a convex portion that is adjacent to the outer direction of the concave portion and is disposed along the Y-axis direction. The concave portion has a concave bottom surface configured such that the workpiece placed thereon can slide. The holding portion opens the central portion of the opening end portion. The moving mechanism inserts the pair of guide members from the opened opening end portion toward the bottom end portion. In the X-axis direction, the pair of guide members inserted into the bag body are moved toward the outer direction such that the workpiece can be placed on the concave bottom surfaces of the pair of guide members. The moving member slides the workpiece placed on the concave bottom surfaces of the pair of guide members that have moved toward the outer direction toward the inside of the bag body.

[0011] A housing method according to an embodiment of the present invention is a housing method used in a housing device for housing a workpiece in a bag. When three mutually orthogonal axes are the X-axis, the Y-axis, and the Z-axis, the X-axis and the Y-axis are parallel to the horizontal direction. The direction along the X-axis is the X-axis direction, the direction along the Y-axis is the Y-axis direction, and the direction along the Z-axis is the Z-axis direction parallel to the vertical direction. The bag includes: a rectangular sheet-shaped upper half part and a lower half part, which are opposed to each other in the Z-axis direction; an opening end portion, which is parallel to the X-axis direction; a bottom end portion, which is disposed at a position opposed to the opening end portion; and a pair of side end portions, which are respectively continuous with the opening end portion and the bottom end portion. The housing device includes: a pair of long guide members, which are arranged and disposed in the X-axis direction and are parallel to the Y-axis direction; a holding portion, which is configured to be able to hold the upper half part and the lower half part in a state where the opening end portion is open; a moving mechanism, which moves the pair of guide members in the X-axis direction and the Y-axis direction; and a moving member, which is configured to be able to move in the Y-axis direction between the pair of guide members. In the X-axis direction, with respect to one of the guide members, the direction in which the other guide member is located is the inner direction, and the direction opposite to the inner direction is the outer direction. The guide member includes: a concave portion, which is disposed at the upper end portion on the inner direction side of the guide member and is arranged along the Y-axis direction; and a convex portion, which is adjacent to the outer direction of the concave portion and is arranged along the Y-axis direction. The concave portion has a concave bottom surface configured such that the workpiece placed thereon can slide. The housing method includes the following steps: the holding portion opens the central portion of the opening end portion; the moving mechanism inserts the pair of guide members from the opened opening end portion toward the bottom end portion; the moving mechanism moves the pair of guide members inserted into the bag toward the outer direction in the X-axis direction in such a manner that the workpiece can be placed on the concave bottom surfaces of the pair of guide members; the workpiece is placed on the concave bottom surfaces of the pair of guide members that have moved toward the outer direction; and the moving member slides the workpiece placed on the concave bottom surfaces of the pair of guide members toward the inside of the bag.

[0012] Advantages of the Invention

[0013] According to the present invention, it is possible to provide a housing device and a housing method capable of ensuring a necessary gap between the workpiece and the end portion of the bag. Description of the Drawings

[0014] Figure 1 It is a schematic perspective view of a housing device showing an embodiment of the housing device of the present invention.

[0015] Figure 2 It is a functional block diagram of the housing device.

[0016] Figure 3 It is a schematic side view showing an example of a workpiece accommodated in a bag body by an accommodation device.

[0017] Figure 4 It is a schematic top view showing an example of a bag body accommodating a workpiece.

[0018] Figure 5 It is a schematic top view of a lower holding unit included in the accommodation device.

[0019] Figure 6 It is a schematic bottom view of an upper holding unit included in the accommodation device.

[0020] Figure 7 It is a partially enlarged schematic perspective view of a guiding member included in the accommodation device.

[0021] Figure 8 It is Figure 7 A view in the direction A of the guiding member.

[0022] Figure 9 It is a flowchart showing an example of the operation of the accommodation device.

[0023] Figure 10 It is a partially enlarged schematic side view of the accommodation device showing the state where the bag body is adsorbed and held by the accommodation device.

[0024] Figure 11 It is shown in Figure 10 A partially enlarged schematic side view of the accommodation device showing the state where the open end of the bag body is open in the state of.

[0025] Figure 12 It is shown in Figure 11 A partially enlarged schematic top view of the accommodation device showing the state where the guiding member is inserted into the bag body in the state of.

[0026] Figure 13 It is Figure 12 A view in the direction C of the accommodation device.

[0027] Figure 14 It is shown in Figure 13 A partially enlarged schematic side view of the accommodation device showing the state where the guiding member moves to the open position in the state of.

[0028] Figure 15 It is shown in Figure 14 A partially enlarged schematic top view of the accommodation device showing the state where the workpiece is carried into the accommodation device in the state of.

[0029] Figure 16 It is shown in Figure 15A partial enlarged schematic top view of the housing device showing the state where the workpiece has moved inside the bag body in the state of

[0030] Figure 17 is Figure 16 A view in the D direction of the housing device of

[0031] Figure 18 It shows in Figure 16 A partial enlarged schematic side view of the housing device showing the state where the support member of the lower holding unit has risen in the state of

[0032] Figure 19 It shows in Figure 18 A partial enlarged schematic side view of the housing device showing the state where the guiding member has retracted from the bag body in the state of

[0033] Figure 20 It shows in Figure 19 A partial enlarged schematic top view of the housing device showing the state where the moving member of the housing device has retracted from the bag body in the state of

[0034] Figure 21 It shows in Figure 20 A partial enlarged schematic side view of the housing device showing the state where the adsorption of the bag body has been released in the state of

[0035] Figure 22 It is a functional block diagram of the housing device showing the second embodiment of the housing device of the present invention.

[0036] Figure 23 It is a schematic top view of the lower holding unit provided in the housing device in the second embodiment.

[0037] Figure 24 It is a partial enlarged schematic perspective view of the guiding member provided in the housing device in the second embodiment.

[0038] Figure 25 (a) of Figure 24 is a schematic side view of one of the guiding members of Figure 25 (b) of Figure 24 is a schematic side view of the other guiding member of

[0039] Figure 26 It is a flowchart showing an example of the operation of the housing device in the second embodiment.

[0040] Figure 27 It is a partial enlarged schematic cross-sectional view of the housing device showing the state where the workpiece has moved to the base end portion of the guiding member in the second embodiment.

[0041] Figure 28 It shows in Figure 27Partial enlarged schematic cross-sectional view of the housing device showing the state in which the workpiece is moved to the top end of the guide member.

[0042] Figure 29 Shows the state in Figure 28 Partial enlarged schematic cross-sectional view of the housing device showing the state during the retraction of the guide member halfway.

[0043] Explanation of reference numerals

[0044] 1: Housing device

[0045] 4: Bag body holding unit (holding part)

[0046] 40: Support table (placement table)

[0047] 41: Workbench (placement table)

[0048] 42: Lower adsorption part

[0049] 42u: Lower adsorption unit

[0050] 43: Support member

[0051] 44: Lower moving mechanism (lower lifting device)

[0052] 46: Upper adsorption part

[0053] 47a: Upper lifting device

[0054] 50: Guide member

[0055] 50a: Recess

[0056] 50b: Protrusion

[0057] 50c: Protruding part

[0058] 50d: Outer side surface

[0059] 50f: Bottom surface

[0060] 50h: Inner side surface

[0061] 50k: Inner side surface of the protruding part

[0062] 51: Guide member

[0063] 51a: Recess

[0064] 51b: Protrusion

[0065] 51c: Protruding part

[0066] 51d: Outer side surface

[0067] 51f: Bottom surface

[0068] 51h: Inner side surface

[0069] 51k: Inner side surface of the protrusion

[0070] 52: Guide moving mechanism (moving mechanism)

[0071] 60: Workpiece table

[0072] 61: Table lifting device (lifting device)

[0073] 62: Moving part

[0074] 7: Workpiece loading device

[0075] 1Z: Housing device

[0076] 4Z: Bag body holding unit (holding part)

[0077] 50Z: Guide part

[0078] 50n: Inclined surface

[0079] 51Z: Guide part

[0080] 51n: Inclined surface

[0081] 52Z: Guide moving mechanism (moving mechanism)

[0082] 52d: Guide supporting part (supporting mechanism)

[0083] 52e: Guide supporting part (supporting mechanism)

[0084] 52f: Biasing part (supporting mechanism)

[0085] 52g: Biasing part (supporting mechanism)

[0086] 52h: Rotating shaft (supporting mechanism)

[0087] 52i: Rotating shaft (supporting mechanism)

[0088] B: Bag body

[0089] B1: Lower body part

[0090] B2: Upper body part

[0091] B3: Opening end part

[0092] B4: Bottom end part

[0093] B5: Side end part

[0094] B6: Side end part

[0095] W: Workpiece Detailed implementation manners

[0096] The following describes the embodiments of the housing device (hereinafter referred to as "this device") and the housing method (hereinafter referred to as "this method") of the present invention. In the following description, reference is made to the respective drawings as appropriate. In the respective drawings, the same reference numerals are assigned to the same components and elements, and repeated descriptions are omitted. In addition, for ease of explanation, the dimensional ratios of the respective elements may be enlarged and are not limited to the ratios shown in the respective drawings.

[0097] In the following description and drawings, unless otherwise emphasized, when the three mutually orthogonal axes in space are the X-axis, Y-axis, and Z-axis, the X-axis and Y-axis are parallel to the horizontal direction, and the Z-axis is parallel to the vertical direction. The "X-axis direction" is the direction along the X-axis, the "+X direction" is one direction of the X-axis direction, and the "-X direction" is the other direction of the X-axis direction. The "Y-axis direction" is the direction along the Y-axis, the "+Y direction" is one direction of the Y-axis direction, and the "-Y direction" is the other direction of the Y-axis direction. The "Z-axis direction" refers to the direction along the Z-axis and is the vertical direction.

[0098] Housing device (1)

[0099] First, the embodiments of this device will be described.

[0100] Structure of the housing device (1)

[0101] Figure 1 is a schematic perspective view of this device showing the embodiments of this device.

[0102] Figure 2 is a functional block diagram of this device.

[0103] This device 1 houses the workpiece W in the bag body B. This device 1 includes a housing 2, a control device 3, a bag body holding unit 4, a guiding unit 5, a workpiece housing unit 6, a workpiece loading device 7, a bag body supply table 8, and a bag body unloading device 9.

[0104] Figure 3 is a schematic side view showing an example of the workpiece W.

[0105] The "workpiece W" is the object to be housed in the bag body B. The shape of the workpiece W is a shape that can be housed in the bag body B. When viewed from above, the shape of the workpiece W is preferably rectangular. The workpiece W includes, for example, a pressurized object W1 (e.g., a laminate of multiple ceramic green sheets, a printed circuit board with electronic devices bonded thereto, etc.) pressurized by an isostatic pressing device and a tray W2 on which the pressurized object W1 is placed. When viewed from above, the shape of the tray W2 is, for example, a rectangular plate shape.

[0106] Note that in the present invention, the workpiece W only needs to be an object accommodated in the bag body B, and the structure of the workpiece W is not limited to the structure of the present embodiment. That is, for example, the workpiece W may not have the tray W2. In addition, the workpiece W may be a document such as an instruction manual that is not pressurized, or food and beverages accommodated in a rectangular box. Moreover, when viewed from above, the shape of the workpiece W only needs to be a shape in which the workpiece W will not fall from the following guiding members 50 and 51 (refer to Figure 7 ) due to rotation about the Z axis, and is not limited to a rectangular shape. That is, for example, the shape of the workpiece may also be a polygonal shape having two parallel sides or a circular shape.

[0107] Figure 4 FIG. is a schematic top view showing an example of the bag body B.

[0108] For ease of explanation, the workpiece W is shown by a double-dashed line in this figure.

[0109] The "bag body B" accommodates the workpiece W. The material of the bag body B is appropriately selected according to the treatment of the workpiece W accommodated in the bag body B. That is, for example, when the workpiece W accommodated in the bag body B is heated, the material of the bag body B is selected as a heat-resistant resin material (for example, fluororesin, etc.). The bag body B includes a lower half body portion B1, an upper half body portion B2, an opening end portion B3, a bottom end portion B4, and two side end portions B5 and B6. The upper half body portion B2 overlaps above the lower half body portion B1. The bag body B is formed into a bag shape by fusing three end edges of the rectangular sheet-like lower half body portion B1 and the upper half body portion B2 to each other. The opening end portion B3 is disposed at the unfused end edge among the end edges of the bag body B. The bottom end portion B4 is disposed at the end edge among the fused end edges that is opposed to the opening end portion B3. The side end portions B5 and B6 are disposed at the end edges among the fused end edges that are continuous with the end portions of the opening end portion B3 and the bottom end portion B4, respectively. That is, the side end portions B5 and B6 are continuous with the opening end portion B3 and the bottom end portion B4. In the present apparatus 1, the bag body B is used in such a manner that the opening end portion B3 and the bottom end portion B4 are parallel to the X-axis direction.

[0110] In the following description, the main reference drawings return to Figure 1 and Figure 2 .

[0111] The housing 2 houses a control device 3, a bag holding unit 4, a guiding unit 5, a workpiece housing unit 6, a workpiece loading device 7, a bag supply table 8, and a bag unloading device 9. When viewed from above, the housing 2 is in the shape of a hollow rectangular parallelepiped along the X-axis direction and the Y-axis direction (hereinafter referred to as the "XY-axis direction"). The housing 2 is arranged on a horizontal ground. In the following description, the "horizontal direction" is a direction parallel to the ground and is parallel to the XY-axis direction. In addition, the horizontal direction includes not only a completely horizontal state but also errors (minute inclinations) caused by minute inclinations of the ground and manufacturing tolerances and assembly tolerances of the respective components constituting the device 1.

[0112] The control device 3 controls the overall operation of the device 1. The control device 3 includes, for example, a processor such as a CPU (Central Processing Unit), a volatile memory such as a RAM (Random Access Memory) 3b that functions as an operating area of the CPU 3a, and a non-volatile memory such as a ROM (Read Only Memory) 3c that stores various information such as control programs. The control device 3 is, for example, a PC (Personal Computer).

[0113] It should be noted that in the present invention, the control device 3 is not limited to a PC. That is, for example, the control device 3 may be composed of a plurality of PLCs (Programmable Logic Controllers).

[0114] The bag holding unit 4 holds the bag B. The bag holding unit 4 includes a lower holding unit 4D, an upper holding unit 4U, and a decompression device 4P. The bag holding unit 4 is an example of a holding portion in the present invention.

[0115] Figure 5 It is a schematic top view of the lower holding unit 4D.

[0116] For ease of explanation, the workpiece W, the bag B, and the guiding members 50 and 51 described later are shown by a two-dot chain line in this figure. In the following description, appropriate reference is made to Figures 1 to 4 .

[0117] The lower holding unit 4D holds the lower half body portion B1 of the bag B. The lower holding unit 4D includes a support table 40, a work table 41, a plurality of (nine in this embodiment) lower suction portions 42, a plurality of (eight in this embodiment) support members 43, and a lower moving mechanism 44. In the following description, when specifically distinguishing each lower suction portion 42, symbols "1" to "9" are added to their ends. The support table 40 and the work table 41 are examples of a mounting table in the present invention.

[0118] The support table 40 supports the worktable 41 and houses the lower adsorption portion 42 and the support member 43. The shape of the support table 40 is, for example, a rectangular box shape along the XY-axis direction when viewed from above.

[0119] The worktable 41 functions as a placement table for placing the bag body B and also functions as a carry-out tray for the bag body B that can move in the X-axis direction by the bag body carry-out device 9. The shape of the worktable 41 is, for example, a rectangular plate shape along the XY-axis direction when viewed from above. The worktable 41 is provided with a plurality (9 in this embodiment) of first through holes 41a and a plurality (8 in this embodiment) of second through holes 41b.

[0120] The first through holes 41a are configured such that the lower adsorption portion 42 can advance and retreat along the Z-axis direction. The first through holes 41a are arranged so as to be located below the bag body B when the bag body B is placed on the worktable 41. Specifically, three first through holes 41a are arranged at equal intervals along the Y-axis direction on a virtual line C1 passing through the center of the worktable 41 in the X-axis direction. The other six first through holes 41a are arranged at positions line-symmetric with respect to the virtual line C1 with the first through holes 41a arranged on the virtual line C1 interposed therebetween.

[0121] The second through holes 41b are configured such that the support member 43 can advance and retreat along the Z-axis direction. The second through holes 41b are arranged so as to be located below the workpiece W when the workpiece W slides into the interior of the bag body B. Specifically, the second through holes 41b are arranged in two columns with the virtual line C1 as the axis of symmetry and are arranged in two columns with the virtual line C1 interposed therebetween in a line-symmetric manner. Also, when viewed from above, the second through holes 41b are arranged between the column of the first through holes 41a arranged on the virtual line C1 and the two columns of the other six first through holes 41a. When the guiding members 50, 51 described later are in the open position, when viewed from above, the second through holes 41b are arranged between the guiding members 50, 51.

[0122] The lower adsorption portion 42 adsorbs and holds the lower half portion B1 of the bag body B. When viewed from above, the shape of the lower adsorption portion 42 is, for example, a circular shape and is configured to be able to adsorb and hold the lower half portion B1. When viewed from above, the lower adsorption portion 42 is arranged inside the first through holes 41a. The lower adsorption portions 421, 422, 423 are arranged in sequence on the virtual line C1 from the -Y direction side. In the X-axis direction, the lower adsorption portions 424, 427 are arranged with the lower adsorption portion 421 interposed therebetween, the lower adsorption portions 425, 428 are arranged with the lower adsorption portion 422 interposed therebetween, and the lower adsorption portions 426, 429 are arranged with the lower adsorption portion 423 interposed therebetween. The lower adsorption portions 421, 424, 427, the lower adsorption portions 422, 425, 428, and the lower adsorption portions 423, 426, 429 arranged along the X-axis direction among the lower adsorption portions 421 to 429 each constitute a set of lower adsorption units 42u.

[0123] The support member 43 supports the workpiece W inside the bag body B. The shape of the support member 43 is a cylindrical shape along the Z-axis direction. The support member 43 is made of a metal such as stainless steel, for example. The upper end portion 43a of the support member 43 (refer to Figure 10 . The same applies hereinafter) is, for example, hemispherical in shape. When viewed from above, the support member 43 is disposed inside the second through hole 41b.

[0124] The lower moving mechanism 44 raises and lowers the lower suction portion 42 and the support member 43. The lower moving mechanism 44 includes, for example, a known cylinder or motor. The lower suction portion 42 can be raised and lowered between the inside of the support table 40 and the inside of the first through hole 41a by the operation of the lower moving mechanism 44. In addition, the upper end portion 43a of the support member 43 can be raised and lowered between the inside of the support table 40 and above the work table 41 by the operation of the lower moving mechanism 44. The lower moving mechanism 44 functions as the lower lifting device in the present invention.

[0125] It should be noted that in the present invention, the number and arrangement of the lower suction portions 42 only need to be able to hold the lower half body portion B1 by the lower suction portions 42, and are not limited to the present embodiment. That is, for example, the number of the lower suction portions 42 can also be increased or decreased according to the sizes of the bag body B and the workpiece W.

[0126] In addition, in the present invention, the number and arrangement of the support members 43 only need to be able to support the workpiece W by the support members 43, and are not limited to the present embodiment. That is, for example, the number of the support members 43 can also be increased or decreased according to the sizes of the bag body B and the workpiece W. In addition, the arrangement of the support members 43 is not limited to being line-symmetrical with respect to the virtual line C1 when viewed from above. That is, for example, the support members 43 can also support the workpiece W at three points.

[0127] Figure 6 It is a schematic bottom view of the upper holding unit 4U.

[0128] For ease of explanation, the bag body B is shown in the figure by a two-dot chain line. In the following description, reference is appropriately made to Figure 1 and Figure 2 .

[0129] The upper holding unit 4U holds the upper half body portion B2 of the bag body B. The upper holding unit 4U includes a support member 45, a plurality (nine in the present embodiment) of upper suction portions 46, and an upper moving mechanism 47.

[0130] The support member 45 supports the upper suction portions 46. The shape of the support member 45 is, for example, a rectangular plate shape along the XY-axis direction when viewed from above. The support member 45 can be moved between above the support table 40 and above the bag supply table 8 by the operation of the upper moving mechanism 47.

[0131] The upper adsorption part 46 adsorbs and holds the upper half part B2 of the bag body B. When viewed from below, the shape of the upper adsorption part 46 is, for example, circular, and is configured to be able to adsorb and hold the upper half part B2. The upper adsorption part 46 is installed on the lower surface 45a of the support member 45. When the support member 45 is located above the support table 40, when viewed from above, the upper adsorption part 46 is, for example, arranged at the same position as the lower adsorption part 42.

[0132] The upper moving mechanism 47 moves the support member 45 in the X-axis direction and raises and lowers the support member 45. The upper moving mechanism 47 includes rail members R1, R2, a vertical lifting device 47a, and an upper driving unit 47b. The rail members R1, R2 are arranged in the upper space of the support table 40 and the bag supply table 8 along the X-axis direction and are installed on the housing 2. The vertical lifting device 47a is installed on the support member 45 to raise and lower the support member 45. The vertical lifting device 47a is, for example, a known cylinder. The upper driving unit 47b generates power to move the support member 45 in the X-axis direction and transmits this power to the support member 45. The upper driving unit 47b, for example, includes a known motor and a ball screw.

[0133] The decompression device 4P forms a decompression atmosphere between the lower adsorption part 42 and the upper adsorption part 46 and the bag body B so that the lower adsorption part 42 and the upper adsorption part 46 adsorb and hold the bag body B. The decompression device 4P, for example, includes a known vacuum pump 4P1 and a vacuum pipe 4P2 connected between the vacuum pump 4P1 and the lower adsorption part 42 and the upper adsorption part 46.

[0134] The guiding unit 5 forms an area (a sliding area A2 described later) in the bag body B where the workpiece W can slide and accommodate the workpiece W, and guides the workpiece W to slide into the bag body B. The guiding unit 5 includes a pair of guiding members 50, 51 and a guiding moving mechanism 52.

[0135] Figure 7 is a partially enlarged schematic perspective view of the guiding members 50, 51.

[0136] Figure 8 is Figure 7 a view in the A direction of the guiding members 50, 51 of

[0137] For ease of explanation, Figure 8 the workpiece W is shown by a double-dashed line.

[0138] The guide members 50 and 51 are elongated members arranged in the X-axis direction and extending along the Y-axis direction. When viewed from the +Y direction, the shapes of the guide members 50 and 51 are L-shaped (inverted L-shaped). The guide member 50 is arranged at a position closer to the +X direction than the guide member 51. In the following description, the "inner direction" is the direction in which the other guide member 51 (guide member 50) is arranged with respect to one guide member 50 (guide member 51). The "outer direction" is the direction opposite to the inner direction. That is, for example, the inner direction with respect to the guide member 50 is the direction in which the guide member 51 is arranged (-X direction), and the inner direction with respect to the guide member 51 is the direction in which the guide member 50 is arranged (+X direction).

[0139] The guide member 50 includes a concave portion 50a, a convex portion 50b, a protruding portion 50c, an outer side surface 50d, and a lower surface 50e. When viewed from the Y-axis direction, the upper end portion on the inner direction side (-X direction side) of the guide member 50 is recessed toward the outer direction (+X direction) and the lower direction (-Z direction), forming the concave portion 50a. That is, the concave portion 50a is arranged at the upper end portion on the inner direction side of the guide member 50. When viewed from the Y-axis direction, the portion of the guide member 50 adjacent to the outer direction of the concave portion 50a forms the convex portion 50b. The concave portion 50a and the convex portion 50b are arranged along the Y-axis direction. That is, the guide member 50 is formed in an inverted L-shape that protrudes toward the inner direction and the upper direction (+Z direction) when viewed from the +Y direction. The outer side surface 50d is a surface facing the outer direction. The lower surface 50e is a surface facing the lower direction.

[0140] The concave portion 50a includes a bottom surface 50f. The shape of the bottom surface 50f is a planar shape parallel to the XY-axis direction. Surface machining and / or surface treatment is performed on the bottom surface 50f so that the workpiece W can slide smoothly. The bottom surface 50f is an example of the bottom surface of the concave portion in the present invention.

[0141] The convex portion 50b includes an upper surface 50g and an inner side surface 50h. The upper surface 50g is a surface facing the upper direction. The end portion on the +Y direction side of the upper surface 50g is an inclined surface 50i that slopes downward toward the +Y direction. The inner side surface 50h is a surface facing the inner direction. That is, the inner side surface 50h faces the concave portion 50a. The shape of the inner side surface 50h is a planar shape along the Y-axis direction and the Z-axis direction (hereinafter referred to as the "YZ-axis direction"). When viewed from the Y-axis direction, the lower end portion of the inner side surface 50h protrudes toward the inner direction in a rectangular shape, forming the protruding portion 50c. In other words, the end portion on the outer direction side of the bottom surface 50f protrudes upward in a rectangular shape, forming the protruding portion 50c. That is, the protruding portion 50c is arranged at the end portion on the outer direction side of the bottom surface 50f and the lower end portion of the inner side surface 50h.

[0142] The protruding portion 50c has a protruding upper surface 50j and a protruding inner side surface 50k. The protruding upper surface 50j is a surface facing the upward direction. The protruding inner side surface 50k is a surface facing the inner direction. The shape of the protruding inner side surface 50k is planar along the YZ axis direction. Surface machining and / or surface treatment is performed on the protruding inner side surface 50k so that the workpiece W can slide smoothly.

[0143] The guiding member 51 has a concave portion 51a, a convex portion 51b, a protruding portion 51c, an outer side surface 51d, and a lower surface 51e. When viewed from the Y-axis direction, the upper end portion on the inner side (+X direction side) of the guiding member 51 is recessed outward (-X direction) and downward, forming the concave portion 51a. That is, the concave portion 51a is disposed at the upper end portion on the inner side of the guiding member 51. When viewed from the Y-axis direction, the portion adjacent to the outer side of the concave portion 51a forms the convex portion 51b. The concave portion 51a and the convex portion 51b are arranged along the Y-axis direction. By arranging the concave portion 51a and the convex portion 51b in this way, the guiding member 50 is formed into an L-shape that protrudes inward and upward when viewed from the +Y direction. The outer side surface 51d is a surface facing the outer direction. The lower surface 51e is a surface facing the downward direction.

[0144] The concave portion 51a has a bottom surface 51f. The shape of the bottom surface 51f is planar parallel to the XY axis direction. Surface machining and / or surface treatment is performed on the bottom surface 51f so that the workpiece W can slide smoothly. The bottom surface 51f is an example of the bottom surface of the concave portion in the present invention.

[0145] The convex portion 51b has an upper surface 51g and an inner side surface 51h. The upper surface 51g is a surface facing the upward direction. The end portion on the +Y axis direction side of the upper surface 51g is an inclined surface 51i that slopes downward in the +Y axis direction. The inner side surface 51h is a surface facing the inner direction. That is, the inner side surface 51h faces the concave portion 51a. The shape of the inner side surface 51h is planar along the YZ axis direction. When viewed from the Y-axis direction, the lower end portion of the inner side surface 51h protrudes inward in a rectangular shape, forming the protruding portion 51c. In other words, the end portion on the outer side of the bottom surface 51f protrudes upward in a rectangular shape, forming the protruding portion 51c. That is, the protruding portion 51c is disposed at the end portion on the outer side of the bottom surface 51f and the lower end portion of the inner side surface 51h.

[0146] The protruding portion 51c has a protruding upper surface 51j and a protruding inner side surface 51k. The protruding upper surface 51j is a surface facing the upward direction. The protruding inner side surface 51k is a surface facing the inner direction. The shape of the protruding inner side surface 51k is planar along the YZ axis direction. Surface machining and / or surface treatment is performed on the protruding inner side surface 51k so that the workpiece W can slide smoothly.

[0147] In the guiding members 50 and 51 configured in this way, all the corner portions that may come into contact with the bag body B are processed into rounded chamfers (not shown in part). In addition, a mirror image relationship with a virtual plane along the YZ-axis direction as a plane mirror is established between the guiding members 50 and 51.

[0148] In the X-axis direction, the length (width) "Lg1" of the convex portions 50b and 51b is set according to the intervals "D1" and "D2" (see Figure 20 . The same applies hereinafter) between the workpiece W accommodated in the bag body B and the side end portions B5 and B6 of the bag body B, and the length (width) "Lw1" of the workpiece W. Specifically, in the X-axis direction, the length "Lg1" of the convex portions 50b and 51b is set so that the intervals "D1" and "D2" become the sizes desired by the user of the present apparatus 1.

[0149] In the Z-axis direction, the length from the bottom surfaces 50f and 51f to the upper surfaces 50g and 51g (that is, the height of the convex portions 50b and 51b) "Lg2" is set to be larger than the length (thickness) "Lw2" of the workpiece W. In addition, in the Z-axis direction, the length from the bottom surfaces 50f and 51f to the upper surfaces 50j and 51j of the protruding portions (that is, the height of the protruding portions 50c and 51c) "Lg3" is set to be smaller than the length (thickness) "Lw2" of the workpiece W.

[0150] In the following description, the main reference drawings return to Figure 1 and Figure 2 .

[0151] The guiding movement mechanism 52 moves the guiding members 50 and 51 in the X-axis direction and the Y-axis direction. The guiding movement mechanism 52 includes four rail members R3, R4, R5, R6, two guiding support members 52a and 52b, and a guiding drive unit 52c. The guiding movement mechanism 52 is an example of the movement mechanism in the present invention.

[0152] The rail members R3 and R4 are arranged in the -Y direction of the support table 40 in the X-axis direction along the Y-axis direction. The rail member R5 is arranged along the X-axis direction and is mounted on the rail member R3 so as to be able to move in the Y-axis direction along the rail member R3. The rail member R6 is arranged along the X-axis direction and is mounted on the rail member R4 so as to be able to move in the Y-axis direction along the rail member R4. The rail members R5 and R6 are arranged in the X-axis direction.

[0153] The guiding support member 52a cantilever-supports the end portion on the -Y direction side of the guiding member 50. The guiding support member 52a is mounted on the rail member R5 so as to be able to move in the X-axis direction along the rail member R5. As a result, the guiding member 50 can move in the X-axis direction and the Y-axis direction as the guiding support member 52a moves.

[0154] The guide support member 52b cantilever-supports the -Y direction side end of the guide member 51. The guide support member 52b is mounted on the rail member R6 so as to be movable in the X-axis direction along the rail member R6. As a result, the guide member 51 can move in the X-axis direction and the Y-axis direction as the guide support member 52b moves.

[0155] The guide drive unit 52c generates power for moving the guide support members 52a and 52b, and transmits this power to the guide support members 52a and 52b. The guide drive unit 52c includes, for example, a known motor and a ball screw.

[0156] In the Y-axis direction, the guide members 50 and 51 can move between a retracted position and a housed position. In the X-axis direction, the guide members 50 and 51 can move between a closed position and an open position.

[0157] The "retracted position" is a position where the guide members 50 and 51 are retracted from above the workbench 41. In the present embodiment, the retracted position is in the -Y direction of the support table 40 when viewed from above.

[0158] The "housed position" is a position where the guide members 50 and 51 are located above the workbench 41 and the guide members 50 and 51 are inserted into the inside of the bag body B placed on the workbench 41.

[0159] The "closed position" is, for example, a position where the guide members 50 and 51 are closest to each other within the movement range of the guide members 50 and 51 in the X-axis direction. In other words, when the guide members 50 and 51 are in the closed position, the guide members 50 and 51 are closed in the X-axis direction.

[0160] The "open position" is a position where the interval "Dg1" (see Figure 15 . The same applies hereinafter) between the guide members 50 and 51 becomes large enough to place the workpiece W on the bottom surfaces 50f and 51f. In other words, when the guide members 50 and 51 are in the open position, the guide members 50 and 51 are open in the X-axis direction.

[0161] The workpiece housing unit 6 houses the workpiece W in the bag body B via the guide members 50 and 51. The workpiece housing unit 6 includes a workpiece table 60, a table lifting device 61, a moving member 62, and a drive unit 63.

[0162] The workpiece table 60 is a table for placing the workpiece W. The workpiece table 60 is disposed below the guide members 50 and 51 when the guide members 50 and 51 are in the retracted position. The workpiece table 60 has two upper surfaces 60a and 60b (see Figure 12。The same shall apply hereinafter. The interval "D60" between the upper surface 60a and the upper surface 60b (refer to Figure 15 。The same shall apply hereinafter) is set to a size that allows the moving member 62 to move between the upper surfaces 60a and 60b in the Y-axis direction.

[0163] The stage lifting device 61 raises and lowers the work stage 60. The stage lifting device 61 is, for example, a known cylinder.

[0164] The moving member 62 abuts against the workpiece W and pushes the workpiece W in the +Y direction. The shape of the moving member 62 is, for example, a rectangular parallelepiped shape. The moving member 62 has a contact surface 62a that can abut against the workpiece W. The shape of the contact surface 62a is, for example, a planar shape parallel to the X-axis direction and the Z-axis direction (hereinafter simply referred to as the "XZ-axis direction"). In the X-axis direction, the length "D62" of the moving member 62 (refer to Figure 15 。The same shall apply hereinafter) is smaller than the interval "Dg1" between the guide member 50 and the guide member 51 and the interval "D60" between the upper surface 60a and the upper surface 60b.

[0165] The drive unit 63 generates power to move the moving member 62 and transmits this power to the moving member 62. The drive unit 63 includes, for example, a known motor and a ball screw.

[0166] The workpiece loading device 7 loads the workpiece W onto the work stage 60. The workpiece loading device 7 is, for example, a robotic arm equipped with an end effector (e.g., vacuum adsorption, etc.) that can hold the workpiece W.

[0167] The bag supply table 8 is a table on which the bags B to be supplied to the worktable 41 are placed. A plurality of bags B are stacked on the bag supply table 8. The bag supply table 8 is arranged adjacent to the support table 40 in the -X direction of the support table 40, for example.

[0168] The bag unloading device 9 unloads the bag B containing the workpiece W together with the worktable 41. The bag unloading device 9 includes an unloading table 90 and an unloading mechanism 91.

[0169] The unloading table 90 is a table on which the worktable 41 is placed. The unloading table 90 is arranged adjacent to the support table 40 in the +X direction of the support table 40, for example.

[0170] The unloading mechanism 91 moves the worktable 41 from the support table 40 to the unloading table 90. The unloading mechanism 91 includes, for example, a known motor and a slide rail. The unloading mechanism 91 is configured to be able to transport the worktable 41 back and forth between the support table 40 and the unloading table 90.

[0171] Operation of the housing device (1)

[0172] Next, the operation of this device 1 (i.e., this method) is described as follows. In the following description, appropriate reference is made to Figures 1 to 8 。

[0173] Figure 9 It is a flowchart showing an example of the operation of the present apparatus 1.

[0174] First, the bag body B is carried in (ST1: Bag body carrying-in step). Specifically, the upper holding unit 4U moves the support member 45 toward the bag body supply table 8, and the upper suction portion 46 sucks and holds the bag body B. Next, with the upper suction portion 46 sucking and holding the bag body B, the upper holding unit 4U moves the support member 45 toward the worktable 41, causing the bag body B to abut against the worktable 41. At this time, the bag body B is placed on the worktable 41.

[0175] Next, the bag body B is sucked and held by the lower suction portion 42 (ST2: Suction step).

[0176] Figure 10 It is a partially enlarged schematic side view of the present apparatus 1 showing the state in which the bag body B is sucked and held by the lower suction portion 42 and the upper suction portion 46. This figure shows the bag body holding unit 4 viewed from the -Y direction (hereinafter, Figure 11 , Figure 13 , Figure 14 , Figure 17 , Figure 18 , Figure 19 , and Figure 21 the same applies).

[0177] Next, the upper holding unit 4U raises the support member 45 to open the open end portion B3 of the bag body B (ST3: Opening step). At this time, the bag body holding unit 4 sucks and holds the lower half body portion B1 and the upper half body portion B2 while keeping the open end portion B3 open.

[0178] Figure 11 It is a partially enlarged schematic side view of the present apparatus 1 showing the state in which the open end portion B3 is open.

[0179] In the X-axis direction, the region between the portions of the open end portion B3 that are sucked and held ( Figure 11 the region painted gray: hereinafter referred to as "holding region A1") is significantly opened in the Z-axis direction. In the Z-axis direction, the size of the opening of the open end portion B3 becomes smaller as it approaches the side end portions B5, B6 from the holding region A1. That is, in the X-axis direction, the central portion of the open end portion B3 is opened the most widely.

[0180] Next, the guiding unit 5 (guiding movement mechanism 52) moves the guiding members 50, 51 from the retracted position to the housing position, and inserts the guiding members 50, 51 into the bag body B (ST4: Guiding insertion step). At this time, the guiding members 50, 51 are inserted from the open end portion B3 toward the bottom end portion B4.

[0181] Figure 12It is a partially enlarged schematic top view of the present device 1 showing the state where the guiding members 50 and 51 are inserted into the bag body B.

[0182] Figure 13 It is Figure 12 a view of the present device 1 in the direction C.

[0183] In the X-axis direction, when the guiding members 50 and 51 are inserted into the bag body B, the guiding member 50 and the guiding member 51 are closed. At this time, when viewed from the Y-axis direction, the guiding members 50 and 51 are located within the holding area A1. That is, when the guiding members 50 and 51 are inserted into the bag body B, the guiding member 50 and the guiding member 51 approach each other to such an extent that they are located within the holding area A1. Therefore, the guiding members 50 and 51 can be inserted into the position where the opening end B3 can be opened most widely, that is, near the central portion of the opening end B3 in the X-axis direction. As a result, the contact between the guiding members 50 and 51 and the bag body B is controlled to the minimum extent.

[0184] In the present embodiment, the guiding members 50 and 51 do not reach the bottom end B4 (do not contact the bottom end B4). That is, when viewed from above, a gap S13 with a specified length "L13" is formed between the guiding members 50 and 51 and the bottom end B4. As a result, when the workpiece W is accommodated in the bag body B, when viewed from above, the interval "D3" (see Figure 20 . The same applies hereinafter) between the workpiece W and the bottom end B4 is equal to or greater than the length "L13". As a result, when the workpiece W is accommodated in the bag body B, a gap S3 with a length of "L13" or more is formed between the workpiece W and the bottom end B4 (see Figure 20 . The same applies hereinafter). The insertion amount of the guiding members 50 and 51 into the interior of the bag body B is adjusted so that the interval "D3" becomes the size desired by the user.

[0185] It should be noted that in the guiding insertion step (ST4), the guiding members 50 and 51 may also reach the bottom end B4. In this case, in the workpiece moving step (ST8) described later, the moving distance of the workpiece W is adjusted to ensure the interval "D3".

[0186] Next, the guiding unit 5 (guiding moving mechanism 52) moves the guiding members 50 and 51 from the closed position to the open position in the X-axis direction (ST5: guiding opening step). That is, the guiding member 50 and the guiding member 51 are opened. At this time, the guiding members 50 and 51 move outward at the same speed simultaneously.

[0187] Figure 14 It is a partially enlarged schematic side view of the present device 1 showing the state where the guiding members 50 and 51 are moved to the open position.

[0188] When the guiding members 50 and 51 move from the closed position to the open position, the bag body B is expanded by the guiding members 50 and 51. That is, the opening of the opening end portion B3 becomes larger in the X-axis direction. At this time, as the guiding members 50 and 51 move toward the outer direction side, the upper half body portion B2 of the bag body B is stretched toward the outer direction, and a pulling force (external force) toward the outer direction is applied to the upper half body portion B2. As a result, a force toward the lower direction acts on the upper half body portion B2. Therefore, in order to prevent this pulling force from being applied to the upper half body portion B2 too greatly, the upper holding unit 4U causes the support member 45 (upper adsorption portion 46) to descend as the guiding members 50 and 51 move. When the guiding members 50 and 51 are located at the open position, the convex portion 50b of the guiding member 50 is adjacently disposed to the side end portion B5, and the convex portion 51b of the guiding member 51 is adjacently disposed to the side end portion B6. As a result, a substantially rectangular parallelepiped-shaped region (hereinafter referred to as "sliding region A2") is formed inside the bag body B in which the workpiece W can slide between the guiding members 50 and 51 (inner side surfaces 50k and 51k of the protruding portions) without contacting the bag body B.

[0189] "The convex portions 50b and 51b are adjacently disposed to the side end portions B5 and B6" includes not only the state in which the outer side surfaces 50d and 51d are in contact with the side end portions B5 and B6, but also the state in which gaps S11 and S12 are formed between the outer side surfaces 50d and 51d and the side end portions B5 and B6. At this time, for example, through the guiding members 50 and 51, a pulling force (external force for tensioning this portion) for eliminating the slack of the portion located between the side end portions B5 and B6 and the guiding members 50 and 51 in the lower half body portion B1 and the upper half body portion B2, and the portion between the lower adsorption portion 42 and the upper adsorption portion 46 and the guiding members 50 and 51 is applied. At this time, the intervals between the guiding member 50 and the side end portion B5 and between the guiding member 51 and the side end portion B6 are (substantially) the same. As a result, the side end portions B5 and B6 are separated from the workbench 41 by this external force.

[0190] Here, the guiding members 50 and 51 move toward the outer direction within the range where the internal stress (tension) generated inside the bag body B is within the elastic range of the bag body B. The internal stress (tension) is generated in the bag body B by the pulling force applied to the bag body B, and the pulling force is applied to the bag body B through the movement of the guiding members 50 and 51. In other words, the guiding members 50 and 51 move toward the outer direction within the range where the bag body B does not undergo plastic deformation or breakage due to the pulling force applied to the bag body B, and the pulling force is applied to the bag body B through the movement of the guiding members 50 and 51.

[0191] In addition, when the guiding members 50 and 51 are opened to an extent that a pulling force is applied to the bag body B, an external force is applied to the bag body B so that the posture (position and orientation) of the bag body B conforms to the guiding members 50 and 51 (the posture of the bag body B follows the guiding members 50 and 51). Specifically, this external force acts in the X-axis direction to position the central portion of the bag body B at the midpoint of the guiding members 50 and 51 and acts to cause the side end portions B5 and B6 to move along the Y-axis direction. Therefore, even if there is a slight deviation in the posture of the bag body B relative to the guiding members 50 and 51, the posture can be adjusted by the movement of the guiding members 50 and 51.

[0192] As described above, the length (height) "Lg2" from the bottom surfaces 50f and 51f to the upper surfaces 50g and 51g is greater than the length (thickness) "Lw2" of the workpiece W. Therefore, when a pulling force is applied to the upper half body portion B2 by the movement of the guiding members 50 and 51, the upper half body portion B2 does not contact the workpiece W. In addition, the upper half body portion B2 is adsorbed and held by the upper adsorption portion 46. Therefore, even if no pulling force is applied to the upper half body portion B2, the upper half body portion B2 does not contact the workpiece W.

[0193] It should be noted that in the guiding opening step (ST5), the lower adsorption portion 42 may replace the upper adsorption portion 46 or rise along with the descent of the upper adsorption portion 46.

[0194] In addition, in the guiding opening step (ST5), the bag body holding unit 4 may release the adsorption of the bag body B during or after the movement of the guiding members 50 and 51. In this case, after releasing the adsorption, the bag body holding unit 4 may raise the lower adsorption portion 42 and cause the lower adsorption portion 42 to adsorb the lower half body portion B1 again, and lower the upper adsorption portion 46 and cause the upper adsorption portion 46 to adsorb the upper half body portion B2 again. In this structure, even if there is a large deviation in the posture of the bag body B relative to the guiding members 50 and 51, the posture can be adjusted by the movement of the guiding members 50 and 51.

[0195] Next, the workpiece accommodating unit 6 raises the workpiece table 60 (ST6: table raising step). At this time, the upper surfaces 60a and 60b of the workpiece table 60 are at the same height as the bottom surfaces 50f and 51f. Next, the workpiece transfer device 7 transfers the workpiece W onto the workpiece table 60 (ST7: workpiece transfer step).

[0196] Figure 15 It is a partially enlarged schematic top view of the present device 1 showing the state where the workpiece W is transferred onto the workpiece table 60.

[0197] When the workpiece W is carried into the workpiece table 60, the guiding members 50 and 51 are arranged at positions slightly separated from the workpiece W and the workpiece table 60 in the +Y direction. In addition, the moving member 62 is arranged at a position more separated from the workpiece W in the -Y direction. In the X-axis direction, the center point of the workpiece W is arranged at the same position as the midpoint of the guiding members 50 and 51.

[0198] Here, when the guiding members 50 and 51 are in the open position, in the X-axis direction, the interval "Dg2" between the inner side surfaces 50k of the protrusions and the inner side surfaces 51k of the protrusions is slightly larger than the length (width) "Lw1" of the workpiece W. In addition, the interval "Dg1" between the guiding member 50 and the guiding member 51 is smaller than the length (width) "Lw1" of the workpiece W. As a result, when the guiding members 50 and 51 are in the open position, the workpiece W can be placed between the inner side surfaces 50k of the protrusions and the inner side surfaces 51k, that is, on the bottom surfaces 50f and 51f.

[0199] Next, the workpiece housing unit 6 moves the workpiece W into the interior of the bag body B (ST8: workpiece moving step).

[0200] Figure 16 is a partially enlarged schematic top view of the present device 1 showing the state where the workpiece W has moved into the interior of the bag body B.

[0201] Figure 17 is Figure 16 the D-direction view of the present device 1.

[0202] The workpiece accommodation unit 6 moves the moving member 62 in the +Y direction, causing the abutting surface 62a of the moving member 62 to abut against the workpiece W. Next, the workpiece accommodation unit 6 further moves the moving member 62 in the +Y direction, causing the workpiece W to move in the +Y direction by means of the moving member 62. At this time, the workpiece W moves from the workpiece table 60 toward the guiding members 50 and 51, and is placed on the bottom surfaces 50f and 51f by means of the moving member 62, causing the bottom surfaces 50f and 51f to slide in the +Y direction. In addition, the moving member 62 moves in the +Y direction between the upper surface 60a and the upper surface 60b and between the guiding member 50 and the guiding member 51. When the workpiece W is inserted into the interior of the bag body B, the moving member 62 is inserted into the interior of the bag body B in a state of abutting against the workpiece W. As described above, a sliding region A2 is formed inside the bag body B. Therefore, the workpiece W can slide in the sliding region A2 into the interior of the bag body B without contacting the bag body B. In addition, as described above, in the Z-axis direction, the length (height) "Lg3" of the protruding portions 50c and 51c is smaller than the length (thickness) "Lw2" of the workpiece W. Therefore, when the workpiece W slides on the bottom surfaces 50f and 51f, the area of contact between the workpiece W and the protruding portions 50c and 51c is smaller than the area in the case where the workpiece W contacts the inner side surfaces 50h and 51h. As a result, the frictional force generated between the workpiece W and the guiding members 50 and 51 becomes smaller, and the workpiece W can slide smoothly between the inner side surface 50k of the protruding portion and the inner side surface 51k of the protruding portion.

[0203] The workpiece accommodation unit 6 moves the workpiece W to an accommodation position where the interval "D3" between the workpiece W accommodated in the bag body B and the bottom end portion B4 becomes a desired size for the user. That is, the amount of movement of the workpiece W generated by the moving member 62 is set according to the interval "D3".

[0204] When the workpiece W moves to the accommodation position, in the X-axis direction, the interval "D1" between the workpiece W and the side end portion B5 is at least equal to or greater than the length "Lg1" of the convex portion 50b. Similarly, the interval "D2" between the workpiece W and the side end portion B6 is at least equal to or greater than the length "Lg1" of the convex portion 51b.

[0205] Next, the lower holding unit 4D raises the support member 43 (ST9: support raising step). At this time, the lower holding unit 4D releases the adsorption of a part of the lower adsorption portion 42.

[0206] Figure 18 It is a partially enlarged schematic side view of the present apparatus 1 showing the state in which the support member 43 is raised. For ease of explanation, the moving member 62 is shown in a semi-transparent manner in this figure. In this figure, the lower adsorption portion 42 whose adsorption has been released is painted gray (hereinafter, Figure 19 the same applies).

[0207] When viewed from above, the support member 43 is disposed between the guide members 50 and 51 (inward direction). In the Z-axis direction, the support member 43 rises until the upper end portion 43a of the support member 43 is located above the bottom surfaces 50f and 51f. As a result, the workpiece W is separated from the bottom surfaces 50f and 51f in the upward direction and is supported by the support member 43. At this time, the workpiece W does not contact the guide members 50 and 51. A part of the lower body portion B1 is clamped between the upper end portion 43a of the support member 43 and the workpiece W and is pushed upward. Here, as the support member 43 moves upward, the lower body portion B1 is stretched upward, and an upward pulling force (external force) is applied to the lower body portion B1 around the support member 43. Therefore, in order to prevent this pulling force from being applied too strongly to the lower body portion B1, the lower holding unit 4D releases the adsorption of the lower adsorption portions 42 at both ends in the X-axis direction in each of the lower adsorption units 42u. Specifically, the lower holding unit 4D releases the adsorption of the lower adsorption portions 424 to 429 located at positions outside (the guide member 50 and 51 sides) the support member 43.

[0208] In the Z-axis direction, the support member 43 can move within a range where the upper end portion 43a of the support member 43 is located above the bottom surfaces 50f and 51f and the upper surface of the workpiece W is located below the upper surfaces 50g and 51g of the convex portions 50b and 51b. Therefore, even when the workpiece W is supported by the support member 43, it does not contact the upper body portion B2.

[0209] Next, the workpiece housing unit 6 lowers the workpiece table 60 (ST10: table lowering step). As a result, the guide members 50 and 51 can move to the retracted position.

[0210] Next, the guide unit 5 moves the guide members 50 and 51 in the -Y direction to retract the guide members 50 and 51 from the bag body B to the retracted position (ST11: guide retraction step).

[0211] Figure 19 It is a partially enlarged schematic side view of the present apparatus 1 showing the state where the guide members 50 and 51 are retracted from the bag body B. For ease of explanation, the moving member 62 is shown in a semi-transparent manner in this figure.

[0212] When the guiding members 50 and 51 move (retreat) in the -Y direction, the guiding members 50 and 51 do not come into contact with the workpiece W, but come into contact with the bag body B. Therefore, even when the guiding members 50 and 51 retreat, the workpiece W does not bear the frictional force from the guiding members 50 and 51. Therefore, the workpiece W does not move together with the guiding members 50 and 51. On the other hand, the bag body B receives a frictional force in the -Y direction from the guiding members 50 and 51. At this time, the lower body portion B1 is adsorbed and held by a part of the lower adsorption portions 42 (specifically, the lower adsorption portions 421 to 423), and the upper body portion B2 is adsorbed and held by the upper adsorption portion 46. Therefore, the movement of the bag body B in the -Y direction is restricted by the adsorption and holding. That is, the bag body B does not move together with the guiding members 50 and 51.

[0213] Next, the workpiece accommodating unit 6 retracts the moving member 62 from the bag body B (ST12: moving member retraction step).

[0214] Figure 20 It is a partially enlarged schematic plan view of the present device 1 showing the state where the moving member 62 has retreated from the bag body B.

[0215] When the moving member 62 retreats from the bag body B, since the adsorption of a part of the lower adsorption portions 42 is released, the moving member 62 may come into contact with the lower body portion B1. Similar to when the guiding members 50 and 51 retreat, when the moving member 62 retreats from the bag body B, the bag body B does not move together with the moving member 62. In addition, the guiding members 50 and 51 are in the open position. Therefore, the moving member 62 passes between the guiding members 50 and 51 and moves to a position more in the -Y direction than the guiding members 50 and 51.

[0216] Next, the lower holding unit 4D lowers the supporting member 43 and places the workpiece W and the lower body portion B1 on the workbench 41 (ST13: supporting member lowering step). Next, the lower holding unit 4D releases the adsorption of the lower adsorption portions 42, and the upper holding unit 4U releases the adsorption of the upper adsorption portion 46 (ST14: adsorption release step).

[0217] Figure 21 It is a partially enlarged schematic side view of the present device 1 showing the state where the adsorption of the bag body B is released.

[0218] When the adsorption is released, the upper body portion B2 naturally falls onto the workpiece W. At this time, in the X-axis direction, a gap S1 is formed between the workpiece W and the side end portion B5, and a gap S2 is formed between the workpiece W and the side end portion B6. As Figure 17As shown, when the guiding members 50 and 51 are in the open position inside the bag body B, in the X-axis direction, the convex portions 50b and 51b are arranged between the workpiece W and the side end portions B5 and B6, and the intervals "D1" and "D2" are at least equal to the length (width) "L1g" of the convex portions 50b and 51b. As a result, in the X-axis direction, gaps S1 and S2 with a length of at least the length "L1g" of the convex portions 50b and 51b are formed between the workpiece W and the side end portions B5 and B6. That is to say, the workpiece W accommodated in the bag body B by the present device 1 will not be biased against either of the side end portions B5 and B6 without clearance inside the bag body B, but will be separated from the side end portions B5 and B6. In addition, the intervals "D1" and "D2" between the workpiece W and the side end portions B5 and B6 can be adjusted according to the length "Lg1" of the convex portions 50b and 51b. Moreover, in the X-axis direction, by placing the central portion of the bag body B at the midpoint of the guiding members 50 and 51, the interval "D1" and the interval "D2" are (substantially) the same (this "same" includes errors caused by dimensional tolerances of each component, the difference between the interval "Dg2" and the length "Lw1", etc. in addition to being exactly the same). Thus, the length "Lg1" of the convex portions 50b and 51b is set according to the intervals "D1" and "D2".

[0219] Next, the bag body carrying-out device 9 moves the workbench 41 on which the workpiece W accommodated in the bag body B is placed to the carrying-out table 90 (ST15: bag body carrying-out step).

[0220] In this way, the present device 1 is inserted into the bag body B with the guiding member 50 and the guiding member 51 in the closed state, and the guiding member 50 and the guiding member 51 are opened inside the bag body B. At this time, the upper suction portion 46 descends corresponding to the opening action of the guiding member 50 and the guiding member 51. In this structure, even if the opening end portion B3 of the bag body B is not entirely open (even if only the central portion is open), the guiding members 50 and 51 can be smoothly inserted into the inside of the bag body B. In addition, since the sliding area A2 is formed by the guiding members 50 and 51, the workpiece W is accommodated inside the bag body B without contacting the bag body B. Moreover, the pulling force applied to the bag body B by the guiding members 50 and 51 is suppressed.

[0221] In addition, the guiding members 50 and 51 are provided with convex portions 50b and 51b. In this structure, the present device 1 can compulsorily ensure the intervals "D1" and "D2" between the workpiece W and the side end portions B5 and B6 through the convex portions 50b and 51b of the guiding members 50 and 51. In addition, by setting the length "Lg1" of the convex portions 50b and 51b, the intervals "D1" and "D2" can be arbitrarily adjusted. Moreover, by adjusting the accommodation position of the workpiece W, the interval "D3" can be arbitrarily adjusted. As a result, the present device 1 can automatically accommodate the workpiece W in the bag body B without manual intervention and can arbitrarily form the gaps S1 to S3.

[0222] Moreover, the guiding members 50 and 51 are provided with protruding portions 50c and 51c. In this structure, when the workpiece W slides on the bottom surfaces 50f and 51f, the contact area between the workpiece W and the guiding members 50 and 51 in the X-axis direction becomes smaller, and the workpiece W can slide smoothly.

[0223] In addition, in the present device 1, the workpiece W that has moved into the interior of the bag body B is supported by the supporting member 43, whereby the workpiece W is separated from the guiding members 50 and 51. At this time, the adsorption of a part of the lower adsorption portion 42 is released. In this structure, the guiding members 50 and 51 can be separated from the bag body B without moving the workpiece W and the bag body B. In addition, the pulling force applied to the bag body B by the supporting member 43 is suppressed.

[0224] It should be noted that in the guiding opening step (ST5), the moving amounts of the guiding members 50 and 51 may also be different. In addition, after one of the guiding members 50 and 51 moves, the other may move.

[0225] In addition, in the workpiece moving step (ST8), the housing position of the workpiece W may also be a position where the intervals "D3" and "D1", "D2" are (substantially) the same.

[0226] Moreover, in the supporting rising step (ST9), as long as the bag body B does not move along with the retraction of the guiding members 50 and 51 (for example, when the weight of the workpiece W is large), the adsorption of all the lower adsorption portions 42 may also be released. In this case, the bag body B is clamped by the workpiece W and the supporting member 43 and does not move together with the guiding members 50 and 51.

[0227] In addition, in the supporting rising step (ST9), as long as the bag body B does not move along with the retraction of the guiding members 50 and 51, the adsorption of a part of the lower adsorption portions 421 to 423 may also be released.

[0228] Summary (1)

[0229] According to the embodiment described above, the present apparatus 1 includes a pair of guide members 50, 51, a bag body holding unit 4, a guide moving mechanism 52, and a moving member 62. The guide members 50, 51 include concave portions 50a, 51a and convex portions 50b, 51b. The concave portions 50a, 51a are disposed at the upper end portions on the inner direction sides of the guide members 50, 51. The convex portions 50b, 51b are disposed adjacent to the outer directions of the concave portions 50a, 51a. The concave portions 50a, 51a include bottom surfaces 50f, 51f. The bag body holding unit 4 opens the central portion of the opening end portion B3. Next, the guide moving mechanism 52 inserts the guide members 50, 51 from the opened opening end portion B3 toward the bottom end portion B4. Next, the guide moving mechanism 52 moves the guide members 50, 51 toward the outer direction side so that the workpiece W can be placed on the bottom surfaces 50f, 51f. Next, the moving member 62 passes between the guide members 50, 51 and slides the workpiece W toward the inside of the bag body B. According to this structure, a sliding region A2 is formed inside the bag body B by the guide members 50, 51. Therefore, the workpiece W can slide into the inside of the bag body B without contacting the bag body B. In this way, the workpiece W placed on the guide members 50, 51 is automatically accommodated in the bag body B. In addition, when the workpiece W is accommodated in the bag body B, gaps S1, S2 corresponding to at least the length "Lg1" of the convex portions 50b, 51b are formed between the workpiece W and the side end portions B5, B6. Therefore, the workpiece W accommodated in the bag body B by the present apparatus 1 does not deviate without clearance to any one of the side end portions B5, B6 inside the bag body B.

[0230] In addition, according to the embodiment described above, in the X-axis direction, the length "Lg1" of the convex portions 50b, 51b is set according to the intervals "D1", "D2" between the workpiece W and the side end portions B5, B6 (that is, the lengths of the gaps S1, S2). According to this structure, when the intervals "D1", "D2" are reduced, the length "Lg1" can be set to be smaller, and when the intervals "D1", "D2" are enlarged, the length "Lg1" can be set to be larger. As a result, gaps S1, S2 of a size (interval "D1", "D2") desired by the user of the present apparatus 1 are reliably formed. In addition, by appropriately setting the length "Lg1", the present apparatus 1 can accommodate the workpiece W at an arbitrary position inside the bag body B.

[0231] Moreover, according to the embodiment described above, the guide moving mechanism 52 moves the guide members 50, 51 toward the outer direction within a range where the bag body B does not undergo plastic deformation or breakage due to the tensile force applied to the bag body B, and this tensile force is applied to the bag body B by the movement of the guide members 50, 51. According to this structure, the guide moving mechanism 52 can open the opening end portion B3 to the maximum extent. In addition, the sizes of the intervals "D1", "D2" are (substantially) the same.

[0232] In addition, according to the embodiment described above, in the Z-axis direction, the length "Lg2" from the bottom surfaces 50f and 51f to the upper surfaces 50g and 51g of the convex portions 50b and 51b is larger than the length "Lw2" of the workpiece W. According to this structure, the workpiece W does not protrude upward from the guiding members 50 and 51 and does not come into contact with the upper half body portion B2.

[0233] In addition, according to the embodiment described above, the guiding members 50 and 51 are provided with protruding portions 50c and 51c. The protruding portions 50c and 51c are provided with inner side surfaces 50k and 51k of the protruding portions parallel to the YZ-axis direction. In the Z-axis direction, the length of the inner side surfaces 50k and 51k of the protruding portions, that is, the length "Lg3" of the protruding portions 50c and 51c, is smaller than the length "Lw2" of the workpiece W. According to this structure, the frictional force generated between the workpiece W and the guiding members 50 and 51 becomes smaller, and the workpiece W can smoothly slide between the inner side surface 50k of the protruding portion and the inner side surface 51k of the protruding portion.

[0234] In addition, according to the embodiment described above, the apparatus 1 includes a workpiece table 60, a table lifting device 61, and a workpiece loading device 7. When the guiding members 50 and 51 are in the retracted position, that is, before the guiding members 50 and 51 are inserted into the bag body B, the workpiece table 60 is disposed below the guiding members 50 and 51. After the guiding members 50 and 51 are inserted into the bag body B, the table lifting device 61 raises the workpiece table 60. Then, the workpiece loading device 7 loads the workpiece W onto the workpiece table 60. Then, the moving member 62 moves the workpiece W toward the guiding members 50 and 51, and moves the workpiece W into the interior of the bag body B. According to this structure, the apparatus 1 can automatically perform steps such as loading of the workpiece W and housing of the workpiece W. In addition, the size of the housing 2 of the apparatus 1 can be miniaturized.

[0235] In addition, according to the embodiment described above, the bag body holding unit 4 includes a support table 40, a work table 41, a lower suction portion 42, an upper suction portion 46, and a lifting device 47a. The lifting device 47a opens the opening end portion B3 by raising the upper suction portion 46 in a state where the lower half body portion B1 and the upper half body portion B2 are adsorbed by the lower suction portion 42 and the upper suction portion 46. The lifting device 47a lowers the upper suction portion 46 according to the movement of the guiding members 50 and 51 when the guiding members 50 and 51 inserted into the bag body B move outward. According to this structure, even if the guiding members 50 and 51 move outward, an excessive pulling force is not applied to the bag body B.

[0236] In addition, according to the embodiment described above, the bag body holding unit 4 includes a support member 43 and a downward movement mechanism 44. When viewed from above, the support member 43 is disposed in the inner direction of the guide members 50 and 51 after moving to the open position. The lower suction portions 421, 424, 427, the lower suction portions 422, 425, 428, and the lower suction portions 423, 426, 429 among the lower suction portions 421 to 429 that are arranged along the X-axis direction each constitute a set of lower suction units 42u. After the workpiece W moves into the interior of the bag body B, the downward movement mechanism 44 raises the support member 43 so that the upper end portion 43a of the support member 43 is located at a position higher than the bottom surfaces 50f and 51f. At this time, in the X-axis direction, among the lower suction portions 42 that constitute the lower suction unit 42u, the lower suction portions 424 to 429 disposed at both ends release the suction of the lower half body portion B1. According to this structure, even if the support member 43 rises, an excessive tensile force is not applied to the bag body B. In addition, by separating the workpiece W from the guide members 50 and 51 inside the bag body B, the guide members 50 and 51 can be pulled out of the bag body B without moving the workpiece W.

[0237] It should be noted that in the present invention, the support member 43 or the upper end portion 43a of the support member 43 may also be made of a material having a relatively large coefficient of static friction. In this case, when the guide members 50 and 51 are retracted, even if the suction of all the lower suction portions 42 is released, the bag body B does not move together with the guide members 50 and 51 by virtue of the frictional force between the support member 43 and the lower half body portion B1.

[0238] In addition, in the present invention, the shape of the support member 43 is not limited to the present embodiment as long as it can support the workpiece W by the support member 43 and does not damage the bag body B.

[0239] Moreover, in the present invention, the guide members 50 and 51 may not be provided with the protruding portions 50c and 51c. In this case, the inner side surfaces 50h and 51h may be formed as inclined surfaces, for example, in which the upper end portion is located in a more outward direction than the lower end portion.

[0240] Containment device (2)

[0241] Next, the differences between another embodiment of the present device (hereinafter referred to as "the second embodiment") and the previously described embodiment (hereinafter referred to as "the first embodiment") will be mainly described as follows. In the second embodiment, the structures of the guide unit and the lower holding unit are different from those of the first embodiment. In the following description of the second embodiment, for the sake of convenience, the same components as those in the first embodiment and the components having the same functions are labeled with the same reference numerals as those in the first embodiment, and the detailed description thereof is omitted. In the following description, appropriate reference will be made to Figures 1 to 21 .

[0242] Structure of the housing device (2)

[0243] Figure 22 It is a functional block diagram of the present device showing the second embodiment of the present device.

[0244] The present device 1Z houses the workpiece W in the bag body B. The present device 1Z includes a housing 2, a control device 3, a bag body holding unit 4Z, a guiding unit 5Z, a workpiece housing unit 6Z, a workpiece loading device 7, a bag body supply table 8, and a bag body unloading device 9.

[0245] The bag body holding unit 4Z includes a lower holding unit 4DZ (refer to Figure 23 . The same applies hereinafter), an upper holding unit 4U, and a decompression device 4P. The bag body holding unit 4Z is an example of the holding part in the present invention.

[0246] Figure 23 It is a schematic top view of the lower holding unit 4DZ.

[0247] For the convenience of explanation, the workpiece W, the bag body B, and a pair of guiding members 50Z, 51Z described later are shown by a double-dashed line in this figure. In the following description, reference will be made appropriately to Figure 22 .

[0248] The lower holding unit 4DZ holds the lower half body portion B1 of the bag body B. The lower holding unit 4DZ includes a support table 40, a work table 41Z, and a plurality of (9 in this embodiment) lower suction portions 42. The lower holding unit 4DZ does not include a support member 43. Therefore, the work table 41Z does not have a second through hole 41b.

[0249] The guiding unit 5Z forms a sliding area A2 inside the bag body B and guides the workpiece W to slide inside the bag body B. The guiding unit 5Z includes a pair of guiding members 50Z, 51Z and a guiding movement mechanism 52Z.

[0250] Figure 24 It is a partially enlarged schematic perspective view of the guiding members 50Z, 51Z.

[0251] Figure 25 (a) of Figure 25 is a schematic side view of the guiding member 50Z,

[0252] Figure 25 and (b) of Figure 25 is a schematic side view of the guiding member 51Z. For the convenience of explanation, Figure 25 a part of the guiding movement mechanism 52Z is also shown, and the state where the guiding members 50Z, 51Z swing downward is shown by a dashed line.

[0253] The structure of the guide member 50Z is the same as that of the guide member 50, except that the guide member 50Z has inclined surfaces 50m and 50n.

[0254] The end portion on the +Y direction side of the lower surface 50e is an inclined surface 50m that slopes upward toward the +Y direction side. That is, the inclined surface 50m is disposed at this end portion of the lower surface 50e.

[0255] The end portion on the +Y direction side of the bottom surface 50f is an inclined surface 50n that slopes downward toward the +Y direction side. That is, the inclined surface 50n is disposed at this end portion of the bottom surface 50f.

[0256] The structure of the guide member 51Z is the same as that of the guide member 51, except that the guide member 51Z has inclined surfaces 51m and 51n.

[0257] The end portion on the +Y direction side of the lower surface 51e is an inclined surface 51m that slopes upward toward the +Y direction side. That is, the inclined surface 51m is disposed at this end portion of the lower surface 51e.

[0258] The end portion on the +Y direction side of the bottom surface 51f is an inclined surface 51n that slopes downward toward the +Y direction side. That is, the inclined surface 51n is disposed at this top end portion of the bottom surface 51f.

[0259] The guide moving mechanism 52Z moves the guide members 50Z and 51Z in the X-axis direction and the Y-axis direction. The guide moving mechanism 52Z includes four rail members R3 to R6, a guide driving unit 52c, two guide supporting members 52d and 52e, two biasing members 52f and 52g, and two rotating shafts 52h and 52i. The guide moving mechanism 52Z is an example of the moving mechanism in the present invention. The guide supporting members 52d and 52e, the biasing members 52f and 52g, and the rotating shafts 52h and 52i are examples of the supporting mechanism in the present invention.

[0260] The structure of the guide moving mechanism 52Z is the same as that of the guide moving mechanism 52, except that the guide moving mechanism 52Z does not have the guide supporting members 52a and 52b, but has the guide supporting members 52d and 52e, the biasing members 52f and 52g, and the rotating shafts 52h and 52i.

[0261] The guide supporting member 52d cantilever-supports the end portion on the -Y direction side (hereinafter referred to as the "base end portion") of the guide member 50Z via the rotating shaft 52h. As a result, the end portion on the +Y direction side (hereinafter referred to as the "top end portion") of the guide member 50Z can swing in the vertical direction about the rotating shaft 52h. A part of the guide supporting member 52d projects toward the +Y direction so as to be located below the guide member 50Z, forming a projecting portion 52j.

[0262] The guide support member 52e cantilever-supports the end portion on the -Y direction side (hereinafter referred to as the "base end portion") of the guide member 51Z via the rotary shaft 52i. As a result, the end portion on the +Y direction side (hereinafter referred to as the "tip end portion") of the guide member 51Z can swing in the vertical direction about the rotary shaft 52i. A part of the guide support member 52e protrudes toward the +Y direction so as to be located below the guide member 51Z, forming a protruding portion 52k.

[0263] The biasing member 52f biases the guide member 50Z in the upward direction. The biasing member 52f is, for example, a coil spring. The biasing member 52f is installed between the guide member 50Z and the protruding portion 52j at a position closer to the +Y direction than the rotary shaft 52h. The acting force of the biasing member 52f is smaller than the load applied to the biasing member 52f from the guide member 50Z on which at least the workpiece W is placed. The biasing member 52f supports the guide member 50Z on which the workpiece W is not placed such that the bottom surface 50f is parallel to the horizontal direction.

[0264] The biasing member 52g biases the guide member 51Z in the upward direction. The biasing member 52g is, for example, a coil spring. The biasing member 52g is installed between the guide member 51Z and the protruding portion 52k at a position closer to the +Y direction than the rotary shaft 52i. The acting force of the biasing member 52g is smaller than the load applied to the biasing member 52g from the guide member 51Z on which at least the workpiece W is placed. The biasing member 52g supports the guide member 51Z on which the workpiece W is not placed such that the bottom surface 51f is parallel to the horizontal direction.

[0265] It should be noted that in the present invention, in order to prevent the guide members 50Z and 51Z from being pushed upward by the acting force to a position beyond the necessary level, a stopper for restricting the rotation range of the guide members 50Z and 51Z may be installed on the rotary shafts 52h and 52i or the guide support members 52d and 52e.

[0266] Operation of the housing device (2)

[0267] Next, the operation of the present device 1Z (that is, the present method) will be described as follows. In the following description, appropriate reference will be made to Figures 22 to 25 .

[0268] Figure 26 is a flowchart showing an example of the operation of the present device 1Z.

[0269] In the second embodiment, the present apparatus 1Z performs a bag body loading step (ST1), a suction step (ST2), an opening step (ST3), a guiding and inserting step (ST4), a guiding and opening step (ST5), a table raising step (ST6), and a workpiece loading step (ST7) in the same manner as the present apparatus 1. Next, the workpiece accommodating unit 6 moves the workpiece W into the interior of the bag body B (ST8: workpiece moving step). In the second embodiment, the present apparatus 1Z does not perform a support lifting step (ST9, ST13).

[0270] Figure 27 It is a partially enlarged schematic cross-sectional view of the present apparatus 1Z showing the state where the workpiece W has moved to the base ends of the guiding members 50Z, 51Z.

[0271] This figure shows the cross-section of the present apparatus 1Z cut by the YZ plane passing through the virtual line C1 as viewed from the +X direction side (hereinafter, Figure 28 and Figure 29 the same applies).

[0272] When the workpiece W moves to the base ends of the guiding members 50Z, 51Z, the biasing members 52f, 52g slightly contract due to the load applied from the guiding members 50Z, 51Z on which the workpiece W is placed.

[0273] Figure 28 It is a partially enlarged schematic cross-sectional view of the present apparatus 1Z showing the state where the workpiece W has moved to the tip ends of the guiding members 50Z, 51Z.

[0274] When the workpiece W moves in the +Y direction on the guiding members 50Z, 51Z, the load applied to the biasing members 52f, 52g increases corresponding to the movement amount of the workpiece W. Therefore, as the workpiece W moves in the +Y direction, the load applied to the biasing members 52f, 52g becomes larger. As a result, as the workpiece W moves in the +Y direction, the guiding members 50Z, 51Z rotate about the rotation axes 52h, 52i in the direction of descending to the tip ends of the guiding members 50Z, 51Z. That is, the tip ends of the guiding members 50Z, 51Z descend as the workpiece W moves. In the second embodiment, it is designed such that when the workpiece W moves to the accommodation position, the biasing members 52f, 52g contract to the maximum extent. In addition, when the biasing members 52f, 52g contract to the maximum extent, the inclined surfaces 50m, 51m come into contact with the lower half body B1. As a result, the workpiece W placed on the bottom surfaces 50f, 51f is closest to the lower half body B1.

[0275] Note that in the present invention, it is only necessary that the inclined surfaces 50m, 51m come into contact with the lower half body B1 when the workpiece W moves to the accommodation position, and the acting force of the biasing members 52f, 52g is not limited to the second embodiment.

[0276] Next, the workpiece accommodation unit 6Z lowers the workpiece table 60 (ST10: Table lowering step).

[0277] Next, the guide unit 5Z moves the guide members 50Z and 51Z in the -Y direction to retract the guide members 50Z and 51Z from the bag body B to the retracted position (ST11: Guide retraction step).

[0278] Figure 29 FIG. is a partially enlarged schematic cross-sectional view of the present apparatus 1Z showing the state during the retraction of the guide members 50Z and 51Z.

[0279] When the guide members 50Z and 51Z move (retract) in the -Y direction, the guide members 50Z and 51Z come into contact with the workpiece W and the bag body B. Therefore, when the guide members 50Z and 51Z are retracted, a frictional force in the -Y direction is applied to the workpiece W from the guide members 50Z and 51Z. However, on the -Y direction side (opening end B3 side) of the workpiece W, a moving member 62 that comes into contact with the workpiece W is arranged. Therefore, the movement of the workpiece W in the -Y direction is restricted by the moving member 62. The movement of the bag body B in the -Y direction is restricted by adsorption and holding as in the first embodiment.

[0280] In addition, the guide members 50Z and 51Z are provided with inclined surfaces 50m to 51n. Therefore, when the guide members 50Z and 51Z are pulled out in the -Y direction from between the workpiece W and the lower half body B1 (workbench 41Z), the impact when the workpiece W is placed on the lower half body B1 (workbench 41Z) is suppressed as compared with the case where the guide members 50Z and 51Z do not have the inclined surfaces 50m to 51n.

[0281] Next, the present apparatus 1Z executes a moving member retraction step (ST12), an adsorption release step (ST14), and a bag body removal step (ST15).

[0282] Summary (2)

[0283] According to the second embodiment described above, the guide members 50Z and 51Z form a sliding region A2 inside the bag body B. Therefore, the workpiece W can slide into the inside of the bag body B without contacting the bag body B. In addition, when the workpiece W moves into the inside of the bag body B, gaps S1 and S2 corresponding to at least the length "Lg1" of the convex portions 50b and 51b are formed between the workpiece W and the side end portions B5 and B6. Therefore, the workpiece W accommodated in the bag body B by the present apparatus 1Z does not deviate without a gap to any one of the side end portions B5 and B6 inside the bag body B.

[0284] In addition, according to the second embodiment described above, the present apparatus 1Z includes a support mechanism (guide support members 52d, 52e, biasing members 52f, 52g, and rotary shafts 52h, 52i). When the workpiece W is not placed on the bottom surfaces 50f, 51f, the support mechanism supports the guide members 50Z, 51Z such that the bottom surfaces 50f, 51f are parallel to the horizontal direction. The support mechanism supports the guide members 50Z, 51Z such that the top ends thereof descend when the workpiece W slides to the top end side of the guide members 50Z, 51Z. According to this structure, in the housing position, the workpiece W placed on the bottom surfaces 50f, 51f is closest to the lower body portion B1.

[0285] Moreover, according to the second embodiment described above, the +Y direction side end portions of the bottom surfaces 50f, 51f are inclined surfaces 50n, 51n that are inclined downward toward the bag body B. According to this structure, in the Z-axis direction, the distance that the workpiece W moves onto the lower body portion B1 (workbench 41Z) is smaller than the moving distance when the guide members 50Z, 51Z do not have the inclined surfaces 50n, 51n. Therefore, the impact received by the workpiece W due to this movement is suppressed.

[0286] In addition, according to the second embodiment described above, the guide members 50Z, 51Z retract from the inside of the bag body B after the top ends descend. At this time, the moving member 62 is disposed adjacent to the workpiece W on the opening end portion B3 side with respect to the workpiece W. According to this structure, when the guide members 50Z, 51Z retract, the movement of the workpiece W in the -Y direction is restricted by the moving member 62.

[0287] It should be noted that in the second embodiment, the guide members 50Z, 51Z may not have the inclined surfaces 50m, 51m and / or the inclined surfaces 50n, 51n.

[0288] In addition, in the second embodiment, the biasing members 52f, 52g only need to be able to bias the guide members 50Z, 51Z in the upward direction, and are not limited to coil springs. That is, for example, the biasing members 52f, 52g may also be cylinders. In addition, for example, the biasing members 52f, 52g may also be configured to be able to change the strength of the acting force (for example, an electric cylinder).

[0289] Moreover, in the second embodiment, the support mechanism may also support the guide members 50Z, 51Z in a cantilever manner so as to be able to move up and down.

[0290] Other embodiments

[0291] It should be noted that in the present invention, the present apparatuses 1, 1Z may not include the workpiece loading device 7. That is, for example, the user may place the workpiece W on the workpiece table 60.

[0292] In addition, in the present invention, the apparatus 1 and 1Z may not be provided with the bag supply table 8. That is, for example, the user may place the bag B on the work tables 41 and 41Z. In this case, the support member 45 may not move in the X-axis direction.

[0293] Moreover, in the present invention, the bag holding units 4 and 4Z only need to be configured to hold the bag B (the lower body portion B1 and the upper body portion B2) in a state where the opening end portion B3 is open, and are not limited to the structure of the present embodiment. That is, for example, the bag holding units 4 and 4Z may grip a part of the bag B instead of adsorbing it.

[0294] Moreover, in the present invention, the work tables 41 and 41Z may also be supplied to the support table 40 together with the bag B.

[0295] In addition, in the present invention, the interval "Dg1" between the guide members 50 and 51 and between the guide members 50Z and 51Z at the closing position is not limited to each embodiment. That is, for example, at the closing position, the guide members 50 and 51 may be in contact with each other. Additionally, for example, the interval "Dg1" between the guide members 50 and 51 at the closing position may also be increased or decreased according to the size of the holding area A1.

[0296] In addition, in the present invention, the arrangement of the work table 60 is not limited to being below the guide members 50, 51, 50Z, and 51Z. That is, for example, the work table 60 may be arranged on the side of the guide members 50 and 51 and move horizontally after the guide members 50 and 51 move to the accommodation position.

[0297] In addition, in the present invention, the shapes of the outer side surfaces 50d and 51d of the guide members 50, 51, 50Z, and 51Z are not limited to the present embodiment. That is, for example, in the Z-axis direction, the shapes of the outer side surfaces 50d and 51d may also be shapes that protrude outward from the upper and lower end portions to the central portion of the outer side surfaces 50d and 51d (for example, semicircular, trapezoidal, or triangular when viewed from the Y-axis direction). In this structure, when the guide members 50 and 51 are opened, the gaps S11 and S12 between the outer side surface 50d and the side end portions B5 and B6 become smaller. As a result, the influence of the gaps S11 and S12 on the intervals "D1" and "D2" becomes smaller. Therefore, the adjustment of the intervals "D1" and "D2" becomes easier.

[0298] In addition, in the present invention, the carry-out mechanism 91 only needs to be configured to be able to carry the work table 41 back and forth between the support table 40 and the carry-out table 90, and is not limited to the structure of each embodiment. That is, for example, the carry-out mechanism 91 may also have a structure that lifts and carries out the work table 41. In this case, the lower moving mechanism 44 may not lift and lower the lower adsorption portion 42, but only lift and lower the support member 43.

[0299] Embodiments of the present invention

[0300] Hereinafter, by referring to the terms and reference numerals described in each embodiment, the embodiments of the present invention understood from the above-described embodiments will be described as follows.

[0301] A first embodiment of the present invention is a housing device (e.g., housing devices 1, 1Z) that houses a workpiece (e.g., workpiece W) in a bag body (e.g., bag body B). When three mutually orthogonal axes are the X-axis, the Y-axis, and the Z-axis, the X-axis and the Y-axis are parallel to the horizontal direction. The direction along the X-axis is the X-axis direction, the direction along the Y-axis is the Y-axis direction, and the direction along the Z-axis is the Z-axis direction parallel to the vertical direction. The bag body includes: a rectangular sheet-like upper half portion (e.g., upper half portion B2) and a lower half portion (e.g., lower half portion B1) that face each other in the Z-axis direction; an open end portion (e.g., open end portion B3) that is parallel to the X-axis direction; a bottom end portion (e.g., bottom end portion B4) that is disposed at a position facing the open end portion; and a pair of side end portions (e.g., side end portions B5, B6) that are continuous with the open end portion and the bottom end portion, respectively. The housing device has: a pair of long guide members (e.g., guide members 50, 51, 50Z, 51Z) that are arranged in the X-axis direction and are parallel to the Y-axis direction; a holding portion (e.g., bag body holding units 4, 4Z) that is configured to hold the upper half portion and the lower half portion in a state where the open end portion is open; a moving mechanism (e.g., guide moving mechanisms 52, 52Z) that moves the pair of guide members in the X-axis direction and the Y-axis direction; and a moving member (e.g., moving member 62) that is configured to be able to move in the Y-axis direction between the pair of guide members. In the X-axis direction, with respect to one of the guide members, the direction in which the other guide member is located is the inner direction, and the direction opposite to the inner direction is the outer direction. The guide member includes: a concave portion (e.g., concave portions 50a, 51a) that is disposed at the upper end portion on the inner direction side of the guide member and is arranged along the Y-axis direction; and a convex portion (e.g., convex portions 50b, 51b) that is adjacent to the outer direction of the concave portion and is arranged along the Y-axis direction. The concave portion has a concave bottom surface (e.g., bottom surfaces 50f, 51f) configured such that the workpiece placed thereon can slide. The holding portion opens the central portion of the open end portion, and the moving mechanism inserts the pair of guide members from the open end portion toward the bottom end portion. In the X-axis direction, the pair of guide members inserted into the bag body are moved toward the outer direction in such a manner that the workpiece can be placed on the concave bottom surfaces of the pair of guide members, and the moving member slides the workpiece placed on the concave bottom surfaces of the pair of guide members that have moved toward the outer direction toward the inside of the bag body.

[0302] According to this structure, when the workpiece is housed in the bag body, at least a gap corresponding to the length of the convex portion is formed between the workpiece and the side end portion.

[0303] In the second embodiment of the present invention, based on the housing device described in the first embodiment, in the X-axis direction, the length of the convex portion (for example, the length "Lg1") is set according to the interval (for example, the intervals "D1" and "D2") between the workpiece accommodated in the bag body and the side end portions.

[0304] According to this structure, a gap of the size desired by the user of this device is reliably formed.

[0305] In the third embodiment of the present invention, based on the housing device described in the second embodiment, the moving mechanism moves a pair of the guiding members inserted into the bag body in the outward direction within a range where the tensile force applied to the bag body by the movement of the guiding members does not cause plastic deformation of the bag body.

[0306] According to this structure, the moving mechanism can open the opening end portion to the maximum extent.

[0307] In the fourth embodiment of the present invention, based on the housing device described in the first embodiment, in the Z-axis direction, the length (for example, the length "Lg2") from the bottom surface of the concave portion to the upper surface of the convex portion is larger than the length (for example, the length "Lw2") of the workpiece.

[0308] According to this structure, the workpiece does not protrude upward from the guiding member and does not contact the upper half body portion.

[0309] In the fifth embodiment of the present invention, based on the housing device described in the fourth embodiment, the convex portion has inner side surfaces (for example, inner side surfaces 50h and 51h) facing the inner direction side, the guiding member has protruding portions (for example, protruding portions 50c and 51c), the protruding portions are disposed at the lower end portions of the inner side surfaces and protrude toward the inner direction side from the inner side surfaces, the protruding portions have protruding portion inner side surfaces (for example, protruding portion inner side surfaces 50k and 51k) parallel to the Y-axis direction and the Z-axis direction, and in the Z-axis direction, the length (for example, the length "Lg3") of the protruding portion inner side surfaces is smaller than the length of the workpiece.

[0310] According to this structure, the workpiece can smoothly slide between the protruding portion inner side surfaces.

[0311] In the sixth embodiment of the present invention, based on the housing device described in the first embodiment, in the Z-axis direction, the outer side surfaces (for example, outer side surfaces 50d and 51d) on the outer direction side of the guiding member protrude toward the outer direction as they approach the central portion from the upper end portion and the lower end portion of the outer side surfaces, respectively.

[0312] According to this structure, it is easy to adjust the interval.

[0313] The seventh embodiment of the present invention is based on the housing device described in the first embodiment. The housing device includes: a workpiece table (e.g., workpiece table 60) for placing the workpiece; a lifting device (e.g., table lifting device 61) for lifting the workpiece table; and a workpiece loading device (e.g., workpiece loading device 7) for loading the workpiece onto the workpiece table. The workpiece table is disposed below a pair of the guiding members before the pair of the guiding members are inserted into the bag body. The lifting device raises the workpiece table after the pair of the guiding members are inserted into the bag body. The workpiece loading device transports the workpiece to the raised workpiece table. The moving member moves the workpiece placed on the workpiece table toward the pair of the guiding members inserted into the bag body.

[0314] According to this structure, the present device can automatically perform steps such as loading of the workpiece and housing of the workpiece.

[0315] The eighth embodiment of the present invention is based on the housing device described in the first embodiment. The holding portion includes: a placement table (e.g., support table 40 and work tables 41, 41Z) for placing the bag body; a plurality of lower suction portions (e.g., lower suction portion 42) disposed on the placement table and configured to be able to suck the lower half body portion; a plurality of upper suction portions (e.g., upper suction portion 46) disposed above the placement table and configured to be able to suck the upper half body portion; and a vertical lifting device (e.g., vertical lifting device 47a) for lifting the upper suction portions. The vertical lifting device raises the plurality of upper suction portions in a state where the lower half body portion is sucked by the plurality of lower suction portions and the upper half body portion is sucked by the plurality of upper suction portions, thereby opening the opening end portion. When the pair of the guiding members inserted into the bag body move toward the outer direction, the upper suction portions are lowered as the pair of the guiding members move.

[0316] According to this structure, even when the guiding members move toward the outer direction, an excessive pulling force is not applied to the bag body.

[0317] Based on the housing device (e.g., housing device 1) described in the 8th embodiment of the present invention, the holding portion includes: a plurality of support members (e.g., support member 43), which are housed in the placement table in a liftable manner and can support the workpiece at multiple points when rising; and a lower lifting device (e.g., lower moving mechanism 44), which lifts and lowers the plurality of support members. When viewed from the Z-axis direction, the support members are arranged in the inner direction of the pair of guide members after moving outward. A part of the plurality of lower suction portions (e.g., lower suction portions 421, 424, 427, lower suction portions 422, 425, 428, and lower suction portions 423, 426, 429) constitute a lower suction unit (e.g., lower suction unit 42u) arranged along the X-axis direction. After the workpiece moves into the interior of the bag body, the lower lifting device raises the plurality of support members to a position above the bottom surface of the recess. In the X-axis direction, two of the lower suction portions arranged at both ends of the lower suction portions constituting the lower suction unit (e.g., lower suction portions 424 - 429) release the suction on the lower half body portion.

[0318] According to this structure, even when the support member rises, excessive tension will not be applied to the bag body. In addition, by separating the workpiece W from the guide member inside the bag body, the guide member can be pulled out of the bag body without moving the workpiece W.

[0319] Based on the housing device (e.g., housing device 1Z) described in the 1st embodiment of the present invention, the housing device has a support mechanism (e.g., guide support members 52d, 52e, biasing members 52f, 52g, and rotating shafts 52h, 52i), and this support mechanism cantilever supports one end of each of the guide members. The other end of each of the guide members facing the bag body can swing in the vertical direction. The support mechanism supports the guide members in such a way that the bottom surface of the recess is parallel to the horizontal direction when the workpiece is not placed on the bottom surface of the recess, and supports the guide members in such a way that the other end descends when the workpiece placed on the bottom surface of the recess slides to the other end side.

[0320] According to this structure, in the housing position, the workpiece placed on the bottom surface is closest to the lower half body portion.

[0321] Based on the housing device described in the 10th embodiment of the present invention, the end of the bottom surface of the recess on the bag body side is an inclined surface (e.g., inclined surfaces 50n, 51n) that slopes downward toward the bag body side.

[0322] According to this structure, the impact on the workpiece due to the movement downward of the lower half body portion is suppressed.

[0323] In the twelfth embodiment of the present invention, based on the housing device described in the tenth embodiment, a pair of the guiding members retract from the inside of the bag body after the other end portion descends, and when the pair of guiding members retract, the moving member is disposed adjacent to the workpiece on the opening end side with respect to the workpiece.

[0324] According to this structure, during the retraction of the guiding members, the movement of the workpiece in the -Y direction is restricted by the moving member.

[0325] The 13th embodiment of the present invention is a housing method used in a housing device (e.g., housing devices 1, 1Z) for housing a workpiece (e.g., workpiece W) in a bag body (e.g., bag body B). When three mutually orthogonal axes are the X-axis, the Y-axis, and the Z-axis, the X-axis and the Y-axis are parallel to the horizontal direction, the direction along the X-axis is the X-axis direction, the direction along the Y-axis is the Y-axis direction, and the direction along the Z-axis is the Z-axis direction parallel to the up-down direction. The bag body includes: a rectangular sheet-like upper half portion (e.g., upper half portion B2) and a lower half portion (e.g., lower half portion B1) that face each other in the Z-axis direction; an opening end portion (e.g., opening end portion B3) that is parallel to the X-axis direction; a bottom end portion (e.g., bottom end portion B4) disposed at a position opposite to the opening end portion; and a pair of side end portions (e.g., side end portions B5, B6) that are respectively continuous with the opening end portion and the bottom end portion. The housing device includes: a pair of long guide members (e.g., guide members 50, 51, 50Z, 51Z) arranged in the X-axis direction and parallel to the Y-axis direction; a holding portion (e.g., bag body holding units 4, 4Z) configured to hold the upper half portion and the lower half portion in a state where the opening end portion is open; a moving mechanism (e.g., guide moving mechanisms 52, 52Z) that moves the pair of guide members in the X-axis direction and the Y-axis direction; and a moving member (e.g., moving member 62) configured to be able to move in the Y-axis direction between the pair of guide members. In the X-axis direction, with respect to one of the guide members, the direction in which the other guide member is located is the inner direction, and the direction opposite to the inner direction is the outer direction. The guide member includes: a concave portion (e.g., concave portions 50a, 51a) disposed at the upper end portion on the inner direction side of the guide member and arranged along the Y-axis direction; and a convex portion (e.g., convex portions 50b, 51b) adjacent to the outer direction of the concave portion and arranged along the Y-axis direction. The concave portion has a concave bottom surface (e.g., bottom surfaces 50f, 51f) configured such that the placed workpiece can slide. The housing method includes the following steps: the holding portion opens the central portion of the opening end portion (e.g., opening step (ST3)); the moving mechanism inserts the pair of guide members from the opened opening end portion toward the bottom end portion (e.g., insertion step (ST4)); the moving mechanism moves the pair of guide members inserted into the bag body toward the outer direction in the X-axis direction in such a manner that the workpiece can be placed on the concave bottom surfaces of the pair of guide members (e.g., guide opening step (ST5)); and the workpiece is placed on the concave bottom surfaces of the pair of guide members that have moved toward the outer direction.and the moving member slides the workpiece placed on the bottom surface of the recess of a pair of the guide members toward the inside of the bag body (for example, workpiece moving step (ST8)).;

[0326] According to this structure, when the workpiece is accommodated in the bag body, at least a gap corresponding to the length of the convex portion is formed between the workpiece and the side end portion.

Claims

1. A housing device that houses a workpiece in a bag body, wherein when three mutually orthogonal axes are the X-axis, the Y-axis, and the Z-axis, the X-axis and the Y-axis are parallel to the horizontal direction, the direction along the X-axis is the X-axis direction, the direction along the Y-axis is the Y-axis direction, and the direction along the Z-axis is the Z-axis direction parallel to the up-down direction, the bag body includes: a rectangular sheet-like upper half portion and a lower half portion that face each other in the Z-axis direction; an open end portion that is parallel to the X-axis direction; a bottom end portion that is disposed at a position opposite to the open end portion; and a pair of side end portions that are respectively continuous with the open end portion and the bottom end portion, the housing device has: a pair of long guide members that are arranged in the X-axis direction and are parallel to the Y-axis direction; a holding portion configured to hold the upper half portion and the lower half portion in a state where the open end portion is open; a moving mechanism that moves the pair of guide members in the X-axis direction and the Y-axis direction; and a moving member configured to be able to move in the Y-axis direction between the pair of guide members, in the X-axis direction, with respect to one of the guide members, the direction in which the other guide member is located is the inner direction, and the direction opposite to the inner direction is the outer direction, the guide member includes: a concave portion that is disposed at the upper end portion on the inner direction side of the guide member and is arranged along the Y-axis direction; and a convex portion that is adjacent to the outer direction of the concave portion and is arranged along the Y-axis direction, the concave portion has a concave bottom surface configured such that the workpiece placed thereon can slide, the holding portion opens the central portion of the open end portion, the moving mechanism inserts the pair of guide members into the bag body from the open end portion toward the bottom end portion, in the X-axis direction, the pair of guide members inserted into the bag body are moved toward the outer direction in such a manner that the workpiece can be placed on the concave bottom surfaces of the pair of guide members, the moving member slides the workpiece placed on the concave bottom surfaces of the pair of guide members that have moved toward the outer direction toward the inside of the bag body.

2. The housing device according to claim 1, wherein in the X-axis direction, the length of the convex portion is set according to the interval between the workpiece housed in the bag body and the side end portion.

3. The housing device according to claim 2, wherein the moving mechanism moves the pair of guide members inserted into the bag body toward the outer direction within a range where the tensile force applied to the bag body by the movement of the guide members does not cause plastic deformation of the bag body.

4. The housing device according to claim 1, wherein in the Z-axis direction, the length from the concave bottom surface to the upper surface of the convex portion is greater than the length of the workpiece.

5. The housing device according to claim 4, wherein the convex portion has an inner side surface facing the inner direction side, the guide member has a protruding portion that is disposed at the lower end portion of the inner side surface and protrudes toward the inner direction side from the inner side surface, The protruding portion has an inner side surface of the protruding portion parallel to the Y-axis direction and the Z-axis direction. In the Z-axis direction, the length of the inner side surface of the protruding portion is smaller than the length of the workpiece.

6. The housing device according to claim 1, wherein, In the Z-axis direction, the outer side surfaces on the outer direction side of the guiding members protrude toward the outer direction as they respectively tend toward the central portion from the upper end portion and the lower end portion of the outer side surface.

7. The housing device according to claim 1, wherein, The housing device includes: A workpiece table for placing the workpiece; A lifting device for lifting the workpiece table; and A workpiece loading device for loading the workpiece onto the workpiece table, The workpiece table is disposed below the pair of guiding members before the pair of guiding members are inserted into the bag body. The lifting device raises the workpiece table after the pair of guiding members are inserted into the bag body. The workpiece loading device transports the workpiece to the raised workpiece table. The moving member moves the workpiece placed on the workpiece table toward the pair of guiding members inserted into the bag body.

8. The housing device according to claim 1, wherein, The holding portion includes: A placement table for placing the bag body; A plurality of lower suction portions disposed on the placement table and configured to be able to suck the lower half body portion; A plurality of upper suction portions disposed above the placement table and configured to be able to suck the upper half body portion; And A vertical lifting device for lifting the upper suction portions, In a state where the lower half body portion is sucked by the plurality of lower suction portions and the upper half body portion is sucked by the plurality of upper suction portions, the vertical lifting device opens the opening end portion by raising the plurality of upper suction portions. When the pair of guiding members inserted into the bag body move toward the outer direction, the upper suction portions are lowered as the pair of guiding members move.

9. The housing device according to claim 8, wherein, The holding portion includes: A plurality of support members received in the placement table in a vertically movable manner and capable of supporting the workpiece at a plurality of points when raised; and A lower lifting device for lifting the plurality of support members, When viewed from the Z-axis direction, the support members are disposed on the inner direction side of the pair of guiding members that have moved toward the outer direction. A part of the plurality of lower suction portions constitutes a lower suction unit arranged along the X-axis direction. After the workpiece moves to the inside of the bag body, The lower lifting device raises the plurality of support members to a position above the bottom surface of the concave portion. In the X-axis direction, two of the lower suction portions disposed at both ends among the lower suction portions constituting the lower suction unit release the suction on the lower half body portion.

10. The housing device according to claim 1, wherein, The housing device has a support mechanism that cantilever-supports one end of each of the guiding members, and the other end of each of the guiding members toward the bag body can swing in the vertical direction. The support mechanism supports the guide member such that the bottom surface of the recess is parallel to the horizontal direction when the workpiece is not placed on the bottom surface of the recess. The support mechanism supports the guide member such that when the workpiece placed on the bottom surface of the recess slides to the other end side, the other end descends.

11. The housing device according to claim 10, wherein The end of the bottom surface of the recess on the side of the bag body is an inclined surface that slopes downward toward the bag body.

12. The housing device according to claim 10, wherein After the other end descends, the pair of guide members retract from the inside of the bag body, When the pair of guide members retract, the moving member is disposed adjacent to the workpiece on the opening end side with respect to the workpiece.

13. A housing method, which is used in a housing device for housing a workpiece in a bag body, wherein When the three mutually orthogonal axes are the X-axis, the Y-axis, and the Z-axis, the X-axis and the Y-axis are parallel to the horizontal direction, the direction along the X-axis is the X-axis direction, the direction along the Y-axis is the Y-axis direction, and the direction along the Z-axis is the Z-axis direction parallel to the up-down direction, The bag body includes: A rectangular sheet-like upper half portion and a lower half portion, which face each other in the Z-axis direction; An opening end, which is parallel to the X-axis direction; A bottom end portion, which is disposed at a position opposite to the opening end; and A pair of side end portions, which are respectively continuous with the opening end and the bottom end portion, The housing device includes: A pair of long guide members, which are arranged in the X-axis direction and are parallel to the Y-axis direction; A holding portion, which is configured to be able to hold the upper half portion and the lower half portion in a state where the opening end is open; A moving mechanism, which moves the pair of guide members in the X-axis direction and the Y-axis direction; And A moving member, which is configured to be able to move in the Y-axis direction between the pair of guide members, In the X-axis direction, with respect to one of the guide members, the direction in which the other guide member is located is the inner direction, and the direction opposite to the inner direction is the outer direction, The guide member includes: A recess, which is disposed at the upper end portion on the inner direction side of the guide member and is arranged along the Y-axis direction; and A convex portion, which is adjacent to the outer direction of the recess and is arranged along the Y-axis direction, The recess includes a bottom surface of the recess configured such that the workpiece placed thereon can slide, The housing method includes the following steps: The holding portion opens the central portion of the opening end; The moving mechanism inserts the pair of guide members from the opened opening end toward the bottom end portion; The moving mechanism moves the pair of guide members inserted into the bag body toward the outer direction in the X-axis direction such that the workpiece can be placed on the bottom surface of the recess of the pair of guide members; The workpiece is placed on the bottom surface of the recess of the pair of guide members that move toward the outer direction; And The moving part slides the workpiece placed on the bottom surface of the recess of the pair of guiding parts toward the inside of the bag body.

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