Storage device and storage method

Abstract

To provide a storage device capable of securing a gap necessary between a workpiece and an end part of a bag body, and to provide a storage method.SOLUTION: Storage devices 1,1Z store a workpiece W in a bag body B. The bag body includes an opening end part B3, a bottom end part B4, and a pair of side end parts B5, B6. The storage device is configured to include a pair of guide members 50, 51, 50Z, 51Z, holding parts 4, 4Z, movement mechanisms 52, 52Z, and a movement member 62. The guide member includes: recessed parts 50a, 51a arranged at an upper end part on the inward side of the guide member; and protrusion parts 50b, 51b arranged being adjacent in an outer direction of the recessed part. The recessed part includes recessed part bottom surfaces 50f, 51f. The movement mechanism inserts the guide member from the opened opening end part toward the bottom end part, and moves the guide member inserted into the bag body in such a manner that the workpiece can be placed on the recessed part bottom surface of the guide member. The movement member slides the workpiece placed on the recessed part bottom surface of the guide member toward the inside of the bag body.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a housing device and a housing method.

Background Art

[0002] An isostatic pressing device called a so-called "hot water laminator" uses, for example, hot water or oil as a pressure medium to apply uniform pressure to a work piece, which is a workpiece (e.g., a laminate, a printed wiring board to which electronic components are adhered), from all directions (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a work piece is pressed by an isostatic pressing device, the work piece is accommodated in a bag for decompression sealing in advance. The bag is manufactured, for example, by welding three sides of two rectangular sheets. The work piece is accommodated in the bag through an open end portion, which is the side that is not welded. At this time, if the work piece is accommodated at an end portion in a biased manner inside the bag, stress concentration may occur at the same end portion of the bag during pressurization. As a result, problems such as damage to the bag and intrusion of the pressure medium into the inside of the bag may occur. Therefore, a certain gap (interval) is required between the work piece and the end portion of the bag. Conventionally, in order to ensure the necessary gap between the work piece and the end portion of the bag, the work piece is manually accommodated in the bag.

[0005] An object of the present invention is to provide a housing device and a housing method capable of ensuring a necessary gap between a work piece and an end portion of a bag.

Means for Solving the Problems

[0006] The housing device according to an embodiment of the present invention is a housing device for housing a workpiece in a bag body. When the three axes orthogonal to each other are the X-axis, the Y-axis, and the Z-axis, the X-axis and the Y-axis are parallel in 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-shaped upper half part and a lower half part facing each other in the Z-axis direction, an opening end part parallel to the X-axis direction, a bottom end part disposed at a position facing the opening end part, and a pair of side end parts continuous with the opening end part and the bottom end part respectively. The bag body is arranged side by side in the X-axis direction and has a pair of long guide members parallel to the Y-axis direction. A holding part is configured to be able to hold the upper half part and the lower half part in a state where the opening end part is opened. A moving mechanism is configured to move the pair of guide members in the X-axis direction and the Y-axis direction. A moving member is configured to be movable in the Y-axis direction between the pair of guide members. In the X-axis direction, the direction in which the other guide member is located with respect to one guide member is the inner direction, and the direction opposite to the inner direction is the outer direction. The guide member includes a recess disposed along the Y-axis direction at the upper end part on the inner direction side of the guide member, and a convex part disposed along the Y-axis direction adjacent to the outer direction of the recess. The recess includes a recess bottom surface on which the placed workpiece is configured to be slidable. The holding part opens the central part of the opening end part. The moving mechanism inserts the pair of guide members from the opened opening end part toward the bottom end part, and in the X-axis direction, moves the pair of guide members inserted into the bag body outward so that the workpiece can be placed on the recess bottom surfaces of the pair of guide members. The moving member slides the workpiece placed on the recess bottom surfaces of the pair of guide members moved outward toward the inside of the bag body. This is the housing device.

[0007] The accommodating method according to an embodiment of the present invention is an accommodating method used in an accommodating device for accommodating a workpiece in a bag body. When the three axes orthogonal to each other 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-shaped upper half part and a lower half part facing each other in the Z-axis direction, an opening end part parallel to the X-axis direction, a bottom end part arranged at a position facing the opening end part, and a pair of side end parts continuous with the opening end part and the bottom end part respectively. The accommodating device includes a pair of long guide members arranged side by side in the X-axis direction and parallel to the Y-axis direction, a holding part configured to hold the upper half part and the lower half part in a state where the opening end part is opened, a moving mechanism for moving the pair of guide members in the X-axis direction and the Y-axis direction, and a moving member configured to be movable in the Y-axis direction between the pair of guide members. In the X-axis direction, the direction in which the other guide member is located with respect to one guide member is the inner direction, and the direction opposite to the inner direction is the outer direction. The guide member includes a recess arranged along the Y-axis direction at the upper end part on the inner direction side of the guide member, and a protrusion arranged along the Y-axis direction adjacent to the outer direction of the recess. The recess includes a recess bottom surface on which the placed workpiece is configured to be slidable. The accommodating method includes a step of the holding part opening the central part of the opening end part, a step of the moving mechanism inserting the pair of guide members from the opened opening end part toward the bottom end part, a step of the moving mechanism moving the pair of guide members inserted into the bag body outward in the X-axis direction so that the workpiece can be placed on the recess bottom surfaces of the pair of guide members, a step of the workpiece being placed on the recess bottom surfaces of the pair of guide members moved outward, and a step of the moving member sliding the workpiece placed on the recess bottom surfaces of the pair of guide members toward the inside of the bag body.

Effect of the Invention

[0008] According to the present invention, it is possible to provide a housing device and a housing method capable of securing a necessary gap between a workpiece and an end portion of a bag body.

Brief Description of the Drawings

[0009]

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Embodiments for Carrying out the Invention

[0010] Embodiments of a housing device (hereinafter referred to as "this device") and a housing method (hereinafter referred to as "this method") according to the present invention will be described below. In the following description, each drawing is referred to as appropriate. In each drawing, the same members and elements are denoted by the same reference numerals, and duplicate descriptions are omitted. Also, the dimensional ratios of each element may be exaggerated for convenience of explanation and are not limited to the ratios shown in each drawing.

[0011] In the following description and drawings, unless otherwise specified, when three axes that are mutually orthogonal 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" is the direction along the Z-axis and is the vertical direction.

[0012] ●Housing device (1)● First, an embodiment of this device will be described.

[0013] ●Configuration of the housing device (1) FIG. 1 is a schematic perspective view of this device showing an embodiment of this device. FIG. 2 is a functional block diagram of this device.

[0014] This device 1 houses the work W in the bag body B. This device 1 includes a housing 2, a control device 3, a bag body holding unit 4, a guide unit 5, a work housing unit 6, a work loading device 7, a bag body supply table 8, and a bag body unloading device 9.

[0015] FIG. 3 is a schematic side view showing an example of the work W.

[0016] The "workpiece W" is an 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. In a top view, the shape of the workpiece W is preferably rectangular. The workpiece W includes, for example, a workpiece W1 to be pressed by an isostatic pressing device (e.g., a laminate of a plurality of ceramic green sheets, a printed wiring board to which an electronic component is adhered, etc.), and a tray W2 on which the workpiece W1 is placed. In a top view, the shape of the tray W2 is, for example, a rectangular plate shape.

[0017] In the present invention, the workpiece W only needs to be an object housed in the bag body B, and the configuration of the workpiece W is not limited to the configuration of the present embodiment. That is, for example, the workpiece W may not include the tray W2. Further, the workpiece W may be a document such as an instruction manual that is not pressed, or food and drink housed in a rectangular box-shaped case. Furthermore, in a top view, the shape of the workpiece W only needs to be a shape that does not fall from guide members 50 and 51 (see FIG. 7) described later due to rotation of the workpiece W about the Z axis, and is not limited to a rectangular shape. That is, for example, the shape of the workpiece may be a polygonal shape having two parallel sides, or a circular shape.

[0018] FIG. 4 is a schematic plan view showing an example of the bag body B. For the sake of convenience of explanation, the workpiece W is illustrated by a two-dot chain line in this figure.

[0019] The "bag body B" houses the workpiece W. The material of the bag body B is appropriately selected according to the handling of the workpiece W housed in the bag body B. That is, for example, when the workpiece W housed in the bag body B is heated, a resin material having heat resistance (such as a fluororesin, etc.) is selected as the material of the bag body B. The bag body B includes a lower body part B1, an upper body part B2, an opening end part B3, a bottom end part B4, and two side end parts B5, B6. The upper body part B2 is stacked above the lower body part B1. The bag body B is formed in a bag shape by welding three side edges of the rectangular sheet-like lower body part B1 and upper body part B2 to each other. The opening end part B3 is arranged on the side edge that is not welded among the side edges of the bag body B. The bottom end part B4 is arranged on the side edge that faces the opening end part B3 among the welded side edges. The side end parts B5, B6 are arranged on the side edges that are continuous with the end parts of the opening end part B3 and the bottom end part B4 respectively. That is, the side end parts B5, B6 are continuous with the opening end part B3 and the bottom end part B4. In this apparatus 1, the bag body B is used such that the opening end part B3 and the bottom end part B4 are parallel to the X-axis direction.

[0020] In the following description, the mainly referred drawings return to FIG. 1 and FIG. 2. The housing 2 houses a control device 3, a bag body holding unit 4, a guide 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. In a top view, the shape of the housing 2 is a hollow rectangular parallelepiped shape 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 floor surface. In the following description, the "horizontal direction" is a direction parallel to the floor surface and parallel to the XY-axis direction. Also, the horizontal direction includes not only a complete horizontal but also a slight inclination of the floor surface and errors (slight inclinations) due to manufacturing tolerances and assembly tolerances of each component constituting this apparatus 1.

[0021] The control device 3 controls the operation of the entire device 1. The control device 3 includes, for example, a processor such as a CPU (Central Processing Unit) 3a, a volatile memory such as a RAM (Random Access Memory) 3b that functions as a working area of the CPU 3a, and a non-volatile memory such as a ROM (Read Only Memory) 3c that stores various information such as a control program. The control device 3 is, for example, a PC (Personal Computer).

[0022] Note 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).

[0023] The bag body holding unit 4 holds the bag body B. The bag body holding unit 4 includes a lower holding unit 4D, an upper holding unit 4U, and a decompression device 4P. The bag body holding unit 4 is an example of a holding part in the present invention.

[0024] FIG. 5 is a schematic plan view of the lower holding unit 4D. For convenience of explanation, this figure shows the work W, the bag body B, and the guide members 50 and 51 described later in a two-dot chain line. In the following description, FIGS. 1 to 4 are referred to as appropriate.

[0025] The lower holding unit 4D holds the lower half body part B1 of the bag body B. The lower holding unit 4D includes a support base 40, a table 41, a plurality (nine in this embodiment) of lower suction parts 42, a plurality (eight in this embodiment) of support members 43, and a downward movement mechanism 44. In the following description, when each of the lower suction parts 42 is particularly distinguished, reference numerals "1" to "9" are appended to their ends. The support base 40 and the table 41 are an example of a mounting table in the present invention.

[0026] The support base 40 supports the table 41 and houses the lower suction parts 42 and the support members 43. The shape of the support base 40 is, for example, a rectangular box shape along the XY-axis direction in a top view.

[0027] Table 41 functions as a mounting table on which the bag body B is placed and also functions as a carry-out tray for the bag body B that can be moved in the X-axis direction by the bag body carry-out device 9. The shape of the table 41 is, for example, a rectangular plate shape along the XY-axis directions in a top view. The table 41 includes a plurality (nine in this embodiment) of first through holes 41a and a plurality (eight in this embodiment) of second through holes 41b.

[0028] The first through holes 41a are configured such that the lower suction portion 42 can move forward and backward along the Z-axis direction. The first through holes 41a are arranged to be located below the bag body B when the bag body B is placed on the table 41. Specifically, three of the first through holes 41a are arranged at equal intervals along the Y-axis direction on an imaginary line C1 passing through the center of the table 41 in the X-axis direction. The other six first through holes 41a are arranged at positions symmetric with respect to the imaginary line C1 so as to sandwich the first through holes 41a arranged on the imaginary line C1.

[0029] The second through holes 41b are configured such that the support member 43 can move forward and backward along the Z-axis direction. The second through holes 41b are arranged to be located below the workpiece W when the workpiece W slides inside the bag body B. Specifically, the second through holes 41b are arranged in two rows with the imaginary line C1 in between such that two of the second through holes 41b are symmetric with respect to the imaginary line C1 as the axis of symmetry. Also, in a top view, the second through holes 41b are arranged between the row of the first through holes 41a arranged on the imaginary line C1 and the two rows of the other six first through holes 41a. When the guide members 50 and 51 described later are in the open position, in a top view, the second through holes 41b are arranged between the guide members 50 and 51.

[0030] The lower suction part 42 sucks and holds the lower half body part B1 of the bag body B. When viewed from above, the shape of the lower suction part 42 is, for example, circular, and it is configured to be able to suck and hold the lower half body part B1. When viewed from above, the lower suction part 42 is disposed inside the first through hole 41a. The lower suction parts 421, 422, 423 are arranged on the virtual line C1 in order from the -Y direction side. In the X-axis direction, the lower suction parts 424, 427 are arranged so as to sandwich the lower suction part 421, the lower suction parts 425, 428 are arranged so as to sandwich the lower suction part 422, and the lower suction parts 426, 429 are arranged so as to sandwich the lower suction part 423. Among the lower suction parts 421 to 429, the lower suction parts 421, 424, 427 arranged along the X-axis direction, the lower suction parts 422, 425, 428, and the lower suction parts 423, 426, 429 respectively constitute a set of lower suction units 42u.

[0031] The support member 43 supports the work W inside the bag body B. The shape of the support member 43 is cylindrical along the Z-axis direction. The support member 43 is made of a metal such as stainless steel, for example. The shape of the upper end portion 43a of the support member 43 (see FIG. 10. The same applies hereinafter) is, for example, hemispherical. When viewed from above, the support member 43 is disposed inside the second through hole 41b.

[0032] The downward movement mechanism 44 raises and lowers the lower suction part 42 and the support member 43. The downward movement mechanism 44 includes, for example, a known cylinder or a motor. The lower suction part 42 can be raised and lowered between the inside of the support base 40 and the inside of the first through hole 41a by the operation of the downward movement mechanism 44. Also, the upper end portion 43a of the support member 43 can be raised and lowered between the inside of the support base 40 and above the table 41 by the operation of the downward movement mechanism 44. The downward movement mechanism 44 functions as the downward lifting device in the present invention.

[0033] In the present invention, the number and arrangement of the lower suction parts 42 are not limited to the present embodiment as long as the lower suction parts 42 can hold the lower half body part B1. That is, for example, the number of the lower suction parts 42 may be increased or decreased according to the sizes of the bag body B and the work W.

[0034] Also, in the present invention, the number and arrangement of the support members 43 are not limited to the present embodiment as long as the support members 43 can support the work W. That is, for example, the number of the support members 43 may be increased or decreased according to the sizes of the bag body B and the work W. Further, the arrangement of the support members 43 is not limited to being line-symmetric with respect to the virtual line C1 in a top view. That is, for example, the support members 43 may support the work W at three points.

[0035] FIG. 6 is a schematic bottom view of the upper holding unit 4U. In this figure, for convenience of explanation, the bag body B is shown by a two-dot chain line. In the following description, FIGS. 1 and 2 are appropriately referred to.

[0036] 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 movement mechanism 47.

[0037] 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 in a top view. The support member 45 is movable between above the support base 40 and above the bag body supply table 8 by the operation of the upper movement mechanism 47.

[0038] The upper suction portions 46 suction-hold the upper half body portion B2 of the bag body B. In a bottom view, the shape of the upper suction portions 46 is, for example, circular, and is configured to be able to suction-hold the upper half body portion B2. The upper suction portions 46 are attached to the lower surface 45a of the support member 45. When the support member 45 is located above the support base 40, in a top view, the upper suction portions 46 are arranged, for example, at the same position as the lower suction portions 42.

[0039] The upward movement mechanism 47 moves the support member 45 in the X-axis direction and raises and lowers the support member 45. The upward movement mechanism 47 includes rail members R1, R2, a vertical lifting device 47a, and an upper drive unit 47b. The rail members R1, R2 are arranged in the upper space of the support base 40 and the bag supply base 8 along the X-axis direction and are attached to the housing 2. The vertical lifting device 47a is attached to the support member 45 and raises and lowers the support member 45. The vertical lifting device 47a is, for example, a known cylinder. The upper drive unit 47b generates power to move the support member 45 in the X-axis direction and transmits the same power to the support member 45. The upper drive unit 47b includes, for example, a known motor and a ball screw.

[0040] The decompression device 4P forms a decompressed atmosphere for the lower suction portion 42 and the upper suction portion 46 to adsorb and hold the bag B between the lower suction portion 42 and the upper suction portion 46 and the bag B. The decompression device 4P includes, for example, a known vacuum pump 4P1 and a vacuum pipe 4P2 connected between the vacuum pump 4P1 and the lower suction portion 42 and the upper suction portion 46.

[0041] The guide unit 5 forms a region (sliding region A2, to be described later) in which the work W can slide and be accommodated inside the bag B and guides the sliding of the work W into the bag B. The guide unit 5 includes a pair of guide members 50, 51 and a guide movement mechanism 52.

[0042] FIG. 7 is a partially enlarged schematic perspective view of the guide members 50, 51. FIG. 8 is a view of the guide members 50, 51 in FIG. 7 as viewed from arrow A. For the sake of convenience of explanation, FIG. 8 shows the work W by a two-dot chain line.

[0043] The guide members 50 and 51 are arranged side by side in the X-axis direction and are long members along the Y-axis direction. In the +Y direction view, the shapes of the guide members 50 and 51 are L-shaped (inverted L-shaped). The guide member 50 is arranged in the +X direction relative to 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).

[0044] The guide member 50 includes a concave portion 50a, a convex portion 50b, a protruding portion 50c, an outer surface 50d, and a lower surface 50e. In the Y-axis direction view, 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. In the Y-axis direction view, the portion adjacent to the concave portion 50a in the outer direction of the guide member 50 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 convex in the inner direction and the upper direction (+Z direction) in the +Y direction view. The outer surface 50d is a surface facing the outer direction. The lower surface 50e is a surface facing the lower direction.

[0045] The concave portion 50a includes a bottom surface 50f. The shape of the bottom surface 50f is planar and parallel to the XY-axis direction. The bottom surface 50f is subjected to surface machining and / or surface treatment that enables the workpiece W to slide smoothly. The bottom surface 50f is an example of the concave portion bottom surface in the present invention.

[0046] The convex portion 50b includes an upper surface 50g and an inner surface 50h. The upper surface 50g is a surface oriented upward. Among the upper surface 50g, the end portion on the +Y direction side is an inclined surface 50i that slopes downward in the +Y direction. The inner surface 50h is a surface oriented inward. That is, the inner surface 50h faces the concave portion 50a. The shape of the inner surface 50h is planar along the Y-axis direction and the Z-axis direction (hereinafter referred to as the "YZ-axis direction"). In the view from the Y-axis direction, the lower end portion of the inner surface 50h protrudes inward in a rectangular shape, forming a 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 a protruding portion 50c. That is, the protruding portion 50c is disposed at the end portion on the outer direction side of the bottom surface 50f and the lower end portion of the inner surface 50h.

[0047] The protruding portion 50c includes a protruding portion upper surface 50j and a protruding portion inner surface 50k. The protruding portion upper surface 50j is a surface oriented upward. The protruding portion inner surface 50k is a surface oriented inward. The shape of the protruding portion inner surface 50k is planar along the YZ-axis direction. The protruding portion inner surface 50k is subjected to a surface treatment and / or surface processing that enables the workpiece W to slide smoothly.

[0048] The guide member 51 includes a concave portion 51a, a convex portion 51b, a protruding portion 51c, an outer surface 51d, and a lower surface 51e. In the view from the Y-axis direction, the upper end portion on the inner direction side (+X direction side) of the guide member 51 is recessed outward (-X direction) and downward, forming a concave portion 51a. That is, the concave portion 51a is disposed at the upper end portion on the inner direction side of the guide member 51. In the view from the Y-axis direction, the portion adjacent to the outer side of the concave portion 51a forms a 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 guide member 50 is formed in an L shape that protrudes inward and upward in the view from the +Y direction. The outer surface 51d is a surface oriented outward. The lower surface 51e is a surface oriented downward.

[0049] The recess 51a has a bottom surface 51f. The shape of the bottom surface 51f is planar and parallel to the XY-axis direction. The bottom surface 51f is subjected to surface machining and / or surface treatment that enables the workpiece W to slide smoothly. The bottom surface 51f is an example of the bottom surface of the recess in the present invention.

[0050] The protrusion 51b has an upper surface 51g and an inner surface 51h. The upper surface 51g is a surface directed upward. Among the upper surface 51g, the end on the +Y-axis direction side is an inclined surface 51i that slopes downward in the +Y-axis direction. The inner surface 51h is a surface directed inward. That is, the inner surface 51h faces the recess 51a. The shape of the inner surface 51h is planar along the YZ-axis direction. In a view from the Y-axis direction, the lower end of the inner surface 51h protrudes in a rectangular shape inward, forming a protruding portion 51c. In other words, the end on the outer direction side of the bottom surface 51f protrudes in a rectangular shape upward, forming a protruding portion 51c. That is, the protruding portion 51c is disposed at the end on the outer direction side of the bottom surface 51f and the lower end of the inner surface 51h.

[0051] The protruding portion 51c has a protruding portion upper surface 51j and a protruding portion inner surface 51k. The protruding portion upper surface 51j is a surface directed upward. The protruding portion inner surface 51k is a surface directed inward. The shape of the protruding portion inner surface 51k is planar along the YZ-axis direction. The protruding portion inner surface 51k is subjected to surface machining and / or surface treatment that enables the workpiece W to slide smoothly.

[0052] In the guide members 50, 51 configured as described above, all corner portions that can contact the bag body B are processed to be R surfaces (partially not shown). Also, a mirror image relationship is established between the guide members 50, 51 with a virtual plane along the YZ-axis direction as a plane mirror.

[0053] In the X-axis direction, the length (width) "Lg1" of the convex portions 50b and 51b is set based on the distances "D1" and "D2" (see FIG. 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 such that the distances "D1" and "D2" are of a size desired by the user of the present apparatus 1.

[0054] In the Z-axis direction, the length from the bottom surfaces 50f and 51f to the upper surfaces 50g and 51g (i.e., the height of the convex portions 50b and 51b) "Lg2" is set to be larger than the length (thickness) "Lw2" of the workpiece W. Also, 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 (i.e., the height of the protruding portions 50c and 51c) "Lg3" is set to be smaller than the length (thickness) "Lw2" of the workpiece W.

[0055] In the following description, the drawings mainly referred to return to FIGS. 1 and 2. The guide movement mechanism 52 moves the guide members 50 and 51 in the X-axis direction and the Y-axis direction. The guide movement mechanism 52 includes four rail members R3, R4, R5, and R6, two guide support members 52a and 52b, and a guide drive unit 52c. The guide movement mechanism 52 is an example of the movement mechanism in the present invention.

[0056] The rail members R3 and R4 are arranged side by side in the X-axis direction in the -Y direction of the support base 40 along the Y-axis direction. The rail member R5 is arranged along the X-axis direction and is attached to the rail member R3 so as to be movable in the Y-axis direction along the rail member R3. The rail member R6 is arranged along the X-axis direction and is attached to the rail member R4 so as to be movable in the Y-axis direction along the rail member R4. The rail members R5 and R6 are arranged side by side in the X-axis direction.

[0057] The guide support member 52a cantilever-supports the end portion on the -Y direction side of the guide member 50. The guide support member 52a is attached to the rail member R5 so as to be movable in the X-axis direction along the rail member R5. As a result, the guide member 50 can be moved in the X-axis direction and the Y-axis direction along with the movement of the guide support member 52a.

[0058] The guide support member 52b cantilever-supports the end portion on the -Y direction side of the guide member 51. The guide support member 52b is attached to 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 be moved in the X-axis direction and the Y-axis direction along with the movement of the guide support member 52b.

[0059] The guide drive unit 52c generates power to move the guide support members 52a and 52b, and transmits the same power to the guide support members 52a and 52b. The guide drive unit 52c includes, for example, a known motor and a ball screw.

[0060] In the Y-axis direction, the guide members 50 and 51 are movable between a retracted position and a housed position. In the X-axis direction, the guide members 50 and 51 are movable between a closed position and an open position.

[0061] The "retracted position" is a position where the guide members 50 and 51 are retracted from above the table 41. In the present embodiment, the retracted position is located in the -Y direction of the support base 40 in a top view.

[0062] The "housed position" is a position where the guide members 50 and 51 are located above the table 41 and the guide members 50 and 51 are inserted into the inside of the bag body B placed on the table 41.

[0063] 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 located at the closed position, the guide members 50 and 51 are closed in the X-axis direction.

[0064] The "open position" is a position where the distance "Dg1" (see Fig. 15; the same applies hereinafter) between the guide members 50 and 51 becomes larger until the work W can be placed on the bottom surfaces 50f and 51f. In other words, when the guide members 50 and 51 are in the open position, in the X-axis direction, the guide members 50 and 51 are open.

[0065] The work accommodating unit 6 accommodates the work W inside the bag body B via the guide members 50 and 51. The work accommodating unit 6 includes a work table 60, a table lifting device 61, a moving member 62, and a drive unit 63.

[0066] The work table 60 is a table on which the work W is placed. The work table 60 is disposed below the guide members 50 and 51 when the guide members 50 and 51 are in the retracted position. The work table 60 includes two upper surfaces 60a and 60b (see Fig. 12; the same applies hereinafter) that are divided in the X-axis direction. The distance "D60" (see Fig. 15; the same applies hereinafter) between the upper surfaces 60a and 60b is set to a size that allows the moving member 62 to move between the upper surfaces 60a and 60b along the Y-axis direction.

[0067] The table lifting device 61 raises and lowers the work table 60. The table lifting device 61 is, for example, a known cylinder.

[0068] The moving member 62 abuts against the work W and pushes the work W in the +Y direction. The shape of the moving member 62 is, for example, a rectangular parallelepiped shape. The moving member 62 includes a contact surface 62a that can abut against the work 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 referred to as the "XZ-axis direction"). In the X-axis direction, the length "D62" (see Fig. 15; the same applies hereinafter) of the moving member 62 is smaller than the distance "Dg1" between the guide members 50 and 51 and the distance "D60" between the upper surfaces 60a and 60b.

[0069] The drive unit 63 generates power to move the moving member 62 and transmits the same power to the moving member 62. The drive unit 63 includes, for example, a known motor and a ball screw.

[0070] The work loading device 7 loads the work W onto the workbench 60. The work loading device 7 is, for example, a robot arm equipped with an end effector (e.g., vacuum adsorption, etc.) capable of holding the work W.

[0071] The bag supply table 8 is a table on which the bags B supplied to the table 41 are placed. A plurality of bags B are stacked on the bag supply table 8. The bag supply table 8 is arranged, for example, adjacent to the support table 40 in the -X direction of the support table 40.

[0072] The bag unloading device 9 unloads the bag B containing the work W together with the table 41. The bag unloading device 9 includes an unloading table 90 and an unloading mechanism 91.

[0073] The unloading table 90 is a table on which the table 41 is placed. The unloading table 90 is arranged, for example, adjacent to the support table 40 in the +X direction of the support table 40.

[0074] The unloading mechanism 91 moves the table 41 from the support table 40 to the unloading table 90. The unloading mechanism 91 includes, for example, a known motor and slide rails. The unloading mechanism 91 is configured to be able to reciprocally convey the table 41 between the support table 40 and the unloading table 90.

[0075] ● Operation of the housing device (1) Next, the operation of the present device 1 (i.e., the present method) will be described below. In the following description, FIGS. 1 to 8 are referred to as appropriate.

[0076] FIG. 9 is a flowchart showing an example of the operation of the present device 1.

[0077] 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 bag body B is sucked and held by the upper suction portion 46. 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 table 41 and brings the bag body B into contact with the table 41. At this time, the bag body B is placed on the table 41.

[0078] Next, the bag body B is sucked and held by the lower suction portion 42 (ST2: Suction step).

[0079] FIG. 10 is a partially enlarged schematic side view of the present apparatus 1 showing a 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 as viewed from the -Y direction (hereinafter, FIGS. 11, 13, 14, 17, 18, 19, and 21 are the same).

[0080] Next, the upper holding unit 4U raises the support member 45 to open the opening 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 body portion B1 and the upper body portion B2 with the opening end portion B3 being open.

[0081] FIG. 11 is a partially enlarged schematic side view of the present apparatus 1 showing a state in which the opening end portion B3 is open.

[0082] In the X-axis direction, in the opening end portion B3, the region between the adsorbed and held portions (the region filled with gray in FIG. 11: hereinafter referred to as "holding region A1") is largely open in the Z-axis direction. In the Z-axis direction, the size of the opening of the opening end portion B3 becomes smaller toward the side end portions B5 and B6 from the holding region A1. That is, in the X-axis direction, the central portion of the opening end portion B3 is the most largely open.

[0083] Next, the guide unit 5 (guide movement mechanism 52) moves the guide members 50, 51 from the retracted position to the accommodation position, and inserts the guide members 50, 51 into the bag body B (ST4: guide insertion step). At this time, the guide members 50, 51 are inserted from the opening end portion B3 toward the bottom end portion B4.

[0084] FIG. 12 is a partially enlarged schematic plan view of the present apparatus 1 showing a state where the guide members 50, 51 are inserted into the bag body B. FIG. 13 is a view of the present apparatus 1 in the direction of arrow C in FIG. 12.

[0085] In the X-axis direction, when the guide members 50, 51 are inserted into the bag body B, the guide members 50, 51 are closed. At this time, in the view in the Y-axis direction, the guide members 50, 51 are located within the holding region A1. That is, when the guide members 50, 51 are inserted into the bag body B, the guide members 50, 51 approach each other to such an extent that they are located within the holding region A1. Therefore, the guide members 50, 51 can be inserted into the position where the opening end portion B3 can be opened most widely, that is, near the central portion in the X-axis direction of the opening end portion B3. As a result, the contact of the guide members 50, 51 with the bag body B is minimized.

[0086] In the present embodiment, the guide members 50, 51 do not reach the bottom end portion B4 (do not contact the bottom end portion B4). That is, in the top view, a gap S13 having a predetermined length "L13" is formed between the guide members 50, 51 and the bottom end portion B4. As a result, when the workpiece W is accommodated in the bag body B, in the top view, the distance "D3" (see FIG. 20. The same applies hereinafter) between the workpiece W and the bottom end portion 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 (see FIG. 20. The same applies hereinafter) having a length of "L13" or more is formed between the workpiece W and the bottom end portion B4. The insertion amount of the guide members 50, 51 into the bag body B is adjusted so that the interval "D3" becomes a size desired by the user.

[0087] Note that in the guide insertion step (ST4), the guide members 50 and 51 may reach the bottom end B4. In this case, the moving distance of the workpiece W is adjusted in the workpiece moving step (ST8) described later so that the interval "D3" is ensured.

[0088] Next, the guide unit 5 (guide moving mechanism 52) moves the guide members 50 and 51 from the closed position to the open position in the X-axis direction (ST5: guide opening step). That is, the guide members 50 and 51 are opened. At this time, the guide members 50 and 51 move outward at the same speed simultaneously.

[0089] FIG. 14 is a partially enlarged schematic side view of the present apparatus 1 showing a state where the guide members 50 and 51 have moved to the open position.

[0090] When the guide members 50 and 51 move from the closed position to the open position, the bag body B is expanded by the guide members 50 and 51. That is, the opening of the opening end B3 becomes larger in the X-axis direction. At this time, as the guide members 50 and 51 move outward, the upper half body B2 of the bag body B is pulled outward, and a tensile force (external force) acting outward is applied to the upper half body B2. As a result, a force acting downward is applied to the upper half body B2. Therefore, the upper holding unit 4U lowers the support member 45 (upper suction portion 46) according to the movement of the guide members 50 and 51 so that this tensile force is not excessively applied to the upper half body B2. When the guide members 50 and 51 are located at the open position, the convex portion 50b of the guide member 50 is disposed adjacent to the side end B5, and the convex portion 51b of the guide member 51 is disposed adjacent to the side end B6. As a result, inside the bag body B, a substantially rectangular parallelepiped region (hereinafter referred to as "sliding region A2") in which the workpiece W can slide without contacting the bag body B is formed between the guide members 50 and 51 (inner side surfaces 50k and 51k of the protruding portions).

[0091] "The convex portions 50b and 51b are arranged adjacent to the side end portions B5 and B6" includes not only the state where the outer surfaces 50d and 51d are in contact with the side end portions B5 and B6, but also the state where gaps S11 and S12 are formed between the outer surfaces 50d and 51d and the side end portions B5 and B6. At this time, for example, among the lower body portion B1 and the upper body portion B2, in the portions located between the side end portions B5 and B6 and the guide members 50 and 51, and in the portions between the lower suction portion 42 and the upper suction portion 46 and the guide members 50 and 51, a tensile force (an external force such that the same portion is stretched) is applied by the guide members 50 and 51 to eliminate the slack in the same portion. At this time, the distance between the guide member 50 and the side end portion B5 is (substantially) the same as the distance between the guide member 51 and the side end portion B6. As a result, the side end portions B5 and B6 are separated from the table 41 by the same external force.

[0092] Here, the guide members 50 and 51 move outward within the range where the internal stress (tensile force) generated in the bag body B due to the tensile force applied to the bag body B by the movement of the guide members 50 and 51 is within the elastic range of the bag body B. In other words, the guide members 50 and 51 move outward within the range where the bag body B does not undergo plastic deformation or breakage due to the tensile force applied to the bag body B by the movement of the guide members 50 and 51.

[0093] Also, when the guide members 50 and 51 are opened to such an extent that they apply a tensile force to the bag body B, an external force is applied to the bag body B to align the posture (position and orientation) of the bag body B with respect to the guide members 50 and 51 (such that the posture of the bag body B follows the guide members 50 and 51). Specifically, the same external force acts in the X-axis direction so that the central portion of the bag body B is located at the midpoint of the guide members 50 and 51, and acts in the Y-axis direction so that the side end portions B5 and B6 are along the Y-axis direction. Therefore, even if the posture of the bag body B with respect to the guide members 50 and 51 is slightly deviated, the same posture can be adjusted by the movement of the guide members 50 and 51.

[0094] 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 work W. Therefore, when a tensile force is applied to the upper half body B2 by the movement of the guide members 50 and 51, the upper half body B2 does not contact the work W. Further, the upper half body B2 is adsorbed and held by the upper adsorption portion 46. Therefore, even if no tensile force is applied to the upper half body B2, the upper half body B2 does not contact the work W.

[0095] In addition, in the guide opening step (ST5), the lower adsorption portion 42 may rise in place of the upper adsorption portion 46 or together with the lowering of the upper adsorption portion 46.

[0096] Also, in the guide 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 guide members 50 and 51. In this case, after releasing the adsorption, the bag body holding unit 4 may raise the lower adsorption portion 42 to re-adsorb the lower half body B1 to the lower adsorption portion 42 and lower the upper adsorption portion 46 to re-adsorb the upper half body B2 to the upper adsorption portion 46. In this configuration, even if the posture of the bag body B with respect to the guide members 50 and 51 is relatively largely deviated, the posture can be adjusted by the movement of the guide members 50 and 51.

[0097] Next, the work accommodation unit 6 raises the work table 60 (ST6: table raising step). At this time, the upper surfaces 60a and 60b of the work table 60 are located at the same height as the bottom surfaces 50f and 51f. Next, the work transfer device 7 transfers the work W to the work table 60 (ST7: work transfer step).

[0098] FIG. 15 is a partially enlarged schematic plan view of the present apparatus 1 showing a state where the work W is transferred to the work table 60.

[0099] When the workpiece W is carried into the workbench 60, the guide members 50 and 51 are arranged at positions slightly separated from the workpiece W and the workbench 60 in the +Y direction. Also, the moving member 62 is arranged at a position 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 guide members 50 and 51.

[0100] Here, when the guide members 50 and 51 are in the open position, in the X-axis direction, the interval "Dg2" between the inner surfaces 50k and 51k of the protrusions is slightly larger than the length (width) "Lw1" of the workpiece W. Also, the interval "Dg1" between the guide members 50 and 51 is smaller than the length (width) "Lw1" of the workpiece W. As a result, when the guide members 50 and 51 are in the open position, the workpiece W can be placed between the inner surfaces 50k and 51k of the protrusions, that is, on the bottom surfaces 50f and 51f.

[0101] Next, the workpiece housing unit 6 moves the workpiece W inside the bag body B (ST8: workpiece movement step).

[0102] FIG. 16 is a partially enlarged schematic plan view of the present apparatus 1 showing a state where the workpiece W has moved inside the bag body B. FIG. 17 is a view taken in the direction of arrow D of the present apparatus 1 in FIG. 16.

[0103] The work accommodation unit 6 moves the moving member 62 in the +Y direction to bring the contact surface 62a of the moving member 62 into contact with the work W. Next, the work accommodation unit 6 further moves the moving member 62 in the +Y direction to move the work W in the +Y direction by the moving member 62. At this time, the work W moves from the work table 60 toward the guide members 50 and 51, is placed on the bottom surfaces 50f and 51f by the moving member 62, and slides with the bottom surfaces 50f and 51f facing the +Y direction. Also, the moving member 62 moves between the upper surfaces 60a and 60b and between the guide members 50 and 51 in the +Y direction. When the work W is inserted into the inside of the bag body B, the moving member 62 is inserted into the inside of the bag body B while being in contact with the work W. As described above, a sliding region A2 is formed inside the bag body B. Therefore, the work W can slide through the sliding region A2 to the inside of the bag body B without touching the bag body B. Also, 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 work W. Therefore, when the work W slides on the bottom surfaces 50f and 51f, the area where the work W touches the protruding portions 50c and 51c becomes smaller compared to the area when the work W touches the inner surfaces 50h and 51h. As a result, the frictional force generated between the work W and the guide members 50 and 51 becomes smaller, and the work W can slide smoothly between the inner surfaces 50k and 51k of the protruding portions.

[0104] The work accommodation unit 6 moves the work W to an accommodation position where the distance "D3" between the work W accommodated in the bag body B and the bottom end portion B4 becomes the size desired by the user. That is, the amount of movement of the work W by the moving member 62 is set based on the distance "D3".

[0105] When the work W has moved to the accommodation position, in the X-axis direction, the distance "D1" between the work 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 distance "D2" between the work W and the side end portion B6 is at least equal to or greater than the length "Lg1" of the convex portion 51b.

[0106] 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 suction of some of the lower suction portions 42.

[0107] FIG. 18 is a partially enlarged schematic side view of the present apparatus 1 showing a state in which the support member 43 has been raised. For the sake of convenience in explanation, the moving member 62 is shown semi-transparent in the figure. In the figure, the lower suction portions 42 whose suction has been released are filled with gray (the same applies to FIG. 19 below).

[0108] In a top view, 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 positioned above the bottom surfaces 50f and 51f. As a result, the workpiece W is spaced upward from the bottom surfaces 50f and 51f and is supported by the support member 43. At this time, the workpiece W is not in contact with the guide members 50 and 51. A part of the lower body portion B1 is sandwiched 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 pulled upward, and an upward tensile force (external force) is applied to the lower body portion B1 around the support member 43. Therefore, so that this tensile force is not excessively applied to the lower body portion B1, the lower holding unit 4D releases the suction of the lower suction portions 42 located at both ends in the X-axis direction among the lower suction units 42u. Specifically, the lower holding unit 4D releases the suction of the lower suction portions 424 to 429 located outside the support member 43 (on the side of the guide members 50 and 51).

[0109] In the Z-axis direction, the support member 43 can move within a range in which the upper end portion 43a of the support member 43 is positioned above the bottom surfaces 50f and 51f and the upper surface of the workpiece W is positioned 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.

[0110] Next, the work accommodation unit 6 lowers the workbench 60 (ST10: Table lowering step). As a result, the guide members 50 and 51 can move to the retracted positions.

[0111] 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 positions (ST11: Guide retraction step).

[0112] FIG. 19 is a partially enlarged schematic side view of the present apparatus 1 showing a state where the guide members 50 and 51 have retracted from the bag body B. For the sake of convenience in explanation, the moving member 62 is shown semi-transparent in the figure.

[0113] When the guide members 50 and 51 move (retract) in the -Y direction, the guide members 50 and 51 are not in contact with the work W but are in contact with the bag body B. Therefore, even when the guide members 50 and 51 retract, the work W does not receive the frictional force from the guide members 50 and 51. Therefore, the work W does not move together with the guide members 50 and 51. On the other hand, the bag body B receives the frictional force from the guide members 50 and 51 in the -Y direction. At this time, the lower body portion B1 is adsorbed and held by some 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 adsorption and holding. That is, the bag body B does not move together with the guide members 50 and 51.

[0114] Next, the work accommodation unit 6 retracts the moving member 62 from the bag body B (ST12: Moving member retraction step).

[0115] FIG. 20 is a partially enlarged schematic plan view of the present apparatus 1 showing a state where the moving member 62 has retracted from the bag body B.

[0116] When the moving member 62 retracts from the bag body B, since the suction of some of the lower suction portions 42 is released, the moving member 62 can contact the lower body portion B1. Similar to when the guide members 50 and 51 retract, when the moving member 62 retracts from the bag body B, the bag body B does not move with the moving member 62. Also, the guide members 50 and 51 are located at the open position. Therefore, the moving member 62 passes between the guide members 50 and 51 and moves in the -Y direction relative to the guide members 50 and 51.

[0117] Next, the lower holding unit 4D lowers the support member 43 to place the workpiece W and the lower body portion B1 on the table 41 (ST13: Support lowering step). Next, the lower holding unit 4D releases the suction of the lower suction portion 42, and the upper holding unit 4U releases the suction of the upper suction portion 46 (ST14: Suction release step).

[0118] FIG. 21 is a partially enlarged schematic side view of the present apparatus 1 showing a state where the suction of the bag body B is released.

[0119] When the suction is released, the upper body portion B2 naturally drops 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 shown in FIG. 17, when the guide members 50 and 51 are located at the open positions 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 the length (width) "L1g" of the convex portions 50b and 51b or more. As a result, in the X-axis direction, gaps S1 and S2 having 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, the workpiece W accommodated in the bag body B by the present apparatus 1 does not unevenly distribute without gaps to either one of the side end portions B5 and B6 inside the bag body B and is separated from the side end portions B5 and B6. Further, the intervals "D1" and "D2" between the workpiece W and the side end portions B5 and B6 are adjustable based on the length "Lg1" of the convex portions 50b and 51b. Furthermore, in the X-axis direction, by placing the central portion of the bag body B at the midpoint of the guide members 50 and 51, the interval "D1" becomes (substantially) the same as the interval "D2" (this "same" includes not only being exactly the same but also errors caused by dimensional tolerances of each member, the difference between the interval "Dg2" and the length "Lw1", etc.). Thus, the length "Lg1" of the convex portions 50b and 51b is set based on the intervals "D1" and "D2".

[0120] Next, the bag body carrying-out device 9 moves the table 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).

[0121] In this way, the present apparatus 1 inserts the guide members 50, 51 into the bag body B with the guide members 50, 51 closed, and opens the guide members 50, 51 inside the bag body B. At this time, the upper suction portion 46 descends corresponding to the operation of opening the guide members 50, 51. In this configuration, the guide members 50, 51 can be smoothly inserted into the bag body B even if the entire opening end portion B3 of the bag body B is not opened (even if only the central portion is opened). Further, since the sliding region A2 is formed by the guide members 50, 51, the work W is accommodated inside the bag body B without contacting the bag body B. Furthermore, the tensile force applied to the bag body B by the guide members 50, 51 is suppressed.

[0122] Also, the guide members 50, 51 are provided with convex portions 50b, 51b. In this configuration, the present apparatus 1 can forcibly secure the distances "D1" and "D2" between the work W and the side end portions B5, B6 by the convex portions 50b, 51b of the guide members 50, 51. Further, the distances "D1" and "D2" can be arbitrarily adjusted by setting the length "Lg1" of the convex portions 50b, 51b. Furthermore, by adjusting the accommodation position of the work W, the distance "D3" can be arbitrarily adjusted. As a result, the present apparatus 1 can automatically accommodate the work W in the bag body B without manual intervention and can arbitrarily form the gaps S1 to S3.

[0123] Furthermore, the guide members 50, 51 are provided with protruding portions 50c, 51c. In this configuration, when the work W slides on the bottom surfaces 50f, 51f, the contact area between the work W and the guide members 50, 51 in the X-axis direction becomes small, and the work W can slide smoothly.

[0124] Furthermore, the present apparatus 1 separates the work W from the guide members 50, 51 by supporting the work W that has moved inside the bag body B with the support member 43. At this time, the suction of a part of the lower suction portion 42 is released. In this configuration, the guide members 50, 51 can be detached from the bag body B without moving the work W and the bag body B. Further, the tensile force applied to the bag body B by the support member 43 is suppressed.

[0125] Note that in the guide opening step (ST5), the moving amounts of the guide members 50 and 51 may be different from each other. Also, after one of the guide members 50 and 51 moves, the other may move.

[0126] Also, in the work moving step (ST8), the accommodation position of the work W may be a position where the interval "D3" is (substantially) the same as the intervals "D1" and "D2".

[0127] Furthermore, in the support lifting step (ST9), if the bag body B does not move along with the retraction of the guide members 50 and 51 (for example, when the weight of the work W is large), the suction of all the lower suction portions 42 may be released. In this case, the bag body B is sandwiched between the work W and the support member 43 and does not move together with the guide members 50 and 51.

[0128] Furthermore, in the support lifting step (ST9), if the bag body B does not move along with the retraction of the guide members 50 and 51, the suction of a part of the lower suction portions 421 to 423 may be released.

[0129] ● Summary (1) According to the embodiments 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 side of the guide members 50, 51. The convex portions 50b, 51b are disposed adjacent to the outer sides 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 side so that the workpiece W can be placed on the bottom surfaces 50f, 51f. Next, the moving member 62 slides through between the guide members 50, 51 and slides the workpiece W toward the inside of the bag body B. According to this configuration, a sliding region A2 is formed inside the bag body B by the guide members 50, 51. Therefore, the workpiece W can slide to the inside of the bag body B without touching 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. Further, 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 unevenly distribute without a gap to either one of the side end portions B5, B6 inside the bag body B.

[0130] Also, according to the embodiment described above, in the X-axis direction, the length "Lg1" of the convex portions 50b and 51b is set based on the distances "D1" and "D2" between the workpiece W and the side end portions B5 and B6 (i.e., the lengths of the gaps S1 and S2). According to this configuration, when the distances "D1" and "D2" are reduced, the length "Lg1" is preferably set to be small, and when the distances "D1" and "D2" are increased, the length "Lg1" is preferably set to be large. As a result, the gaps S1 and S2 having the size (distances "D1" and "D2") desired by the user of the present apparatus 1 are surely formed. Further, by appropriately setting the length "Lg1", the present apparatus 1 can accommodate the workpiece W at an arbitrary position inside the bag body B.

[0131] Furthermore, according to the embodiment described above, the guide movement mechanism 52 moves the guide members 50 and 51 outward within a range in which the bag body B is not plastically deformed or damaged by the tensile force applied to the bag body B due to the movement of the guide members 50 and 51. According to this configuration, the guide movement mechanism 52 can open the opening end portion B3 to the maximum extent. Also, the sizes of the distances "D1" and "D2" are (substantially) the same.

[0132] Furthermore, 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 configuration, the workpiece W does not protrude upward from the guide members 50 and 51 and does not contact the upper half body portion B2.

[0133] Furthermore, according to the embodiment described above, the guide members 50 and 51 include protruding portions 50c and 51c. The protruding portions 50c and 51c include protruding portion inner side surfaces 50k and 51k parallel to the YZ-axis direction. In the Z-axis direction, the length of the protruding portion inner side surfaces 50k and 51k, i.e., the length "Lg3" of the protruding portions 50c and 51c, is smaller than the length "Lw2" of the workpiece W. According to this configuration, the frictional force generated between the workpiece W and the guide members 50 and 51 is reduced, and the workpiece W can slide smoothly between the protruding portion inner side surfaces 50k and 51k.

[0134] Furthermore, according to the embodiment described above, the apparatus 1 includes a work table 60, a table lifting device 61, and a work loading device 7. The work table 60 is disposed below the guide members 50 and 51 when the guide members 50 and 51 are in the retracted position, that is, before the guide members 50 and 51 are inserted into the bag body B. The table lifting device 61 raises the work table 60 after the guide members 50 and 51 are inserted into the bag body B. Next, the work loading device 7 loads the work W onto the work table 60. Then, the moving member 62 moves the work W toward the guide members 50 and 51 to move the work W inside the bag body B. According to this configuration, the apparatus 1 can automatically execute the process from loading the work W to accommodating the work W. Also, the size of the housing 2 of the apparatus 1 can be reduced.

[0135] Furthermore, according to the embodiment described above, the bag body holding unit 4 includes a support base 40, a 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 to the lower suction portion 42 and the upper suction portion 46. The lifting device 47a lowers the upper suction portion 46 in accordance with the movement of the guide members 50 and 51 when the guide members 50 and 51 inserted into the bag body B move outward. According to this configuration, even when the guide members 50 and 51 move outward, excessive tensile force is not applied to the bag body B.

[0136] Furthermore, according to the embodiments described above, the bag body holding unit 4 includes a support member 43 and a downward movement mechanism 44. In a top view, the support member 43 is disposed inwardly of the guide members 50 and 51 after they have moved to the open position. Among the lower suction portions 421 to 429, the lower suction portions 421, 424, 427 arranged along the X-axis direction, the lower suction portions 422, 425, 428, and the lower suction portions 423, 426, 429 each constitute a set of lower suction units 42u. After the work W has moved inside 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 positioned above 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 arranged at both ends release the suction of the lower half body portion B1. According to this configuration, even when the support member 43 rises, no excessive tensile force is applied to the bag body B. Further, by separating the work W from the guide members 50 and 51 inside the bag body B, the guide members 50 and 51 can be withdrawn from the bag body B without moving the work W.

[0137] In the present invention, the support member 43 or the upper end portion 43a of the support member 43 may be made of a material having a large coefficient of static friction. In this case, even when the suction of all the lower suction portions 42 is released during the retraction of the guide members 50 and 51, the bag body B does not move together with the guide members 50 and 51 due to the frictional force between the support member 43 and the lower half body portion B1.

[0138] Also, in the present invention, the shape of the support member 43 is not limited to the present embodiment as long as the support member 43 can support the work W and does not damage the bag body B.

[0139] Furthermore, in the present invention, the guide members 50 and 51 may not include the protruding portions 50c and 51c. In this case, the inner side surfaces 50h and 51h may be formed, for example, as inclined surfaces where the upper end portion is positioned outwardly of the lower end portion.

[0140] ●Containing device (2)● Next, another embodiment of the present apparatus (hereinafter referred to as "the second embodiment") will be described below, focusing on the differences from the previously described embodiment (hereinafter referred to as "the first embodiment"). In the second embodiment, the configurations 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 convenience of explanation, the same members as those in the first embodiment and the members having common functions are assigned the same reference numerals as those in the first embodiment, and detailed descriptions thereof are omitted. In the following description, FIGS. 1 to 21 are referred to as appropriate.

[0141] ● Configuration of the housing device (2) FIG. 22 is a functional block diagram of the present apparatus showing the second embodiment of the present apparatus.

[0142] The present apparatus 1Z houses the workpiece W in the bag body B. The present apparatus 1Z includes a housing 2, a control device 3, a bag body holding unit 4Z, a guide 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.

[0143] The bag body holding unit 4Z includes a lower holding unit 4DZ (see FIG. 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.

[0144] FIG. 23 is a schematic plan view of the lower holding unit 4DZ. For convenience of explanation, this figure shows the workpiece W, the bag body B, and a pair of guide members 50Z and 51Z (described later) in a two-dot chain line. In the following description, FIG. 22 is referred to as appropriate.

[0145] The lower holding unit 4DZ holds the lower half body B1 of the bag body B. The lower holding unit 4DZ includes a support base 40, a table 41Z, and a plurality (nine in this embodiment) of lower suction parts 42. The lower holding unit 4DZ does not include a support member 43. Therefore, the table 41Z does not have a second through hole 41b.

[0146] The guide unit 5Z forms a sliding region A2 inside the bag body B and guides the sliding of the workpiece W into the bag body B. The guide unit 5Z includes a pair of guide members 50Z, 51Z, and a guide movement mechanism 52Z.

[0147] FIG. 24 is a partially enlarged schematic perspective view of the guide members 50Z, 51Z. FIG. 25(a) is a schematic side view of the guide member 50Z, and (b) is a schematic side view of the guide member 51Z. FIG. 25(a) shows the guide member 50Z as viewed from the -X direction, and (b) shows the guide member 51Z as viewed from the +X direction. For the sake of convenience in explanation, FIG. 25 also shows a part of the guide movement mechanism 52Z, and the state in which the guide members 50Z, 51Z swing downward is shown by a dashed line.

[0148] The configuration of the guide member 50Z is common to that of the guide member 50, except that the guide member 50Z has inclined surfaces 50m, 50n.

[0149] Of the lower surface 50e, the end on the +Y direction side is an inclined surface 50m that slopes upward toward the +Y direction side. That is, the inclined surface 50m is disposed at the same end of the lower surface 50e.

[0150] Of the bottom surface 50f, the end on the +Y direction side is an inclined surface 50n that slopes downward toward the +Y direction side. That is, the inclined surface 50n is disposed at the same end of the bottom surface 50f.

[0151] The configuration of the guide member 51Z is common to that of the guide member 51, except that the guide member 51Z has inclined surfaces 51m, 51n.

[0152] Of the lower surface 51e, the end on the +Y direction side is an inclined surface 51m that slopes upward toward the +Y direction side. That is, the inclined surface 51m is disposed at the same end of the lower surface 51e.

[0153] Of the bottom surface 51f, the end on the +Y direction side is an inclined surface 51n that slopes downward toward the +Y direction side. That is, the inclined surface 51n is disposed at the same end of the bottom surface 51f.

[0154] The guide moving mechanism 52Z moves the guide members 50Z, 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 drive unit 52c, two guide support members 52d, 52e, two biasing members 52f, 52g, and two rotating shafts 52h, 52i. The guide moving mechanism 52Z is an example of the moving mechanism in the present invention. The guide support members 52d, 52e, the biasing members 52f, 52g, and the rotating shafts 52h, 52i are examples of the support mechanism in the present invention.

[0155] The configuration of the guide moving mechanism 52Z is common to the configuration of the guide moving mechanism 52, except that the guide moving mechanism 52Z does not include the guide support members 52a, 52b and includes the guide support members 52d, 52e, the biasing members 52f, 52g, and the rotating shafts 52h, 52i.

[0156] The guide support member 52d cantilever-supports the end on the -Y direction side (hereinafter referred to as the "base end") of the guide member 50Z via the rotating shaft 52h. As a result, the end on the +Y direction side (hereinafter referred to as the "tip end") of the guide member 50Z can swing in the vertical direction about the rotating shaft 52h. A part of the guide support member 52d protrudes in the +Y direction so as to be located below the guide member 50Z, forming a protruding portion 52j.

[0157] The guide support member 52e cantilever-supports the end on the -Y direction side (hereinafter referred to as the "base end") of the guide member 51Z via the rotating shaft 52i. As a result, the end on the +Y direction side (hereinafter referred to as the "tip end") of the guide member 51Z can swing in the vertical direction about the rotating shaft 52i. A part of the guide support member 52e protrudes in the +Y direction so as to be located below the guide member 51Z, forming a protruding portion 52k.

[0158] The biasing member 52f biases the guide member 50Z upward. The biasing member 52f is, for example, a coil spring. The biasing member 52f is attached between the guide member 50Z and the protrusion 52j in the +Y direction with respect to the rotation axis 52h. The biasing force of the biasing member 52f is smaller than at least the load applied to the biasing member 52f from the guide member 50Z on which the work W is placed. The biasing member 52f supports the guide member 50Z on which the work W is not placed so that the bottom surface 50f is parallel to the horizontal direction.

[0159] The biasing member 52g biases the guide member 51Z upward. The biasing member 52g is, for example, a coil spring. The biasing member 52g is attached between the guide member 51Z and the protrusion 52k in the +Y direction with respect to the rotation axis 52i. The biasing force of the biasing member 52g is smaller than at least the load applied to the biasing member 52g from the guide member 51Z on which the work W is placed. The biasing member 52g supports the guide member 51Z on which the work W is not placed so that the bottom surface 51f is parallel to the horizontal direction.

[0160] In the present invention, a stopper for restricting the rotation range of the guide members 50Z and 51Z may be attached to the rotation shafts 52h and 52i and the guide support members 52d and 52e so that the guide members 50Z and 51Z are not lifted more than necessary by the biasing force.

[0161] ● Operation of the housing device (2) Next, the operation of the present device 1Z (that is, the present method) will be described below. In the following description, FIGS. 22 to 25 are referred to as appropriate.

[0162] FIG. 26 is a flowchart showing an example of the operation of the present device 1Z.

[0163] In the second embodiment, the present apparatus 1Z, similar to the present apparatus 1, executes a bag body loading step (ST1), a suction step (ST2), an opening step (ST3), a guide insertion step (ST4), a guide opening step (ST5), a table rising step (ST6), and a workpiece loading step (ST7). Next, the workpiece housing unit 6 moves the workpiece W into the bag body B (ST8: workpiece movement step). In the second embodiment, the present apparatus 1Z does not execute the support lifting steps (ST9, ST13).

[0164] FIG. 27 is a partially enlarged schematic cross-sectional view of the present apparatus 1Z showing a state where the workpiece W has moved to the base ends of the guide members 50Z, 51Z. This figure shows a cross-section of the present apparatus 1Z cut along the YZ plane passing through the virtual line C1 as viewed from the +X direction side (hereinafter, FIGS. 28 and 29 are the same).

[0165] When the workpiece W moves to the base ends of the guide members 50Z, 51Z, the biasing members 52f, 52g are slightly compressed by the load applied from the guide members 50Z, 51Z on which the workpiece W is placed.

[0166] FIG. 28 is a partially enlarged schematic cross-sectional view of the present apparatus 1Z showing a state where the workpiece W has moved to the tip ends of the guide members 50Z, 51Z.

[0167] When the workpiece W moves in the +Y direction on the guide members 50Z and 51Z, the loads applied to the biasing members 52f and 52g increase according to the moving amount of the workpiece W. Therefore, as the workpiece W moves in the +Y direction, the loads applied to the biasing members 52f and 52g become larger. As a result, as the workpiece W moves in the +Y direction, the guide members 50Z and 51Z rotate about the rotation axes 52h and 52i in the direction in which the tip ends of the guide members 50Z and 51Z descend. That is, the tip ends of the guide members 50Z and 51Z descend as the workpiece W moves. In the second embodiment, when the workpiece W moves to the accommodation position, the biasing members 52f and 52g are designed to contract to the maximum extent. Further, when the biasing members 52f and 52g are contracted to the maximum extent, the inclined surfaces 50m and 51m are in contact with the lower body portion B1. As a result, the workpiece W placed on the bottom surfaces 50f and 51f approaches the lower body portion B1 most closely.

[0168] In the present invention, when the workpiece W moves to the accommodation position, it is only necessary that the inclined surfaces 50m and 51m are in contact with the lower body portion B1, and the biasing force of the biasing members 52f and 52g is not limited to the second embodiment.

[0169] Next, the workpiece accommodation unit 6Z lowers the workbench 60 (ST10: Table lowering step).

[0170] Next, the guide unit 5Z moves the guide members 50Z and 51Z 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).

[0171] FIG. 29 is a partially enlarged schematic cross-sectional view of the present apparatus 1Z showing a state during the retraction of the guide members 50Z and 51Z.

[0172] When the guide members 50Z and 51Z move (retract) in the -Y direction, the guide members 50Z and 51Z are in contact with the workpiece W and the bag body B. Therefore, when the guide members 50Z and 51Z retract, a frictional force acting 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 is in 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 suction holding, as in the first embodiment.

[0173] Further, the guide members 50Z and 51Z are provided with inclined surfaces 50m to 51n. Therefore, when the guide members 50Z and 51Z come out in the -Y direction from between the workpiece W and the lower body portion B1 (table 41Z), the impact when the workpiece W is placed on the lower body portion B1 (table 41Z) is suppressed more than the same impact when the guide members 50Z and 51Z do not have the inclined surfaces 50m to 51n.

[0174] Next, the present apparatus 1Z executes a moving member retraction step (ST12), a suction release step (ST14), and a bag body unloading step (ST15).

[0175] ● Summary (2) According to the second embodiment described above, the sliding region A2 is formed inside the bag body B by the guide members 50Z and 51Z. Therefore, the workpiece W can slide to the inside of the bag body B without touching the bag body B. Further, when the workpiece W moves inside 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 unevenly distribute without a gap to either one of the side end portions B5 and B6 inside the bag body B.

[0176] Also, 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 rotating shafts 52h, 52i). The support mechanism supports the guide members 50Z, 51Z such that the bottom surfaces 50f, 51f are parallel in the horizontal direction 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 tip portions descend when the workpiece W slides to the tip portion side of the guide members 50Z, 51Z. According to this configuration, at the accommodation position, the workpiece W placed on the bottom surfaces 50f, 51f approaches the lowermost lower body portion B1 the most.

[0177] Furthermore, according to the second embodiment described above, among the bottom surfaces 50f, 51f, the end portions on the +Y direction side are inclined surfaces 50n, 51n that slope downward toward the bag body B side. According to this configuration, in the Z-axis direction, the distance that the workpiece W moves onto the lower body portion B1 (table 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 the same movement is suppressed.

[0178] Furthermore, according to the second embodiment described above, after the tip portions of the guide members 50Z, 51Z descend, they are retracted from inside the bag body B. At this time, the moving member 62 is arranged adjacent to the workpiece W on the opening end portion B3 side with respect to the workpiece W. According to this configuration, when the guide members 50Z, 51Z are retracted, the movement of the workpiece W in the -Y direction is restricted by the moving member 62.

[0179] Note that in the second embodiment, the guide members 50Z, 51Z may not include the inclined surfaces 50m, 51m and / or the inclined surfaces 50n, 51n.

[0180] Also, in the second embodiment, the biasing members 52f and 52g only need to be able to bias the guide members 50Z and 51Z upward, and are not limited to coil springs. That is, for example, the biasing members 52f and 52g may be cylinders. Further, for example, the biasing members 52f and 52g may be configured such that the strength of the biasing force can be changed (for example, an electric cylinder).

[0181] Furthermore, in the second embodiment, the support mechanism may cantilever support the guide members 50Z and 51Z so as to be movable up and down.

[0182] ●Other Embodiments● Note that in the present invention, the apparatuses 1 and 1Z do not necessarily need to include the work loading apparatus 7. That is, for example, the user may place the work W on the work table 60.

[0183] Also, in the present invention, the apparatuses 1 and 1Z do not necessarily need to include the bag supply table 8. That is, for example, the user may place the bag B on the tables 41 and 41Z. In this case, the support member 45 does not necessarily need to move in the X-axis direction.

[0184] Furthermore, in the present invention, the bag holding units 4 and 4Z only need to be configured to be able to hold the bag B (the lower half body portion B1 and the upper half body portion B2) with the opening end portion B3 opened, and are not limited to the configuration 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 adsorption.

[0185] Furthermore, in the present invention, the tables 41 and 41Z may be supplied to the support base 40 together with the bag B.

[0186] Furthermore, in the present invention, the distance "Dg1" between the guide members 50, 51, 50Z, and 51Z in the closed position is not limited to each embodiment. That is, for example, in the closed position, the guide members 50 and 51 may be in contact with each other. Further, for example, the distance "Dg1" between the guide members 50 and 51 in the closed position may be increased or decreased according to the size of the holding region A1.

[0187] Furthermore, in the present invention, the arrangement of the workbench 60 is not limited to being below the guide members 50, 51, 50Z, and 51Z. That is, for example, the workbench 60 may be arranged laterally to the guide members 50 and 51 and may move horizontally after the guide members 50 and 51 move to the accommodation position.

[0188] Furthermore, in the present invention, the shapes of the outer surfaces 50d and 51d of the guide members 50, 51, 50Z, and 51Z are not limited to those of the present embodiment. That is, for example, in the Z-axis direction, the shapes of the outer surfaces 50d and 51d may be shaped to protrude outward from the upper and lower ends of the outer surfaces 50d and 51d toward the central portion (for example, semicircular, trapezoidal, or triangular in a view in the Y-axis direction). In this configuration, when the guide members 50 and 51 are opened, the gaps S11 and S12 between the outer 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.

[0189] Furthermore, in the present invention, the carry-out mechanism 91 only needs to be configured to be capable of reciprocally conveying the table 41 between the support base 40 and the carry-out table 90, and is not limited to the configurations of the respective embodiments. That is, for example, the carry-out mechanism 91 may be configured to lift and carry out the table 41. In this case, the downward movement mechanism 44 may raise and lower only the support member 43 without raising and lowering the lower suction portion 42.

[0190] ●Embodiments of the Present Invention● Next, regarding the embodiments of the present invention grasped from the above-described respective embodiments, while referring to the terms and reference numerals described in each embodiment, they will be described below.

[0191] A first embodiment of the present invention is 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 the three axes orthogonal to each other are the X-axis, the Y-axis, and the Z-axis, the X-axis and the Y-axis are parallel in 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 body (e.g., upper half body B2) and a lower half body (e.g., lower half body B1) facing each other in the Z-axis direction, an opening end portion (e.g., opening end portion B3) parallel to the X-axis direction, a bottom end portion (e.g., bottom end portion B4) disposed at a position facing the opening end portion, and a pair of side end portions (e.g., side end portions B5, B6) continuous with the opening end portion and the bottom end portion respectively. The bag body is arranged side by side in the X-axis direction and has a pair of long guide members (e.g., guide members 50, 51, 50Z, 51Z) parallel to the Y-axis direction, a holding portion (e.g., bag body holding units 4, 4Z) configured to hold the upper half body and the lower half body in a state where the opening end portion is opened, a moving mechanism (e.g., guide moving mechanisms 52, 52Z) for moving 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 movable in the Y-axis direction between the pair of guide members. In the X-axis direction, the direction in which the other guide member is located with respect to one guide member is the inner direction, and the direction opposite to the inner direction is the outer direction. The guide member includes a recess (e.g., recesses 50a, 51a) arranged along the Y-axis direction at the upper end portion on the inner direction side of the guide member, and a convex portion (e.g., convex portions 50b, 51b) arranged along the Y-axis direction adjacent to the outer direction of the recess. The recess is configured such that the placed workpiece can slide on the recess bottom surface (e.g., bottom surface 50f,51f), and the holding part has an opening at the center of the opening end. The moving mechanism inserts a pair of the guide members from the opened opening end toward the bottom end, and in the X-axis direction, the pair of guide members inserted into the bag are moved outward so that the work can be placed on the bottom surface of the recess of the pair of guide members. The moving member slides the work placed on the bottom surface of the recess of the pair of guide members moved outward toward the inside of the bag, which is a housing device., According to this configuration, when the work is accommodated in the bag, a gap corresponding to at least the length of the convex portion is formed between the work and the side end portion.,

[0192] In a second embodiment of the present invention, in the first embodiment, in the X-axis direction, the length of the convex portion (for example, length "Lg1") is based on the distance (for example, distances "D1" "D2") between the work accommodated in the bag and the side end portion, which is a housing device set accordingly., According to this configuration, a gap of a size desired by the user of this device is surely formed.,

[0193] In a third embodiment of the present invention, in the second embodiment, the moving mechanism moves a pair of the guide members inserted into the bag outward within a range where the bag does not plastically deform due to the tensile force applied to the bag by the movement of the guide members, which is a housing device., According to this configuration, the moving mechanism can open the opening end to the maximum extent.,

[0194] In a fourth embodiment of the present invention, in the first embodiment, in the Z-axis direction, the length from the bottom surface of the recess to the upper surface of the convex portion (for example, length "Lg2") is greater than the length of the work (for example, length "Lw2"), which is a housing device., According to this configuration, the work does not protrude upward from the guide member and does not contact the upper half body portion.,

[0195] The fifth embodiment of the present invention is, in the fourth embodiment, the convex portion includes an inner surface (for example, inner surfaces 50h, 51h) facing the inner direction side, the guide member is disposed at the lower end portion of the inner surface, and includes a protruding portion (for example, protruding portions 50c, 51c) protruding from the inner surface toward the inner direction side. The protruding portion includes an inner surface of the protruding portion (for example, inner surfaces 50k, 51k) parallel to the Y-axis direction and the Z-axis direction. In the Z-axis direction, the length (for example, length "Lg3") of the inner surface of the protruding portion is smaller than the length of the workpiece, and it is a housing device. According to this configuration, the workpiece can smoothly slide between the inner surfaces of the protruding portions.

[0196] The sixth embodiment of the present invention is, in the first embodiment, in the Z-axis direction, the outer surfaces (for example, outer surfaces 50d, 51d) on the outer direction side of the guide member protrude outward as they go from the upper end portion and the lower end portion of the outer surface toward the central portion, and it is a housing device. According to this configuration, the adjustment of the interval becomes easy.

[0197] The seventh embodiment of the present invention is, in the first embodiment, a worktable (for example, worktable 60) on which the workpiece is placed, a lifting device (for example, table lifting device 61) for lifting and lowering the worktable, and a workpiece loading device (for example, workpiece loading device 7) for loading the workpiece onto the worktable. The worktable is disposed below the pair of guide members before the pair of guide members are inserted into the bag body. The lifting device raises the worktable after the pair of guide members are inserted into the bag body. The workpiece loading device conveys the workpiece onto the raised worktable, and the moving member moves the workpiece placed on the worktable toward the pair of guide members inserted into the bag body, and it is a housing device. According to this configuration, the present device can automatically execute from the loading of the workpiece to the housing of the workpiece.

[0198] The eighth embodiment of the present invention is, in the first embodiment, the holding portion includes a mounting table (for example, the support table 40 and the tables 41, 41Z) on which the bag body is placed, a plurality of lower suction portions (for example, the lower suction portion 42) arranged on the mounting table and configured to be able to adsorb the lower half body portion, a plurality of upper suction portions (for example, the upper suction portion 46) arranged above the mounting table and configured to be able to adsorb the upper half body portion, and a lifting device (for example, the lifting device 47a) for lifting the upper suction portions. The lifting device is configured to lift the plurality of upper suction portions in a state where the lower half body portion is adsorbed by the plurality of lower suction portions and the upper half body portion is adsorbed by the plurality of upper suction portions, so as to open the opening end portion. When the pair of guide members inserted into the bag body move outward, the upper suction portions are lowered according to the movement of the pair of guide members. It is a housing device. According to this configuration, even when the guide member moves outward, no excessive tensile force is applied to the bag body.

[0199] The ninth embodiment of the present invention is, in the eighth embodiment, the holding portion includes a plurality of support members (for example, the support member 43) that are liftably accommodated in the mounting table and can support the workpiece at a plurality of points when lifted, and a lowering device (for example, the downward movement mechanism 44) for lifting and lowering the plurality of support members. In the view in the Z-axis direction, the support members are arranged inward of the pair of guide members after moving outward in the outward direction. Among the plurality of lower suction portions, some of the lower suction portions (for example, the lower suction portions 421, 424, 427, the lower suction portions 422, 425, 428, and the lower suction portions 423, 426, 429) constitute a lower suction unit (for example, the lower suction unit 42u) arranged along the X-axis direction. After the workpiece moves into the bag body, the lowering device lifts the plurality of support members above the bottom surface of the recess. In the X-axis direction, among the lower suction portions constituting the lower suction unit, two lower suction portions (for example, the lower suction portions 424 to 429) arranged at both ends release the suction of the lower half body portion. It is a housing device (for example, the housing device 1). According to this configuration, even if the support member rises, no excessive tensile force is applied to the bag body. Further, by separating the work W from the guide member inside the bag body, the guide member can be withdrawn from the bag body without moving the work W.

[0200] A tenth embodiment of the present invention is the first embodiment, wherein one end of each of the guide members is cantilever-supported so that the other end of each of the guide members directed toward the bag body can swing in the vertical direction (for example, guide support members 52d, 52e, biasing members 52f, 52g, and rotating shafts 52h, 52i), and the support mechanism supports the guide member so that the bottom surface of the recess is parallel to the horizontal direction when the work is not placed on the bottom surface of the recess, and supports the guide member so that the other end descends when the work placed on the bottom surface of the recess slides toward the other end side. It is a housing device (for example, housing device 1Z). According to this configuration, at the housing position, the work placed on the bottom surface approaches the lowermost lower body portion.

[0201] An eleventh embodiment of the present invention is the tenth embodiment, wherein an end portion of the bottom surface of the recess on the bag body side is an inclined surface (for example, inclined surfaces 50n, 51n) that slopes downward toward the bag body side. It is a housing device. According to this configuration, the impact received by the work due to the movement to the lower body portion is suppressed.

[0202] A twelfth embodiment of the present invention is the tenth embodiment, wherein after the other end of the pair of guide members descends, the pair of guide members are retracted from the inside of the bag body, and when the pair of guide members are retracted, the moving member is disposed adjacent to the work on the opening end side with respect to the work. It is a housing device. According to this configuration, when the guide member is retracted, the movement of the work in the -Y direction is restricted by the moving member.

[0203] The 13th embodiment of the present invention is a housing method used in a housing device (for example, housing devices 1, 1Z) for housing a workpiece (for example, workpiece W) in a bag body (for example, bag body B). When the three axes orthogonal to each other are the X-axis, the Y-axis, and the Z-axis, the X-axis and the Y-axis are parallel in 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 body portion (for example, upper half body portion B2) and a lower half body portion (for example, lower half body portion B1) facing each other in the Z-axis direction, an opening end portion (for example, opening end portion B3) parallel to the X-axis direction, a bottom end portion (for example, bottom end portion B4) disposed at a position facing the opening end portion, and a pair of side end portions (for example, side end portions B5, B6) continuous with the opening end portion and the bottom end portion respectively. The housing device includes a pair of long guide members (for example, guide members 50, 51, 50Z, 51Z) arranged side by side in the X-axis direction and parallel to the Y-axis direction, a holding portion (for example, bag body holding units 4, 4Z) configured to be able to hold the upper half body portion and the lower half body portion in a state where the opening end portion is opened, a moving mechanism (for example, guide moving mechanisms 52, 52Z) for moving the pair of guide members in the X-axis direction and the Y-axis direction, and a moving member (for example, moving member 62) configured to be movable in the Y-axis direction between the pair of guide members. In the X-axis direction, the direction in which the other guide member is located with respect to one guide member is the inner direction, and the direction opposite to the inner direction is the outer direction. The guide member includes a recess (for example, recesses 50a, 51a) arranged along the Y-axis direction at the upper end portion on the inner direction side of the guide member, and a convex portion (for example, convex portions 50b, 51b) arranged along the Y-axis direction adjacent to the outer direction of the recess. The recess is configured such that the placed workpiece can slide on the bottom surface of the recess (for example, bottom surface 50f,51f), and the housing method includes: a step in which the holding unit opens the central portion of the opening end portion (for example, the opening step (ST3)); a step in which the moving mechanism inserts the pair of guide members from the opened opening end portion toward the bottom end portion (for example, the insertion step (ST4)); a step in which the moving mechanism moves the pair of guide members inserted into the bag body outward in the X-axis direction so that the workpiece can be placed on the bottom surface of the recess of the pair of guide members (for example, the guide opening step (ST5)); a step in which the workpiece is placed on the bottom surface of the recess of the pair of guide members moved outward; and a step in which the moving member slides the workpiece placed on the bottom surface of the recess of the pair of guide members toward the inside of the bag body (for example, the workpiece moving step (ST8))., According to this configuration, when the workpiece is housed in the bag body, a gap corresponding to at least the length of the convex portion is formed between the workpiece and the side end portion.,

Explanation of symbols

[0204] 1 Housing device 4 Bag body holding unit (holding unit) 40 Support base (placement table) 41 Table (placement table) 42 Lower suction portion 42u Lower suction unit 43 Support member 44 Lower moving mechanism (elevating device) 46 Upper suction portion 47a Elevating device 50 Guide member 50b Convex portion 50c Protruding portion 50d Outer surface 50f Bottom surface 50h Inner surface 50k Inner surface of protruding portion 51 Guide member 51a Recess 51b Convex portion 51c Protruding portion​ 51d Outer surface 51f Bottom surface 51h Inner surface 51k Inner surface of the protrusion 52 Guide movement mechanism (movement mechanism) 60 Workbench 61 Table lifting device (lifting device) 62 Moving member 7 Workpiece loading device 1Z Storage device 4Z Bag body holding unit (holding part) 50Z Guide member 50n Inclined surface 51Z Guide member 51n Inclined surface 52Z Guide movement mechanism (movement mechanism) 52d Guide support member (support mechanism) 52e Guide support member (support mechanism) 52f Biasing member (support mechanism) 52g Biasing member (support mechanism) 52h Rotation shaft (support mechanism) 52i Rotation shaft (support mechanism) B Bag body B1 Lower half body part B2 Upper half body part B3 Opening end part B4 Bottom end part B5 Side end part B6 Side end part W Workpiece

Claims

1. A housing device for housing a workpiece in a bag body, when three axes orthogonal to each other are the X-axis, the Y-axis, and the Z-axis, the X-axis and the Y-axis are parallel to each other in 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 is, an upper half body portion and a lower half body portion in the form of rectangular sheets facing each other in the Z-axis direction, an opening end portion parallel to the X-axis direction, a bottom end portion disposed at a position facing the opening end portion, a pair of side end portions continuous with the opening end portion and the bottom end portion respectively, and comprising, a pair of long guide members arranged side by side in the X-axis direction and parallel to the Y-axis direction, a holding portion configured to be able to hold the upper half body portion and the lower half body portion in a state where the opening end portion is opened, a moving mechanism for moving the pair of guide members in the X-axis direction and the Y-axis direction, a moving member configured to be movable in the Y-axis direction between the pair of guide members, and having, in the X-axis direction, the direction in which the other guide member is located with respect to one guide member is the inner direction, and the direction opposite to the inner direction is the outer direction, The guide member is, a concave portion arranged along the Y-axis direction at the upper end portion on the inner direction side of the guide member, a convex portion arranged along the Y-axis direction adjacent to the outer direction of the concave portion, and comprising, The concave portion is, a concave bottom surface on which the placed workpiece is configured to be slidable, and comprising, The holding portion opens the central portion of the opening end portion, The moving mechanism is, insert the pair of guide members from the opened opening end portion toward the bottom end portion, in the X-axis direction, move the pair of guide members inserted into the bag body outward so 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 moved outward toward the inside of the bag body, Housing device.

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

3. The moving mechanism moves the pair of guide members inserted into the bag body outward in a range where the bag body does not plastically deform due to the tensile force applied to the bag body by the movement of the guide member. The housing device according to claim 2.

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

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

6. In the Z-axis direction, the outer surface on the outer side of the guide member protrudes outward as it goes from the upper end portion and the lower end portion of the outer surface toward the central portion. The housing device according to claim 1.

7. a workbench on which the workpiece is placed, a lifting device for lifting and lowering the workbench, a workpiece loading device for loading the workpiece onto the workbench, and has The workbench is disposed below the pair of guide members before the pair of guide members are inserted into the bag body. The lifting device raises the workbench after the pair of guide members are inserted into the bag body. The workpiece loading device conveys the workpiece to the raised workbench. The moving member moves the workpiece placed on the workbench toward the pair of guide members inserted into the bag body. The housing device according to claim 1.

8. The holding portion has a mounting table on which the bag body is placed, a plurality of lower suction portions disposed on the mounting table and configured to be able to adsorb the lower half body portion, a plurality of upper suction portions disposed above the mounting table and configured to be able to adsorb the upper half body portion, and an upper lifting device for lifting and lowering the upper suction portions. and is provided with The upper lifting device opens the opening end portion by raising the plurality of upper suction portions in a state where the lower half body portion is adsorbed by the plurality of lower suction portions and the upper half body portion is adsorbed by the plurality of upper suction portions. When the pair of guide members inserted into the bag body move outward, the upper suction portion is lowered according to the movement of the pair of guide members. The housing device according to claim 1.

9. The holding portion is accommodated in the mounting table so as to be movable up and down, and includes a plurality of support members capable of supporting the workpiece at a plurality of points when rising, a lowering device for raising and lowering the plurality of support members, and is provided with In the view in the Z-axis direction, the support members are arranged inward of the pair of guide members after moving outward. Among the plurality of lower suction portions, some of the lower suction portions constitute a lower suction unit arranged along the X-axis direction. After the workpiece moves into the bag body, the lowering device raises the plurality of support members above the bottom surface of the recess, In the X-axis direction, among the lower suction portions constituting the lower suction unit, two lower suction portions arranged at both ends release the suction of the lower half body portion. The housing device according to claim 8.

10. A support mechanism that cantilever supports one end of each of the guide members so that the other end of each of the guide members directed toward the bag body can swing vertically. and has The support mechanism supports the guide member so 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 member so that the other end descends when the workpiece placed on the bottom surface of the recess slides to the other end side. The housing device according to claim 1.

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

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

13. A housing method used in a housing device for housing a workpiece in a bag body, When the three axes orthogonal to each other 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 A rectangular sheet-shaped upper half body portion and a lower half body portion facing each other in the Z-axis direction, An opening end portion parallel to the X-axis direction, A bottom end portion disposed at a position facing the opening end portion, A pair of side end portions continuous with the opening end portion and the bottom end portion respectively, Comprising, The housing device, A pair of long guide members arranged side by side in the X-axis direction and parallel to the Y-axis direction, A holding portion configured to be able to hold the upper half body portion and the lower half body portion in a state where the opening end portion is opened, A moving mechanism for moving the pair of guide members in the X-axis direction and the Y-axis direction, A moving member configured to be movable in the Y-axis direction between the pair of guide members, Comprising, In the X-axis direction, the direction in which the other guide member is located with respect to one guide member is the inner direction, and the direction opposite to the inner direction is the outer direction, The guide member, A concave portion arranged along the Y-axis direction at the upper end portion on the inner direction side of the guide member, A convex portion arranged along the Y-axis direction adjacent to the outer direction of the concave portion, Comprising, The concave portion, A concave bottom surface on which the placed workpiece is configured to be slidable, Comprising, The housing method, The step of the holding portion opening the central portion of the opening end portion, The step of the moving mechanism inserting the pair of guide members from the opened opening end portion toward the bottom end portion, The step of the moving mechanism moving the pair of guide members inserted into the bag body outward in the X-axis direction so that the workpiece can be placed on the concave bottom surfaces of the pair of guide members, The step of the workpiece being placed on the concave bottom surfaces of the pair of guide members moved outward, The step of the moving member sliding the workpiece placed on the concave bottom surfaces of the pair of guide members toward the inside of the bag body, Including, Housing method.

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