Tray transport device and transfer system

Abstract

A tray transport device according to the present invention comprises: a receiving part for receiving a container which houses a stack of a plurality of trays; a housing part which is disposed above the receiving part and houses the stack; a transfer means for separating the stack from the container by lifting the stack from the container, and for transferring the stack to the housing part; and a transport means for conveying a tray positioned at the lowermost portion of the stack housed in the housing part.

Description

[Technical field]

[0001] The present invention relates to a tray transport technique. [Background technology]

[0002] A transport technique using trays is known for transporting relatively small workpieces such as electronic components (Patent Documents 1 to 3). A plurality of workpieces are placed on one tray, and inspections of each workpiece can be performed on a tray-by-tray basis. In addition, it is also possible to transfer the workpieces between trays so that a specific group of workpieces is placed on one tray depending on the quality of the workpieces and the requirements of the delivery destination. Patent Document 4 also discloses a technique for collecting a stack of multiple meal trays using a cart. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2014 / 102856 Brochure [Patent Document 2] JP 2019-038621 A [Patent Document 3] Japanese Patent Application Publication No. 8-301450 [Patent Document 4] JP 2019-202890 A Summary of the Invention [Problem to be solved by the invention]

[0004] Systems that use containers to store multiple trays, such as the cart in Patent Document 4, have the advantage that multiple trays can be transported together in one container. However, the technology in Patent Document 4 leaves room for improvement in terms of the efficiency of container replacement.

[0005] An object of the present invention is to efficiently replace containers that house stacks of trays. [Means for solving the problem]

[0006] According to the present invention, a receiving section for receiving a container in which a stack of multiple trays is housed; a storage section disposed above the receiving section and configured to store the stack; a transfer means for lifting the stack from the container to separate the stack from the container and transfer the stack to the storage section; a conveying means for conveying out a tray located at the bottom of the stack housed in the housing section. A tray conveying device, a housing forming an outer wall of the tray transport device; The housing includes: A portion of the receiving portion surrounding a space for receiving the container; a portion surrounding a space in the housing portion that houses the stack; A portion supporting the transfer means; A portion supporting the conveying means; an opening on a transport path of the tray by the transport means, A tray conveying device characterized by Effect of the Invention

[0007] According to the present invention, containers in which stacks of trays are housed can be replaced efficiently. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a layout diagram of a transfer system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a perspective view of a cart used in the transfer system of FIG. [Diagram 3] 3 is a diagram showing a manner in which trays are stored in the cart of FIG. 2. FIG. [Figure 4] FIG. [Diagram 5] FIG. 5 is a front view of the tray transport device of FIG. [Figure 6] 5 is a side view of the internal configuration of the tray transport device of FIG. 4. [Figure 7] 7 is a cross-sectional view of the tray transport device taken along line BB in FIG. 6. [Figure 8] FIG. [Figure 9] 5A and 5B are diagrams illustrating the operation of the positioning unit and the transfer unit. [Figure 10] FIG. [Figure 11] FIG. [Figure 12] FIG. [Figure 13] 11 is a flowchart showing an example of control. [Figure 14] 5 is an explanatory diagram of the operation of the tray transport device in FIG. 4. [Figure 15] 5 is an explanatory diagram of the operation of the tray transport device in FIG. 4. [Figure 16] 5 is an explanatory diagram of the operation of the tray transport device in FIG. 4. [Figure 17] 5 is an explanatory diagram of the operation of the tray transport device in FIG. 4. [Figure 18] 5 is an explanatory diagram of the operation of the tray transport device in FIG. 4. [Figure 19] 5 is an explanatory diagram of the operation of the tray transport device in FIG. 4. [Figure 20] 11 is a flowchart showing an example of control. [Figure 21] 5 is an explanatory diagram of the operation of the tray transport device in FIG. 4. [Figure 22] 5 is an explanatory diagram of the operation of the tray transport device in FIG. 4. [Diagram 23] 11 is a flowchart showing an example of control. [Figure 24] 5 is an explanatory diagram of the operation of the tray transport device in FIG. 4. [Diagram 25] 5 is an explanatory diagram of the operation of the tray transport device in FIG. 4. [Figure 26] 11 is a flowchart showing an example of control. [Figure 27] 13A and 13B are diagrams illustrating the operation of another example of the configuration of the transport unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more features among the multiple features described in the embodiments may be arbitrarily combined. Also, the same reference numbers are used for the same or similar configurations, and duplicated descriptions are omitted.

[0010] <Transportation system> FIG. 1 is a layout diagram of a transfer system 100 according to an embodiment of the present invention. In the drawing, arrows X and Y indicate horizontal directions perpendicular to each other, and arrow Z indicates a vertical direction. The transfer system 100 is a refill system that transfers the work W between a tray 130 on which the work W is mounted and an empty tray 130. The work W is, for example, an electronic component such as a processor. The transfer system 100 can be used, for example, to remove defective work W from a tray 130 supporting the work W and transfer only good work W to an empty tray 130. Alternatively, for example, only a specific type of work W is transferred from a tray 130 supporting multiple types of work W to an empty tray 130, and the tray 130 is sorted by type of work W.

[0011] In this embodiment, the trays 130 are supplied to the transfer system 100 using the cart 120, and the trays 130 are collected using the cart 120. The cart 120 can carry a plurality of trays 130.

[0012] The transfer system 100 includes a work transfer device 101 and a plurality of tray transport devices 1. The work transfer device 101 includes two sets of two-row conveyor 102 groups arranged continuously in the Y direction. Therefore, a total of four rows of conveyor 102 groups are provided.

[0013] At one end in the Y direction of the two rows of conveyors 102 (the end on the upstream side in the conveying direction), there are disposed two conveyors 103 that convey trays 130 in the Y direction and can be raised and lowered in the Z direction, and a conveyor 104 that conveys trays 130 in the X direction. The conveyors 102 and 104 have different conveying heights, and the two conveyors 103 convey trays 130 from the conveyor 104 to the conveyor 102 while accommodating the difference in conveying height between the conveyors 102 and 104. The orientation of the trays 130 with respect to the conveying direction is changed.

[0014] At the other end in the Y direction of the two rows of conveyors 102 (the end on the downstream side in the conveying direction), two conveyors 105 that convey trays 130 in the Y direction and can be raised and lowered in the Z direction, and a conveyor 106 that conveys trays 130 in the X direction are disposed. The conveyors 102 and 106 have different conveying heights, and the two conveyors 105 convey trays 130 from the conveyor 104 to the conveyor 102 while accommodating the difference in conveying height between the conveyors 102 and 106. The orientation of the trays 130 with respect to the conveying direction is changed.

[0015] In this embodiment, each of the conveyors 102 to 106 is a belt conveyor, and conveys the tray 130 placed on the belt. However, the conveyors 102 to 106 may be other conveying mechanisms such as roller conveyors.

[0016] The workpiece transfer device 101 also includes two gate-shaped transfer robots 107. The transfer robots 107 transfer the workpieces W between the respective trays 130 on the different rows of conveyors 102. Each transfer robot 107 includes a holder 108 for holding the workpieces W, a lifting unit 109 for raising and lowering the holder 108 in the Z direction, a moving unit 110 for reciprocating the lifting unit 109 in the Y direction, and a moving unit 111 for crossing above the four rows of conveyors 102 in the X direction and reciprocating the moving unit 110 in the X direction. The holder 108 is, for example, a unit for adsorbing the workpieces W. The transfer robot 107 transfers the workpieces W between the trays 130 while recognizing the trays 130 and the workpieces W on the trays 130 by images captured by a camera.

[0017] The transfer system 100 includes tray transport devices 1 disposed in tray supply areas P1 and P2, and tray collection areas P3 and P4, respectively. The tray transport device 1 is a device that takes out and transports the trays 130 one by one from a stack of multiple trays 130, or stacks the trays 130 in sequence to form a stack and loads it onto the cart 120.

[0018] The tray supply area P1 is an area where trays 130 carrying workpieces W are fed into the work transfer device 101. The tray supply area P2 is an area where empty trays 130 not carrying workpieces W are fed into the work transfer device 101. The tray transport device 1 arranged in the tray supply area P1 can also be called a work supply device in that it supplies trays 130 supporting workpieces W to the work transfer device 101. The tray transport device 1 arranged in the tray supply area P2 can also be called a tray supply device in that it supplies empty trays 130 not supporting workpieces W to the work transfer device 101.

[0019] The tray recovery area P3 is an area for recovering an empty tray 130 that has been put into the tray supply area P1 and has had a workpiece W transferred to another tray 130. The tray recovery area P4 is an area for recovering a tray 130 that has been put into the tray supply area P2 and has had a workpiece W transferred from another tray 130. The tray transport device 1 arranged in the tray recovery area P4 receives the workpiece W from the workpiece transfer device 101 and transfers it to the tray 130. do It can also be called a workpiece collecting device in that it collects the tray 130. The tray transport device 1 arranged in the tray collecting area P3 can also be called a tray collecting device in that it collects an empty tray 130 that does not support a workpiece W from the work transfer device 101.

[0020] In this manner, in this embodiment, the tray 130 supporting the workpiece W that is supplied to the tray supply area P1 becomes an empty tray 130 and is collected in the tray recovery area P3. Also, the empty tray 130 that is supplied to the tray supply area P2 has the workpiece W loaded thereon and is collected in the tray recovery area P4.

[0021] An operation example of the transfer system 100 will be described. A stack of multiple trays 130 supporting the workpieces W is supplied to the tray supply area P1 using the cart 120. In the tray supply area P1, the tray transport device 1 separates the trays 130 from the stack of trays 130 and supplies them to the conveyor 104 from the relay unit 8 as shown by the arrow D1. In the case of this embodiment, the cart 120 accommodates two stacks of trays 130, and the tray transport device 1 simultaneously supplies a total of two trays 130, one tray 130 from each stack, to the conveyor 104. Thereafter, the two trays 130 are transported as a pair of trays 130. The pair of trays 130 supplied to the conveyor 104 is transferred to two rows of conveyors 102 by two conveyors 103 as shown by the arrow D2. As a result, the trays 130 supporting the workpieces W are supplied to the upper two rows of conveyors 102, which is one side in FIG. 1.

[0022] Meanwhile, a stack of empty trays 130 not supporting workpieces W is supplied to a tray supply area P2 using a cart 120. In the tray supply area P2, the tray transport device 1 separates a tray 130 from the stack of trays 130 and supplies it to the conveyor 104 from the relay unit 8 as shown by arrow D5. The pair of trays 130 supplied to the conveyor 104 are transferred to two rows of conveyors 102 by two conveyors 103 as shown by arrow D6. As a result, the trays 130 supporting the workpieces W are supplied to the lower two rows of conveyors 102, which is the other side in FIG. 1.

[0023] On the four rows of conveyors 102, two transfer robots 107 transfer the workpieces W between the different trays 130. The transfer robot 107 transfers the workpieces W from the trays 130 on the upper two rows of conveyors 102 to empty trays 130 on the lower two rows of conveyors 102 as shown by arrows D9 and D10 in Fig. 1. The transfer robot 107 can also transfer defective products or workpieces W for inspection to storage trays 140 arranged to the side of the four rows of conveyors 102.

[0024] 1, empty trays 130 on the upper two rows of conveyors 102 are transported to conveyor 105 as shown by arrow D3, and transferred to conveyor 106 by the lifting and lowering operation of conveyor 105. Then, as shown by arrow D4, the trays are taken into tray transport device 1 in tray collection area P3 from relay unit 8, and a stack of trays 130 is formed. Thereafter, the stack of trays 130 is transferred to cart 120 within tray transport device 1, and cart 120 is taken out to the outside.

[0025] 1, the trays 130 supporting the workpieces W on the two lower rows of the conveyors 102 are transported to the conveyor 105 as shown by arrow D7, and are transferred to the conveyor 106 by the lifting and lowering operation of the conveyor 105. Then, as shown by arrow D8, the trays are taken into the tray transport device 1 in the tray collection area P4 from the relay unit 8, and a stack of trays 130 is formed. Thereafter, the stack of trays 130 is transferred to the cart 120 within the tray transport device 1, and the cart 120 is taken out to the outside.

[0026] By such an operation, in the transfer system 100 of this embodiment, it is possible to continuously refill the workpieces W between a plurality of trays 130 supporting the workpieces W and a plurality of empty trays 130.

[0027] <Carts and trays> The structures of the cart 120 and the tray 130 will be described with reference to Figures 2 and 3. Figure 2 is a perspective view of the cart 120 and the tray 130. Figure 3 is a cross-sectional view showing the internal structure of the cart 120, showing an empty state in which the tray 130 is not accommodated, and a state in which the tray 130 is accommodated.

[0028] The tray 130 has a thin rectangular parallelepiped shape as a whole, and a plurality of recesses 131 for supporting the workpieces W are formed on the upper surface thereof. One workpiece W is mounted in each recess 131. A step portion 132 is formed on the bottom surface of the tray 130. When the trays 130 are stacked in the Z direction, the step portion 132 can form a gap between the upper and lower trays 130. By utilizing this gap, the stacked trays 130 can be separated, etc. Although not shown, the tray 130 is formed with an engagement portion (e.g., a protrusion and a groove) that allows the trays 130 to engage with each other when stacked vertically. Then, when a plurality of trays 130 are stacked, the stacked state can be maintained by the upper and lower trays 130 engaging with each other.

[0029] The cart 120 includes a container 121. The container 121 stores the stack SB of the tray 130. The container 121 of this embodiment includes two storage sections 126 for the stack SB, and can store two stacks SB side by side. The two stacks SB of this embodiment can be stored in the container 121 one by one, lined up in the front-rear direction, which is the direction in which the cart 120 is inserted into and removed from the tray transport device 1.

[0030] The container 121 has left and right side panels 121a and a back panel 121 b and a bottom plate 121c, and is formed in a box shape. A notch 121d is formed in the front part of the bottom plate 121c. The container 121 is open at the front and top. A rectangular flange portion 127 is provided on the top part of the container 121 so as to surround three sides except the front side of the open space, and an engagement portion 128 for positioning is formed on the flange portion 127. In the case of this embodiment, the engagement portion 128 is a through hole that penetrates the flange portion 127 in the thickness direction. The engagement portions 128 are provided on the left and right sides of the flange portion 127. The engagement portion 128 provided on the flange portion 127 engages with a positioning member 70 included in a positioning unit 7 of the tray conveying device 1 described later, so that the container 121 is positioned, and the installation of the cart 120 is completed.

[0031] Four casters 124 are attached to the bottom plate 121c, and a handle 125 is attached to the back plate 121b. Thus, the cart 120 of this embodiment has the form of a hand truck that can be moved by a worker. However, instead of the form of a truck, a configuration of only the container 121 can be adopted, in which case the container 121 may be transported by a robot.

[0032] Support frames 122 that support the stack SB are fixed to the inner surfaces of the left and right side plates 121a. The support frame 122 includes a plurality of guide members 122a and a mounting member 122b that connects the lower ends of these guide members 122a. Each guide member 122a is a rail member that is L-shaped in horizontal cross section and extends in the Z direction, and one support frame 122 has four guide members 122a arranged in parallel. The pair of guide members 122a has one side of the plurality of trays 130 that form one stack SB between them, and guide the corresponding corners of the stack when it moves up and down.

[0033] The placement member 122b is a member on which the stack SB is placed and supports its bottom. One stack SB is suspended and placed on each of the placement members 122b (two placement members 122b in total) of the left and right side plates 121a, and downward movement is restricted. The placement member 122b is disposed at a position spaced apart from the bottom plate 121c in the Z direction, and a bottom space 129 is formed between the bottom plate 121c and the tray 130 at the bottom of the stack SB placed on the placement member 122b. In addition, a notch 121d is formed in the front part of the bottom plate 121c. The bottom space 129 receives the placement part 30a of the lift table 30 described later up to a position facing the lower side of the stack SB. In addition, the notch 121d makes it possible for the container 121 to avoid interference with a pair of support members 32 of the lift table 30. By forming the bottom space 129 and the cutout 121d, it becomes possible to receive the cart 120 (container 121) in the receiving section 10 while avoiding interference between the cart 120 (container 121) and the loading / unloading unit 3.

[0034] An abutment member 123 is provided on each outer surface of the left and right side plates 121a. The abutment member 123 is a plate-shaped member protruding outward from the side plates 121a, and is a member for alignment when the cart 120 is mounted in the cart mounting preparation position of the tray transport device 1.

[0035] <Tray transport device> The configuration of the tray transport device 1 will be described with reference to the drawings. In this embodiment, the four tray transport devices 1 of the transfer system 100 have the same configuration. However, the four tray transport devices 1 have different orientations. Therefore, for the sake of convenience, the X, Y, and Z directions will be described based on the orientation of the tray transport device 1 arranged in the tray supply area P1.

[0036] 4 is a perspective view of the tray conveying device 1. The tray conveying device 1 includes a housing 2, and its basic configuration is accommodated in the housing 2. The tray conveying device 1 also includes an intermediary unit 8 that is disposed outside the housing 2 at the rear of the housing 2. The intermediary unit 8 relays and conveys the tray 130 that is carried out from the conveying unit 4 in the housing 2, and also relays and conveys the tray 130 to the conveying unit 4 in the housing 2.

[0037] The housing 2 has a box shape as a whole, and includes a main body 20 and a front cover 21 that covers an upper portion of the front surface of the main body 20. The main body 20 includes a back wall 20a and left and right side walls 20b.

[0038] Fig. 5 is a diagram showing the internal configuration of the housing 2, and is a front view of the internal configuration of the housing 2 seen from the front side of the main body 20 with the front cover 21 etc. removed. Fig. 6 is a cross-sectional view taken along line AA in Fig. 5, and is a side view showing a schematic internal configuration of the housing 2. Fig. 7 is a cross-sectional view taken along line BB in Fig. 6, and is a plan view showing a schematic internal configuration of the housing.

[0039] The configuration of the tray transport device 1 will be described with reference mainly to FIGS. 4 to 7, and also with reference to FIG. 8, a perspective view of the main body 20, and FIGS. 9 to 11, which are operation explanatory views, as appropriate.

[0040] <Receiving section and storage section> The housing 2 has a receiving section 10 at the bottom inside thereof, in which a space for receiving the cart 120 (container 121) is formed, and the housing 2 is open at the front of the receiving section 10. A pair of guide members 25 for guiding the receiving section 10 to receive the cart 120 are provided at the lower end of the side wall 20b of the main body 20. The guide members 25 have an arc-shaped guide surface, and guide the cart 120 received by the receiving section 10 to an appropriate position in the left-right direction (Y direction). The receiving section 10 has a sensor SR1 for detecting the reception of the cart 120. The sensor SR1 is, for example, a contact sensor or an optical sensor, and detects that the cart 120 has been received by the receiving section 10.

[0041] An accommodating section 11 is provided at the upper part of the housing 2, and is disposed above the receiving section 10. The accommodating space of the accommodating section 11 is surrounded by a main body 20 and a front cover 21.

[0042] When supplying the trays 130 to the work transfer device 101, the tray conveying device 1 separates the stack SB from the container 121 of the cart 120 received in the receiving section 10 and transfers it to the storage section 11, and then carries the trays 130 out one by one starting from the tray 130 at the bottom end of the stack SB. Also, when recovering the trays 130 from the work transfer device 101, the trays 130 are sequentially stored in the storage section 11 to form the stack SB, and then the stack SB is transferred from the storage section 11 to the container 121 of the cart 120 received in the receiving section 10.

[0043] Referring to FIG. 8, the internal space of the main body 20 of the housing 2 is ,above A partition plate 22 in the vicinity of the tray conveying device 1 divides the tray conveying device 1 into an upper storage space 22a and a lower storage space 22b. The storage space 22a accommodates a control device 9 that controls the tray conveying device 1, and the storage space 22b accommodates various mechanisms described below.

[0044] The main body 20 has a portion 23a at the bottom of the storage space 22b surrounding the space for receiving the cart 120 (container 121) of the receiving section 10, and a portion 23b at the top of the storage space 22b surrounding the space for receiving the stack SB of the storage section 11. Below the portion 23ba, an opening 24 for inserting and removing the tray 130 from the outside is formed in the back wall 20a. In addition, between the portions 23a and 23b of the storage space 22b, the main body 20 is provided with a portion 23c for supporting a loading / unloading unit 3 (described later) and a portion 23d for supporting a transport unit 4.

[0045] The positions of the mechanisms inside the housing 2 are determined with reference to the rear wall 20a, and the mechanisms are fixed to the rear wall 20a and the side walls 20b using brackets 26 and subframes 27. In the following description, when it is stated that each component is fixed to the rear wall 20a or the side walls 20b, this includes not only the case where the component is directly fixed to the rear wall 20a or the side wall 20b, but also the case where the component is indirectly fixed to the rear wall 20a or the side wall 20b using brackets 26, subframes 27, etc.

[0046] <Positioning unit> A positioning unit 7 is provided inside the housing 2. The positioning unit 7 is a mechanism for positioning the container 121 in the receiving portion 10. The positioning unit 7 includes an abutment member 78 that positions the container 121 in the X direction.

[0047] Two abutment members 78 are provided spaced apart in the Y direction and supported by the back wall 20a. A damper 77 is also provided adjacent to the abutment members 78. When the container 121 is received in the receiving section 10, the damper 77 reduces the impact of a collision between the abutment members 78 and the container 121. Both the plunger of the damper 77 and the abutment member 78 abut against the abutment member 123 of the cart 120.

[0048] A pair of positioning members 70 spaced apart in the Y direction are provided on the upper portion of the receiving portion 10. Each positioning member 70 is fixed to the side wall 20b via a corresponding support member 70a. The positioning member 70 is a shaft (pin) extending in the Z direction, and its upper end is fixed to the support member 70a.

[0049] The positioning unit 7 includes a pair of lifting units 71. The pair of lifting units 71 are driven synchronously to lift and lower the container 121 (the entire cart 120), and lift and lower the container 121 between a positioning position and a receiving position below the positioning position. Each lifting unit 71 includes a motor 72 as a drive source and a plate cam 73 attached to the output shaft of the motor 72. The motor 72 is fixed to the side wall 20b. Each lifting unit 71 also includes a lifting member 74. A pair of rail members 75 extending in the Z direction are fixed to each side wall 20b. The lifting member 74 has a slider that engages with the pair of rail members 75, and has a cam follower 76 that abuts against the plate cam 73.

[0050] 9 shows an example of the operation of the lifting unit 71. The axial direction of the output shaft of the motor 72 is the Y direction, and the plate cam 73 rotates on the XZ plane. The cam follower 76 is pushed up by the plate cam 73, causing the lifting member 74 to rise.

[0051] The lifting member 74 comes into contact with the flange portion 127 of the container 121 from below, and the lifting member 74 rises to lift the container 121. The positioning member 70 fits into the engagement portion 128 of the flange portion 127, thereby positioning the container 121 in both the X direction and the Y direction within the receiving portion 10. Furthermore, the position of the container 121 in the Z direction is determined when the lifting member 74 has completed its rise.

[0052] <Transfer unit> A transfer unit 3 is provided inside the housing 2. The transfer unit 3 is a mechanism for transferring the stack SB between the receiving section 10 and the storage section 11. More specifically, for example, by lifting the stack SB from the container 121 received in the receiving section 10, the stack SB is separated from the container 121 and transferred to the storage section 11. In addition, by lowering the stack SB stored in the storage section 11, the stack SB is transferred to the container 121 received in the receiving section 10.

[0053] The transfer unit 3 includes a lifting table 30. The lifting table 30 is a placement table having two placement sections 30a, and two stack bodies SB can be placed side by side on the placement sections 30a. In other words, the transfer unit 3 can transfer two stack bodies SB at the same time. Each placement section 30a is a plate-shaped member with an opening in the center.

[0054] The loading / unloading unit 3 includes a lifting unit 31 that lifts and lowers the lifting table 30 in the Z direction. The lifting unit 31 includes a support member that supports the lifting table 30 from below. The lifting unit 31 of this embodiment includes a pair of support members 32. The pair of support members 32 are spaced apart in the Y direction, and each support member 32 has a beak shape in side view. The lifting table 30 is supported horizontally by the pair of support members 32.

[0055] The loading / unloading unit 3 has a pair of sliders 33, and each support member 32 is supported by the corresponding slider 33. The pair of sliders 33 engage with a pair of rail members 34 fixed to the back wall 20a. The pair of rail members 34 extend parallel to the Z direction and are spaced apart in the Y direction, and the sliders 33 are slidable in the Z direction by being guided by the rail members 34. The pair of sliders 33 are connected by a connecting member 39.

[0056] The loading / unloading unit 3 includes a ball screw shaft 37 and a ball nut 38. The ball screw shaft 37 extends in the Z direction and is supported by the back wall 20a so as to be rotatable about its axis. The ball nut 38 is engaged with the ball screw shaft 37 and moves up and down as the ball screw shaft 37 rotates.

[0057] The loading / unloading unit 3 includes a motor 35 as a drive source. The motor 35 is disposed at the bottom inside the housing 2, and is supported by the back wall 20a. When the lift table 30 is in a lowered position as shown in Figs. 5 and 6, the motor 35 is located between a pair of support members 32. The rotational force of the motor 35 is transmitted to a ball screw shaft 37 via a transmission mechanism 36. In this embodiment, the transmission mechanism 36 is a belt transmission mechanism, but may be a gear mechanism.

[0058] The ball nut 38 is fixed to a connecting member 39. When the ball screw shaft 37 is rotated by driving the motor 35, the lift table 30, the pair of sliders 33, the ball nut 38 and the connecting member 39 move integrally in the Z direction.

[0059] 9 shows an example of the operation of the loading / unloading unit 3. By driving the motor 35, the lift table 30, the pair of sliders 33, the ball nut 38 and the connecting member 39 are raised integrally in the Z direction as indicated by the arrow.

[0060] <Transport unit> A transport unit 4 is provided inside the housing 2. The transport unit 4 is a mechanism that transports the tray 130 through an opening 24 formed in the rear wall 20a. The opening 24 is formed on a transport path of the tray 130 by the transport unit 4. For example, when the tray 130 is removed, the tray 130 located at the bottom of the stack SB accommodated in the storage section 11 is removed through the opening 24. When the tray 130 is brought in through the opening 24, the brought-in tray 130 is transported and added to a position below the stack SB accommodated in the storage section 11 (the bottom in this embodiment).

[0061] The transport unit 4 includes a pair of conveyors 40 spaced apart in the Y direction. Each conveyor 40 is a belt conveyor that transports the trays 130 in the X direction. However, the conveyor 40 may be another transport mechanism such as a roller conveyor.

[0062] Each conveyor 40 includes a base member 41 extending in the X direction. A pulley 43 is disposed at each end of the base member 41 in the X direction, and one of the pulleys 43 is rotated by a motor 42 serving as a drive source. The motor 42 is supported by the base member 41. A belt 44 is wound between the two pulleys 43. The trays 130 are placed on the belt 44. The trays 130 on the belt 44 are transported by the belt 44 running in the direction of travel driven by the motor 42. In this embodiment, two trays 130 can be placed on the belt 44 side by side in the transport direction, and the two trays 130 can be transported simultaneously.

[0063] The transport unit 4 also includes a moving unit 45 that moves the conveyor 40 in the Y direction. In this embodiment, a moving unit 45 is provided for each conveyor 40. The moving unit 45 includes a slider 46, a rail member 47 that engages with the slider 46, and an actuator 48. The rail member 47 extends in the Y direction, and the slider 46 can move in the Y direction by being guided by the rail member 47. The actuator 48 is, for example, an electric cylinder, and urges the slider 46 to move in the Y direction. The conveyor 40 is mounted on the slider 46, and moves in the Y direction by being driven by the actuator 48.

[0064] The two moving units 45 are driven synchronously, and the pair of conveyors 40 move between the transport position shown in Fig. 5 and the retracted position shown in state ST3 in Fig. 10. The transport position is a position where the pair of conveyors 40 are closer to each other than at the retracted position, and the tray 130 is placed astride the pair of conveyors 40. The retracted position is a position where the pair of conveyors 40 are farther apart from each other than at the transport position, and the tray 130 (stack SB) can pass between the pair of conveyors 40 and move. The arrow in Fig. 10 indicates the direction (Y direction) in which the conveyor 40 moves from the transport position to the retracted position.

[0065] 10, in the retracted position, the pair of conveyors 40 are located outside the transfer path RT. The transfer path RT is a space through which the stack SB passes when the stack SB is transferred between the receiving unit 10 and the storage unit 11. In the transport position, the pair of conveyors 40 are located inside the transfer path RT.

[0066] The position of the conveyor 40 is detected by a sensor SR2. The sensor SR2 is, for example, a position sensor. Each conveyor 40 is also provided with a sensor SR3 that detects whether or not a tray 130 is placed on the belt 44. The sensor SR3 is, for example, a reflective optical sensor.

[0067] <Containment slot> A storage frame 6 is disposed in the storage section 11. The storage frame 6 includes a pair of panel members 61 spaced apart in the Y direction. The pair of panel members 61 are connected by a plurality of shaft members 62 extending in the Y direction. The pair of panel members 61 are fixed to the rear wall 20a. The panel members 61 are disposed spaced apart from each other, and a plurality of guide members 60 extending in the Z direction, which is the lifting and lowering direction of the stacked body SB, are provided on the inner side surfaces facing each other. The plurality of guide members 60 have the same structure as the guide member 122a of the container 121, and are disposed in the same manner as the guide member 122a of the container 121. In other words, the guide member 60 is disposed on an extension line of the guide direction of the guide member 122a, and guides the lifting and lowering of the stacked body SB.

[0068] That is, each guide member 60 is a rail member having an L-shaped horizontal cross section extending in the Z direction, which is the lifting and lowering direction of the stacked body SB, and 61 has four guide members 60. One stack SB is guided in its vertical movement by each pair of guide members 60 on the left and right panel members 60 (four guide members 60 in total). Two stacks SB are accommodated in one accommodation frame 6 side by side.

[0069] Each support member 50 has a plurality of support parts 50a and an arm part 50b to which the plurality of support parts 50a are fixed. The arm part 50b is made of a thin plate-like member whose normal direction is the X direction, and crosses the transport unit 4 in the Y direction. The plurality of support parts 50a are Part 5 1. In the present embodiment, two support portions 50a are provided on one support member 50 at the lower end of arm portion 50b, spaced apart in the Y direction. Support portion 50a is a claw-shaped portion protruding in the X direction from arm portion 50b. Each support portion 50a of a pair of support members 50 facing each other in the X direction protrudes inward. By moving support portion 50a in the X direction, support portion 50a is inserted into step portion 132 of tray 130, and tray 130 can be supported from below by support portion 50a.

[0070] A sensor SR4 for detecting the stack SB is provided at the bottom of the accommodating frame 6, and a sensor SR5 for detecting the stack SB is provided at the top of the accommodating frame 6. The sensors SR4 and SR5 are, for example, reflective optical sensors. The sensors SR4 and SR5 can detect the amount of stacks SB accommodated in the accommodating frame 6 (the remaining number of trays 130).

[0071] <Holding unit> A holding unit 5 is provided inside the housing 2. The holding unit 5 is a mechanism for positioning the stack SB at a support position in the Z direction of the stack SB in the storage section 11 and holding the stack SB, and also for raising and lowering the stack SB. The holding unit 5 has a pair of support members 50 for one stack SB. The holding unit 5 of this embodiment is capable of holding two stacks SB simultaneously. Therefore, two pairs of support members 50 are provided, and a total of four support members 50 are provided.

[0072] Each support member 50 has a plurality of support parts 50a and an arm part 50b to which the plurality of support parts 50a are fixed. The arm part 50b is made of a thin plate-like member whose normal direction is the X direction, and crosses the transport unit 4 in the Y direction. The plurality of support parts 50a are provided at the lower end of the arm member 50b, spaced apart in the Y direction, and in the present embodiment, two support parts 50a are provided on one support member 50. The support parts 50a are claw-shaped parts protruding from the arm part 50b in the X direction. Each support part 50a of the pair of support members 50 facing each other in the X direction protrudes inward. By moving the support parts 50a in the X direction, the support parts 50a are inserted into the step parts 132 of the tray 130, and the tray 130 can be supported from below by the support parts 50a.

[0073] The holding unit 5 includes a pair of moving units 51. The pair of moving units 51 are arranged with one moving unit and the other moving unit spaced apart in the Y direction, and the arm portion 50b of each support member 50 is mounted on the pair of moving units 51. The moving units 51 move between a support position set in the transfer path RT where the support portions 50a of the pair of support members 50 can support the stacked body SB, and a release position set outside the transfer path RT where the support portions 50a are spaced apart from each other from the support position and the support of the stacked body SB is released. FIG. 7 shows an example of the release position, and the distance L1 in the X direction between the support portions 50a of the pair of support members 50 facing each other is greater than the width (here, the minimum width) of the placement portion 30a in the X direction. Therefore, when the pair of support members 50 are in the release position of FIG. 7, the placement portion 30a and the stacked body SB can pass between the pair of support members 50 in the Z direction without interfering with the support members 50. The width of the stack SB (tray 130) in the X direction is formed to be equal to or smaller than the width of the placement portion 30a in the X direction.

[0074] Each moving unit 51 includes a rail member 53 extending in the X direction, four sliders 52 slidable in the X direction on the rail member 53, and an actuator 54 that moves either two of the four sliders 52 that are adjacent to each other on one side or the other side close to or apart from each other. The arm portion 50b of the support member 50 is mounted on the sliders 52 that are respectively arranged facing each moving unit 51 spaced apart in the Y direction. The actuator 54 is, for example, an electric cylinder. One actuator 54 is provided for each moving unit 51. The actuator 54 provided in one of the pair of moving units 51 moves two adjacent sliders 52 on one side of the four sliders 52 of one moving unit 51 close to and away from each other, thereby moving two adjacent sliders 52 on one side arranged opposite to each other of the four sliders 52 of the other moving unit 51 close to and away from each other, via the arm part 50b of the support member 50. The actuator 54 provided in the other moving unit of the pair of moving units 51 moves two adjacent sliders 52 on the other side of the four sliders 52 of the other moving unit close to and away from each other, via the arm part 50b of the support member 50. The pair of support members 50 can be moved between the support position and the release position by one actuator 54.

[0075] 11 shows a state ST4 in which each support member 50 moves from the release position to the support position. Two pairs of support members 50 move toward each other in the X direction. State ST4 illustrates an operation in which the placement portion 30a is in a raised position and the pair of support members 50 receives the stack SB from the placement portion 30a.

[0076] A sensor SR6 is provided on each actuator 54. The sensor SR6 is a position sensor that detects the amount of movement of the actuator 54, and the detection result of the sensor SR6 makes it possible to identify either the support position or the release position of the corresponding pair of support members 50.

[0077] The holding unit 5 includes two lifting units 55 spaced apart in the Y direction. The two lifting units 55 are driven synchronously to simultaneously lift and lower the pair of moving units 51 and the four support members 50. Each lifting unit 55 includes a plate-shaped lifting member 57. The moving unit 51 is fixed to the lifting member 57. Two sliders 57a are fixed to each lifting member 57, and the sliders 57a engage with a pair of rail members 75 extending in the Z direction. Each lifting member 57 can be raised and lowered by being guided by a corresponding pair of rail members 75. The pair of rail members 75 is shared by the lifting unit 55 and the lifting unit 71.

[0078] Each lifting unit 55 includes a motor 56, which is a drive source, fixed to the side wall 20b. A plate cam 58 is attached to the output shaft of the motor 56. An L-shaped arm member 59 is fixed to the lifting member 57, and a cam follower 59a is rotatably supported at the end of the arm member 59. The peripheral surface of the plate cam 58 and the cam follower 59a are in contact with each other, and the lifting member 57 can be raised and lowered by the rotation of the plate cam 58. This allows the support member 50 to be raised and lowered.

[0079] State ST5 in Fig. 11 shows the upward movement of the lifting member 57. The axial direction of the output shaft of the motor 56 is the Y direction, and the plate cam 58 rotates on the XZ plane. The cam follower 59a is pushed up by the plate cam 58, causing the lifting member 57 to rise. State ST5 illustrates an example of the movement when the pair of support members 50 receives the stack SB from the placement portion 30a and rises. After delivering the stack SB to the pair of support members 50, the lifting table 30 descends.

[0080] The amount of elevation of the support member 50 is controlled by the amount of rotation of the plate cam 58 (i.e., the amount of rotation of the output shaft of the motor 56). The position of the support member 50 in the Z direction by the control includes a height (first height) at which the support portion 50a is lower than the belt 44 of the pair of conveyors 40, a height (second height) at which the support portion 50a can be inserted into the step portion 132 of the tray 130 on the belt 44, and a height (third height) at which the support portion 50a is above the belt 44.

[0081] <Relay unit> The relay unit 8 relays the transport of the tray 130 between the transport units 4 having different transport heights and an external tray transport mechanism (the conveyor 104 or the conveyor 106 in the system of FIG. 1). As shown in FIG. 4 and FIG. 6, the relay unit 8 of this embodiment includes a pair of relay conveyors 80 and a lifting unit 85 that raises and lowers the pair of relay conveyors 80 and rotates them in the horizontal direction.

[0082] Each relay conveyor 80 is a belt conveyor that conveys the tray 130 in the X direction. However, the relay conveyor 80 may be another conveying mechanism such as a roller conveyor. Each relay conveyor 80 includes a base member 81 extending in the X direction. A pulley 83 is disposed at each end of the base member 81 in the X direction, and one of the pulleys 83 is rotated by a motor 82 that is a driving source. The motor 82 is supported by the base member 81. A belt 84 is wound between the two pulleys 83. The tray 130 is placed on the belt 84. The tray 130 on the belt 84 is conveyed by the running of the belt 84 driven by the motor 82. In the case of this embodiment, similar to the pair of conveyors 40, the pair of relay conveyors 80 can place two trays 130 on the belt 84 side by side in the conveying direction, and can convey two trays 130 simultaneously.

[0083] The lifting unit 85 is an electric actuator that raises and lowers the pair of relay conveyors 80 between an elevated position (position indicated by a solid line) at the same conveying height as the conveyor 40 of the transport unit 4 and a lowered position (position indicated by a broken line) at the same conveying height as the conveyor 104 or the conveyor 106. The lifting unit 85 also has a function of rotating its lifting shaft 180 degrees around the Z-axis 8a, thereby allowing the orientation of the tray 130 on the pair of relay conveyors 80 to be rotated 180 degrees.

[0084] <Control device> 12 is a block diagram of the control device 9 that controls the tray conveying device 1. The control device 9 includes a processing unit 90, a memory unit 91, and an interface unit 92. The processing unit 90 is a processor such as a CPU. The memory unit 91 is a storage device such as a semiconductor memory. The memory unit 91 stores programs executed by the processing unit 90 and various data. The programs may be installed by a storage medium such as a CD-ROM. The interface unit 92 is an input / output interface and a communication interface between the processing unit 90 and an external device.

[0085] The processing unit 90 performs various control processes such as drive control of the actuator group 95 in response to the detection results of the sensor group 93, instructions from an operator to the operation unit 94, or instructions from the host device 150. The sensor group 93 includes sensors SR1 to SR6. The actuator group 95 includes motors 35, 42, 56, 72, 82 and actuators 48, 54. The operation unit 94 is a device into which instructions from an operator are input, such as a touch panel or a button switch. The host device 150 is a computer that controls the entire transfer system 100.

[0086] <Control example> An example of control by the control device 9 will be described. Fig. 13 is a flowchart showing an example of processing (program) executed by the processing unit 90. The example of processing in Fig. 13 shows an example of processing in the case where, in the tray supply area P1 (or P2), the cart 120 is received by the receiving unit 10 of the tray transport device 1, and the stack SB is transferred to the storage unit 11. The example of processing in Fig. 13 will be described with reference to the operation explanatory views in Figs. 14 to 19.

[0087] In S5, as a result of the state confirmation process in S4, it is determined whether the state of the tray transport device 1 is such that the stack SB can be transferred by the lift table 30. For example, if it is not possible to confirm that the pair of conveyors 40 have moved to the retracted positions, if it is not possible to confirm that each of the support members 50 has moved to the release positions, if a remaining tray 130 is detected, or if a predetermined operational process that does not allow the transfer of the stack SB is in progress, it is determined that the transfer is not possible, and the process proceeds to S10 to perform error processing. The error processing may, for example, notify an operator that the transfer is not possible, or notify the host device 150 that the transfer is not possible. The error processing may also be regarded as a standby state in which the container 121 (cart 120) is held at the positioning position, and after the transfer-impossible state is lifted, the operator may operation Processing from S4 onwards is carried out by issuing a restart command from unit 94. Also, the error processing can be regarded as a state in which container 121 (cart 120) is held at the positioning location and reserved for the next operation, and processing from S4 onwards is resumed by releasing the state in which transfer is impossible.

[0088] In S2, it is determined whether or not the operator has issued an installation instruction from the operation unit 94. If an installation instruction has been issued, the process proceeds to S3, and the positioning unit 7 positions the container 121. As shown in FIG. 16, the motor 72 drives the plate cam 73 to rotate, and the lifting member 74 is raised. The top of the lifting member 74 abuts against the flange 127 of the container 121 from below, and the cart 120 is pushed up to the positioning position, and the cart 120 is released from the floor FL. When the cart 120 rises, the abutting member 78 slides against the abutting member 123, so that the posture of the cart 120 during the rise is guided. The cart 120 is raised by the lifting member 74 and released from the floor FL, so that the influence of the floor FL is avoided, and the positioning member 70 fits into the engagement portion 128 provided on the flange 127, and the container 121 is positioned and held in the receiving unit 10.

[0089] As shown in FIG. 18, the two laminates SB transferred from the container 121 to the storage frame 6 pass between the pair of conveyors 40 while being guided by a plurality of guide members 122a provided on the container 121 and a plurality of guide members 60 provided on the storage frame 6, and are separated from the container 121 and transferred to the storage section 11. The two laminates SB that are being transferred from the container 121 to the storage frame 6 after passing between the pair of conveyors 40 are Accommodation It is guided by the guide members 60 of the frame 6 , and its lower portion is guided by a plurality of guide members 122 a provided on the container 121 .

[0090] In S5, as a result of the state confirmation process in S4, it is determined whether the state of the tray transport device 1 is a state in which the stack SB can be transferred by the lift table 30. For example, if it is not possible to confirm the movement of the pair of conveyors 40 to the retreat position, if it is not possible to confirm that each support member 50 has moved to the release position, if a remaining tray 130 is detected, or if a predetermined operation process that does not allow the transfer of the stack SB is in progress, it is determined that the transfer is impossible, and the process proceeds to S10 to perform error processing. The error processing, for example, notifies an operator that the transfer is impossible, or notifies the host device 150 that the transfer is impossible. The error processing can also be regarded as a standby state in which the container 121 (cart 120) is held at the positioning position, and after the transfer impossible state is released, the operator instructs restarting from the working unit 94, and the processing from S4 onwards is performed. Furthermore, the error processing can be regarded as a state in which the container 121 (cart 120) is held at the positioning location and is reserved for the next operation, and the transfer-impossible state is lifted, allowing the processing from S4 onwards to be resumed.

[0091] In S8, the lift table 30 is lowered, and then the container 121 (cart 120) is lowered to the receiving position. This completes the process. Note that the lowering of the lift table 30 and the container 121 in S8 may be performed simultaneously.

[0092] 18, the two laminated bodies SB transferred from the container 121 to the storage frame 6 pass between the pair of conveyors 40 while being guided by a plurality of guide members 122a provided on the container 121 and a plurality of guide members 60 provided on the storage frame 6, and are separated from the container 121 and transferred to the storage section 11. The two laminated bodies SB being transferred from the container 121 to the storage frame 6 after passing between the pair of conveyors 40 have their upper portions guided by the guide members 60 of the support frame 6, and their lower portions guided by a plurality of guide members 122a provided on the container 121.

[0093] In S7, the stack SB raised to the storage section 11 is supported by the holding unit 5, and in S8, the support position is raised. In these steps, after the height of the support portion 50a of each support member 50 is adjusted, each support member 50 is moved from the release position to the support position as shown in FIG. 19 and then further raised. Specifically, as shown in state ST4 of FIG. 11, the actuator 54 is driven to move each support member 50 from the release position to the support position. Each support portion 50a enters the step portion 132 of the lowermost tray 130. Next, the motor 56 of the lifting unit 55 is driven to lift each support member 50, and the stack SB is lifted from the lifting table 30. It is confirmed that the stack SB is stored in the storage frame 6 based on the detection results of the sensors SR4 and SR5. This completes the transfer of the stack SB.

[0094] In S9, the lift table 130 is lowered, and then the container 121 (cart 120) is lowered to the receiving position. This completes the process. Note that the lowering of the lift table 30 and the container 121 in S9 may be performed simultaneously.

[0095] In S12, as a result of the status confirmation process of S11, it is determined whether the status of the tray transport device 1 is such that the tray 130 can be removed from the bottom of the stack SB accommodated in the accommodation frame 6. For example, if it cannot be confirmed that the pair of conveyors 40 have moved to the transport position, it is determined that removal is not possible, and the process proceeds to S19 to perform error processing. The error processing may, for example, notify the operator that removal of the tray 130 is not possible, or notify the host device 150 that removal is not possible. After the cause of the error is eliminated, the operator operation By issuing a restart command from unit 94, processing from S11 onwards is carried out.

[0096] Next, Fig. 20 is a flow chart showing another processing example executed by the processing section 90. The processing example of Fig. 20 shows a processing example in the case where the tray 130 located at the bottom of the stack SB transferred to the storage section 11 by the processing of Fig. 13 is carried out in the tray supply area P1 (or P2). The processing example of Fig. 20 will be explained with reference to the operation explanatory diagrams of Figs. 21 and 22.

[0097] In S11, a status confirmation process is executed. Here, for example, the detection result of the sensor SR2 is acquired, and it is determined whether the pair of conveyors 40 is located at the transfer position. If the pair of conveyors 40 is not located at the transfer position, they are moved to the transfer position by the moving unit 45. In addition, the detection results of the sensors SR3 to SR5 are acquired, and it is determined whether the tray 130 is present on the pair of conveyors 40, whether the tray 130 is accommodated in the accommodation frame 6, and the like.

[0098] In S12, as a result of the state confirmation process of S11, it is determined whether the state of the tray transport device 1 is such that the tray 130 can be removed from the bottom of the stack SB accommodated in the accommodation frame 6. For example, if it cannot be confirmed that the pair of conveyors 40 have moved to the transport position, it is determined that removal is not possible, and the process proceeds to S19 to perform error processing. The error processing may, for example, notify an operator that removal of the tray 130 is not possible, or notify the host device 150 that removal is not possible. After eliminating the cause of the error, the operator issues a command to restart from the working unit 94, and the processing from S11 onwards is performed.

[0099] If it is determined in S12 that the tray 130 can be removed, the process proceeds to S13, in which the lifting unit 55 is driven to lower each of the support members 50. As a result, the stack SB is placed on the pair of conveyors 40, as shown in state ST11 of Fig. 21. In the following S14, the moving unit 51 is driven to move each of the support members 50 to the release position, as shown in state ST12 of Fig. 21.

[0100] In S15, the lifting unit 55 is driven again to raise each support member 50 so that the height of each support portion 50a is the same height as the step portion 132 of the second tray 130 stacked on the bottommost tray 130 of the stack SB, as illustrated in state ST13 of Fig. 21. Note that the height of this support member 50 can be specified in advance by design, and does not need to be detected by a sensor.

[0101] In S16, as illustrated in state ST14 of Fig. 22, the moving unit 51 moves each support member 50 to a support position. The support portion 50a of each support member 50 enters the step portion 132 of the second-stage tray 130 placed on the bottommost tray 130 of the stack SB. In S17, the lifting unit 55 is driven again to lift each support member 50. As a result, as illustrated in state ST15 of Fig. 22, only the tray 130 located at the bottom of each stack SB is placed on the conveyor 40, and the other trays 130 on the second stage and above are lifted. In this way, only the bottommost tray 130 is separated from the stack SB.

[0102] In S18, the pair of conveyors 40 are driven to carry out the two trays 130 on the belts 44, as illustrated in state ST16 of Fig. 22. The two trays 130 are carried to the relay unit 8 through the opening 24.

[0103] In S22, as a result of the status confirmation process in S21, it is determined whether or not the status of the tray transport device 1 is such that the tray 130 can be loaded into the storage frame 6. For example, if it cannot be confirmed that the pair of conveyors 40 have moved to the transport position, it is determined that loading is not possible, and the process proceeds to S29, where error processing is performed. The error processing may, for example, notify the operator that loading of the tray 130 is not possible, or notify the host device 150 that loading is not possible. After eliminating the cause of the error, the operator operation By issuing a restart command from unit 94, processing from S21 onwards is carried out.

[0104] Next, Fig. 23 is a flowchart showing another processing example executed by the processing section 90. The processing example in Fig. 23 shows a processing example in which a tray 130 is carried into the tray collection area P3 (or P4) and added to the bottom of the stack SB accommodated in the accommodation section 11. The processing example in Fig. 23 will be explained with reference to the operation explanatory diagrams in Figs. 24 and 25.

[0105] In S21, a status confirmation process is executed. Here, for example, the detection result of the sensor SR2 is acquired, and it is determined whether the pair of conveyors 40 is located at the transfer position. If the pair of conveyors 40 is not located at the transfer position, they are moved to the transfer position by the moving unit 45. In addition, the detection results of the sensors SR3 to SR5 are acquired, and it is determined whether the tray 130 is present on the pair of conveyors 40, whether the tray 130 is accommodated in the accommodation frame 6, and the like.

[0106] In S22, as a result of the status confirmation process of S21, it is determined whether or not the status of the tray transport device 1 is such that the tray 130 can be loaded into the storage frame 6. For example, if it cannot be confirmed that the pair of conveyors 40 have moved to the transport position, it is determined that loading is not possible, and the process proceeds to S29 to perform error processing. The error processing may, for example, notify an operator that loading of the tray 130 is not possible, or notify the host device 150 that loading is not possible. After eliminating the cause of the error, the operator issues a command to restart from the working unit 94, and the processing from S21 onwards is performed.

[0107] When it is determined in S22 that the tray 130 can be loaded, the process proceeds to S23, in which the relay unit 8 and the pair of conveyors 40 are driven to load the tray 130 from the relay unit 8 onto the pair of conveyors 40, as illustrated in state ST21 of Fig. 24. In this embodiment, two trays 130 are loaded at a time.

[0108] In S24, the lifting unit 55 is driven to lower each of the support members 50. As a result, as shown in state ST22 of Fig. 24, the stack SB is placed on the tray 130 on the pair of conveyors 40. The stack SB accommodated in the accommodation frame 6 becomes a new stack SB by being stacked on the tray 130 on the pair of conveyors 40. In the following S25, the moving unit 51 is driven to move each of the support members 50 to the release position as shown in state ST23 of Fig. 24.

[0109] In S26, the lifting unit 55 is driven again to lower each of the support members 50 so that the height of each support portion 50a is lower than the stack SB, as illustrated in state ST24 of FIG.

[0110] In S27, as illustrated in state ST25 of Fig. 25, the moving unit 51 moves each support member 50 to a support position. The support portion 50a of each support member 50 enters the step portion 132 of the lowermost tray 130 of the new stack SB. In S28, the lifting unit 55 is driven again to lift each support member 50. As a result, as illustrated in state ST26 of Fig. 25, a new stack SB is formed to which the currently loaded tray 130 is added, and is lifted by each support member 50. Thereafter, in state ST26, the next tray 130 is loaded.

[0111] By repeating the above process, the trays 130 that are successively carried in can be added to the bottom of each stack SB, thereby increasing the number of trays 130 in the stack SB. Note that the process in Fig. 23 can be performed in the same manner even when no tray 130 is supported by the pair of support members 50, or when only one tray 130 is supported.

[0112] Next, Fig. 26 is a flow chart showing another processing example executed by the processing section 90. The processing example of Fig. 26 shows a processing example in which the stack SB formed by stacking the trays 130 by the processing of Fig. 23 is transferred from the storage section 11 to the container 121 of the receiving section 10. This processing basically follows the reverse procedure of the processing of transferring the stack SB from the container 121 of the receiving section 10 to the storage section 11 described with reference to Figs. 13 to 19.

[0113] In S35, as a result of the state confirmation process of S34, it is determined whether the state of the tray transport device 1 is such that the stack SB can be transferred by the lift table 30. For example, if it cannot be confirmed that the pair of conveyors 40 have moved to the retracted positions, it is determined that the transfer is not possible, and the process proceeds to S42 to perform error processing. The error processing may, for example, notify an operator that transfer is not possible, or notify the host device 150 that transfer is not possible. The error processing may also be regarded as a standby state in which the container 121 (cart 120) is held at the positioning position, and after the transfer-impossible state is lifted, the operator may operation Processing from S34 onwards is performed by issuing a restart command from unit 94. Also, the error processing can be regarded as a state in which container 121 (cart 120) is held at the positioning location and reserved for the next operation, and processing from S4 onwards is resumed by releasing the state in which transfer is impossible.

[0114] If it is determined in S35 that the stack SB can be transferred, the process proceeds to S36, in which the lifting unit 31 is driven to lift the lifting table 30. The lifting table 30 is raised to the same position as in FIG. 18. In S37, the lifting unit 55 lowers each support member 50, and the stack SB is placed on the lifting table 30. 30a In S38, the moving unit 51 is driven to move each of the support members 50 to the release position. In S39, the lifting unit 55 lifts each of the support members 50.

[0115] In S34, a state confirmation process is executed before the stack SB is transferred. Here, for example, the detection result of the sensor SR2 is acquired, and it is determined whether or not the pair of conveyors 40 is located at the retracted position. If the pair of conveyors 40 is not located at the retracted position, they are moved to the retracted position by the moving unit 45. In addition, the detection results of the sensors SR3 to SR5 are acquired, and it is confirmed whether or not the tray 130 is present on the pair of conveyors 40, whether or not the tray 130 is present in the storage frame 6, etc.

[0116] In S35, as a result of the state confirmation process in S34, it is determined whether the state of the tray transport device 1 is a state in which the stack SB can be transferred by the lift table 30. For example, if it cannot be confirmed that the pair of conveyors 40 have moved to the retreat position, it is determined that the transfer is impossible, and the process proceeds to S42, where error processing is performed. The error processing, for example, notifies the operator that the transfer is impossible, or notifies the host device 150 that the transfer is impossible. The error processing can also be regarded as a standby state in which the container 121 (cart 120) is held at the positioning position, and after the transfer impossible state is released, the operator issues a restart command from the working unit 94, and the processing from S34 onwards is performed. The error processing can also be regarded as a state in which the container 121 (cart 120) is held at the positioning position and reserved for the next operation, and the transfer impossible state is released, whereby the processing from S4 onwards is resumed.

[0117] If it is determined in S35 that the stack SB can be transferred, the process proceeds to S36, in which the lifting unit 31 is driven to lift the lifting table 30. The lifting table 30 is lifted to the same position as in FIG. 18. In S37, the lifting unit 55 lowers each support member 50, and the stack SB is placed on the lifting table 30. One stack SB is placed on each placement portion 50a of the lifting table 30. In S38, the moving unit 51 is driven to move each support member 50 to the release position. In S39, the lifting unit 55 lifts each support member 50.

[0118] In S40, the lifting unit 31 is driven to lower the lifting table 30. The lifting table 30 is lowered to the same position as in the state of FIG. 17, and each stack SB is transferred from the storage unit 11 (specifically, in the storage frame 6) to the receiving unit 10 (specifically, in the container 121). The two stacks SB transferred from the storage frame 6 to the container 121 pass between the pair of conveyors 40 while being guided by a plurality of guide members 122a provided in the container 121 and a plurality of guide members 60 provided in the storage frame 6, and are placed on the placement member 122b of the container 121 from the storage unit 11. The two stacks SB being transferred from the storage frame 6 to the container 121 through the pair of conveyors 40 have their upper parts guided by the guide members 60 of the storage frame 6, and their lower parts guided by a plurality of guide members 122a provided in the container 121. Thereafter, the lift table 30 is released from the stack SB placed on the placement member 122b and moves to the bottom space 129 between the lowermost tray 130 of the stack SB and the bottom plate 121c, completing the transfer of the stack SB.

[0119] In S41, the lifting unit 71 is driven to lower the container 121 (cart 120) to the receiving position. The cart 120 lands on the floor FL, restricting its descent, and the lifting member 74 disengages from the flange portion 127 of the container 121, releasing the container 121 (cart 120) from the positioning unit 7. Thereafter, the cart 120 (container 121) becomes available for removal from the receiving section 10 by the operator. This completes the process. Since the process of FIG. 23 can be started with the container 121 (cart 120) to which the stack SB has been transferred positioned at the receiving section 10, the container 121 can be efficiently replaced. This allows the tray conveying device 1 to continuously collect the trays 130 without interruption.

[0120] <Other embodiments> In the above embodiment, the pair of conveyors 40 are configured to move between the transport position and the retreat position in a direction intersecting the transport direction of the tray 130, but other configurations may be adopted. Fig. 27 is a schematic diagram showing a transport unit 4' which is another configuration example of the transport unit 4.

[0121] The transport unit 4' includes a fixed conveyor 40a and a movable conveyor 40b, and the movable conveyor 40b is configured to be movable in the transport direction of the tray 130. In addition, both the fixed conveyor 40a and the movable conveyor 40b are roller conveyors, and the fixed conveyor 40a has a structure with a small number of rollers.

[0122] In state ST31, the movable conveyor 40b is located at the transport position. When transferring the stack SB from the receiving section 10 to the storage section 11, the movable conveyor 40b is moved to the retracted position as shown in state ST32. This allows the stack SB to pass between the fixed conveyor 40a and the movable conveyor 40b and be transferred from the receiving section 10 to the storage section 11 as shown in state ST33.

[0123] Thereafter, as shown in state ST34 or state ST35, the bottommost tray 130 of the stack SB can be carried out.

[0124] Although the embodiment of the invention has been described above, the invention is not limited to the above embodiment, and various modifications and variations are possible within the scope of the gist of the invention.

Claims

1. A receiving section for receiving a container in which a stack formed by stacking a plurality of trays is housed; a storage section disposed above the receiving section and configured to store the stack; a transfer means for lifting the stack from the container to separate the stack from the container and transfer the stack to the storage section; a conveying means for conveying out a tray located at the bottom of the stack housed in the housing section, a housing forming an outer wall of the tray transport device; The housing includes: A portion of the receiving portion surrounding a space for receiving the container; a portion surrounding a space in the housing portion that houses the stack; A portion supporting the transfer means; A portion supporting the conveying means; an opening on a transport path of the tray by the transport means, A tray transport device comprising:

2. A receiving section for receiving a container in which a stack formed by stacking a plurality of trays is housed; a storage section disposed above the receiving section and configured to store the stack; a transfer means for lifting the stack from the container to separate the stack from the container and transfer the stack to the storage section; a conveying means for conveying out a tray located at the bottom of the stack contained in the containing section, The conveying means is A pair of conveyors on which the tray is placed and which transport the placed tray; a moving means for moving the pair of conveyors between a transport position and a retreat position, At the transport position, the pair of conveyors are located within a path for transferring the stack by the transfer means and are capable of transporting the tray; At the retreat position, the pair of conveyors are spaced apart from each other more than at the transport position, and the pair of conveyors are positioned outside the transfer path. A tray transport device comprising:

3. 3. The tray conveying device according to claim 2, A detection means for detecting a position of the conveyor including the transfer position and the retreat position; A control means for controlling the transfer means based on the detection result of the detection means. A tray transport device comprising:

4. A receiving section for receiving a container in which a stack formed by stacking a plurality of trays is housed; a storage section disposed above the receiving section and configured to store the stack; a transfer means for lifting the stack from the container to separate the stack from the container and transfer the stack to the storage section; a conveying means for conveying out a tray located at the bottom of the stack housed in the housing section; A pair of support members on which the stack accommodated in the accommodation section is placed; A lifting means for lifting and lowering the pair of support members; a moving means for moving the pair of support members between a support position where the pair of support members can support the stack and a release position where the pair of support members are spaced apart from each other from the support position and support of the stack is released, the lifting means is capable of lowering the pair of support members to a position where the stack is placed on the conveying means. A tray transport device comprising:

5. A receiving section for receiving a container in which a stack formed by stacking a plurality of trays is housed; a storage section disposed above the receiving section and configured to store the stack; a transfer means for lifting the stack from the container to separate the stack from the container and transfer the stack to the storage section; a conveying means for conveying out a tray located at the bottom of the stack contained in the containing section, the storage section includes a plurality of first guide members extending in a vertical direction and defining a storage position of the stack; The container includes a plurality of second guide members extending in a vertical direction, the stack is lifted by the transfer means while being guided by the plurality of first guide members and the plurality of second guide members; A tray transport device comprising:

6. A receiving section for receiving a container in which a stack formed by stacking a plurality of trays is housed; a storage section disposed above the receiving section and configured to store the stack; a transfer means for lifting the stack from the container to separate the stack from the container and transfer the stack to the storage section; a conveying means for conveying out a tray located at the bottom of the stack contained in the containing section, The receiving portion is a positioning means for positioning the container; and a lifting means for lifting and lowering the container between a positioning position determined by the positioning means and a receiving position below the positioning position. A tray transport device comprising:

7. 7. The tray conveying device according to claim 6, The receiving portion is a guide member for guiding the container into the receiving portion in a first direction; and an abutment member that abuts against the container to position the container in the first direction in the receiving portion. A tray transport device comprising:

8. A receiving section for receiving a container in which a stack formed by stacking a plurality of trays is housed; a storage section disposed above the receiving section and configured to store the stack; a transfer means for lifting the stack from the container to separate the stack from the container and transfer the stack to the storage section; a conveying means for conveying out a tray located at the bottom of the stack housed in the housing section; a relay means for relaying the transport of the tray between the transport means and an external tray transport mechanism having a transport height different from that of the transport means; a lifting means for lifting the relay means between a transport height of the transport means and a transport height of the external tray transport mechanism, A tray transport device comprising:

9. The tray conveying device according to claim 4, the lifting means is capable of lifting the pair of support members between a first height below a conveying surface of the conveying means, a second height above the tray carried out by the conveying means, and a third height above the second height. A tray transport device comprising:

10. A receiving portion for receiving a container; a storage section disposed above the receiving section and configured to store a stack of trays; A conveying means for conveying a tray to be added to the bottom of the stack; a transfer means for transferring the stack contained in the container to the container received in the receiving section by lowering the stack contained in the container; The conveying means is A pair of conveyors on which the tray is placed and which transport the placed tray; a moving means for moving the pair of conveyors between a transport position and a retreat position, At the transport position, the pair of conveyors are located within a path for transferring the stack by the transfer means and are capable of transporting the tray; At the retreat position, the pair of conveyors are spaced apart from each other more than at the transport position, and the pair of conveyors are positioned outside the transfer path. A tray transport device comprising:

11. The tray conveying device according to claim 10, A detection means for detecting a position of the conveyor including the transfer position and the retreat position; A control means for controlling the transfer means based on the detection result of the detection means. A tray transport device comprising:

12. A receiving portion for receiving a container; a storage section disposed above the receiving section and configured to store a stack of trays; A conveying means for conveying a tray to be added to the bottom of the stack; a transfer means for transferring the stack contained in the container to the container received in the receiving section by lowering the stack contained in the container; A pair of support members on which the stack accommodated in the accommodation section is placed; A lifting means for lifting and lowering the pair of support members; a moving means for moving the pair of support members between a support position where the pair of support members can support the stack and a release position where the pair of support members are spaced apart from each other from the support position and support of the stack is released, the lifting means is capable of lowering the pair of support members to a position where the stack is placed on the conveying means. A tray transport device comprising:

13. a work transfer device that transfers a work from a first tray to a second tray; A work supply device that supplies the first tray supporting the work to the work transfer device; A transfer system including a tray supply device that supplies the second tray to the work transfer device, The work supply device is a first receiving portion for receiving a first container in which a first stack of a plurality of the first trays is accommodated; a first storage section disposed above the first receiving section and configured to store the first stack; a first transfer means for lifting the first stack from the first container to separate the first stack from the first container and transfer the stack to the first storage unit; a first conveying means for conveying out the first tray located at the bottom of the first stack accommodated in the first accommodation section, A transfer system characterized by:

14. The transfer system according to claim 13, The tray supply device includes: a second receiving portion for receiving a second container in which a second stack of the second trays is housed; a second storage portion disposed above the second receiving portion and configured to store the second stack; a second transfer means for lifting the second stack from the second container to separate the second stack from the second container and transfer the stack to the second storage section; and a second conveying means for conveying out the second tray located at the bottom of the second stack accommodated in the second accommodation section. A transfer system characterized by:

15. The transfer system according to claim 14, A work collection device that collects the second tray supporting the work from the work transfer device; a tray recovery device that recovers the first tray from the work transfer device, The workpiece recovery device is a third receiving portion for receiving a third container in which a stack of a plurality of the second trays is accommodated; a third storage section disposed above the third receiving section and configured to store a third stack of a plurality of the second trays; a third conveying means for conveying the second tray to be added to the bottom of the third stack; and a third transfer means for transferring the third stack to the third container received in the third receiving section by lowering the third stack received in the third storage section. A transfer system characterized by:

16. The transfer system according to claim 15, The tray recovery device is a fourth receiving portion for receiving a fourth container; a fourth storage section disposed above the fourth receiving section and configured to store a fourth stack of the first trays; a fourth conveying means for conveying a tray to be added to the bottom of the fourth stack; and a fourth transfer means for transferring the fourth stack contained in the fourth storage section to the fourth container received in the fourth receiving section by lowering the fourth stack. A transfer system characterized by:

17. A receiving section for receiving a container; a storage section disposed above the receiving section and configured to store a stack of trays; A conveying means for conveying a tray to be added to the bottom of the stack; a transfer means for transferring the stack contained in the container received in the receiving section by lowering the stack contained in the container, a housing forming an outer wall of the tray transport device; The housing includes: A portion of the receiving portion surrounding a space for receiving the container; a portion surrounding a space in the housing portion that houses the stack; A portion supporting the transfer means; A portion supporting the conveying means; an opening on a transport path of the tray by the transport means, A tray transport device comprising:

18. A receiving section for receiving a container; a storage section disposed above the receiving section and configured to store a stack of trays; A conveying means for conveying a tray to be added to the bottom of the stack; a transfer means for transferring the stack contained in the container to the container received in the receiving section by lowering the stack contained in the container; the storage section includes a plurality of first guide members extending in a vertical direction and defining a storage position of the stack; The container includes a plurality of second guide members extending in a vertical direction, the stack is lowered by the transfer means while being guided by the plurality of first guide members and the plurality of second guide members; A tray transport device comprising:

19. A receiving section for receiving a container; a storage section disposed above the receiving section and configured to store a stack of trays; A conveying means for conveying a tray to be added to the bottom of the stack; a transfer means for transferring the stack contained in the container to the container received in the receiving section by lowering the stack contained in the container; The receiving portion is a positioning means for positioning the container; and a lifting means for lifting and lowering the container between a positioning position determined by the positioning means and a receiving position below the positioning position. A tray transport device comprising:

20. 20. The tray transport device according to claim 19, The receiving portion is a guide member for guiding the container into the receiving portion in a first direction; and an abutment member that abuts against the container to position the container in the first direction in the receiving portion. A tray transport device comprising:

21. A receiving section for receiving a container; a storage section disposed above the receiving section and configured to store a stack of trays; A conveying means for conveying a tray to be added to the bottom of the stack; a transfer means for transferring the stack contained in the container to the container received in the receiving section by lowering the stack contained in the container; a relay means for relaying the transport of the tray between the transport means and an external tray transport mechanism having a transport height different from that of the transport means; a lifting means for lifting the relay means between a transport height of the transport means and a transport height of the external tray transport mechanism, A tray transport device comprising:

22. a receiving section for receiving a container in which a stack formed by stacking a plurality of trays is accommodated; a storage section that is aligned with the receiving section in the vertical direction and is disposed above the receiving section, and that stores the stack; a transfer means for lifting the stack from the container to separate the stack from the container and transfer the stack to the storage section; and a conveying means for conveying out a tray located at the bottom of the stack housed in the housing section. A tray transport device comprising:

23. A receiving section for receiving a container; a storage section that is aligned vertically with the receiving section and is disposed above the receiving section, and that stores a stack formed by stacking a plurality of trays; A conveying means for conveying a tray to be added to the bottom of the stack; and a transfer means for transferring the stack into the container received in the receiving section by lowering the stack contained in the storage section. A tray transport device comprising:

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