Stocker and robot system

Abstract

A stocker according to one aspect of the present disclosure accommodates a plurality of stacked objects to be stored. The stocker is equipped with: a loading plate on which stacked objects to be stored are loaded; and a plurality of guide parts by which the loaded objects to be stored are prevented from excessively leaning and falling over. The guide parts are inclined relative to the vertical axis and / or the loading plate is inclined relative to a horizontal plane.

Description

Stocker and robot system

[0001] The present invention relates to a stocker and a robot system.

[0002] Stacking and storing items such as materials, parts, or trays or containers for storing them is one effective way to store more items in the same area. However, simply stacking items vertically increases the likelihood of the items tipping over as the height of the stack increases. Therefore, various methods have been proposed to prevent stacked items from tipping over. One such method involves restraining stacked items (see, for example, Patent Document 1). Generally, if the items to be restrained have a shape similar to a rectangular parallelepiped, such as a tray or container, guides are provided in four directions perpendicular to the vertical axis to restrain the items. Therefore, the guides can interfere with the addition or removal of items, reducing workability. In particular, in the case of a robotic system, the shape of the robotic hand and the location of the robot are limited to prevent the robotic hand or robotic arm from interfering with the guides.

[0003] JP 2009-67414 A

[0004] There is a demand for a stocker that prevents stacked articles from collapsing and that, when combined with a robot, allows easy access by the robot.

[0005] A stocker according to one aspect of the present disclosure is a stocker for storing a plurality of stacked objects. The stocker includes a loading plate for supporting the stacked objects and a plurality of guide members for preventing the stacked objects from tipping over. The guide members are inclined relative to a vertical axis and / or the loading plate is inclined relative to a horizontal plane.

[0006] FIG. 1 is a diagram showing an example of a robot system including a stocker according to this embodiment. FIG. 2 is a perspective view of the stocker according to this embodiment. FIG. 3 is a side view of FIG. 2. FIG. 4 is a front view of FIG. 2. FIG. 5 is a side view showing a first modified example of the stocker according to this embodiment. FIG. 6 is a front view of the first modified example of the stocker according to this embodiment. FIG. 7 is a perspective view showing a second modified example of the stocker according to this embodiment. FIG. 8 is a perspective view showing a third modified example of the stocker according to this embodiment. FIG. 9 is a side view showing a fourth modified example of the stocker according to this embodiment. FIG. 10 is a front view of the fourth modified example of the stocker according to this embodiment. FIG. 11 is a side view showing a fifth modified example of the stocker according to this embodiment.

[0007] A stocker according to an embodiment of the present invention will be described below with reference to the drawings. In the following description, components having substantially the same functions and configurations are designated by the same reference numerals, and redundant description will be given only when necessary.

[0008] As shown in Fig. 1, a stocker 2 according to this embodiment stores stacked items (items to be stored) and, together with a robot 3, constitutes a robot system 1. The robot 3 is positioned close to the stocker 2, grasps the items stored in the stocker 2, and transports them to any desired location. The stocker 2 has a loading plate 21 on which the stacked items are placed, a plurality of guides (two guides 23 and 25 in this example) that prevent the loaded items from tipping over, and a plurality of legs (four legs in this example) that support the loading plate 21 against the installation surface. The four legs 26, 27, 28, and 29 are fixed to the floor (installation surface) by leg fixing brackets.

[0009] To facilitate understanding of the description of the stocker 2 according to this embodiment, the coordinate axes are defined as follows. Specifically, two orthogonal axes defining a horizontal plane are defined as the X-axis and Y-axis, and the vertical axis is defined as the Z-axis. The X-axis defining the horizontal plane is defined as the axis along the left-right direction of the stocker 2, and the Y-axis is defined as the axis along the front-rear direction of the stocker. The +X-axis direction corresponds to the right direction of the stocker 2, the -X-axis direction corresponds to the left direction of the stocker 2, the +Y-axis direction corresponds to the front direction of the stocker 2, and the -Y-axis direction corresponds to the rear direction of the stocker 2. In FIG. 1 , the stocker 2 is positioned so that the front side (+Y-axis direction) of the stocker 2, on which the guides 23 and 25 are not provided, faces the robot 3.

[0010] A specific example of the stocker 2 will be described below with reference to Figures 2 to 4. The objects to be stored are assumed to be rectangular trays containing multiple substrates or the like. Of course, the objects to be stored are not limited to this, and may be any shape, such as circular, elliptical, or triangular, in plan view. Figures 2, 3, and 4 show a perspective view, a side view, and a front view, respectively, of the stocker 2. As shown in these figures, the stocker 2 has a loading plate 21, two guide portions 23 and 25, and four legs 26, 27, 28, and 29. The loading plate 21 is a rectangular flat plate that matches the planar shape of the objects to be stored, and the objects are loaded on its upper surface. This upper surface is referred to as the loading surface.

[0011] When the stocker 2 is installed on a horizontal floor, the load plate 21 is inclined around the X axis at an angle θx1 so that the load surface slopes downward from the front to the rear, and at an angle θy1 so that the load surface slopes downward from the right to the left. The inclination angles θx1 and θy1 are each less than 90 degrees (acute angles) and are preferably selected appropriately from the range of 3 to 10 degrees. The inclination angles θx1 and θy1 may be the same angle or different angles. The inclination in two directions can be achieved, for example, by appropriately varying the lengths of the four legs 26, 27, 28, and 29. Of course, the lengths of the four legs 26, 27, 28, and 29 may be the same, and the inclination in two directions may be achieved by changing the shape of the load plate 21.

[0012] Due to the inclination of the loading surface in two directions, horizontal force due to the weight of the items loaded on loading plate 21 acts on the items toward the rear and left sides where first guide section 23 and second guide section 25 are present, which may cause the items loaded on loading plate 21 to slide or tilt from the loading surface to the rear and left sides of stocker 2. First guide section 23 and second guide section 25 are provided to prevent the items from sliding or tilting.

[0013] The stocker 2 has a first guide section 23 for preventing items loaded on the loading plate 21 from sliding or tilting toward the rear (around the X-axis) of the stocker 2. Typically, the first guide section 23 is composed of a pair of first support columns 231, 233 spaced apart at a distance equal to or narrower than the width of the items, and a first connecting member 235 connecting the pair of first support columns 231, 233. The first guide section 23 is provided perpendicular to the loading plate 21 at the rear end of the loading plate 21. The first guide section 23, together with the loading plate 21, is inclined rearward at an inclination angle θx1 around the X-axis with respect to the vertical axis, and is inclined leftward at an inclination angle θy1 around the Y-axis with respect to the vertical axis. The stocker 2 has a second guide section 25 for preventing items loaded on the loading plate 21 from sliding or tilting toward the left (around the Y-axis) of the stocker 2. Typically, the second guide section 25 is composed of a pair of second support columns 251, 253 arranged at a distance equal to or narrower than the length of the stored items, and a second connecting member 255 connecting the pair of second support columns 251, 253, and is provided perpendicular to the load plate 21 at the left end of the load plate 21. The second guide section 25, together with the load plate 21, is inclined rearward at an inclination angle θx1 around the X axis with respect to the vertical axis, and is inclined leftward at an inclination angle θy1 around the Y axis with respect to the vertical axis.

[0014] Two support surfaces corresponding to the two guide sections 23, 25 provided on the stocker 2 are perpendicular to each other. The support surfaces are defined by the surfaces that come into contact with the objects to be contained when the objects are contained on the loading plate 21. In this embodiment, the support surface of the first guide section 23 is defined by the surfaces of the first support columns 231, 233 that come into contact with the side surfaces of the objects to be contained placed on the loading plate 21, and the support surface of the second guide section 25 is defined by the surfaces of the second support columns 251, 253 that come into contact with the side surfaces of the objects to be contained placed on the loading plate 21.

[0015] The stocker 2 according to the present embodiment described above provides the following advantages. One feature of the stocker 2 according to the present embodiment is that the loading plate 21, on which the items to be stored are loaded, is intentionally tilted with respect to a horizontal plane. Because the force of the items' own weight can be applied to the items loaded on the loading plate 21 in the intended direction, simply providing guides 23, 25 that prevent the items from sliding or tilting in only the direction in which the force of the items' own weight acts can substantially prevent the items loaded on the loading plate 21 from sliding or tilting in all directions. In this embodiment, intentionally tilting the loading plate 21 about two axes that define the horizontal plane on the rear and left sides of the stocker 2 makes it possible to prevent the items loaded on the loading plate 21 from sliding or tilting simply by providing guides 23, 25 only on the rear and left sides of the loading plate 21. Furthermore, compared to a stocker that has multiple guides surrounding the loading plate 21 on all four sides, the number of guides can be reduced, thereby reducing weight and costs.

[0016] Furthermore, when loading items onto the loading plate 21 or picking up items loaded on the loading plate 21, the robot 3 can approach and leave the stocker 2 over a relatively short distance from the open right front side, where the guides 23 and 25 are not provided, while maintaining its arm posture nearly horizontal. This improves work efficiency compared to conventional stockers surrounded by guides on all four sides, where the robot must approach and leave by detouring upward to avoid colliding with the guides. Furthermore, because the worker can approach the items stored in the stocker 2 from the side of the stocker 2, the efficiency of tasks such as replenishing and removing items from the stocker 2 can be improved compared to when using conventional stockers surrounded by guides on all four sides.

[0017] Modifications of the stocker 2 according to this embodiment will now be described. (First Modification) A stocker according to a first modification will now be described with reference to FIGS. 5 and 6. FIGS. 5 and 6 show a side view and a front view, respectively, of the stocker according to the first modification. As shown in FIGS. 5 and 6, the stocker 4 according to the first modification has a loading plate 41, two guide portions 43 and 45, and four legs 46, 47, 48, and 49. When the stocker 4 is installed on a horizontal floor, the loading surface of the loading plate 41 is configured to be horizontal. As a result, an obtuse angle is formed between the loading surface of the loading plate 41 and the support surface on which the first guide portion 43 supports the contained items, and an obtuse angle is formed between the loading surface of the loading plate 41 and the support surface on which the second guide portion 45 supports the contained items.

[0018] The stocker 4 according to the first modification achieves the same effects as the stocker 2 according to the present embodiment. Specifically, because the loading surface of the loading plate 41 is horizontal, the items loaded on the loading plate 41 do not slide off the loading surface. Furthermore, the items are stacked along the first and second guide sections 43, 45, which are inclined toward the rear and left, respectively, with respect to the vertical axis, while gradually shifting toward the rear and left. Naturally, the stacked items do not tip toward the rear and left of the stocker 4 where the first and second guide sections 43, 45 are located. Although the front and right sides of the stocker 4 are not provided with guide sections and are open, the items are stacked in a horizontal position. Therefore, the stacked items are not subjected to horizontal force due to their own weight. This reduces the possibility of the items tipping toward the open side of the stocker 4 compared to when the items are stacked along the vertical axis.

[0019] A stocker according to a second modified example will now be described with reference to FIG. 7 . FIG. 7 shows a perspective view of the stocker according to the second modified example. The stocker 5 according to the second modified example achieves an adjustable tilt angle of the loading plate. As shown in FIG. 7 , the stocker 5 has a loading plate 21, two guides 23 and 25, and four legs 56, 57, 58, and 59. The rear left leg 59 at the farthest end has a fixed length, while the other three legs 56, 57, and 58 each have adjustable lengths. The adjustable lengths of the legs 56, 57, and 58 are achieved by a nested structure. For example, the leg 56 is composed of a first cylindrical body 561 and a second cylindrical body 562 housed inside the first cylindrical body 561 so as to be movable forward and backward. Similarly, the leg 57 is composed of a first cylindrical body 571 and a second cylindrical body 572, and the leg 58 is composed of a first cylindrical body 581 and a second cylindrical body 582. The stocker 5 according to the second modification achieves the same effects as the stocker 2 according to the present embodiment. Furthermore, in the second modification, the length of each of the three legs 56, 57, and 58 can be adjusted individually, allowing the loading plate 21 and the two guide members 23 and 25 to be tilted at any angle. It is also possible to tilt the loading plate 21 in two directions, with the tilt angles in the two directions being different from each other. This allows for flexible adaptation to characteristics such as the size of the installation space for the stocker, the weight of the items to be stored, and the slipperiness of the loading surface (coefficient of static friction). The mechanism for adjusting the leg length is not limited to a nested structure. For example, known mechanisms can be used to adjust the leg length, such as a spacer mechanism that inserts a spacer between the leg and the floor, a cylinder mechanism that uses hydraulic pressure to adjust the length, or a motor-driven extension / retraction mechanism.

[0020] A stocker according to a third modified example will now be described with reference to FIG. 8 . FIG. 8 is a perspective view of the stocker according to the third modified example. As shown in FIG. 8 , the stocker 6 according to the third modified example includes a loading plate 61, two guide members 23 and 25, and four legs 26, 27, 28, and 29. A plurality of ball rollers 63 are distributed on the loading surface of the loading plate 61 as a sliding mechanism for sliding the objects loaded on the loading plate 61 downward along the slope of the loading plate 61. The ball rollers 63 are mechanisms in which spherical balls are rotatably supported by bearings. The stocker 6 according to the third modified example achieves the same effects as the stocker 2 according to the present embodiment. Furthermore, by providing a plurality of ball rollers 63 on the loading surface as in the third modified example, the objects loaded on the loading plate 61 slide along the slope of the loading plate 61 toward the left rear side where the guide members 23 and 25 intersect. This allows the objects to be reliably supported by the guide members 23 and 25. The slide mechanism is not limited to ball rollers, and various rollers such as cylindrical rollers can be used.

[0021] A stocker according to a fourth modification will now be described with reference to FIGS. 9 and 10 . FIGS. 9 and 10 show a side view and a front view, respectively, of the stocker according to the fourth modification. As shown in FIGS. 9 and 10 , the stocker 7 according to the fourth modification includes a loading plate 21, two guide members 73 and 75, and four legs 26, 27, 28, and 29. As in the present embodiment, the loading plate 21 is inclined in two directions: downward toward the rear at an angle θx1 around the X axis and downward toward the left at an angle θy1 around the Y axis. However, the two guide members 73 and 75 are not inclined but are arranged parallel to the vertical axis. That is, the loading surface and the support surface of the first guide member 73 form an acute angle, and the loading surface and the support surface of the second guide member 75 form an acute angle. The first and second guide sections 73, 75 in the fourth modified example have the same structure as the first and second guide sections 23, 25 in this embodiment, and therefore will not be described here. The first guide section 73 is erected along a vertical axis at the rear end of the load plate 21. The second guide section 75 is erected along a vertical axis at the left end of the load plate 21. In the stocker 7 of the fourth modified example, items loaded on the load plate 21 slide toward the rear left due to the inclination of the load plate 21. The first guide section 73 and the second guide section 75 can prevent the items from sliding or tipping in this direction. As a result, the stocker 7 of the fourth modified example achieves the same effects as this embodiment. Furthermore, since the first and second guide portions 73, 75 in the fourth modified example are arranged along the vertical axis, the floor area required when the stocker is installed can be minimized compared to when the first and second guide portions 23, 25 in this embodiment are inclined away from the loading plate 21 relative to the vertical axis.

[0022] A stocker according to a fifth modification will now be described with reference to FIG. 11 . FIG. 11 shows a side view of the stocker according to the fifth modification. In this embodiment, the tilt angle of the load plate 21 is fixed, but it may be variable. For example, the tilt angle of the load plate 21 can be varied using a hinge structure as a mechanism for changing the tilt angle of the load plate 21. Furthermore, for example, the load plate 21 may be configured to tilt in two directions when loaded with items and to maintain a horizontal position when unloaded with no items. As shown in FIG. 11 , the stocker 8 according to the fifth modification includes the load plate 21, two guide members 73 and 75, and four legs 26, 27, 28, and 29. The load plate 21 is supported at its front right by a hinge 81 so as to be able to tilt freely, and its rear left corner is maintained in a horizontal position by, for example, a compression spring 83. When the contents to be loaded on the loading plate 21 are piled up and a load greater than the elastic force of the compression spring 83 is applied, the left rear corner of the loading plate 21 is pushed down, causing the loading plate 21 to tilt in two directions. The maximum tilt angle is determined by the angle at which the loading plate 21 contacts the stopper 85. The stocker 8 according to the fifth modification achieves the same effects as the stocker 2 according to this embodiment.

[0023] In the present embodiment, the loading plate 21 and the legs 26, 27, 28, and 29 are formed from separate members, but the loading plate 21 may also serve as the legs 26, 27, 28, and 29. In the present embodiment, the guide unit 23 is formed from a pair of support posts 231 and 233 and a connecting member 235 connecting them, but the configuration of the guide unit is not limited to this as long as it can support the items loaded on the loading plate 21. For example, the guide unit may be formed from a pair of support posts 231 and 233, or may be formed from a single support post, or may be formed from a plate-like member.

[0024] The stocker according to this embodiment has two guide sections: a first guide section for preventing tilting of the objects loaded on the loading plate 21 around the X axis, and a second guide section for preventing tilting of the objects around the Y axis. However, the number of guide sections may be one, or three or more, as long as it is possible to prevent tilting of the objects loaded on the loading plate 21 around the X axis and the Y axis.

[0025] In this embodiment, the two guide sections 23, 25 provided on the stocker 2 are provided so that their respective support surfaces are perpendicular to each other. However, as long as the multiple guide sections can at least prevent the stocker 2 from sliding down or tilting in two directions, the support surfaces of the guide sections do not need to be perpendicular to each other, but only need to at least intersect.

[0026] In the present embodiment, the inclination angles of the first and second guide units 23, 25 relative to the load plate 21 are fixed, but they may be variable. For example, the first guide unit 23 may be connected to the load plate 21 via a hinge that is rotatable about the X axis, and the second guide unit 25 may be connected to the load plate 21 via a hinge that is rotatable about the Y axis, as a mechanism for changing the inclination angle.

[0027] The following supplementary notes are further disclosed regarding this embodiment and its modified examples. (Supplementary Note 1) The stocker 2 includes a loading plate 21 on which stacked items are loaded, and multiple guide sections 23, 25 that prevent the loaded items from tipping over. The guide sections 23, 25 are inclined with respect to the vertical axis, and / or the loading plate 21 is inclined with respect to the horizontal plane. (Supplementary Note 2) In the stocker 2 described in Supplementary Note 1, the support surfaces of the guide sections 23, 25 that support the items intersect with each other. (Supplementary Note 3) In the stocker 2 described in Supplementary Note 2, two guide sections 23, 25 are provided, and the support surface of one of the guide sections 23, 25 that supports the items and the support surface of the other of the guide sections 23, 25 that support the items are orthogonal to each other. (Supplementary Note 4) The stocker 2 described in Supplementary Note 1 further includes a change mechanism for changing the inclination angle of the guide sections 23, 25 with respect to the vertical axis. (Supplementary Note 5) In the stocker 2 described in Supplementary Note 1, two guide portions 23, 25 are provided, and when a horizontal plane is defined by two orthogonal axes (X-axis and Y-axis), one of the guide portions 23, 25 is inclined at least about the X-axis, and the other of the guide portions 23, 25 is inclined at least about the Y-axis. (Supplementary Note 6) In the stocker 2 described in Supplementary Note 1, when a horizontal plane is defined by two orthogonal axes (X-axis and Y-axis), the loading plate 21 is inclined about the X-axis and also about the Y-axis. (Supplementary Note 7) In the stocker 2 described in Supplementary Note 5 or Supplementary Note 6, the guide portions 23, 25 are provided perpendicular to the loading plate 21. (Supplementary Note 8) The stocker 2 described in Supplementary Note 5 or Supplementary Note 6 further includes a change mechanism for changing the inclination angle of the loading plate 21 relative to the horizontal plane. (Supplementary Note 9) In the stocker 2 described in Supplementary Note 5 or Supplementary Note 6, the loading plate 21 has a slide mechanism 63 for sliding the items loaded on the loading plate 21 downward along the inclination of the loading plate 21. (Supplementary Note 10) A robot system 1 includes the stocker 2 described in any one of Supplementary Notes 1 to 9, and a robot 3 that is positioned close to the stocker 2 and transports the items stored in the stocker 2 out of the stocker 2.

[0028] Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the invention or the concept and spirit of the present invention derived from the content of the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments.

[0029] 1...robot system, 2...stocker, 3...robot, 21...loading plate, 23...first guide portion, 25...second guide portion, 26, 27, 28, 29...leg portions, 231, 233...first support pillar, 235...first connecting member, 251, 253...second support pillar, 255...second connecting member.

Claims

1. A stocker for storing a plurality of stacked items, comprising: a loading plate for loading the stacked items; and a plurality of guide portions for preventing the loaded items from tipping over, wherein the guide portions are inclined relative to a vertical axis and / or the loading plate is inclined relative to a horizontal plane.

2. The stocker according to claim 1, wherein the support surfaces of the guide sections that support the stored objects intersect with each other.

3. The stocker according to claim 2, wherein two guide sections are provided, and the support surface of one of the guide sections that supports the stored object and the support surface of the other of the guide sections that supports the stored object are perpendicular to each other.

4. The stocker according to claim 1, further comprising a mechanism for changing the inclination angle of said guide portion relative to said vertical axis.

5. The stocker according to claim 1, wherein two guide sections are provided, and when a horizontal plane is defined by two orthogonal axes (X-axis and Y-axis), one of the guide sections is inclined at least around the X-axis, and the other guide section is inclined at least around the Y-axis.

6. The stocker according to claim 1, wherein when a horizontal plane is defined by two orthogonal axes (X-axis and Y-axis), said loading plate tilts about said X-axis and tilts about said Y-axis.

7. The stocker according to claim 5 or 6, wherein said guide portion is provided perpendicular to said loading plate.

8. The stocker according to claim 5 or 6, further comprising a mechanism for changing the inclination angle of said loading plate.

9. A stocker according to claim 5 or 6, wherein said loading plate has a slide mechanism for sliding the stored items loaded on said loading plate downward along the inclination of said loading plate.

10. A robot system comprising: a stocker according to any one of claims 1 to 9; and a robot arranged in close proximity to said stocker, for transporting items contained in said stocker out of said stocker.

Images