Conveyance system

Abstract

[Problem] To provide a conveyance system that improves efficiency in carrying in and out a workpiece. [Solution] The conveyance system comprises: a processing machine 100; a loader device 220 that performs carry-in / out of a workpiece W between the loader device 220 and a tray which accommodates the workpiece W and is installed at a carry-in / out position CP, while performing carry-in / out of the tray between the carry-in / out position CP and a tray accumulation region 520 positioned below the carry-in / out position CP; a loader travel region 510 in which the loader device 220 travels; and a shutter 400. The carry-in / out position CP is set on the upper surface side of the shutter 400. When the shutter 400 is in an open state, carry-in / out of the tray by the loader device between the loader travel region 510 and the tray accumulation region 520 by the second loader device 220 is permitted, and when the shutter 400 is in a closed state, carry-in / out of the tray by an operator to the tray accumulation region 520 is permitted by partitioning the loader travel region 510 and the tray accumulation region 520 by the shutter 400.

Description

Transfer System

[0001] The present invention relates to a transfer system.

[0002] In factories and automated production lines, in order to carry workpieces before processing into a processing machine and carry out workpieces after processing out of the processing machine, it is common to temporarily store workpieces in trays installed at the loading and unloading positions. The loader device travels along a rail in the loader travel area, carries workpieces before processing from the tray installed at the loading and unloading position into the processing machine, and returns the workpieces after processing to the tray at the loading and unloading position.

[0003] A technique in which a loader device for transporting workpieces also transports trays is known. For example, in the technique described in Patent Document 1, the tray after workpiece removal is transferred to the tray return path by the loader device, and the tray on the tray supply path is transferred to near the loader device by the loader device, so that the loader device functions as a tray transfer means.

[0004] Japanese Patent Application Laid-Open No. 2018-153899

[0005] By the way, it is conceivable to set a tray accumulation area near the processing machine and accumulate trays. In such a configuration, an operator may carry out a tray containing finished products out of the tray accumulation area or carry a tray containing raw materials into the tray accumulation area. At this time, in order to ensure the safety of the operator during the loading and unloading operation, for example, when the operator carries a tray into and out of the tray accumulation area, the operation of the loader device may be restricted. Therefore, there is a possibility that the efficiency of workpiece loading and unloading may decrease.

[0006] An object of the present invention is to provide a transfer system that improves the efficiency of workpiece loading and unloading.

[0007] A transport system according to an aspect of the present invention comprises a processing machine for processing a workpiece, a loader device for loading and unloading the workpiece between a tray that accommodates the workpiece and is installed at an loading / unloading position, and for loading and unloading the tray between the loading / unloading position and a tray accumulation area located below the loading / unloading position, and a shutter that opens and closes between a loader travel area on which the loader device travels and the tray accumulation area, wherein the loading / unloading position is set on the upper side of the shutter, and when the shutter is open, the loader device is allowed to load and unload the tray between the loader travel area and the tray accumulation area, and when the shutter is closed, an operator is allowed to load and unload the tray into the tray accumulation area.

[0008] In a transport system according to an aspect of the present invention, a shutter is provided to open and close between a loader travel area on which a loader device travels and a tray accumulation area. When the shutter is open, the loader device is allowed to load and unload trays between the loading / unloading position and the tray accumulation area, and when the shutter is closed, an operator is allowed to load and unload trays into and out of the tray accumulation area. With this configuration, even when the loader device is traveling in the loader travel area, the shutter can be closed to physically separate the loader travel area and the tray accumulation area, allowing the operator to load and unload trays into and out of the tray accumulation area. As a result, it becomes possible to load and unload workpieces while the operator is performing loading and unloading work, thereby improving the efficiency of workpiece loading and unloading.

[0009] Furthermore, in the transport system according to the above embodiment, when the shutter is open, workers may be prohibited from loading or unloading trays into or out of the tray accumulation area. Such a configuration can improve worker safety. Alternatively, the loader device may include a first hand capable of holding a workpiece, a second hand capable of holding a tray, and a mounting section to which either the first hand or the second hand can be detachably attached. The loader device may load and unload workpieces using the first hand attached to the mounting section, and load and unload trays using the second hand attached to the mounting section. With such a configuration, by attaching two types of hands, a first hand (for workpieces) and a second hand (for trays), to the loader device, workpiece transport and tray transport can be efficiently performed with the same device. In addition, the flexibility of the device is increased, and tray transport and workpiece transport can be performed seamlessly.

[0010] Furthermore, in the conveying system according to the above embodiment, the loader device includes a horizontal drive unit that moves the mounting part in a first direction which is horizontal and is the direction in which the processing machine and the loading / unloading position are aligned, and a vertical drive unit that moves the mounting part in a vertical direction. The shutter may be located directly below the mounting part when closed, and retract from directly below the mounting part when open by moving in a second direction which is horizontal and is perpendicular to the first direction. With this configuration, by driving the loader device in the horizontal and vertical directions, the shutter retracts when the loader device moves, allowing for smooth loading and unloading of trays.

[0011] Furthermore, in the transport system according to the above embodiment, a sensor for detecting objects at the boundary between the worker's work area and the tray accumulation area, an operating unit operated to turn off the sensor, and a control device for controlling the loader device are provided. The control device stops the operation of the loader device when the sensor detects the entry of an object, and does not need to turn off the sensor when the operating unit is operated while the shutter is open. With this configuration, when a worker accesses the tray accumulation area, the sensor detects the entry of an object and stops the operation of the loader device, thereby ensuring safety during work. In addition, the loader device can be controlled so as not to operate while the worker is transporting trays, thus guaranteeing the safety of the worker.

[0012] Furthermore, in the transport system according to the above embodiment, the control device may turn off the sensor only when the shutter is closed and the operating unit is operated. With this configuration, the safety of the worker can be further improved by enabling the sensor to be turned off only when the shutter is closed. In addition, accidents due to erroneous operation are prevented because the sensor's off operation is properly managed.

[0013] Furthermore, in the conveying system according to the above embodiment, the upper surface of the shutter may be provided with a first hand placement position on which a first hand can be placed by a loader device, and a second hand placement position on which a second hand can be placed by a loader device. With this configuration, by providing places to place the first hand and the second hand on the shutter, the hand replacement work can be performed efficiently. In addition, since the hand can be replaced safely and easily, the work time can be shortened.

[0014] Furthermore, in the transport system according to the above embodiment, when attaching the first hand to the mounting section, the loader device may first place the second hand at the second hand placement position, and then attach the first hand, which is placed at the first hand placement position, to the mounting section. When attaching the second hand to the mounting section, the loader device may first place the first hand at the first hand placement position, and then attach the second hand, which is placed at the second hand placement position, to the mounting section. With this configuration, when replacing hands in the loader device, the process can be carried out efficiently by utilizing the placement positions, thereby reducing the effort required for hand replacement and enabling smooth operation. In addition, since the hand replacement work is completed within the system, the burden on the operator is reduced.

[0015] Furthermore, in the transport system according to the above embodiment, the tray accumulation area may be set up separately as an area for accumulating trays containing workpieces before processing by the processing machine, and an area for accumulating trays containing workpieces after processing by the processing machine. By setting up separate tray accumulation areas for workpieces before and after processing with this configuration, tray management becomes easier and work efficiency is improved.

[0016] Furthermore, in the transport system according to the above embodiment, the tray accumulation area may include a positioning unit for positioning a trolley loaded with trays. This configuration improves the accuracy of tray transport by enabling the positioning of the trolley loaded with trays. In addition, the trolley's position becomes stable, allowing for smoother tray transport by the loader device, thus improving work efficiency.

[0017] This is a schematic diagram of the processing system according to this embodiment. This is a view of the transport system according to this embodiment from diagonally above. This is a block diagram of the electrical system of the transport system according to this embodiment. This is an example of the first hand according to this embodiment. This is an example of the second hand according to this embodiment. This is a diagram showing the shutter in the closed state according to this embodiment. This is a schematic diagram of the shutter in the closed state according to this embodiment viewed from the X direction. This is a schematic diagram of the shutter in the open state according to this embodiment viewed from the X direction. This is a diagram illustrating the basic operation flow of the transport system according to this embodiment. This is a diagram illustrating the tray loading operation according to this embodiment. This is a diagram illustrating the tray loading operation according to this embodiment. This is a diagram illustrating the tray loading operation according to this embodiment. This is a diagram illustrating the tray loading operation according to this embodiment. This is a diagram illustrating the work loading / unloading operation according to this embodiment. This is a diagram illustrating the work loading / unloading operation according to this embodiment. This is a diagram illustrating the work loading / unloading operation according to this embodiment. This is a diagram illustrating the tray un loading operation according to this embodiment. This is a diagram illustrating the tray loading operation by the worker according to this embodiment. This is a diagram illustrating the tray loading operation by the worker according to this embodiment. This is a diagram illustrating the tray loading operation by the worker according to this embodiment.

[0018] The present invention will be described below through embodiments, but the following embodiments are not limited to the invention as defined in the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention. In addition, in the drawings, the same or similar parts are denoted by the same reference numerals, and redundant explanations may be omitted. Also, the shape and size of elements in the drawings may be exaggerated for clearer explanation, and may differ in shape and dimensions from the actual product.

[0019] In drawings, directions are sometimes explained using the XYZ coordinate system. In the XYZ coordinate system, the plane parallel to the horizontal plane is called the XY plane. One direction on this XY plane is denoted as the X direction, and the direction perpendicular to the X direction is denoted as the Y direction. The direction perpendicular to the XY plane is denoted as the Z direction. In the drawings, the direction pointed to by the arrows in the X, Y, and Z directions is considered the positive direction, and the direction opposite to the direction pointed to by the arrows is considered the negative direction.

[0020] Figure 1 is a schematic diagram of the processing system SYS according to this embodiment. As shown in Figure 1, the processing system SYS comprises a processing machine 100 and a transport system 200. Figure 2 is a view of the transport system 200 according to this embodiment, seen from diagonally above. Note that, for the sake of explanation, some components of the transport system 200 may be omitted in the figures.

[0021] The processing machine 100 processes the workpiece W. The shape of the workpiece W is, for example, a disc. However, the shape of the workpiece W is not particularly limited. The processing machine 100 is not particularly limited as long as it processes the workpiece W, but for example it is a lathe. However, it is not limited to this, and the processing machine 100 may be, for example, a machining center, a milling machine, a drilling machine, or a composite processing device equipped with multiple types of processing devices. The workpiece W processed by the processing machine 100 (workpiece W before processing) may be referred to as "raw material W1". The workpiece W after processing by the processing machine 100 may be referred to as "finished product W2".

[0022] The processing machine 100 includes a first loader device 110 and a workpiece transfer unit 120. The first loader device 110 takes out the material W1 provided in the workpiece transfer unit 120 shown in Figures 1 and 2 and transports it to the processing machine 100. The processing machine 100 processes the material W1 transported by the first loader device 110. The first loader device 110 transports the finished product W2, which is the workpiece W after processing by the processing machine 100, to the workpiece transfer unit 120.

[0023] As shown in Figure 2, the work transfer section 120 includes a material temporary storage section 121 where the material W1 is temporarily placed, and a finished product temporary storage section 122 where the finished product W2 is temporarily placed.

[0024] The first loader device 110 is, for example, a pickup loader. The first loader device 110 moves along the transport rail 210. That is, the first loader device 110 transports the raw material W1 and the finished product W2 respectively while moving along the transport rail 210 which extends in the ±X direction. The processing machine 100 is equipped with an operation panel 130 that can be operated by an operator. By operating the operation panel 130, the operator can set the processing settings for the raw material W1, etc.

[0025] Figure 3 is a block diagram of the electrical system of the transport system 200 according to this embodiment. As shown in Figures 1 to 3, the transport system 200 includes a transport rail 210, a second loader device 220, a first hand 230, a second hand 240, a shutter device 250, an area sensor 260, an operating unit 270, and a control device 280.

[0026] The second loader device 220 transports the raw material W1, the finished product W2, and the tray TR while moving along the transport rail 210. For example, the second loader device 220 is a pickup loader. The second loader device 220 comprises a loader drive unit 300 and a loader head 310.

[0027] The loader drive unit 300 includes an X-direction moving body 301, a Y-direction moving body 302, a lifting rod 303, a horizontal drive unit 304, a vertical drive unit 305, and a hand drive unit 306.

[0028] The X-direction moving body 301 is movable along the transport rail 210 and moves in the ±X direction by a horizontal drive unit 304 provided on the second loader device 220. The Y-direction moving body 302 is provided on the X-direction moving body 301. The Y-direction moving body 302 is movable in the ±Y direction by a horizontal drive unit 304 provided on the second loader device 220. The lifting rod 303 is movable in the ±Z direction by a vertical drive unit 305 provided on the second loader device 220. Each of the horizontal drive unit 304 and the vertical drive unit 305 is equipped with, for example, one or more electric motors.

[0029] The hand drive unit 306 is equipped with a drive source for moving the hand parts, such as the first hand 230 and the second hand 240. The hand drive unit 306 may have a mechanism for moving the hand parts using, for example, an electric motor, or a mechanism for moving the hand parts using pneumatic pressure.

[0030] The loader head 310 is provided at the lower end of the lifting rod 303 and moves up and down together with the Y-direction moving body 302. A handle for holding both or either the workpiece W and the tray TR is detachably attached to the loader head 310. In one example of this embodiment, one handle is detachably attached to the loader head 310. In another example of this embodiment, a first handle 230 capable of holding the workpiece W and a second handle 240 capable of holding the tray TR are detachably attached to the loader head 310. Note that the loader head 310 is an example of a mounting part of the present invention.

[0031] Figure 4 shows an example of the first hand 230 according to this embodiment. Figure 4 shows the first hand 230 attached to the loader head 310. The first hand 230 comprises a main body 231 that is detachably attached to the loader head 310 and a gripper 232 provided on the main body 231. The gripper 232 has two claw portions 233 and grips the workpiece W by clamping the workpiece W with the claw portions 233.

[0032] The two claw portions 233 move linearly in one direction in the horizontal plane to grip the workpiece W. The gripper 232 grips the workpiece W in a first position by, for example, bringing one of the claw portions 233 into contact with the upper surface of the workpiece W and bringing the other claw portion 233 into contact with the bottom surface of the workpiece W. The first position refers to a state in which the direction of the central axis of the disc-shaped workpiece W coincides with or approximately coincides with one direction in the horizontal plane (for example, the X direction). In this embodiment, the workpiece W is stored in the tray TR in the first position.

[0033] Figure 5 shows an example of the second hand 240 according to this embodiment. Figure 5 shows the second hand 240 attached to the loader head 310, and shows the second hand 240 gripping the tray TR. The second hand 240 comprises a main body 241 that is detachably attached to the loader head 310, and a gripper 242 provided on the main body 241. The gripper 242 has two claw portions 243, and grips the tray TR by clamping it with the claw portions 243.

[0034] The two claw portions 243 move linearly in one direction on the horizontal plane, for example, to grip the workpiece W. As shown in Figure 2, the gripper 242 grips the tray TR by supporting and gripping the upper end portion of the tray TR with the two claw portions 243.

[0035] The gripper 242 is mounted to the main body 241 so as to be movable relative to it in the Y direction. A drive unit (not shown) is also provided to drive the gripper 242 in the Y direction relative to the main body 241. As shown in Figure 2, the trays TR accumulated in the tray accumulation area 520 are accumulated in multiple piles (two piles in Figure 2) in the Y direction. The range of motion of the gripper 242 in the Y direction relative to the main body 241 corresponds to these multiple piles, and the gripper 242 is configured to move to a Y position corresponding to each pile, thereby allowing trays TR to be loaded into and unloaded from each pile.

[0036] As shown in Figures 1 and 2, the upper surface of the shutter 400 is provided with a first hand placement position HP1 on which the first hand 230 can be placed by the second loader device 220, and a second hand placement position HP2 on which the second hand 240 can be placed by the second loader device 220.

[0037] The second loader device 220, to which the first hand 230 is attached, is configured to remove the first hand 230 at a position corresponding to the first hand placement position HP1 and to place the first hand 230 at the first hand placement position HP1. Furthermore, the second loader device 220 without a hand attached is configured to attach the first hand 230, which is placed at the first hand placement position HP1, at a position corresponding to the first hand placement position HP1.

[0038] The second loader device 220, to which the second hand 240 is attached, is configured to remove the second hand 240 at a position corresponding to the second hand placement position HP2 and to place the second hand 240 at the second hand placement position HP2. Furthermore, the second loader device 220 without a hand attached is configured to attach the second hand 240, which is placed at the second hand placement position HP2, at a position corresponding to the second hand placement position HP2.

[0039] If the first hand 230 is not attached to the loader head 310, the first hand 230 is placed at the first hand placement position HP1. When the first hand 230 is placed at the first hand placement position HP1, it may be supported by a support 411 placed at the first hand placement position HP1.

[0040] If the second hand 240 is not attached to the loader head 310, the second hand 240 is placed at the second hand mounting position HP2. When the second hand 240 is placed at the second hand mounting position HP2, it may be supported by a support 421 placed at the second hand mounting position HP2.

[0041] As shown in Figure 3, the shutter device 250 comprises a shutter 400 and a shutter drive unit 410.

[0042] The shutter 400 opens and closes the space between the loader travel area 510 and the tray accumulation area 520 of the second loader device 220. The loader travel area 510 is the area in which the second loader device 220 travels along the transport rail 210 in the ±X direction. The tray accumulation area 520 is located below the loader travel area 510. The tray accumulation area 520 is the area in which trays TR are accumulated. The tray accumulation area 520 shown in Figures 1 and 2 is divided into two areas along the X direction. In other words, the tray accumulation area 520 is divided into the side facing the processing machine 100 and the side opposite the processing machine 100.

[0043] Of the tray stacking area 520 divided into two, the area on the side of the processing machine 100 (hereinafter referred to as "the first tray stacking area 521") is carried in by the carriage D1 in a state where a plurality of trays TR storing a plurality of materials W1 are stacked. In the area of the tray stacking area 520 divided into two, which is on the side opposite to the processing machine 100 (hereinafter referred to as "the second tray stacking area 522"), a plurality of trays TR storing a plurality of finished products W2 are stacked on the carriage D2.

[0044] As shown in FIG. 2, when the shutter 400 is in the closed state, the shutter 400 is provided between the loader traveling area 510 and the tray stacking area 520. In other words, the loader traveling area 510 and the tray stacking area 520 are partitioned by the shutter 400. In this case, the loader head 310 cannot move between the loader traveling area 510 and the tray stacking area 520. That is, the loading and unloading of the tray TR by the second loader device 220 between the loading / unloading position CP set on the upper surface of the shutter 400 and the tray stacking area 520 is physically prohibited (blocked).

[0045] On the other hand, when the shutter 400 moves in the -Y direction from the state shown in FIG. 2, the shutter 400 becomes the open state as shown in FIG. 6. When the shutter 400 is in the open state, the partition between the loader traveling area 510 and the tray stacking area 520 disappears. Thereby, the loader head 310 can move up and down and move between the loader traveling area 510 and the tray stacking area 520. That is, the movement (loading and unloading) of the tray TR by the second loader device 220 between the loader traveling area 510 and the tray stacking area 520 is allowed.

[0046] The shutter 400 in the closed state is located, for example, directly below the loader head 310 as shown in FIG. 2. The shutter 400 in the open state retreats from directly below the loader head 310 by moving in the second direction (for example, -Y direction), which is a horizontal direction and orthogonal to the first direction (for example, X direction), as shown in FIG. 6.

[0047] The shutter drive unit 410 includes a drive source (for example, an electric motor) and an actuator for opening and closing the shutter 400. The shutter drive unit 410 is controlled by the control device 280. That is, the opening and closing of the shutter 400 is controlled by the control device 280.

[0048] Here, the second loader device 220 transfers the work W to and from between the tray TR installed at the loading / unloading position CP and the processing machine 100. As shown in FIG. 2, the loading / unloading position CP is set on the upper surface side of the shutter 400. The loading / unloading position CP is set on the upper surface of the shutter 400, for example. In other words, the second loader device 220 transfers the work W to and from between the tray TR placed on the upper surface of the shutter 400 and the processing machine 100. A tray TR containing the raw material W1 is conveyed to the loading / unloading position CP.

[0049] The second loader device 220 transfers the work W to and from between the tray TR installed at the loading / unloading position CP on the shutter 400 and the work transfer unit 120 of the processing machine 100. The operation in which the second loader device 220 places the raw material W1 in the tray TR installed at the loading / unloading position CP into the raw material temporary placement unit 121 of the work transfer unit 120 is referred to as the "work loading operation". On the other hand, the operation in which the second loader device 220 accommodates the finished product W2 supported by the finished product temporary placement unit 122 of the work transfer unit 120 into the tray TR installed at the loading / unloading position CP is referred to as the "work unloading operation". Note that the work loading operation and the work unloading operation may be collectively referred to as the work loading / unloading operation.

[0050] The second loader device 220 transfers the tray TR to and from between the loading / unloading position CP and the tray integration area 520. The operation in which the second loader device 220 places the tray TR with respect to the loading / unloading position CP is referred to as the "tray loading operation". The tray loading operation is an operation in which the tray TR is picked up from the first tray integration area 521 when the shutter 400 is in the open state, and then the tray TR is placed at the loading / unloading position CP after the shutter 400 is in the closed state.

[0051] The operation in which the second loader device 220 accumulates the tray TR at the loading / unloading position CP in the second tray accumulation area 522 is called the "tray loading operation." The tray loading operation involves picking up the tray TR from the loading / unloading position CP when the shutter 400 is closed, and then accumulating the tray TR in the second tray accumulation area 522 after the shutter 400 opens.

[0052] The transport system 200 prohibits workers from loading or unloading trays TR into or out of the tray stacking area 520 when the shutter 400 is open. When the shutter 400 is closed, the transport system 200 allows workers to load or unload trays TR into or out of the tray stacking area 520. The configuration provided in the transport system 200 for this purpose is described in detail below.

[0053] The area sensor 260 is connected to the control device 280. The area sensor 260 comprises a light emitter 260a and a light receiver 260b. The light emitter 260a linearly emits multiple beams of light LS onto the light receiver 260b. The area sensor 260 detects an object at the boundary between the worker's work area and the tray accumulation area 520 when some or all of the beams of light LS received by the light receiver 260b are blocked. In other words, the area sensor 260 detects the entry of an object into the tray accumulation area 520 when some or all of the beams of light LS received by the light receiver 260b are blocked. When the area sensor 260 detects an object, it transmits an object detection signal to the control device 280 indicating that an object has been detected. In this invention, any sensor other than the area sensor 260 may be used as long as it can detect the entry of an object into the tray accumulation area 520.

[0054] The operation unit 270 is operated to turn the area sensor 260 on (enable) and off (deactivate). For example, when an operator turns off the operation of the area sensor 260, they perform a first operation on the operation unit 270. When an operator turns on the operation of the area sensor 260, they perform a second operation on the operation unit 270.

[0055] The first operation may be pressing a button on the operation unit 270, or touching an icon displayed on the touch panel of the operation unit 270. The second operation may be the same as the first operation, or it may be a different operation. For example, if the button on the operation unit 270 is pressed while the area sensor 260 is not operating, that press is the first operation. On the other hand, if the button on the operation unit 270 is pressed while the area sensor 260 is operating, that press is the second operation. The operation unit 270 is connected to the control device 280. When the first operation is performed, the operation unit 270 sends an OFF signal to the control device 280 to indicate that the operation has been performed. When the second operation is performed, the operation unit 270 sends an ON signal to the control device 280 to indicate that the operation has been performed.

[0056] The control device 280 controls the operation of the second loader device 220. The control device 280 controls the second loader device 220 to perform work loading, work loading, tray loading, and tray loading operations. When the control device 280 receives an object detection signal from the area sensor 260, it stops the second loader device 220. Furthermore, when the control device 280 receives an object detection signal from the area sensor 260, it may also stop the operation of the processing machine 100.

[0057] The control device 280 controls the opening and closing operation of the shutter 400. When performing each of the work loading and unloading operations, the control device 280 controls the shutter 400 to the closed state. When the control device 280 receives an OFF signal from the operation unit 270, it turns off the operation of the area sensor 260. When the control device 280 receives an ON signal from the operation unit 270, it turns on the area sensor 260.

[0058] The control device 280 does not turn off the operation of the area sensor 260 if the shutter 400 is open when it receives an OFF signal. In other words, the control device 280 turns off the operation of the area sensor 260 only when the shutter 400 is closed and it receives an OFF signal from the operation unit 270. With this configuration, the operation of the area sensor 260 is turned off only when the shutter 400 is closed, so that the worker cannot load or unload trays TR into or out of the tray accumulation area 520 unless the shutter 400 is closed. In other words, it is possible to prevent the worker from loading or unloading trays TR into or out of the tray accumulation area 520 while the shutter 400 is open, further improving worker safety. In addition, since the off operation (first operation) of the area sensor 260 is properly managed, accidents due to erroneous operation are prevented.

[0059] The opening and closing operation of the shutter 400 according to this embodiment will now be described. Figure 7 is a schematic diagram of the shutter 400 in the closed state according to this embodiment, viewed in the X direction. Figure 8 is a schematic diagram of the shutter 400 in the open state according to this embodiment, viewed in the X direction.

[0060] As shown in Figure 7, when the shutter 400 is closed, the shutter 400 separates the loader travel area 510 from the tray accumulation area 520. This allows the operator to load trays TR placed on the trolley D into the tray accumulation area 520, or to unload trays TR placed on the trolley D from the tray accumulation area 520, even when the second loader device 220 is moving in the loader travel area 510 during work loading and unloading operations. When the shutter 400 is closed, the movement of the loader head 310 between the loader travel area 510 and the tray accumulation area 520 is physically restricted by the shutter 400.

[0061] As shown in Figure 8, the control device 280 can move the shutter 400 from a closed state to an open state by moving it in the -Y direction. When the shutter 400 is open, the partition between the loader travel area 510 and the tray accumulation area 520 is not created. This allows the loader head 310 to move between the loader travel area 510 and the tray accumulation area 520.

[0062] Each of the first tray stacking area 521 and the second tray stacking area 522 is provided with a positioning unit 600 for positioning the trolley D at a specific location. The positioning unit 600 is, for example, a stopper that positions the loaded trolley D at a specific location. This location corresponds to the loading and unloading position of the tray TR of the loader head 310 in each of the first tray stacking area 521 and the second tray stacking area 522. In other words, by positioning the trolley D by the positioning unit 600 in each of the first tray stacking area 521 and the second tray stacking area 522, the loader head 310 can place the tray TR on the trolley D and can also grasp and receive the tray TR placed on the trolley D.

[0063] The basic operation of the transport system 200 according to this embodiment will be described below. Figure 9 is a diagram illustrating the flow of the basic operation of the transport system 200 according to this embodiment.

[0064] First, the worker loads the trays TR into the first tray accumulation area 521. For example, the worker turns off the operation of the area sensor 260 by performing a first operation on the operation unit 270. Then, after turning off the operation of the area sensor 260, the worker loads multiple trays TR, each containing multiple materials W1, into the first tray accumulation area 521 using the trolley D1. Once the trays TR have been loaded into the first tray accumulation area 521, the worker turns on the operation of the area sensor 260 by performing a second operation on the operation unit 270.

[0065] When a tray TR is loaded into the first tray accumulation area 521, the second loader device 220 performs a tray loading operation (step S101) in which it places the uppermost tray TR from among the trays TR accumulated in the first tray accumulation area 521 into the loading / unloading position CP.

[0066] Once the tray loading operation in step S101 is complete, the second loader device 220 performs a work loading / unloading operation in which it places the material W1 in the tray TR installed at the loading / unloading position CP into the temporary material storage section 121, and places the finished product W2 supported in the temporary finished product storage section 122 into the tray TR installed at the loading / unloading position CP (step S102).

[0067] When all the workpieces W in the tray TR placed at the loading / unloading position CP have been replaced from raw materials W1 to finished products W2, the second loader device 220 picks up the tray TR and performs a tray loading operation to load it onto the trolley D2 in the second tray accumulation area 522 (step S103). After performing the tray loading operation, the second loader device 220 returns to step S101 and performs a tray loading operation to load a new tray TR from the first tray accumulation area 521 to the loading / unloading position CP. The process shown in Figure 9 is stopped when an operator stops the second loader device 220, when an object is detected by the area sensor 260, or when there are no trays TR remaining in the first tray accumulation area 521 to be placed at the loading / unloading position CP when performing the tray loading operation.

[0068] Next, we will specifically explain the operation of each step of the basic operation shown in Figure 9. First, we will explain the tray loading operation using Figures 10 to 13.

[0069] The control device 280 controls the shutter 400 to the closed state when starting the tray loading operation (see Figure 10). When the second loader device 220 performs the tray loading operation, it moves the loader head 310 to directly above the second hand placement position HP2 and attaches the second hand 240 to the loader head 310.

[0070] Next, the control device 280 controls the shutter 400 from the closed state to the open state (see Figure 11). When the shutter 400 is controlled from the closed state to the open state, the second loader device 220 picks up the trays TR accumulated on the trolley D1 in the first tray accumulation area 521 with the second hand 240 (see Figure 12).

[0071] When the second loader device 220 picks up a tray TR in the first tray accumulation area 521, the control device 280 controls the shutter 400 from the open state to the closed state. When the shutter 400 is controlled to the closed state, the second loader device 220 places the tray TR, which is being held by the second hand 240, at the loading / unloading position CP on the upper surface of the closed shutter 400 (see Figure 13).

[0072] Next, the work loading and unloading operations will be explained using Figures 14 to 17. When the work loading and unloading operations are performed, the control device 280 controls the shutter 400 to the closed state. In addition, the finished product temporary storage section 122 is where the finished product W2 is placed by the first loader device 110.

[0073] When the second loader device 220 performs work loading / unloading operations, it attaches the first hand 230 to the loader head 310. Therefore, if the second hand 240 is attached to the loader head 310, the second loader device 220 removes the second hand 240 and places it at the second hand mounting position HP2. Then, the second loader device 220 moves the loader head 310 directly above the first hand mounting position HP1 and attaches the first hand 230 to the loader head 310.

[0074] When the second loader device 220 starts loading and unloading a workpiece, it first picks up the material W1 in the tray TR installed at the loading / unloading position CP with the first hand 230 (see Figure 14). Then, the second loader device 220 moves in the +X direction and places the picked-up material W1 in the material temporary storage section 121 (see Figure 15). Once the material W1 is placed in the material temporary storage section 121, the second loader device 220 picks up the finished product W2 supported in the finished product temporary storage section 122 adjacent to the material temporary storage section 121 and moves it towards the loading / unloading position CP (see Figure 16).

[0075] The second loader device 220 then places the complete product W2 into the tray TR installed at the loading / unloading position CP (see Figure 17). Note that when the second loader device 220 places the complete product W2 into the tray TR at the loading / unloading position CP (see Figure 17), it may also place the complete product W2 in the same location where the material W1 picked up in Figure 14 was placed.

[0076] Here, the workpiece transfer unit 120 is rotatable around an axis parallel to the Y direction. For example, as shown in Figure 15, when the material W1 in the tray TR is placed in the temporary material storage unit 121, the workpiece transfer unit 120 supports the material W1 in a first state. After the material W1 in the tray TR is placed in the temporary material storage unit 121, if the finished product W2 supported in the temporary finished product storage unit 122 is picked up by the first hand 230 (see Figure 16), the workpiece transfer unit 120 rotates around an axis parallel to the Y direction and supports the material W1 in a second state different from the first state (see Figure 17).

[0077] The second state is a state in which the material W1 can be picked up by the first loader device 110, for example, a state in which the top and bottom surfaces of the material W1 are supported so as to be parallel to the horizontal plane. This allows the first loader device 110 to pick up the material W1 supported in the second state by the material temporary storage section 121 and transport the picked-up material W1 to the processing machine 100. In addition, the first loader device 110 can place the finished product W2 in the second state on the finished product temporary storage section 122.

[0078] Next, the tray unloading operation according to this embodiment will be explained using Figures 18 to 22. When the tray unloading operation is started, the control device 280 controls the shutter 400 to be in a closed state. When the second loader device 220 performs the tray unloading operation, it attaches the second hand 240 to the loader head 310. Therefore, if the first hand 230 is attached to the loader head 310, the second loader device 220 removes the first hand 230 and places it at the first hand placement position HP1. Then, the second loader device 220 moves the loader head 310 to directly above the second hand placement position HP2 and attaches the second hand 240 to the loader head 310 (see Figure 18).

[0079] When the second loader device 220 performs a tray unloading operation, it first grasps and picks up the tray TR installed at the unloading / input position CP with the second hand 240 (see Figure 19). Once the second loader device 220 has picked up the tray TR installed at the unloading / input position CP with the second hand 240, the control device 280 controls the shutter 400 from the closed state to the open state (see Figure 20).

[0080] The second loader device 220 moves in the -X direction with the tray TR picked up. The second loader device 220 then places the picked-up tray TR onto the trolley D2 in the second tray accumulation area 522, thereby unloading the tray TR containing the complete products W2 into the second tray accumulation area 522 (see Figure 21). Once the unloading of the tray TR into the second tray accumulation area 522 by the second loader device 220 is complete, the control device 280 confirms that the loader head 310 is positioned above the shutter 400 and controls the shutter 400 from the open state to the closed state (see Figure 22).

[0081] Next, a method for loading the tray TR according to this embodiment into the tray stacking area 520 will be explained using Figures 23 to 25. In the following explanation, the case in which a tray TR having material W1 is loaded into the first tray stacking area 521 will be used as an example. The basic operation is the same when a tray TR having finished products W2 is loaded into the second tray stacking area 522, so the explanation will be omitted.

[0082] When an operator brings a trolley D1, on which multiple trays TR containing material W1 are stacked, into the first tray stacking area 521, they first perform a first operation on the operation unit 270 (see Figure 23). When the control device 280 detects that the first operation has been performed, it determines whether the shutter 400 is in the closed state or not. If the shutter 400 is in the closed state, the control device 280 turns off the operation of the area sensor 260. On the other hand, if the shutter 400 is in the open state, the control device 280 continues to turn on the operation of the area sensor 260. In other words, even if an operation to turn off the area sensor 260 is performed, the control device 280 continues to operate the area sensor 260 without turning off the operation of the area sensor 260 if the shutter 400 is in the open state.

[0083] In the example shown in Figure 23, since the shutter 400 is in the closed state, the control device 280 turns off the operation of the area sensor 260 when it detects the first operation (see Figure 24). Here, in the examples shown in Figures 23 and 24, the second loader device 220 is performing work loading and unloading operations while traveling in the loader travel area 510. Even if the second loader device 220 is performing work loading and unloading operations when the control device 280 detects the first operation, if the shutter 400 is in the closed state, it turns off the operation of the area sensor 260.

[0084] When the area sensor 260 is turned off, the worker moves the trolley D1 into the first tray accumulation area 521 (see Figure 25). Once the trolley D1 is moved into the first tray accumulation area 521, it is positioned at a specific location by the positioning unit 600. After moving the trolley D1 into the first tray accumulation area 521, the worker performs a second operation on the operation unit 270. When the control device 280 detects the second operation, it turns on the area sensor 260.

[0085] As described above, the transport system 200 according to this embodiment comprises a processing machine 100 for processing a workpiece W, and a second loader device 220 for loading and unloading the workpiece W between the workpiece W and a tray TR installed at the loading / unloading position CP. The second loader device 220 loads and unloads trays between the loading / unloading position CP and a tray accumulation area 520 located below the loading / unloading position CP. Furthermore, the transport system 200 includes a shutter 400 that opens and closes between the loader travel area 510 on which the second loader device 220 travels and the tray accumulation area 520. The loading / unloading position CP is set on the upper side of the shutter 400. When the shutter 400 is open, it allows the second loader device 220 to load and unload the tray TR between the loader travel area 510 and the tray accumulation area 520. When the shutter 400 is closed, it allows an operator to load and unload the tray into the tray accumulation area 520.

[0086] With this configuration, even when the second loader device 220 is moving through the loader travel area 510, the shutter 400 can be controlled to be closed, allowing workers to perform loading and unloading operations. As a result, it becomes possible to perform work loading and unloading while workers are performing loading and unloading operations, thereby improving the efficiency of work loading and unloading.

[0087] The above embodiment discloses the following configuration. (Configuration 1) The system comprises a processing machine 100 for processing a workpiece W, a second loader device 220 for loading and unloading workpieces W between a tray containing the workpiece W and an loading / unloading position CP, and for loading and unloading trays between the loading / unloading position CP and a tray accumulation area 520 located below the loading / unloading position CP, and a shutter 400 that opens and closes the space between the loader travel area 510 on which the second loader device 220 travels and the tray accumulation area 520, wherein the loading / unloading position CP is set on the upper side of the shutter 400, and when the shutter 400 is open, the second loader device 220 is allowed to load and unload trays between the loader travel area 510 and the tray accumulation area 520, and when the shutter 400 is closed, the shutter 400 separates the loader travel area 510 and the tray accumulation area 520, thereby allowing an operator to load and unload trays into the tray accumulation area 520. Conveying system. (Configuration 2) The conveying system according to Configuration 1, wherein when the shutter 400 is open, workers are prohibited from loading or unloading trays into or out of the tray accumulation area 520. Such a configuration can improve worker safety. (Configuration 3) The conveying system according to Configuration 1 or Configuration 2, wherein the second loader device 220 comprises a first hand 230 capable of holding a workpiece W, a second hand 240 capable of holding a tray, and a loader head 310 to which either the first hand 230 or the second hand 240 is detachably attached, and the second loader device 220 loads and unloads workpieces W using the first hand 230 attached to the loader head 310, and loads and unloads trays using the second hand 240 attached to the loader head 310. With this configuration, by attaching two types of hands, a first hand 230 (for workpieces) and a second hand 240 (for trays), to the second loader device 220, workpiece W and tray transport can be efficiently performed with the same device. Furthermore, the flexibility of the device is increased, and tray transport and workpiece transport can be performed seamlessly.(Configuration 4) The second loader device 220 comprises a horizontal drive unit 304 that moves the loader head 310 in a first direction which is horizontal and is the direction in which the processing machine 100 and the loading / unloading position CP are aligned, and a vertical drive unit 305 that moves the loader head 310 in a vertical direction, and the shutter 400 is located directly below the loader head 310 when closed, and moves in a second direction which is horizontal and is perpendicular to the first direction when open, thereby retracting from directly below the loader head 310, as described in any of Configurations 1 to 3. With this configuration, by driving the second loader device 220 in the horizontal and vertical directions, the shutter 400 retracts when the second loader device 220 moves, and the loading and unloading of trays TR can be performed smoothly. (Configuration 5) A transport system according to any one of Configurations 1 to 4, comprising: an area sensor 260 that detects objects at the boundary between the worker's work area and the tray accumulation area 520; an operating unit 270 that is operated to turn off the operation of the area sensor 260; and a control device 280 that controls the second loader device 220, wherein the control device 280 stops the operation of the second loader device 220 when the area sensor 260 detects the entry of an object, and does not turn off the operation of the area sensor 260 when the operating unit 270 is operated while the shutter 400 is open. With this configuration, when a worker accesses the tray accumulation area 520, the area sensor 260 detects the entry of an object and stops the operation of the second loader device 220, thereby ensuring safety during work. In addition, the safety of the worker is guaranteed because the area sensor 260 can be controlled not to operate during the worker's transport operation of the trays TR. (Configuration 6) The transport system according to Configuration 5, wherein the control device 280 turns off the operation of the area sensor 260 only when the shutter 400 is closed and the operation unit 270 is operated. With this configuration, the operation of the area sensor 260 can be turned off only when the shutter 400 is closed, thereby further improving worker safety. In addition, since the operation to turn off the area sensor 260 is properly managed, accidents due to erroneous operation are prevented.(Configuration 7) The conveying system according to any one of Configurations 1 to 6, wherein the upper surface of the shutter 400 is provided with a first hand placement position HP1 on which the first hand 230 can be placed by the second loader device 220, and a second hand placement position HP2 on which the second hand 240 can be placed by the second loader device 220. With this configuration, by providing places on the shutter 400 for the first hand 230 and the second hand 240, the hand replacement work can be performed efficiently. In addition, since the hand can be replaced safely and easily, the work time can be shortened. (Configuration 8) The transport system as described in Configuration 7, wherein when attaching the first hand 230 to the loader head 310, the second hand 240 is placed at the second hand placement position HP2, and then the first hand 230, which is placed at the first hand placement position HP1, is attached to the loader head 310, and when attaching the second hand 240 to the loader head 310, the first hand 230 is placed at the first hand placement position HP1, and then the second hand 240, which is placed at the second hand placement position HP2, is attached to the loader head 310. With this configuration, when changing hands in the second loader device 220, the process is carried out efficiently by utilizing the placement positions, thereby reducing the effort required for hand replacement and enabling smooth operation. In addition, since the hand replacement work is completed within the system, the burden on the operator is reduced. (Configuration 9) A transport system according to any one of Configurations 1 to 8, wherein the tray accumulation area 520 is set up to distinguish between a first tray accumulation area 521 for accumulating trays TR that contain workpieces W before processing by the processing machine 100, and a second tray accumulation area 522 for accumulating trays TR that contain workpieces W after processing by the processing machine 100. With this configuration, by setting up the tray accumulation area 520 for accumulating workpieces W before and after processing, it becomes easier to manage the trays TR and improves work efficiency. (Configuration 10) A transport system according to any one of Configurations 1 to 8, wherein the tray accumulation area 520 is equipped with a positioning unit 600 for positioning a trolley loaded with trays TR. With this configuration, by enabling the positioning of the trolley loaded with trays TR, the accuracy during tray transport is improved.Furthermore, the trolley's position becomes more stable, allowing the tray to be transported smoothly by the second loader device 220, thus improving work efficiency.

[0088] One or more of the requirements described in the embodiments described above may be omitted. Furthermore, the requirements described in the embodiments described above can be combined as appropriate. Also, the execution order of each procedure shown in this embodiment can be implemented in any order, as long as the results of the previous procedure are not used in the subsequent procedure. Furthermore, even if the operations in the embodiments described above are described using terms such as "first," "next," and "followed by," it is not mandatory to perform them in this order. In addition, to the extent permitted by law, disclosures from Japanese Patent Application No. 2024-162263 and all documents cited in the embodiments described above are incorporated into this text.

[0089] 100... Processing machine, 110... First loader device, 220... Second loader device, 230... First hand, 240... Second hand, 250... Shutter device, 260... Area sensor, 270... Operation unit, 280... Control device, 304... Horizontal drive unit, 305... Vertical drive unit, 400... Shutter, 510... Loader travel area, 520... Tray accumulation area, 600... Positioning unit

Claims

1. A transport system comprising: a processing machine for processing a workpiece; a loader device for loading and unloading the workpiece between a tray that accommodates the workpiece and is installed at an loading / unloading position, and for loading and unloading the tray between the loading / unloading position and a tray accumulation area located below the loading / unloading position; and a shutter that opens and closes between a loader travel area on which the loader device travels and the tray accumulation area, wherein the loading / unloading position is set on the upper side of the shutter, and when the shutter is open, the loader device is allowed to load and unload the tray between the loader travel area and the tray accumulation area, and when the shutter is closed, an operator is allowed to load and unload the tray into the tray accumulation area.

2. The transport system according to claim 1, wherein when the shutter is open, the transport system prohibits workers from loading or unloading trays into or out of the tray accumulation area.

3. The conveying system according to claim 1, wherein the loader device comprises a first hand capable of holding the workpiece, a second hand capable of holding the tray, and a mounting section to which either the first hand or the second hand is detachably attached, and the loader device loads and unloads the workpiece using the first hand attached to the mounting section, and loads and unloads the tray using the second hand attached to the mounting section.

4. The transport system according to claim 3, wherein the loader device comprises a horizontal drive unit for moving the mounting portion in a first direction which is horizontal and is the direction in which the processing machine and the loading / unloading position are aligned, and a vertical drive unit for moving the mounting portion in a vertical direction, and the shutter is located directly below the mounting portion when closed, and moves away from directly below the mounting portion when open by moving in a second direction which is horizontal and is perpendicular to the first direction.

5. A transport system according to claim 1, comprising: a sensor for detecting an object at the boundary between the worker's work area and the tray accumulation area; an operating unit operated to turn off the operation of the sensor; and a control device for controlling the loader device, wherein the control device stops the operation of the loader device when the entry of the object is detected by the sensor, and does not turn off the operation of the sensor when the operating unit is operated while the shutter is in the open state.

6. The transport system according to claim 5, wherein the control device turns off the operation of the sensor only when the shutter is in the closed state and the operating unit is operated.

7. The conveying system according to claim 3, wherein the upper surface of the shutter is provided with a first hand placement position on which the first hand can be placed by the loader device, and a second hand placement position on which the second hand can be placed by the loader device.

8. The transport system according to claim 7, wherein when attaching the first hand to the mounting portion of the loader device, the second hand is placed at the second hand placement position, and then the first hand placed at the first hand placement position is attached to the mounting portion; and when attaching the second hand to the mounting portion, the first hand is placed at the first hand placement position, and then the second hand placed at the second hand placement position is attached to the mounting portion.

9. The transport system according to claim 1, wherein the tray accumulation area is set up to distinguish between an area for accumulating trays containing workpieces before processing by the processing machine and an area for accumulating trays containing workpieces processed by the processing machine.

10. The transport system according to claim 1, wherein the tray accumulation area includes a positioning unit for positioning a trolley on which the trays are loaded.

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