JP7499461B2 - Substrate supply device, substrate supply method, substrate storage device, substrate recovery method, and lifting device - Google Patents

Description

This disclosure relates to a substrate supply device, a substrate supply method, a substrate storage device, a substrate recovery method, and a lifting device.

A substrate supplying device is known that supplies substrates stored in a magazine one by one to the next process. Also known is a substrate storage device that stores substrates transported from the previous process in a magazine one by one (Patent Document 1).

Japanese Patent Application Laid-Open No. 4-364097

In recent years, factories have become increasingly automated in order to improve manufacturing efficiency and address labor shortages. However, the conventional board supply devices and board storage devices described above are designed to require manual loading and unloading of magazines.

The present disclosure aims to provide a board supply device, a board supply method, a board storage device, a board storage method, and a lifting device that automate at least some of the work related to loading and unloading magazines.

The substrate supplying device according to the present disclosure is a substrate supplying device that supplies substrates and includes an input conveyor that transports a storage magazine, which is a magazine in which substrates are stored, in a loading direction, a first lift that can move up and down while carrying the storage magazine received from the input conveyor or an empty magazine, which is a magazine after the substrates have been discharged, an output conveyor that is provided above or below the input conveyor and transports the empty magazine received from the first lift in an output direction, and a second lift that can move up and down, and when the second lift receives the storage magazine from an automated guided vehicle, it moves to the height position of the input conveyor while carrying the storage magazine.

The substrate supply method according to the present disclosure is a substrate supply method in which an input conveyor transports a storage magazine in which substrates are stored in a input direction, a first lift moves carrying the storage magazine received from the input conveyor or an empty magazine which is a magazine after the substrates have been discharged, an output conveyor provided above or below the input conveyor transports the empty magazine received from the first lift in an output direction, and when a second lift receives the storage magazine from an automated guided vehicle, it moves carrying the storage magazine to the height position of the input conveyor.

The lifting device according to the present disclosure is a lifting device connected to a substrate supplying device that supplies substrates, and includes a lift that can move up and down, and a drive unit that drives the lift, and when the lift receives a storage magazine in which the substrates are stored from an automated guided vehicle, the drive unit moves the lift carrying the storage magazine to the height position of an input conveyor provided in the substrate supplying device.

The substrate storage device according to the present disclosure is a substrate storage device that stores substrates, and includes an input conveyor that transports an empty magazine, which is a magazine that does not contain substrates, in a loading direction, a first lift that can move up and down while carrying the empty magazine received from the input conveyor or a storage magazine, which is a magazine after the substrates have been stored, an output conveyor that is provided above or below the input conveyor and transports the storage magazine received from the first lift in an output direction, and a second lift that can move up and down, and when the second lift receives the storage magazine from the output conveyor, it moves to the height position of the automated guided vehicle while carrying the storage magazine.

The substrate storage method according to the present disclosure is a substrate storage method in which an input conveyor transports an empty magazine, which is a magazine in which substrates are not stored, in a input direction, a first lift moves up and down carrying the empty magazine received from the input conveyor or a storage magazine, which is a magazine in which the substrates have been stored, an output conveyor provided above or below the input conveyor transports the storage magazine received from the first lift in an output direction, and when a second lift receives the storage magazine from the output conveyor, it moves to the height position of the automated guided vehicle carrying the storage magazine.

The lifting device according to the present disclosure is a lifting device connected to a substrate storage device that stores substrates, and includes a lift that can move up and down, and a drive unit that drives the lift. When the drive unit receives an empty magazine, which is a magazine that does not contain substrates, from an output conveyor provided in the substrate storage device, the drive unit moves the lift with the empty magazine loaded to the height position of the automated guided vehicle.

The present disclosure provides a board supply device, a board supply method, a board storage device, a board storage method, and a lifting device that automate at least some of the tasks related to loading and unloading a magazine.

FIG. 1 is a diagram showing a first example of the configuration of a substrate supply device and an AGV (Automated Guided Vehicle) according to a first embodiment; FIG. 13 is a diagram showing a second example of the configuration of the substrate supply device and the AGV according to the first embodiment; FIG. 13 is a diagram showing a third example of the configuration of the substrate supply device and the AGV according to the first embodiment; 1 is a flowchart illustrating an example of an operation of the substrate supplying device according to the first embodiment. A flowchart illustrating an example of the loading operation of the second lift shown in FIG. A flowchart illustrating an example of the carrying-out operation of the second lift shown in FIG. FIG. 13 is a diagram showing a first example of the configuration of a substrate supply device and an AGV according to a second embodiment; FIG. 13 is a diagram showing a second example of the configuration of a substrate supply device and an AGV according to the second embodiment. 11 is a flowchart illustrating an example of a carry-in and carry-out operation by a second lift and a third lift according to the second embodiment. FIG. 13 is a diagram showing a first example of the configuration of a substrate storage device and an AGV according to the third embodiment. FIG. 13 is a diagram showing a second example of the configuration of the substrate storage device and the AGV according to the third embodiment. FIG. 13 is a diagram showing a third example of the configuration of the substrate storage device and the AGV according to the third embodiment. 11 is a flowchart illustrating an example of the operation of a substrate accommodation device according to the third embodiment. A flowchart for explaining an example of the carrying-in operation of the second lift shown in FIG. A flowchart for explaining an example of the carrying-out operation of the second lift shown in FIG. FIG. 13 is a diagram showing a first example of the configuration of a substrate storage device according to the fourth embodiment; FIG. 13 is a diagram showing a second example of the configuration of a substrate storage device according to the fourth embodiment. 11 is a flowchart for explaining an example of a carry-in and carry-out operation by a second lift and a third lift according to the fourth embodiment. FIG. 13 is a diagram showing a configuration example of a control system according to a fifth embodiment.

Below, the embodiments of the present disclosure will be described in detail with appropriate reference to the drawings. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters and duplicate explanation of substantially identical configurations may be omitted. This is to avoid the following explanation becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. Note that the attached drawings and the following explanation are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

(Embodiment 1)
A substrate supplying device will be described in the first embodiment. The substrate supplying device may be replaced with other terms such as a loader.

1, 2, and 3 are diagrams showing examples of the configuration of a substrate supply device and an AGV (Automated Guided Vehicle) according to the first embodiment. For convenience of explanation, as shown in FIGS. 1, 2, and 3, the axis from right to left on the drawing is the X-axis, the axis from the back of the paper to the front is the Y-axis, and the axis from bottom to top is the Z-axis. The positive direction of the X-axis may be called "left", the negative direction of the X-axis may be called "right", the positive direction of the Z-axis may be called "up", and the negative direction of the Z-axis may be called "down". These directional expressions are used for convenience of explanation and are not intended to limit the position of the structure when actually used. This also applies to FIGS. 7, 8, 10, 11, 12, 16, and 17.

AGV10 has a conveyor 111 on its upper surface, which is composed of a belt, a chain, a roller, or the like. The conveyor 111 is driven by, for example, a motor. AGV10 places a storage magazine 30A, which is a magazine 30 in which boards 20 are stored, on the conveyor 111 and automatically travels to the location of board supply device 100A. AGV10 receives an empty magazine 30B, which is a magazine 30 in which boards 20 are not stored, from board supply device 100A, places it on the conveyor 111, and automatically travels to a predetermined location (for example, the location of board storage device 100B according to embodiment 2). Note that AGV10 may be interpreted as another term, such as an unmanned guided vehicle. Examples of AGV10 include a line tracing type AGV or an autonomous traveling type AGV.

The board supply device 100A is a device that takes out boards 20 one by one from the storage magazine 30A and places them on the transport rail 40. The transport rail 40 is a device (e.g., a conveyor) that transports the placed boards 20 to the next work device.

The board supply device 100A includes an input conveyor 101, a first stopper 102, an output conveyor 103, a second stopper 104, a first lift 105, a board pusher 106, a second lift 107, and a drive unit 150.

The carry-in conveyor 101 is a device that transports the storage magazine 30A, which is a magazine 30 that stores one or more substrates 20, in a carry-in direction (positive direction of the X-axis) that approaches the transport rail 40. The carry-in conveyor 101 is composed of a belt, a chain, a roller, or the like. The carry-in conveyor 101 is driven, for example, by a motor.

The first stopper 102 is provided in front of the first lift 105 on the loading conveyor 101. When the first lift 105 is not at the height position of the loading conveyor 101, the first stopper 102 rises above the plane of the loading conveyor 101 (XY plane). As a result, the storage magazine 30A is blocked by the first stopper 102 and is not transferred to the first lift 105. When the first lift 105 is at the height position of the loading conveyor 101, the first stopper 102 descends below the plane of the loading conveyor 101. As a result, the storage magazine 30A is transferred to the first lift 105.

The discharge conveyor 103 is a device that transports an empty magazine 30B, which is a magazine 30 after the boards 20 have been discharged onto the conveyor rail 40, in a discharge direction (negative direction of the X-axis) away from the conveyor rail 40. The empty magazine 30B is not limited to a magazine 30 from which all boards 20 have been completely discharged, but may also include a magazine 30 from which some boards 20 remain that have not been discharged. The discharge conveyor 103 is composed of a belt, a chain, a roller, or the like. The discharge conveyor 103 is driven by, for example, a motor. The discharge conveyor 103 is provided above the carry-in conveyor 101. However, the discharge conveyor 103 may also be provided below the carry-in conveyor 101. For example, as shown in FIG. 1, the discharge conveyor 103 is arranged so that both ends of the longitudinal direction of the discharge conveyor 103 are aligned with both ends of the longitudinal direction (X-axis direction) of the carry-in conveyor 101.

The second stopper 104 is provided in front of the second lift 107 on the discharge conveyor 103. When the second lift 107 is not at the height position of the discharge conveyor 103, the second stopper 104 rises above the surface of the discharge conveyor 103 (XY plane). As a result, the empty magazine 30B is blocked by the second stopper 104 and is not transferred to the second lift 107. When the second lift 107 is at the height position of the discharge conveyor 103, the second stopper 104 descends below the surface of the discharge conveyor 103. As a result, the empty magazine 30B is transferred to the second lift 107.

The first lift 105 is a device that is provided between one end (the left end in FIG. 1) of the loading conveyor 101 and the unloading conveyor 103 and the transport rail 40, and is movable (i.e., can be raised and lowered) in the vertical direction (Z-axis direction). The first lift 105 has a conveyor 114 on its upper surface, which is composed of a belt, chain, roller, or the like. The conveyor 114 is driven, for example, by a motor.

The first lift 105 moves to a height position of the loading conveyor 101 and receives the storage magazine 30A from the loading conveyor 101. At this time, the conveyor 114 of the first lift 105 is driven so that the received storage magazine 30A is transported in the loading direction (positive direction of the X-axis) and stops near the center.

The first lift 105 carries the storage magazine 30A, moves to a position where the height of one of the board storage shelves in the storage magazine 30A is aligned with the height of the board pusher 106, and stops there. The first lift 105 repeats this movement and stopping for each height of the board storage shelves in the storage magazine 30A.

The first lift 105 carries the empty magazine 30B after all the boards 20 have been ejected by the board pusher 106, and moves to the height position of the output conveyor 103. Then, at the height position of the output conveyor 103, the first lift 105 transfers the empty magazine 30B to the output conveyor 103. At this time, the conveyor 114 of the first lift 105 is driven so that the loaded empty magazine 30B is transferred in the output direction (negative direction of the X-axis).

The board pusher 106 is a device that is provided above the transport rail 40 and pushes one of the boards 20 in the storage magazine 30A placed on the first lift 105 toward the transport rail 40. For example, when the first lift 105 moves to a position where the height of one of the board storage shelves in the storage magazine 30A is aligned with the height of the board pusher 106 and stops, the board pusher 106 performs the following operation. That is, the board pusher 106 slides toward the board 20 stored in that board storage shelf and pushes the board 20 onto the transport rail 40. As a result, the board 20 is placed on the transport rail 40.

The second lift 107 is provided at the end (the right end in FIG. 1) of the loading conveyor 101 and the unloading conveyor 103 opposite to the end where the first lift 105 is provided, and is a device that can move in the vertical direction (Z-axis direction) (i.e., can be raised and lowered). The second lift 107 has a conveyor 115 on its upper surface, which is composed of a belt, chain, roller, or the like. The conveyor 115 is driven, for example, by a motor.

The second lift 107 moves to a height position of the AGV 10 and receives the storage magazine 30A from the AGV 10 (see FIG. 1). At this time, the conveyor 115 of the second lift 107 drives the received storage magazine 30A to be transported in the loading direction (positive direction of the X-axis) and to stop near the center.

The second lift 107 carries the storage magazine 30A and moves to the height position of the carry-in conveyor 101. Then, at the height position of the carry-in conveyor 101, the second lift 107 transfers the storage magazine 30A to the carry-in conveyor 101 (see FIG. 2). At this time, the conveyor 115 of the second lift 107 is driven so that the loaded storage magazine 30A is transferred in the carry-in direction (positive direction of the X-axis).

The second lift 107 moves to a height position of the discharge conveyor 103 and receives the empty magazine 30B from the discharge conveyor 103 (see FIG. 3). At this time, the conveyor 115 of the second lift 107 is driven so that the received empty magazine 30B is transported in the discharge direction (negative direction of the X-axis) and stops near the center.

The second lift 107 moves to the height of the AGV 10 with the empty magazine 30B loaded on it, and transfers the empty magazine 30B to the AGV 10 (see FIG. 3). At this time, the conveyor 115 of the second lift 107 is driven to transfer the loaded empty magazine 30B in the discharge direction (negative direction of the X-axis).

The drive unit 150 is a mechanism that drives the second lift 107 and the conveyor 115 as described above. The drive unit 150 may also drive the components 101 to 106 as described above.

The second lift 107, the conveyor 115, and the drive unit 150 may be an independent lifting device 140. In this case, the lifting device 140 may be connected to a device (e.g., a loader) that includes the components 101 to 106 and used. The drive unit 150 may then drive the second lift 107 and the conveyor 115 as described above.

Figure 4 is a flowchart illustrating an example of the operation of the substrate supply device 100A.

The second lift 107 performs the loading operation of the storage magazine 30A (S101). Details of this loading operation will be described later (see FIG. 5).

The input conveyor 101 transports the storage magazine 30A received from the second lift 107. The raised first stopper 102 stops the transported storage magazine 30A just before the first lift 105 (S102).

The first lift 105 moves (descends) to the height position of the input conveyor 101 (S103).

The first stopper 102 descends, and the loading conveyor 101 transfers the storage magazine 30A to the first lift 105 (S104). At this time, the conveyor 114 of the first lift 105 drives in the loading direction (positive direction of the X-axis).

The first lift 105 carries the storage magazine 30A and moves (rises) to a position where the height position of one of the board storage shelves in the storage magazine 30A is aligned with the height position of the board pusher 106 (S105).

The board pusher 106 pushes out the board 20 from the board storage shelf at the height position of S105 (S106). The pushed out board 20 is ejected from the storage magazine 30A and placed on the transport rail 40.

The first lift 105 and the substrate pusher 106 repeat the operations of S105 and S106 until all substrates 20 in the storage magazine 30A have been ejected (S107: NO).

After all the substrates 20 have been discharged from the storage magazine 30A (S107: YES), the first lift 105 carries the empty magazine 30B and moves (rises) to the height position of the discharge conveyor 103 (S108).

The first lift 105 transfers the empty magazine 30B to the discharge conveyor 103 (S109). At this time, the conveyor 114 of the first lift 105 drives in the discharge direction (negative direction of the X-axis).

The discharge conveyor 103 transports the empty magazine 30B received from the first lift 105. The raised second stopper 104 stops the transported empty magazine 30B just before the second lift 107 (S110).

The second lift 107 performs an ejection operation of the empty magazine 30B (S111). Details of this ejection operation will be described later (see FIG. 6).

Figure 5 is a flow chart illustrating an example of the loading operation (S101) of the second lift 107 shown in Figure 4.

When the AGV 10 carrying the storage magazine 30A arrives, the second lift 107 moves to a height position of the AGV 10 (S201).

The second lift 107 receives the storage magazine 30A from the AGV 10 (S202). At this time, the conveyor 115 of the second lift 107 drives in the loading direction (positive direction of the X-axis).

The second lift 107 carries the storage magazine 30A and moves to the height position of the input conveyor 101 (S203).

The second lift 107 transfers the storage magazine 30A to the loading conveyor 101 (S204). At this time, the conveyor 115 of the second lift 107 is driven in the loading direction (positive direction of the X-axis).

By performing the above operations, the storage magazine 30A carried by the AGV 10 can be automatically placed on the input conveyor 101.

Figure 6 is a flow chart illustrating an example of the discharge operation (S111) of the second lift 107 shown in Figure 4.

When an AGV 10 arrives without a magazine 30, the second lift 107 moves to a height position of the discharge conveyor 103 (S301).

The second stopper 104 descends, and the discharge conveyor 103 transfers the empty magazine 30B to the second lift 107 (S302). At this time, the conveyor 115 of the second lift 107 drives in the discharge direction (negative direction of the X-axis).

The second lift 107 carries the empty magazine 30B and moves to the height position of the AGV 10 (S303).

The second lift 107 transports the empty magazine 30B to the AGV 10 (S304). At this time, the conveyor 115 of the second lift 107 drives in the unloading direction (negative direction of the X-axis).

By performing the above operations, the empty magazine 30B traveling on the discharge conveyor 103 can be automatically loaded onto the AGV 10.

The operations of Figures 4 to 6 described above may be controlled by a control device (not shown) provided in the substrate supplying device 100A. The control device may include a processor, a memory, and a communication I/F (Interface). These components may operate in cooperation with each other to allow the control device to achieve the above-mentioned control.

(Embodiment 2)
In the second embodiment, a configuration will be described in which the substrate supplying apparatus 100A described in the first embodiment further includes a third lift. Note that the same reference numbers are used for the components already described in the first embodiment, and the description thereof may be omitted.

Figures 7 and 8 are diagrams showing example configurations of a substrate supply device 100A and an AGV 10 according to embodiment 2.

The board supply device 100A includes an input conveyor 101, a first stopper 102, an output conveyor 103, a second stopper 104, a first lift 105, a board pusher 106, a second lift 107, a third lift 108, and a drive unit 150.

The third lift 108 is a device that is provided above the second lift 107 and is vertically movable (i.e., can be raised and lowered). The third lift 108 has a conveyor 116 on its upper surface, which is composed of a belt, chain, roller, or the like. The conveyor 116 is driven, for example, by a motor. In addition, the height position of the AGV 10 is aligned with the height position of the discharge conveyor 103.

The drive unit 150 is a mechanism that drives the second lift 107, the third lift 108, and the conveyors 115 and 116 as described above. Note that the drive unit 150 may also drive the components 101 to 106 as described above.

In the second embodiment, the second lift 107 receives the storage magazine 30A from the AGV 10 and transfers it to the carry-in conveyor 101, and the third lift 108 receives the empty magazine 30B from the carry-out conveyor 103 and transfers it to the AGV 10.

The second lift 107, the third lift 108, the conveyors 115, 116, and the drive unit 150 may be an independent lifting device 140. In this case, the lifting device 140 may be connected to a device (e.g., a loader) that includes the components 101 to 106 and used. The drive unit 150 may then drive the second lift 107, the third lift 108, and the conveyors 115, 116 as described above.

Figure 9 is a flowchart that explains an example of the loading and unloading operations by the second lift 107 and the third lift 108.

When the AGV 10 carrying the storage magazine 30A arrives, the second lift 107 moves to a height position of the AGV 10 (S401).

The second lift 107 receives the storage magazine 30A from the AGV 10 (S402). At this time, the conveyor 115 of the second lift 107 drives in the loading direction (positive direction of the X-axis).

The second lift 107 carries the storage magazine 30A and moves to the height position of the input conveyor 101 (S403).

The third lift 108 moves to a height position of the discharge conveyor 103 and the AGV 10 (S404). Note that, as shown in FIG. 8, the operations of S403 and S404 may be performed together.

The third lift 108 receives the empty magazine 30B from the discharge conveyor 103 (S405) and transfers the received empty magazine 30B to the AGV 10 (S406). At this time, the conveyor 116 of the third lift 108 is driven in the discharge direction (negative direction of the X-axis).

The second lift 107 transfers the storage magazine 30A to the loading conveyor 101 (S407). At this time, the conveyor 115 of the second lift 107 drives in the loading direction (positive direction of the X-axis). As shown in FIG. 8, the operation of S407 may be performed together with the operation of S406. Alternatively, the operation of S407 may be performed when there is space on the loading conveyor 101 to place the storage magazine 30A.

According to the above process, the loading of the storage magazine 30A by the second lift 107 and the removal of the empty magazine 30B by the third lift 108 can be performed simultaneously, so compared to the first embodiment, loading and removing of the magazines can be performed more efficiently.

In addition, an empty magazine 30B can be placed on the third lift 108 and a storage magazine 30A can be placed on the second lift 107, increasing the number of empty magazines 30B and storage magazines 30A that can be held in the board supply device 100A.

(Embodiment 3)
In the third embodiment, a substrate storage device will be described. The substrate storage device may be replaced with other terms such as an unloader. Note that the same reference numbers are used for components that have already been described in the first and second embodiments, and descriptions thereof may be omitted.

Figures 10, 11, and 12 are diagrams showing examples of the configuration of a substrate storage device and an AGV according to embodiment 3.

The AGV 10 carries the empty magazine 30B and automatically travels to the location of the substrate storage device 100B. The AGV 10 receives the storage magazine 30A from the substrate storage device 100B and automatically travels to a specified location (for example, the location of the substrate supply device 100A according to embodiment 1).

The substrate storage device 100B is a device that stores the substrates 20 transported from the transport rail 40 one by one in an empty magazine 30B. The transport rail 40 is a device (e.g., a conveyor) that transports the substrates 20 that have been worked on by the working device to the substrate storage device 100B.

The substrate storage device 100B includes an input conveyor 101, a first stopper 102, an output conveyor 103, a second stopper 104, a first lift 105, a substrate pusher 106, and a second lift 107.

The carry-in conveyor 101 is a device that transports the empty magazine 30B in a carry-in direction (positive direction of the X-axis), which is a direction approaching the transport rail 40. The carry-in conveyor 101 may have a configuration similar to that of the carry-in conveyor 101 described in the first embodiment.

The first stopper 102 is provided in front of the first lift 105 on the carry-in conveyor 101. When the first lift 105 is not at the height position of the carry-in conveyor 101, the first stopper 102 rises above the plane of the carry-in conveyor 101 (XY plane). As a result, the empty magazine 30B is blocked by the first stopper 102 and is not transferred to the first lift 105. When the first lift 105 is at the height position of the carry-in conveyor 101, the first stopper 102 descends below the plane of the carry-in conveyor 101. As a result, the empty magazine 30B is transferred to the first lift 105.

The output conveyor 103 is a device that transports the storage magazine 30A, which is a magazine in which the boards 20 transported from the transport rail 40 are stored, in the output direction (negative direction of the X-axis) away from the transport rail 40. The output conveyor 103 may have a configuration similar to that of the output conveyor 103 described in embodiment 1. The output conveyor 103 is provided below the load conveyor 101. However, the output conveyor 103 may also be provided above the load conveyor 101. For example, as shown in FIG. 10, the output conveyor 103 is positioned so that both ends of the length of the output conveyor 103 are aligned with both ends of the length of the load conveyor 101.

The second stopper 104 is provided in front of the second lift 107 on the discharge conveyor 103. When the second lift 107 is not at the height position of the discharge conveyor 103, the second stopper 104 rises above the plane of the discharge conveyor 103 (XY plane). As a result, the storage magazine 30A is blocked by the second stopper 104 and is not transferred to the second lift 107. When the second lift 107 is at the height position of the discharge conveyor 103, the second stopper 104 descends below the plane of the discharge conveyor 103. As a result, the storage magazine 30A is transferred to the second lift 107.

The first lift 105 is a device that is provided between one end (the left end in FIG. 10) of the loading conveyor 101 and the unloading conveyor 103 and the transport rail 40, and is movable (i.e., can be raised and lowered) in the vertical direction (Z-axis direction). The first lift 105 may have the same configuration as in the first embodiment.

The first lift 105 moves to a height position of the input conveyor 101 and receives the empty magazine 30B from the input conveyor 101.

The first lift 105 places an empty magazine 30B on it, moves to a position where the height of one of the board storage shelves in the empty magazine 30B is aligned with the height of the board pusher 106, and stops there. The first lift 105 repeats this movement and stopping for each height of the board storage shelves in the empty magazine 30B.

The first lift 105 carries the storage magazine 30A after the boards 20 have been stored in each board storage shelf by the board pusher 106, and moves to the height position of the output conveyor 103. Then, at the height position of the output conveyor 103, the first lift 105 transfers the storage magazine 30A to the output conveyor 103.

The board pusher 106 is a device that pushes out the boards 20 that have flowed along the transport rail 40 toward one of the board storage shelves in the empty magazine 30B placed on the first lift 105. For example, when the first lift 105 moves to a position where the height of one of the board storage shelves in the empty magazine 30B is aligned with the height of the board pusher 106 and stops, the board pusher 106 performs the following operation. That is, the board pusher 106 slides toward the board storage shelf and pushes out the boards 20 that have flowed along the transport rail 40 toward the board storage shelf. As a result, the boards 20 that have flowed along the transport rail 40 are stored in one of the board storage shelves in the empty magazine 30B.

The second lift 107 is provided at the end (the right end in FIG. 10) of the loading conveyor 101 and the unloading conveyor 103 opposite to the end where the first lift 105 is provided, and is a device that can move in the vertical direction (Z-axis direction) (i.e., can be raised and lowered). The second lift 107 may have the same configuration as in embodiment 1.

The second lift 107 moves to a height position of the AGV 10 and receives the empty magazine 30B from the AGV 10 (see Figure 10).

The second lift 107 carries the empty magazine 30B and moves to the height position of the carry-in conveyor 101. Then, at the height position of the carry-in conveyor 101, the second lift 107 transfers the empty magazine 30B to the carry-in conveyor 101 (see Figure 10).

The second lift 107 moves to a height position of the output conveyor 103 and receives the storage magazine 30A from the output conveyor 103 (see FIG. 11). The second lift 107 then moves to a height position of the AGV 10 with the storage magazine 30A on it, and transfers the storage magazine 30A to the AGV 10 (see FIG. 12).

The drive unit 150 is a mechanism that drives the second lift 107 and the conveyor 115 as described above. The drive unit 150 may also drive the components 101 to 106 as described above.

The second lift 107, the conveyor 115, and the drive unit 150 may be an independent lifting device 140. In this case, the lifting device 140 may be connected to a device (e.g., an unloader) that includes the components 101 to 106 and used. The drive unit 150 may then drive the second lift 107 and the conveyor 115 as described above.

Figure 13 is a flowchart illustrating an example of the operation of the substrate storage device 100B.

The second lift 107 performs the loading operation of the empty magazine 30B (S501). Details of this loading operation will be described later (see FIG. 14).

The input conveyor 101 transports the empty magazine 30B received from the second lift 107. The raised first stopper 102 stops the transported empty magazine 30B just before the first lift 105 (S502).

The first lift 105 moves (rises) to the same height as the input conveyor 101 (S503).

The first stopper 102 descends, and the loading conveyor 101 transfers the empty magazine 30B to the first lift 105 (S504). At this time, the conveyor 114 of the first lift 105 drives in the loading direction (positive direction of the X-axis).

The first lift 105 carries the empty magazine 30B and moves (lowers) to a position where the height position of one of the board storage shelves in the empty magazine 30B is aligned with the height position of the board pusher 106 (S505).

The board pusher 106 pushes out the board 20 that is moving along the transport rail 40 (S506). The pushed out board 20 is stored in the board storage shelf at the height position of S505.

The first lift 105 and the substrate pusher 106 repeat the operations of S105 and S106 until substrates 20 are stored in all substrate storage shelves in the empty magazine 30B (S507: NO).

After all of the substrates 20 have been stored in the substrate storage shelves in the empty magazine 30B (S507: YES), the first lift 105 carries the storage magazine 30A and moves (descends) to the height position of the discharge conveyor 103 (S508).

The first lift 105 transfers the storage magazine 30A to the discharge conveyor 103 (S509). At this time, the conveyor 114 of the first lift 105 is driven in the discharge direction (negative direction of the X-axis).

The output conveyor 103 transports the storage magazine 30A received from the first lift 105. The raised second stopper 104 stops the transported storage magazine 30A just before the second lift 107 (S510).

The second lift 107 performs the ejection operation of the storage magazine 30A (S511). Details of this ejection operation will be described later (see FIG. 15).

Figure 14 is a flowchart that explains an example of the loading operation (S501) of the second lift 107 shown in Figure 13.

When an AGV 10 carrying an empty magazine 30B arrives, the second lift 107 moves to a height position of the AGV 10 (S601).

The second lift 107 receives the empty magazine 30B from the AGV 10 (S602). At this time, the conveyor 115 of the second lift 107 drives in the loading direction (positive direction of the X-axis).

The second lift 107 carries the empty magazine 30B and moves to the height position of the input conveyor 101 (S603). Note that if the height position of the second lift 107 is aligned with the height position of the AGV 10, this movement may be omitted.

The second lift 107 transfers the empty magazine 30B to the loading conveyor 101 (S604). At this time, the conveyor 115 of the second lift 107 is driven in the loading direction (positive direction of the X-axis).

By performing the above operations, the empty magazine 30B brought by the AGV 10 can be automatically placed on the input conveyor 101.

Figure 15 is a flowchart that explains an example of the discharge operation (S511) of the second lift 107 shown in Figure 13.

When an AGV 10 arrives without a magazine 30, the second lift 107 moves to a height position of the discharge conveyor 103 (S701).

The second stopper 104 descends, and the discharge conveyor 103 transfers the storage magazine 30A to the second lift 107 (S702). At this time, the conveyor 115 of the second lift 107 drives in the discharge direction (negative direction of the X-axis).

The second lift 107 carries the storage magazine 30A and moves to the height position of the AGV 10 (S703).

The second lift 107 transports the storage magazine 30A to the AGV 10 (S704). At this time, the conveyor 115 of the second lift 107 drives in the unloading direction (negative direction of the X-axis).

By performing the above operations, the storage magazine 30A traveling on the discharge conveyor 103 can be automatically loaded onto the AGV 10.

The operations of Figures 13 to 15 described above may be controlled by a control device (not shown) provided in the substrate storage device 100B. The control device may include a processor, memory, and a communication I/F. These components may operate in cooperation with each other to allow the control device to achieve the above-mentioned control.

(Embodiment 4)
In the fourth embodiment, a configuration will be described in which the substrate storage device 100B described in the third embodiment further includes a third lift 108. Note that the same reference numbers are used for the components that have already been described in the first to third embodiments, and descriptions thereof may be omitted.

Figures 16 and 17 are diagrams showing an example configuration of a substrate storage device 100B according to embodiment 4.

The substrate storage device 100B includes an input conveyor 101, a first stopper 102, an output conveyor 103, a second stopper 104, a first lift 105, a substrate pusher 106, a second lift 107, and a third lift 108.

The third lift 108 is a device that is provided above the second lift 107 and is movable in the vertical direction (i.e., can be raised and lowered). The third lift 108 is equipped with a conveyor 116 that is composed of a belt, chain, rollers, or the like. The conveyor 116 is driven, for example, by a motor. In addition, the height position of the AGV 10 is aligned with the height position of the loading conveyor 101.

The drive unit 150 is a mechanism that drives the second lift 107, the third lift 108, and the conveyors 115 and 116 as described above. Note that the drive unit 150 may also drive the components 101 to 106 as described above.

In the fourth embodiment, the third lift 108 receives the empty magazine 30B from the AGV 10 and transfers it to the carry-in conveyor 101, and the second lift 107 receives the storage magazine 30A from the carry-out conveyor 103 and transfers it to the AGV 10.

The second lift 107, the third lift 108, the conveyors 115, 116, and the drive unit 150 may be an independent lifting device 140. In this case, the lifting device 140 may be connected to an apparatus (e.g., an unloader) that includes the components 101 to 106 and used. The drive unit 150 may then drive the second lift 107, the third lift 108, and the conveyors 115, 116 as described above.

Figure 18 is a flowchart that explains an example of loading and unloading operations by the second lift 107 and the third lift 108.

When an AGV 10 carrying an empty magazine 30B arrives, the third lift 108 moves to a height position of the input conveyor 101 and the AGV 10 (S801).

The second lift 107 moves to a height position of the discharge conveyor 103 (S802). Note that, as shown in FIG. 16, the operations of S801 and S802 may be performed together.

The third lift 108 receives the empty magazine 30B from the AGV 10 (S803). At this time, the conveyor 116 of the third lift 108 drives in the loading direction (positive direction of the X-axis).

The second lift 107 receives the storage magazine 30A from the discharge conveyor 103 (S804). At this time, the conveyor 115 of the second lift 107 drives in the discharge direction (negative direction of the X-axis). Note that, as shown in FIG. 16, the operations of S803 and S804 may be performed simultaneously.

The second lift 107 carries the storage magazine 30A and moves (rises) to the height position of the AGV 10 that arrived in S801 (S805). At this time, as shown in FIG. 17, the third lift 108 may also move (rise) together.

The second lift 107 transports the storage magazine 30A to the AGV 10 (S806). At this time, the conveyor 115 of the second lift 107 is driven in the unloading direction (negative direction of the X-axis).

The third lift 108 loads the empty magazine 30B and moves to the same height as the input conveyor 101 (S807).

The third lift 108 transfers the empty magazine 30B to the loading conveyor 101 (S808). At this time, the conveyor 116 of the third lift 108 drives in the loading direction (positive direction of the X-axis). Note that the operation of S808 may be performed when there is space on the loading conveyor 101 to place the empty magazine 30B.

The above operation allows the third lift 108 to load the empty magazine 30B and the second lift 107 to unload the storage magazine 30A at the same time, so compared to embodiment 3, loading and unloading of the magazine 30 can be performed more efficiently.

In addition, an empty magazine 30B can be placed on the third lift 108 and a storage magazine 30A can be placed on the second lift 107, increasing the number of empty magazines 30B and storage magazines 30A that can be held in the substrate storage device 100B.

(Embodiment 5)
In the fifth embodiment, a description will be given of a control system 200 that controls the behavior of the substrate supply device 100A, the substrate storage device 100B, and the AGV 10 described in the first to fourth embodiments. Note that the same reference numbers are used for components that have already been described in the first to fourth embodiments, and descriptions thereof may be omitted.

Figure 19 shows an example of the configuration of a control system according to embodiment 5.

The control system 200 can transmit and receive various information to and from the substrate supply device 100A, substrate storage device 100B, and AGV 10 arranged in the factory via a specified communication network N. The communication network N may be configured as a wired LAN (Local Area Network), a wireless LAN, or a combination thereof. The control system 200 may be configured as one or more server devices. The control system 200 may include a processor, memory, storage, a communication I/F, etc. The functions provided by the control system 200 may be realized by the cooperative operation of these components.

For example, when the storage magazine 30A is not placed on the input conveyor 101 of the board supplying device 100A (i.e., when the storage magazine 30A needs to be provided), the control system 200 instructs the AGV 10 to transport the storage magazine 30A to the board supplying device 100A. Upon receiving this instruction, the AGV 10 automatically moves to the location of the board supplying device 100A with the storage magazine 30A on board, and provides the storage magazine 30A to the board supplying device 100A.

For example, when an empty magazine 30B is placed on the discharge conveyor 103 of the board supplying device 100A (i.e. when the empty magazine 30B needs to be retrieved), the control system 200 instructs the AGV 10 to retrieve the empty magazine 30B from the board supplying device 100A. Upon receiving this instruction, the AGV 10 automatically moves to the board supplying device 100A without loading anything, and retrieves the empty magazine 30B from the board supplying device 100A.

For example, when an empty magazine 30B is not placed on the input conveyor 101 of the substrate storage device 100B (i.e., when an empty magazine 30B needs to be provided), the control system 200 instructs the AGV 10 to transport the empty magazine 30B to the substrate storage device 100B. Upon receiving this instruction, the AGV 10 automatically moves to the location of the substrate supply device 100A with the empty magazine 30B on board, and provides the empty magazine 30B to the substrate storage device 100B.

For example, when a storage magazine 30A is placed on the discharge conveyor 103 of the substrate storage device 100B (i.e. when the storage magazine 30A needs to be retrieved), the control system 200 instructs the AGV 10 to retrieve the storage magazine 30A from the substrate storage device 100B. Upon receiving this instruction, the AGV 10 automatically moves to the location of the substrate storage device 100B without loading anything, and retrieves the storage magazine 30A from the substrate storage device 100B.

When there are AGVs 10 in a factory with different height positions of the upper surface on which the magazines 30 are placed, the control system 200 may transmit information indicating the height position of the AGV 10 to be directed to the location of the board supply device 100A or the board storage device 100B to the board supply device 100A or the board storage device 100B. This allows the board supply device 100A or the board storage device 100B to align the height position of the second lift 107 (and the third lift 108) with the height position of the arriving AGV 10.

Summary of the Disclosure
A substrate supplying device (100A) for supplying a substrate (20) according to the present disclosure comprises an input conveyor (101) for transporting a storage magazine (30A), which is a magazine (30) in which the substrates are stored, in a loading direction, a first lift (105) capable of moving up and down while carrying the storage magazine received from the input conveyor or an empty magazine (30B), which is a magazine after the substrates have been discharged, an output conveyor (103) provided above or below the input conveyor for transporting the empty magazine received from the first lift in an output direction, and a second lift (107) capable of moving up and down, and when the second lift receives the storage magazine from an automated guided vehicle (10), it moves to the height position of the input conveyor while carrying the storage magazine.

With this configuration, the second lift carries the storage magazine received from the automated guided vehicle and moves to the height of the loading conveyor, automating the task of moving the storage magazine to the height of the loading conveyor.

The second lift may be equipped with a conveyor that transfers the storage magazine received from the automated guided vehicle to the input conveyor.

With this configuration, the conveyor of the second lift transfers the storage magazine received from the automated guided vehicle to the carry-in conveyor, automating the task of transferring the storage magazine from the automated guided vehicle to the carry-in conveyor.

When the second lift receives the empty magazine from the discharge conveyor, it may move to a height position of the automated guided vehicle with the empty magazine on it.

With this configuration, the second lift carries the empty magazine received from the discharge conveyor and moves to the height position of the automated guided vehicle, automating the task of moving the empty magazine to the height position of the automated guided vehicle.

The second lift may include a conveyor that transports the empty magazine to the automated guided vehicle.

With this configuration, the conveyor of the second lift transports the empty magazine received from the output conveyor to the automated guided vehicle, automating the task of transferring the empty magazine from the output conveyor to the automated guided vehicle.

The second lift may be provided with a conveyor that transfers the storage magazine to the loading conveyor when the second lift is moved to the height position of the loading conveyor with the storage magazine loaded thereon, and transfers the empty magazine to the automated guided vehicle when the second lift is moved to the height position of the automated guided vehicle with the empty magazine loaded thereon.

With this configuration, the conveyor of the second lift transfers the storage magazine to the carry-in conveyor and the empty magazine to the automated guided vehicle, automating the task of transferring the storage magazine from the automated guided vehicle to the carry-in conveyor and the task of transferring the empty magazine from the carry-out conveyor to the automated guided vehicle.

The system may further include a third lift (108) that is provided above the second lift and is movable up and down, and when the third lift receives the empty magazine from the discharge conveyor, the third lift may move to a height position of the automated guided vehicle while carrying the empty magazine. The third lift may include a conveyor that transfers the empty magazine received from the discharge conveyor to the automated guided vehicle.

With this configuration, the second lift can load the storage magazine and the third lift can unload the empty magazine at the same time, allowing magazines to be loaded and unloaded efficiently.

The substrate storage device (100B) for storing substrates (20) according to the present disclosure includes an input conveyor (101) for transporting an empty magazine (30B), which is a magazine (30) that does not contain substrates, in a loading direction, a first lift (105) capable of moving up and down while carrying the empty magazine received from the input conveyor or a storage magazine, which is a magazine after the substrates have been stored, an output conveyor (103) provided above or below the input conveyor for transporting the storage magazine received from the first lift in an output direction, and a second lift (107) capable of moving up and down. When the second lift receives the storage magazine from the output conveyor, it moves to the height position of the automated guided vehicle (10) while carrying the storage magazine.

With this configuration, the second lift carries the storage magazine received from the discharge conveyor and moves to the height position of the automated guided vehicle, automating the task of moving the storage magazine to the height position of the automated guided vehicle.

The second lift may be equipped with a conveyor that transfers the storage magazine received from the discharge conveyor to the automated guided vehicle.

With this configuration, the conveyor of the second lift moves the storage magazine received from the output conveyor to the automated guided vehicle, automating the task of transferring the storage magazine from the output conveyor to the automated guided vehicle.

When the second lift receives the empty magazine from the automated guided vehicle, it may move to a height position of the input conveyor with the empty magazine on it.

With this configuration, the second lift carries the empty magazine received from the automated guided vehicle and moves to the height position of the loading conveyor, automating the task of moving the empty magazine to the height position of the loading conveyor.

The second lift may include a conveyor that transports the empty magazine to the input conveyor.

With this configuration, the conveyor of the second lift transfers the empty magazine received from the automated guided vehicle to the carry-in conveyor, automating the task of transferring the empty magazine from the automated guided vehicle to the carry-in conveyor.

The second lift may be provided with a conveyor that transfers the storage magazine to the automated guided vehicle when the second lift is moved to the height position of the automated guided vehicle with the storage magazine loaded thereon, and transfers the empty magazine to the loading conveyor when the second lift is moved to the height position of the empty magazine loaded thereon.

With this configuration, the conveyor of the second lift transfers the storage magazine to the automated guided vehicle and the empty magazine to the carry-in conveyor, automating the task of transferring the storage magazine from the carry-out conveyor to the automated guided vehicle and the task of transferring the empty magazine from the automated guided vehicle to the carry-in conveyor.

The system may further include a third lift (108) that is provided above the second lift and is movable up and down, and when the third lift receives the empty magazine from the automated guided vehicle, the third lift may move to a height position of the loading conveyor while carrying the empty magazine. The third lift may include a conveyor that transfers the empty magazine received from the automated guided vehicle to the loading conveyor.

With this configuration, the third lift can load an empty magazine and the second lift can unload a stored magazine at the same time, allowing magazines to be loaded and unloaded efficiently.

Although the embodiments have been described above with reference to the attached drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, corrections, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components in the above-described embodiments may be combined in any manner as long as it does not deviate from the spirit of the invention.

The technology disclosed herein is useful for substrate supply devices and substrate storage devices.

10 AGV
Reference Signs List 20 Board 30 Magazine 30A Storage magazine 30B Empty magazine 40 Transport rail 100A Board supply device 100B Board storage device 101 Loading conveyor 102 First stopper 103 Unloading conveyor 104 Second stopper 105 First lift 106 Board pusher 107 Second lift 108 Third lift 111, 114, 115, 116 Conveyor 140 Lifting device 150 Drive unit 200 Control system N Communication network

Claims (14)

A substrate supplying device that supplies a substrate,
a carry-in conveyor that transports a storage magazine in which the substrates are stored in a carry-in direction;
a first lift capable of moving up and down while carrying the storage magazine received from the carry-in conveyor or an empty magazine after the substrates have been discharged;
an unloading conveyor that is provided above or below the loading conveyor and that transports the empty magazine received from the first lift in a loading direction;
A second lift that is movable up and down;
when the second lift receives the storage magazine from the automatic guided vehicle, the second lift moves to a height position of the carry-in conveyor while carrying the storage magazine;
Further, a third lift is provided which can move up and down simultaneously with the second lift,
when the third lift receives the empty magazine from the discharge conveyor, the third lift moves to a height position of the automatic guided vehicle while carrying the empty magazine.
Substrate supply device. The second lift includes a conveyor that transfers the storage magazine received from the automatic guided vehicle to the carry-in conveyor.
The substrate supply device according to claim 1 . when the second lift receives the empty magazine from the discharge conveyor, the second lift moves to a height position of the automatic guided vehicle while carrying the empty magazine.
The substrate supply device according to claim 1 . The second lift includes a conveyor that transfers the empty magazine to the automated guided vehicle.
The substrate supply device according to claim 3 . the second lift includes a conveyor that, when the second lift is moved to a height position of the carry-in conveyor with the storage magazine loaded thereon, transfers the storage magazine to the carry-in conveyor, and, when the second lift is moved to a height position of the automatic guided vehicle with the empty magazine loaded thereon, transfers the empty magazine to the automatic guided vehicle.
The substrate supply device according to claim 1 . The third lift includes a conveyor that transfers the empty magazine received from the discharge conveyor to the automated guided vehicle.
The substrate supply device according to claim 1 . A substrate supply method for supplying a substrate, comprising the steps of:
a carry-in conveyor that carries a storage magazine in which the substrates are stored in a carry-in direction;
a first lift moves carrying the storage magazine received from the carry-in conveyor or an empty magazine which is a magazine after the substrates have been discharged;
an unloading conveyor provided above or below the loading conveyor transports the empty magazine received from the first lift in an unloading direction;
When the second lift receives the storage magazine from the automatic guided vehicle, the second lift moves to a height position of the carry-in conveyor while carrying the storage magazine thereon;
When a third lift, which is movable up and down simultaneously with the second lift, receives the empty magazine from the discharge conveyor, the third lift carries the empty magazine and moves to a height position of the automatic guided vehicle simultaneously with the operation of the second lift.
Substrate supply method. A substrate storage device for storing substrates,
an input conveyor that transports an empty magazine, which is a magazine in which no substrates are stored, in a input direction;
a first lift capable of moving up and down while carrying the empty magazine received from the carry-in conveyor or a storage magazine which is a magazine after the substrates are stored;
an unloading conveyor that is provided above or below the loading conveyor and that transports the storage magazine received from the first lift in an unloading direction;
A second lift that is movable up and down;
when the second lift receives the storage magazine from the discharge conveyor, the second lift moves to a height position of the automatic guided vehicle while carrying the storage magazine;
A third lift that can move up and down simultaneously with the second lift,
When the third lift receives the empty magazine from the automatic guided vehicle, the third lift moves to a height position of the input conveyor while carrying the empty magazine.
Circuit board storage device. The second lift includes a conveyor that transfers the storage magazine received from the discharge conveyor to the automatic guided vehicle.
The substrate storage device according to claim 8 . when the second lift receives the empty magazine from the automatic guided vehicle, the second lift moves to a height position of the input conveyor while carrying the empty magazine thereon.
The substrate storage device according to claim 9 . The second lift includes a conveyor that transfers the empty magazine to the input conveyor.
The substrate storage device according to claim 10 . the second lift includes a conveyor that, when the second lift is moved to a height position of the automatic guided vehicle with the storage magazine loaded thereon, transfers the storage magazine to the automatic guided vehicle, and, when the second lift is moved to a height position of the carry-in conveyor with the empty magazine loaded thereon, transfers the empty magazine to the carry-in conveyor.
The substrate storage device according to claim 8 . The third lift includes a conveyor that transfers the empty magazine received from the automated guided vehicle to the carry-in conveyor.
The substrate storage device according to claim 8 . A substrate storage method for storing a substrate, comprising the steps of:
an input conveyor transports an empty magazine, which is a magazine in which no substrates are stored, in an input direction;
a first lift is raised and lowered while carrying the empty magazine received from the carry-in conveyor or a storage magazine which is a magazine after the substrates have been stored;
an unloading conveyor provided above or below the loading conveyor transports the storage magazine received from the first lift in an unloading direction;
When the second lift receives the storage magazine from the discharge conveyor, the second lift moves to a height position of the automatic guided vehicle while carrying the storage magazine.
When a third lift, which can move up and down simultaneously with the second lift , receives the empty magazine from the automatic guided vehicle, the third lift moves to a height position of the carry-in conveyor while carrying the empty magazine, simultaneously with the operation of the second lift.
How to store boards.

Images