JP7468283B2 - Storage box transfer device - Google Patents

Description

The present invention relates to a storage box transfer device.

Patent Document 1 discloses a storage box transfer device for transferring a storage box. The storage box has a carrier that stores semiconductor wafers, and a lid that is placed over the carrier to cover the sides and top of the carrier. A window is formed as an opening in the side wall of the lid, and the window is covered with a sheet made of an elastic material. The storage box transfer device described in Patent Document 1 inserts a claw into the window while deforming the sheet, thereby engaging the claw with the lid and the carrier inside the lid. The storage box is transferred by lifting it in this state. After the storage box is transferred, the insertion amount of the claw into the window is reduced to bring the claw into a state where it is engaged only with the lid. The lid is removed from the carrier by lifting it in this state.

Japanese Patent Application Laid-Open No. 11-204614

Some storage boxes are equipped with a locking mechanism that locks the lid so that it cannot be removed. When transferring such a storage box using the storage box transfer device described in Patent Document 1, after transferring the storage box, it is necessary to operate the locking mechanism to release the lock before removing the lid. If separate devices are provided for unlocking the storage box after transferring it and for transferring the storage box, there is a risk that the equipment will become large.

The object of the present invention is to provide a storage box transfer device that can prevent the equipment from becoming too large.

The storage box transfer device for solving the above problem has a case with an opening at one end and a lid body that is assembled to the case to close the opening, and the lid body is provided with a locking mechanism that switches the locked state of the case and the lid body by sliding between a first position that holds the assembled state of the case and the lid body and a second position that allows the assembled state of the case and the lid body to be released. The device is equipped with a lock operation unit that slides the locking mechanism to switch between the first position and the second position, a first gripping unit that lifts the storage box when the locking mechanism is switched to the first position by the locking operation unit, and a second gripping unit that lifts the lid body when the locking mechanism is switched to the second position by the locking operation unit.

The above configuration includes a lock operation unit that operates the locking mechanism of the storage box. This makes it possible to perform operations such as unlocking the storage box and lifting only the lid, and locking the lid after assembling it to the case and transferring the storage box, all with a single device. Therefore, with the above configuration, the number of devices can be reduced compared to when a device for operating the locking mechanism of the storage box and a device for transferring the storage box are provided separately, and the size of the facility can be prevented from increasing.

FIG. 2 is a perspective view showing a schematic configuration of a storage box transfer device and a storage box according to an embodiment. FIG. FIG. FIG. 4 is a perspective view showing a storage box transfer device with a portion thereof omitted. Cross-sectional view of the storage box. FIG. FIG. 4 is a cross-sectional view showing a state in which the storage box transfer device is disposed above the storage box. 11 is a cross-sectional view showing a state in which the claw portion of the storage box transfer device is positioned above the storage box. FIG. 13 is a cross-sectional view showing a state in which the claw portion of the storage box transfer device is locked by the locking mechanism. FIG. FIG. 11 is a cross-sectional view showing a state in which the storage box transfer device releases the lock on the storage box. 11 is a cross-sectional view showing a state in which the storage box transfer device lifts the lid of the storage box. FIG. 11 is a cross-sectional view showing a state in which the storage box transfer device has been retracted from above the case of the storage box. FIG. FIG. 4 is a cross-sectional view showing a state in which the workpieces are accommodated in the accommodation box. 13 is a cross-sectional view showing a state in which the storage box transfer device has returned to above the case of the storage box. FIG. 11 is a cross-sectional view showing a state in which the storage box transfer device has attached a lid body to a case of the storage box. FIG. 11 is a cross-sectional view showing a state in which the storage box transfer device locks the storage box. FIG. 11 is a cross-sectional view showing a state in which the storage box transfer device lifts up the storage box. 13 is a cross-sectional view showing a state after the storage box transfer device has transferred the storage box. FIG.

An embodiment of a storage box transfer device will be described with reference to FIGS.
As shown in Fig. 1, a storage box transfer device 10 is movably installed above a storage box 100 placed on a transport table D1 such as a belt conveyor, and lifts up the storage box 100 and transfers it onto another transport table D2. In the following, one direction on a horizontal plane is referred to as the X direction, and a direction perpendicular to the X direction on the horizontal plane is referred to as the Y direction. The vertical direction perpendicular to the X and Y directions, i.e., the height direction, is referred to as the Z direction.

The storage box 100 is configured in a substantially rectangular parallelepiped shape. In this embodiment, the storage box 100 is arranged so that the width direction is the same as the X direction and the length direction is the same as the Y direction.

As shown in FIG. 2, the storage box transfer device 10 has a rectangular base 11. The base 11 is formed in a rectangular shape with a length in the Y direction longer than the length in the X direction. Four suspension columns 12 are connected to the upper surface of the base 11. Two suspension columns 12 are provided at one end of the base 11 in the Y direction, and two are provided at the other end. The upper end of each suspension column 12 is connected to a drive device (not shown). The drive device is a known configuration that combines multiple axes of a linear motion device that combines a ball screw and a servo motor, or a drive device such as an air cylinder, and is configured to be able to move the suspension columns 12 in three dimensional directions. The base 11 is moved in three dimensional directions by moving the suspension columns 12 with the drive device.

A pair of rails 15 is provided on the base 11, closer to the center than each suspension column 12 in the Y direction. The pair of rails 15 extend parallel to each other along the X direction. The pair of rails 15 extend continuously from one end of the base 11 in the X direction to the other end. Of the pair of rails 15, the rail 15 provided at one end in the Y direction is referred to as the first rail 15A, and the rail 15 provided at the other end in the Y direction is referred to as the second rail 15B.

Between the first rail 15A and the second rail 15B, a first servo mechanism 20 and a second servo mechanism 50 are provided. The first servo mechanism 20 is provided on the first rail 15A side with respect to the second servo mechanism 50. The first servo mechanism 20 has a rectangular parallelepiped first housing 20A and a first connecting rod 20B protruding from the first housing 20A to one side in the X direction. Inside the first housing 20A, a drive device is provided that moves the first connecting rod 20B in the axial direction, i.e., in both directions in the X direction, to cause the first connecting rod 20B to appear and disappear from the first housing 20A. In this embodiment, a linear motion device combining a servo motor and a ball screw is used as the drive device. A first connecting plate 21 is connected to the tip of the first connecting rod 20B. The first connecting plate 21 is a square plate and extends in the Y direction. The first slide section 30 is connected to one end of the first connecting plate 21 in the Y direction, and the second slide section 40 is connected to the other end of the first connecting plate 21 in the Y direction.

The second servo mechanism 50 has a rectangular parallelepiped second housing 50A and a second connecting rod 50B protruding from the second housing 50A to the other side in the X direction. Inside the second housing 50A, a drive device is provided that moves the second connecting rod 50B in the axial direction, i.e., in both directions in the X direction, to cause the second connecting rod 50B to appear and disappear from the second housing 50A. In this embodiment, a linear motion device combining a servo motor and a ball screw is used as the drive device. A second connecting plate 51 is connected to the tip of the second connecting rod 50B. The second connecting plate 51 is a square plate and extends in the Y direction. A third slide portion 55 is connected to one end of the second connecting plate 51 in the Y direction, and a fourth slide portion 60 is connected to the other end of the second connecting plate 51 in the Y direction.

The configuration of the first slide section 30 and the configuration of the third slide section 55 are symmetrical, and the configuration of the second slide section 40 and the configuration of the fourth slide section 60 are symmetrical. Therefore, the configurations of the first slide section 30 and the second slide section 40 will be described below. The third slide section 55 will be given the same reference number as the first slide section 30, and the fourth slide section 60 will be given the same reference number as the second slide section 40, and detailed descriptions thereof will be omitted.

The first slide portion 30 is connected to the first connecting plate 21 and has a first shoulder portion 31 extending in the X direction and a first arm portion 32 extending downward from one end of the first shoulder portion 31 in the X direction. The first slide portion 30 also has a first sliding portion 33 fixed to the underside of the other end of the first shoulder portion 31 in the X direction. The first sliding portion 33 is slidably assembled to the first rail 15A.

3, the first arm 32 is disposed on the side of the base 11 and extends downward from the base 11. A first recess 32A is provided in the center of the first arm 32 in the Z direction. The first recess 32A is formed in a shape cut out from the surface on the base 11 side. A claw portion 65 is connected to the first recess 32A. The claw portion 65 has a flat plate portion 66 assembled to the first recess 32A of the first arm 32. A bent portion 67 is provided at the lower end of the flat plate portion 66, which bends and extends toward the other end side in the X direction, i.e., the base 11 side. An abutment portion 68 is provided at the tip of the bent portion 67, which bends and extends downward. The claw portion 65 is positioned relative to the first arm 32 by assembling the flat plate portion 66 of the claw portion 65 to the first recess 32A of the first arm 32.

2, the second slide portion 40 is connected to the first connecting plate 21 and has a second shoulder portion 41 extending in the X direction and a second arm portion 42 extending downward from one end of the second shoulder portion 41 in the X direction. The second slide portion 40 also has a second sliding portion 43 fixed to the underside of the other end of the first shoulder portion 31 in the X direction. The second sliding portion 43 is slidably assembled to the second rail 15B. The second arm portion 42 is disposed on the side of the base 11 and extends downward from the base 11. A second recess 42A is provided in the center of the second arm portion 42 in the Z direction. The second recess 42A is formed in a shape cut out from the surface on the base 11 side. A claw portion 65 is connected to the second recess 42A. The configuration of the claw portion 65 connected to the second arm portion 42 is the same as the configuration of the claw portion 65 connected to the first arm portion 32. Therefore, common reference numerals are used and detailed descriptions are omitted. Note that the claw portion 65 is positioned relative to the second arm portion 42 by assembling the flat portion 66 of the claw portion 65 into the second recessed portion 42A of the second arm portion 42.

2 and 3, a first connecting recess 32B is formed at the lower end of the first arm 32. A second connecting recess 42B is formed at the lower end of the second arm 42. The first connecting recess 32B and the second connecting recess 42B are formed in a shape cut out from the surface on the base 11 side and the lower end surface. A first locking plate 70 is connected to the first connecting recess 32B and the second connecting recess 42B so as to connect the lower end of the first arm 32 and the lower end of the second arm 42. Similarly, a second locking plate 75 is connected to the first connecting recess 32B and the second connecting recess 42B of the first arm 32 in the third slide section 55 and the second arm 42 in the fourth slide section 60 so as to connect their lower ends. The configuration of the first locking plate 70 and the configuration of the second locking plate 75 are symmetrical. Therefore, the following describes the configuration of the second locking plate 75, and the configuration of the first locking plate 70 will be given the same reference numerals and detailed description will be omitted.

As shown in FIG. 3, the second locking plate 75 is located below the claw portion 65. The second locking plate 75 has a vertical wall 75A that extends in the Z direction and is assembled to the first connecting recess 32B and the second connecting recess 42B, and a bottom wall 75B that extends from the bottom end of the vertical wall 75A to one side in the X direction (the right side in FIG. 3). The bottom wall 75B faces the bent portion 67 of the claw portion 65. As shown by the dashed line in FIG. 3, the tip of the bottom wall 75B extends to the same position as the tip of the bent portion 67 of the claw portion 65.

As shown in Figures 2 and 3, the lower wall 75B has a notch formed at a position corresponding to the first arm 32 and the second arm 42. The notch is formed in a shape cut out from one end side in the X direction, i.e., the surface on the base 11 side. The lower wall 75B includes an auxiliary wall 75C that covers the notch from below. As a result, the second locking plate 75 has a stepped portion 75D formed in a stepped shape at a position corresponding to the first arm 32 and the second arm 42.

In the storage box transfer device 10 having such a configuration, when the first servo mechanism 20 moves the first connecting rod 20B in the X direction, the first connecting plate 21, the first sliding portion 30, the second sliding portion 40, the claw portion 65, and the first locking plate 70 move in the X direction relative to the base 11. That is, when the first servo mechanism 20 moves the first connecting rod 20B so as to retract into the first housing 20A, the first connecting plate 21 slides to approach the base 11. When sliding in this way, the first sliding portion 33 slides against the first rail 15A, and the second sliding portion 43 slides against the second rail 15B. In this way, the claw portion 65 and the first locking plate 70 move in parallel to the other side in the X direction, that is, in the direction approaching the base 11, by being guided by the first rail 15A and the second rail 15B and sliding in the X direction.

When the first servo mechanism 20 moves the first connecting rod 20B so as to protrude relative to the first housing 20A, the first connecting plate 21 slides away from the base 11. During this sliding movement, the first sliding portion 33 slides relative to the first rail 15A, and the second sliding portion 43 slides relative to the second rail 15B. In this way, the claw portion 65 and the first locking plate 70 move in parallel to one side in the X direction, i.e., in the direction away from the base 11, by being guided by the first rail 15A and the second rail 15B and sliding in the X direction.

Similarly, when the second servo mechanism 50 moves the second connecting rod 50B in the X direction, the second connecting plate 51, the third slide portion 55, the fourth slide portion 60, the claw portion 65, and the second locking plate 75 move relative to the base 11 in both directions in the X direction.

As shown in FIG. 3, the lower surface of the base 11 is provided with a pressing portion 80 at both ends in the X direction. Four pressing portions 80 are provided corresponding to the claws 65. That is, the two pressing portions 80 provided corresponding to the claws 65 connected to the first arm 32 are arranged at the same position in the Y direction as the claws 65 connected to the first arm 32. The two pressing portions 80 provided corresponding to the claws 65 connected to the second arm 42 are arranged at the same position in the Y direction as the claws 65 connected to the second arm 42. As shown by the dashed line in FIG. 3, the lower surface of the pressing portion 80 is adjusted to the same height as the upper surface of the bent portion 67 of the claws 65. Therefore, when the claws 65 slide in the X direction by the drive of the first servo mechanism 20 or the second servo mechanism 50 and are arranged below the base 11, the pressing portion 80 and the claws 65 come into contact with each other. In this state, upward movement of the claw portion 65 in the Z direction is restricted.

As shown in FIG. 4, the storage box transfer device 10 has a first sensor unit 90 and a second sensor unit 99 that are fixed to the base 11 and aligned in the Y direction. The configuration of the first sensor unit 90 and the configuration of the second sensor unit 99 are similar. Therefore, the following describes the configuration of the first sensor unit 90, and the configuration of the second sensor unit 99 is given the same reference numerals and will not be described.

The first sensor unit 90 is composed of a light emitting unit 91 arranged close to the first slide unit 30 and a light receiving unit 95 arranged close to the third slide unit 55. The light emitting unit 91 is composed of a first holding plate 92 fixed to the upper surface of the base 11 and a light emitting element 93 attached to the first holding plate 92. The first holding plate 92 has a first horizontal extension portion 92A fixed to the upper surface of the base 11 and extending in the X direction. At one end of the first horizontal extension portion 92A in the X direction, a first vertical extension portion 92B is provided which bends downward and extends. At the lower end of the first vertical extension portion 92B, a second horizontal extension portion 92C is provided which bends and extends to the other side in the X direction. In this way, the first holding plate 92 is formed in a U-shape folded back in the X direction. The light emitting element 93 is attached to the lower surface of the second horizontal extension portion 92C.

As shown in FIG. 3, the light-emitting element 93 is disposed between the claw portion 65 and the first locking plate 70 in the Z direction. More specifically, the light-emitting element 93 is provided slightly above the vertical wall 75A of the first locking plate 70 in the Z direction. The light-emitting element 93 is provided facing the other side in the X direction, i.e., the light-receiving unit 95 side. The light-emitting element 93 is made of, for example, a semiconductor, and is configured to be able to emit light toward the light-receiving unit 95 side.

3 and 4, the light receiving unit 95 is composed of a second holding plate 96 fixed to the upper surface of the base 11 and a light receiving element 97 attached to the second holding plate 96. The second holding plate 96 has a third horizontal extension 96A fixed to the upper surface of the base 11 and extending in the X direction. The other end of the third horizontal extension 96A in the X direction is provided with a second vertical extension 96B that bends downward and extends. The lower end of the second vertical extension 96B is provided with a fourth horizontal extension 96C that bends and extends to one side in the X direction. In this way, the second holding plate 96 is formed in a U-shape that is folded back in the opposite direction to the first holding plate 92 in the X direction. The light receiving element 97 is attached to the lower surface of the fourth horizontal extension 96C.

The light receiving element 97 is disposed between the claw portion 65 and the second locking plate 75 in the Z direction. More specifically, the light receiving element 97 is disposed slightly above the vertical wall 75A of the second locking plate 75 in the Z direction and at the same height as the light emitting element 93. The light receiving element 97 is disposed on one side in the X direction, i.e., facing the light emitting portion 91 side. The light receiving element 97 is made of, for example, a semiconductor, and is configured to receive light emitted from the light emitting element 93 and convert it into an electrical signal.

Next, the configuration of the storage box 100 transferred by the storage box transfer device 10 will be described.
As shown in Fig. 5, the storage box 100 has a case 110 and a lid 120. The case 110 has a rectangular bottom wall 111 and a side wall 112 standing upright from the periphery of the bottom wall 111, and is open at its upper end in the Z direction. The upper end of the side wall 112 corresponds to an opening 112A that constitutes an opening 110A of the case 110. A flange portion 113 that protrudes laterally is provided at the upper end of the side wall 112. In other words, the flange portion 113 is provided at the opening 112A of the case 110.

The lid 120 has a body wall 121 that is approximately the same shape as the opening 110A of the case 110. A positioning wall 122 that bends upward is provided on the periphery of the body wall 121. A flange cover wall 123 that bends sideways is provided at the upper end of the positioning wall 122. The length of the flange cover wall 123 is slightly longer than the length of the flange portion 113. A concealing wall 124 that bends downward is provided at the tip of the flange cover wall 123. In such a storage box 100, when the lid 120 is assembled to the case 110 so that the body wall 121 closes the opening 110A, the flange cover wall 123 covers the flange portion 113, and the flange portion 113 is positioned between the positioning wall 122 and the concealing wall 124. Therefore, the lid 120 is in a state in which the displacement of the lid 120 with respect to the case 110 is suppressed to a certain extent.

In addition, when the case 110 and the lid 120 are assembled, the concealing wall 124 extends below the flange 113. Therefore, the assembled portion of the lid 120 and the case 110, i.e., the boundary between the flange 113 and the flange cover wall 123, is hidden by the concealing wall 124. The concealing wall 124 has an insertion hole 124A at the position where the locking mechanism 130, which will be described next, is provided. The insertion hole 124A is provided at a position slightly below the flange 113.

As shown in FIG. 6, the lid 120 is provided with a locking mechanism 130. A total of four locking mechanisms 130 are provided on the lid 120, two on each end in the X direction. FIG. 6 illustrates an example of a state in which the locking mechanism 130 provided on one side in the X direction (lower side in FIG. 6) is in a first position that maintains the assembled state of the case 110 and the lid 120, and the locking mechanism 130 provided on the other side in the X direction (upper side in FIG. 6) is in a second position that can release the assembled state of the case 110 and the lid 120. Although there is a difference between the first position and the second position, the configuration of each locking mechanism 130 shown in FIG. 6 is the same.

The locking mechanism 130 is composed of a locking frame 131 provided on the upper surface of the flange cover wall 123 of the lid 120, and a locking piece 140 supported by the locking frame 131. The locking frame 131 has a pair of opposing walls 132 erected on the upper surface of the flange cover wall 123, and an upper wall 133 connecting the upper ends of the pair of opposing walls 132. The upper wall 133 has a notch 133A that is cut out in an arc shape from the outside in the width direction in the plan view shown in Figure 6. The locking frame 131 and the flange cover wall 123 form a support hole 131A.

The locking piece 140 is inserted into the support hole 131A. The locking piece 140 has a locking portion 141 that is disposed on the outer side of the support hole 131A, and an insertion portion 146 that extends so as to protrude from the locking portion 141 and is inserted into the support hole 131A.

5 and 6, the locking portion 141 has a first plate portion 142 in the shape of a square plate. A convex wall portion 143 extending in the Y direction is provided on the upper surface of the first plate portion 142. A curved portion 144 that curves downward is provided on one end of the first plate portion 142. A second plate portion 145 that is folded back toward the first plate portion 142 and extends parallel to the first plate portion 142 is provided on the lower end of the curved portion 144. The distance between the first plate portion 142 and the second plate portion 145 is slightly shorter than the sum of the plate thickness of the flange cover wall 123 and the plate thickness of the flange portion 113. In addition, the second plate portion 145 is inclined so that the tip portion located on the side wall 112 side of the case 110 is located downward as it approaches the side wall 112.

As shown in FIG. 6, the insertion portion 146 has a central portion 147 connected to the locking portion 141. A protrusion 148 is provided on the top surface of the tip of the central portion 147. The protrusion 148 prevents the insertion portion 146 from slipping out of the support hole 131A. A pair of fulcrum portions 149 extending in opposite directions in the Y direction are provided on the tip of the central portion 147. A first flexure portion 150 extending toward the locking portion 141 is connected to one of the fulcrum portions 149, and a second flexure portion 151 extending toward the locking portion 141 is connected to the other fulcrum portion 149. A gap is formed between the central portion 147 and the first flexure portion 150 and the second flexure portion 151.

The side surfaces of the first flexure portion 150 and the second flexure portion 151 are provided with mountain-shaped locking claws 152 that protrude away from the central portion 147 on the portion on the lock portion 141 side in the X direction. In the insertion portion 146, the length in the Y direction of the portion where the fulcrum portion 149 is provided is approximately equal to the length in the Y direction of the support hole 131A. On the other hand, in the insertion portion 146, the length in the Y direction from the apex of the locking claws 152 of the first flexure portion 150 to the apex of the locking claws 152 of the second flexure portion 151 is longer than the length in the Y direction of the support hole 131A.

Therefore, when the insertion portion 146 is inserted into the support hole 131A, the locking piece 140 is sandwiched by the opposing wall 132. As a result, the first flexure portion 150 and the second flexure portion 151 are elastically deformed so as to approach each other toward the center portion 147 side with the fulcrum portion 149 as a fulcrum. When the insertion is further performed in this state, the locking claw 152 comes out of the support hole 131A, and the first flexure portion 150 and the second flexure portion 151 return from the elastically deformed state. As a result, the length between the two locking claws 152 becomes longer than the length of the support hole 131A, and the locking claws are locked to the inner side surface of the opposing wall 132. In this state, the second plate portion 145 of the locking portion 141 is inserted into the insertion hole 124A of the blind wall 124, as in the locking mechanism 130 shown on the right side of FIG. 5. In this state, the flange cover wall 123 and the flange portion 113 are sandwiched and held between the first plate portion 142 and the second plate portion 145.

In this way, when the locking piece 140 is slid in the X direction so that the insertion portion 146 is inserted into the support hole 131A and engaged with the locking frame 131, the locking mechanism 130 is in the first position, and the assembled state of the case 110 and the lid body 120 is maintained by the locking portion 141.

In addition, by sliding the locking piece 140 from the first position to the opposite side in the X direction, the first flexure 150 and the second flexure 151 are elastically deformed while the insertion part 146 is moved in a direction to be pulled out of the support hole 131A. By moving the protrusion 148 of the insertion part 146 until it abuts against the upper wall 133 of the locking frame 131, the locking mechanism 130 is in the second position, and the second plate part 145 of the locking part 141 is pulled out of the insertion hole 124A of the blind wall 124. In this state, the locking claw 152 is positioned outboard of the locking frame 131 and is locked to the outer surface of the opposing wall 132. In this way, the locking mechanism 130 is configured so that the locking frame 131 and the locking piece 140 can be locked by snap-fitting.

Next, the operation of the storage box transfer device 10 when transferring the storage box 100 will be described.
As shown in Fig. 7, the storage box transfer device 10 drives the drive device to place the base 11 above the storage box 100, and then lowers the base 11 to place the storage box 100 on the transport platform D1 between the first arm 32 and the second arm 42. In this state, the claws 65 connected to the first arm 32 and the second arm 42 are located above the lid 120, and the first locking plate 70 and the second locking plate 75 are located below the flange 113 of the case 110. In the storage box 100 shown in Fig. 7, all of the locking mechanisms 130 are in the first position, and the case 110 and the lid 120 are locked.

8, the first servo mechanism 20 and the second servo mechanism 50 are driven to move the first arm 32 and the second arm 42 in a direction approaching the base 11. As a result, the first arms 32 approach each other, and the second arms 42 approach each other. At this time, in the storage box transfer device 10, when the storage box 100 is locked, the drive amount of the first servo mechanism 20 and the second servo mechanism 50 is set so that the abutment portion 68 of the claw portion 65 is located above the notch portion 133A of the locking frame 131 in the locking mechanism 130. Therefore, the abutment portion 68 of the claw portion 65 moves in the X direction until it is located above the notch portion 133A of the locking frame 131. As a result, the abutment portion 68 of the claw portion 65 is positioned inside the convex wall portion 143 of the locking piece 140 in the locking mechanism 130. In this state, the upper surface of the bent portion 67 of the claw portion 65 abuts against the lower surface of the pressing portion 80. The lower wall 75B of the first locking plate 70 and the second locking plate 75 is disposed below the flange portion 113 of the case 110.

Then, as shown in FIG. 9, the storage box transfer device 10 lowers the base 11, thereby causing the abutment portion 68 of the claw portion 65 to abut against the locking piece 140 of the locking mechanism 130. In this state, the upper surface of the bent portion 67 of the claw portion 65 abuts against the pressing portion 80, and the lower surface of the abutment portion 68 abuts against the locking piece 140. In this way, the claw portion 65 is sandwiched between the pressing portion 80 and the locking piece 140.

10, in the state where the claw portion 65 and the locking piece 140 are in contact with each other, the first servo mechanism 20 and the second servo mechanism 50 are driven to move the first arm portion 32 and the second arm portion 42 in a direction away from the base 11. As a result, the first arms 32 move away from each other, and the second arms 42 move away from each other. As the first arm portion 32 and the second arm portion 42 move, the claw portion 65 is locked to the convex wall portion 143 of the locking piece 140. When the first arm portion 32 and the second arm portion 42 move in this state, the claw portion 65 slides the locking piece 140 via the convex wall portion 143, thereby switching the locking mechanism 130 from the first position to the second position. During the process in which the claw portion 65 is locked to the locking mechanism 130 and moves, the claw portion 65 is restricted from moving upward perpendicular to the sliding direction by the pressing portion 80.

In this embodiment, the first servo mechanism 20 and the second servo mechanism 50 switch the locking mechanism 130 from the first position to the second position by moving the first arm 32 and the second arm 42 until the protrusion 148 of the locking piece 140 abuts against the upper wall 133 of the locking frame 131. When the locking mechanism 130 is switched from the first position to the second position, the locking piece 140 is pulled out to the side beyond the blind wall 124. In this state, the lower wall 75B of the first locking plate 70 and the second locking plate 75 is disposed below the locking piece 140, i.e., the lid body 120.

Therefore, as shown in FIG. 11, the storage box transfer device 10 raises the base 11, hooking the locking piece 140 onto the bottom wall 75B of the first locking plate 70 and the second locking plate 75, and lifting the lid body 120 from the case 110. In this state, the locking piece 140 is placed on the step portion 75D. The step portion 75D prevents the locking piece 140 from moving in the Y direction (the depth direction in FIG. 11). This prevents the lid body 120 from sliding relative to the first locking plate 70 and the second locking plate 75.

When the lid body 120 is lifted from the case 110, the lid body 120 is disposed between the light emitting element 93 and the light receiving element 97 in the first sensor unit 90 and the second sensor unit 99 provided in the storage box transfer device 10. Therefore, the light emitted from the light emitting element 93 is blocked, and the light emitted from the light emitting element 93 cannot be detected by the light receiving element 97. Therefore, the presence of the lid body 120 is determined based on the detection state of the emitted light in the light receiving element 97. In this embodiment, when the light receiving element 97 cannot detect the emitted light in both the first sensor unit 90 and the second sensor unit 99, it is determined that the lifting operation of the lid body 120 is normal, and the subsequent operation is performed. On the other hand, if the light receiving element 97 is still able to detect the emitted light in either the first sensor unit 90 or the second sensor unit 99 after the operation of lifting the lid body 120 is performed, it is determined that the lifting operation of the lid body 120 is abnormal. In this case, the subsequent operation is not performed, and an alarm lamp is turned on to notify the operator of the abnormality.

As shown in FIG. 12, when the lifting operation of the lid body 120 is performed normally, the storage box transfer device 10 moves horizontally to retreat from above the case 110, leaving the case 110 in an open state.

Thereafter, as shown in FIG. 13, the workpiece W is accommodated in the case 110 by a known workpiece accommodating device S.
As shown in FIG. 14 , when the workpiece W is accommodated in the case 110 , the storage box transfer device 10 moves horizontally and returns to above the case 110 .

Then, as shown in FIG. 15, the storage box transfer device 10 lowers the base 11 to assemble the lid 120 to the case 110. In this state, the lid 120 is assembled to the case 110, but is not locked by the locking mechanism 130.

16, the storage box transfer device 10 drives the first servo mechanism 20 and the second servo mechanism 50 to move the first arm 32 and the second arm 42 in a direction approaching the base 11. The first arm 32 and the second arm 42 are disposed at a position corresponding to the side of the locking piece 140 of the locking mechanism 130. Therefore, by moving the first arm 32 and the second arm 42 in a direction approaching the base 11, i.e., in a direction approaching the locking piece 140, the first arm 32 and the second arm 42 come into contact with the locking piece 140. Then, by further moving the first arm 32 and the second arm 42 from this state, the locking piece 140 is inserted into the support hole 131A, and the locking mechanism 130 is switched to the first position. In this state, the lower wall 75B of the first locking plate 70 and the second locking plate 75 is disposed below the flange portion 113.

Therefore, as shown in FIG. 17, the storage box transfer device 10 lifts the storage box 100 by hooking it onto the lower walls 75B of the first and second locking plates 70 and 75 by raising the base 11. In this embodiment, since the concealing wall 124 of the lid 120 extends below the flange portion 113, when the storage box 100 is lifted, the lower walls 75B of the first and second locking plates 70 and 75 come into contact with the lower end of the concealing wall 124.

Then, as shown in FIG. 18, the storage box transfer device 10 moves above another transport table D2 and places the storage box 100 on the transport table D2, and then drives the first servo mechanism 20 and the second servo mechanism 50 to move the first arm 32 and the second arm 42 in a direction away from the base 11, thereby releasing the storage box 100 and completing the transfer. It then returns to above the original transport table D1 and repeats the transfer operation of the storage box 100 by performing the processes in FIG. 7 to FIG. 18.

In this manner, in this embodiment, the first servo mechanism 20, the first connecting plate 21, the first sliding portion 30, the second sliding portion 40, the second servo mechanism 50, the second connecting plate 51, the third sliding portion 55, the fourth sliding portion 60, the claw portion 65, and the pressing portion 80 constitute a lock operation portion that slides the lock mechanism 130 to switch between the first position and the second position. Note that the first servo mechanism 20, the first connecting plate 21, the first sliding portion 30, the second sliding portion 40, the second servo mechanism 50, the second connecting plate 51, the third sliding portion 55, and the fourth sliding portion 60 correspond to a moving portion that slides the claw portion 65.

The first slide section 30, the second slide section 40, the third slide section 55, the fourth slide section 60, the first locking plate 70, and the second locking plate 75 correspond to a first gripping section that lifts the storage box 100 when the locking mechanism 130 is switched to the first position by the locking operation section. They also function as a second gripping section that lifts the lid body 120 when the locking mechanism 130 is switched to the second position by the locking operation section.

The first and second locking plates 70 and 75 correspond to the box locking portion that is disposed below the flange portion 113 when the locking mechanism 130 is switched to the first position by the locking operation portion. The first and second locking plates 70 and 75 also correspond to the lid locking portion that is disposed below the lid body 120 when the locking mechanism 130 is switched to the second position by the locking operation portion.

Next, the operation and effects of this embodiment will be described.
(1) In this embodiment, the lock mechanism 130 is slid and moved by the lock operation unit to switch between the first position and the second position. The lock operation unit includes the first gripping unit that lifts the storage box 100 when the lock mechanism 130 is switched to the first position, and the second gripping unit that lifts the lid body 120 when the lock mechanism 130 is switched to the second position. Therefore, an operation of unlocking the storage box 100 and lifting only the lid body 120, or an operation of locking the lid body 120 after assembling it to the case 110 and transferring the storage box 100, etc. can be performed by one device. Therefore, compared to a case in which a device for operating the lock mechanism 130 of the storage box 100 and a device for transferring the storage box 100 are separately provided, the number of devices can be reduced, and the size of the facility can be suppressed.

(2) In this embodiment, the tip position of the lower wall 75B of the first locking plate 70 and the second locking plate 75 and the tip position of the bent portion 67 of the claw portion 65 are set to the same position. This allows the first locking plate 70 and the second locking plate 75 to be positioned below the lid body 120 when the locking piece 140 of the lock mechanism 130 is slid and switched to the second position by the claw portion 65 of the lock operation portion. Therefore, after performing the operation to release the lock by the lock operation portion, the first locking plate 70 and the second locking plate 75 can be raised to lift the lid body 120 by the second grip portion. This contributes to shortening the work time when the lock is released and the lid body 120 is removed from the case 110.

(3) The first locking plate 70 and the second locking plate 75 are connected to the lower ends of the first arm 32 and the second arm 42, and the locking piece 140 of the locking mechanism 130 is slid and moved by the first arm 32 and the second arm 42 of the locking operation part to switch to the first position. As a result, when the locking mechanism 130 is switched to the first position by the locking operation part, the first locking plate 70 and the second locking plate 75 are arranged below the flange part 113. Therefore, after the locking operation part operates the locking mechanism 130 to lock the storage box 100, the first locking plate 70 and the second locking plate 75 are raised, so that the storage box 100 can be lifted by the first gripping part. Therefore, it is possible to contribute to shortening the work time when the storage box 100 is locked and transferred.

(4) The lock operation unit has a retaining portion 80 that restricts the upward movement of the claw portion 65 when the claw portion 65 is slid while engaged with the engaging piece 140 of the lock mechanism 130. Therefore, when the claw portion 65 is engaged with the lock mechanism 130, the upward movement of the claw portion 65 perpendicular to the sliding direction is restricted. Therefore, when the lock mechanism 130 is being operated by the lock operation unit, the engagement between the claw portion 65 and the lock mechanism 130 can be restricted from being released. Therefore, the accuracy of operation of the lock mechanism 130 by the lock operation unit can be improved.

(5) In this embodiment, a first sensor unit 90 and a second sensor unit 99 are provided to detect the presence or absence of the lid body 120 when the lid body 120 is lifted by the second gripping unit. Therefore, when the lid body 120 is lifted by the second gripping unit, the presence or absence of the lid body 120 can be detected. Therefore, the reliability of the operation of removing the lid body 120 from the case 110 can be ensured.

This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other to the extent that there is no technical contradiction.
In the above embodiment, the first sensor unit 90 and the second sensor unit 99 in which the light emitting unit 91 and the light receiving unit 95 are arranged on either side of the lid body 120 are exemplified as the sensor unit. The configuration of the sensor unit is not limited to this configuration. For example, the light emitting unit 91 and the light receiving unit 95 may be arranged on only one side of the lid body 120, and the presence or absence of the lid body 120 may be detected by detecting the reflected light from the lid body 120 of the light irradiated from the light emitting unit 91 by the light receiving unit 95. In addition, it is also possible to adopt other types of sensor units, such as, for example, magnetic sensors. In addition, it is not necessary to provide the first sensor unit 90 and the second sensor unit 99, and at least one of them may be omitted.

- In the above embodiment, the upper surface of the bent portion 67 of the claw portion 65 is abutted against the lower surface of the pressing portion 80 to restrict the upward movement of the claw portion 65. This configuration can be modified as appropriate. For example, a gap may be provided between the lower surface of the pressing portion 80 and the upper surface of the bent portion 67 of the claw portion 65. It is also possible to omit the pressing portion 80.

- In the above embodiment, when the locking mechanism 130 is released, the lower surface of the abutment portion 68 of the claw portion 65 abuts against the locking piece 140. This configuration can be modified. For example, when the locking mechanism 130 is switched from the first position to the second position, the lower surface of the abutment portion 68 of the claw portion 65 is raised above the locking piece 140, but is positioned at a height at which the abutment portion 68 can engage with the convex wall portion 143. Then, by sliding the claw portion 65 in this state, the abutment portion 68 is brought into abutment with the side surface of the convex wall portion 143, and the locking piece 140 is slid to switch to the second position. Even with this configuration, the locking mechanism 130 can be released.

- In the above embodiment, the lock operation unit is exemplified in which the lock mechanism 130 is switched from the first position to the second position by sliding the lock piece 140 with the claw portion 65, and in which the lock mechanism 130 is switched from the second position to the first position by pressing the lock piece 140 with the first arm portion 32 and the second arm portion 42. The configuration of the lock operation unit is not limited to this. For example, a lock operation unit may be adopted in which a lock piece gripping portion is provided that can hold the lock piece 140 by pinching it from above and below, and the lock piece 140 is slid while being gripped by the lock piece gripping portion, thereby switching the lock mechanism 130 between the first position and the second position.

- In the above embodiment, when the locking mechanism 130 is switched to the first position, the first locking plate 70 and the second locking plate 75 are arranged below the flange portion 113. This configuration can be modified as appropriate. For example, a configuration can be adopted in which the side of the abutment portion 68 of the claw portion 65 presses the side of the curved portion 144 of the locking piece 140 to slide the locking piece 140, thereby switching the locking mechanism 130 to the first position. In this case, when the locking mechanism 130 is switched to the first position, the lower wall 75B of the first locking plate 70 and the second locking plate 75 are not arranged below the flange portion 113. Therefore, in such a case, after switching to the first position, the base 11 is raised slightly to release the engagement between the claw portion 65 and the locking piece 140, and then the first servo mechanism 20 and the second servo mechanism 50 are driven to move the first locking plate 70 and the second locking plate 75 closer to the storage box 100, thereby positioning the bottom wall 75B below the flange portion 113 while keeping the lock mechanism 130 in the first position. Then, the base 11 is raised to hook the storage box 100 onto the bottom wall 75B, so that the storage box 100 can be lifted by the second gripping portion.

- In the above embodiment, when the locking mechanism 130 is switched to the second position, the lower wall 75B is arranged below the lid body 120. This configuration can be modified as appropriate. For example, the lower wall 75B of the first locking plate 70 and the second locking plate 75 may be shorter than the bent portion 67 of the claw portion 65, so that when the locking mechanism 130 is switched to the second position, the lower wall 75B is not arranged below the lid body 120. In this case, after switching the locking mechanism 130 to the second position, the first servo mechanism 20 and the second servo mechanism 50 are driven to move the first locking plate 70 and the second locking plate 75 closer to the storage box 100, so that the lower wall 75B is arranged below the lid body 120 while the locking mechanism 130 is in the second position. Then, the base 11 is raised to hook the lid body 120 on the lower wall 75B, and the lid body 120 is lifted by the second gripping portion.

- The first locking plate 70 is provided to connect the lower ends of the first arm 32 and the second arm 42, but the first locking plate 70 may be divided into two, with one locking plate connected to the lower end of the first arm 32 and the other locking plate connected to the lower end of the second arm 42. Also, although a step portion 75D is provided on the first locking plate 70 and the second locking plate 75, this configuration may be omitted. In this configuration, a configuration may be used in which no notch is formed in the lower wall 75B of the first locking plate 70 and the second locking plate 75.

- The first and second gripping portions are formed by the first and second locking plates 70 and 75. This configuration can be modified. For example, the first gripping portion that lifts the storage box 100 may be formed by the first and second locking plates 70 and 75, and a separate hook portion may be provided to form the second gripping portion that lifts the lid 120. In this configuration, the mechanism that moves the first and second locking plates 70 and 75 may be the same as the mechanism that moves the hook portion, or they may be provided separately.

- In the above embodiment, the first slide section 30 and the second slide section 40 are moved by the first servo mechanism 20, and the third slide section 55 and the fourth slide section 60 are moved by the second servo mechanism 50. The driving manner of each section in the storage box transfer device 10 is not limited to this. For example, a servo mechanism for moving each slide section may be provided. Also, one servo mechanism may be provided that simultaneously drives the first slide section 30, the second slide section 40, the third slide section 55, and the fourth slide section 60. Also, the mechanism for moving each slide section is not limited to a servo mechanism, and a known driving mechanism such as an air cylinder may be used.

- In the above embodiment, a transfer device for a storage box 100 in which a cover wall 124 is provided on the lid body 120 has been described as an example, but the applicable configuration of the storage box is not limited to this. For example, a configuration similar to that of the above embodiment can be applied to a storage box that does not have a cover wall 124. In this case, when lifting the storage box, the first locking plate 70 and the second locking plate 75 can be hooked onto the flange portion 113 of the case 110, etc. Furthermore, the number and positions of the locking mechanisms 130 are not limited, and if the number and positions of the locking mechanisms 130 provided on the lid body 120 are different, the lock operation unit can be positioned accordingly.

LIST OF SYMBOLS 10...Storage box transfer device 11...Base 12...Suspension column 15...Rail 15A...First rail 15B...Second rail 20...First servo mechanism 20A...First housing 20B...First connecting rod 21...First connecting plate 30...First slide portion 31...First shoulder portion 32...First arm portion 32A...First recess 32B...First connecting recess 33...First sliding portion 40...Second slide portion 41...Second shoulder portion 42...Second arm portion 42A...Second recess 42B...Second connecting recess 43...Second sliding portion 50...Second servo mechanism 50A...Second housing 50B...Second connecting rod 51...Second connecting plate 55...Third slide portion 60...Fourth slide portion 65...Claw portion 66...Flat plate portion 67...Bent portion 68...Abutment portion 70...First locking plate 75...Second locking plate 75A...Vertical wall 75B...Lower wall 75C...Auxiliary wall 75D...Step portion 80...Pressing portion 90...First sensor portion 91...Light emitting portion 92...First holding plate 92A...First horizontally extending portion 92B...First vertically extending portion 92C...Second horizontally extending portion 93...Light emitting element 95...Light receiving portion 96...Second holding plate 96A...Third horizontally extending portion 96B...Second vertically extending portion 96C...Fourth horizontally extending portion 97...Light receiving element 99...Second sensor portion 100...Storage box 110...Case 110A...Opening 111...Bottom wall 112...Side wall 112A...Opening 113...Flange portion 120...Lid 121...Main body wall portion 122...Positioning wall 123: flange cover wall 124: cover wall 124A: insertion hole 130: lock mechanism 131: locking frame 131A: support hole 132: opposing wall 133: upper wall 133A: notch 140: locking piece 141: locking portion 142: first plate portion 143: convex wall portion 144: curved portion 145: second plate portion 146: insertion portion 147: central portion 148: convex portion 149: fulcrum portion 150: first deflection portion 151: second deflection portion 152: locking claw D1, D2: transport table S: work storage device W: work

Claims (5)

A storage box transfer device having a case having an opening at one end and a lid body assembled to the case to close the opening, the lid body being provided with a locking mechanism that switches a locked state of the case and the lid body by sliding between a first position that holds the assembled state of the case and the lid body and a second position that allows the assembled state of the case and the lid body to be released,
a lock operation unit that switches between the first position and the second position by sliding the lock mechanism;
a first gripping portion that lifts up the container when the lock mechanism is switched to the first position by the lock operating portion;
a second gripping portion that lifts the lid body when the lock mechanism is switched to the second position by the lock operating portion. The storage box transfer device according to claim 1 , wherein the second gripping portion is provided with a lid locking portion that is disposed below the lid body when the lock mechanism is switched to the second position by the lock operating portion. The opening of the case is provided with a flange portion that protrudes laterally,
The storage box transfer device according to claim 1 or 2, wherein the first gripping portion is provided with a box locking portion that is positioned below the flange portion when the lock mechanism is switched to the first position by the lock operating portion. The storage box transfer device described in any one of claims 1 to 3, wherein the lock operation unit has a claw portion that is engaged with the lock mechanism, a moving unit that slides the claw portion, and a pressing unit that restricts movement of the claw portion in a perpendicular direction perpendicular to the sliding direction when the claw portion is engaged with the lock mechanism. The storage box transfer device according to any one of claims 1 to 4, further comprising a sensor unit that detects the presence or absence of the lid body when the lid body is lifted by the second gripping unit.