JP2002343249A - Panel holding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a panel holding device, capable of stably and firmly holding a panel with a simple structure and high reliability, with respect to the panel holding device used in a panel index device for forming a phosphor film of a predetermined thickness on a phosphor screen of the panel for a cathode- ray tube. SOLUTION: In this panel holding device fixed to an output shaft of a motor, mounted rotatably on a fixed or revolvable arm member to receive and grip the panels P one by one from a panel conveying device for forming a coating film of a predetermined thickness by gripping opposite outer wall surfaces Pa and Pb of the panel P, applying a predetermined coating agent including fluorescent coating to the rear face of the panel P, then unifying the predetermined coating agent by centrifugal force in accompany with the rotation, and heating the same holders members 8, 9 movable and retractable to the opposite outer wall surfaces Pa, Pb of the panel P for holding the outer wall surfaces Pa, b are provided with holders 8b, 9b at their tips, and the holders 8b, 9b are composed of bag-shaped bodies, in which the compressed air is enclosed. Pairs of holders tools 8b, 9b are respectively mounted on the tips of the holders members 8, 9.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a panel indexing apparatus for uniformly applying a predetermined paint on a fluorescent screen of a panel used for a cathode ray tube for a television or a cathode ray tube for a computer display. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a panel gripping device to be used, and more particularly to a panel gripping device capable of stably and firmly gripping a panel and improving reliability, regardless of the size and external shape of the panel.

[0002]

2. Description of the Related Art Conventionally, in a chemical treatment process on a back surface of a panel serving as a display screen of a cathode ray tube, a panel gripping device that rotates the panel and changes the inclination angle of the panel to transfer between various chemical treatment processes. Is used. The panel is washed and dried after the opposed outer wall surfaces, which are long sides of the rectangular shape in plan view, are gripped by the panel gripping device, and then a predetermined coating agent including a fluorescent paint is applied to the back surface of the panel. , And while being uniformly stretched by the centrifugal force associated with high-speed rotation, excess coating agent is shaken off,
Thereafter, the sheet is transported to a position facing the heater and heated.

This panel gripping device is fixed to an output shaft of a motor rotatably provided around a horizontal axis of an arm member extending from a panel indexing device. There is a device for gripping.

With reference to FIG. 6, a configuration of a conventional panel gripping device and a conventional panel indexing device will be briefly described. FIG. 6 is an operation explanatory view showing various processing steps performed after gripping the opposing outer wall surfaces of the panel P by the conventional panel gripping device 01. In the figure, a panel gripping device 01 is fixed to an output shaft 05 of a motor 04 rotatably provided around a horizontal axis 03 of an arm member 02 extending from a panel indexing device 010. When the panel P is rotated and driven by the rotation motor 06 to the power transmission unit provided around the horizontal axis 03, a predetermined power transmission is performed, so that the gripped panel P is moved from the position P1 to the positions P2 and P3. Is rotated to the position shown in FIG.

A panel P conveyed by a panel conveyor not shown is a panel P shown by a broken line.
Is in the position P1, the external force applying unit 07 is
By applying an external force to the panels 8 and 09 from both sides, the gripping members 08 and 09 rotate in the direction of the arrow, and preparation for gripping the opposing outer wall surfaces of the panel P is performed. And then
When the external force applying unit 07 releases the external force, the panel gripping device 01 receives the panel P one by one from the panel transport device conveyor and sets the panel P in a gripping state. Further, after the end of the predetermined processing step, the panel gripping device 01 releases the gripping of the panel P and places it on the transport conveyor.

Next, a process of forming a coating film having a desired thickness on the back surface of the panel P by using the panel gripping device 01 and the panel indexing device 010 thus configured will be briefly described. First, when the panel P is at the position P1, the panel P is cleaned. Next, when the panel P is pivotally displaced to the position P2, the panel P rotates at a low speed while facing the heater 030 arranged such that the back side of the panel P is located on the outer peripheral side of the panel indexing device 010. Then, the back side of the panel P is dried.
Thereby, preparations are made to apply a predetermined coating material containing a fluorescent paint to the back surface of panel P. Next, the panel P is pivotally displaced to the position P3, and the coating material is applied to the back surface of the panel P, and the coating material is made uniform by centrifugal force accompanying the rotation. Thereafter, the panel P is again rotated to the position P2, and the heater 030 heats the panel P from the back side of the panel P, that is, from the painted surface side. Thereby, a coating film having a desired thickness is formed on the rear surface of the panel P.

FIG. 7 shows an improved panel gripper 01 '.
Is shown (see Japanese Patent Application Laid-Open No. 12-11872). In the panel gripping device 01 ', the panel P can be heated from the front side of the panel P as well.
A plurality of heater units 032 'are provided on the base 012' fixed to the output shaft 05 'of the motor 04' so as to face the panel P. By doing so, it becomes possible to dry and keep the temperature of the panel P irrespective of the presence or absence of the heater 030 disposed on the outer peripheral side of the panel indexing device 010, thereby increasing the flexibility of the heating process of the panel P. Can be enhanced. Also, regardless of the size of the panel P, the temperature distribution of the heat generated by the heater can be made substantially constant over the entire panel, and a coating film having a substantially uniform thickness can be formed. Of defective products can be reduced.

Further, in this panel gripping device 01 ', gripping members 08' and 09 'for gripping the opposing outer wall surfaces of the panel P are also improved. That is, in the panel gripping device 01 illustrated in FIG.
08 and 09 are rotated by the operation of the external force applying unit 07, and the panel P
In this panel holding device 01 ', the holding members 08' and 09 'are held.
Are moved in parallel by the operation of the external force applying unit 07 so that the panel P is gripped and released. By doing so, the height of the panel gripping position does not fluctuate due to the change in the size of the panel P, so that the conditions such as application of the coating agent and heating do not change slightly.
The occurrence rate of defective products of the panel P can be further reduced.

The panel gripping device 0 shown in FIG.
In 1 ', the motor to which the panel gripper 01' is fixed
The output shaft 05 'of the motor 04' is not directly connected to the rotation shaft of the motor 04 ', but is connected to the output shaft 04a' directly connected to the rotation shaft of the motor 04 'via a belt transmission mechanism. Is transmitted. 015 'is a base for accommodating a power transmission unit provided around the horizontal axis 03. A motor 04' and its power transmission mechanism are disposed on the base 015 ', and a control unit for controlling the heating amount of the heater. A unit 031 'is provided. Reference numerals 013 and 014 denote temperature sensors for detecting the temperature of the outer wall surface serving as the holding surface of the panel P, and the holding members 08 'and 09'
And a detection signal is sent to the control unit 031 ′. 022 'is a disk-shaped (shielding) member fixed to the base 012'.

By the way, in any of these panel gripping devices 01, 01 ', they are attached to the tips of gripping members 08, 09, 08', 09 ', and actually touch the panel to grip the panel. As shown in FIG. 8, the gripping tools are gripping tools 08b ′ and 09b ′ which are attached to be able to swing and are made of a solid rubber body.
09b 'is holding the panel P by changing its posture in accordance with the outer shape of the outer wall surfaces Pa and Pb of the panel P.

These grippers 08b 'and 09b' are made of a hard rubber material, and their contact surfaces with the panel P are provided with sawtooth-shaped irregularities as shown in FIG. (FIG. (A)) or a shallow groove is formed in the center (FIG. (B)), but the basic shape is a straight plane as shown in FIG. Such a plane is used in such a manner that irregularities having a saw-tooth cross section as shown in FIG. 1A are provided or a concave groove as shown in FIG. 1B is formed. Therefore, these grippers 08b 'and 09b' are not deformable according to the change in the size or the outer shape of the panel P, and are not able to fit and adhere to the surface thereof. For those changes,
You can only respond by shaking your head and changing your posture.

Therefore, depending on the size and the external shape of the panel P, an unintended gap is generated between the contact surfaces of the grippers 08b 'and 09b' with the panel P and the outer wall surfaces Pa and Pb of the panel P. Therefore, there is a possibility that the gripping of the outer wall surfaces Pa and Pb of the panel P by the grippers 08b 'and 09b' becomes unstable. Thus, the outer wall surfaces Pa, P of the panel P by the grippers 08b ', 09b'
When the gripping of b becomes unstable, conditions such as application of the coating agent and heating slightly change, so that the occurrence rate of defective products of the panel P increases, which may lead to a problem that cannot be ignored.

There is also an apparatus in which a gripper is attached to an air bag, and air is supplied and discharged into and from the air bag to move the gripper forward and backward to grip the outer wall surface of the panel. However, in this device, the change in the size and the outer shape of the panel is dealt with by the reciprocation of the gripper and the swing of the head. It is not fundamentally different from the conventional one. In particular, contact and separation with the outer wall surface of the panel are performed only by the forward and backward movements of the gripping tool. Therefore, if the strength of the air bag is insufficient, the gripping of the panel may become unstable.

[0014]

DISCLOSURE OF THE INVENTION The present invention solves the above-mentioned problems of the conventional panel gripping device, so that the panel gripping tool can be changed no matter how the size and external shape of the panel change. An object of the present invention is to provide a panel gripping device which is adapted to an outer wall surface of a panel, can be stably and reliably gripped, has a simple structure, and is excellent in reliability.

[0015]

SUMMARY OF THE INVENTION The present invention relates to a panel holding device which solves the above-mentioned problems, and the invention described in claim 1 holds an opposite outer wall surface of a panel. Later, applying a predetermined coating agent containing a fluorescent paint on the back surface of the panel, by centrifugal force accompanying rotation,
In order to homogenize the predetermined coating agent and form a coating film having a predetermined thickness by heating, the panel is fixed to an output shaft of a motor that is rotatably provided on a fixed or rotatable arm member, and the panel is conveyed. In a panel gripping device configured to receive a panel from the device one by one and put it in a gripping state, a gripping member that moves forward and backward with respect to an opposing outer wall surface of the panel and grips the outer wall surface is provided. And a gripping tool at a tip thereof, wherein the gripping tool is constituted by a bag-like body in which compressed gas is sealed.

Since the invention described in claim 1 is configured as described above, the gripping tool provided at the tip of the gripping member and composed of a bag-like body in which compressed gas is sealed is provided. When the member is brought into contact with the outer wall surface of the panel by the forward movement of the member, the outer shape adapts to the outer shape of the panel, closely adheres without gaps in all directions, and the panel can be stably and reliably gripped. As a result, even if the size or outer shape of the panel changes, the gripping member stably and firmly grips the panel, so that conditions such as application of the coating agent and heating do not change slightly, and The occurrence rate of defective products can be reduced, and the reliability of the panel holding device can be increased.

Also, since the gripping tool does not respond to changes in the size or external shape of the panel by swinging the head, a follow-up mechanism for adjusting to the mating shape is not required, and the panel gripping device is not required. The structure can be simplified.

Further, as described in claim 2, claim 1
By configuring the invention described in the above, the gripping member,
A tip is provided with a pair of gripping tools. As a result, the holding member can hold the panel more stably and more firmly.

[0019]

Next, an embodiment of the invention described in claims 1 and 2 of the present application shown in FIGS. 1 to 5 will be described. FIG. 1 is a plan view of a panel indexing device to which a panel gripping device according to the present embodiment is applied, and is an operation explanatory diagram showing various processing steps performed after the panel gripping device grips an opposing outer wall surface of a panel. 2, FIG. 2 is a sectional view taken along line II-II of FIG.
FIG. 3 is a cross-sectional view taken along line III-III of FIG. 2, and FIG.
2 is a cross-sectional view taken along line IV-IV of FIG. 2, and FIG. 5 is a front view of a state in which the holding member of the panel holding device of FIG. 1 holds the outer wall surface of the panel.

As shown in FIGS. 1 and 2, in a panel indexing apparatus 10 to which the panel gripping apparatus 1 according to the present embodiment is applied, the panel indexing apparatus 10 extends outward from a central table having a circular shape in plan view. Each of a total of 24 arm members 2 is provided with a horizontal shaft 3 that is rotationally driven by a rotation motor 6, and a second base 15 indicated by a broken line is fixed around the horizontal shaft 3. This second base 15
Above is a pair of bearings 17 that rotatably support the output shaft 5.
Are fixed together with the motor 4, and a toothed belt 19 is stretched between a pulley 4b fixed to the output shaft 4a of the motor 4 and a pulley 18 fixed in the middle of the output shaft 5. The panel gripping device 1 is fixed to the lower end of the output shaft 5 via a first base 12. Therefore, a total of 24 panel gripping devices 1 are provided, each having 1
They are arranged at an angle α of 5 degrees so as to be directed in the radial direction. Each of the motor 4 and the rotation motor 6 is a motor with a speed reducer, or is configured to rotate an object via the speed reducer.

The output shaft 5 is formed with a through hole 16 indicated by a broken line in the longitudinal direction thereof, and a power cable and a signal cable for supplying power to the heat source 11 described later are formed in the through hole 16. Is to pass through. Further, a slip ring 20 is provided at the upper end of the output shaft 5, and through this slip ring 20, even if the panel gripping device 1 rotates, the power supply to the heat source, the detection of the panel temperature and the temperature Control can be performed. A control unit 31 is mounted on the second base 15 for controlling the temperature of the panel. If a custom motor having a through hole in the rotating main shaft of the motor 4 is used, it goes without saying that the panel gripping device can be directly attached to the output shaft as in the related art (FIG. 6 motor 04 and panel gripping device 01).

Since the panel gripping device 1 and the panel indexing device 10 are configured as described above, when the panel P conveyed by the panel conveyer 23 shown by the broken line is at the position P1 shown in the figure, it will be described later. An external force is applied from both sides by the external force applying unit 7 to move the gripping members 8 and 9 forcibly in parallel and separate from each other, and preparations for gripping the outer wall surfaces Pa and Pb of the panel P are made. Then, after the external force is released, the panel gripping device 1 is released.
Is adapted to receive the panels P one by one from the panel transport conveyor 23 and to hold them.

When the panel gripping device 1 grips the panel P, the intermittent drive of the main motor of the panel index device 10, the rotation drive of the motor 4, and the power transmission units provided around the horizontal axis 3 are required. After the rotation of the rotating motor 6 for transmitting the power of the panel P is performed, the gripped panel P is moved from the state of P1 with its back surface facing downward as shown in FIG. 1 and P3 facing upward, and intermittently driven in the direction of the arrow as shown in FIG. Thus, steps S1 to S7 are sequentially performed. When the panel gripping device 1 has rotated about one rotation, the external force applying unit 7 applies external force from both sides, whereby the gripping members 8 and 9 are forcibly moved and separated from each other.
Is released and the panel P is
It is transferred to 24 and transported to the next step.

Here, the steps S1 to S7 will be briefly described. In the step S1, the phosphor-coated surface (back surface) of the panel P is cleaned. Next, in step S2, drying after washing is performed, in step S3, the temperature of the panel P is detected, and in step S4, the panel P is turned upward to apply one color phosphor of RGB. Is performed, and the coating film is made uniform by the action of the centrifugal force accompanying the high-speed rotation of the motor 4. Next, in step S5,
Drying (heating) is performed after the phosphor is applied. In step S6, unnecessary phosphors are washed. In step S7, the gripping of the panel P and transfer to the transport conveyor 24 are performed.

Next, the structure of the panel holding device 1 will be described in detail. As shown in FIG. 2, in the panel gripping device 1 according to the present embodiment, a heater provided with a heat source 11 for heating from the front side of the panel P that is placed in a gripping state by the gripping members 8 and 9. (Heating means) 40
Are disposed in a disc-shaped member 22 fixed to the first base 12 in the illustrated manner. As the heater 40, an electric heater such as a nichrome wire heater can be used.

Temperature sensors 13 and 14 are fixed to the gripping members 8 and 9 via brackets. These temperature sensors 13 and 14 allow the outer surface Pa and Pb of the panel P to be gripped. Temperature is detected. The temperature of the main surface of the panel P is the outer wall surface Pa of the panel P thus detected.
, Pb can be accurately predicted. The temperature signals of the outer wall surfaces Pa and Pb detected in this way are converted into electric signals and transmitted to the temperature control unit 31. Based on the electric signals, the heat generation amount of the heater 40 and the surface temperature of the panel P are determined. The temperature is controlled to a desired temperature by a temperature controller 31.

The heater 40 accommodates the heat source 11 in a flexible bag 41 filled with a liquid 42 having good heat conductivity, and is configured to be able to contact the surface of the panel P. 2 and 3
In the state shown in FIG. 2, the bag-like body 41 forming the outer cover of the heater 40 is deformed in accordance with the outer shape of the surface of the panel P, and the main surface of the panel P and the curved surface of the outer peripheral curved corner c are deformed. Heat is evenly conducted from the liquid 42 to the surface of the panel P in surface contact with them over both sides, so that the panel P is uniformly and uniformly heated. As a material of the bag-like body 41, a rubber material may be used. Liquid 42
May be used, and a fluid substance such as a slurry may be used. Although the heat source 11 is immersed in the liquid 42, the thickness of the base wall of the bag-shaped body 41 is increased,
It may be buried there.

The thickness of the outer curved corner c of the panel P is generally larger than the thickness of the main surface thereof.
Therefore, since heating of this portion requires more heat than heating of the main surface portion, a small-capacity heat source is separately provided in the liquid 42 near this portion so that the heating amount of this portion is increased. Alternatively, the bag 41 may be a panel P
A plurality of projections are formed on the surface portion of the bag-like body 41 facing the main surface so as to make surface contact with the curved surface of the outer peripheral curved corner c and point contact with the main surface. May be scattered.

The driving mechanism of the holding members 8 and 9 of the panel P
It is configured as follows. As illustrated in FIG.
Arm portions 8a, 9a are fixed to the gripping members 8, 9, respectively. Opposing outer wall surfaces Pa, Pb of the panel P are generated by a gripping force generated by the parallel movement of the arm portions 8a, 9a. Is gripped by the gripping members 8 and 9.

Actually, as shown in FIG. 5, gripping members 8b, 9b formed of a pair of bag-like bodies in which a compressed gas (air) is sealed in the internal space S are provided at the tips of the gripping members 8, 9, respectively. When the gripping members 8b and 9b are brought into contact with the outer wall surfaces Pa and Pb of the panel P whose panel size and outer shape change by the forward movement of the gripping members 8 and 9, Without shaking the head, it fits into and adheres to the external shape, and grips the panel P stably and reliably. The sac is made of a medium hardness rubber material. Note that the gripping tools 8b and 9b are not always provided as a pair, and depending on the relative relationship between these sizes and the size of the panel P, one or three gripping tools may be provided. .

In order to move the arms 8a, 9a in parallel, the first base 12 has a pair of slide blocks (see FIG. 4) for guiding a pair of shafts 27 so that they can move in parallel. (Not shown), and each of the pair of shafts 27 has a first gripping block 38 fixing the arm 8a and a second gripping block 38 fixing the arm 9a.
Between the grip block 39, one end thereof is inserted into one of the grip blocks, and the other end is fixed to the other grip block, and provided. And these first
Between the gripping block 38 and the second gripping block 39,
Four tension coil springs 26 for generating tension for moving the two gripping blocks 38 and 39 toward the center of rotation are stretched. Therefore, when the panel P is in the gripping state, the arm portions 8a, 9a are moved toward the rotation center side by being pulled by the four tension coil springs 26, and the gripping members 8, 9 integrated with the arm portions 8a, 9a are provided. Gripper 8 at the tip of
b and 9b firmly grip the panel P.

When the panel P is in a gripping state and is rotating at a high speed, the gripping members 8, 9, the arm portions 8a, 9a and the first and second gripping blocks 38, 39 are provided.
Due to the centrifugal force acting on the four coil springs 26
Each of the shaft members 27 is not fixed to any one of the two end portions of the shaft 27 in order to prevent the gripping force of the panel P from being lost by the gripping members 8 and 9 when each of them attempts to extend. A weight body 50 is fixed to one end. By doing so, when the panel P is in the above state, a centrifugal force acts on these weights 50, these weights 50 tend to fly in the centrifugal direction, and the two gripping blocks 38, 39 Since it is moved to the rotation center side, the gripping member 8,
9 does not lose the gripping force of the panel P.

The external force applying section 7 is disposed outside the weight 50, and releases the panel P from the gripping state by pressing the weight 50 from the outside. The external force applying unit 7 is configured by an air cylinder, but is not necessarily limited thereto. The external force applying unit 7 may be configured to perform suction using a negative pressure, or may be configured electrically.

Since the present embodiment is configured as described above, the following effects can be obtained. The gripping tools 8b, 9b provided at the tips of the gripping members 8, 9 and formed of a bag-like body filled with a compressed gas are moved to the outer wall surfaces Pa, Pb of the panel P by the forward movement of the gripping members 8, 9. When the panel P is brought into contact, it adapts to its outer shape and adheres tightly in all directions without gaps, so that the panel P can be stably and reliably gripped. Thereby, even if the size and the outer shape of the panel P change, the gripping members 8 and 9 stably and firmly grip the panel P, so that conditions such as application of the coating agent and heating slightly change. In addition, the occurrence rate of defective products of the panel P can be reduced, and the reliability of the panel holding device 1 can be improved.

The holding members 8b, 9b are provided with the holding members 8,
Since a pair is provided at each end of the panel 9, the gripping members 8, 9 can grip the panel P more stably and more firmly.

Furthermore, since the grippers 8b and 9b do not respond to changes in the size or outer shape of the panel P by swinging their heads, a follow-up mechanism for matching the mating shape is not required. The structure of the panel holding device 1 can be simplified.

In the above embodiment, the grippers 8b, 9
b is a gripping member 8 whose reciprocation is performed by parallel movement,
9 is provided at the front end, but is not limited to this, and may be provided at the front end of a gripping member in which the forward and backward movement is performed by swinging.

The plurality of arm members 2 extend outward from the center table of the panel indexing device 10 and can be pivoted in a plane parallel to the table. However, the present invention is not limited to this. Instead, a single arm member 2 may be fixedly or pivotably installed and used. Others
Various changes can be made without departing from the gist of the present invention.

[Brief description of the drawings]

FIG. 1 is a plan view of a panel indexing device to which a panel gripping device according to an embodiment of the present invention described in claims 1 and 2 is applied, wherein the panel gripping device is an outer wall surface facing a panel; It is an operation explanatory view showing various processing steps performed after gripping.

FIG. 2 is a sectional view taken along line II-II in FIG.

FIG. 3 is a sectional view taken along line III-III in FIG. 2;

FIG. 4 is a sectional view taken along line IV-IV of FIG. 2;

FIG. 5 is a front view of a state in which a gripping member of the panel gripping device of FIG. 1 grips an outer wall surface of the panel.

FIG. 6 is a diagram showing an example of a conventional panel holding device.

FIG. 7 is a diagram showing another example of a conventional panel gripping device.

FIG. 8 is a front view of a state in which a gripping member of a conventional panel gripping device grips an outer wall surface of a panel.

FIG. 9 is a diagram illustrating an example of a gripping tool provided at a tip of a gripping member of a conventional panel gripping device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Panel holding device, 2 ... Arm member, 3 ... Horizontal axis, 4 ...
Motor, 4a: output shaft, 4b: pulley, 5: output shaft, 6
... Rotating motor, 7 ... External force applying part, 8 ... Grip member, 8a ...
Arm portion, 8b: gripping tool, 9: gripping member, 9a: arm portion, 9b: gripping tool, 10: panel indexing device, 11 ...
Heat source, 11a Heat source unit, 12 First base, 13, 14 ...
Temperature sensor, 15: second base, 16: through hole, 17: bearing,
18 ... pulley, 19 ... toothed belt, 20 ... slip ring,
22: disk-shaped member, 23, 24: panel conveyor, 26: tension coil spring, 27: shaft, 31: temperature controller, 38: first
Gripping block, 39: second gripping block, 40: heater (heating means), 41: bag-like body, 42: liquid, 50: weight, Pa
, Pb: outer wall surface of panel, S: inner space, c: outer curved corner.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3C007 AS13 DS01 ES03 ET08 EU04 EU14 EV14 EW00 EW07 NS06 NS11 5C028 HH04 JJ09

Claims (2)

[Claims] After gripping opposing outer wall surfaces of a panel, a predetermined paint containing a fluorescent paint is applied to the back surface of the panel, and the predetermined paint is made uniform by centrifugal force accompanying rotation. In order to form a coating film of a predetermined thickness by heating, the panel is fixed to an output shaft of a motor rotatably provided on a fixed or rotatable arm member, and receives panels one by one from a panel transport device, In a panel gripping device configured to be in a gripping state, a gripping member that moves forward and backward with respect to an opposing outer wall surface of the panel to grip the outer wall surface includes a gripper at a tip thereof, A panel holding device, wherein the holding tool is formed of a bag-like body in which compressed gas is sealed. 2. The panel gripping device according to claim 1, wherein the gripping member includes a pair of the gripping tools at a tip thereof.