JP2004344899A - Panel carrier - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a panel carrier which is capable of realizing different motion for each press station, easily reducing the weight of a movable part, enhancing the rigidity of the movable part, and suppressing deflection and vibrations, and also applicable to a multi-slide type transfer press. <P>SOLUTION: The panel carrier comprises a panel holding unit to hold a panel, a link mechanism connected to the panel holding unit, a first slide which is connected to a part of the link mechanism, and straight-driven in an inclined manner with respect to the horizontal plane so as to be at a high position on the upstream side of the carrying line in the drive area and at a low position on the downstream side of the carrying line, a second slide which is connected to a part of the link mechanism, and straight-driven in an inclined manner with respect to the horizontal plane so as to be at a low position on the upstream side of the carrying line in the drive area and at a high position on the downstream side of the carrying line, and a first slide drive means and a second slide drive means to drive the first slide and the second slide, respectively. The panel holding unit is moved in the panel carrying direction through the positional fluctuation by the drive of the first and second slides. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a panel transport device that transports a panel formed by a press or the like.
[0002]
[Prior art]
For example, since an automobile panel has a complicated shape, the molding process is divided into several steps, and the panel is molded by a mold arranged in a straight line. In a transfer press or a tandem press using such a plurality of presses, a panel transfer device is provided to sequentially transfer members (panels) formed by one press to the next press.
[0003]
As a panel transfer device for a transfer press, a crossbar transfer device disclosed in Patent Document 1 below has been widely used. In this apparatus, a lift beam extending in the entire area of each press station is provided so as to be able to ascend and descend in the line direction, and the carrier is suspended from the lift beam so as to be able to reciprocate between the stations in the line direction. And a work gripper attached to the crossbar to simultaneously and intermittently transfer the work material of each station.
[0004]
Such a crossbar type transfer device has the following features.
(1) A cam-driven type or a motion control by an AC servomotor is used to generate a feed motion between mold stations of a molding panel.
(2) The transport of the panel is performed by a combined motion in the feed direction (horizontal direction) and the lift direction (vertical direction), and a vacuum cup mounted on a transport tool called a crossbar sucks and transports the panel.
(3) The crossbars between the mold stations are connected in both the feed direction and the lift direction, and the respective crossbars cooperate to perform exactly the same motion.
(4) A feed arm for generating a feed motion between stations is usually located on the front side or the rear side of a series of feeders composed of a bogie connecting a crossbar and a coupling mechanism thereof. Generate.
[0005]
Further, in addition to the above-described crossbar type transport device, panel transport devices described in Patent Documents 2 to 4 and the like below have been proposed.
[0006]
The “transfer feeder” described in Patent Document 2 is provided with a plurality of carriers that run independently and independently by a linear motor on a pair of lift beams that move up and down by a lifter, and high-speed transport of a work (panel) using the linear motor as a drive source. It is what made possible.
[0007]
The “transfer press transfer device” described in Patent Literature 3 has a plurality of carriers provided on a lift beam, and enables high-speed transfer of a work (panel) using the carriers as a driving source of a servomotor.
[0008]
The “TRANSPORT AND POSITIONING SYSTEM” (transport positioning device) described in Patent Literature 4 includes a driving device 30 having a lever mechanism 23 having an output unit 25 for driving and positioning the crossbar 22 as shown in FIG. The lever mechanism 23 has a swing arm 24 that forms an output section 25 at one end, and the output section 25 is connected to the crossbar 22. Further, the swing arm 24 is connected at two points: a support point 28 and a drive point 33 which are spaced apart. The distance between the supporting point 28 and the driving point 33 is shorter than the distance between the output section and the supporting point. In this figure, 21 is a work gripper attached to the cross bar 22, 32 is a guide rod connecting the slide block 37 and the driving point 33, 41 is a swing motor that swings the guide rod 32, and 45 is a slide block. 37 is a linear motion device that moves up and down.
[0009]
With this configuration, the slide block 37 is moved up and down by the linear motion device 45 and the guide rod 32 is rocked by the rocking motor 41 to drive and position the tip (drive point 33) of the guide rod 32, and the movement is performed. The crossbar 22 to which the work gripper is attached is driven and positioned at an enlarged ratio of the lever.
[0010]
[Patent Document 1]
JP-A-10-328766 [Patent Document 2]
Japanese Patent Publication No. 7-73756 [Patent Document 3]
JP-A-10-328766 [Patent Document 4]
US Patent No. 6,382,400
[Problems to be solved by the invention]
However, the panel transfer devices described in Patent Documents 1 and 3 described above have the following problems.
(1) Each crossbar cannot have a different motion.
(2) Since the crossbars for all the stations are simultaneously moved, the servomotor and the feed driving device become large.
(3) Since the motion curve for each press station is the same, it is necessary to devise a mold shape in order to avoid interference, and it is difficult to cope with diversification of plate forming.
[0012]
Further, in the linear motor system of Patent Document 2, the speed of feed can be increased by a linear motor, but a separate lift mechanism is required, and the entire structure is complicated and large. In the AC servo system of Patent Document 3, high rigidity cannot be obtained because of the serial link.
[0013]
In the swing arm method disclosed in Patent Document 4, since the panel is transported by the swing arm, it is necessary to increase the length of the arm as the transport distance increases, and bending of the arm causes vibration. Further, the panel transfer device disclosed in Patent Document 4 has a slide mechanism that is driven vertically between press stations, and therefore cannot be applied to a multi-slide transfer press without an upright, in which the slide mechanism is installed.
[0014]
Furthermore, in order to swing (tilt) the work gripper in order to cope with complicated press molding, it is necessary to provide a separate tilting device on the crossbar, which complicates the structure and makes the movable part movable. However, there is a problem that the weight is increased and it becomes more difficult to increase the speed.
[0015]
The present invention has been made to solve such a problem. That is, the main object of the present invention is to provide a different motion for each press station, to easily reduce the weight of the movable part, to increase the rigidity of the movable part, to suppress bending and vibration, It is an object of the present invention to provide a panel transfer device that can be applied to a slide type transfer press. Another object of the present invention is to provide a panel transfer device capable of tilting (tilting) a work gripper without adding another device to the movable portion and keeping the weight of the movable portion light. is there.
[0016]
[Means for Solving the Problems]
According to the present invention, there is provided a panel transport apparatus for transporting a panel along a transport line, comprising: a panel gripper for gripping the panel; and a link mechanism connected to the panel gripper. And a first slide which is connected to a part of the link mechanism and is linearly driven while being inclined with respect to a horizontal plane so as to be at a high position on the upstream side of the transport line and at a low position on the downstream side of the transport line in the drive area. And a second slide which is connected to a part of the link mechanism and is linearly driven obliquely with respect to a horizontal plane so as to have a low position on the upstream side of the transport line and a high position on the downstream side of the transport line in the drive area thereof. And first and second slide driving means for driving the first and second slides, respectively, wherein the first and second slides are driven. The panel gripping panel conveyance apparatus characterized by moving the panel carrying direction is provided by the position variation due.
[0017]
According to the configuration of the present invention described above, the entire link mechanism is turned by a combination of the operations of the first slide and the second slide, and the panel gripper connected to the link mechanism is moved in the panel transport direction, so that the panel gripper is moved. The panel held by the section can be transported in a predetermined transport direction. Further, the panel transfer device can be provided for each press station, and can have different motions for each press station. Further, since the apparatus itself can be made compact, it can be applied to a multi-slide type press apparatus.
[0018]
Further, it is preferable that the second slide driving unit is disposed downstream of the first slide driving unit on the transport line. With this configuration, a V-shaped slide mechanism is configured, and a highly reliable panel transport operation can be realized without a mechanical dead point.
[0019]
Further, it is preferable that a pair of the link mechanism, the first slide, the second slide, the first slide drive unit, and the second slide drive unit are provided symmetrically with each other on both sides of the panel holding unit. With this configuration, the panel can be stably transported.
[0020]
The link mechanism includes an output member connected to the panel grip portion, a first link and a second link having one end pivotally connected to the output member, and the other end of the first link is the first slide. Preferably, the other end of the second link is pivotally connected to the second slide. With this configuration, the first link can be moved by driving the first slide, and the link mechanism can be moved by moving the second link by driving the second slide, thereby moving the output member. Further, since it is not necessary to provide a driving device such as a motor in the movable part, the weight of the movable part can be reduced.
[0021]
Preferably, the first link has two arms, each of which has one end pivotally connected to the output member and the other end pivotally connected to the first slide. Preferably, the second link includes two arms, each of which has one end pivotally connected to the output member and the other end pivotally connected to the second slide. With this configuration, the output member can be held in a fixed posture via the two arms, and the workpiece gripper attached to the output member can be held in a fixed posture, and stable panel conveyance can be realized.
[0022]
The first slide includes two slides, the first slide drive unit includes two drive units that individually drive the two slides, and the other ends of the two arms are connected to the two slides. It is preferable that the panel grips connected to the output member be tilted by changing the relative positions of the two slides that are pivotally attached to each other. The second slide includes two slides, the second slide drive unit includes two drive units that individually drive the two slides, and the other ends of the two arms are connected to the two slides. It is preferable that the panel grips connected to the output member be tilted by changing the relative positions of the two slides that are pivotally attached to each other. With this configuration, the panel gripper can be tilted, so that the panel can be gripped / placed at an optimum angle as needed.
[0023]
Further, it is preferable that the first slide driving hand and the second slide driving means include a linear motion actuator that linearly drives the first slide and the second slide, respectively. With this configuration, the operation can be transmitted to the link mechanism by driving the first slide and the second slide by the linear actuator.
[0024]
It is preferable that the linear actuator is a ball screw and a ball nut, a timing belt, a hydraulic cylinder, a rack and pinion, or a linear motor. By using these linear motion actuators, each slide can be linearly moved at high speed and accurately positioned.
[0025]
Further, it is preferable that the panel gripping section includes a crossbar connected to the link mechanism, and a workpiece gripper attached to the crossbar. With this configuration, the crossbar can be moved by the link mechanism, and the work gripper attached to the crossbar can be made to perform a desired movement.
[0026]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, the same reference numerals are given to the common parts in the respective drawings, and the duplicate description will be omitted.
[0027]
FIG. 1 is a diagram showing the configuration of the panel transport device of the present invention. In this figure, for convenience of explanation, two upstream press stations 14 and a downstream press station 14 and a panel transfer device of the present invention provided therebetween are shown as viewed from the inside of the press line. In an actual machine, usually, a plurality of press stations of about 2 to 5 are provided. In this specification, “upstream side” and “downstream side” mean the upstream side and the downstream side of the transport line, respectively.
[0028]
In order to receive the formed material (panel) 1 from the upstream press station 14 and transport the material (panel) 1 to the downstream press station 14, the panel transport device of the present invention is installed between the press stations 14, 14. The panel transport device of the present invention includes a pair of feed devices 10 provided symmetrically for each press station on both sides in the feed direction X for transporting the panel 1 to be press-formed.
[0029]
Each feed device 10 operates symmetrically with respect to the feed direction X, moves the cross bar 3 (panel holding portion) to which the work gripper 2 is attached in the feed direction and the vertical direction, and moves the panel 1 to the next press station. In order. The feeding device 10 is installed between the press stations 14 and 14 by attaching both ends thereof to arms provided on the upstream and downstream press stations 14 and a press stand (not shown), or by suspending from the ceiling. You.
[0030]
As shown in FIG. 1, the panel transport device according to the present invention includes a panel gripper 15, a pair of link mechanisms 6 symmetrically connected to both sides of the panel gripper 15, and connected to the link mechanism 6. The vehicle includes a first slide 4 and a second slide 5, a first slide drive unit 11 for driving the first slide 4, and a second slide drive unit 12 for driving the second slide 5.
[0031]
The panel gripper 15 includes a work gripper 2 such as a vacuum cup for sucking a panel (work 1), and a cross bar 3 to which the work gripper 2 is attached and extends in a direction perpendicular to a transport line. Link mechanisms 6 are connected to both ends of the bar 3.
[0032]
The first slide driving means 11 and the second slide driving means 12 are attached to a V-shaped base member 16. Each of the two driving means 11 and 12 includes a linear motion actuator having the same length. By driving the linear motion actuator, the first slide and the second slide are linearly driven, respectively, and numerical control is performed. Etc., so that the positioning can be performed accurately. Reference numeral 17 denotes a drive motor for a linear actuator. In the present embodiment, the linear actuator is a ball screw and a ball nut, but the present invention is not limited to this, and may be a timing belt, a hydraulic cylinder, a rack and pinion, a linear motor, or the like.
[0033]
Further, as shown in this figure, the first slide 4 is inclined with respect to the horizontal plane by the first slide driving means 11 so that the first slide 4 is at a high position on the upstream side of the transport line and at a low position on the downstream side in the drive area. The second slide 5 is moved in a horizontal plane by the second slide driving means 12 so that the second slide 5 is at a low position on the upstream side of the transport line and at a high position on the downstream side in the drive area. It is designed to be linearly driven with an inclination. The second slide drive means 12 is disposed downstream of the first slide drive means 11 on the transport line, and is provided symmetrically about the axis Y perpendicular to the horizontal plane with respect to the first slide drive means. The two driving means 11 and 12 intersect on the lower extension lines in the respective sliding directions, and the angle θ is set to 60 °.
[0034]
In the present embodiment, the first slide drive unit 11 and the second slide drive unit 12 constitute a V-shaped slide mechanism in which the lower extension lines intersect each other, but are not necessarily limited to this. However, for example, an inverted V-shaped slide mechanism configured such that the upper extension lines of the first slide drive unit 11 and the second slide drive unit 12 intersect, or the first slide drive unit 11 and the second slide drive unit The slide drive means 12 may be shifted in the width direction of the transport line to form an X-type slide mechanism whose drive regions intersect. The angle θ is determined individually for each press device by the interval between the press stations 14, that is, the transport distance of the panel, and is not limited to the above angle.
[0035]
FIG. 2 is a schematic diagram of the panel transport device of FIG. As shown in the figure, the link mechanism 6 includes an output member 19 connected to both sides of the work grip 15 (crossbar 3), a first link 7 and a second link 8 pivotally connected to the output member 19. It has.
[0036]
The first link 7 is provided with two arms 7a and 7b having the same length, and one end of each of the two arms 7a and 7b is pivotally connected to the output member 19 so as to be rotatable about a horizontal axis ( The pivot points are a1 and a2 from the left, respectively, and the other end is rotatably connected to the first slide 4 about the horizontal axis (the pivot points are a3 and a4 from the left, respectively). Yes.) The second link 8 is composed of an arm having the same length as the two arms 7a and 7b of the first link 7, and one end thereof is pivotally connected to the output member 19 so as to be rotatable about a horizontal axis (this pivot connection). The point is referred to as b1), and the other end is rotatably connected to the second slide 5 so as to be rotatable about a horizontal axis (this pivot point is referred to as b2). In this figure, the pivot point a2 and the pivot point b1 are arranged coaxially, but need not necessarily be coaxial.
[0037]
The distance L1 between the pivot points a1 and a2 is the same as the distance L2 between the pivot points a3 and a4. With this configuration, the two arms 7a and 7b are maintained in parallel, so that the output member 19 can always be maintained in parallel. That is, the parallel links a1, a2, a4, and a3 are formed, and even when the position of the output member 19 changes, the output member 19 can be positioned horizontally, and the work gripping portion 15 (crossbar 3) attached thereto is provided. Can be held horizontally without tilting.
[0038]
In the present embodiment, the case where the first link 7 forms a parallel link has been described. However, the present invention is not limited to this, and the work link 15 may be held horizontally by forming the second link 8 with a parallel link. It may be. Further, depending on the shape of the output member 19 and the manner of attaching the crossbar 3, it is not always necessary to configure the parallel link.
[0039]
FIG. 3 and FIG. 4 are explanatory views of the panel transfer operation of the panel transfer device according to the first embodiment of the present invention. In this figure, P is a panel gripping position of the upstream press station, and Q is a downstream panel mounting position.
[0040]
FIG. 3A shows a position where the panel of the upstream press station is gripped. From this position, the first slide and the second slide are linearly driven obliquely upward at a predetermined speed, respectively, and the position of the output member 19 is raised to the position shown in FIG.
[0041]
From the position shown in FIG. 3B, the first slide 4 and the second slide 5 are further linearly driven obliquely upward at a predetermined speed, respectively, thereby turning the entire link mechanism, and the output member 19 attached to the tip of the link mechanism. Is the position shown in FIG. At this time, each slide is controlled such that the output member 19 moves substantially linearly from the position shown in FIG. Thereafter, when the first slide is driven slightly obliquely downward and the second slide 5 is driven obliquely upward, the link mechanism 6 further turns, and as shown in FIG. 11 and near the lowest point of the second slide drive means 12.
[0042]
Next, by driving the first slide 4 obliquely downward and the second slide 5 obliquely upward, the output member 19 is linearly moved in the panel transport direction to the position shown in FIG. Thereafter, the first slide 4 and the second slide 5 are each driven obliquely downward at a predetermined speed to the position shown in FIG. 4 (B), and the slides 4 and 5 are further driven obliquely downward from this position. The panel mounting position of C).
[0043]
FIG. 5 is a diagram showing a motion curve of the panel transport device of FIG. As shown in this figure, the material (panel) formed at the upstream press station is gripped and lifted by the work gripper (not shown) attached to the output member 19 by the operation of FIGS. 3 and 4 described above. The panel can be conveyed in the feed direction and lowered at the downstream press station to position the panel at the molding position on the mold. Thereafter, the output member is returned to a predetermined standby position while leaving the panel at the downstream press station, and molding is performed at each press station.
[0044]
As described above, by linearly driving the first slide 4 and the second slide 5 in a predetermined direction at a predetermined speed, the link mechanism 6 including the first link 7 and the second link 8 is turned, and the link mechanism 16 is rotated. The workpiece gripper 15 attached to the output member 19 connected to the tip of the panel can be moved in the panel transport direction. Accordingly, it is not necessary to provide a driving device in the movable part, so that the weight can be reduced, and the rigidity of the movable part can be increased, and bending and vibration can be suppressed. Moreover, this panel transfer device can be provided for each press station, and can have different motions for each press station.
[0045]
FIG. 6 is a diagram illustrating a configuration of the panel transport device according to the second embodiment of the present invention. In this figure, as in FIG. 1 for describing the first embodiment, for convenience of explanation, the two press stations 6 on the upstream side and the downstream side and the panel transfer device of the present invention provided therebetween are viewed from the inside of the transfer line. It is shown in a folded state. In the present embodiment, the first slide 7 is composed of two independent slides 4a and 4b, and each of the two arms 7a and 7b has one end connected to the output member 19 and the other end of one arm 7a connected to one (in the figure). The other end of the other arm 7b is pivotally connected to the other (right side in the drawing) slide 4b so as to be rotatable around a horizontal axis. Further, the first slide driving means 11 includes two independent driving means 11a and 11b for individually driving the two slides 4a and 4b. These two driving means 11a and 11b are similar to the first slide driving means 11 in the first embodiment, and are arranged side by side in parallel with each other in the direction of the transport line.
[0046]
FIG. 7 is a schematic diagram of the panel transport device of FIG. The two driving means 11a and 11b are arranged such that the distance L2 between the pivot points a3 and a4 is the same as the distance L1 between the pivot points a1 and a2, and the pivot points a1, a2, and a4, a3 forms a parallel link. Other configurations are the same as in the first embodiment.
[0047]
Note that, as in the first embodiment, the first link 4 does not necessarily have to form a parallel link depending on the shape of the output member 19 and how the crossbar 3 is attached. Further, in the present embodiment, the case where the first slide 4 is composed of two slides has been described. Conversely, the second slide 5 may be composed of two slides, and in this case, as shown in FIG. What is necessary is just to comprise a structure symmetrically with respect to the axis Y.
[0048]
FIG. 8 is an explanatory view of the tilt operation of the panel transport device of FIG. FIG. 8B shows a case where two slides 4a and 4b are driven at a position where the pivot point a3 and the pivot point a4 maintain the same height. FIG. 8A shows a case where the two slides 4a and 4b are driven at a position where the pivot point a3 is lower than the pivot point a4. The output member 19 is tilted via the two arms 7a and 7b. FIG. 8C shows a case where the two slides 4a and 4b are driven at a position where the pivot point a3 is higher than the pivot point a4. In this case, the output member is turned in the opposite direction to FIG. 8C. To tilt. As described above, the first slide 4 is constituted by the two independent slides 4a and 4b, and the two slides 4a and 4b are changed in height by the respective driving means 11a and 11b (the relative position is changed). By driving the output member 19, the output member 19 can be tilted, and the work gripping portion 15 attached to the output member 19 can be tilted. Thus, the panel can be gripped / placed at an optimum angle as needed.
[0049]
It should be noted that the relative positions of the pivot points a3 and a4 between the two slides 4a and 4b and the two arms 7a and 7b pivotally connected thereto are normally maintained in the state shown in FIG. 9A to 9C, the panel transport operation is substantially the same as in the first embodiment except for the case where the above-described tilt operation is performed.
[0050]
It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that various changes can be made without departing from the spirit of the present invention.
[0051]
【The invention's effect】
As described above, according to the present invention, the following excellent effects can be obtained.
(1) Since the movable portion does not have a power source such as a motor, the size and weight of the movable portion can be reduced.
(2) Since the link (arm) is supported only at both ends, no bending stress acts. Therefore, it is possible to realize a lighter, faster, and lower vibration movable part.
(3) By the combination of the linear motion of two or three systems of actuators on one side, the transport unit at the tip of the feeder feeds the material in the transport direction (feed), vertically positions it vertically (lifts), and moves the material to the mold. Various movements such as free posture control (tilt) when placing the camera can be realized.
(4) By adopting a slide mechanism that is driven in a direction inclined with respect to the horizontal plane, the feeder can be made compact and can be applied to a multi-slide transfer press.
[0052]
Therefore, the panel transfer device of the present invention can have different motions for each press station, can easily reduce the weight of the movable portion, increase the rigidity of the movable portion, suppress deflection and vibration, and There is an excellent effect that the work gripping portion can be tilted (tilted) without adding another device to the movable portion, while reducing the weight of the movable portion.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a configuration of a panel transport device according to a first embodiment of the present invention.
FIG. 2 is a schematic view of the panel transport device according to the first embodiment of the present invention.
FIG. 3 is an explanatory diagram of a panel transfer operation of the panel transfer device according to the first embodiment of the present invention.
FIG. 4 is a diagram illustrating a panel transfer operation of the panel transfer device according to the first embodiment of the present invention.
FIG. 5 is a diagram showing a motion curve of the panel transport device according to the present invention.
FIG. 6 is a diagram illustrating a configuration of a panel transport device according to a second embodiment of the present invention.
FIG. 7 is a schematic diagram of a panel transport device according to a second embodiment of the present invention.
FIG. 8 is an explanatory view of a tilt operation of the panel transport device of the present invention.
FIG. 9 is an explanatory view of a panel transfer operation of a panel transfer device according to a second embodiment of the present invention.
FIG. 10 is a perspective view of a conventional panel transport device.
[Explanation of symbols]
1 work (panel)
2 Work gripper (vacuum cup)
3 Crossbar 4 First slide 5 Second slide 6 Link mechanism 7 First link 8 Second link 10 Feeder 11 First slide drive 12 Second slide drive 14 Press station 15 Work gripper 16 V-shaped member 17 Straight Drive motor for dynamic actuator

Claims (11)

A panel transport device that transports a panel along a transport line,
A panel gripper for gripping the panel,
A link mechanism connected to the panel gripper;
A first slide that is connected to a part of the link mechanism, and is linearly driven while being inclined with respect to a horizontal plane so as to be at a high position on the upstream side of the transport line and at a low position on the downstream side of the transport line in the drive area thereof;
A second slide that is connected to a part of the link mechanism, and is linearly driven inclining with respect to a horizontal plane so as to be at a low position on the upstream side of the transport line and at a high position on the downstream side of the transport line in the drive area thereof;
A first slide drive unit and a second slide drive unit that respectively drive the first slide and the second slide,
A panel transport device, wherein the panel grip is moved in a panel transport direction by a position change caused by driving the first slide and the second slide. 2. The panel transfer device according to claim 1, wherein the second slide drive unit is disposed downstream of the first slide drive unit on a transfer line. 3. The pair of the link mechanism, the first slide, the second slide, the first slide drive unit, and the second slide drive unit are provided symmetrically with each other on both sides of the panel grip unit. 3. The panel transport device according to 2. The link mechanism includes an output member connected to the panel grip portion, a first link and a second link having one end pivotally connected to the output member, and the other end of the first link is the first slide. The panel transport device according to any one of claims 1 to 3, wherein the second link is pivotally attached to the second slide, and the other end of the second link is pivotally attached to the second slide. The first link comprises two arms, each of which has one end pivotally connected to the output member and the other end pivotally connected to the first slide. A panel transport device according to item 1. The second link comprises two arms, each of which has one end pivotally connected to the output member and the other end pivotally connected to the second slide. A panel transport device according to item 1. The first slide includes two slides, the first slide drive unit includes two drive units that individually drive the two slides, and the other ends of the two arms are pivotally connected to the two slides, respectively. The panel transport apparatus according to claim 5, wherein the panel slide unit is attached and tilts the panel holding unit connected to the output member by changing a relative position of the two slides. The second slide includes two slides, the second slide drive unit includes two drive units that individually drive the two slides, and the other ends of the two arms are pivotally connected to the two slides, respectively. 7. The panel transport device according to claim 6, wherein the panel gripper attached to the output member is tilted by changing a relative position of the two slides. 8. 9. The device according to claim 1, wherein the first slide driving hand and the second slide driving unit include a linear motion actuator that linearly drives the first slide and the second slide, respectively. Panel transfer device. The panel transport device according to claim 9, wherein the linear actuator is a ball screw and a ball nut, a timing belt, a hydraulic cylinder, a rack and pinion, or a linear motor. The panel transfer device according to any one of claims 1 to 10, wherein the panel gripper includes a crossbar connected to the link mechanism, and a work gripper attached to the crossbar. .

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