JP2005230995A - Panel conveying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a panel conveying device capable of realizing different motion for each press station, easily reducing the weight of a movable part and enhancing the rigidity of the movable part. <P>SOLUTION: The panel conveying device is provided with a panel grip part 12 for gripping a panel 11; a first motor 1 fixed to the upper part of a conveying line; a first upper arm 2 of predetermined length with its upper end fixed to a rotary shaft of the first motor; and a first lower arm 4 of predetermined length with its upper end connected to the lower end of the first upper arm 2 rotatably around a horizontal shaft perpendicular to a panel conveying direction and with its lower end connected to the panel grip part rotatably around the horizontal shaft perpendicular to the panel conveying direction. The panel conveying device is further provided with a second motor 5 fixed to the upper part of the conveying line, a second upper arm 6, and a second lower arm 8. The rotary shaft of the first motor and a rotary shaft of the second motor are rotated interlocked with each other to move the panel grip part in the panel conveying direction and a vertical direction. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a panel transport device that transports a panel formed by a press or the like.

  For example, an automobile panel has a complicated shape, and therefore, the molding process is divided into several stages, and is molded by molds arranged in a straight line. In a transfer press or a tandem press using such a plurality of presses, a panel transport device is provided to sequentially transport members (panels) formed by a certain press to the next press.

  As a panel transfer device for transfer press, a crossbar type transfer device disclosed in Patent Document 1 below has been widely used. This device is provided with a lift beam extending in the line direction so as to be movable up and down in the entire press station. A carrier is suspended on the lift beam so as to be able to reciprocate between stations in the line direction. , A panel gripper is attached to the crossbar, and the panel material (work material) of each station is simultaneously and intermittently conveyed.

Such a crossbar type conveying apparatus has the following features.
(1) A feed motion between mold stations of a forming panel is generated by cam control or motion control by an AC servo motor.
(2) The panel is transported by a combined motion in the panel transport 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 to both the panel transport direction and the lift direction, and the crossbars work together to perform exactly the same motion.
(4) The feed arm that generates the feed motion between stations is usually on the front side or the rear side of a series of feed devices consisting of a carriage connected to a crossbar and its coupling mechanism. Generate.

  In addition to the above-described crossbar type transfer device, panel transfer devices described in the following Patent Documents 2 to 4 have been proposed.

  The "transfer feeder" described in Patent Document 2 is provided with a plurality of carriers that are independently driven by a linear motor on a pair of lift beams that are moved up and down by a lifter. Is made possible.

  The “transfer press conveying device” described in Patent Document 3 is provided with a plurality of carriers in a lift beam, and enables high-speed conveyance of the panel by using these carriers as a drive source.

  The “TRANSPORT AND POSITIONING SYSTEM” described in Patent Document 4 includes a drive 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 portion 25 at one end, and the output portion 25 is connected to the crossbar 22. The swing arm 24 is connected at two points, a support point 28 and a drive point 33, which are spaced apart from each other. The distance between the support point 28 and the drive point 33 is shorter than the distance between the output unit and the support point. In this figure, 21 is a panel gripper attached to the cross bar 22, 32 is a guide rod for connecting the slide block 37 and the drive point 33, 41 is a swing motor for driving the guide rod 32 to swing, and 45 is a slide block. 37 is a linear motion device that moves up and down 37.

  With this configuration, the slide block 37 is moved up and down by the linear motion device 45, and the guide rod 32 is swung by the swing motor 41 to drive and position the tip (drive point 33) of the guide rod 32. The cross bar 22 to which the panel gripping tool is attached is enlarged and driven by the lever ratio so as to be driven and positioned.

Japanese Patent Laid-Open No. 10-328766 Japanese Patent Publication No. 7-73756 JP-A-6-262280 US Pat. No. 6,382,400

However, the panel conveyance devices described in Patent Documents 1 and 3 have the following problems.
(1) Each crossbar cannot have a different motion.
(2) Since the crossbars for all stations are moved simultaneously, the servo motor and the feed drive device become large.
(3) Since the motion curves for each press station are 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.

  Further, in the linear motor system of Patent Document 2, although the feed (feed) can be speeded up by the linear motor, a separate lift mechanism is required, and the overall structure becomes complicated and large. In the AC servo system of Patent Document 3, high rigidity cannot be obtained due to the serial link. The structure of Patent Document 4 is complicated, and a simpler structure is desired.

  A technique for solving such a problem is disclosed in Japanese Patent Application No. 2003-142399 which is a prior application of the present application. Disclosed in this patent application is a V-type panel transport apparatus shown in FIG. This V-type panel conveyance device has screws 50 and 51 provided between press stations and arranged in a V-shape. The first slide 52 and the second slide 53 are engaged with the screws 50 and 51, respectively, and the screws 50 and 51 are rotated by rotating the motor 54 and the motor 55 in conjunction with each other. The slide 53 moves. As a result, the link mechanism 55 that is rotatably fixed to the first slide 52 and the second slide 53 is moved. As a result, the panel gripper 12 that is rotatably coupled to the link mechanism 56 is moved.

  With this configuration, a different motion can be given to each press station, the movable part can be easily reduced in weight, the rigidity of the movable part can be increased, and bending and vibration can be suppressed.

  After the panel is transferred from the upstream press station to the downstream press station by the panel holding portion, the speed is most required when the panel holding portion is returned to the upstream press station (when returning). According to the above-described V-type panel conveyance device, it is not sufficient to reflect the screw speed on the crossbar when returning the panel gripping portion to the upstream press station. Moreover, control responsiveness may deteriorate due to deterioration of the screw. Further, in the V-type panel conveyance device, since the motor is loaded on the movable part, the vibration may be heavy and increase.

  The present invention can provide different motions for each press station, reduce the weight of the movable part, increase the rigidity of the movable part, and suppress bending and vibration. The object of the present invention is to provide a panel transfer device.

  In order to achieve the above object, according to the present invention, a panel gripping part for gripping a panel, a plurality of arms connected to the panel gripping part, and a plurality of motors connected to each arm and rotating each arm. A panel transport device is provided.

  Since this panel conveying apparatus can be provided for each press station, it is possible to have a different motion for each press station. Further, since the panel can be transported only by rotating a plurality of motors, the movable part can be easily reduced in weight, the rigidity of the movable part can be increased, and bending and vibration can be suppressed.

  According to a preferred embodiment of the present invention, the arm includes at least one rotating link (joining portion).

  According to a preferred embodiment of the present invention, the plurality of motors includes a first motor fixed so that the rotation shaft faces a horizontal direction perpendicular to the panel conveyance direction, and a rotation shaft having a horizontal direction perpendicular to the panel conveyance direction. And a second motor fixed at a predetermined distance from the first motor in the panel transport direction so as to face the plurality of arms, the plurality of arms having a first arm and a second arm, One arm has a first upper arm having a predetermined length with its upper end fixed to the rotary shaft of the first motor, and a horizontal axis whose upper end is perpendicular to the panel transport direction at the lower end of the first upper arm. A first lower arm having a predetermined length, the lower end of which is coupled to the panel gripper so as to be rotatable about a horizontal axis perpendicular to the panel conveying direction. The upper end of the second arm is the first A second upper arm having a predetermined length fixed to a rotating shaft of the motor, and a lower end portion of the second upper arm coupled to the lower end portion of the second upper arm so as to be rotatable about a horizontal axis perpendicular to the panel conveying direction. The gripping portion has a second lower arm having a predetermined length, the lower end of which is coupled rotatably about a horizontal axis perpendicular to the panel conveying direction, and the rotary shaft of the first motor and the second motor By rotating the rotary shafts in conjunction with each other, the panel gripping portion is moved in the panel transport direction and the vertical direction.

  Since this panel conveying apparatus can be provided for each press station, it is possible to have a different motion for each press station. Moreover, since it is possible to carry out panel conveyance only by rotating the fixed first motor and the second motor, the movable part can be easily reduced in weight, the rigidity of the movable part is increased, and bending and vibration are suppressed. be able to.

  According to a preferred embodiment of the present invention, the panel gripping portion extends in a horizontal direction perpendicular to the panel transport direction, and the pair of the first motor, the first upper arm, the first lower arm, the second motor, and the second upper portion. An arm and a second lower arm are provided symmetrically on both sides of the panel grip. With this configuration, the panel can be stably conveyed.

  According to a preferred embodiment of the present invention, the lower end of the first lower arm and the lower end of the second lower arm are in the same position when viewed from a horizontal direction perpendicular to the panel transport direction.

  According to a preferred embodiment of the present invention, the first motor is configured such that the speed of the panel gripper in the panel transport direction is higher than the speed in the vertical direction with respect to the same rotational speed of the first motor and the second motor. The positions of the second motor and the lengths of the first upper arm, the first lower arm, the second upper arm, and the second lower arm are determined. With this configuration, it is possible to improve the speed when the panel gripping portion returns.

  According to a preferred embodiment of the present invention, according to a preferred embodiment of the present invention, the apparatus further comprises a rotation driving means for rotating the panel gripping part about a horizontal axis perpendicular to the panel transport direction. With this configuration, the panel can be gripped / stacked at an optimum angle by rotating the panel gripper as necessary.

  According to a preferred embodiment of the present invention, the apparatus further includes means for moving the plurality of arms together with the plurality of motors in the panel transport direction. With this configuration, it is possible to improve the application range of the panel transfer device, transfer capability, and the like.

  According to the present invention, since this panel conveying apparatus can be provided for each press station, it is possible to have a different motion for each press station. Since a configuration in which the actuator is not mounted on the movable part is possible, it is possible to realize a panel transport device in which the movable part is lightened. Moreover, it is possible to improve the speed at the time of a return of a panel holding part.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

  FIG. 1 is a diagram showing a configuration of a panel transport apparatus according to the present invention. In this figure, for convenience of explanation, the upstream and downstream press stations 8 and 9 and the panel transport apparatus of the present invention provided therebetween are shown in a state viewed from a horizontal direction perpendicular to the panel transport direction. . Further, in actual machines, usually, about 2 to 5 press stations are provided. In this specification, “upstream side” and “downstream side” mean the upstream side and the downstream side of the transport line, respectively.

  In order to receive the material (panel) 11 formed from the upstream press station 13 and transport it to the downstream press station 14, the panel transport device 10 of the present invention is installed between the press stations 8 and 9. The panel conveying device of the present invention is a pair of feeding devices (hereinafter referred to as a first feeding device and a second feeding device) provided symmetrically with each other at each press station on both sides in the panel conveying direction X for conveying a panel 11 to be press-formed. Called).

  Each feeding device operates symmetrically with respect to the panel conveying direction X, and moves the panel gripping part 12 having the crossbar 9 and the panel gripping tool 10 attached thereto to the panel conveying direction and the vertical direction. Are transported in order to the next press station.

Since the configurations of the first feeding device and the second feeding device are the same, the first feeding device will be mainly described below.
The first feeding device of the panel conveying apparatus according to the embodiment of the present invention shown in FIG. 1 includes a first motor 1, a first upper arm 2 having a predetermined length, and a first lower arm 4 having a predetermined length. The second motor 5, the second upper arm 6 having a predetermined length, the second lower arm 8 having a predetermined length, and the panel grip portion 12 are provided. The first motor 1 is fixed to, for example, an arm (referred to as a motor fixing portion) provided on an upstream and downstream press station or a press stand (not shown), or a motor fixing portion that is a structure related to the press station. The upper end portion of the first upper arm 2 is fixed to the rotating shaft of the first motor 1. The rotation shaft of the first motor 1 faces a horizontal direction perpendicular to the panel transport direction X. The lower end portion of the first upper arm 2 is coupled to the upper end portion of the first lower arm 4 in the first coupling portion 3 so as to be rotatable about a horizontal axis perpendicular to the panel transport direction X.

  The second motor 5 is fixed to the motor fixing portion by being separated from the first motor 1 by a predetermined distance in the panel transport direction. Similarly, the upper end portion of the second upper arm 6 is fixed to the rotating shaft of the second motor 5. The rotation shaft of the second motor 5 faces the horizontal direction perpendicular to the panel conveyance direction X. The lower end of the second upper arm 6 is coupled to the upper end of the second lower arm 8 at the second coupling portion 7 so as to be rotatable about a horizontal axis perpendicular to the panel transport direction X. The lower end of the first lower arm 4 and the lower end of the second lower arm 8 are coupled to the same location on one side of the cross bar 9, for example, so as to be rotatable about a horizontal axis perpendicular to the panel conveying direction. .

  The configuration of the second feeding device is the same as the configuration of the first feeding device described above. The lower end portion of the first lower arm 4 and the lower end portion of the second lower arm 8 of the second feeding device can rotate around the horizontal axis perpendicular to the panel conveying direction at the same location on the other side of the cross bar 9. Combined with

  FIG. 2 is a perspective view showing the panel transport apparatus according to the present embodiment. As shown in FIG. 2, a pair of first motor 1, first upper arm 2, first lower arm 4, second motor 5, second upper arm 6 and second lower arm 8 are Provided symmetrically on both sides. That is, the first feeding device and the second feeding device having the same configuration are provided symmetrically on both sides of the cross bar 9.

  The operation of the panel transport apparatus having the above configuration will be described. Since the first feeding device and the second feeding device perform the same operation, the operation of the first feeding device will be described for the sake of simplicity.

  According to the first feeder having the above-described configuration, the position / posture of the first upper arm 2 fixed to the rotary shaft of the first motor 1 is determined by the rotation angle of the rotary shaft of the first motor 1, and the second motor. The position / posture of the second upper arm 6 fixed to the rotation shaft of the second motor 5 is determined by the rotation angle of the rotation shaft 5, and the positions of the first coupling portion 3 and the second coupling portion 7 are uniquely determined. . Furthermore, since the lower end of the first lower arm 4 and the lower end of the second lower arm 8 are rotatably coupled to the crossbar 9, the position of the first coupling part 3, the position of the second coupling part 7 and The position of the cross bar 9 is uniquely determined by the fixed length of the first lower arm 4 and the fixed length of the second lower arm 8. The upper end of the first lower arm 4 is rotatably coupled to the lower end of the first upper arm 2, and the lower end of the first lower arm 4 is rotatably coupled to one side of the crossbar 9. 2 The upper end of the lower arm 8 is rotatably coupled to the lower end of the second upper arm, and the lower end of the second lower arm 8 is rotatably coupled to one side of the crossbar 9. The position of the crossbar 9 can be changed by changing the rotation angle of the rotation shaft of the motor 1 and the rotation angle of the rotation shaft of the second motor 5 in conjunction with each other.

  Next, the operation of the first feeding device will be specifically described with reference to FIGS. 3 (A) to 3 (E). In FIG. 2, P indicates the panel gripping position of the upstream press station 13, and Q indicates the panel stacking position of the downstream press station 14.

  As shown in FIG. 3 (A), when the press process is completed at the upstream press station 13, the rotary shaft of the first motor 1 is rotated at a predetermined rate, and the rotary shaft of the second motor 5 is interlocked with this. Is rotated at a predetermined rate. As a result, the cross bar 9 (panel gripping portion 12) can be moved to a position for gripping the panel 11 placed on the upstream press station 13. Subsequently, the panel 11 is gripped by the panel gripping tool 10 provided on the cross bar 9. Next, in order to raise the cross bar 9 to the position shown in FIG. 3B, the rotary shaft of the first motor 1 and the rotary shaft of the second motor 5 are rotated in conjunction with each other. As a result, the cross bar 9 can be raised to the position shown in FIG. Thereafter, in order to move the crossbar 9 in the panel transport direction X from the position shown in FIG. 3B to the position shown in FIG. 3D via the position shown in FIG. The rotating shaft of one motor 1 and the rotating shaft of the second motor 5 are rotated in conjunction with each other. Thereby, the crossbar 9 can be moved to the position of FIG. Subsequently, in order to lower the cross bar 9 from the position shown in FIG. 3D to the position shown in FIG. 3E, the rotary shaft of the first motor 1 and the rotary shaft of the second motor 5 are mutually connected. Rotate in conjunction with. Thereby, the cross bar 9 can be lowered to the position shown in FIG. When the cross bar 9 is lowered, the panel 11 is released from the panel gripping tool 10 and the panel 11 is loaded on the downstream press station 14.

  Thereafter, the crossbar 9 is moved to a predetermined standby position by rotating the rotary shaft of the first motor 1 and the rotary shaft of the second motor 5 in conjunction with each other.

  Note that when the panel gripping tool 10 provided on the crossbar 9 is gripping the panel 11, the moving speed of the crossbar 9 is limited, but it is preferable to efficiently perform the panel transport operation. Therefore, when the panel gripper 12 (panel gripper 10) transports the panel 11 from the upstream press station 13 to the downstream press station 14 and then returns the panel gripper 12 to the upstream press station 13, that is, the upstream side. When approaching the next panel 11 of the press station 13, the moving speed of the panel holding part 12 can be raised. For this reason, the first motor 1 and the second motor 5 have a sufficiently high speed in the panel transport direction X of the panel gripping portion 12 with respect to the same rotational speed of the first motor 1 and the second motor 5. The position and the length of the first upper arm 2, the first lower arm 4, the second upper arm 6 and the second lower arm 8 can be determined. Thus, the rotational speed can be efficiently transmitted from the first motor 1 and the second motor 5 to the crossbar 9 in the approach / return operation that requires the highest speed during the panel transport operation.

  According to the above-described embodiment of the present invention, the crossbar 9 can be moved up and down and moved in the panel transport direction X only by driving the motor using the arm. Therefore, a lightweight and compact panel transport device can be realized. Moreover, since the cross bar 9 is moved through the arm, the rotation amount of the motor can be reduced. Furthermore, since the posture of the arm is directly changed by the rotation of the motor, the control response is good. Moreover, this panel transport device can be provided for each press station, and can have a different motion for each press station.

  Further, when the panel 11 is gripped and conveyed between press stations, it may be preferable to incline the cross bar 9 according to the shape of the panel 11 or the like. In the following, a rotation driving means for tilting the cross bar 9 at the time of gripping / conveying the panel 11 will be described.

  FIG. 4A shows a rotation driving means having a panel gripping portion rotation actuator 15 and a panel gripping portion rotation assisting member 16. As shown in the figure, one end of the panel gripping portion rotation actuator 15 is fixed to the second lower arm 8 so as to be rotatable in the direction of the arrow in the figure, and the other end of the panel gripping portion rotation actuator 15 is supported to rotate the panel gripping portion. It fixes to the end of the member 16 so that rotation is possible in the direction of the arrow in the figure. The other end of the panel gripping portion rotation auxiliary member 16 is fixed to the panel gripping portion 12. With this configuration, the panel gripping portion rotation actuator 15 can be expanded and contracted to rotate the panel gripping portion 12 in the direction of the arrow in the drawing via the panel gripping portion rotation assisting member 16.

  FIG. 4B shows another example of the rotation driving means for rotating the panel gripping portion 12. 4B includes a panel gripper rotation motor 17 provided on the second lower arm 8, a first gear 18 fixed to a rotation shaft of the panel gripper rotation motor 17, and a panel. It has the 2nd gear 20 fixed to the holding part 12, and the rotating belt 19 hung on the 1st gear 18 and the 2nd gear 20. FIG. When the panel gripper rotation motor 17 rotates, the first gear 18 fixed to the rotating shaft of the panel gripper rotation motor 17 is rotated. Since the rotating belt 19 is hung on both gears so as to mesh with the first gear 18 and the second gear 20, the rotating belt 19 rotates and the second gear 20 is rotated by the rotation of the first gear 18. . Since the second gear 20 is fixed to the panel gripping portion 12, the panel gripping portion 12 is rotated with the rotation of the second gear 20. Accordingly, with this configuration, the panel gripping portion 12 can be tilted.

As described above, the panel can be held / placed at an optimum angle by the rotation driving means of the crossbar 6 as necessary.
The rotation driving means shown in FIGS. 4A and 4B may be provided in the first lower arm 4 instead of the second lower arm 8. Further, the rotation driving means can be provided in either one or both of the first feeding device and the second feeding device. Further, the rotation driving means is not limited to the above-described one, and may be other appropriate rotation driving means for rotating the panel gripping portion 12.

  In the above-described embodiment, the first motor 1 and the second motor 5 are fixed to the motor fixing portion, and the motor fixing portion is stationary with respect to each press station. However, the panel transport apparatus of the present invention can be applied to other applications. In other words, in the panel transport apparatus of the present invention, the motor fixing portion to which the first motor 1 and the second motor 5 are fixed may be movable in the panel transport direction X. For example, the motor fixing unit is a carriage, a rail is provided in the panel conveyance direction in which the carriage slides, and a drive device that moves the carriage on the rail is provided. With this configuration, the carriage can be moved in the panel conveyance direction. That is, the first upper arm 2, the first lower arm 4, the second upper arm 6, and the second lower arm 8 themselves can be moved together with the first motor 1 and the second motor 5 in the panel transport direction. Thus, in addition to the rotation of the first motor 1 and the second motor 5, the present invention can also transport the panel 11 by moving the motor fixing portion (cart) in the panel transport direction. .

  In addition, this invention is not limited to embodiment mentioned above, Of course, a various change can be added in the range which does not deviate from the summary of this invention.

It is the schematic of the panel conveying apparatus by embodiment of this invention. It is a perspective view of the panel conveying apparatus shown by FIG. It is a figure for demonstrating the panel conveyance operation | movement by the panel conveying apparatus shown by FIG. (A) shows an example of the rotational drive means which rotates the panel holding part provided in the panel conveying apparatus shown in FIG. 1, (B) was provided in the panel conveying apparatus shown in FIG. Another example of the rotation driving means will be shown. It is a perspective view of the conventional panel conveying apparatus. It is a figure which shows the outline of a structure of a V-type panel conveying apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 1st motor 2 1st upper arm 3 1st connection part (rotary link)
4 First lower arm 5 Second motor 6 Second upper arm 7 Second coupling portion (rotating link)
8 Second lower arm 9 Cross bar 10 Panel gripping tool 11 Panel 12 Panel gripping portion 13 Upstream press station 14 Downstream press station 15 Panel gripping portion rotation actuator 16 Panel gripping portion rotation assisting member 17 Panel gripping portion rotation motor 18 First gear 19 Rotating belt 20 Second gear

Claims (8)

  A panel transporting device comprising: a panel gripping unit for gripping a panel; a plurality of arms connected to the panel gripping unit; and a plurality of motors connected to each of the arms and rotating the arms.   The panel transfer device according to claim 1, wherein the arm includes at least one rotation link. The plurality of motors are:
A first motor fixed so that the rotating shaft faces a horizontal direction perpendicular to the panel conveying direction;
A second motor fixed at a predetermined distance from the first motor in the panel transport direction so that the rotating shaft faces a horizontal direction perpendicular to the panel transport direction;
The plurality of arms have a first arm and a second arm,
The first arm is
A first upper arm having a predetermined length with an upper end fixed to the rotary shaft of the first motor;
The upper end of the first upper arm is coupled to the lower end of the first upper arm so as to be rotatable about a horizontal axis perpendicular to the panel conveying direction, and the lower end of the first upper arm is centered about a horizontal axis perpendicular to the panel conveying direction. A first lower arm of a predetermined length rotatably coupled,
The second arm is
A second upper arm having a predetermined length with an upper end fixed to the rotary shaft of the second motor;
The lower end of the second upper arm is coupled to the upper end of the second upper arm so as to be rotatable about a horizontal axis perpendicular to the panel conveying direction, and the lower end of the second upper arm is rotated about a horizontal axis perpendicular to the panel conveying direction. A second lower arm of a predetermined length operably coupled,
2. The panel gripping portion is moved in a panel transport direction and a vertical direction by rotating the rotary shaft of the first motor and the rotary shaft of the second motor in conjunction with each other. The panel conveyance apparatus of description.   The panel gripping portion extends in a horizontal direction perpendicular to the panel conveying direction, and a pair of the first motor, the first upper arm, the first lower arm, the second motor, the second upper arm, and the second lower arm, The panel conveyance device according to claim 3, wherein the panel conveyance device is provided symmetrically on both sides of the panel gripping portion.   The lower end portion of the first lower arm and the lower end portion of the second lower arm are located at the same position when viewed from a horizontal direction perpendicular to the panel conveying direction. The panel conveyance apparatus of description.   The position of the first motor and the second motor, and the first upper portion so that the speed in the panel conveying direction of the panel gripper is faster than the speed in the vertical direction with respect to the same rotational speed of the first motor and the second motor. 6. The panel transport device according to claim 3, wherein lengths of the arm, the first lower arm, the second upper arm, and the second lower arm are determined.   The panel transport apparatus according to claim 1, further comprising: a rotation driving unit that rotates the panel gripper about a horizontal axis perpendicular to the panel transport direction. 8. The panel transport apparatus according to claim 1, further comprising means for moving the plurality of arms together with the plurality of motors in a panel transport direction.

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