JP2006327819A - Transfer device and transfer method for glass pane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To carry a glass pane by only an edge part in the state of no-contact in the other. <P>SOLUTION: The transfer device for a glass pane comprises a tilted conveyor 10 in which the lower side of the glass pane G on the tilted conveyor 10 is supported by the V-groove parts of a plurality of carrying rolls 12 and supported, in a lean-over manner, by a universal roll 15 disposed at the distal end of a support lever suspended in both the vertical and lateral directions and the hand of a robot 2 positioned on the front side of the tilted conveyor 10 and movable and rotatable in all directions. A V-grooved holding roll 24 is disposed on a pair of holding members 22 capable of traveling on a lateral frame 21 installed on the hand of the robot 2 to hold the glass pane G at right and left ends. A receiving part roll 34 having a V-groove part at each tip of a receiving part support lever 33 is disposed on a receiving part support member 32 installed on the lower side of the hand of the robot 2 to support the glass pane G at its lower end side and a liftable receiving part support lifting means 30 is disposed liftably. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an apparatus and a method for taking out and holding a rectangular flat glass plate on a conveyor to be transported by supporting only the edge portion and transferring it onto a support table that can be supported only by the edge portion.

  Conventionally, when transferring a flat glass plate from one position to another, a method of transferring and holding the substantially central portion of the glass plate surface with a suction pad by an articulated robot or automatic machine, The device is well known.

  However, when glass substrates used for display panels such as plasma display panels and liquid crystal display panels are transferred by handling, the glass plate surface is free from adsorption marks, dirt, etc., that is, it is in contact with the glass surface as much as possible. It is better to transfer without doing so.

  For example, Japanese Patent Application Laid-Open No. 2003-158168 discloses a substrate transfer device that sucks a substrate such as a semiconductor wafer in a cassette with a vacuum suction pad and transfers the substrate into a transport container (Patent Document 1). .

  Further, for example, in Japanese Patent Application Laid-Open No. 2003-292153, a glass substrate placement section that transfers a glass substrate to and from a fork of a transfer device is formed at least at one end of a single wafer conveyance table that conveys the glass substrate. In the glass substrate single wafer transfer apparatus, the glass substrate is levitated by forming a large number of minute diameter air jets on the surface of the single wafer transfer table, and is rotated and driven by drive mechanisms on both sides of the single wafer transfer table. There is disclosed a glass substrate single-wafer transport apparatus characterized in that a glass substrate is transported by arranging rollers in parallel and sandwiching the glass substrate between the rollers (Patent Document 2).

Furthermore, for example, in Japanese Patent Application Laid-Open No. 2003-104545, in order to hold only the edge part of a flat panel such as a liquid crystal glass substrate and keep the deflection of the intermediate part of the panel in a non-contact state, Or the apparatus which supports using an ultrasonic wave and changes the direction of a panel freely vertically and horizontally is disclosed. Alternatively, a flat panel horizontal transfer robot with a hand that grips only the edge of a flat panel such as a liquid crystal glass substrate and supports the deflection of the middle part of the panel in a non-contact state using air pressure or ultrasonic waves. Is disclosed. That is, in Patent Document 3, a direction changing mechanism that changes the orientation of a panel into a vertical posture and a horizontal (horizontal) posture (posture change), a bottom of a flat panel in a vertical posture is received by a nail, and an upper end is a suction pad. A flat panel vertical transfer robot having a hand that sucks and lifts an intermediate part of the panel with air pressure to support it in a non-contact state is described (Patent Document 3).
JP 2003-158168 A JP 2003-292153 A JP 2003-104545 A

  The thing of the said patent document 1 has the problem that a suction pad trace remains on a board | substrate since it adsorbs and transfers a board | substrate with a suction pad.

  Moreover, since the thing of the said patent document 2 is what transfers the glass substrate of a horizontal attitude | position with the nail | claw-shaped member of the fork of a transfer apparatus, it transfers from a horizontal attitude | position with a horizontal attitude | position. In order to transfer the glass plate in a vertical position, it is necessary to insert the claw member of the fork from the lower end of the glass plate in order to crawl the glass plate with the claw member of the fork, It is necessary to set the glass plate at a position higher than the length of the nail of the fork, and such a glass plate handling method becomes less practical as the size of the glass plate becomes larger.

  Further, Patent Document 3 describes that only the edge of the panel is held. However, holding only the edge of the panel is a direction in which the orientation of the panel is changed between the vertical posture and the horizontal (horizontal) posture (posture change). This is the case for the conversion mechanism. In addition, the clamp or grip only on the edge of the panel is for the horizontal transfer robot of the panel and clamps or grips the periphery of the panel, not the end of the panel. Contamination due to clamp marks etc. is considered as a problem.

  Further, the flat panel vertical transfer robot described in Patent Document 3 receives the bottom side of the vertical flat panel with a nail and sucks the upper end side with a suction pad. There is a problem that adsorption marks and adsorption dirt are generated.

  The present invention aims to solve the above problems, that is, a suction pad mark or the like on the surface of a glass plate ranging from a small size of a glass substrate used for display display to a large size in which the length of one side exceeds 2 meters. There is provided a method and an apparatus that can be reliably transferred without contamination of the glass plate and without fear of dropping or breakage of the glass plate.

That is, the present invention grips a flat and rectangular glass plate on an inclined conveyor, and in the transfer device for the glass plate to be taken out,
The lower edge of the glass plate is supported by a plurality of conveying rolls having V-grooves, and is arranged at each end of a flexible roll support rod that is vertically suspended from the back frame side at a plurality of predetermined intervals. An inclined conveyer that supports the glass plate by hanging it in a state of being separated from the back frame by the free roll,
It consists of an articulated robot hand that can move and rotate in all directions located on the front side of the inclined conveyor,
The hand is provided with a plurality of holding portion support rods that are suspended from a pair of holding members that can run on a horizontal frame provided on the hand at a predetermined pitch in a vertical row, and a V-groove portion is provided at each end of the holding portion support rod. A sandwiching means that can sandwich the right and left vertical sides of the glass plate,
A receiving portion support member provided on the lower side of the hand is provided with a plurality of receiving portion support rods in a horizontal row at a constant pitch, and a receiving portion roll having a V-groove portion is disposed at each end of the receiving portion support rod. Then, a receiving portion supporting lifting means for supporting the glass plate at its lower end side and making it movable up and down is arranged to be movable up and down,
A glass plate transfer apparatus characterized in that a glass plate is supported only by an edge and taken out from an inclined conveyor.

In addition, the present invention, when transferring the glass plate supported only by the edge by the holding means provided in the robot hand described above and the receiving unit supporting lifting means, to another delivery support base,
A plurality of delivery clamping rods that are suspended from a pair of delivery clamping members that are horizontally movable on the delivery horizontal frame are provided in a vertical line at a constant pitch, and delivery clamping rolls each having a V-groove portion are disposed at the ends of the delivery clamping rods. And delivery clamping means for freely clamping the left and right vertical sides of the glass plate,
Glass supported by a plurality of delivery support rolls having V-grooves that support the lower edge of the glass plate, so that the glass plate supported by the robot hand can be placed on the delivery support stand only by the edge It is a board transfer device.

  Alternatively, the present invention is characterized in that a spring is provided on one of the pair of clamping members provided on the hand so that an excessive force is not applied to the glass plate when the glass plate is clamped. It is a transfer device of the above-mentioned glass plate.

  Alternatively, according to the present invention, in the transfer method using the transfer device, among the free rolls provided at the end of the free roll support rod suspended from the back frame of the inclined conveyor, the vertical rolls are arranged at a predetermined pitch. The sandwiching roll provided at the tip of the sandwiching part support rod disposed at a predetermined pitch in the vertical row of the sandwiching member provided in the robot hand is arranged between the flexible rolls at the distal end of the universal roll support rod to be placed on the left and right vertical sides of the glass plate. The glass plate can be clamped without interfering with each other when the side is clamped, and the receiving unit supporting member of the receiving unit supporting member provided on the hand is provided between the plurality of transport rollers of the inclined conveyor that supports the lower edge of the glass plate. The support roll provided at the tip can be moved up and down, and when the lower end side of the glass plate is taken out, the conveying roll of the inclined conveyor and the receiving roll of the hand can support the glass plate without interfering with each other. A transferring method for a glass plate according to symptoms.

Alternatively, the present invention relates to a method of transferring a glass plate supported only by an edge by the robot hand described above to a delivery support base,
The left and right vertical sides of the glass plate are provided by a delivery clamping roll having V-groove portions respectively disposed at the ends of a plurality of delivery clamping rods vertically suspended in a single line on a pair of delivery clamping members that are horizontally movable on a delivery support base. When moving up and down by placing a support roll provided at the tip of the receiving support rod of the lower support member provided on the hand, between the plurality of delivery support rolls having the V-groove part of the delivery support base with the side sandwiched between the edges. The glass plate transfer method is characterized in that the glass plate held by the robot hand is placed on the delivery support frame so as to be supported only by the edge without interfering with the delivery support roll.

  The present invention is applicable to a glass plate surface from a small size glass substrate used for display in a vertical position to a large size such that one side exceeds 2 meters. Therefore, the glass plate can be automatically transferred to another position reliably without fear of dropping or breakage during transfer.

  1 and 2 show a transfer device 1 that is supported by the edge of a glass plate G and is taken out in a non-contact state on the glass plate surface from an inclined conveyor 10 that conveys a rectangular and flat glass plate G in an inclined posture. Indicates. 3 to 5 show the robot 2 and the hand 3 of the transfer device 1. Further, FIGS. 6 and 7 show transfer of the glass plate supported by the edge by the transfer device onto a delivery support base that supports the glass plate in a vertical posture at the edge.

  As shown in FIGS. 1 to 2, the inclined conveyor 10 includes a plurality of conveying rolls 12, 12,... Having a V-groove 12 a (see FIG. 8) that supports the lower edge of the glass plate G, and an inclined conveyor. .. Free roll support rods 14, 14,... Which are vertically suspended at a predetermined interval in the vertical direction and the horizontal direction on the back frame 13, and the glass plate surface separated from the back frame 13 by being provided at each front end thereof Consists of a plurality of free rolls 15, 15,.

  On the other hand, as the transfer device 1 that takes out the glass plate G placed on the inclined conveyor 10 and transfers it to another place such as the delivery support base 40, as shown in FIGS. A holding means 20 that can freely hold the glass plate G on both the left and right vertical sides on the hand 3 of the articulated robot 2 that can move and rotate in an azimuth direction, and a receiving portion support raising / lowering means 30 that supports the lower end side of the glass plate G. The glass plate G can be provided and supported only by the edge.

  The sandwiching means 20 is provided with two rails 25, 25 on a horizontal frame 21 provided in a horizontal direction in a posture when a glass plate is transferred on the hand 3, and the rails 25, 25 Each of the guides 26, 26 that can slide and run is provided with a holding member 22, 22 in a direction perpendicular to the horizontal frame, and a plurality of holding portion support rods 23, 23,. Sandwiching rolls each having a V-groove 24a (see FIG. 8) at each end of the sandwiching support rods 23, 23,... 24, 24, ... are arranged.

  The horizontal frame 21 is provided with a motor (not shown) and a ball screw (not shown) connected directly to the shaft of the motor. The ball screw is rotated by driving the motor, and a guide screwed to the ball screw runs on the rails 25 and 25. Since the pair of clamping members 22 and 22 are connected to the guides 26 and 26, the movement of the pair of clamping members 22 and 22 can be stopped to the left and right along the rail.

  In addition, the receiving portion supporting lifting means 30 is provided with two rails 35, 35 on a vertical frame 31 provided so as to be in a vertical direction in a posture when a glass plate is transferred on the hand 3. The receiving portion support member 32 is provided in the horizontal direction so as to straddle the guides 36, 36 that can slide up and down by sliding on the rails 35, 35.

  The receiving portion support member 32 is provided with a plurality of receiving portion support rods 33, 33,... At a predetermined interval in the horizontal direction in a direction away from the hand 3, and each of the receiving portion support rods 33, 33,. When a receiving part roll 34 having a V-groove part 34a (see FIG. 8) is provided at the tip, and the glass sheet G is supported, the lower edge of the glass sheet G is the receiving part roll 34, 34,. It supports by making it contact | abut to the inclined inner wall face of each V-groove part 34a, 34a.

  The vertical frame 31 is provided with a motor (not shown) and a ball screw (not shown) that is directly connected to the shaft of the motor. The ball screw is rotated by driving the motor, and a guide that is screwed to the ball screw moves on the rails 35 and 35. Since the guides 36 and 36 that move up and down are straddled and connected, the receiving portion support member 32 can move up and down along the rails 35 and 35 in the vertical direction.

  The V-groove parts 24a, 24a,... Of the clamping rolls 24, 24,... Of the clamping means 20, and the V-groove parts 34a, 34a,. In order to support both vertical sides and lower sides of the same flat glass plate, the holding portion support rods 23, 23,... And the receiving portion support rods 33, 33,.・ The length is adjusted and arranged.

  A vertical arrangement pitch of a plurality of free roll support rods 14, 14... Suspended from the back frame 13 of the inclined conveyor 10, and a sandwiching portion support rod 23 suspended from the sandwiching member 22 on the hand 3. , 23,... Are arranged at substantially the same pitch and are arranged so as to be shifted from each other by about 1/2 pitch in the vertical direction.

  As a result, the free rolls 15, 15,... Provided at the front ends of the free roll support rods 14, 14,. The nipping rolls 24, 24,... Provided at the tips of the nipping member support rods 23, 23,... Interfere with each other even if they are moved in the horizontal direction by the nipping operation when the glass plate G is transferred and delivered. There is nothing.

  Further, the horizontal arrangement pitch of the plurality of transport rollers 12, 12,... Of the inclined conveyor 10 and the receiving portion support rods 33, 33,. The arrangement pitch was set to be substantially the same pitch, and arranged so as to be shifted by about ½ pitch in the horizontal direction.

  Further, the receiving rolls provided at the tips of the conveying rolls 12, 12,... Of the inclined conveyor 10 and the receiving support rods 33, 33,. 34, 34,... Does not interfere with the transport rolls 12, 12,... Even if the receiver rolls 34, 34,. Absent.

  Further, when the glass plate G is clamped by providing a spring (not shown) on each of the clamping member support rods 23, 23,... Of one of the pair of clamping members 22, 22 provided in the hand 3, The spring was compressed so that excessive force was not applied to the plate to absorb the excessive force.

  Next, the glass plate G taken out from the inclined conveyor 10 by the hand 3 of the articulated robot 2 and supported by the edge is delivered by supporting the lower side of the glass plate G by the edge as shown in FIGS. The glass plate is transferred to another place such as a delivery support base 40 comprising the support rolls 43, 43,... And delivery holding means 50 for holding the left and right vertical sides of the glass plate G with edges. Can only be supported.

  The delivery support base 40 has a delivery horizontal frame 41 mounted horizontally on a gantry (not shown), and a plurality of delivery support rods 42, 42,... Are directed upward at a predetermined pitch on the delivery horizontal frame 41. .., And delivery support rolls 43, 43,... Each having a V-groove at each end of the delivery support rods 42, 42,.

  The delivery clamping means 50 is provided with two rails 54, 54 in parallel on the delivery lateral frame 41, and a pair of guides 55, 55 that are slidable on the rails 54, 54 and that can run freely. 55, 55 is provided with a delivery clamping member 51 in a vertical direction perpendicular to the delivery lateral frame 41, and a plurality of delivery clamping rods 52, 52,... Are opposed to each of the pair of left and right delivery clamping members 51, 51. . Are suspended toward the delivery clamping member 51 so that the intervals between the plurality of delivery clamping rods 52, 52,... Become a predetermined pitch, and V are respectively attached to the respective ends of the delivery clamping rods 52, 52,. A delivery holding roll 53, 53,... Having a groove is provided.

  Each of the delivery clamping rods 52, 52,... Suspended from one delivery clamping member 51 of the pair of delivery clamping members 51, 51 is provided with a spring (not shown), and delivery clamping rolls 53 provided on the left and right. 53,... A spring so that the delivery clamping rolls 53, 53,... Can be extended and retracted following the shape of the glass plate so that excessive force is not applied to the glass plate G when the glass plate G is sandwiched by Was compressed to absorb excess force.

  A vertical arrangement pitch of a plurality of delivery clamping rods 52, 52,... Suspended from a pair of delivery clamping members 51, 51 of the delivery support base 40, and a clamping member 22 on the hand 3. The arrangement pitch of the holding part support rods 23, 23,... Is substantially the same, and is arranged so as to be shifted from each other by about 1/2 pitch in the vertical direction.

  Thereby, the delivery clamping rolls 53, 53,... Provided at the front ends of a plurality of delivery clamping rods 52, 52,. The clamping rolls 24, 24,... Provided at the tips of the clamping member support rods 23, 23,... Suspended from the upper clamping member 22 are moved horizontally by the clamping operation when the glass plate G is transferred and delivered. They do not interfere with each other.

  Further, the horizontal arrangement pitch of the plurality of delivery support rolls 43, 43,... Of the delivery support base 40 and the receiving part support rods 33, 33, which are suspended from the receiving part support member 32 on the hand 3. The arrangement pitch is substantially the same, and is arranged so as to be shifted by about ½ pitch in the horizontal direction.

  Also provided at the front ends of the receiving portion support rolls 43, 43,... Of the delivery support base 40 and the receiving portion support members 33, 33,. ································································································· There will be no interference.

  When the glass plate G is supported on the delivery support base 40 in a vertical posture by only the left and right vertical edges and the lower edge, the glass plate G can be handled from the side opposite to the hand 3 of the robot 2.

  Thereby, it becomes possible to transfer from the back side of the glass plate G (the surface that has been in point contact with the free roll by the inclined conveyor) by the suction transfer means such as a suction pad.

  The inclination angle of the inclined conveyor 10 may be a safe angle at which the glass sheet G held on the inclined conveyor 10 and conveyed in an inclined posture is not overturned. It may be about -88 degrees.

  Subsequently, the operation of the present invention will be described.

  In the present invention, the conveying rolls 12, 12 of the inclined conveyor 10, the receiving part rolls 34, 34 of the hand 3, the sandwiching rolls 24, 24,. The number of the delivery and holding rolls 53, 53,... May be determined according to the size of the glass plate G.

  Further, each of the rolls is a roll having a V-groove section as shown in FIG. 8, and the glass plate G is supported by bringing the edge into contact with the V-groove part. There is no trace or dirt.

  In the present invention, although the hand 3 can be moved up and down by the multi-joint robot 2, the receiving unit supporting lifting means 30 is provided with the receiving unit rolls 34, 34,. Are moved in the horizontal direction by the operation of sandwiching the glass plate G by the plurality of free rolls 15, 15,... Provided on the inclined conveyor 10 and the sandwiching rolls 24, 24,. Even if the positions do not interfere with each other, the glass plate on the plurality of transport rolls 12, 12,... Of the inclined conveyor 10 is lifted directly by the hand 3, and the receiving rolls 34, 34,. When the glass plate is to be rescued by raising it, the positions of the free rolls 15, 15,... Are fixed, and the sandwiching rolls 24, 24,. Since the lift with command 3, the inclined conveyor freely rolls 15, pinch rollers 24, 24 ... and the hand 3, and there is a case in which the ... may interfere.

  For this reason, in a state where the glass plate is sandwiched, the receiving portion support lifting / lowering means 30 can move up and down only the receiving portion rolls 34, 34,.

  As shown in FIGS. 1 and 2, a plurality of transport rolls 12, 12,... Of the inclined conveyor 10, and a plurality of free rolls 15, 15,. The universal roll support rod 14 is provided by being separated from the back frame 13 of the inclined conveyor 10 by the universal roll support rod. When the glass plate G is sandwiched by the hand 3, the receiving portion rolls 34, 34,. This is to prevent the sandwiching rolls 24, 24,... From contacting the back frame 13 of the inclined conveyor 10.

  Further, the receiving part rolls 34, 34,... Provided on the hand 3 of the robot 2 and the holding rolls 24, 24,. ··· is provided apart from the robot side by the hand 3 when the glass plate G is sandwiched by the hand 3 and the conveyor rolls 12, 12,. This is to prevent contact with the touch panel.

  Further, as shown in FIGS. 6 and 7, a plurality of delivery support rolls 43, 43,... And a plurality of delivery sandwiching rolls 53, 53,. , 42,..., And the delivery sandwiching rods 52, 52,... Separated from the delivery lateral frame 41 of the delivery support base 40 and the delivery sandwiching members 51, 51 by the hand 3. In order to prevent the receiving part rolls 34, 34,... And the holding rolls 24, 24,... From coming into contact with the delivery horizontal frame 41 of the delivery support base 40 and the delivery holding members 51, 51 when delivering It is.

  Furthermore, the receiving part rolls 34, 34,... Provided on the hand 3 of the robot 2 and the holding rolls 24, 24,. ,... Are provided apart from the robot side when the glass plate G is delivered to the delivery support base 40 by the hand 3, delivery support rolls 43, 43 of the delivery support base 40, etc. This is to prevent the rolls 53, 53,.

  Next, the operation status of the embodiment of the present invention will be described.

  As shown in FIGS. 1-2, the glass plate G conveyed by the inclination attitude | position by the inclination conveyor 10 stops in the predetermined position preset by the sensor which is not shown in figure.

  The lower edge of the glass plate G on the inclined conveyor 10 is supported by the inner walls of the V-grooves 12a of the plurality of transport rolls 12, 12,..., And the rear surface of the glass plate is on the back frame 13 of the inclined conveyor 10. It is supported by point contact by the flexible rolls 15, 15,..

  When taking out the glass plate G on the inclined conveyor 10 with the hand 3 of the transfer robot 2, a pair of left and right clamping members 22 of the clamping means 20 provided on the hand 3 of the robot 2 as shown in FIGS. The left and right vertical sides of the glass plate G on the inclined conveyor 10 are clamped by a plurality of free-rotating clamping rolls 24, 24,. In this case, the holding rolls 24, 24,... Arranged in a vertical row and the free rolls 15, 15,. 3 is arranged. The arrangement position of the hand 3 is set in advance in a controller (not shown) of the robot 2.

  Next, the glass plate G, in which the lower side of the glass plate G is supported by the conveying rolls 12, 12,... Of the inclined conveyor 10 and the vertical side is held by the holding means 20 of the robot hand 3, is moved by the robot. The glass plate G is raised in a vertical posture with the lower end side of the glass plate G as the center of rotation, and the glass plate G is separated from the free rolls 15, 15,.

  Subsequently, the position of the hand 3 of the robot 2 sandwiched by the sandwiching rolls 24, 24,... From the left and right of the glass plate G is left as it is, and the receiving section roll is received by the receiving section supporting lifting means 30 provided in the hand 3. Are moved up and down, and the inner wall of the V-groove portion of the receiving rolls 34, 34,... Is brought into contact with the lower end side of the glass plate G supported by the transport rolls 12, 12,. The board G was lifted and supported so as to scoop.

  When the receiving rolls 34, 34,... Are raised and the glass plate G is raised, the glass plates G rotate freely. The board G can be raised smoothly.

  The receiving rolls 34, 34,... And the transport rolls 12, 12,... Are shifted by 1/2 pitch as shown in FIG. , 12,... Are alternately arranged alternately.

  In this way, the glass plate G is edged by the V-grooves of the plurality of sandwiching rolls 24, 24,... On the both sides of the glass plate G and the V-grooves of the plurality of receiving rolls 34, 34,. Just taken out with support.

  Next, the delivery support rolls 43 and 43 which support the lower side of the glass plate G with the edge of the glass plate G taken out from the inclined conveyor 10 by the hand 3 of the transfer robot 2 as shown in FIGS. ,..., And are transferred onto a delivery support base 40 comprising delivery clamping means 50 for clamping the left and right vertical sides of the glass plate G with edges.

  When the glass plate G is transferred onto the delivery support table 40 by the hand 3 of the transfer robot 2, the pair of left and right delivery clamping members 51, 51 of the delivery support table 40 are left open in the open state. A plurality of free-rotating sandwiching rolls 24, 24,... Provided on the pair of left and right sandwiching members 22, 22 of the sandwiching means 20 of the second hand 3, and receiving section rolls 34, 34 of the receiving section supporting lifting means 30; A pair of delivery sandwiching members 51, 51 provided on the left and right of the delivery support base 40, and delivery support rolls 43, 43 of the delivery lateral frame 41; Hold in the plane space formed by the robot 3 while being supported by the hand 3 of the robot 2.

  The center of the glass plate held by the robot hand and the center between the left and right delivery clamping rolls 53, 53,... Are maintained, the hand 3 is lowered, and the glass plate G is delivered to the delivery support roll 43. , 43, ...

  While holding the glass plate G with the hand 3, the delivery holding members 51 and 51 of the delivery support base 40 are brought close to each other and are held from the left and right sides of the glass plate. The delivery sandwiching rolls 53, 53,... And the sandwiching rolls 24, 24,... Of the hand 3 are respectively arranged at a constant pitch, and the delivery sandwiching rolls 53, 53,. , 24,... Are set to be staggered with a shift of about 1/2 pitch.

  Subsequently, when the receiving part rolls 34, 34,... Are lowered by the receiving part support raising / lowering means 30 of the hand 3, the glass plate G slides between the sandwiching rolls 24, 24,. When the 40 receiving portion rolls 34, 34,...

  A glass plate G is placed on the delivery holding rolls 53, 53,... Provided on the left and right of the delivery support table 40, and the glass plate G is held by the delivery support table 40. After that, the pair of holding members 22 and 22 of the hand 3 spread left and right to release the glass plate G.

The front view of an inclined conveyor. The side view of an inclined conveyor. The front view of the hand of a transfer apparatus. The top view of the hand of a transfer apparatus. The side view of the hand and robot of a transfer apparatus. The front view of a delivery support stand. The top view of a delivery support stand. Cross section of transport roll, clamping roll, receiving section roll, delivery support roll, delivery clamping roll

Explanation of symbols

G Glass plate 1 Transfer device 2 Robot 3 Hand 10 Inclined conveyor 11 Transport roll support rod 12 Transport roll 12a V groove portion 13 Back frame 14 Free roll support rod 15 Free roll 20 Nipping means 21 Horizontal frame 22 Nipping member 23 Nipping portion support rod 24 Holding Roll 24a V Groove 25 Rail 26 Guide 30 Receiving Support Lifting Means 31 Vertical Frame 32 Receiving Support Member 33 Receiving Support Support 34 Receiving Roll 34a V Groove 35 Rail 36 Guide 40 Delivery Support Base 41 Delivery Horizontal Frame 42 Delivery Support rod 43 Delivery support roll 50 Delivery clamping means 51 Delivery clamping member 52 Delivery clamping rod 53 Delivery clamping roll 54 Rail 55 Guide

Claims (5)

In a glass plate transfer device that grips and takes out a flat and rectangular glass plate on an inclined conveyor,
The lower edge of the glass plate is supported by a plurality of conveying rolls having V-grooves, and is arranged at each end of a flexible roll support rod that is vertically suspended from the back frame side at a plurality of predetermined intervals. An inclined conveyer that supports the glass plate by hanging it in a state of being separated from the back frame by the free roll,
It consists of an articulated robot hand that can move and rotate in all directions located on the front side of the inclined conveyor,
The hand is provided with a plurality of holding portion support rods that are suspended from a pair of holding members that can run on a horizontal frame provided on the hand at a predetermined pitch in a vertical row, and a V-groove portion is provided at each end of the holding portion support rod. A sandwiching means that can sandwich the right and left vertical sides of the glass plate,
A receiving portion support member provided on the lower side of the hand is provided with a plurality of receiving portion support rods in a horizontal row at a constant pitch, and a receiving portion roll having a V-groove portion is disposed at each end of the receiving portion support rod. Then, a receiving portion supporting lifting means for supporting the glass plate at its lower end side and making it movable up and down is arranged to be movable up and down,
An apparatus for transferring a glass plate, wherein the glass plate is supported only by an edge and taken out from an inclined conveyor. In transferring the glass plate supported only by the edge by the holding means provided in the robot hand according to claim 1 and the receiving part supporting lifting means, to another delivery support base,
A plurality of delivery clamping rods that are suspended from a pair of delivery clamping members that are horizontally movable on the delivery horizontal frame are provided in a vertical line at a constant pitch, and delivery clamping rolls each having a V-groove portion are disposed at the ends of the delivery clamping rods. And delivery clamping means for freely clamping the left and right vertical sides of the glass plate,
Glass supported by a plurality of delivery support rolls having V-grooves that support the lower edge of the glass plate, so that the glass plate supported by the robot hand can be placed on the delivery support stand only by the edge Plate transfer device.   The spring is provided in one clamping member of the pair of clamping members provided in the hand so that an excessive force is not applied to the glass plate when the glass plate is clamped. Glass plate transfer device.   The transfer method using the transfer device according to any one of claims 1 to 3, wherein a predetermined pitch is arranged in a vertical row among the free rolls provided at the tip of a free roll support rod suspended from the back frame of the inclined conveyor. Between the free rolls at the tip of the free roll support rod arranged in the above, a holding roll provided at the tip of the holding unit support rod arranged at a predetermined pitch in a vertical row of the holding members provided in the robot hand, The receiving part of the receiving part supporting member provided in the hand between a plurality of transporting rolls of the inclined conveyor that supports the lower edge of the glass sheet so that the glass sheet can be sandwiched without interfering with each other when the left and right vertical sides are sandwiched The support roll provided at the tip of the support bowl can be moved up and down to support the glass plate without interfering with the conveyor roll of the inclined conveyor and the receiving roll of the hand when the lower end side of the glass plate is taken out. Transferring method for a glass plate according to claim. In a method of transferring a glass plate supported only by an edge by a robot hand according to claim 4 to a delivery support table,
The left and right vertical sides of the glass plate are provided by a delivery clamping roll having V-groove portions respectively disposed at the ends of a plurality of delivery clamping rods vertically suspended in a single line on a pair of delivery clamping members that are horizontally movable on a delivery support base. Hold the side with the edge,
Between the plurality of delivery support rolls having the V-groove part of the delivery support base, a support roll provided at the tip of the delivery support bar of the lower side support member provided on the hand is arranged so as not to interfere with the delivery support roll during the up and down movement. Then, the glass plate gripped by the robot hand is placed on the delivery support frame so that it can be supported only by the edge.