JP2009141152A - Panel carrying apparatus, and panel carrying method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a panel carrying apparatus and method having a high productivity the operations of whose robots are non-wasteful. <P>SOLUTION: In the panel carrying method, respective optical sensors 18a, 18b provided in respective gripping portions 19a, 19b of two robots R1, R2 so position in stand-by positions W1, W2 in the stand-by state of a panel carrying apparatus 1 as to move respectively along moving routes Q1, Q2 from the stand-by positions W1, W2. The stand-by positions W1, W2 align on a line parallel with the Y axis of an X-Y plane. After the respective optical sensors 18a, 18b present in the respective stand-by positions W1, W2 pass respectively an one-side edge member JK of the respective one-side edge members of the long-member side of a liquid-crystal displaying panel 4, the moving routes Q1, Q2 are each set up so that the optical sensor 18a of the first robot R1 proceeds to an other-side edge member KL of the respective other-side edge members of the short-member side of the liquid-crystal displaying panel 4. The optical sensor 18b of the second robot R2 proceeds to another other-side edge member MJ of the respective other-side edge members of the short-member side of the liquid-crystal displaying panel 4. That is, the optical sensors 18a, 18b are so set as to move to the respective other-side edge members of the short-member side in the separating directions from each other. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a panel transport apparatus and a panel transport method for transporting a panel by a robot, and more specifically, panel transport that can be suitably performed to transport a panel gripped by a gripping portion of a robot to a target position accurately. The present invention relates to an apparatus and a panel conveying method.

  Conventionally, in a manufacturing facility that manufactures a product using a rectangular panel having a predetermined size, such as a liquid crystal display panel, in order to process or process the panel, from one predetermined mounting position to the other mounting position. The process of conveying is included. The panel is conveyed up to one placement position in a state of being accommodated in a dedicated tray or cassette. At this time, the panel may be displaced with respect to the reference position to be placed due to vibration during conveyance. Further, at the other mounting position on the side where the panel is transported from one mounting position, the panel is required to be transported with high positioning accuracy with respect to a predetermined position where the panel is to be mounted. .

  Therefore, in the first prior art, the position where the panel is placed is detected by pressing a positioning member against the peripheral edge of the panel. However, according to this conventional technique, there is a problem that the positioning member damages the peripheral portion of the panel because the positioning member needs to be pressed against the peripheral portion of the panel.

  As a means for solving the problems of the first conventional technique, in the second conventional technique, an image of the entire panel placed at one placement position is captured using a photographing device, and the captured image is obtained. By analyzing the image, the position where the panel is placed is detected. When the position of the panel is detected, a gripping position at which the grip portion of the panel transport device should grip the panel is determined, and the panel placed at one placement position is gripped and transported at the grip position, The panel is placed at the other placement position. Alternatively, when a panel placed at one placement position is gripped and transported at the grasping position when it is assumed that the panel is placed at the reference position, and the panel is placed at the other placement position. The panel placed at one placement position is placed after correcting the positional deviation that has occurred with respect to the reference position.

  However, according to the second prior art method, the detected panel positioning accuracy depends on the resolution of the photographing apparatus. For this reason, when detecting the position of a panel having a large size, it is necessary to image the entire panel using a high-resolution imaging device, or to image a plurality of portions of the panel using a plurality of imaging devices. However, in either case, there is a problem that the photographing apparatus becomes expensive. In addition, when the dimensions of the panel are changed, it is necessary to make preparations such as changing the mounting position of the photographing device and calibrating the photographing device in advance, which reduces productivity due to the stop of the manufacturing device. There is a problem.

  As a third prior art, Patent Document 1 discloses a method using a position sensor. In the third prior art, two position sensors are provided in the robot hand of the robot that conveys the panel. The robot hand moves forward toward the panel, and after each of the two position sensors detects the position of the front edge of the panel, it further moves forward and changes its direction. At this time, the robot hand moves toward one side edge of the predetermined panel, and one position sensor of the two position sensors detects the position of one side edge of the panel.

  However, according to this method, the robot hand is determined in advance regardless of the direction in which the panel is displaced from the reference position, that is, regardless of the distance from the position where the robot hand changes direction to each side edge. The movement of the robot hand may include useless movement because the robot moves in the specified direction. In particular, when detecting the position of a panel with a large size, since the moving distance from the position where the robot hand changes its direction to the side edge becomes long, productivity is reduced due to the useless moving operation of the robot hand. There is a problem.

  In the fourth prior art described in Patent Document 2, it is necessary to provide a position sensor in the vicinity of the robot in addition to the two position sensors provided in the robot hand, which increases the manufacturing cost of the apparatus. There is a problem that it ends up.

  When transporting a panel having a large size, in order to transport the panel stably, it is necessary to use a large gripping portion for gripping the panel corresponding to the size of the panel. In addition, as the gripping part and the panel increase in size, a robot having a large portable weight is required. For this reason, it is necessary to increase the size of the robot as a whole, but there are problems that the price of the apparatus becomes expensive and the installation area of the robot increases.

Japanese Patent Laid-Open No. 10-277986 Japanese Patent Laid-Open No. 10-335420

  It is an object of the present invention to provide a panel transport apparatus and a panel transport method with high productivity that reduce waste of operation of a robot when detecting the position of a panel using detection means respectively attached to two robots. It is to be.

The present invention has a gripping portion for gripping a rectangular panel having a predetermined size arranged at a predetermined first position, and transports the panel gripped by the gripping portion to a predetermined second position. With robots,
A detecting means provided on each gripping part of each robot for detecting the presence or absence of the panel;
After passing the gripping part of each robot over the panel through one side edge of the panel, move each gripping part of each robot in a direction away from each other, and one other side edge perpendicular to the one side edge First and second detection values when each detecting means detects the one side edge, and the other detecting means first before the other side. The grip position of the panel is determined based on the third detection value detected by the one detection means that has detected the edge, each grip portion is moved to the determined grip position, the panel is gripped, And a control means for cooperatively controlling each robot so as to move to a predetermined second position.

  According to the present invention, the panel transport device for transporting a rectangular panel having a predetermined size includes two robots, and the operation of each robot is cooperatively controlled by the control means. Each robot has a gripping part for gripping the panel, and each gripping part is provided with detection means for detecting the presence or absence of the panel. Each gripping part passes through the panel on one side edge of the panel and then moves in a direction in which each gripping part moves away from each other, and one other side edge perpendicular to the one side edge and the other side of the other Move so that it passes through each edge. At this time, after each detection means provided in each gripper detects the first and second detection values for one side edge, one detection means detects the third detection value for the other side edge. Based on these three detection values, the gripping position at which each gripper grips the panel is determined. After each gripping part passes through one side edge, any one gripping part first passes through the other side edge, and the third detection value is detected by the detection means provided in the gripping part. Therefore, the third detection value can be detected efficiently regardless of the direction of displacement of the panel placement position.

  Further, the present invention is characterized in that the control means cooperatively controls each robot so as to stop the movement of each gripping part of each robot when the third detection value is detected by the one detection means.

  According to the present invention, when the control unit detects the third detection value, the operation of each robot is cooperatively controlled so as to stop the movement of each gripping unit. By detecting the third detection value, the movement of the grip portion provided with the detection means on the side where the third detection value is not detected is also stopped, so that the next operation is started without causing the robot to perform unnecessary operations. be able to.

According to the present invention, a rectangular panel having a predetermined size is gripped by each gripping part of two robots and arranged at a predetermined first position, and the panel gripped by these gripping parts is determined in advance. A panel conveying method for conveying to two positions,
After each robot is coordinated and controlled, the gripping part of each robot is passed over the panel through one side edge of the panel, and then each gripping part of each robot is moved away from each other. A first step of detecting the presence or absence of the panel by means of detection means respectively provided in the gripping part of each robot, by moving so as to pass through the other side edge perpendicular to the other side and the other side edge of the other,
First and second detection values when each detection means detects the one side edge, and a third detection value when one detection means detects the other side edge first among the detection means. A second step of determining a gripping position of the panel based on
A third step of cooperatively controlling each robot to move each gripping portion to the determined gripping position and grip the panel;
A panel transporting method comprising: a fourth step of cooperatively controlling each robot and moving each gripping part gripping the panel at the determined gripping position to the predetermined second position.

  According to the present invention, a rectangular panel having a predetermined size is gripped by each gripping part of two robots and placed at a predetermined first position, and the panel gripped by these gripping parts is determined in advance. In the panel transport method for transporting to the second position, each robot is controlled in a coordinated manner, and after the gripping part of each robot passes over the panel via one side edge of the panel, the gripping parts of each robot are separated from each other. In the direction in which the panel is moved, so as to pass through one other side edge perpendicular to the one side edge and the other side edge, respectively. Detect the presence or absence. First and second detection values when each detection means detects the one side edge, and a third detection value when one detection means detects the other side edge first among the detection means. Based on the above, the grip position of the panel is determined. After each gripping part passes through one side edge, any one gripping part first passes through the other side edge, and the third detection value is detected by the detection means provided in the gripping part. Therefore, the third detection value can be detected efficiently regardless of the direction of displacement of the panel placement position.

  According to the present invention, it is possible to efficiently detect the third detection value regardless of the direction of displacement of the panel placement position. Therefore, it is possible to always shorten the time required from when each robot starts to operate until the third detection value is detected regardless of the direction of displacement of the panel placement position. In particular, when detecting the position of a panel having a large size, the moving distance of the detecting means becomes long according to the size of the panel, so that the time can be further shortened and a highly productive panel transport device is realized. be able to.

  Further, according to the present invention, since the next operation can be started without causing the robot to perform a useless operation, a suitable panel transport device that can efficiently transport the panel to the target position is realized. Can do.

  FIG. 1 is a perspective view showing a panel transport apparatus 1 according to an embodiment of the present invention. In the present embodiment, for example, in a manufacturing facility for manufacturing a liquid crystal display device or the like, a panel transport device 1 used for accurately positioning and mounting the liquid crystal display panel 4 on a backlight module 5 incorporating a backlight. Will be described. The manufacturing equipment includes a panel transport conveyor 2 for mounting the liquid crystal display panel 4 and transporting it horizontally in the direction of arrow A, and a module transport conveyor for mounting the backlight module 5 and transporting it horizontally in the direction of arrow B. 3 and the panel transport apparatus 1 that supplies the liquid crystal display panel 4 transported to the first position P1 by the panel transport conveyor 2 to the second position P2 of the module transport conveyor 3.

  The liquid crystal display panel 4 on the panel transport conveyor 2 is transported to the first position P <b> 1 while being accommodated in the dedicated tray 6, and is mounted on the module transport conveyor 3 by the panel transport device 1. It is moved and mounted. The module transport conveyor 3 is arranged in parallel with the panel transport conveyor 2, and is transported to the second position P2 in a state where the backlight module 5 is accommodated in the dedicated pallet 7 and stopped, and the liquid crystal display panel 4 is mounted thereon. Then, it is driven in the direction of the arrow B until the next backlight module 5 is arranged at the second position P2, and such an intermittent transport operation is operated in conjunction with the panel transport conveyor 2. It is configured.

  The panel transfer device 1 is composed of two robots R1 and R2 and a control device 31 which will be described later with reference to FIG. 3 for cooperatively controlling the two robots R1 and R2. Two robots R <b> 1 and R <b> 2 are disposed adjacent to each of the transport directions A and B between the panel transport conveyor 2 and the module transport conveyor 3. In the present embodiment, the first robot R1 is disposed upstream of the first and second positions P1 and P2 in the transport directions A and B, and the second robot R2 is transported from the first and second positions P1 and P2. It arrange | positions in the direction A and B downstream, and is spaced apart with an appropriate space | interval so that it may not interfere with each other.

  FIG. 2 is a perspective view showing the first robot R1 used in the panel transport apparatus 1 shown in FIG. Since the second robot R2 is configured in the same manner as the first robot R1, the same numeral is appended with the subscript b in the corresponding part, and the description is omitted to avoid duplication. The first robot R1 includes a base 12a, a robot arm 13a, an elevating part 16a provided at the tip of the robot arm 13a, and a gripping part 19a that is lifted and lowered by the elevating part 16a and grips the liquid crystal display panel 4. Have.

  The said base 12a is provided in the support stand 11a, and this support stand 11a is installed in a floor. A base end portion of the robot arm 13a is coupled to the upper end portion of the base 12a so as to be able to turn around a vertical first axis J1, and an elevating portion 16a is provided at a distal end portion of the robot arm 13a. The elevating part 16a has an elevating shaft 17a that is driven up and down along an elevating axis J3 parallel to the first axis J1, and a gripping part 19a is attached to the lower end of the elevating axis 17a. The elevating part 16a may be realized by a uniaxial mechanism in which a ball screw and a servo motor are combined, for example.

  The robot arm 13a has a first arm 14a and a second arm 15a. The base end portion of the first arm 14a is coupled to the upper end portion of the base 12a so as to be rotatable around a vertical first axis J1. The base end portion of the second arm 15a is connected to the upper end of the first arm 14a so as to be pivotable about a second axis J2 parallel to the first axis J1. The upper end portion of the elevating shaft 17a is connected to the lower side of the distal end portion of the second arm 15a so as to be rotatable about a third axis J3 parallel to the first and second axes J1 and J2.

  The grip portion 19a includes a plurality (eight in this embodiment) of suction pads 20a and a frame for holding the suction pads 20a. The respective suction pads 20a are arranged in parallel in two rows in plan view, and a plurality of (four in this embodiment) each suction pad 20a forming each row are spaced apart from each other at equal intervals. Thus, each frame is connected to the frame via a connecting shaft. Each of these suction pads 20a is connected to a suction air circuit (not shown) so that the suction force is individually guided to each suction pad 20a so that the liquid crystal display panel 4 can be sucked by an appropriate suction force. Composed.

  The gripping part 19a is provided with a reflection type optical sensor (hereinafter also referred to as “optical sensor”) 18a as detection means. This optical sensor 18a is provided between one row of suction pads 20a arranged in two rows and at one end in the longitudinal direction of the frame, and emits laser light downward, and laser emitted from the light emitting unit. And a light receiving portion that receives reflected light. Such an optical sensor 18a may be realized by, for example, a photo interrupter.

  The light receiving portion of the optical sensor 18a is provided adjacent to the light emitting portion, and receives the reflected light of the laser light emitted from the light emitting portion toward the liquid crystal display panel 4 and reflected by the liquid crystal display panel 4. As a result, a detection signal corresponding to the amount of received light is output. The detection signal output from the optical sensor 18a is input to a correction amount calculation unit 43, which will be described later with reference to FIG. 3, and the presence or absence of the liquid crystal display panel 4 is detected.

  In the present embodiment, a reflection type photosensor is used as detection means for detecting the presence or absence of the liquid crystal display panel 4, but in another embodiment of the present invention, for example, a CCD (charge coupled device) is used instead of the photosensor 18a. A camera, an ultrasonic sensor, or the like may be used. When a CCD camera is used, the presence or absence of the liquid crystal display panel can be detected by imaging the liquid crystal display panel with the CCD camera and inputting image information obtained by the imaging to the correction amount calculation unit.

  When the ultrasonic sensor is used, the liquid crystal display panel is lifted up from the dedicated tray, the ultrasonic wave is emitted from the transmitter of the ultrasonic sensor, and the ultrasonic wave is emitted from the point of emission. By measuring the time until the reflected wave is received by the receiver, based on the change in the measurement time caused by the difference in distance from the ultrasonic sensor to the liquid crystal display panel and from the ultrasonic sensor to the dedicated tray Thus, the presence or absence of the liquid crystal display panel can be detected.

  FIG. 3 is a block diagram showing an electrical configuration of the control device 31 used in the panel transport device 1 shown in FIG. The control device 31 includes a control unit 41, a robot controller 42 that cooperatively controls the robots R1 and R2, and a correction amount calculation unit 43. The control unit 41 and the correction amount calculation unit 43 are realized by software resources.

  The control unit 41, the robot controller 42, and the correction amount calculation unit 43 are connected to each other and can communicate with each other. The control unit 41 is connected to the control device 32 that controls the operation of the panel transport conveyor 2 and the control device 33 that controls the operation of the module transport conveyor 3, and can communicate with each other. The robot controller 42 is connected to each of the two robots R1 and R2, and receives a signal output from the control unit 41 to cooperatively control the robots R1 and R2. The correction amount calculation unit 43 is connected to the optical sensors 18a and 18b provided in the gripping units 19a and 19b of the robots R1 and R2, respectively, and detection signals output from the optical sensors 18a and 18b are input. Is done.

  FIG. 4 is a plan view for explaining the detection positions of the peripheral edges of the liquid crystal display panel 4 by the optical sensors 18a and 18b. It is assumed that the Y axis is set parallel to the panel transport direction A, the X axis is set perpendicular to the Y axis, and the Z axis is set perpendicular to the XY plane (perpendicular to the paper surface of FIG. 4). The optical sensors 18a and 18b are present at the standby positions W1 and W2 along a straight line parallel to the Y axis on the XY plane in the standby state of the panel transport apparatus 1 described later with reference to FIG. And move along the movement paths Q1 and Q2 in the XY plane. When the optical sensors 18a and 18b move along the movement paths Q1 and Q2, it is assumed that the suction pads 20a and 20b and the liquid crystal display panel 4 are appropriately separated.

  The liquid crystal display panel 4 that has been transported to the first position P1 is placed with a positional deviation within a range of about ± 50 mm from the reference position. In FIG. 4, it is inclined with respect to the Y axis at an inclination θ, and is placed on the first robot R <b> 1 side along the Y axis direction from the reference position. In this state, the liquid crystal display panel 4 is assumed to be placed at the first position P1, and the description of FIGS. Here, each vertex of the liquid crystal display panel 4 is represented by J, K, L, and M, and the midpoint of the diagonal line JL is represented by O. The long sides of the liquid crystal display panel are JK and LM, the short sides are KL and MJ, and the one side edge close to each robot is the long side JK.

  In each of the movement paths Q1 and Q2, after the optical sensors 18a and 18b at the standby positions W1 and W2 pass through one one side edge JK among the one side edges on the long side of the liquid crystal display panel 4, respectively. The optical sensor 18a of the first robot R1 faces the other side edge KL of the other side edges on the short side of the liquid crystal display panel 4, and the optical sensor 18b of the second robot R2 moves to the other side of the liquid crystal display panel 4. The optical sensors 18a and 18b are set so as to move toward the other side edge MJ, that is, in a direction away from each other toward the other side edge on the short side.

  The movement paths Q1 and Q2 are set in advance according to the dimensions of the liquid crystal display panel 4 so that the respective optical sensors 18a and 18b intersect each desired peripheral edge in consideration of the positional deviation. Stored in the unit 41. As will be described later with reference to FIG. 5, the movement paths Q <b> 1 and Q <b> 2 are selected by the control unit 41 according to the dimensions of the liquid crystal display panel 4. Therefore, even when the liquid crystal display panel 4 having different dimensions is transported, the movement paths Q1 and Q2 are automatically selected by the control unit. Therefore, when the photographing apparatus is used as in the second prior art. It is not necessary to prepare in advance, and a decrease in productivity can be avoided.

  In the case shown in FIG. 4, when the optical sensors 18a and 18b move along the moving paths Q1 and Q2, respectively, the optical sensor 18b of the second robot R2 first sets the one side edge JK of the liquid crystal display panel 4 first. pass. Here, the intersection of the movement route Q2 and the one side edge JK is represented as a detection position I1, and absolute coordinates are given as (X1, Y1). Next, the optical sensor 18a of the first robot R1 passes through one side edge JK of the liquid crystal display panel 4. Here, the intersection of the movement route Q1 and the one side edge JK is represented as a detection position I2, and the absolute coordinates are given as (X2, Y2). Furthermore, the optical sensor 18b of the second robot R2 passes through the other side edge MJ of the liquid crystal display panel 4 first. Here, the intersection of the movement route Q2 and the other side edge MJ is represented as a detection position I3, and the absolute coordinates are given as (X3, Y3).

  FIG. 5 is a flowchart for explaining the operation of the panel transport apparatus 1. 6A and 6B are diagrams showing detection signals of the optical sensors 18a and 18b. FIG. 6A shows a detection signal of the optical sensor 18a, and FIG. 6B shows a detection signal of the optical sensor 18b. 7 to 12 are plan views showing a procedure for transporting the liquid crystal display panel 4 by the panel transport device 1, FIG. 7 shows a standby state of the panel transport device 1, and FIG. 8 shows the optical sensor 18b of the second robot R2. FIG. 9 shows a state when passing through one side edge JK of the liquid crystal display panel 4, and FIG. 9 shows a state when the optical sensor 18a of the first robot R1 passes through one side edge JK of the liquid crystal display panel 4. FIG. 11 shows a state when the optical sensor 18b of the second robot R2 passes the other side edge MJ of the liquid crystal display panel 4, and FIG. 11 shows the liquid crystal display panel when the gripping portions 18a and 18b of the robots R1 and R2 are in the gripping position. FIG. 12 shows a state where the grasped liquid crystal display panel 4 is placed on the backlight module 5.

  First, in step s0, the first and second robots R1 and R2 move the robot arms 13a and 13b and the gripping portions 19a and 19b between the panel transport conveyor 2 and the module transport conveyor 3 as shown in FIG. Is in a standby state at a standby position brought close by. At this time, the gripping portions 19a and 19b are arranged so that the longitudinal directions of the frames of the gripping portions 19a and 19b are parallel to each other, and are arranged at one end in the longitudinal direction on the panel transport conveyor 2 side of each frame. Each optical sensor 18a, 18b is arranged. The standby positions of the optical sensors 18a and 18b at this time correspond to W1 and W2 shown in FIG.

  In step s1, the control unit 41 receives a signal indicating that the liquid crystal display panel 4 has been transported to the first position P1 and data related to the liquid crystal display panel 4 from the control device 32 of the panel transport conveyor 2. This data includes the model name or panel number of the liquid crystal display panel 4.

  In step s2, the control unit 41, based on the data, determines the liquid crystal display panel that has been transported based on the relationship between the preset model name of the liquid crystal display panel 4 and the dimensions of the liquid crystal display panel 4 corresponding to the model name. 4 is identified, and the movement paths Q1 and Q2 corresponding to the dimension are selected from the preset movement paths.

  In step s3, the control unit 41 outputs an operation command for instructing the operation of each of the robots R1 and R2 to the robot controller 42. The robot controller 42 coordinates the robot arms 13a and 13b and the lift shafts 17a and 17b of the robots R1 and R2 according to the operation command so that the optical sensors 18a and 18b move along the movement paths Q1 and Q2. Control. As a result, the optical sensors 18a and 18b existing at the standby positions W1 and W2 start moving.

  In step s4, the correction amount calculation unit 43 detects a change in the detection value of the detection signal input from the optical sensor 18b of the second robot R2 at time t1, as shown in FIG. The change in the detected value is detected when the optical sensor 18b of the second robot R2 passes through one side edge JK of the liquid crystal display panel 4 as shown in FIG. The detection value at this time is defined as a first detection value.

  In step s5, when the first detection value is obtained, the correction amount calculation unit 43 determines from the robot controller 42 the turning angle of the first and second arms 14b and 15b of the second robot R2 at time t1 and the lifting shaft 17b. Data indicating the rotation angle of is acquired.

  In step s6, the correction amount calculation unit 43, based on the acquired data, the absolute coordinates (X1) of the detection position I1 that is the intersection of the one side edge JK of the liquid crystal display panel 4 and the movement path Q2 of the second robot R2. , Y1).

  When only one detection position (I1) is obtained in step s7, the operations of the robots R1 and R2 are continued. In step s4, the correction amount calculation unit 43 detects a change in the detection value of the detection signal input from the optical sensor 18a of the first robot R1 at time t2, as shown in FIG. This change in the detected value is detected when the optical sensor 18b of the second robot R2 passes through one side edge JK of the liquid crystal display panel 4 as shown in FIG. The detection value at this time is defined as a second detection value.

  When the second detection value is obtained in step s5, the correction amount calculation unit 43 obtains the turning angle of the first and second arms 14a, 15a of the first robot R1 and the lifting shaft 17a at time t2 from the robot controller 42. Data indicating the rotation angle of is acquired. In step s6, the correction amount calculation unit 43, based on the acquired data, the absolute coordinates (X2) of the detection position I2 that is the intersection of the one side edge JK of the liquid crystal display panel 4 and the movement path Q1 of the first robot R1. , Y2).

  When only two detection positions (I1 and I2) are obtained in step s7, the operations of the robots R1 and R2 are continued. In step s4, as shown in FIG. 6, a change in the detection value of the detection signal input from the optical sensor 18b of the second robot R2 is detected at time t3. This change in the detected value is detected when the optical sensor 18b of the second robot R2 passes the other side edge MJ of the liquid crystal display panel 4 as shown in FIG. The detection value at this time is defined as a third detection value.

  When the third detection value is obtained in step s5, the correction amount calculation unit 43 obtains the turning angle of the first and second arms 14b, 15b of the second robot R2 and the lifting shaft 17b at time t3 from the robot controller 42. Data indicating the rotation angle of is acquired. In step s6, the correction amount calculation unit 43, based on the acquired data, the absolute coordinates (X3) of the detection position I3 that is the intersection of the other side edge MJ of the liquid crystal display panel 4 and the movement path Q2 of the second robot R2. , Y3).

  Since the optical sensors 18a and 18b move along the movement paths Q1 and Q2, the liquid crystal display panel 4 is placed with a displacement from the reference position toward the first robot R1 along the Y-axis direction. In the case shown in FIG. 4, the optical sensor 18b of the second robot R2 passes through the other side edge MJ first. On the other hand, if the liquid crystal display panel 4 is placed on the second robot R2 side along the Y-axis direction from the reference position and the liquid crystal display panel 4 is placed, the optical sensor 18a of the first robot R1 is the first one. It will pass through the side edge KL. In this way, regardless of whether the placement position of the liquid crystal display panel 4 at the first position P1 is shifted from the reference position along the Y-axis direction, one of the optical sensors 18a and 18b. Since one first passes through the other side edge, the third detection value can be detected efficiently.

  When three detection positions (I1, I2 and I3) are obtained in step s7, the correction amount calculation unit 43 moves the optical sensors 18a and 18b of the robots R1 and R2 relative to the control unit 41. A signal for requesting to stop is output.

  In step s8, the control unit 41 outputs a stop command for stopping the operations of the robots R1 and R2 to the robot controller 42. The robot controller 42 cooperatively controls the robots R1 and R2 according to a stop command. As a result, each moving optical sensor 18a, 18b stops moving.

  As described above, when the third detection value is obtained, an optical sensor that does not detect the third detection value (in this embodiment, the optical sensor 18a), that is, an optical sensor that does not pass through the other side edge is provided. Since the operation of the robot is stopped, the next operation can be started without causing the robot to perform a useless operation.

  In step s9, the correction amount calculation unit 43 calculates the absolute coordinates (X1, Y1), (X2, Y2) and (X3, Y3) of the three detection positions and the dimensions of the long side and the short side of the liquid crystal display panel 4. The absolute coordinates of the mounting position at the first position P1 of the liquid crystal display panel 4 are calculated. The dimensions of the long side and the short side of the liquid crystal display panel 4 are registered in advance corresponding to the model name of the liquid crystal display panel 4. Based on the absolute coordinates of the mounting position of the liquid crystal display panel 4, the absolute coordinates of the gripping positions at which the gripping portions 19a and 19b should grip the liquid crystal display panel 4 are determined. The correction amount calculation unit 43 outputs absolute coordinate data of the grip position to the control unit 41.

  In step s10, the control unit 41 moves the gripping portions 19a and 19b of the robots R1 and R2 to the gripping position with respect to the robot controller 42, grips the liquid crystal display panel 4, and extends to above the second position P2. The movement command to move is output. The robot controller 42 cooperatively controls the robots R1 and R2 according to the operation command.

  As shown in FIG. 11, each gripping part 19a, 19b moves to above the gripping position, and each suction pad 20a, provided on each gripping part 19a, 19b is moved by the operation of each lifting shaft 17a, 17b. It descends until 20 b comes into contact with the surface of the liquid crystal display panel 4. Each suction pad 20a, 20b sucks the liquid crystal display panel 4 by a suction force individually guided to each suction pad 20a, 20b. After gripping and holding the liquid crystal display panel 4, the gripping portions 19 a and 19 b are lifted by the operations of the lift shafts 17 a and 17 b, and further move to a position above the second position P <b> 2 of the module transport conveyor 3 and stand by.

  When the liquid crystal display panel 4 is removed from the first position P1, the control unit 41 outputs a signal indicating that the removal has been completed to the control device 32 of the panel transport conveyor 2. The control device 32 drives the panel transport conveyor 2 in the direction of the arrow A until the next liquid crystal display panel 4 is disposed at the first position P1.

  On the other hand, when the backlight module 5 that has been positioned and placed on the dedicated pallet 7 is transported to the second position P2 and stopped, the control device 33 of the module transport conveyor 3 causes the controller 41 to A signal indicating that the light module 5 has been transported to the second position P2 is output. The control unit 41 outputs an operation command for operating the gripping units 19a and 19b in standby to the robot controller 42. The robot controller 42 cooperatively controls the robots R1 and R2 according to the operation command.

  As shown in FIG. 12, the holding portions 19 a and 19 b waiting on the second position P <b> 2 of the module conveyor 3 are lowered by the operations of the elevating shafts 17 a and 17 b, and the liquid crystal display panel is placed on the backlight module 5. 4 is listed. The liquid crystal display panel 4 is detached from the suction pads 20a and 20b by releasing the suction force individually guided to the suction pads 20a and 20b.

  In step s11, each gripping part 19a, 19b is lifted by the operation of each lifting shaft 17a, 17b. When each gripping part 19a, 19b rises, the control part 41 outputs a signal indicating that the loading is completed to the control device 33 of the module transport conveyor 3. The robot controller 42 controls the robots R1 and R2 in a coordinated manner so that the robot arms 13a and 13b and the gripping portions 19a and 19b are moved between the panel transport conveyor 2 and the module transport conveyor 3 as shown in FIG. Move to a standby position that is in close proximity. This completes a series of transport operations.

  FIG. 13 is a plan view for explaining the detection position of the peripheral edge of the liquid crystal display panel 4 by the optical sensors 18a and 18b of the panel transport apparatus 1 according to another embodiment of the present invention. In addition, about the part which overlaps with FIG. 4, the overlapping description is avoided. The optical sensors 18a and 18b are positioned at the standby positions W1 and W2 in the standby state of the panel transport device 2, and move along the movement paths Q1 and Q2 from the standby positions W1 and W2, respectively. The standby positions W1 and W2 exist with the liquid crystal display panel 4 interposed therebetween. Each moving path Q1, Q2 passes through one side edge JK, LM closer to each of the standby positions W1, W2 among the one side edges on the long side of the liquid crystal display panel 4, and then the first robot. The optical sensor 18a of R1 is directed to one other side edge KL of the other side edges on the short side of the liquid crystal display panel 4, and the optical sensor 18b of the second robot R2 is connected to the other other side edge MJ of the liquid crystal display panel 4. In other words, the optical sensors 18a and 18b are set to move in directions away from each other toward the other side edge on the short side.

  Even when the movement paths Q1 and Q2 are set in this way, each optical sensor 18a is independent of whether the mounting position of the liquid crystal display panel 4 is shifted from the reference position along the Y axis. , 18b first passes through one other side edge, so that the third detection value can be detected efficiently.

It is a perspective view which shows the panel conveying apparatus 1 of one Embodiment of this invention. It is a perspective view which shows 1st robot R1 used for the panel conveying apparatus 1 shown in FIG. It is a block diagram which shows the electric constitution of the control apparatus 31 used for the panel conveying apparatus 1 shown in FIG. It is a top view for demonstrating the detection position of the peripheral edge of the liquid crystal display panel 4 by each optical sensor 18a, 18b. 4 is a flowchart for explaining the operation of the panel transport apparatus 1; It is a figure which shows the detection signal of each optical sensor 18a, 18b. It is a top view which shows the standby state of the panel conveying apparatus. 7 is a plan view showing a state when the optical sensor 18b of the second robot R2 passes through one side edge JK of the liquid crystal display panel 4. FIG. 6 is a plan view showing a state when the optical sensor 18a of the first robot R1 passes through one side edge JK of the liquid crystal display panel 4. FIG. 6 is a plan view showing a state when the optical sensor 18b of the second robot R2 passes through the other side edge MJ of the liquid crystal display panel 4. FIG. It is a top view which shows the state which each holding part 19a, 19b of each robot R1, R2 is holding the liquid crystal display panel 4 in a holding position. FIG. 4 is a plan view showing a state in which the gripped liquid crystal display panel 4 is placed on the backlight module 5. It is a top view for demonstrating the detection position of the peripheral edge of the liquid crystal display panel 4 by each photosensor 18a, 18b of the panel conveying apparatus 1 of other form of implementation of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Panel conveyance apparatus 4 Liquid crystal display panel 5 Backlight module 18a, 18b Optical sensor 19a, 19b Grip part 20a, 20b Suction pad 31 Control apparatus 41 Control part 42 Robot controller 43 Robot controller 43 Correction amount calculation part I1, I2, I3 Detection position Q1, Q2 Movement path R1, R2 Robot

Claims (3)

Two robots having a gripping part for gripping a rectangular panel having a predetermined size disposed at a predetermined first position, and transporting the panel gripped by the gripping part to a predetermined second position;
A detecting means provided on each gripping part of each robot for detecting the presence or absence of the panel;
After passing the gripping part of each robot over the panel through one side edge of the panel, move each gripping part of each robot in a direction away from each other, and one other side edge perpendicular to the one side edge First and second detection values when each detecting means detects the one side edge, and the other detecting means first before the other side. The grip position of the panel is determined based on the third detection value detected by the one detection means that has detected the edge, each grip portion is moved to the determined grip position, the panel is gripped, And a control means for cooperatively controlling each robot so as to move to a predetermined second position.   2. The control unit according to claim 1, wherein when the third detection value is detected by the one detection unit, the control unit cooperatively controls the robots so as to stop the movement of the gripping units of the robots. Panel transport device. Each of the gripping portions of the two robots grips a rectangular panel having a predetermined size and places it in a predetermined first position, and transports the panel gripped by these gripping portions to a predetermined second position. A panel conveying method,
After each robot is coordinated and controlled, the gripping part of each robot is passed over the panel through one side edge of the panel, and then each gripping part of each robot is moved away from each other. A first step of detecting the presence or absence of the panel by means of detection means respectively provided in the gripping part of each robot, by moving so as to pass through the other side edge perpendicular to the other side and the other side edge of the other,
First and second detection values when each detection means detects the one side edge, and a third detection value when one detection means detects the other side edge first among the detection means. A second step of determining a gripping position of the panel based on
A third step of cooperatively controlling each robot to move each gripping portion to the determined gripping position and grip the panel;
A panel transporting method comprising: a fourth step of cooperatively controlling each robot to move each gripping part that grips the panel at the determined gripping position to the predetermined second position.

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