JP2012106318A - Conveying device of panel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a conveying device of a panel detecting the position of a panel without temporarily setting the panel held by a robot and directly disposing the panel at a predetermined position.SOLUTION: The conveying device 10 of the panel places the panel 12 disposed at a different position on a container case 11 sequentially sent along a conveying path, and includes a robot 14 provided with a suction pad 13 sucking and holding the panel 12, a first imaging means 15 imaging the panel 12 sucked and held by the suction pad 13, a second imaging means 16 imaging the container case 11 which stands still at the stopping position on the conveying path, and a control means 17 detecting the amount of the positional displacement of the panel 12 with respect to a panel reference position from an image imaged by the first imaging means 15, detecting the amount of the positional displacement of the container case 11 with respect to the case reference position from an image imaged by the second imaging means 16, and calculating the coordinate and the direction of the moving destination of the suction pad 13 placing the panel 12 at the specific position of the container case 11.

Description

The present invention relates to a panel transport device that sucks and holds a panel such as a liquid crystal panel and places the panel at a predetermined position.

An apparatus for sequentially arranging a number of panels at a predetermined position in a production site or the like is required to have an accuracy of arranging the panels reliably at a predetermined position and a speed of operation. In these devices, robots that can perform accurate work quickly are often used, and specific examples thereof are described in Patent Document 1.
In Patent Document 1, a panel (work) in a pallet is transported by a robot onto a table that is a temporary storage place for the panel, and the position of the panel is detected from an image obtained by imaging the panel on the table with a camera. Based on the detected position information of the panel, the coordinates of the movement destination of the panel gripping portion of the robot that grips the panel are calculated.

JP-A-9-239682

However, in Patent Document 1, there is a risk that the panel may get dust or dust when temporarily placed on the table, and the panel is gripped after being temporarily placed and transported to the target placement position. There was a problem of loss.
In addition, since the panel is gripped by the robot after the position is detected at the temporary storage, the panel is likely to be displaced when the panel is gripped, and the required panel placement accuracy is high. In some cases it cannot be adopted.
The present invention has been made in view of such circumstances, and an object of the present invention is to provide a panel transport device that detects the position of a panel held by a robot without placing it temporarily and places it directly at a predetermined position.

The panel transport device according to the present invention that meets the above-mentioned object is a panel transport device for placing a panel that has been placed at a different position on a storage case that is sequentially sent along a transport path, A robot provided with a suction pad for sucking and holding, first imaging means for picking up the panel sucked and held by the suction pad, and picking up the storage case stationary at a stop position on the transport path From the image picked up by the second image pickup means and the image picked up by the first image pickup means, the positional deviation amount of the panel with respect to a predetermined panel reference position is detected from the image picked up by the first image pickup means. The suction pad is moved to detect the amount of displacement of the housing case with respect to a predetermined case reference position and place the panel at a specific position of the housing case And a control means for calculating coordinates and orientation, placing the panel by moving the suction pad to the destination coordinates calculated by said control means to a particular position of the housing case.

In the panel transport apparatus according to the present invention, the panel has a panel body that is rectangular in plan view and is sucked and held by the suction pad, and the first imaging means includes a corner a and a portion of the panel body. The camera A and the camera B that respectively image corner portions b are provided, and the control unit images the corner portions a and b of the panel main body held by the suction pads by the cameras A and B, respectively. It is preferable to detect a displacement amount of the panel with respect to the panel reference position based on an image.

In the panel transport apparatus according to the present invention, the camera A is disposed at a position where the corner portion a of the panel main body sucked and held by the suction pad can be imaged, and the camera B includes the control means. Can move without changing the orientation to a position where the corner b can be imaged, which is determined by detecting the interval between the corner a and the corner b of the panel body based on an external input signal. Is preferred.

In the panel transport apparatus according to the present invention, the accommodation case is provided with a positioning member that holds the panel in the accommodation case, and the control means is the stop position imaged by the second imaging means. The position of the positioning member in the image of the storage case is compared with the position of the positioning member in the image of the storage case disposed at the case reference position stored by the control means. It is preferable to detect the amount of positional deviation of the case.

In the panel transport apparatus according to the present invention, the panel placed on the storage case is placed, and the pallet is transported together with the panel to a position where the panel is sucked and held by the suction pad. It is preferable to provide a pallet unloading robot that grips and holds the pallet that is sucked and held and moves to the pallet retreat position.

In the panel transport apparatus according to the present invention, it is preferable that an ionizer for removing static electricity of the robot is provided.

The panel transport apparatus according to the present invention includes a robot provided with a suction pad for sucking and holding the panel, a first image pickup means for picking up the panel sucked and held by the suction pad, and a stop position on the transport path. The second image pickup means for picking up the stationary housing case, and the image picked up by the second image pickup means while detecting the amount of displacement of the panel with respect to the panel reference position from the image picked up by the first image pickup means. Control means for detecting the amount of displacement of the housing case relative to the case reference position and calculating the coordinates and orientation of the movement destination of the suction pad on which the panel is placed at a specific position of the housing case. The suction pad is moved to the coordinates of the movement destination and the panel is placed at a specific position of the storage case, so that the panel held by the robot is not temporarily placed. Can be placed at a specific position on the storage case, preventing the panel from being wrinkled, and the time required for mounting the panel at a specific position on the storage case compared to temporarily placing the panel Can be shortened.
Furthermore, since the panel is held by the robot and is placed in the housing case while being held by the robot after the positional deviation amount is calculated, the robot must hold the panel again after calculating the positional deviation amount. There is no possibility that the positional relationship between the panel and the robot may change.

In the panel transport apparatus according to the present invention, the first imaging unit includes a camera A and a camera B that respectively capture the corner part a and the corner part b of the panel main body, and the control unit sucks and holds the suction pad. When detecting the amount of panel displacement relative to the panel reference position on the basis of the images captured by the cameras A and B at the corners a and b of the panel body, It is not necessary to provide the marking used only for the case, and it is possible to suppress the increase in the number of steps required to place the panel on the housing case and to improve the work efficiency.

In the panel transport device according to the present invention, the camera A is disposed at a position where the corner portion a of the panel main body held by the suction pad can be imaged, and the camera B is an input signal from the outside. If the corner b determined by detecting the interval between the corner a and the corner b of the panel body can be moved without changing the orientation to a position where the corner b can be imaged, the corner a and the corner b are Images are reliably captured by the camera A and the camera B, respectively, and the amount of positional deviation of the panel can be stably measured.

In the panel transport apparatus according to the present invention, the storage case is provided with a positioning member for holding the panel in the storage case, and the control unit has an image of the storage case at the stop position imaged by the second imaging unit. When the position of the positioning case is detected by comparing the position of the positioning member with the position of the positioning member in the image of the storage case arranged at the case reference position stored by the control means, It is not necessary to provide a part that is used only for detecting the position of the storage case, and an increase in the number of parts constituting the storage case can be suppressed, and the manufacturing cost of the storage case can be reduced.

In the panel transport apparatus according to the present invention, when a pallet unloading robot that grips an empty pallet and moves it to a pallet retreat position is provided, the empty pallet is securely retreated, and the robot is in an empty pallet. It is possible to avoid gripping the panel.

In the panel transport apparatus according to the present invention, when an ionizer that removes static electricity of the robot is provided, it is possible to prevent static electricity that causes a failure of the panel in the robot from being charged.

It is a top view of the conveyance apparatus of the panel which concerns on one embodiment of this invention. It is explanatory drawing of the conveying apparatus of the panel. (A), (B) is explanatory drawing which shows the open state and closed state of the storage case each used with the conveying apparatus of the panel. It is a block diagram which shows the signal connection of the control means of the conveying apparatus of the panel. It is explanatory drawing of the coordinate calculation of the movement destination of the suction pad by a control means.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
As shown in FIGS. 1, 2, and 4, a panel transport apparatus 10 according to an embodiment of the present invention is disposed at a different position in a storage case 11 that is sequentially sent along a transport path. This is a device for mounting the panel 12.
The panel transport apparatus 10 includes a robot 14 provided with a suction pad 13 for sucking and holding the panel 12, a first image pickup unit 15 for picking up an image of the panel 12 sucked and held by the suction pad 13, and a transport path. While detecting the amount of positional deviation of the panel 12 with respect to a predetermined panel reference position from the image picked up by the second image pickup means 16 that picks up the storage case 11 stationary at the stop position and the first image pickup means 15, The amount of displacement of the storage case 11 with respect to a predetermined case reference position is detected from the image captured by the second imaging means 16, and the movement destination of the suction pad 13 on which the panel 12 is placed at a specific position of the storage case 11. And a control means 17 for calculating the coordinates and orientation.
Then, the panel transport apparatus 10 moves the suction pad 13 to the coordinates of the movement destination calculated by the control means 17 and aligns the orientation of the suction pad 13 with the orientation calculated by the control means 17 so that the panel 12 is accommodated in the housing case. 11 specific positions.
Hereinafter, these will be described in detail.

As shown in FIG. 1, the panel 12 placed in the housing case 11 is placed on a pallet 19 that is transported by a chain conveyor 18 provided in the panel transport device 10, and along the installation path of the chain conveyor 18. Be transported.
The pallet 19 on which the panel 12 is placed is transported together with the panel 12 by the chain conveyor 18 to a position where it is sucked and held by the suction pad 13 of the robot 14, and stops by abutting against a stopper 20 provided on the installation path of the chain conveyor 18. .
In the present embodiment, as shown in FIG. 2, a plurality of pallets 19 each carrying a panel 12 are transported by the chain conveyor 18 in a stacked state. 18 may be conveyed.

The panel 12 on the pallet 19 stopped by the stopper 20 is held by the robot 14 shown in FIGS. 1 and 2 and stopped on the belt conveyor 21 arranged at a distance from the chain conveyor 18. It is placed at a specific position of the storage case 11.
The robot 14 is an arm-type industrial robot having six drive shafts, and has a suction pad 13 that sucks and holds the panel 12 from one side by suction force at the tip. The suction pad 13 includes a plurality of suction disks 22 arranged at intervals, and can stably hold the panel 12 by suction. In addition, the suction disk 22 of the suction pad 13 is formed of a material (for example, silicon resin) that does not scratch the panel 12 during suction holding.

As shown in FIG. 3A, a plurality of panels 12 are provided on both sides of the panel body 24 and the panel body 24 that are sucked and held by the suction pads 13 in a rectangular shape (meaning a rectangle or a square) in plan view. And a film-like electrode 25 projecting from both sides of the panel body 24. The panel main body 24 is a portion excluding the electrode 25 of the panel 12, and is rectangular in plan view in the present embodiment.
The housing case 11 has a rectangular plastic plate 26 that can be folded in two, and a cushion material 27 that wraps the plastic plate 26 in two and closes the housing case 11 to wrap the panel 12.

The plastic plate 26 is provided with a plurality of positioning members 28 for holding the panel 12 in the housing case 11 in which the panel 12 is housed. In the positioning member 28, when the panel 12 is placed on one half of the plastic plate 26, a plurality of electrodes 25 provided so as to protrude from both sides in the longitudinal direction of the panel body 24 are fitted with a gap. It is a protrusion arranged at a position. Two positioning members 28 form a set, and the electrodes 25 are arranged between the positioning members 28 of each set.
The specific position of the housing case where the panel is arranged means a position where the panel is fixed to the housing case. In the present embodiment, all of the plurality of electrodes 25 included in the panel 12 are each set of positioning members. The positions arranged between the two are the specific positions.

On both sides of the other half of the plastic plate 26, as shown in FIG. 3B, a plurality of through holes 29 into which the positioning members 28 are fitted when the plastic plate 26 is folded in two are formed. .
Since the panel 12 is in a state in which each electrode 25 is disposed and fixed between two paired positioning members 28, the panel 12 is displaced when the housing case 11 in which the panel 12 is accommodated is closed. Can be prevented from being bent or part of the panel 12 going out of the housing case 11.
A plurality of planar fasteners 23 are attached to the plastic plate 26, and the plastic plate 26 is maintained in a folded state by the planar fasteners 23.

Here, if α is a value of 0.5 ≦ α ≦ 2.0, the distance between the positioning members 28 in each set of the positioning members 28 is L + α mm which is longer by α mm than the width L mm of the electrode 25. The panel 12 needs to be arranged with accuracy of α / 2 (± α / 2 error) on the open storage case 11 placed on the belt conveyor 21 (L is 30 ≦ in this embodiment) L ≦ 100).
On the other hand, the placement work of the panel 12 on the pallet 19 is performed by a human hand or by a device (not shown), and the accuracy thereof is lower than the placement work of the panel 12 on the housing case 11.
Therefore, if the panel 12 is arranged on the housing case 11 with an accuracy of being arranged on the pallet 19, the plurality of electrodes 25 cannot be accommodated between the respective positioning members 28. In the present embodiment, the tolerance D of the placement position of the panel 12 on the pallet 19 is, for example, ± 10 to ± 50 mm.

Therefore, in order to set the accuracy of placing the panel 12 on the housing case 11 to ± α / 2, the control means 17 that controls the operation of the robot 14 detects the amount of displacement of the panel 12 held by suction by the suction pad 13. Then, the coordinates and orientation of the suction pad 13 for correcting the detected displacement amount are calculated.
Here, the “positional deviation amount” indicates a concept including a deviation component of orientation and a deviation component of position (XY coordinates), and the same applies to the following.

As shown in FIG. 4, the control means 17 is signal-connected to a controlled device including the robot 14, and has an interface of the controlled device, a storage medium loaded with various control programs, a CPU, and the like.
The chain conveyor 18 and the belt conveyor 21 are controlled in operation speed and the like by the control means 17, and are stopped by a stop signal from the control means 17 when an abnormality occurs.
A sensor 30 for detecting the presence or absence of the pallet 19 stopped by the stopper 20 is installed on the belt conveyor 21, and this sensor 30 is also signal-connected to the control means 17.

In addition, the storage case 11 is placed on the belt conveyor 21 by a human hand or by a device (not shown) as in the case of the pallet 19, and the accuracy thereof is lower than the placement work of the panel 12 on the storage case 11. . In the present embodiment, the allowable error D ′ of the placement position of the storage case 11 on the belt conveyor 21 is, for example, ± 10 to ± 50 mm.
For this reason, the control means 17 detects not only the positional deviation amount of the panel 12 sucked and held by the suction pad 13 but also the positional deviation amount of the storage case 11 sequentially sent along the transport path by the belt conveyor 21. The coordinates and direction of the movement destination of the suction pad 13 for arranging the panel 12 at a specific position of the housing case 11 are calculated from the two positional deviation amounts.

As shown in FIGS. 1 and 2, the panel conveying apparatus 10 includes a first image pickup means 15 for picking up an image of the panel 12 sucked and held by the suction pad 13 and lifted from the pallet 19, and a predetermined belt conveyor. A second image pickup means 16 is provided for picking up an image of the storage case 11 that is stopped at the stop position 21.
The first and second imaging means 15 and 16 are signal-connected to the control means 17 as shown in FIG. The control unit 17 detects a positional deviation amount of the panel 12 with respect to a predetermined panel reference position from an image captured by the first imaging unit 15 and is determined in advance from an image captured by the second imaging unit 16. It is possible to detect the amount of displacement of the housing case 11 relative to the case reference position.

As shown in FIGS. 1, 2, and 5, the first imaging unit 15 images one corner 31 a (corner a) and the other corner 31 b (corner b) of the panel main body 24. A camera 32a (camera A) and a camera 32b (camera B) are provided.
When the suction pad 13 that sucks one surface (one side of the panel 12) of the panel 32 is disposed at a predetermined imaging position, the cameras 32a and 32b are arranged on the other surface (panel 12). The other side) is arranged at a position where it can be imaged. This imaging position means an arrangement position of the suction pad 13 when the panel 12 is imaged by the cameras 32a and 32b.
In the present embodiment, when the suction pad 13 is disposed at the imaging position, the panel body 24 is horizontally disposed, the suction pad 13 attracts the upper surface of the horizontally disposed panel body 24, and the cameras 32a and 32b are The panel main body 24 is disposed at a position where the lower surface of the panel body 24 can be imaged, that is, at a position below the imaging position.

The camera 32a is disposed at a position where the corner portion 31a of the panel body 24 held by suction by the suction pad 13 disposed at the imaging position can be imaged. In the present embodiment, the camera 32a is arranged at a position where the corner a of the panel arranged at the panel reference position can be imaged at the center (substantially the center) of the image.
Near the robot 14, the panel transport device 10 includes a ball screw 33 fixed to a frame (not shown) via a bearing, and a servo motor 34 fixed to the frame and rotating the ball screw 33 about its axis. Is provided. The camera 32 b is fixed to a female screw block 35 attached to the ball screw 33, and can move along with the female screw block 35 along the axis of the ball screw 33 without changing its direction by the rotation of the ball screw 33.

The panel conveying apparatus 10 is designed so that panels having different sizes can be placed at specific positions of the housing case.
As shown in FIG. 4, the control means 17 is signal-connected to a central control device 36 that detects the size of the panel placed together with the pallet on the chain conveyor 18, the housing status of the panel in the housing case, and the like. .
The control means 17 detects the space | interval of the corner | angular part a of the panel conveyed by the chain conveyor 18 with the pallet based on the input signal which shows the magnitude | size of the panel from the central control apparatus 36 (external). be able to. Based on the detected interval between the corners a and b of the panel, the control means 17 determines a position at which the camera 32b can image the corner b of the panel held by the suction pad 13 disposed at the imaging position. Then, the servo motor 34 is operated to place the camera 32b at that position.

The imaging position and the panel reference position of the suction pad 13 are different for each panel size, and the control means 17 provides the corner b of the panel at each panel reference position in addition to each imaging position and each panel reference position. The arrangement position of the camera 32b capable of capturing the image is stored.
When the control means 17 detects the size of the panel based on the input signal from the central control device 36, the control means 17 selects the arrangement position of the camera 32b corresponding to the size of the panel, the distance between the cameras 32a and 32b and the corner of the panel. The camera 32b is disposed at a position where the distance between the a and the corner b is substantially the same, and the corner b of the panel is imaged by the camera 32b.
The arrangement of the camera 32b when imaging the panel is also a position where the camera 32b images the corner b of the panel arranged at the panel reference position at the center (substantially the center) of the image.
The frame on which the servo motor 34 and the ball screw 33 are fixed is positioned so that the cameras 32a and 32b can capture the corners a and b of the panel body at the center of the image according to the size of the panel. The servo motor 34 and the ball screw 33 may be movable.

When the panel is placed on the pallet with a certain accuracy of ± Dmm, the imaging ranges of the cameras 32a and 32b are sized so that the corners a and b of the panel can be imaged. In the present embodiment, the cameras 32a and 32b respectively capture the corner a and the corner b of the panel near the center of the image.
The control means 17 controls the positions of the corners a and b in each image captured by the cameras 32a and 32b, and the corner a in the panel image at the panel reference position previously captured by the cameras 32a and 32b. And by comparing the positions of the corners b, that is, based on the images obtained by capturing the corners a and b of the panel with the cameras 32a and 32b, respectively, the amount of displacement of the panel relative to the panel reference position is detected. Can do.

In the present embodiment, the corners 31a and 31b captured by the cameras 32a and 32b are corners located at both ends of one of the sides forming the rectangular panel body 24 in plan view. . The control means 17 detects a position where the length of the side between the corners 31a and 31b of the panel main body 24 to be imaged by the cameras 32a and 32b is equal to the distance between the cameras 32a and 32b. The camera 32b is moved to take an image of the panel 12.
Although the camera 32a is fixed, it may be movable.

Further, the central controller 36 shown in FIG. 4 manages the size of the panel and the size of the storage case placed on the belt conveyor 21.
The central control device 36 controls devices and the like that place the housing case on the belt conveyor 21 so that the housing case having a size corresponding to the size of the panel conveyed by the chain conveyor 18 is placed on the belt conveyor 21.
As shown in FIGS. 1 and 2, the installation path of the belt conveyor 21 (that is, the conveyance path of the storage case 11) is a lifting type that stops the storage case 11 transported by the belt conveyor 21 at a predetermined stop position. A stopper 38 is provided.

The stopper 38 is signal-connected to the control means 17 (see FIG. 4). When it is detected that the robot 14 has placed the panel 12 on the storage case 11 that is stopped at the stop position, the control means 17 lowers the stopper 38 and transports the storage case 11 along the transport path.
Note that a sensor 39 that detects that the stopper 38 has stopped the housing case 11 is connected to the control means 17 (see FIG. 4).

As shown in FIGS. 1 and 2, the second imaging means (for example, a digital camera) 16 includes a plurality of positioning members on one side of the housing case 11 at the upper position of the housing case 11 stopped at the stop position. All of 28 are arranged at positions where imaging is possible.
The control means 17 stores a case reference position indicating the reference position of the storage case stopped at the stop position, which is predetermined for each storage case having a different size.

The control means 17 stores the position of the positioning member 28 in the image obtained by imaging the housing case arranged at the case reference position by the second imaging means 16.
Note that the image recognition by the control means 17 of the positioning member 28 in the image captured by the second camera 16 is performed by a known image recognition technique for analyzing the color, shape, etc. in the image. The image recognition of the corner part a and the corner part b of the panel body 24 in each image captured by the cameras 32a and 32b is the same.
The positioning member 28 is provided with a color different from that of the plastic plate 26 and the cushion material 27 so that the image can be easily recognized. For example, the plastic plate 26 and the cushion material 27 are white and the positioning member 28 is black or It is brown.

The control means 17 takes an image of the housing case 11 that is stopped at the stop position and before placing the panel 12 with the second imaging means 16, and stores the position of the positioning member 28 in the taken image. The current position of the housing case 11 is detected in comparison with the position of the positioning member 28 in the image of the housing case 11 arranged at the case reference position. And the control means 17 detects the amount of positional deviation with respect to the case reference position of the detected current position of the storage case 11.
The control means 17 stores the housing case based on the positional deviation amount of the housing case 11 with respect to the case reference position and the positional deviation amount of the panel 12 sucked and held by the suction pad 13 disposed at the imaging position with respect to the panel reference position. The coordinates and direction of the movement destination of the suction pad 13 for arranging the panel 12 at the 11 specific positions are calculated.

Here, a method for calculating the coordinates and direction of the movement destination of the suction pad 13 by the control means 17 will be described in detail.
As shown in FIG. 5, the XY coordinates of the corners 31a and 31b of the panel body 24 at the panel reference position are (X1, Y1) and (X2, Y2), respectively, and are sucked and held by the suction pad 13 at the imaging position. The XY coordinates of the corners 31a and 31b of the panel main body 24 are (X1 ′, Y1 ′) and (X2 ′, Y2 ′), respectively. In addition, among the plurality of positioning members 28 arranged along the line segment on one side of the housing case 11 at the case reference position, the positioning members 28 on the one end side and the other end side (hereinafter referred to simply as “one end side”). (X1, y1) and (x2, y2) of the positioning member 28 ”and“ positioning member 28 on the other end ”, respectively, and the positioning member 28 on the one end side of the housing case 11 stopped at the stop position. The XY coordinates of the positioning member 28 on the other end side are (x1 ′, y1 ′) and (x2 ′, y2 ′), respectively.

The control means 17 calculates the amount of displacement of the panel 12 with respect to the panel reference position from (X1′−X1, Y1′−Y1) and (X2′−X2, Y2′−Y2), and (x1′−x1, y1). The displacement amount of the housing case 11 with respect to the case reference position is calculated from “−y1) and (x2′−x2, y2′−y2).
The control means 17 stores the XY coordinates (P1, Q1) and (P2, Q2) of the corners 31a, 31b of the panel body 24 arranged at the specific position of the housing case 11 at the case reference position. Yes.
The control means 17 arranges the panel 12 at a specific position of the storage case 11 stopped at the stop position from the calculated position shift amount of the panel 12 with respect to the panel reference position and the position shift amount of the storage case 11 with respect to the case reference position. The correction values of the XY coordinates of the corners 31a and 31b with respect to (P1, Q1) and (P2, Q2) are calculated. And the control means 17 adds each correction value of the calculated corner | angular part 31a, 31b to (P1, Q1) and (P2, Q2), respectively, obtains the coordinate which should arrange | position the corner | angular part 31a, 31b, and adsorb | sucks The coordinates and direction of the movement destination of the pad 13 are calculated.

As shown in FIG. 1, a roller conveyor 40 is disposed at the end point of the installation path of the belt conveyor 21.
The roller conveyor 40 sends the storage case 11 on which the panel 12 is placed to a roller conveyor 41 disposed in the vicinity of the roller conveyor 40, and the panel 12 closes the storage case 11 along the installation path of the roller conveyor 41. Is transported to the place where
The roller conveyors 40 and 41 are signal-connected to the control means 17 (see FIG. 4), and the operation is controlled by signals from the control means 17, respectively.

As shown in FIGS. 1 and 2, the pallet 19 that is stopped by the stopper 20 on the chain conveyor 18 grips the pallet 19 that is sucked and held by the suction pad 13 and is in an empty state. A pallet unloading robot 42 for moving the pallet 19 is provided.
The pallet unloading robot 42 is an arm type robot having six movable axes, and a gripping mechanism 43 for gripping the pallet 19 is provided at the tip.
In addition, the empty pallet 19 moved from the chain conveyor 18 by the pallet unloading robot 42 is stepped at the pallet retreat position.
In addition, since the ionizer 44 for removing static electricity from the robot 14 is provided in the vicinity of the robot 14, the robot 14 ensures an environment in which static electricity that causes a failure or the like in the panel 12 is not charged. In the vicinity of the belt conveyor 21, an ionizer 44 a for removing static electricity from the storage case 11 placed on the belt conveyor 21 is provided.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and all changes in conditions and the like that do not depart from the gist are within the scope of the present invention.
For example, the robot and the pallet unloading robot are not limited to a 6-axis arm type robot, and a robot including a plurality of actuators and a linear guide may be used.
Moreover, you may change the combination of a chain conveyor, a belt conveyor, and a roller conveyor.

10: Panel transport device, 11: Storage case, 12: Panel, 13: Suction pad, 14: Robot, 15: First imaging means, 16: Second imaging means, 17: Control means, 18: Chain conveyor , 19: pallet, 20: stopper, 21: belt conveyor, 22: suction disk, 23: planar fastener, 24: panel body, 25: electrode, 26: plastic plate, 27: cushion material, 28: positioning member, 29 : Through hole, 30: Sensor, 31a, 31b: Corner, 32a, 32b: Camera, 33: Ball screw, 34: Servo motor, 35: Female screw block, 36: Central controller, 38: Stopper, 39: Sensor, 40, 41: roller conveyor, 42: pallet carrying robot, 43: gripping mechanism, 44, 44a: ionizer

Claims (6)

A panel transport device for placing a panel placed at a different position on a storage case that is sequentially sent along a transport path,
A robot provided with a suction pad for sucking and holding the panel;
First imaging means for imaging the panel held by suction on the suction pad;
Second imaging means for imaging the storage case stationary at a stop position on the transport path;
A positional deviation amount of the panel relative to a predetermined panel reference position is detected from an image captured by the first imaging means, and a predetermined case reference position is determined from the image captured by the second imaging means. And a control means for detecting a positional deviation amount of the storage case relative to the storage case, and calculating coordinates and a direction of a movement destination of the suction pad for mounting the panel at a specific position of the storage case,
An apparatus for transporting a panel, wherein the suction pad is moved to the coordinates of the movement destination calculated by the control means, and the panel is placed at a specific position of the housing case. 2. The panel transport device according to claim 1, wherein the panel includes a panel body that is rectangular in plan view and is sucked and held by the suction pad, and the first imaging unit includes a corner portion a of the panel body. And a camera A and a camera B that respectively image corners b.
The control means is configured to determine the position of the panel relative to the panel reference position based on the images obtained by capturing the corner portions a and b of the panel body held by the suction pad by the cameras A and B, respectively. A panel transport device that detects a shift amount. 3. The panel transport device according to claim 2, wherein the camera A is disposed at a position where the corner portion a of the panel body held by suction by the suction pad can be imaged, and the camera B is controlled by the control unit. The means can move without changing the direction to a position where the corner b can be imaged by detecting the distance between the corner a and the corner b of the panel body based on an input signal from the outside. A panel transport apparatus characterized by the above. The panel transport apparatus according to any one of claims 1 to 3, wherein the housing case is provided with a positioning member that holds the panel in the housing case, and the control means includes the second unit. The positioning in the image of the storage case arranged at the case reference position stored by the control means, the position of the positioning member in the image of the storage case at the stop position imaged by the imaging means A panel conveying apparatus that detects a positional deviation amount of the housing case in comparison with a position of a member. 5. The panel transport device according to claim 1, wherein the panel placed on the housing case is placed and transported together with the panel to a position where the panel is sucked and held by the suction pad. And a pallet unloading robot for gripping the pallet that has been sucked and held by the suction pad and moved to a pallet retracting position. 6. The panel transport apparatus according to claim 1, further comprising an ionizer for removing static electricity of the robot.

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