JP2014024616A - Interleaf taking-out method and device thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an interleaf taking-out method and a device thereof, capable of surely taking out and carrying an interleaf from a substrate interleaf laminate body.SOLUTION: An interleaf taking-out device comprises: chucks 22a and 22b for forming an area separated from the substrate interleaf laminate body by partially holding therebetween an interleaf 3b existing on an upper surface of the substrate interleaf laminate body; a pressing-down member 23 for forming a part unseparated from the substrate interleaf laminate body; an interleaf adsorption pad 24 for adsorbing to the unseparated part formed by the pressing-down member in the interleaf; and a control part for controlling respective operations of the chucks, the pressing-down member and the interleaf adsorption pad.

Description

  The present invention relates to an interleaving paper removing method and apparatus for taking out interleaving paper from a substrate interleaving paper laminate in which substrates and interleaving paper are alternately stacked.

  In the process of manufacturing a liquid crystal display (hereinafter referred to as LCD) or a solar cell module, it is necessary to take out a slip sheet from a substrate slip sheet laminate in which substrates made of glass and the like are alternately stacked. is there.

  Conventionally, in Patent Document 1 described below, when the slip sheet on the substrate is taken out and transported, the transport mechanism part moves above the slip sheet, the suction pad part descends and sucks the slip sheet, An apparatus has been proposed in which a slip sheet is lifted and conveyed onto a belt conveyor, and the substrates are separated and transferred one by one.

  Further, in Patent Document 2, an unwrapping system provided with a transfer device that separates and transports a substrate from a substrate slip-sheet laminate and a slip-sheet peeling device that separates and transports slip sheets from a substrate slip-sheet laminate. Has been proposed. This system sucks and rotates the end of the slip sheet by the suction part, folds the end part of the slip sheet, and sandwiches the folded end part of the slip sheet by the chuck part to convey the slip sheet. It was peeled off from the interleaf laminate.

Japanese Patent Laid-Open No. 6-255772 JP 2007-161354 A

  However, in the apparatus that adsorbs the slip sheet proposed in Patent Document 1 with the suction pad and lifts and conveys it, the substrate under the slip sheet and the slip sheet are in close contact with each other due to moisture, static electricity, or the like. When trying to lift the paper, there was a case where the slip sheet could not be sucked away from the suction pad.

  Further, in the system proposed in Patent Document 2, when an end portion of the slip sheet is sucked by the suction portion, and the sucked end portion is bent and sandwiched by the chuck, the slip sheet is transported from the substrate slip sheet laminate. The transport distance until separation and disposal is about twice as long as that of the suction transport system disclosed in Patent Document 1 and the like, and there is a problem that the transport time is increased and the transport mechanism is enlarged. Furthermore, in the laminated body of interleaving slip sheet and substrate, when the end part of the slip sheet is sucked and the end part is bent, the four corners are folded so that the direction of the slip sheet end part is There was a frequent occurrence of variations that could not be pinched by the chuck.

  In view of the above circumstances, the present invention is capable of reliably removing and transporting a slip sheet from a substrate slip sheet laminate without error, and capable of shortening a transport distance and a transport time as compared with a case of sandwiching and transporting by a chuck. It is an object of the present invention to provide an extraction method and an apparatus therefor.

The slip sheet take-out device according to the present invention is
In the interleaving paper take-out device for taking out interleaving paper from the interleaving substrate laminated body in which substrates and interleaving paper are alternately laminated,
A chuck that partially sandwiches the slip sheet present on the upper surface of the substrate slip sheet laminate and forms a region peeled from the substrate slip sheet stack;
A pressing member for forming a portion not peeled off from the substrate interleaf laminate,
In the slip sheet, a slip sheet suction pad for sucking the part that is not peeled and formed by the pressing member;
A control unit for controlling the operations of the chuck, the pressing member, and the slip-sheet suction pad;
It is characterized by providing.

Further, the slip sheet taking out method according to the present invention includes:
The operation of the chuck, the pressing member, the slip sheet suction pad, the chuck, the pressing member, and the slip sheet suction pad is performed on the slip sheet from the substrate slip sheet laminate in which the substrate and the slip sheet are alternately stacked. In the interleaving paper taking out method using an interleaving paper taking out device provided with a control unit for controlling
The chuck partly sandwiches the slip sheet existing on the upper surface of the substrate slip sheet laminate to form a region peeled from the substrate slip sheet laminate, and the pressing member causes the substrate slip sheet stack. Forming a part that has not been peeled from the body;
Step of sucking the non-peeled portion formed by the pressing member in the slip sheet with the slip sheet suction pad;
It is characterized by providing.

  According to the present invention, even when the slip sheet and the substrate are in close contact with each other due to moisture, static electricity or the like, the close contact state can be released and the slip sheet can be reliably taken out, and the chucking can be performed by suction conveyance. Compared with the conveyance, the conveyance distance and the conveyance time can be shortened.

It is a block diagram which shows schematic structure of the slip-sheet taking-out apparatus by embodiment of this invention. It is the front view and side view which show the structure of the robot conveyance machine with which the slip sheet taking-out apparatus by the same embodiment is provided. FIG. 6 is a front view and a side view showing a slip sheet take-off start position in the slip sheet take-out operation by the slip sheet take-out device according to the embodiment. FIG. 6 is a front view and a side view showing a lowering operation and a stop of a chuck, a pressing member, and a suction pad in an interleaf ejecting operation by the interleaf ejecting apparatus according to the embodiment. It is the front view and side view which show peeling operation | movement of a chuck | zipper, a pressing member, and a suction pad in the taking-out operation | movement of the interleaving paper by the interleaf taking-out apparatus by the embodiment. It is the front view and side view which show the raising operation | movement of a chuck | zipper, a pressing member, and a suction pad in the taking-out operation | movement of a slip sheet by the slip-sheet taking-out apparatus by the embodiment. It is the front view and side view which show the operation | movement which adsorb | sucks and conveys an interleaf in the interleaf removal operation | movement by the interleaf removal apparatus by the embodiment. It is a side view which shows the state by which the slip sheet was peeled from the board | substrate slip sheet laminated body by the slip sheet taking-out apparatus by the embodiment.

  Hereinafter, a slip sheet taking method and apparatus according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 shows a schematic configuration of a slip sheet take-out device 1 according to the present embodiment. The slip sheet take-out device 1 is a device that takes out slip sheets from a substrate slip sheet laminate in which substrates and slip sheets are alternately stacked and supplies the substrates in the process of manufacturing an LCD, a solar cell module, and the like. , A slip sheet tray unit 2, a substrate slip sheet stacking unit 3, a substrate receiving unit 4, a robot transporter 5, and a control unit 6.

  The interleaf tray unit 2 is provided to store the taken interleaving paper.

  As shown in FIG. 2, which will be described later, the substrate interleaf laminate 3 in which the substrates 3a and the interleaf 3b are alternately stacked is placed on the loading platform 3c. .

  The substrate receiving unit 4 receives the substrate from which the interleaf paper 3b on the front surface is taken out for transport to a subsequent process.

  The robot transporter 5 alternately takes out the interleaving paper 3b and the substrate 3a from the substrate interleaving paper stack placed on the substrate interleaving paper stacking section 3, conveys the interleaving paper 3b to the interleaving paper tray section 2, and the substrate 3a. Is a mechanism for transporting the substrate to the substrate receiving unit 4.

  The control unit 6 controls the operation of each component included in the robot transporter 5, more specifically, the operations of a substrate suction unit, a slip sheet suction unit, a rotary joint unit, and a robot hand unit, which will be described later.

  The configuration of the robot transporter 5 is shown in a front view of FIG. 2 (a), a side view of FIG. 2 (b), and a side view of FIG. 2 (c).

  As shown in FIG. 2A, the main body 5a of the robot transporter 5 is provided with the slip sheet adsorbing portions 21 at two places on the left and right in the drawing. In addition, although the board | substrate adsorption | suction part 11 is provided in two places similarly to the slip sheet adsorption | suction part 21, it is located in the direction perpendicular | vertical to a paper surface in Fig.2 (a), and abbreviate | omits illustration. Further, the rotary joint portion 31 and the robot hand portion 32 are also located in a direction perpendicular to the paper surface in FIG.

  The substrate suction portion 11 has two pairs of substrate suction pads 12a and 12b shown in FIGS. 2B and 2C on the left and right as shown in FIG. 2A. Note that it is sufficient that at least four substrate suction pads are provided as a whole, and the number thereof is not limited and can be arbitrarily increased or decreased as necessary.

  By means of the substrate suction pads 12a and 12b, an air suction mechanism (not shown) is provided on the upper surface of the substrate 3a, specifically glass, transparent resin material such as polycarbonate, acrylic resin, polyethylene, etc. Operate and fix it by suction.

  As shown in FIG. 2A, the slip sheet adsorbing portion 21 includes a pair of chucks 22a and 22b provided on the left and right sides in the drawing, a pressing member 23 provided one by one, and a slip sheet suction section. A pad 24 is provided. Note that at least two pairs of chucks, pressing members, and slip-sheet suction pads may be provided as a whole, and the number is not limited and can be arbitrarily increased or decreased as necessary. Further, in FIG. 2A, the holding members 23 may be exchanged between the positions of the chucks 22a and 22b and the left and right sides of the slip sheet suction pad 24 in the drawing.

  The chucks 22a and 22b have a function of peeling from the upper surface of the substrate 3a with the interleaving paper 3b interposed therebetween by being close to each other. Here, for the surface portions of the chucks 22a and 22b, a material having a high coefficient of friction and not slipping with respect to the upper surface of the interleaving paper 3b, for example, a material such as natural rubber, synthetic rubber, or synthetic resin as a rubber material is used. Can do.

  The pressing member 23 presses the upper surface of the slip sheet 3b when the chucks 22a and 22b are peeled from the upper surface of the substrate 3a with the slip sheet 3b interposed therebetween. Further, the pressing member 23 also has a function as a stop sensor that detects a position where the stop operation should be started when the robot hand unit 32 descends toward the substrate interleaf laminate.

  The slip sheet suction pad 24 is sucked onto the upper surface of the slip sheet 3b by an air suction mechanism (not shown).

  The robot hand unit 32 corresponds to a moving means that moves to change the distance between the substrate suction unit 11 and the slip sheet suction unit 21 with respect to the substrate slip sheet stack. More specifically, the substrate adsorbing part 11 is moved closer to or away from the substrate 3a, and the interleaf adsorbing part 21 is moved up and down in the figure so as to approach or separate from the interleaving paper 3b. Further, the robot hand unit 32 conveys the substrate 3 a adsorbed by the substrate adsorbing unit 11 to the substrate receiving unit 4, or conveys the interleaving paper 3 b adsorbed by the interleaf adsorbing unit 21 to the upper part of the interleaf tray unit 2. It also corresponds to a conveying means.

  The rotary joint 31 changes the angle by 90 degrees by rotating the substrate suction part 11 and the slip sheet suction part 21 together. Thereby, as shown in FIG. 2 (b), the suction surface of the slip sheet suction portion 21 is directed parallel to the surface of the slip sheet 3b, and the substrate suction as shown in FIG. 2 (c). The state in which the suction surface of the portion 11 is directed parallel to the surface of the substrate 3a is switched.

  The operation of taking out the slip sheet 3b will be described with reference to FIGS. 3A to 7A are front views of the robot transporter 5 in each step, and FIGS. 3B to 7B are side views thereof.

  As shown in FIGS. 3A and 3B, when the rotary joint portion 31 rotates, the suction surface of the slip sheet suction portion 21 is positioned in parallel to the upper surface of the substrate slip sheet stacking portion 3. .

  As shown in FIGS. 4A and 4B, when the robot hand unit 32 moves downward, the chucks 22a and 22b, the pressing member 23, and the slip sheet suction pad 24 included in the slip sheet suction unit 21 become substrates. It descends toward the upper surface of the interleaving paper 3b in the interleaving paper stacking section 3.

  When the pressing member 23 comes into contact with the upper surface of the interleaf paper 3b, a built-in stop sensor detects its presence. Based on the control of the control unit 6, the descent speed of the robot hand unit 32 decreases and stops at a predetermined position. At this predetermined position, the chucks 22a and 22b, the pressing member 23, and the slip sheet suction pad 24 are in contact with the upper surface of the slip sheet 3b.

  As shown in FIGS. 5A and 5B, the chucks 22a and 22b move so as to approach each other, thereby interposing the interleaving paper 3b therebetween. FIG. 8 shows a state in which the chucks 22a and 22b sandwich the interleaf paper 3b. The chuck 22a and the chuck 22b are close to each other, and the portion 3b1 of the slip sheet 3b is sandwiched in the gap. The width of the portion 3b1 gripped by the chucks 22a and 22b corresponds to the distance when the chuck 22a and the chuck 22b are separated from each other. Here, the chucks 22a and 22b are for peeling the interleaving paper 3b from the substrate interleaving paper laminate. For this reason, there may be a gap between the chucks 22a and 22b when sandwiching the slip sheet 3b, or the chucks 22a and 22b apply pressure to each other with the slip sheet 3b sandwiched therebetween. You may touch up to.

  As described above, the pressing member 23 has a function as a stop sensor. When the tip of the pressing member 23 comes into contact with the upper surface of the interleaf 3b and the stop sensor detects it, the lowering of the robot hand unit 32 is decelerated and stopped at a predetermined position based on the control of the control unit 6. Here, the predetermined position where the robot hand unit 32 stops is a position where the chuck 22a and 22b can sandwich the slip sheet 3b, and a position where the pressing member 23 can press the upper surface of the slip sheet 3b. Furthermore, it corresponds to a position where the slip sheet 3 b can be sucked by the slip sheet suction pad 24.

  At such a predetermined position, with the upper surface of the slip sheet 3b being pressed by the pressing member 23, the chucks 22a and 22b sandwich the slip sheet 3b and peel the slip sheet 3b from the substrate slip sheet laminate. As a result, a flat portion that is not peeled off is formed between the slip sheet suction pad 24 and the upper surface of the slip sheet 3b, and the slip sheet 3b can be sucked by the slip sheet suction pad 24.

  As shown in FIGS. 6A and 6B, the slip sheet 3 b is lifted by the robot hand unit 32 while the slip sheet 3 b is sucked by the slip sheet suction pad 24. Although the slip sheet 3b is sucked and lifted by the slip sheet suction pad 24, the slip sheet 3b may be held between the chucks 22a and 22b at that time, or the mutual distance between the chucks 22a and 22b may be increased. It may be in a state where it is not opened and pinched. This is because, as described above, the main function of the chucks 22a and 22b is to peel the slip sheet 3b from the substrate slip sheet laminate.

  As shown in FIGS. 7A and 7B, the slip sheet 3 b is sucked by the slip sheet suction pad 24 and is transported onto the slip sheet tray section 2 by the robot hand section 32. By stopping the suction operation of the air suction mechanism described above, the state in which the slip sheet suction pad 24 sucks the slip sheet 3b is vacuum-breaked, and the slip sheet 3b is discarded in the slip sheet tray section 2. Here, when the slip sheet 3b is sandwiched between the chucks 22a and 22b, the slip sheet 3b is opened by opening the chucks 22a and 22b simultaneously with the vacuum break of the slip sheet suction pad 24.

  According to the present embodiment, even when the substrate 3a and the slip sheet 3b are in close contact with each other due to moisture, static electricity or the like, the slip sheet 3b is separated from the substrate slip sheet laminate by the chucks 22a and 22b, and the pressing member 23 is removed. Since a flat portion without peeling is formed on the interleaving paper 3b by pressing on the interleaving paper laminate, and the adhering state of the interleaving paper 3b is released by adsorbing this portion by the interleaving paper suction pad 24. The interleaving paper 3b can be reliably taken out. Then, by separating the interleaf paper 3b from the substrate interleaf laminate, the interleaf suction pad 24 can perform suction conveyance. Thereby, compared with the case where it conveys while pinching with a chuck | zipper, a conveyance distance and conveyance time can be shortened.

  Although one embodiment of the present invention has been described, this embodiment is presented as an example and is not intended to limit the technical scope of the invention. The novel embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. This embodiment and its modifications are included in the technical scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  For example, when the slip sheet 3b is peeled from the substrate slip sheet laminate by the chucks 22a and 22b and the slip sheet 3b is sucked by the slip sheet suction pad 24, the chuck 22a is sandwiched between the slip sheets 3b as described above. Further, the interleaving paper 3b can be sandwiched by approaching until the pressures 22b apply pressure to each other. Thus, in addition to the suction by the slip sheet suction pad 24, the slip sheet 3b can be held by the chucks 22a and 22b.

  However, in a state where the slip sheet 3b is peeled from the substrate slip sheet laminated body by the chucks 22a and 22b, a flat portion that does not peel off can be formed on the slip sheet 3b by the pressing member 23 and can be sucked by the slip sheet suction pad 24. It is necessary to be. Depending on the peeled state of the slip sheet 3b by the chucks 22a and 22b, it may be difficult to adsorb the slip sheet 3b. In particular, such a phenomenon is likely to occur when the chucks 22a and 22b are too close to each other and the separation region is too large. Therefore, it is desirable to set the distance between the chucks 22a and 22b so that the peeling state by the chucks 22a and 22b does not adversely affect the suction by the slip sheet suction pad 24.

DESCRIPTION OF SYMBOLS 1 Interleaving paper take-out apparatus 2 Interleaving paper tray part 3 Substrate interleaving paper laminating part 3a Substrate 3b Interleaving paper 4 Substrate receiving part 5 Robot conveyance device 6 Control part 11 Substrate adsorption part 12a, 12b Substrate adsorption pad 21 Interleaf adsorbing part 22a, 22b Chuck 23 Pressing member 24 Interleaf suction pad 31 Rotary joint 32 Robot hand

Claims (4)

In the interleaving paper take-out device for taking out interleaving paper from the interleaving substrate laminated body in which substrates and interleaving paper are alternately laminated,
A chuck that partially sandwiches the slip sheet present on the upper surface of the substrate slip sheet laminate and forms a region peeled from the substrate slip sheet stack;
A pressing member for forming a portion not peeled off from the substrate interleaf laminate,
In the slip sheet, a slip sheet suction pad for sucking the part that is not peeled and formed by the pressing member;
A control unit for controlling the operations of the chuck, the pressing member, and the slip-sheet suction pad;
A slip sheet take-out apparatus comprising: A moving means for moving the chuck, the pressing member, and the slip sheet suction pad to change the distance to the substrate slip sheet laminate;
A stop sensor for detecting a position where a stop operation should be started based on the distance between the chuck, the pressing member and the slip sheet suction pad with respect to the substrate slip sheet laminate;
Further comprising
2. The slip sheet take-out apparatus according to claim 1, wherein the controller starts the stop operation when the stop sensor detects the position. The operation of the chuck, the pressing member, the slip sheet suction pad, the chuck, the pressing member, and the slip sheet suction pad is performed on the slip sheet from the substrate slip sheet laminate in which the substrate and the slip sheet are alternately stacked. In the interleaving paper taking out method using an interleaving paper taking out device provided with a control unit for controlling
The chuck partly sandwiches the slip sheet existing on the upper surface of the substrate slip sheet laminate to form a region peeled from the substrate slip sheet laminate, and the pressing member causes the substrate slip sheet stack. Forming a part that has not been peeled from the body;
Step of sucking the non-peeled portion formed by the pressing member in the slip sheet with the slip sheet suction pad;
An interleaving paper removing method comprising: The slip sheet removing device further includes a moving means and a stop sensor,
Before forming the region peeled by the chuck and forming the portion not peeled by the pressing member,
Moving the chuck, the pressing member, and the slip sheet suction pad to change the distance to the substrate slip sheet laminate by the moving means;
Detecting a position at which a stop operation should be started based on the distance of the chuck, the pressing member, and the slip sheet suction pad with respect to the substrate slip sheet laminate by the stop sensor;
When the stop sensor detects the position, the control unit causes the moving means to start a stop operation;
The interleaf removal method according to claim 1, further comprising:

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