JP4699169B2 - Unpacking system - Google Patents

Description

  The present invention relates to an unwrapping system.

Conventionally, when storing and transporting a substrate having a surface for forming an image, such as a color filter substrate and a thin film transistor substrate, the color filter substrate is spaced at a predetermined interval so that the plates do not contact each other in order to protect them from scratches and damage. A box-shaped storage container that can be stored in parallel was used, and the substrate was taken out from the container when incorporated into the apparatus (Patent Document 1).
JP 2002-264992 A

  However, recently, manufacture of larger color filter substrates has been required, and if these are stored at a predetermined interval as in the past, a larger storage container and storage space are required, and they are more easily broken by transportation. Therefore, in reality, it is difficult to store and transport using the storage container as described above.

  Therefore, as a method for solving these problems, the applicant of the present application has proposed that a plurality of color filter substrates are laminated through a separating body such as paper or a resin film to form a laminated body. However, when the substrate is separated from such a laminate, the substrate may be damaged at the time of separation unless an appropriate unpacking apparatus and unpacking method are used.

  The present invention has been made in view of such problems, and an object of the present invention is to provide an unpacking system and a unpacking method for protecting a substrate from scratches and breakage when unpacking a laminate and separating the substrate. It is to provide.

In order to achieve the above-described object, the present invention provides an unwrapping system that separates the substrate and the slip sheet from a laminate in which the substrate and the slip sheet are alternately stacked in the vertical direction. A transfer device for separating and transporting the substrate from the laminate, a slip sheet peeling device for separating and transporting the slip sheet from the laminate, a pallet on which the laminate is placed and having a discrimination mark; A sensor for discriminating a discrimination mark, a means for stopping the transfer device or the separation operation when the sensor discriminates the discrimination mark, and the transfer device and the interleaf separating device are horizontally moved onto the laminate. a horizontal rail for moving the, have a, the transfer device is movable on a vertical rail, said interleaf sheet peeling apparatus, holding the interleaf sheet, and a chuck portion to be peeled, the chuck portion Can move up and down And the sensor is provided in the transfer device and the slip-sheet peeling device, the transfer device is disposed immediately above the laminate, and the sensor of the transfer device is directly below the sensor of the transfer device. If the discrimination mark is determined by measuring the reflectance, and the discrimination mark is not determined by the sensor of the transfer device, the transfer device is lowered and lifted after adsorbing the substrate and moved in the horizontal direction, The discriminating mark is formed by placing the interleaf sheet peeling device immediately above the end of the interleaf paper of the laminate and measuring the reflectance immediately below the sensor of the interleaf paper peeling device with the sensor of the interleaf paper peeling device. If the discrimination mark is not discriminated by the sensor of the slip sheet peeling device, the chuck part is lowered, the end of the slip sheet is gripped and moved horizontally, and the transfer device and the slip sheet peeling device Is A unpacking system characterized by moving on said laminate.
Before Symbol discrimination mark may be a matte black.
The transfer device may include a plurality of suction portions that can move up and down independently .

  ADVANTAGE OF THE INVENTION According to this invention, when opening a laminated body and isolate | separating a board | substrate, a board | substrate can be protected from a damage | wound and damage.

DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail based on the drawings.
FIG. 1 is a perspective view showing an unpacking system 1 according to this embodiment, and FIG. 2 is a detailed view of the pallet 10 of FIG.
FIG. 3 is a diagram showing the relationship between the pallet 10 and the substrate transfer device 9, and FIG. 4 is a diagram showing the relationship between the pallet 10 and the slip sheet peeling device 11.

As shown in FIG. 1, the unpacking system 1 has a laminated body 7 on a pallet 10. Above the laminated body 7, a substrate transfer device 9 that separates the substrate 3 from the laminated body 7, and the laminated body 7. An interleaving paper peeling device 11 for separating the interleaving paper 5 is provided.
Next to the laminated body 7, a trash box 13 for storing the peeled interleaving paper 5 a is provided.

The laminated body 7 has a structure in which the substrate 3 and the interleaving paper 5 are alternately laminated.
The substrate 3 is, for example, a color filter substrate, a glass substrate, a plastic substrate, a thin film transistor substrate, or the like.
The interleaving paper 5 is a cushioning material provided so that the substrates 3 do not contact each other, and paper, a resin film, or the like is used.

The substrate transfer device 9 is provided on the vertical rails 19a and 19b so as to be movable in the directions B1 and B2. The vertical rails 19a and 19b are provided on the horizontal rails 21a and 21b so as to be movable in the directions A1 and A2. Yes.
That is, the substrate transfer device 9 is movable in the A1, A2 direction and the B1, B2 direction.

In the substrate transfer device 9, a plurality of suction pads 51 are provided on a frame 49, and the suction pads 51 can be independently moved in directions D 1 and D 2 by an actuator 53.
The suction pad 51 is a suction plate that sucks the substrate 3, and a vacuum pad or the like is used.

On the other hand, the slip sheet peeling device 11 has frames 57a and 57b, and a chuck device 59 for gripping the slip sheet 5 is provided on the frames 57a and 57b.
The chuck device 59 is movable in the C1 and C2 directions on the frames 57a and 57b.
The slip sheet peeling device 11 can move in the E1 and E2 directions on the horizontal rails 21a and 21b.

Here, the sensors 12 a and 12 b are provided on the frame 49 of the substrate transfer device 9, and the sensor 14 is provided on the frame 57 a of the slip sheet peeling device 11.
The sensors 12a, 12b, and 14 are sensors that measure the reflectance. In this embodiment, the reflectance immediately below the substrate transfer device 9 or the slip-sheet peeling device 11 is measured.

On the other hand, as shown in FIG. 2, the pallet 10 has a flat plate shape and is provided with discrimination marks 16a and 16b on the surface.
The discrimination marks 16a and 16b are matte black.

  Here, as shown in FIG. 3, when the discrimination marks 16a and 16b are directly below the sensors 12a and 12b (F1 and F2 directions in FIG. 3), the discrimination marks 16a and 16b are matte black. The reflectance measured by 12a and 12b is almost zero.

On the other hand, the reflectance of the substrate 3 and the interleaf 5 is much larger than that of the discrimination marks 16a and 16b. Therefore, when the reflectance is 0, the laminated body 7 is not placed on the pallet 10, and when the reflectance is much higher than 0, the laminated body 7 is placed on the pallet 10. I understand that.
That is, it is possible to detect whether or not the stacked body 7 is placed on the pallet 10 by measuring the reflectance by the sensors 12a and 12b.

  Similarly, as shown in FIG. 4, when the discrimination mark 16 a is directly below the sensor 14 (G direction in FIG. 4), the reflectance measured by the sensor 14 is almost zero, so the sensor 14 measures the reflectance. By doing so, it is possible to detect whether or not the laminate 7 is placed on the pallet 10.

  The operations of the substrate transfer device 9, the slip sheet peeling device 11, and the sensors 12a, 12b, and 14 are controlled by a control device (not shown).

Next, the operation of the unpacking system 1 will be described.
FIG. 5 is a flowchart showing a procedure for separating the substrate 3 and the interleaf 5 from the laminate 7, and FIGS. 6 to 15 are diagrams showing each step in FIG.

First, as shown in FIG. 6, the substrate transfer device 9 is moved in the A2 direction and arranged immediately above the laminate 7 (step 101).
Next, the reflectances immediately below the sensors 12a and 12b (F1 and F2 directions in FIG. 6) are measured using the sensors 12a and 12b (step 102).
Here, based on the reflectance measured by the sensors 12a and 12b, it is determined whether or not the laminate 7 is placed on the pallet 10. If not, the process proceeds to step 104, where it is placed. In this case, the process proceeds to step 105 (step 103).

  When the laminated body 7 is not placed on the pallet 10, as shown in FIG. 7, the sensors 12a and 12b recognize the discrimination marks 16a and 16b. If the operation is continued in such a case, the substrate transfer device 9 may erroneously recognize the pallet 10 as the substrate 3 and attempt to transfer it, so the operation is stopped (step 104).

  When the laminated body 7 is placed on the pallet 10, as shown in FIG. 8, the substrate transfer device 9 is lowered in the B1 direction, and the substrate 3 is sucked by the suction pad 51 (step 105).

  Next, as shown in FIG. 9, the substrate transfer device 9 is raised in the B2 direction with the substrate 3 adsorbed, and the substrate transfer device 9 is moved in the A1 direction as shown in FIG. Then, the substrate 3 is transferred (step 106).

Next, as shown in FIG. 11, the slip sheet peeling device 11 is moved in the E1 direction on the horizontal rails 21a and 21b, and is disposed immediately above the end portion of the slip sheet 5 (step 107).
Next, the reflectance immediately below the sensor 14 (G direction in FIG. 11) is measured using the sensor 14 (step 108).
Here, from the reflectance measured by the sensor 14, it is determined whether or not the stacked body 7 is placed on the pallet 10. If not, the process proceeds to step 110, and if it is placed, Proceed to step 111 (step 109).

  When the laminated body 7 is not placed on the pallet 10, as shown in FIG. 12, the sensor 14 recognizes the discrimination mark 16a. If the operation is continued in such a case, there is a possibility that the slip sheet peeling device 11 misidentifies the pallet 10 as the slip sheet 5 and tries to transfer it, so the operation is stopped (step 110).

  When the laminated body 7 is placed on the pallet 10, as shown in FIG.

  Next, as shown in FIG. 14, the slip sheet peeling device 11 is moved in the E2 direction while holding the slip sheet 5 to peel the slip sheet 5 (step 111), and as shown in FIG. And return to step 101 (step 112).

As described above, according to the present embodiment, the unpacking system 1 moves the substrate transfer device 9 and the slip sheet peeling device 11 alternately onto the laminated body 7, and the substrate 7 and the laminated paper are transferred from the laminated body 7. The laminate 7 is opened by separating the paper 5.
Therefore, the substrate 3 can be protected from scratches and breakage during opening.

  Further, according to the present embodiment, since the substrate transfer device 9 and the slip sheet peeling device 11 are provided with the sensors 12a, 12b, and 14 for determining the pallet 10, the empty pallet is mistaken for the stacked body 7. The failure of the substrate transfer device 9 and the slip sheet peeling device 11 can be prevented.

  As mentioned above, although embodiment of this invention was described referring an accompanying drawing, the technical scope of this invention is not influenced by embodiment mentioned above. It is obvious for those skilled in the art that various modifications or modifications can be conceived within the scope of the technical idea described in the claims, and these are naturally within the technical scope of the present invention. It is understood that it belongs.

The perspective view which shows the unpacking system 1 Detailed view of pallet 10 The figure which shows the relationship between the pallet 10 and the board | substrate transfer apparatus 9. The figure which shows the relationship between the pallet 10 and the slip-sheet peeling apparatus 11 A flowchart showing a procedure for separating the substrate 3 and the interleaf 5 from the laminate 7. Diagram showing each process Diagram showing each process Diagram showing each process Diagram showing each process Diagram showing each process Diagram showing each process Diagram showing each process Diagram showing each process Diagram showing each process Diagram showing each process

Explanation of symbols

1 …… Unpacking system 3 ………… Substrate 5 ………… Interleaving paper 7 ………… Laminate 9 ………… Substrate transfer device 11 ………… Interleaving paper peeling device 12a …… Sensor 13 ... …… Trash box 14 ………… Sensor 16a …… Distinction mark 19a …… Vertical frame 21a …… Horizontal frame 49 ……… Frame 51 ……… Suction pad 53 ……… Actuator 57a …… Frame 59 ……… Chuck device

Claims (3)

An unwrapping system that separates the substrate and the slip sheet from a laminate obtained by alternately stacking the substrate and slip sheet in the vertical direction,
A transfer device for separating and transporting the substrate from the laminate;
A slip sheet peeling device for separating and transporting the slip sheet from the laminate;
A pallet on which the laminate is placed and having a discrimination mark;
A sensor for discriminating the discrimination mark;
Means for stopping the transfer device or the separation work when the sensor determines the determination mark;
A horizontal rail for moving the transfer device and the slip sheet peeling device in the horizontal direction onto the laminate;
I have a,
The transfer device is movably provided on a vertical rail;
The slip sheet peeling device has a chuck part that holds and peels the slip sheet, and a frame in which the chuck part can move up and down.
The sensor is provided in the transfer device and the slip sheet peeling device,
The transfer device is arranged immediately above the laminate, and the discrimination mark is determined by measuring the reflectance immediately below the sensor of the transfer device with the sensor of the transfer device,
When the discrimination mark is not discriminated by the sensor of the transfer device, the transfer device is lowered and lifted after adsorbing the substrate, moved in the horizontal direction,
The discriminating mark is formed by placing the interleaf sheet peeling device immediately above the end of the interleaf paper of the laminate and measuring the reflectance immediately below the sensor of the interleaf paper peeling device with the sensor of the interleaf paper peeling device. Determine
When the discrimination mark is not discriminated by the sensor of the slip sheet peeling device, the chuck part is lowered, the end of the slip sheet is grabbed and moved in the horizontal direction,
The unsealing system, wherein the transfer device and the slip sheet peeling device are alternately moved onto the laminate . The unwrapping system according to claim 1 , wherein the discrimination mark is matte black. The transfer device unpacking system according to claim 1 or claim 2, characterized in that each independently having a plurality of suction portions vertically movable.

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