JP6922467B2 - Positioning device, processing device, positioning method and glass plate manufacturing method for the member to be processed - Google Patents

Description

The present invention relates to a positioning device, a processing device, a positioning method, and a method for manufacturing a glass plate of a member to be processed.

Conventionally, a processing apparatus for glass products is known (see, for example, Patent Documents 1 and 2).
In the apparatus of Patent Document 1, the glass product is gripped by the chuck of the robot arm, moved to the vicinity of the wheel drive panel, and then the glass product is ground by the wheel of the wheel drive panel.
In the device of Patent Document 2, when the glass plate is placed on the support base, the glass plate pressing portion located on the side of the support base is raised. After that, the glass plate pressing portion is moved toward the outer peripheral edge of the glass plate, and the glass plate is pressed for positioning.

Japanese Unexamined Patent Publication No. 5-185349 Japanese Unexamined Patent Publication No. 2015-171752

However, in a device such as Patent Document 1, since the positioning of the glass product with respect to the wheel is performed by the robot arm, it is difficult to position the glass product with high accuracy. In particular, when the weight of the glass product is large, it becomes more difficult to position it accurately.
Further, in a device such as Patent Document 2, after the glass plate is placed on the support base, the glass plate pressing portion is moved to position the glass plate, so that the time required for positioning becomes long.
Further, it is conceivable that the robot arm of Patent Document 1 is applied instead of the glass plate pressing portion of Patent Document 2, and positioning is also performed at the same time when the glass plate is placed on the support base by this robot arm. The same problem as that of the device of Patent Document 1 such as

An object of the present invention is to provide a positioning device, a processing device, a positioning method, and a method for manufacturing a glass plate of a member to be processed, which can accurately position the member to be processed with respect to a support portion in a short time.

The positioning device for a member to be processed of the present invention is a plate-shaped positioning device for a member to be processed, and includes a conveying means and a supporting means, and the conveying means places the member to be processed on the first main surface side. The support means includes a support portion that supports the member to be processed from the second main surface side, and a support side positioning portion, and includes the grip side positioning portion. The portion is characterized in that it is positioned with respect to the support side positioning portion by fitting or engaging.

According to the present invention, after the member to be processed is gripped by the grip portion in a preset state from the first main surface side, the member to be processed is positioned with respect to the support side positioning portion and at the same time as the grip side positioning portion is positioned with respect to the support portion. Can be positioned. Further, since a structural method such as fitting or engagement is used for positioning the support side positioning portion and the grip side positioning portion, positioning is more accurate than when a robot arm is used regardless of the weight of the member to be processed. can.

In the positioning device for the member to be processed of the present invention, it is preferable that the grip portion has a grip side curved surface portion capable of surface contact with at least a part of the first main surface.
According to this aspect of the present invention, when a deformable member is used as the member to be processed, the member to be processed is brought into surface contact with the curved surface portion on the grip side, and the member to be processed is gripped and conveyed by the grip portion in a bent state to be processed. By bringing the bent portion of the member into contact with the support portion and then releasing the grip, the air between the member to be processed and the support portion can be expelled when the member to be processed returns to a flat plate shape.

In the positioning device for the member to be processed of the present invention, it is preferable that the support portion has a support side curved surface portion capable of surface contact with at least a part of the second main surface.
According to this aspect of the present invention, when positioning a member to be processed that has a curved surface portion at least partially and cannot be deformed, the curved surface portion on the first main surface side is brought into surface contact with the curved surface portion on the gripping side. The curved surface portion on the second main surface side is brought into surface contact with the curved surface portion on the support side, so that the member to be processed can be positioned with respect to the support portion with high accuracy in a short time.

In the positioning device for the member to be processed of the present invention, it is preferable that the gripping portion grips the member to be processed by adsorption using negative pressure.
In the positioning device for the member to be processed of the present invention, it is preferable that the support portion supports the member to be processed by adsorption using negative pressure.
According to this aspect of the present invention, it is possible to suppress damage to the member to be processed during gripping and support. Further, since the member to be processed can be supported only from the position facing the second main surface and it is not necessary to provide a support mechanism around the member to be processed, the outer peripheral portion of the member to be processed can be easily processed.

In the positioning device for the member to be processed of the present invention, it is preferable that the support-side positioning portion is configured to be movable with respect to the support portion.
According to this aspect of the present invention, it is possible to prevent the support-side positioning portion from becoming an obstacle when the processing means processes the member to be processed supported by the support portion.

In the positioning device for the member to be processed of the present invention, it is preferable that the transporting means includes a robot arm for moving the grip portion and the grip side positioning portion.
According to this aspect of the present invention, positioning can be automated.

The positioning device for a member to be processed of the present invention includes a pre-alignment means for causing the grip portion to grip the member to be processed in a preset state, and the pre-alignment means holds the member to be processed. It is preferable to include a positioning support portion that supports from the second main surface side and a pre-positioning portion that is positioned with respect to the gripping side positioning portion by fitting or engaging.
According to this aspect of the present invention, the gripping portion can surely grip the member to be processed in a preset state.

The processing device for a member to be processed of the present invention includes the above-mentioned positioning device for the member to be processed and a processing means for processing the member to be processed supported by the support portion of the positioning device.
According to this aspect of the present invention, it is possible to provide a processing apparatus capable of improving the processing accuracy of the member to be processed.

The method for positioning a member to be processed according to the present invention is a method for positioning a member to be processed using the above-mentioned positioning device for the member to be processed, and the member to be processed is preset from the first main surface side at the grip portion. The gripping means is gripped in the state of being gripped, the gripping means is moved, the gripping side positioning portion is positioned with respect to the supporting side positioning portion by fitting or engaging, and the supported member is positioned with the support portion by the second support portion. Support from the main surface side.

The method for positioning the member to be processed of the present invention is a method for positioning the member to be processed using the above-mentioned positioning device for the member to be processed, and the member to be processed is placed on the alignment support portion from the second main surface side. It is supported in a preset state, the transport means is moved, the gripping side positioning portion is positioned with respect to the pre-positioning portion by fitting or engaging, and the grip portion positions the member to be processed in the first position. The gripping means is gripped from the main surface side of the above in a preset state, the transport means is moved, the gripping side positioning portion is positioned with respect to the support side positioning portion by fitting or engaging, and the support portion is used to position the cover. The processing member is supported from the second main surface side.

The method for manufacturing a glass plate of the present invention is a method for manufacturing a glass plate that processes a glass plate having a curved surface portion at least in part, and is a grip portion that grips the glass plate from the first main surface side. The first means using the transport means having the gripping side positioning portion, the supporting means having the supporting portion for supporting the glass plate from the second main surface side and the supporting side positioning portion, and the processing means for performing the processing. The glass plate is gripped so that the curved surface portion of the main surface of the glass plate comes into surface contact with the gripping side curved surface portion of the gripping portion in a preset state, the transport means is moved, and the gripping side positioning portion is fitted or Positioning is performed with respect to the support-side positioning portion by engagement, the glass plate is supported so that the curved surface portion of the second main surface comes into surface contact with the support-side curved surface portion of the support portion, and the processing means is used to support the glass plate. It is characterized by processing a glass plate.
According to the present invention, a glass plate having a curved surface portion at least in a part thereof can be accurately positioned with respect to the support portion, and the processing accuracy of the glass plate can be improved.

In the method for producing a glass plate of the present invention, it is preferable that the treatment is chamfering, cutting or printing of the glass plate.
According to this aspect of the present invention, the accuracy of chamfering, cutting and printing of a glass plate can be improved.

In the method for producing a glass plate of the present invention, it is preferable that the contact surface of the support portion with the glass plate is included in the glass plate in a top view.
According to this aspect of the present invention, when processing the outer peripheral portion of the glass plate, the tool used for the processing can be circulated around the outer peripheral portion of the glass plate and processed smoothly.

In the method for producing a glass plate of the present invention, it is preferable that the contact surface of the support portion with the glass plate is 50% or more of the area of the glass plate.
According to this aspect of the present invention, the glass plate can be stably gripped and supported, the processing accuracy of the glass plate can be improved, and the processed glass plate with high dimensional accuracy can be obtained.

The perspective view of the positioning apparatus which concerns on one Embodiment of this invention. A partial cross-sectional view of the pre-alignment means and the transport means of the positioning device in a front view. A partial cross-sectional view of the support means of the positioning device in a front view. (A), (B), and (C) are explanatory views of a method for positioning a glass plate using the positioning device. The front view of the glass processing apparatus provided with the positioning apparatus. The pre-alignment means of the positioning device according to the modified example of the present invention is shown, (A) is a partial cross-sectional view in a front view, and (B) is a top view. A cross-sectional view of a positioning mechanism of a transporting means and a pre-aligning means or a supporting means according to another modification of the present invention in a top view. The front view of the transport means and the support means of the positioning apparatus which concerns on still another modification of this invention.

[Embodiment]
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[Structure of glass plate]
First, the configuration of the glass plate positioned by the positioning device of the present invention will be described. The direction parallel to the X-axis in FIG. 1 is expressed as the left-right direction, the direction parallel to the Y-axis is expressed as the front-back direction, and the direction parallel to the Z-axis is expressed as the up-down direction.
As shown in FIG. 1, the glass plate G as a member to be processed is rectangular in a top view, and includes a curved surface portion GA bent in a cylindrical shape and a flat surface portion GB. The curved surface portion GA is provided on one side (left side in FIG. 1) of the glass plate G in the longitudinal direction, and the flat surface portion GB is provided on the other side (right side in FIG. 1). The right end surface of the glass plate G is used as a flat reference surface G3.
In such a glass plate G, for example, a flat glass plate is placed on a mold having a curved surface portion, and the flat surface portion GB is provided so that the corresponding portion of the reference surface G3 abuts on the reference surface of the mold. After fixing the corresponding portion to the mold, it is obtained by a self-weight molding method in which at least the portion corresponding to the curved surface portion GA is heated to soften and deformed along the mold by its own weight.

[Structure of glass plate positioning device]
Next, the configuration of the positioning device 10 for the glass plate G will be described.
The positioning device 10 includes a pre-alignment means 20, a transport means 30, and a support means 40.

As shown in FIGS. 1 and 2, the pre-alignment means 20 includes a plate-shaped alignment support base 21. On the upper surface of the alignment support base 21, a quadrangular alignment support portion 22 and a first concave jig 23 as four pre-positioning portions are provided.

On the upper surface of the alignment support portion 22, a storage groove portion 221 in which the glass plate G is housed while being positioned is provided. The accommodating groove portion 221 is composed of a reference surface contact portion 222 which is formed of a YZ plane and in which the reference surface G3 is in surface contact, and a side contact portion 223 which is formed of an XZ plane and in which the side surface G4 of the glass plate G is in surface contact. It is provided with a main surface contact portion 224 in which the main surface G2 of 2 is in surface contact. The main surface contact portion 224 includes a pedestal-side curved surface portion 225 in which the entire curved surface portion GA of the first main surface G1 is in surface contact, and a pedestal-side flat surface portion 226 in which the entire flat surface portion GB is in surface contact. The reference surface contact portion 222, the side surface contact portion 223, and the main surface contact portion 224 can be arranged with the reference surface G3, the side surface G4, and the second main surface G2 as long as the glass plate G can be positioned in the accommodating groove portion 221. , You may make contact with any one of the lines.

The first concave jig 23 is provided on the outside of each of the four corners of the alignment support portion 22. The first concave jig 23 includes a columnar first concave jig main body 231. A circular first fitting recess 232 is formed on the upper surface of the first concave jig main body 231 when viewed from above. The first fitting recess 232 includes a large-diameter portion 233 located on the upper side and a small-diameter portion 234 located on the lower side and having an inner diameter smaller than that of the large-diameter portion 233. At the upper ends of the large diameter portion 233 and the small diameter portion 234, a first inclined surface 235 and a second inclined surface 236 whose inner diameter gradually increases toward the upper side are provided.

The transporting means 30 includes a plate-shaped gripping base 31. The upper surface of the grip base 31 is connected to, for example, the robot arm 33 of a 6-axis robot via a floating unit 32. On the lower surface of the grip base 31, a grip portion 34 having a shape substantially equal to that of the glass plate G when viewed from the bottom surface, and a convex jig 35 as grip side positioning portions of four columnar bodies are provided.

A grip side main surface contact portion 341 is provided on the lower surface of the grip portion 34.
The grip-side main surface contact portion 341 includes a grip-side curved surface portion 342 in which the entire curved surface portion GA of the first main surface G1 is in surface contact, and a grip-side flat surface portion 343 in which the entire flat surface portion GB is in surface contact. .. The gripping side main surface contact portion 341 is provided with a plurality of gripping suction holes (not shown). Negative pressure is supplied to the gripping suction hole from a suction pump (not shown).

The convex jig 35 is provided on the outside of each of the four corners of the grip portion 34. The convex jig 35 includes a columnar convex jig main body 351. On the lower surface of the convex jig main body 351, a fitting convex portion 352 that fits into the first fitting concave 232 of the first concave jig 23 is provided. The fitting convex portion 352 is located below the large-diameter cylindrical portion 353 having an outer diameter equal to that of the large-diameter portion 233 of the first concave jig 23 and the large-diameter cylindrical portion 353, and has a small outer diameter. It is provided with a small diameter cylindrical portion 354 equal to 234. At the lower ends of each of the large-diameter cylindrical portion 353 and the small-diameter cylindrical portion 354, a first grip-side inclined surface 355 and a second grip-side inclined surface 356 whose outer diameter gradually decreases toward the lower side are provided. There is.

As shown in FIGS. 1 and 3, the support means 40 includes a quadrangular support base 41 when viewed from above. On the upper surface of the support base 41, a quadrangular support portion 42 having a shape smaller than that of the glass plate G when viewed from above is provided.
The upper surface of the support portion 42 includes a support side curved surface portion 422 in which a part of the curved surface portion GA of the second main surface G2 is in surface contact and a support side flat surface portion 423 in which a part of the flat surface portion GB is in surface contact. It constitutes a side main surface contact portion 421. The support side main surface contact portion 421 is provided with a plurality of support suction holes (not shown). Negative pressure is supplied to the support suction hole from a suction pump (not shown).

Second concave jigs 43 as support-side positioning portions are provided on the outer surface of the four corners of the support portion 42 on the upper surface of the support base 41 so as to be able to move up and down. The second concave jig 43 includes a columnar second concave jig main body 431. A second fitting recess 432 is formed on the upper surface of the second concave jig main body 431. The second fitting recess 432 has a large diameter portion 433 and a small diameter portion having the same shape as the large diameter portion 233, the small diameter portion 234, the first inclined surface 235, and the second inclined surface 236 of the first concave jig 23, respectively. A portion 434, a first support-side inclined surface 435, and a second support-side inclined surface 436 are provided.

[Positioning method of glass plate]
Next, a method of positioning the glass plate G using the positioning device 10 will be described.
First, as shown by a solid line in FIG. 2, a robot or an operator (not shown) accommodates the glass plate G in the accommodating groove 221 of the pre-alignment means 20, and sets the reference surface G3, the side surface G4, and the second main surface G2. The reference surface contact portion 222, the side contact portion 223, and the main surface contact portion 224 are brought into surface contact with each other. Due to these abutments, the 6-axis direction (vertical direction, front-rear direction, left-right direction, yawing direction (rotation direction centered on the Z axis), rolling direction (centered on the Y axis)) with respect to the alignment support portion 22 of the glass plate G. Positioning is performed in the direction of rotation) and the direction of pitching (direction of rotation about the X-axis).

Next, the transport means 30 moves the gripping base 31 by driving the 6-axis robot, and as shown in FIG. 4 (A), the fitting convex portion 352 of each convex jig 35 is each of the first concave jigs. By fitting the convex jig 35 into the first fitting recess 232 of the 23, the convex jig 35 is positioned with respect to the first concave jig 23. At this time, even if the horizontal position of the convex jig 35 before fitting is slightly deviated from the position directly above the first concave jig 23, the first fitting convex portion 352 as shown in FIG. 2 , The fitting convex portion 352 is made into the first fitting recess by sliding contact between the second gripping side inclined surface 355,356 and the first and second inclined surfaces 235 and 236 of the first fitting recess 232. It can be smoothly fitted to 232.
Then, by positioning the convex jig 35 with respect to the first concave jig 23, the grip portion 34 is positioned in the 6-axis direction with respect to the glass plate G supported by the alignment support portion 22, and the first glass plate G is positioned. The entire main surface G1 of the above is in surface contact with the gripping side main surface contact portion 341 in a preset state.

Next, the suction pump of the transport means 30 is driven to supply a negative pressure to the gripping suction hole, and the glass plate G is sucked and gripped from the first main surface G1 side by the gripping side main surface contact portion 341. The axial robot is driven to position the gripping base 31 above the support base 41 of the support means 40, as shown by the alternate long and short dash line in FIG. Then, as shown in FIG. 4B, the fitting convex portion 352 of each convex jig 35 is fitted into the second fitting concave portion 432 of each second concave jig 43, whereby the second fitting convex portion 352 is fitted. The convex jig 35 is positioned with respect to the concave jig 43. At this time, even if the horizontal position of the convex jig 35 before fitting is slightly deviated from the position directly above the second concave jig 43, the first fitting convex portion 352 as shown in FIG. 3 , The fitting convex portion 352 is second-fitted by sliding contact between the second grip-side inclined surface 355,356 and the first and second support-side inclined surfaces 435 and 436 of the second fitting recess 432. It can be smoothly fitted into the joint recess 432.
Then, by positioning the convex jig 35 with respect to the second concave jig 43, the glass plate G is positioned with respect to the support portion 42 in the 6-axis direction, and the second main surface G2 of the glass plate G is the support side main surface. Surface contact with the contact portion 421.

After that, the suction pump of the support means 40 is driven to supply a negative pressure to the support suction hole, and the glass plate G is suction-supported from the second main surface G2 side by the support side main surface contact portion 421. Then, the drive of the suction pump of the transport means 30 is stopped, the suction grip of the glass plate G by the grip portion 34 is released, and the grip base 31 is returned to the initial position by the 6-axis robot.
After that, for example, as shown in FIG. 4C, when the glass plate G is cut by the cutter 501, each of the second concave jigs 43 does not interfere with the cutting of the glass plate G. The concave jig 43 of the above is lowered.

[Action and effect of the embodiment]
The convex jig 35 of the transport means 30 that grips and conveys the glass plate G from the first main surface G1 side, and the second concave jig 43 of the support means 40 that supports from the second main surface G2 side. , It is configured so that it can be positioned by fitting.
Therefore, the convex jig 35 can be positioned with respect to the second concave jig 43, and at the same time, the glass plate G can be positioned with respect to the support portion 42, and the convex jig 35 and the second concave jig 43 can be positioned. Since a structural method of a jig is used, positioning can be performed with higher accuracy than when a robot arm is used, regardless of the weight of the glass plate G. Therefore, it is possible to provide a positioning device 10 that can accurately position the glass plate G with respect to the support portion 42 in a short time.

The grip-side curved surface portion 342, which is in surface contact with the grip-side main surface contact portion 341 and the support-side main surface contact portion 421, and the curved surface portions GA on the first and second main surfaces G1 and G2 sides of the glass plate G, respectively. A curved surface portion 422 on the support side is provided.
Therefore, even if the glass plate G is bent, the curved surface portion GA on the first main surface G1 side is gripped and conveyed in a state of being in surface contact with the curved surface portion 342 on the gripping side, and the second main surface G2 is conveyed. By bringing the curved surface portion GA on the side into surface contact with the curved surface portion 422 on the support side, positioning can be performed accurately in a short time.

Since the gripping portion 34 and the supporting portion 42 grip and support the glass plate G by adsorption using negative pressure, damage to the glass plate G during gripping and supporting can be suppressed. Further, since the glass plate G is supported only from the position where the support portion 42 faces the second main surface G2, the outer peripheral portion of the glass plate G can be easily processed.
Since four sets of the convex jig 35 and the second concave jig 43 are provided, the positioning accuracy of the glass plate G can be improved.

[Glass processing device equipped with a positioning device]
The positioning device 10 as described above can be used, for example, in the glass processing device 1 as a processing device for a member to be processed as shown in FIG.
The glass processing device 1 includes a positioning device 10 and a processing means 50, and cuts or chamfers the glass plate G supported by the support portion 42 of the positioning device 10.

The processing means 50 includes a spindle 51, a spindle moving stage 52, and a tool autochanger 53. A collect chuck 511 is attached to the spindle 51 via a floating portion 512. Various processing tools such as a cutter 501 and a grinding wheel 502 are detachably attached to the collect chuck 511. The spindle 51 moves the machining tool up and down and rotates it by a motor (not shown).
The spindle movement stage 52 moves the spindle 51 in the front-back and left-right directions.
The tool autochanger 53 is illustrated by stocking a pair of arms 531 that hold a machining tool at its tip, an exchange drive unit 533 that holds the arm 531 on a shaft 532 and moves or rotates it up and down, and a machining tool. A tool stocker that does not work is provided, and a predetermined machining tool is removed from the collect chuck 511 of the spindle 51 or attached to the collect chuck 511.

When the glass plate G is processed by the glass processing apparatus 1, as described in the above embodiment, after the glass plate G is positioned on the support portion 42 by the positioning apparatus 10, each second concave jig 43 is lowered. After that, a motor (not shown) or a spindle moving stage 52 of the spindle 51 is driven as needed, and a position outside the support portion 42 on the glass plate G is cut by the cutter 501 or chamfered by the grinding wheel 502.
Then, when the processing of the glass plate G is completed, the drive of the suction pump of the support means 40 is stopped to release the suction support of the glass plate G by the support portion 42, and the robot or the operator removes the processed glass plate G. Remove from the support 42.

Here, when cutting the outer peripheral portion of the flat glass plate, for example, a product having a desired shape can be obtained even if positioning in the yawing direction is not performed accurately, but the glass plate G has a curved surface portion GA. In this case, a product having a desired shape cannot be obtained unless the yawing direction is accurately positioned.
According to the above-mentioned glass processing apparatus 1, the glass plate G is accurately positioned in the 6-axis direction with respect to the support portion 42, so that a product having a desired shape can be obtained.
In particular, since the first 6-axis direction positioning of the glass plate G is performed by the pre-alignment means 20, the fitting convex portion is in a state where the cutting chips are attached to the first fitting concave 232 of the first concave jig 23. It is possible to suppress the fitting of the 352, and the positioning can be performed with higher accuracy.

[Modification example]
The present invention is not limited to the above-described embodiment, and various improvements and design changes can be made without departing from the gist of the present invention. The procedure, structure, etc. may be other structures, etc. as long as the object of the present invention can be achieved.

For example, in the above embodiment, the following configuration may be applied.
The pre-alignment means 20 may not be provided. In this case, the transport means 30 may grip and transport the glass plate G placed on the table or housed in the box.
The alignment support portion 22 may be provided with a mechanism for sucking and supporting the glass plate G.
The main surface contact portion 224, the grip side main surface contact portion 341, and the support side main surface contact portion 421 may all be flat, and the flat glass plate may be positioned with respect to the support portion 42.
The area of the main surface contact portion 224 of the alignment support portion 22, the grip side main surface contact portion 341 of the grip portion 34, and the support side main surface contact portion 421 of the support portion 42 realizes stable gripping and support. From the viewpoint, 50% or more of the glass plate G is preferable. In particular, when the glass plate G is processed by the processing means 50, the area of the support side main surface contact portion 421 of the support portion 42 is more preferably 60% or more, still more preferably 70% or more of the glass plate G. 80% or more is particularly preferable. As a result, the processing accuracy of the glass plate G can be improved, and a processed glass plate having high dimensional accuracy can be obtained. The area of the support-side main surface contact portion 421 of the support portion 42 is preferably 98% or less, more preferably 95% or less of the glass plate G. When the outer peripheral portion of the glass plate G is treated with the grinding wheel 502 or the like, the grinding wheel 502 or the like can be treated without contacting the support portion 42, and damage to the glass plate G can be reduced.
Further, it is preferable that the support side main surface contact portion 421 of the support portion 42 is supported so as to be included in the glass plate G when viewed from above. When the outer peripheral portion of the glass plate G is treated with the grinding wheel 502 or the like, the grinding wheel 502 or the like can easily orbit the outer peripheral portion of the glass plate G and can be smoothly processed.
The shapes of the main surface contact portion 224, the grip side main surface contact portion 341, and the support side main surface contact portion 421 correspond to the first main surface G1 and the second main surface G2 of the glass plate G. It is preferable, but it does not have to be supported. For example, in the above embodiment, the grip side curved surface portion 342 or the grip side flat surface portion 343 may be omitted, or the support side curved surface portion 422 or the support side flat surface portion 423 may be omitted.

Further, as shown in FIGS. 6A and 6B, the positioning device of the present invention may be used when positioning the glass plate H formed by the vacuum forming method.
The glass plate H includes, for example, a square frame-shaped reference plane portion HA, a curved surface portion HB inside the reference plane portion HA, and a deformed portion HC outside the reference plane portion HA. A perfect circular mark HD is provided at a diagonal position of the reference plane portion HA.
The positioning device 10A includes a pre-alignment means 20A instead of the pre-alignment means 20 that constitutes the positioning device 10 of the above embodiment. Further, although not shown here, the grip side main surface contact portion 341 of the grip portion 34 of the positioning device 10A and the support side main surface contact portion 421 of the support portion 42 are the first and second main surfaces of the glass plate H. It is formed in a curved surface corresponding to the surfaces H1 and H2, respectively.

The pre-alignment means 20A includes an alignment support base 21, a first concave jig 23, a flat support portion 25A supported by the alignment base 24A, and a base drive unit 26A that changes the posture of the alignment base 24A. An image pickup means 27A that images the mark HD from above the plane support portion 25A, and a posture control means (not shown) that controls the base drive unit 26A based on the image pickup result of the image pickup means 27A are provided. The plane support portion 25A, the base drive portion 26A, the image pickup means 27A, and the posture control means constitute the alignment support portion of the present invention.
The flat surface support portion 25A is formed in a square tubular shape, and the reference flat surface portion HA of the glass plate H can be supported from the second main surface H2 side by the upper surface 251A, and the curved surface portion HB can be positioned inside the flat surface support portion H2. It is configured in. The base drive unit 26A supports the alignment base 24A so as to be surrounded by four first concave jigs 23. The position of the imaging means 27A may be any place as long as the mark HD can be imaged from above the plane support portion 25A, for example, it may be fixed to the grip base 31 of the transport means 30, or above the plane support portion 25A and the grip base. It may be fixed at a position outside the movement range of 31.

When positioning the glass plate H with the positioning device 10A, first, a robot or an operator (not shown) places the reference plane portion HA of the glass plate H on the plane support portion 25A. Next, two mark HDs are imaged by the image pickup means 27A, and the attitude control means pitches the positioning base 24A in the yawing direction, the rolling direction, and the pitching direction as necessary so that the captured mark HDs become a perfect circle. The glass plate H is positioned by moving it in the direction. Then, in the same manner as the positioning device 10 of the above embodiment, the positioned glass plate H is gripped and conveyed by the grip portion 34 of the transport means 30, and the glass plate H is positioned with respect to the support portion 42.
There may be three or more mark HDs, or one mark HD as long as it has a shape other than a perfect circle.

As shown in FIG. 7, instead of the first concave jig 23, the convex jig 35, and the second concave jig 43 of the above embodiment, FIGS. 6A and 6B, the first engagement is performed. The fitting jig 23B, the engaging jig 35B as the gripping side positioning portion, and the second engaged jig 43B as the supporting side positioning portion may be applied. The first engaged jig 23B, the engaging jig 35B, and the second engaged jig 43B each include a square columnar jig main body 231B, 351B, and 431B. At the upper ends of the jig bodies 231B and 431B, first and second engaged convex portions 232B and 432B, which project upward in a square plate shape, are provided, respectively. On the lower surface of the jig main body 351B, engaging convex portions 352B that project downward in a square plate shape and engage with the first and second engaged convex portions 232B and 432B are provided.
In such a configuration, the positioning of the engaging jig 35B and the first engaged jig 23B or the second engaged jig 43B is such that the engaging convex portion 352B and the first engaged convex portion are positioned. Since it is performed by a structural method of engaging with the 232B or the second engaged convex portion 432B, the same effect as the case of using the fitting of the above embodiment can be obtained.
Although four sets of the first engaged jig 23B, the engaging jig 35B, and the second engaged jig 43B are provided, two sets or three sets may be provided, and five or more sets may be provided. May be good.

As shown in FIG. 8, when the deformable film F is laminated on the flat glass plate J, the positioning device of the present invention may be used.
In such a configuration, the transport means 30C of the positioning device 10C includes a grip portion 34C instead of the grip portion 34 constituting the transport means 30 of the above embodiment. The entire lower surface of the grip portion 34C constitutes the grip side curved surface portion 342C. The support means 40C includes a support portion 42C instead of the support portion 42 constituting the support means 40 of the above embodiment. The entire upper surface of the support portion 42C constitutes the support side flat portion 423C.

When the film F is laminated on the glass plate J by the positioning device 10C, first, as shown by a solid line in FIG. 8, the upper surface (first main surface) of the film F is brought into contact with the gripping side curved surface portion 342C and bent. It is sucked and gripped by the gripping portion 34C. Further, the support portion 42C is made to support the glass plate J. Next, by moving the gripping base 31 and fitting each convex jig 35 to each second concave jig 43, the central portion of the lower surface (second main surface) of the film F becomes a glass plate J. The film F is positioned in contact with the film F. After that, when the drive of the suction pump of the transport means 30C is stopped and the suction grip of the film F by the grip portion 34C is released, the non-contact portion of the film F with the glass plate J is lowered by its own weight and is between the glass plate J and the film F. The film F is laminated on the glass plate J as shown by the alternate long and short dash line in FIG.
As a subsequent treatment, the film F may be cut along the outer edge of the glass plate J, or another film or glass plate may be further laminated.
Although the film F is laminated on the glass plate J in FIG. 8, another flat and deformable glass plate may be laminated instead of the film F. Further, instead of the convex jig 35 and the second concave jig 43, the engaging jig 35B and the second engaged jig 43B shown in FIG. 7 may be applied. Further, although described as the support side flat surface portion 423C, the support side curved surface portion having a curved surface may be used. In this case, it is preferable to increase the radius of curvature as compared with the grip side curved surface portion 342C. As a result, when a laminated glass using a glass plate J having a curved surface portion, which has been difficult in the past, is produced, a laminated glass having a good curved surface portion is formed without leaving air bubbles between the film F and the glass plate J. Can be made.

The following configurations may be applied to the devices shown in the above embodiments, FIGS. 6 (A), 6 (B) and 8.
The small-diameter portion 234, the small-diameter cylindrical portion 354, and the small-diameter portion 434 of the first concave jig 23, the convex jig 35, and the second concave jig 43 may be omitted. At the ends of the small-diameter portion 234, the small-diameter cylindrical portion 354, and the small-diameter portion 434, a columnar portion or a recess having a smaller diameter than these may be provided. Each inclined surface 235, 236, 355, 356, 435, 436 may be omitted.
Although four sets of the first concave jig 23, the convex jig 35, and the second concave jig 43 are provided, two sets, three sets, or five or more sets may be provided. The first concave jig 23, the convex jig 35, and the second concave jig 43 have the shapes of the first fitting recess 232, the fitting convex portion 352, and the second fitting recess 432 when viewed from above. As long as it is not circular, it may be one set. Examples of shapes other than the circular shape include a cross shape, a polygonal shape, and an elliptical shape.
A convex jig similar to the convex jig 35 is provided in place of the first and second concave jigs 23 and 43, and a concave jig similar to the first concave jig 23 is provided in place of the convex jig 35. You may.

The following configurations may be applied to the devices shown in the above embodiments, FIGS. 6 (A) and 6 (B), 7 and 8.
Although the second concave jig 43 and the second engaged jig 43B are configured to be able to move up and down, they may not move up and down or may move in the horizontal direction.
The support portions 42 and 42C may be raised so that the second concave jig 43 does not interfere with processing such as cutting the glass plate G or the film F.
The positioning and support by the positioning support portion 22, the flat support portion 25A, the grip portions 34, 34C, and the support portions 42, 42C may be performed by a mechanical mechanism such as a claw.
After fitting the fitting convex portion 352 and the first and second fitting recesses 232 and 432 and after engaging the engaging convex portion 352B with the first and second engaged convex portions 232B and 432B, Removes foreign matter such as cutting chips adhering to the first and second fitting recesses 232 and 432, the fitting convex portion 352, the first and second engaged convex portions 232B and 432B, and the engaging convex portions 352B. Foreign matter removing means may be provided.

As the processing means of the present invention, a configuration capable of processing a member to be processed such as a glass plate or a film, such as a printing means for printing a predetermined pattern, may be used.
The member to be treated of the present invention may be formed of tempered glass, unreinforced glass, laminated glass in which glass and resin are laminated, resin, metal, wood, an interlayer film for laminated glass, a transfer film, or the like. It may be in the form of a sheet, and is not particularly limited as long as it is in the form of a plate. The glass strengthening treatment may be physical strengthening or chemical strengthening, but if the thickness is 2 mm or less, chemical strengthening is preferable. The thickness of the base material is preferably 0.3 mm to 5 mm, more preferably 0.7 mm to 5 mm, and even more preferably 1.3 mm to 3 mm. The thickness of the member to be processed does not have to be uniform in the main surface, and there may be a region that does not fall within the above range. The member to be processed may be subjected to printing treatment, antiglare treatment (AG treatment), antireflection treatment (AR treatment), and anti-fingerprint treatment (AFP treatment) on any one of the main surfaces. The member to be processed may have curved surface portions having different shapes at a plurality of locations. The planar shape of the member to be processed may be a polygon such as a square or a triangle, a trapezoid, a circle, an ellipse, or an irregular shape. The member to be processed may be a panel display such as a liquid crystal display, a cover glass of a portable device such as a smartphone, or a window glass for a vehicle. The curved surface portion may be formed by molding various base materials in an environment such as high temperature, or the glass may be temporarily bent and bent.
The above embodiments and modifications can be combined as needed.
Since the positioning device of the present invention can be easily laminated with glass, resin, or glass, laminated glass can be easily produced. In particular, when producing a laminated glass having a curved surface portion, glass, resin, and glass can be accurately laminated, and a curved laminated glass can be efficiently produced.

1 ... Glass processing device (processing device), 10, 10A, 10C ... Positioning device, 20, 20A ... Pre-alignment means, 23 ... First concave jig (pre-positioning part), 25A ... Flat surface support part (alignment) Support part), 26A ... Base drive part (alignment support part), 27A ... Imaging means (alignment support part), 30, 30C ... Transfer means, 33 ... Robot arm, 34, 34C ... Grip part, 342, 342C ... Gripping side curved surface portion, 35 ... Convex jig (grasping side positioning portion), 35B ... Engaging jig (grasping side positioning portion), 40, 40C ... Supporting means, 42, 42C ... Supporting portion, 422 ... Supporting side curved surface portion , 43 ... Second concave jig (supporting side positioning part), 43B ... Second engaged jig (supporting side positioning part), 50 ... Processing means, F ... Film (member to be processed), G, H , J ... Glass plate (member to be processed), G1, H1 ... First main surface, G2, H2 ... Second main surface, GA, HB ... Curved surface portion.

Claims (14)

It is a positioning device for plate-shaped members to be processed.
Equipped with a transport means and a support means,
The transport means includes a grip portion that grips the member to be processed from the first main surface side and has a grip side curved surface portion that can make surface contact with at least a part of the first main surface, and a grip side positioning portion. With
The support means includes a support portion that supports the member to be processed from the second main surface side, and a support side positioning portion.
The gripping side positioning portion is a positioning device for a member to be processed, characterized in that the gripping side positioning portion is positioned with respect to the support side positioning portion by fitting or engaging. The supporting part, the positioning device of the workpiece member according to claim 1 having at least a portion on the surface can contact support side curved surface portion of the second major surface. The positioning device for a member to be processed according to claim 1 or 2 , wherein the grip portion grips the member to be processed by suction using negative pressure. The positioning device for a member to be processed according to any one of claims 1 to 3 , wherein the support portion supports the member to be processed by adsorption using negative pressure. The positioning device for a member to be processed according to any one of claims 1 to 4 , wherein the support-side positioning portion is configured to be movable with respect to the support portion. The positioning device for a member to be processed according to any one of claims 1 to 5 , wherein the transporting means includes a robot arm for moving the grip portion and the grip side positioning portion. A pre-alignment means for causing the grip portion to grip the member to be processed in a preset state is provided.
The pre-alignment means includes an alignment support portion that supports the member to be processed from the second main surface side, and a pre-positioning portion that is positioned with respect to the grip side positioning portion by fitting or engaging. The positioning device for a member to be processed according to any one of claims 1 to 6. The positioning device for a member to be processed according to any one of claims 1 to 7.
A processing device for a member to be processed, which comprises a processing means for processing the member to be processed supported by the support portion of the positioning device. A method for positioning a member to be processed using the positioning device for the member to be processed according to claim 1.
The gripping portion grips the member to be processed from the first main surface side in a preset state.
The transport means is moved, the gripping side positioning portion is positioned with respect to the supporting side positioning portion by fitting or engaging, and the support portion supports the member to be processed from the second main surface side. Positioning method of processing member. A method for positioning a member to be processed using the positioning device for the member to be processed according to claim 7.
The alignment support portion supports the member to be processed from the second main surface side in a preset state.
The transport means is moved, the grip side positioning portion is positioned with respect to the pre-positioning portion by fitting or engaging, and the member to be processed is preset from the first main surface side by the grip portion. Grasp in the state,
The transport means is moved, the gripping side positioning portion is positioned with respect to the supporting side positioning portion by fitting or engaging, and the support portion supports the member to be processed from the second main surface side. Positioning method of processing member. A method for manufacturing a glass plate that processes a glass plate having a curved surface portion at least in part.
A transport means having a grip portion and a grip side positioning portion for gripping the glass plate from the first main surface side, and a support means having a support portion and a support side positioning portion for supporting the glass plate from the second main surface side. And the processing means for performing the above processing.
The glass plate is gripped so that the curved surface portion of the first main surface comes into surface contact with the curved surface portion on the gripping side of the gripping portion in a preset state.
The transport means is moved, the grip side positioning portion is positioned with respect to the support side positioning portion by fitting or engaging, and the curved surface portion of the second main surface faces the support side curved surface portion of the support portion. The glass plate is supported so as to come into contact with each other.
A method for producing a glass plate, which comprises processing the glass plate by the processing means. The method for manufacturing a glass plate according to claim 11, wherein the treatment is chamfering, cutting, or printing of the glass plate. The method for manufacturing a glass plate according to claim 11 or 12 , wherein the contact surface of the support portion with the glass plate is included in the glass plate in a top view. The method for manufacturing a glass plate according to any one of claims 11 to 13 , wherein the contact surface of the support portion with the glass plate is 50% or more of the area of the glass plate.

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