KR100865823B1 - Glass plate moving load device, inserting method, inserting device and apparatus for adjusting position of box-like container for glass plate - Google Patents

Abstract

The movement mounting apparatus of the glass plate which grasps and extracts a flat rectangular glass plate on an inclination conveyor is inclined conveyor which inclines and supports the glass plate in the state isolate | separated from the distributing frame, and is located in the front surface side of the inclination conveyor, A hand of a rotatable articulated robot is provided. The inclined conveyor has a plurality of conveying rolls for supporting the lower edge of the glass plate and having a V-groove, and a material roll disposed at the distal end of the material roll supporting lever which is arranged side by side from the distribution frame side. The hand of the robot is provided with a pair of clamping members each having a clamping roll having a V-groove, a clamping means capable of clamping both the left and right longitudinal sides of the glass plate, and a support roll having the V-groove, and a glass plate. And a supporting portion supporting elevating means for supporting the elevating portion at the lower end side thereof. The movement mounting apparatus of a glass plate can support a glass plate with an edge, and can take out from an inclination conveyor.

Glass plate, mobile mounting device, robot, hand, conveying roll, holding member, guide

Description

GLASS PLATE MOVING LOAD DEVICE, INSERTING METHOD, INSERTING DEVICE AND APPARATUS FOR ADJUSTING POSITION OF BOX-LIKE CONTAINER FOR GLASS PLATE}

1 is a front view of an inclined conveyor;

2 is a side view of the inclined conveyor;

3 is a front view of a hand of the mobile mounting apparatus;

4 is a plan view of a hand of the mobile mounting apparatus;

5 is a side view of a hand and a robot of the mobile mounting apparatus;

6 is a front view of the exchange support;

7 is a plan view of the exchange support;

Fig. 8 is a sectional view of a conveying roll, a pinching roll, a supporting roll, an exchange supporting roll, and a pinching roll.

9 is a front view for explaining a method of inserting a glass plate into a box-shaped container according to a second embodiment.

Fig. 10 is a side view for explaining a method of inserting a glass plate into a box-shaped container according to a second embodiment.

Fig. 11 is a schematic plan view of an L-shaped sidewall member and a groove portion in a box-shaped container.

12 is a plan view for explaining adjustment of a container position.

Figure 13 is a schematic side view before glass insertion into a boxed container.

14 is a schematic side view during glass insertion into a boxed container.

Figure 15 is a side schematic view of the point at which glass insertion into the box-shaped container is almost complete.

Figure 16 is an overall front view of the apparatus of the present invention for inserting a storage station and a glass plate into the groove of a box-shaped container showing the container insertion station.

Figure 17 is a front view of the apparatus of the present invention with the glass plate held at the storage station.

Figure 18 is a side view of the device of the present invention when traveling between a storage station and a container insertion station.

Figure 19 is a front view of the apparatus of the present invention before the glass plate is inserted into the groove of the container in the container insertion station.

Figure 20 is a side view of the apparatus of the present invention for explaining the insertion state of the glass plate into the groove of the box-shaped container.

Figure 21 is a plan view of the insertion apparatus in the second embodiment.

Fig. 22 is a plan view of the position adjusting device of the box-shaped container for storing glass plates of the third embodiment.

Fig. 23 is a side view of the position adjusting device of the box-shaped container for storing glass plates of the third embodiment.

Fig. 24 is a front view of the position adjusting device of the box-shaped container for storing glass plates of the third embodiment.

Fig. 25 is a plan view of the box-shaped container for storing glass plates.

Fig. 26 is an explanatory diagram of the position detecting means of the third embodiment;

Fig. 27 is a diagram explaining the correction of the angle shift of the box-shaped container.

Fig. 28 is an overall plan view including a peripheral device of the position adjusting device of the box-shaped container for storing glass plates of the third embodiment.

Fig. 29 is an overall side view including a peripheral device of the position adjusting device of the box-shaped container for storing glass plates of the third embodiment;

<Explanation of symbols for the main parts of the drawings>

G: glass plate

1: mobile mounting device

2: robot

3: hand

10: inclined conveyor

11: conveying roll support lever

12: conveying roll

12a: V groove

13: allocation frame

14 material roll support lever

15 material roll

20: sandwiching means

21: side frame

22: no sandwich

23: holding part support lever

24: pinching roll

24a: V groove

25: Rail

26: guide

30: supporting portion lifting means

31: Bell frame

32: support member

33: support portion lever

34: support roll

34a: V groove

35: rail

36: guide

40: exchange support

41: side frame interchange

42: exchange support rod

43: exchange support roll

50: exchange issuance means

51: no replacement gap

52: exchange pinch rod

53: exchange pinching roll

54: rail

55: guide

101: insertion device

103: box type container

104: L-shaped side wall portion

105: groove part

106: center position center line detected

110: driving means

111: driving frame

112: running rail

113: driving guide

114: traveling motor

120: main means of lifting

121: main frame

122: main lifting member

123: Guide

124: main lift motor

125: ball screw

130: glass lifting means

131: glass lifting member

132: Guide

133: glass lifting motor

134: ball screw

140: sandwiching means

141: sandwich frame

142: sandwich roller

143: Guide

144: side frame

150: hook-type member retraction means

151: hook-type support member

152: retreat motor

160: position detection means

161: CCD Camera

162: lighting

170: container conveying means

180: position adjusting means

201: positioning device

203: box type container

204: side wall

205: groove

210: conveyor (conveying means)

211: conveying roll

212: conveying motor

215: conveying conveyor lifting means

216: conveying conveyor lifting cylinder

217: lifting guide rod

220: side positioning means

220 ': preliminary positioning means

221, 221 ': side pressing roll

222, 222 ': side compression member

223, 223 ': side press cylinder

231: stopper

232: stopper lifting cylinder

240: front and rear position adjusting means

241: Ball Screw

242: motor

243: guide rail

244, 246: guide

245 connection member

250: angle adjustment means

251: correction table

252: control panel

253: motor

260: position detection means

261: CCD camera

262: lighting

263: lifting member

264 imaging area

270: feeding conveyor

271: supply CV roll

272: Supply CV Motor

280: Export Conveyor

281: export CV roll

282: Export CV Motor

290 adjustment means

291: adjustment rail

292 handle

[Document 1] Japanese Unexamined Patent Publication No. 2003-158168

[Document 2] Japanese Unexamined Patent Publication No. 2003-292153

[Document 3] Japanese Unexamined Patent Publication No. 2003-104545

[Patent 4] Japanese Patent Application Laid-Open No. 07-153816

[Patent 5] Japanese Patent Application Laid-Open No. 09-040111

[Document 6] Japanese Unexamined Patent Publication No. 2000-351448

[Document 7] Japanese Unexamined Patent Application Publication No. 11-168136

[Document 8] Japanese Unexamined Patent Publication No. 2005-064279

[Document 9] Japanese Unexamined Patent Publication No. 07-315550

The present invention relates to an apparatus and a method for taking out and holding a rectangular flat glass plate on a conveyor to be conveyed with the support of only the edge portion, and moving and mounting it on a support that can be supported only by the edge portion.

In addition, the present invention relates to a method and apparatus for inserting a rectangular flat glass plate in a vertical posture by isolating each one of the left and right grooves in a box-shaped container by contacting the glass plate surface without contact with only the edge portion.

The present invention also relates to a position adjustment device for a glass plate storage container, and more particularly, to a precise position adjustment device for a box-type container for storing a rectangular flat glass plate one by one and storing it in a vertical position.

Conventionally, when moving and mounting a flat glass plate from a certain position to a separate position, the method and apparatus for carrying and carrying out the adsorption holding and holding of the substantially center part of a glass plate surface with an adsorption pad by a multi-joint robot or an automatic machine are well carried out. Known.

However, when moving and mounting glass substrates used for display panels, such as a plasma display panel, a liquid crystal monitor panel, etc. by handling, a state which does not adsorb | suck a trace or contamination etc. to a glass plate surface, ie, avoids contact with a glass surface as much as possible. It is better to mount on the go.

For example, Japanese Laid-Open Patent Publication No. 2003-158168 discloses a substrate movement mounting apparatus for adsorbing a substrate such as a semiconductor wafer in a cassette by a vacuum suction pad and moving the substrate in a transport container.

For example, Japanese Unexamined Patent Publication No. 2003-292153 discloses a glass substrate sheet having a stacking portion of a glass substrate for exchanging a glass substrate between at least one of the forklifts of the mobile mounting apparatus on at least one end of the sheet conveyance table for conveying the glass substrate. The conveying apparatus WHEREIN: A glass substrate is made to float by forming many small diameter air ejection openings on the surface of a sheet | seat conveyance board, and the roller which is rotationally driven by a drive mechanism is provided in the both sides of a sheet | seat conveyance board, and glass is between these rollers. The sheet | seat conveyance apparatus of the glass substrate characterized by conveying a glass substrate by clamping a board | substrate is disclosed.

Furthermore, for example, Japanese Patent Laid-Open No. 2003-104545 uses air pressure or ultrasonic waves to hold only the edge portion of a flat panel such as a liquid crystal glass substrate to maintain the non-contact state of bending of the panel middle portion. And a device for supporting the panel so that the panel can be oriented vertically and horizontally. Or the flat panel horizontal movement mounting robot which has the hand which grips only the edge part of flat panels, such as a liquid crystal glass substrate, and supports the curvature of the panel middle part in a non-contact state using air pressure or an ultrasonic wave is disclosed. That is, Japanese Laid-Open Patent Publication No. 2003-104545 has a redirection mechanism for converting the posture of the panel into a vertical posture and a horizontal posture, and the bottom side of the flat panel in the vertical posture with a hook, A flat panel longitudinal movement-mounted robot having a hand that adsorbs a side with a suction pad and floats the middle portion of the panel with air pressure to support it in a non-contact state is described.

Since Japanese Patent Laid-Open No. 2003-158168 discloses that the substrate is adsorbed by the adsorption pad and moved to mount, the trace of the adsorption pad remains on the substrate.

Moreover, since what was described in Unexamined-Japanese-Patent No. 2003-292153 is carried out by lifting up the glass substrate of a horizontal attitude | position by the hook-shaped member of a mobile mounting apparatus, it is good when it carries out mounting from horizontal position to a horizontal position, In the mobile mounting of the posture glass plate, in order to lift the glass plate to the fork hook member, it is necessary to insert the fork hook member from the lower end of the glass plate, and set the glass plate to a position higher than the length of the hook of the fork. And, the handling method of such a glass plate is not a realistic method as the size of the glass plate becomes a large size.

In addition, Japanese Patent Laid-Open Publication No. 2003-104545 has a substrate for holding only the panel, but the holding of the panel only changes the posture of the panel into a vertical posture and a horizontal (horizontal) posture (posture conversion). This is the case of the redirection mechanism. In addition, the clamp or grip only on the edge portion of the panel is a case where the robot is horizontally mounted on the panel. The clamp or grip is not the end portion of the panel but clamps or grips the peripheral portion of the panel. It is considered as a problem.

In addition, the flat panel vertical movement mounted robot described in Japanese Patent Laid-Open No. 2003-104545 supports the bottom side of the flat panel in the vertical position with a hook and adsorbs the upper end side with the adsorption pad. There is a problem that adsorption traces or adsorption contamination occurs.

Moreover, in the storage and transportation of the thin flat glass of the rectangular shape conventionally, the several sheets of glass plate were made to be in a vertical position, the paper lamination and the buffer material for glass plates were sandwiched, and they were loaded on the pallet and the wooden box.

However, some glass substrates used for display panels and the like cannot be packaged without their adsorption traces, traces of conveying rolls, contamination, dust, fingerprints, and the like. Both the left and right longitudinal sides of the glass substrate and the both ends of the lower side were inserted into the grooves provided on the left and right sidewalls and the lower edges of the packing container so as not to fall, and the glass plates were not brought into contact with each other. .

Although the loading work of the glass plate to the groove part of such a box-shaped container was performed by the manual operation by another hand, it is difficult for the other hand to handle large glass size, It is necessary to carry out by automatic machines etc.

In order to automatically insert a glass plate into a box-shaped container with grooves, the glass surface is moved by using an adsorption pad having almost no adsorption traces, or holding the periphery of the glass plate or sandwiching the edge portion of the opposite side of the glass plate to support the glass plate with only the edge portion. There has been a need for a method of mounting.

When only one surface of the glass surface is required to be clean and the surface can be adsorbed on the other surface, the surface can be handled by adsorbing the adsorptive surface with an adsorption pad.

As an apparatus for automatically moving and mounting a glass substrate on an edge, for example, Japanese Patent Application Laid-Open No. 07-153816 discloses that a circular substrate such as a semiconductor or a photo mask of a liquid crystal panel is moved from a first cassette to a second cassette. The present invention relates to a method and an apparatus for interposing a substrate, and that the substrate is automatically moved in a longitudinal direction by sandwiching an end surface of the substrate.

For example, Japanese Unexamined Patent Application Publication No. 09-040111 discloses a glass substrate for a liquid crystal display device in which a pair of joining portions (cutout portions) opposed to each other are formed in a peripheral portion outside a region for forming a liquid crystal display on a glass substrate. It is a mobile mounting method which moves and mounts the said glass substrate to an empty cassette from the silk cassette which accommodated the said, After pushing up the said glass substrate from a silk cassette between the said silica cassette and the loading part of a empty cassette, the said pushed glass A moving mounting method of the glass substrate for a liquid crystal display device which grasps the coupling part of a board | substrate and then accommodates a glass substrate in a blank cassette is disclosed.

Furthermore, for example, Japanese Patent Application Laid-Open No. 2000-351448 discloses a plurality of glass substrates for the plasma display panel housed in the storage case 30 which are adsorbed by the handling robot and inclinedly stacked in a state of being stored in the storage case. A method and apparatus for loading with paper on a bed are disclosed.

JP-A-H07-153816 discloses suspending by clamping the upper ends of opposing longitudinal edges of a glass substrate, since beads for partitioning the glass plate in the cassette are provided up and down. The clamp position is limited to the upper end portion, and when the size of the glass plate is a large size, the risk of falling or the like is large and cannot be coped with, and is limited to the mobile mounting of the small sized glass substrate.

In addition, the Japanese Unexamined Patent Application Publication No. 09-040111 discloses that a cutout portion is provided as an engaging portion S3 on an opposite side of the glass substrate, and the cutout portion is clamped with a hook of a gripping means to suspend the glass substrate. In the case where the size of the glass plate is a large size, there is a high risk that the glass plate may fall from the cutout and fall, and the glass plate is limited to the mobile mounting of the small sized glass substrate.

Moreover, what was described in the said Unexamined-Japanese-Patent No. 2000-351448 is a thing which adsorb | sucks and mounts a glass substrate with an adsorption pad, and there exists a problem in the specification of the customer which concerns about a trace of an adsorption pad on a glass substrate.

Moreover, in order to insert a glass plate automatically into the box-shaped container which has the said groove part, it is necessary to precisely position and load the box-shaped container in a predetermined position.

As a positioning structure and a positioning method of a storage container such as a glass plate, for example, Japanese Patent Laid-Open No. 11-168136 discloses a plurality of positioning pins of an automatic machine and a plurality of positioning means of a precision substrate storage container body. If it is not shifted, the recesses of the positioning means are positioned by positioning the positioning pins, and when the plurality of positioning pins and the plurality of positioning means are displaced, the respective positioning pins are positioned. The positioning method of the precision board | substrate storage container characterized by sliding in contact with the guide surface of the said guide member, and making it position by fitting the recessed part of the said positioning means to each said positioning pin.

For example, Japanese Unexamined Patent Application Publication No. 2005-064279 discloses four corner portions of the bottom of the middle box 4 in a horizontally laid down position with leg portions 4c, and arranges L-shaped projections at four positions of the stage. In addition, it is described that the middle box can be accurately positioned on the stage by engaging the outer edge portion of the leg portion 4c of the middle box with the inner edge portion of the positioning portion of the stage.

For example, Japanese Unexamined Patent Application Publication No. 07-315550 discloses that a pallet transported on a conveyer conveyor stops in contact with the front end of the pallet stopper 9 and moves up and down to support the pallet stopper 9. It is disclosed that the stopper cylinder 14 is fixed, and the pallets are fixed by inserting the positioning pins 16 and 17 into the backup positioning holes provided in the backup plate 15.

Since the positioning structure described in Japanese Patent Laid-Open No. 11-168136 cannot correct the position or angle of the box-shaped container positioned on the stage more precisely, the recess for positioning the bottom of the box-shaped container And the manufacturing precision of the groove part which inserts and supports the board | substrate provided in a container inner wall is calculated | required, and even if there is a manufacturing error of such a container, it cannot cope.

In addition, Japanese Patent Laid-Open No. 11-168136 discloses a compact object for positioning a small container on an automatic stage for storing a substrate made of a semiconductor wafer, mask glass or the like having a diameter of about 300 mm on a large diameter. Therefore, although positioning by fitting between the positioning pin 14 which protruded upwards from the stage 13 and the recessed part of a container lower surface is possible, the length of one side is 2 m or more from 1 m or more. In the case of a large container in which dozens of substrates are loaded, the strength that can withstand the weight at the time of loading the substrate is required, so that the weight of the container itself is also a large amount, which may cause deformation of the positioning pin.

In addition, in the positioning structures described in Japanese Patent Application Laid-Open Nos. 2005-064279 and Japanese Patent Laid-Open No. 07-315550, the legs of the medium-sized box 4 are formed at the inner edges of the positioning portions provided in the four corners of the stage. By joining the outer edges of 4c), the medium box is accurately positioned on the stage, but similarly to Japanese Patent Laid-Open No. 11-168136, even if there is a manufacturing error in the medium box positioned at the same position on the stage, You cannot make corrections.

[Patent Document 1] Japanese Unexamined Patent Publication No. 2003-158168

[Patent Document 2] Japanese Patent Application Laid-Open No. 2003-292153

[Patent Document 3] Japanese Unexamined Patent Publication No. 2003-104545

[Patent Document 4] Japanese Patent Application Laid-Open No. 07-153816

[Patent Document 5] Japanese Patent Application Laid-Open No. 09-040111

[Patent Document 6] Japanese Unexamined Patent Publication No. 2000-351448

[Patent Document 7] Japanese Patent Application Laid-Open No. 11-168136

[Patent Document 8] Japanese Patent Application Laid-Open No. 2005-064279

[Patent Document 9] Japanese Patent Application Laid-Open No. 07-315550

In the embodiment of the present invention, there is no contamination such as adsorption pad traces on the surface of the glass plate from the small size of the glass substrate used for display display to the large size of one side of more than 2 meters in length, and there is a fear of dropping or damage of the glass plate. There is also provided a method and apparatus that can be reliably mobile mounted.

That is, according to the embodiment of the present invention, the mobile mounting apparatus of the glass plate which grips the flat rectangular glass plate on the inclined conveyor and takes out the lower edge of the glass plate is supported by a plurality of conveying rolls having a V groove, and the distribution frame. The inclined conveyor which leans and supports the glass plate in the state isolated from the distribution frame by the material roll arrange | positioned at each front-end | tip part of the material roll support lever which arranges in multiple places predetermined space | interval from a side at predetermined space | interval, and the slope conveyor And a hand of an articulated robot that is movable and rotatable in an overall orientation located on the front face side. The hand is provided with a plurality of gripping portion support levers arranged in a row at a predetermined pitch in a row in a row on a pair of gripping members that can run on a horizontal frame provided on the hand, respectively at the distal ends of the gripping portion supporting levers. The holding means which has a V-groove part is arrange | positioned, and the holding means which can pinch both the left and right longitudinal sides of the said glass plate, and the support part support lever provided in the lower side of the said hand, and the support part support levers are arranged in a row by a fixed pitch in multiple locations. It is provided with the support part support lifting means which arrange | positions it, and arrange | positions a support part roll of a V groove part in each front-end | tip part of the said support part support lever, and supports a glass plate at the lower end side. The glass plate is supported by an edge and taken out from the inclined conveyor.

Moreover, in the Example of this invention, in the movement mounting apparatus of a glass plate, when the holding means provided in the hand of the robot mentioned above, and the glass plate supported by only the edge part by the support part support elevating means are moved and mounted to another exchange support stand, A plurality of exchanger sandwiching rods arranged in a row on a pair of exchanger sandwiching members horizontally movable on an exchanger horizontal frame are provided at a constant pitch in a row, and an exchanger sandwiching roll having V grooves at the distal end of the exchanger sandwiching rod, respectively. It arrange | positions and supports by the exchange | exchange holding means which makes it possible to clamp both the left and right longitudinal sides of a glass plate, and the some exchange support roll which has a V groove part which supports the lower edge of a glass plate, and the glass plate which a robot hand supports is edged on an exchange support stand. Provided is a mobile mounting device of a glass plate that can be loaded by bay.

Moreover, according to the Example of this invention, you may provide a spring in one clamping member of the pair of clamping members provided in the said hand, and it may prevent an excessive force to be applied to a glass plate when clamping a glass plate.

Moreover, according to the Example of this invention, in the movement mounting method using the said movement mounting apparatus, among the material rolls provided in the front-end | tip part of the material roll support lever installed by lining from the distributing frame of the inclination conveyor, it is arranged in a predetermined pitch in a row. Between the rolls of the tip of the roll supporting lever to be disposed, the grabbing rolls provided at the tip of the clamping part supporting lever arranged at a predetermined pitch are arranged to intersect the rolls of the holding members provided in the robot hand at the time of sandwiching the left and right longitudinal sides of the glass plate. It is possible to pinch the glass plate without moving, and the support roll provided at the distal end of the support part support lever of the support part support member provided in the hand can be lifted and moved between a plurality of conveying rolls of the inclined conveyor supporting the lower edge of the glass plate. When the lower end of the glass plate is taken out, the conveyance roll of the inclined conveyor and the support roll of the hand interfere with each other. But it may enable supporting a glass plate.

Further, according to the embodiment of the present invention, in the method of moving and mounting the glass plate supported by the robot only by the hand of the robot described above on the exchange support, it is arranged in a row in a pair of exchange interposing members that can be horizontally moved with the exchange support. A plurality of exchangers having the V groove portions of the exchange support by sandwiching the left and right longitudinal sides of the glass plate at the edges by an exchange gripping roll having V groove portions disposed at the distal end portions of the plurality of exchange holding rods arranged at a constant pitch. An edge of the glass plate held by the robot hand is placed on the exchange support frame by arranging the support roll provided at the distal end of the supporting portion support lever of the lower side support member provided in the hand so as not to interfere with the exchange support roll during the lifting movement. You may load so that it can only be supported.

According to the Example of this invention, even if it is the glass plate of the small size of the glass substrate used for the display display of a vertical position from the small size of one side to the large size exceeding 2 meters, it grasps non-contact with respect to a glass plate surface, and is taken out. There is no possibility of the fall and damage during moving mounting, and a glass plate can be automatically moved and mounted to a separate position reliably.

Moreover, the Example of this invention can reliably move and mount the glass plate from the small size of the glass substrate used for display display to the large size whose length of one side exceeds 2 meters, without fear of falling or damage, and the glass plate Provided is a method and an apparatus capable of inserting and supporting a glass substrate so as not to be knocked down automatically, one by one, in the grooves provided on both sidewalls on the left and right sides and in the lower side of the packing container.

That is, in the embodiment of the present invention, the left and right sides of the left and right vertical edge edge portions of the rectangular glass plate exchanged by the mobile mounting apparatus in the previous step can be held by the clamping means so that the glass plate can be lifted and the bottom edge of the glass plate can be retracted. In the state supported by the type | mold support member, only a glass plate can be lifted by a glass lifting means, and the whole glass lifting means and clamping means which pinch the said glass plate can be raised and lowered by a main lifting means and a traveling means from a supporting position. The container is made to run between the box-shaped containers, and the glass plate is isolated and inserted one by one in both the left and right grooves of the box-shaped container by supporting only the respective edge portions of the left and right end edges and the lower edge side in non-contact with the glass plate surface. Provided is a method of inserting a glass plate into a groove.

Further, according to the embodiment of the present invention, each time one glass plate is inserted into the groove portion in the box-shaped container, the box-shaped container may be moved by one pitch to the next groove position.

Alternatively, according to an embodiment of the present invention, the position of the left and right pairs of groove portions into which the left and right side ends of the glass plate are inserted in the box-shaped container is captured by a CCD camera and detected by the position detecting means for detecting the positions of the left and right groove portions. The discrepancy between the position of one groove and the position of the glass plate is corrected by the rotation and / or forward retreat of the conveying table for loading the box-shaped container, and / or the glass plate is moved by the traveling means to move the position. You may make correction.

Alternatively, an embodiment of the present invention is a device for isolating and inserting a rectangular glass plate exchanged by a movement-mounted device in a previous step into a groove of a box-shaped container one by one, wherein a plurality of Vs sandwiching the left and right longitudinal sides of the rectangular glass plate. And a gripping means for providing a groove-type pre-rotating clamping roller, a pair of clamping frames in which the clamping rollers are arranged at predetermined intervals up and down, and allowing the clamping frame to move on a horizontal frame, and at a central portion of the horizontal frame. A glass plate lifting means for providing a glass elevating member so as to be able to elevate and allowing the glass plate elevating means to elevate only the glass plate while supporting the lower edge of the glass plate by a hook-type support member provided on the lower edge of the glass elevating member, and the hook-shaped member is advanced. The hook-type member retracting means for retreating and the pinching means of the glass plate can be raised and lowered It consists of a main lifting means and a traveling means for enabling travel movement on a traveling frame provided with the main lifting means over a glass plate support station and a container insertion station, and only each edge portion of the left and right end edges and the lower edge side without contacting the glass plate surface. Provided is an apparatus for inserting a glass plate into a container groove, wherein the glass plate is isolated one by one into the groove of the box-shaped container with the support of the glass plate.

Alternatively, according to the embodiment of the present invention, each time a glass plate is inserted into the groove portion in the box-shaped container, a container conveying means for moving the box-shaped container by one pitch to the next groove portion insertion position may be provided.

Alternatively, according to the embodiment of the present invention, the position of the groove portion in the box-shaped container is imaged. The position detection means of the groove part which consists of a CCD camera, the image processing apparatus which calculates the coordinate of the image | photographed home position, and the box so that the coordinate of the position of the detected groove part 5 and the coordinate of the edge part of the glass plate 1 may match. The position is corrected by the traveling means for moving the mold container 3 in the X-axis direction and the traveling means 10 for moving in the Y-axis direction, and the angle shift is adjusted by the rotation of the conveying table for loading the box-shaped container. You may provide a position adjustment means.

According to the embodiment of the present invention, even a glass plate from a small size of a glass substrate used for display display to a large size of one side having a length of more than 2 meters is held in a non-contact manner with respect to the glass plate surface, and falling during mobile mounting. However, there is no fear of damage, and the glass plate can be moved and mounted automatically in the box-shaped container reliably.

Moreover, the glass substrate can be inserted and supported so that the glass substrate can be automatically isolated and collapsed one by one in the grooves provided on both the left and right side walls and the lower side edges in the box-shaped container without giving contamination such as suction pad traces on the surface of the glass plate.

Moreover, even if there exists a dimension error at the time of manufacture of the container which isolate | separates and stores the glass plate from the small size of the glass substrate used for display display to the large size more than 2 meters in length on one side, and storing it in a vertical posture, It is possible to accurately correct the loading position and angle of the container.

That is, in the embodiment of the present invention, in the position adjustment device of the box-shaped container for storing a glass plate, the left and right bottom portions of the box-shaped container are formed on the conveying roll by a conveying conveyor composed of a plurality of conveying rolls arranged separately from the left and right in the conveying direction. The pressure is sandwiched from both sides in the direction orthogonal to the conveying direction of the box-shaped container, and the front-rear positioning mechanism which enables the back-and-back movement of the correction table provided between the conveyance conveyor supported and carried in and out, and the conveyance conveyor separated from side to side, The side positioning means for positioning the direction and the conveying conveyor lifting means for lowering the conveying conveyor to load the box-shaped container on the conveying conveyor on the correction table, and placing the glass plate in the groove of the container loaded on the correction table. To be able to adjust the loading position of the container Provided is a position adjusting device for a box-shaped container for storing a glass plate.

Alternatively, according to the embodiment of the present invention, a stopper may be fixedly mounted to the distal end of the correction table so that the stopper can be stopped at a predetermined position on the correction table by contact with the distal end of the box-shaped container.

Alternatively, according to the embodiment of the present invention, the box-shaped container loaded on the correction table may be adjusted by rotating the correction table at an angle shift.

According to the embodiment of the present invention, since the front and rear position adjusting means or the angle adjusting means of the correction table provided between the conveying conveyors separated into two rows of left and right, the position and angle shift of the box-shaped container can be adjusted accurately, It is easy to smoothly insert the glass plate into the groove portion in the box-shaped container.

In this way, after positioning the box-shaped container at a predetermined position on the conveying conveyor, even if there is a slight deviation in the position or angle, such as a manufacturing error or a gap, the correction can be performed with high accuracy, and thus, the length of one side from a small size glass substrate. A plurality of glass plates larger than 2 meters can be separated and stored in a box-shaped container in a vertical position.

Other features and effects are apparent from the description of the examples and the appended claims.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<First Embodiment>

1 and 2 are movable mounting apparatuses which are supported on the edge of the glass plate G and taken out in a non-contact state to the glass plate surface from the inclined conveyor 10 which conveys the rectangular flat glass plate G in an inclined posture ( 1) is shown. 3 to 5 show the robot 2 and the hand 3 of the mobile mounting apparatus 1. 6 and 7 show the movable mounting on the exchange support for supporting the glass plate supported on the edge by the movable mounting apparatus in a vertical posture to the edge.

As shown in Figs. 1 and 2, the inclined conveyor 10 has a plurality of conveying rolls 12, 12, ... which have a V-groove 12a (see Fig. 8) for supporting the lower edge of the glass plate G. ), And material roll support levers 14, 14, ... which are arranged on the distribution frame 13 of the inclined conveyor 10 at a plurality of predetermined intervals in the longitudinal direction and the horizontal direction, and the tip portions thereof. It consists of several material rolls 15,15 ... which isolate | separate from the distribution frame 13, and hold | maintain in point contact with a glass plate surface.

On the other hand, as the movement mounting apparatus 1 which takes out the glass plate G mounted on the said inclination conveyor 10, and moves and mounts in the other place, such as the said exchange support 40, shown in FIGS. As described above, the gripping means 20 capable of gripping the glass plate G on both the left and right longitudinal sides on the hand 3 of the articulated robot 2 which is movable and rotatable in the entire azimuth, and the lower end side of the glass plate G The support part support elevating means 30 which supports is provided, the glass plate G can be supported by an edge, and can be taken out.

The said clamping means 20 arranges the two rails 25 and 25 on the horizontal frame 21 arrange | positioned so that it may become a horizontal direction in the attitude | position when mounting a glass plate on the said hand 3, and the said rail ( 25 and 25, the holding members 22 and 22 of the guides 26 and 26 which can slide and move on an upper surface are provided in the direction orthogonal to a horizontal frame, and the several holding parts are provided in the said holding members 22 and 22, respectively. The support levers 23, 23, ... are arranged so as to be a predetermined pitch in a row in a direction away from the hand 3, and the V grooves are respectively provided at the distal ends of the gripping portion support levers 23, 23, ..., respectively. The pinching rolls 24, 24, ... having 24a (see Fig. 8) were disposed.

The horizontal frame 21 is provided with a motor (not shown) and a ball screw (not shown) directly connected to the axis of the motor. The ball screw rotates by driving of the motor, and a guide screwed to the ball screw is provided. Since it is connected with the guides 26 and 26 which drive | work on the said rails 25 and 25, the said pair of clamping members 22 and 22 are free to move left and right along a rail.

In addition, the support portion lifting means 30 is provided with two rails 35 and 35 on the vertical frame 31 provided so as to be in a vertical direction in a posture when the glass plate is moved and mounted on the hand 3. And the support part support member 32 provided over the guides 36 and 36 which can slide on the said rails 35 and 35, and can move up and down is provided in the horizontal direction.

The support part supporting members 32 are provided with a plurality of support part support levers 33, 33, ... at predetermined intervals in a horizontal line in a direction away from the hand 3, and the support part support levers 33, 33 are provided. The supporting part roll 34 which has the V groove part 34a (refer FIG. 8) is respectively provided in the front-end | tip part of ..., and when supporting the glass plate G, the edge of the lower edge of the glass plate G is the said supporting part. It supports by contacting the inclined inner wall surface of each V groove part 34a, 34a, ... of the rolls 34, 34, ....

The longitudinal frame 31 is provided with a motor (not shown) and a ball screw (not shown) directly connected to the shaft of the motor. The ball screw rotates by driving the motor, and a guide for screwing the ball screw is provided. Since the support members 32 are provided and connected to the guides 36 and 36 for elevating the rails 35 and 35, the support member 32 can move up and down along the rails 35 and 35.

V-grooves 24a, 24a, ... of the gripping rolls 24, 24, ... of the gripping means 20, and V of the support rolls 34, 34, ... of the supporting part supporting lifting means 30. The gripping portions supporting levers 23, 23, and the supporting portion are supported so that the respective V-grooves are arranged on the same surface so as to support both longitudinal sides and the lower side of the same flat glass plate by the groove portions 34a, 34a,. The lengths of the levers 33, 33, ... are adjusted.

In the longitudinal pitch of the plurality of material roll support levers 14, 14, ... installed on the distributing frame 13 of the inclined conveyor 10 and the holding member 22 on the hand 3; Arrangement pitches of the clamping part support levers 23, 23, ... which are arranged side by side are made into substantially the same pitch, and it arrange | positions so that it may become a shifted position about 1/2 pitch with respect to an up-down direction.

Thereby, the material rolls 15, 15, ... which were provided in the front-end | tip part of the material roll support levers 14, 14, ... which were lined up from the distribution frame 13 of the said inclination conveyor 10, and the hand 3 The gripping rolls 24, 24, ... provided at the distal end of the gripping member support levers 23, 23, ... installed on the gripping member 22 on the gripping member 22 are used for gripping operation at the time of replacing the glass plate G. This does not interfere with each other even if they move in the horizontal direction.

In addition, the supporting pitches of the plurality of conveying rolls 12, 12, ... of the inclined conveyor 10 in the horizontal direction and the supporting part supporting members 32 arranged on the supporting part supporting member 32 on the hand 3 ( 33, 33, ...) was made into substantially the same pitch, and it arrange | positioned so that it might become a shifted position about 1/2 pitch in a horizontal direction.

Moreover, the tip part of the conveyance rolls 12, 12, ... of the said inclination conveyor 10, and the support part support levers 33, 33, ... of the support part support members 32, 32, ... on the hand 3 are shown. The support rolls 34, 34, ... provided on the support rolls 12, 12, even if the support rolls 34, 34, ... are lifted by the support support lift means 30 at the time of moving and replacing the glass plate. ‥) does not interfere.

Moreover, the spring which is not shown in each clamping part support lever 23, 23, ... of the one clamping member 22 of the pair of clamping members 22 and 22 provided in the said hand 3 is provided, When the glass plate G was sandwiched, the spring was compressed to absorb the excessive force so that excessive force was not applied to the glass plate.

Next, the glass plate G taken out from the inclined conveyor 10 by the hand 3 of the articulated robot 2 and supported at the edge is a glass plate G as shown in FIGS. 6 and 7. Separately, such as the exchange support roll 40 which consists of the exchange support rolls 43, 43, ... which support the lower side of the edge) to the edge, and the exchange | interval holding means 50 which clamps the left and right longitudinal sides of the glass plate G to the edge. By moving and mounting in a place, a glass plate can be supported only by an edge.

The exchange support 40 attaches the exchange transverse frame 41 in the horizontal direction on a mounting table (not shown), and specifies a plurality of exchange support rods 42, 42,... On the exchange transverse frame 41. It was arranged to be arranged upward at a pitch of, and exchange support rolls 43, 43... Having V grooves were disposed at respective distal ends of the exchange support rods 42, 42,.

The exchange clamping means 50 is provided with two rails 54 and 54 in parallel in the exchange transverse frame 41, and the guides 55 and 55 which can slide and move on the rails 54 and 54. A pair of right and left, and each of the guide pins 55 and 55 is provided with an exchange pinching member 51 in a vertical direction orthogonal to the pinch transverse frame 41. Each of the plurality of exchange pinching rods 52, 52, ... of 51 is arranged side by side toward the exchange pinching member 51 facing each other, and the interval of the plurality of exchange pinching rods 52, 52, ... is predetermined. The replacement clamping rolls 53, 53, ... which have V grooves, respectively, were arranged at the distal ends of the replacement clamping rods 52, 52, ... so as to have a pitch.

In addition, springs (not shown) are provided on each of the replacement pinching rods 52, 52, ... which are arranged in line with one of the pair of replacement pinching members 51, 51, respectively. When the glass plate G is clamped by the prepared replacement pinching rolls 53 and 53, the replacement pinching rolls 53 and 53 are followed in the shape of the glass plate so that excessive force is not applied to the glass plate G. The spring is compressed to be stretchable to absorb excessive force.

Arrangement pitches in the longitudinal direction of the plurality of exchange clamping rods 52, 52, ... installed on the pair of exchange clamping members 51, 51 of the exchange support 40, and the pinching on the hand 3 Arrangement pitches of the clamping part support levers 23, 23, ... which are arranged in a line with the member 22 are made into substantially the same pitch, and it arrange | positions so that it may become a position shifted about 1/2 pitch with respect to an up-down direction.

Thereby, the replacement clamping rolls 53, 53, ... provided in the front-end | tip of the several exchange clamping rods 52, 52, ... provided on the exchange clamping part 51, 51 of the said exchange support stand 40 by this. And the holding rolls 24, 24, ... provided at the distal end of the holding member supporting levers 23, 23, ... installed on the holding member 22 on the hand 3 to replace and move the glass plate G. Even if it moves to the horizontal direction by clamping operation at the time, it does not interfere with each other.

Moreover, the support pitch lever which hangs in the horizontal arrangement pitch of the some exchange support rolls 43, 43, ... of the said exchange support 40, and the support part support member 32 on the hand 3, and installs it. The arrangement pitch of (33, 33, ...) was made into substantially the same pitch, and it arrange | positioned so that it might become the shifted position about 1/2 pitch in the horizontal direction.

Moreover, the support part support rolls 43, 43, ... of the said exchange support stand 40, and the support part support levers 33, 33, ... of the support part support members 32, 32, ... on the hand 3 are shown. The support part rolls 34, 34, ... provided at the tip of the head) are supported by the support part support lifting means 30 at the time of moving and replacing the glass plate. It does not interfere with (43, 43, ...).

When the glass plate G is supported in the vertical posture with only the left and right longitudinal edges and the lower edge on the exchange support 40, the glass plate G can be handled from the side opposite to the hand 3 of the robot 2. .

Thereby, it can move-mount by the adsorption | movement movement mounting means by a suction pad etc. from the back surface side (surface which was in point contact with the material roll by the inclined conveyor) of glass plate G.

On the other hand, the inclination angle of the inclined conveyor 10 may be a stable angle at which the glass plate G conveyed in an inclined posture while supporting the glass plate on the inclined conveyor 10 is not inverted, and is usually 80 to 88 from the bottom surface. Degree should be enough.

Subsequently, the operation of the apparatus of the first embodiment will be described.

In this embodiment, the conveying rolls 12, 12, ... of the inclined conveyor 10, the supporting rolls 34, 34, ... of the hand 3, the pinching rolls 24, 24, ..., the exchange support stand. What is necessary is just to determine the number of arrangement | positioning of the exchange support rolls 43, 43, ... of the 40, and the replacement pinching rolls 53, 53, ... according to the magnitude | size of the glass plate G.

As shown in Fig. 8, each of the rolls is a roll having a V-groove in its cross section, and the glass plate G is supported by bringing an edge in contact with the V-groove. There is no attachment.

In the present embodiment, although the hand 3 can be lifted and lowered by the articulated robot 2, the support rolls 34, 34,... Are supported by the support supporting lift means 30. The plurality of material rolls 15, 15, ... provided on the inclined conveyor 10 and the pinching rolls 24, 24, ... provided on the hand 3 are provided with a glass plate G. Even if it was the position which does not interfere with each other even if it moves to a horizontal direction by the operation which pinches | interposes, the glass 3 on several conveyance rolls 12, 12, ... of the inclination conveyor 10 raises the hand 3 directly, When raising the glass plate by raising the supporting part rolls 34, 34, ... of (3), the position of the said material rolls 15, 15, ... is fixed, and the pinching roll provided on the hand 3 was carried out. Since 24, 24, ... move up and down together with the hand 3, the material rolls 15, 15, ... of the inclined conveyor and the pinching rolls 24, 24, ... of the hand 3 interfere with each other. It is because the case.

For this reason, in the state which clamped the glass plate, only the support part rolls 34, 34, ... of the hand 3 can be raised and lowered by the support part support lifting means 30 as it is, maintaining the position of the up-down direction. It was made.

1 and 2, the plurality of conveying rolls 12, 12, ... of the inclined conveyor 10, and the plurality of material rolls 15, 15, ... are conveyed roll support levers ( 11) and the material roll support lever of the material roll support lever 14 are provided to be isolated from the distribution frame 13 of the inclined conveyor 10 when the glass plate G is held by the hand 3, This is to prevent the supporting rolls 34, 34, ..., and the pinching rolls 24, 24, ... from contacting the distribution frame 13 of the inclined conveyor 10. As shown in FIG.

In addition, the supporting part rolls 34, 34, ... provided in the hand 3 of the robot 2, and the holding part 24, 24, ... are supported, and the supporting part supporting levers 33, 33, ... and the holding part support. The levers 23, 23, .. isolated from the robot side are provided by conveying rolls 12, 12, ..., material rolls 15 of the inclined conveyor when the glass plate G is held by the hand 3. This is to prevent 15) from contacting the hand 3.

In addition, as shown in Figs. 6 and 7, the plurality of exchange support rolls 43, 43, ... and the plurality of exchange pinching rolls 53, 53, ... of the exchange support 40 are replaced with support rods. (42, 42, ...) and replacement clamping rods (52, 52, ...) are provided separately from the exchange transverse frame (41) and the replacement clamping members (51, 51) of the exchange support (40). When the glass plate G is replaced by 3), the supporting rolls 34, 34, ..., and the holding rolls 24, 24, ... are replaced with the transverse transverse frame 41 of the exchange support 40, or the sandwiching member. This is for avoiding contact with (51, 51).

In addition, the supporting part rolls 34, 34, ... provided on the hand 3 of the robot 2, and the holding part 24, 24, ... are supported by the supporting part supporting levers 33, 33, ..., and the holding part. The lever 23, 23,... Isolated from the robot side is provided so that the exchange support roll 43 of the exchange support 40 can be replaced when the glass plate G is replaced by the hand 3 with the exchange support 40. 43, ... and replacement clamping rolls 53, 53, ... are in order not to contact the hand 3.

Next, the operation of the apparatus of the present embodiment will be described.

As shown in FIG. 1 and FIG. 2, the glass plate G conveyed in the inclined posture by the inclined conveyor 10 stops at a predetermined position preset by a sensor (not shown).

The lower edge of the glass plate G on the inclined conveyor 10 is supported by the inner wall of the V-groove 12a of the plurality of conveying rolls 12, 12, ..., and the rear surface of the glass plate is disposed on the inclined conveyor 10. On the frame 13, it is supported by the point contact by the material rolls 15, 15, ... which were parallelly arranged in the several direction at the longitudinal direction and the horizontal direction.

In taking out the glass plate G on the inclined conveyor 10 to the hand 3 of the mobile-mounted robot 2, on the hand 3 of the robot 2 as shown in Figs. Left and right both sides of the glass plate G on the inclined conveyor 10 by a plurality of free-rotating clamping rolls 24, 24, ... provided on the pair of left and right clamping members 22, 22 of the clamping means 20 provided. Narrow the longitudinal sides. In this case, the robot is placed in a vertically staggered position with the pitches rolls 24, 24, ... and the material rolls 15, 15, ... arranged in a row in a vertical direction with a half pitch difference. The hand 3 of (2) is arrange | positioned. The arrangement position of the hand 3 is set in advance in the controller (not shown) of the robot 2.

Next, while supporting the lower end side of the glass plate G with the conveyance rolls 12, 12, ... of the inclination conveyor 10, the glass plate which clamped the longitudinal side by the clamping means 20 of the hand 3 of a robot. (G) was raised to the vertical position by using the robot as the center of rotation of the lower end of the glass plate (G), and the glass plate (G) was removed from the material rolls (15, 15, ...) of the inclined conveyor (10).

Subsequently, from the left and right of the glass plate G, the support part support provided in the hand 3 was made into the state which the position of the hand 3 of the robot 2 clamped by the pinching rolls 24, 24, ... as it is. The support rolls 34, 34, ... are lifted by the elevating means 30, and the support rolls 34, 34, 34 are supported on the lower edge of the glass plate G supported by the conveying rolls 12, 12, .... The inner wall of the V-groove of ... was contacted, and the glass plate G was raised and supported.

When the supporting rolls 34, 34, ... are raised and the glass plate G is raised, the glass plate G is pre-rotated by the holding rolls 24, 24, ..., even if the glass plate G is in the sandwiched state. (G) can rise smoothly.

In addition, the supporting rolls 34, 34, ... and the conveying rolls 12, 12, ... are different from the supporting rolls 34, 34, ... with a half pitch difference as shown in FIG. The conveying rolls 12, 12, ... were arranged so as to alternate with each other.

In this way, the glass plate G is made into both sides of the glass plate G by the V groove part of the some clamping rolls 24 and 24, and the lower side is made into the V groove part of the several support part rolls 34, 34, ... It was taken out by supporting with eiman.

Next, the glass plate G taken out from the inclined conveyor 10 with the hand 3 of the mobile mounting robot 2 is edged at the lower side of the glass plate G as shown to FIG. 6 and FIG. It moves and mounts on the exchange support stand 40 which consists of the exchange support rolls 43, 43, ... which hold | maintain on the support, and the exchange | interchange holding means 50 which clamps the left-right vertical side of glass plate G to an edge.

In moving and mounting the glass plate G on the exchange support 40 by the hand 3 of the mobile mounting robot 2, the pair of left and right exchanger holding members 51 and 51 of the exchange support 40 are A plurality of pre-rotating pinching rolls 24, 24, ... which are left open to the left and right and provided on a pair of left and right pinching members 22 and 22 of the holding means 20 of the robot 2 hand 3. ) And exchange pinching members of exchange pinching members 51 and 51 provided with a pair of glass plates supported by support rolls 34, 34, ... of the support supporting lifting means 30 on the left and right sides of the exchange support 40. State in the state supported by the hand 3 of the robot 2 in the surface space formed by the rolls 53, 53, ..., and the exchange support rolls 43, 43, ... of the transverse transverse frame 41. FIG. Hold with.

Maintain the position where the center of the glass plate holding a robot hand and the center between the left and right exchange | exchange pinching rolls 53, 53, ... are aligned, and the hand 3 is lowered and the glass plate G is replaced with the exchange support roll ( 43, 43, ...).

In the state which hold | maintained glass plate G by the hand 3, the exchange holding member 51, 51 of the exchange stand 40 approaches each other, and is pinched from the left and right side sides of a glass plate. The exchange pinching rolls 53 and 53 and the pinching rolls 24 and 24 of the hand 3 are arranged at a constant pitch, and the pinching rolls 53 and 53 and the hand 3 The pinching rolls 24, 24, ... are set so as to shift from each other with a difference of about 1/2 pitch.

Subsequently, when the supporting part rolls 34, 34, ... are lowered by the supporting part supporting elevating means 30 of the hand 3, the glass plate G acts between the pinching rolls 24, 24, ... It descends and stops when it contacts with the V groove part of the support part rolls 34, 34, ... of the support base 40. FIG.

The glass plate G is mounted on the exchange clamping rolls 53, 53, ... provided on the left and right sides of the exchange support 40, and the exchange support rolls 43, 43, ..., and the glass plate (by the exchange support 40) After G) is hold | maintained, the pair of clamping members 22 and 22 of the hand 3 spread left and right, and release the clamping of the glass plate G. FIG.

Second Embodiment

The apparatus of the present embodiment is a glass plate inserting device 101 which isolates and inserts a rectangular glass plate exchanged by a moving mounting device of a previous step (not shown) into grooves provided at a constant pitch on the left and right side walls of the box-shaped container. The structure is shown below.

9 and 13, a plurality of V-groove-type free-rotating clamping rollers 142 for clamping the left and right longitudinal sides of the rectangular glass plate G and the clamping rollers 142 are vertically predetermined. Left and right pairs of gripping frames 141 arranged at intervals are provided, and gripping means 140 for allowing the pair of gripping frames 141 and 141 to be movable on the horizontal frame 144 and the horizontal frame 144. The glass elevating member 131 is provided in the center of the glass panel so that the glass elevating member 131 can be elevated, and the glass plate G supports the lower edge of the glass plate G by the hook-type supporting member 151 provided on the lower edge of the glass elevating member 131. Lifting up and down the glass plate lifting means 130 which enables only (G) to elevate, the hook-type member advancing means 150 which advances and retracts the said hook-shaped support member 151, and the clamping means 140 of glass plate G. Main lifting means 120 to enable, and in FIGS. 16 to 20 The main elevating means 120 as time is constituted by a traveling means 110 that enables traveling on the traveling frame 111 provided between the glass plate storage station and the container insertion station.

In addition, in the apparatus of the present embodiment, each time one sheet of glass 101 is inserted into the groove portion 105 (see FIG. 11) in the box-shaped container 103 in addition to the above-described configuration, as shown in FIG. When the container 103 has the container conveying means 170 which moves the container 103 to the position of the groove part 105 for the next glass plate insertion by 1 pitch, it is successively made to the groove part 105 in the container 103 in order. It is preferable because the glass plate 101 can be inserted.

In addition, as the configuration of the apparatus of the present embodiment, the position of the groove portion 105 of the box-shaped container 103 is imaged in addition to the above configuration. Position detection means 160 of the groove part 105 which calculates the coordinates of the position of the said groove part 105 imaged by the image processing apparatus not shown, and the position of the detected groove part 105 The traveling means for moving the box-shaped container 103 in the X-axis direction and the traveling means for moving the glass plate G in the Y-axis direction so that the coordinates of the coincides with the coordinates of the end of the glass plate 101. When the position is corrected by the 110 and the position adjustment means (not shown) which adjusts an angle is adjusted by rotation of the conveyance table which loads the box-shaped container 103, the groove part 105 may be slightly Even if the position and angle are shifted, the correction is more preferable.

The holding roller 142 has a drum shape having a V-groove in its cross section, and is freely rotatable, and is brought into contact with each other so as to sandwich the edge portions of the left and right longitudinal sides of the glass plate G in the surface of each of the V-groove portions of the holding roller 142. The glass plate G is sandwiched. In addition, a plurality of the sandwiching rollers 142 were arranged in a straight line at a predetermined interval in the vertical direction to form a sandwiching frame 141.

In addition, as the clamping means 140, a pair of the clamping frames 141 are provided on the left and right sides of a glass plate, the ball screw provided on the horizontal frame 144 is rotated by a clamping motor, and a pair of guides 143 are provided. , 143 so as to be slidable, the gripping frame 141 is disposed on each guide 143 so as to be in a vertical direction, and the left and right vertical sides of the glass plate G are arranged in a pair of the gripping frames 141. The clamping roller 142 was clamped.

Moreover, the clamping rollers 142, 142, ... provided in the pair of clamping frames 141 and 141 of the said clamping means 140 are excessive press force to the glass plate 101 to clamp. It is prepared to be stretched through the spring so as not to give.

In addition, the glass lifting means 130 can lift the glass lifting member 131 as shown in FIGS. 14 and 15 to the center of the horizontal frame 144 as shown in FIGS. 9 and 10. And at least one pair of hook-shaped support members 151 having an approximately L-shaped cross section at a lower end of the glass elevating member 131, and supported by the hook-shaped support members 151. Glass plate G was made to be movable up and down.

Moreover, about the lifting mechanism of the said glass lifting member 131, the ball screw 134 is provided in the center part of the horizontal frame 144, and a pair is made by rotating the ball screw 134 by the glass lifting motor 133. The guides 132 and 132 are converted to straight motion, and the glass lifting members 131 attached on the guides 132 can be lifted and lowered.

The hook-type member retracting means 150 (see Fig. 21) is supported by the pair of hook-type support members 151 and 151 as shown in Figs. 9, 10 and 13-15. After loading the glass plate 101 at a predetermined position in the box-shaped container 103, the hook-type support members 151 and 151 are further lowered, and the glass plate 101 and the hook-type support members 151 and 151 are Although the claw support members 151 and 151 are retracted at a point in time apart, the retraction stroke needs to be at a distance that does not come into contact with the loaded glass plate 101 even when the claw support members 151 and 151 are raised.

The main lifting means 120 is a clamping means 140 for pinching the left and right sides of the glass plate G and a lower end of the glass plate as shown in FIGS. 9, 10 and 13 to 15. The main elevating member 122 having the glass elevating means 130 to be supported by the elevating member can be elevated, and the ball screw 125 is provided in the center of the main frame 121 in the vertical direction, and the main elevating motor 124 is provided. By rotating the ball screw 125 by using, the guide 123 is converted into a straight motion, and the main lifting member 122 attached on the guide 123 can be lifted.

13 to 15, the traveling means 110 is provided with a main lifting means 120 disposed on the main frame 121 between a glass plate storage station and a loading station of a box-shaped container. The main frame 121 is provided in the traveling guide 113 for traveling on the traveling rail 112 provided on the traveling frame 111, and traveling on the traveling frame 111.

As shown in FIGS. 13 to 15, the container conveying means 170 has a box-shaped container 103 each time one sheet of glass 101 is inserted into the groove portion 105 in the box-shaped container 103. Is conveyed by one pitch to the position of the groove portion 105 for inserting the next glass plate, and the interval of one pitch may be set and input to the controller in advance.

Moreover, when the box-type container 103 carries out new loading and the loading expires, it is used as a conveying apparatus for carrying out the box-type container 103 to carry out.

The position detecting means 160 is provided to detect the position coordinates of the groove portion 105 of the box-shaped container 103 as shown in Figs. 9 and 12, and the left and right L in the box-shaped container 103 are provided. In order to detect the predetermined position of the groove part 105 provided in each of the female side wall part 104 and 104, the illumination 162 near each lower end part of the pair of clamping frames 141 and 141 of the said clamping means 140. And a CCD camera 161 was prepared.

Position shift and angle shift in the XY direction by the X, Y coordinates of the predetermined positions obtained from the images of the left and right grooves 105 and 105 binarized after the imaging by the CCD camera 161 and the position coordinates of the left and right edges of the glass plate. To calculate.

The position adjustment means is a box-type container 103 so that the position coordinates of the grooves 105 and 105 on the left and right sides of the box-shaped container 103 detected as shown in FIG. 12 correspond to the coordinates of the end of the glass plate 101. The center line 106 between the grooves detected by rotating the box-shaped container 103 by the rotation of a conveying table (not shown) that loads the box-shaped container 103 when the angle is shifted by θ. Is adjusted to an angle of 106 'and the container conveying means is moved forward and backward to adjust the box-shaped container 103 in the X-axis direction in the glass plate direction and travel the traveling means 110. Or it retracts and the glass plate G is adjusted to a Y-axis direction to the position shown by G '.

Each time the glass plate was inserted, the box-shaped container 103 was conveyed by one pitch to the position of the groove portion 105 for the next glass plate insertion, but the box-shaped container 103 was fixed. The main frame 21 may be conveyed and moved by the pitch on the box-shaped container 103 by one pitch.

In addition, the box-shaped container 103 may be mounted on an XYθ table (not shown), and the XYθ table may be used to correct all the deviations and the like.

Alternatively, while the position of the box-shaped container 103 is fixed, the position of the groove portion 105 to be moved next by the CCD camera 161 of the position detecting means 160 is detected, and the main frame 121 is moved. You may make it conveyance move on the box-shaped container 103 to a X-axis and (theta) -axis rotation direction.

9, 12, and 13 to 15, the pair of L-shaped sidewall portions 104 and 104 of the box-shaped container 103 are provided with a plurality of groove portions 105, 105, ..., respectively. In addition, although the glass plate G is inserted in order from the groove part 105 of the downstream side of the conveyance direction of the box-shaped container 103 among the said some groove part 105,105, ..., the glass plate G is inserted. In some cases, it is difficult to install the CCD camera 161 directly on the grooves 105 and 105 to be made, and in some cases, for example, the adjacent grooves 105 of the target grooves 105 cannot be captured. In this case, when loading the first glass plate in the box-shaped container, the difference between the coordinates of the edge of the glass plate G and the predetermined position of the groove portion picked up by the CCD camera is measured, and the position is shifted by the actual value after the next time. What is necessary is just to add and subtract the coordinate part of this shift | deviation to the position coordinate imaged as having glass.

Subsequently, the operation of the apparatus of the second embodiment will be described.

The pinching rollers 142, 142, ... which pinch the left and right side edge portions of the glass plate 101 have a book shape having a V-groove, free rotation, and a pinch roller provided in one sandwich frame 141 ( 142, 142, ... are provided so as to be extensible through a spring (not shown), so that the claw-type support member 151, which does not impart excessive pressing force to the sandwiching glass plate 101 and supports the lower edge of the glass plate, is provided. By elevating 151, the glass plate 101 can elevate as much as possible between the said left and right clamping rollers 142, 142, ....

As the elevating means, the two-stage type of the main elevating means 120 and the glass elevating means 103 moves the glass plate 101 between the glass container and the box-shaped container at the lowermost end of the clamping means 140. This is because it is necessary to raise the height to a position higher than the height of the box-shaped container 103 made according to the size of the glass plate from the small size to the large size, and the height of the home detection camera needs to be adjusted to the groove portion ( The insertion apparatus is located in the container insertion station on the left side of Fig. 16, and Fig. 19). When lifting and lowering the pinching frame 141, the lower limit position is slightly higher than the height of the glass plate, and when the glass plate is inserted into the groove of the box-shaped container, only the glass plate sandwiched by the pinching means is supported by the hook-type supporting member, 130), the sandwich frame and the L-shaped sidewall portion do not interfere.

In addition, a total of three sides of the lower side and both sides of the glass plate are inserted into the grooves of the box-shaped container while being supported at the edges by the holding roller and the hook-shaped support member, so that the glass surface is clean and non-contact without giving any contamination or adsorption pad traces. As a result, the glass plate can be inserted into the groove portion in the container.

The position adjustment means is X-axis, Y-axis due to manufacturing error of the pitch of the groove portion 105 provided in the left and right L-shaped side wall portions 104 in the box-shaped container 103 or an error during positioning of the box-shaped container 103. Position correction is necessary in the axial and θ-axis directions.

Next, the operation situation will be described with respect to the apparatus of the second embodiment.

First, in the storage station of a glass plate, as long as one rectangular glass plate G was provided in the lower end of the glass lifting means 30 of the insertion apparatus 101 of this invention by the movement mounting apparatus of the previous process which is not shown in figure. In loading on the pair of claw support members 151 and 151, the pair of clamping frames 141 and 141 are arranged so that the glass plates can be stacked between the pair of clamping frames 141 and 141. The air is placed in a wider position with more margin (see a state where the insertion device is positioned in the glass storage station in the right view of FIG. 16 and FIG. 17).

When the glass plate G is mounted on the pair of hook-shaped support members 151 and 151 by the above-described moving mounting apparatus, the clamping means 140 as shown in the right side view of FIG. 16 and FIG. Each ball screw is rotated by the driving of the respective clamping motors, and the holding rollers 142, 142, ... of the pair of clamping frames 1411, 41 provided in the guides 143, 143 pivoting with the ball screws. When glass plate G is clamped by this, the mobile mounting apparatus which is not shown in this figure release | releases the support of the said glass plate, and retracts.

The pinching means 140 for pinching the glass plate G and the glass lifting means 130 for raising and lowering the lower end of the glass plate with the hook-shaped support member 151 are the main lifting motors 124 of the main lifting means 120. After ascending by the driving of the drive), the drive motor travels from the glass storage station to the container insertion station along the travel frame by the drive of the travel motor of the travel means 110 (see Fig. 18).

As shown in Fig. 10, on the container insertion station, the glass lifting means 130 and the clamping means 140 are lowered by driving the main lifting motor 124 of the main lifting means 120, and Fig. 17 As shown in Fig. 3, the CCD camera 161 and the illumination (of the position detecting means 160) are stopped at positions near the upper end of the L-shaped sidewall of the box-shaped container, and at each lower end of the pair of pinching frames 141 and 141. 162 is provided, the illumination part is irradiated to the groove part 105 which inserts glass plate G, is imaged by CCD camera 161, and the position shift with glass plate G is detected.

As shown in Fig. 11, the pair of approximately L-shaped sidewall portions 104 and 104 of the box-shaped container 103 each have a plurality of groove portions 105, 105, ..., and the plurality of groove portions 105, Although the glass plate G is inserted one by one from the side of 105, ..., the coordinates of both ends of the edge of the glass plate G, and the coordinates of the grooves 105 and 105 which the pair of CCD cameras 161 picked up. Compare

As shown in Fig. 12, first, when angle correction is required by θ for the detection position 106 by the position detection means, the box-shaped container on the conveying table (not shown) is rotated by the angle θ, and the numeral 106 is used. The box-shaped container 103 in the conveying direction, that is, in the X-axis direction, as much as the misalignment between the coordinates of the grooves 105 and 105 and the coordinates of both ends of the edge of the glass plate G after the correction at the position of ' When the main lifting means 120 of the insertion apparatus 1 is moved in the direction along the travel frame 111, that is, in the Y-axis direction, the position coordinates of the edge portions of both end portions of the glass plate G and the groove portions 105 and 105 picked up by the CCD camera ) Coincides with each other, and the glass plate G can be inserted into the grooves 105 and 105.

As shown in the left side of FIG. 16 and FIG. 20, when the glass elevating motor is driven by the glass elevating means 130, the glass elevating member is lowered, and a pair of hooks provided at the lower end of the glass elevating member 130 are shown. The glass plate G supported by the supporting members 151 and 151 descends, but the pair of clamping frames 141 and 141 provided on the left and right sides of the clamping means 140 are not lowered and are in a stationary state. The glass plate clamped by the clamping rollers 142, 142, ... which are rotatably attached to the clamping frames 141, 141 descend | falls between the clamping frames 141, 141 by the free rotation of the clamping roller.

In the step in which the lower end portion of the descending glass plate G is stacked on the lower end portions of the groove portions 105 and 105 of the pair of L-shaped sidewall portions 104 and 104 of the box-shaped container 103, the glass elevating member 131 When the pair of hooked support members 151 and 151 are separated from the lower end of the glass plate G, as shown in Fig. 21, the pair of hooked members retracting means 150 is shown. At the same time, the supporting members 151 and 151 are moved backward from the glass plate G surface, and the box-shaped container 103 is advanced by one pitch of the groove portion 105 by the container conveying means 170.

Next, the glass elevating member 130 is raised to the raised end to bring the pair of clamping frames 141 and 141 into an open state, and the main elevating member 122 is raised to lower the lower portion or the hook of the main elevating member 122. The main elevating member 122 is stopped when the lowermost end of each of the mold supporting members 151 and 151 and the hook member retracting means 150 becomes higher than the uppermost end of the box-shaped container 103. It is not necessary to raise it, and the main frame 121 travels and moves from a container insertion station to a glass storage station.

In the glass storage station, in order to receive the next glass plate G, the glass elevating member 31 is in the raised end position, and the position of the pair of sandwiching frames 141, 141 is placed at a position sufficiently wider than the width of the glass plate to receive. It was. In addition, the pair of hook-shaped support members 151 and 151 are advanced by the hook-type member retracting means 150 to the forward end to wait for the next glass plate G to be received.

Third Embodiment

The apparatus according to the third embodiment of the present invention is a platelet substrate adopting a multi-sided substrate of a display substrate having a length of one side of more than 2 meters from the small size of the glass substrate used for display display such as a plasma display or a liquid crystal monitor. A positioning device of a box-shaped container 203 for storing a large sized glass plate in a vertical posture by isolating it into the groove 205 of the left and right side walls. Even if there are variations in angles such as the position of the glass loading groove and the parallelism of the lines connecting the left and right grooves, the position of the glass insertion groove is accurately corrected so that the groove insertion position always becomes the reference coordinate.

As shown in Fig. 28, the supply conveyor 270 is disposed adjacent to the upstream side of the conveyance conveyor 210 of the position adjusting device 201 of the box-shaped container 203 for storing the glass plate, and the glass plate is disposed downstream of the glass container. The carrying-out conveyor 280 which carries out the box-shaped container 203 which completed loading was arrange | positioned adjacently.

The feed conveyor 270 is composed of a plurality of feed CV rolls 1271 and 271 ... driven by a feed CV drive motor 272, and boxes stacked on the feed conveyors on both sides of the feed conveyor 270. The preliminary positioning means 220 'which centers the mold container 203 was arrange | positioned.

The preliminary positioning means 220 ′ provides side press cylinders 223 ′ and 223 ′ on both sides of the feed conveyor 270, respectively, and feeds the rods of the side press cylinders 223 ′ and 223 ′. Protruding toward the upper box-shaped container 203, the side pressing members (222 ', 222') orthogonal to the rods are provided at the tip of the protruding rod, and each of the side pressing members (222 ', 222') is provided. When the plurality of side press rolls 221 ', 221' ... are disposed and the side press cylinders 223 ', 223' are driven to approach each other, the box-shaped container 3 is approximately centered on the supply conveyor 270. Preliminary positioning is performed so as to be a position.

The position adjusting device 201 of the box-shaped container 203 disposed adjacent to the downstream of the supply conveyor 270 (see FIG. 28) is arranged in two rows, left and right, as shown in FIG. The correction table 251 provided between the conveyance conveyors 210 and 210 which consist of these several conveyance rolls 211 and 211 ... and the conveyance conveyors 210 and 210 divided | separated into the said left and right two rows is moved in parallel with a conveyance direction. In the state which stopped the front-back position adjustment means 240 and the box-shaped container 203 which were able to be adjusted on the conveyance conveyor 210 once, the conveyance conveyor 210 in the direction orthogonal to the conveyance direction of the conveyance conveyor 210, Side positioning means 220 and the said conveyance conveyor which press-seize and center the box-shaped container 3 mounted on the conveying rolls 211, 211 ... from the outer side of 210, and position in the width direction. The box-shaped container 203 is opened by lifting up and down 210 and 210. Comprises a transmitting conveyor (see Fig. 24) as a correction table (251) from (210, 210), or vice versa, moving with the transfer conveyor lifting means 215.

The conveying conveyors 210 and 210 are separated in a horizontal direction from the center line in the conveying direction and arranged in two rows, each row consisting of a plurality of conveying rolls 211, 211,. 203 is supported and conveyed over the conveyance conveyors 210 and 210 of two left and right rows.

The front-back position adjusting means 240 arrange | positions two guide rails 243 and 243 between the conveyance conveyors 210 and 210 of right and left, as shown to FIG. 22, FIG. 24, and each guide rail 243, On the 243), the guides 244 and 244 (see Fig. 24) were slidably attached.

In addition, between the two guide rails 243 and 243, a ball screw 241 that is rotationally driven by the motor 242 is disposed in parallel with the guide rails 243 and 243, and the ball screw 241 is screwed together. The guide 246 and the guides 244 and 244 slidingly installed on the guide rail are connected to each other by a connecting member 245, and the adjustment plate 252 rotatable by the motor 253 on the connecting member 245. The correction table 251 was provided so that angle adjustment was possible through the angle adjusting means 250 which has (circle).

The side positioning means 220 has the same structure as the preliminary positioning means 220 ', and provides side press cylinders 223 and 223 on both outer sides of the conveying conveyor 210, respectively, and the side press cylinders. The rods 223 and 223 are projected toward the box-shaped container 203 on the conveying conveyor, and the long side pressing members 222 and 222 orthogonal to the rods are provided at the front end of the protruding rod, and the side pressing members A plurality of side pressing rolls 221, 221, ... of the 222, 222 are disposed, the side pressing cylinders 223, 223 are driven, and the side pressing members 222, 222 are protruded to form a box-shaped container ( By approaching each other so that the 203 may be clamped, the box-shaped container 203 will be positioned in the width direction.

In addition, in order to perform the side positioning of the box-shaped container 203, the box-shaped container 203 carried in on the conveyer conveyor 210 is stopped and performed to a predetermined position.

As this stop means, as shown in FIGS. 22-24, the stopper elevating cylinder 232 is attached to the edge part at the side of the carrying-out conveyor v80 of the said correction table 251 via the attachment member 233, and the said The plate of the stopper 231 was provided in the front-end | tip of the rod which protrudes in and out of the stopper lifting cylinder 232, and the stopper was able to raise and lower. The stopper 231 is lowered when carrying out the box-shaped container 203 to the carrying-out conveyor 280 side, and is raised when positioning and when loading a glass plate.

Moreover, although the box-shaped container 203 carried on the conveyer 210 was stopped by the said stopper 231 to the predetermined position, the box-shaped container 203 was detected by the sensor which is not shown in figure, and box-shaped. The container 203 may be stopped.

In addition, the angle adjusting means 250 provides an adjusting plate 252 rotatable by the motor 253 on the connecting member 245 of the front and rear position adjusting means 240, the correction table on the adjusting plate 252 Since 251 is provided so that the rotation centers may coincide with each other, the angle shift of the box-shaped container 203 on the correction table 251 can be adjusted by rotating the correction table 251. However, the angle shift is corrected. The range of angle is enough in practical use if it is about 0 to +/- 5 degree | times.

Since the correction table 251 is disposed between a pair of left and right conveying conveyors, when the shape of the correction table is corrected for the angle of the correction table, the side facing the conveying conveyor is not arcuately shaped so as not to contact the conveying conveyor. Or a sufficient gap between the conveying conveyors.

In addition, when the stopper 231 is in contact with the tip of the box-shaped container 203 and is positioned by the side positioning means 220, the position shift and the angle shift of the front and rear positions of the box-shaped container 203 are positioned. The detection means 260 detects the position and adjusts the position with high accuracy.

Since the glass plate is precisely inserted into the groove 205 of the side wall portion 204 in the box-shaped container 203, the corners of both lower edges of the elevating member 263 for moving and mounting the glass in the box-shaped container 203. The illumination 262 and CCD camera 261 attached to each of them image the XY coordinates of the position of the groove part 205 of the side wall part 204 of the box-shaped container 203, and the glass plate becomes a reference which can be inserted. Compared with the coordinate position, the positional shift and the angle shift can be corrected by the front and rear position adjusting means 240 and the angle adjusting means 250.

As shown in Fig. 24, the adjustment means 290 of the side positioning means 220 and the preliminary positioning means 220 'is controlled by the rotation of the adjustment handling 292, so that the side positioning means 220 and the preliminary positioning means 220 and the preliminary positioning means 220' are adjusted. The mount of the positioning means 220 'can be moved on the adjustment rail 292, and the side positioning means 220 and the preliminary positioning means 220' can impart an appropriate pressing force on the box-shaped container. .

The said conveyance conveyor 280 consists of several conveyance rolls 1281, 281, ... driven by the drive motor 282, and carries out the box-shaped container which completed loading of the glass plate.

Next, the operation of the apparatus according to the third embodiment will be described.

As shown in FIG. 23, since the uppermost end of the conveying rolls 211, 211, ... of the conveying conveyors 210 and 210 was made into the lowered position by the conveying conveyor lifting means 215, the correction table 251 Since it is set to the downward position from the upper surface, the box-shaped container 203 carries only a lowering of the conveying conveyors 210 and 210 by operating the conveying conveyor raising and lowering cylinder 216 of the conveying conveyor raising means 215. It can be mounted on the correction table 251 on (210, 210).

By the side positioning means 220 and the stopper 231, the box-shaped container 203 is positioned almost in position on the conveying rolls 210 and 210, but the box-shaped container 203 as shown in FIG. The gap between the grooves 205 and 205 provided in the left and right side wall portions 204 and 204 and the glass plate to be inserted therein is very small. Therefore, due to the manufacturing error of the box-shaped container 3, the glass plate is not shown. The position of the box-shaped container can be finely adjusted by the front and rear position adjusting means 240 for the position shift with the glass plate to be inserted by the insertion device of the.

In addition, as shown in Fig. 27, the glass chain to be inserted by the reference line, ie, the glass plate inserting device (see Fig. 26), in which the two-dot chain lines 206 connecting the centers of the right and left grooves 205 and 205 connect the reference positions. When the angle mismatch θ is not parallel to the reference line on the extension line of (G), the left and right groove portions 205 and 205 of the box-shaped container 3 are connected by the angle adjusting means 250. One advantage is that the correction table 251 is rotated with O as the center of rotation so that the dashed line is parallel to the glass plate surface, and the front and rear position adjustment number 240 is used to drive the X-axis direction, the driving means of the glass plate inserting device when the glass plate is actually inserted. This may be performed by shifting the shift in the Y axis direction to the reference position.

The position detecting means 260 detects the position coordinates of the groove portion 205 of the box-shaped container 203 as shown in FIG. 26, and the left and right side wall portions 204 and 204 in the box-shaped container 203 are located. In order to detect the predetermined position of each provided groove part 205, illumination 262 and CCD camera 261 are provided in the vicinity of both corners of the lower end part of the elevating member 263, respectively, and the said CCD camera 261 The imaging area 264,264 of the groove part 205 is imaged, and a position is detected.

Position shift in the XY direction by the X and Y coordinates obtained from the images of the left and right grooves 205 and 205 binarized after the imaging by the CCD camera 261 and the X and Y coordinates of the reference position coordinates to be the glass plate loading positions. And an angle shift are calculated by an arithmetic circuit (not shown).

Next, a method of using the apparatus of the third embodiment and an operation thereof will be described.

First, as shown in FIG. 28, FIG. 29, the position of the side positioning means 220 and the preliminary positioning means 220 'is adjusted beforehand according to the size of the box-shaped container 203. In FIG. The adjustment of the position is carried out by the rotation of the adjustment handling 292, but the support column supporting the side positioning means 220, 220 is moved on the adjustment rail 292, and the rod of the side pressing cylinder protrudes. When it is done, the box-shaped container is adjusted to be positioned by the contact of the side pressing rolls 221 and 221.

Subsequently, the empty box-shaped container 203 without a glass plate is loaded on the supply conveyor 270 by means, such as a forklift which is not shown in figure. The box-shaped container 203 is in a state in which the top cover, the front plate and the back plate are removed, and is not disturbed when the glass plate is loaded by a glass plate loading device (not shown), but the glass plates are both sides of the box-shaped container 203. Since it is supported by being inserted and spaced apart by the groove parts 205 and 205 provided in the wall parts 204 and 204, there is no fear of contact or fall of glass plates.

The stacked box-shaped container 203 is stopped at a predetermined position of the feed conveyor 270, and the side pressing members 222 'and 222' are made by the preliminary positioning means 220 'from both sides of the feed conveyor 270. The side pressing rolls 221 'and 221' are sandwiched so as to be approximately the center position in the width direction, and then preliminarily positioned, the side pressing rolls 221 'and 221' are removed from the box-shaped container 203, and the supply conveyor 270 is driven and the box-shaped container 203 is conveyed on the conveyance conveyor 210 adjacent to a downstream side.

The stopper 231 is fixedly attached to the distal end of the correction table 251 so as to be lifted and lowered, and the box-shaped container 203 conveyed on the conveyer conveyor 210 stops by contacting the lifted stopper 231.

Subsequently, the side pressing members 222 and 222 protrude to both sides of the box-shaped container by the operation of the side pressing cylinders 223 and 223 of the side positioning means 220 provided on both outer sides of the conveying conveyor 210. The position of the box-shaped container 203 in the width direction is determined.

At the same time as the positioning of the box-shaped container 203 is completed in the width direction, the conveying conveyor 210 is stopped, and the side pressing members 222 and 222 are also removed from the box-shaped container 203 to convey the conveying conveyor 210. It lowers by the conveyor lifting means 215, and loads the box-shaped container 203 on the correction table 251.

Although the box-shaped container 203 made some positioning by the stopper 231 and the side positioning means 220, it carries out more precise positioning.

First, the glass plate movement mounting apparatus which is not shown in figure from the width direction orthogonal to the conveyance direction of the conveyance conveyor 210 can reciprocate to the upper part of the box-shaped container 203, and raises and lowers the lifting member from the upper position of the box-shaped container. The position of the glass plate which can be moved and inserted into the groove position of a box-shaped container is made into a reference position.

Illumination light is irradiated to the groove part 205 by the illumination 262 provided in the vicinity of both corners of the lower end part of the said elevating member 263, and the groove parts 205 and 205 are made by the CCD camera 2221 provided in the vicinity of illumination light. It picks up and detects the coordinate position of the said groove part 205 and 205, and compares it with the coordinate position used as a reference | standard.

For the correction of the positional shift and the angle shift between the reference position and the detection position, the amount of movement of the X-axis (the conveying direction of the conveying conveyor), the Y-axis (the direction connecting the left and right pairs of grooves), and the θ-axis is calculated by a calculation such as a controller. Calculate and correct the position shift in the X-axis direction by moving the correction table 251 in the X-axis direction and correcting it by the front and rear position adjusting means 240, and the glass plate shifting device (not shown) for the position shift in the Y-axis direction. The correction table 251 is moved in the Y-axis direction and adjusted by the traveling means, and for the angle shift, the correction table 251 is rotated by the angle θ by the angle adjusting means 250, and the detected coordinates are referred to as reference coordinates. Adjust by rotating the calibration table to match.

In this way, the box-shaped container 203 can perform precise positioning, ie, the positioning of the groove part 205,205 of a box-shaped container as a reference position can be performed.

Thereby, the glass plate can be smoothly inserted into the grooves 205 and 205 in the box-shaped container 203 by the glass plate movement mounting apparatus which is not shown in figure, and can be moved.

Each time the glass plate is inserted into the grooves 205 and 205 in the box-shaped container 203, the box-shaped container 203 is moved by the front and rear position adjusting means 240 so that the next grooves 205 and 205 become the reference positions. By pitch, the correction table 251 is moved together with the box-shaped container 3.

When loading of one glass plate in the box-shaped container 203 is completed, the stopper 231 is lowered to raise the conveying conveyors 210 and 210, and the box-shaped container 203 is placed on the conveying conveyors 210 and 210. By loading and operating the conveying conveyors 210 and 210, the box-shaped container 203 can be sent out to the conveying conveyor 280 adjacent to the downstream side.

According to the present embodiment, a box-shaped container for separating a plurality of glass plates from a small size of a glass substrate to a large glass plate having a length of more than 2 meters in length and storing them in a vertical posture is placed at a predetermined position of a loading station. Even if there is a slight deviation in the position and angle after positioning and positioning, the correction can be performed with high precision.

Although this invention was detailed also demonstrated with reference to the specific embodiment, it is clear for those skilled in the art that various changes and correction can be added without deviating from the mind and range of this invention.

This application is a Japanese patent application (Japanese Patent Application No. 2005-096360) filed March 29, 2005, a Japanese Patent Application (Japanese Patent Application No. 2005-127280) filed April 26, 2005, and 5 2005. It is based on the Japanese patent application (Japanese Patent Application No. 2005-158096) for which it applied on January 30, The content is taken in here as a reference.

According to the present invention, there is no contamination such as adsorption pad traces on the surface of the glass plate from the small size of the glass substrate used for display display to the large size of one side exceeding 2 meters in length, and there is no fear of dropping or damage of the glass plate. It is possible to provide a method and apparatus that can be reliably mobile mounted.

Claims (14)

In the movement mounting apparatus of the glass plate which grasps a flat rectangular glass plate on an inclined conveyor, and takes out, A plurality of conveying rolls having a V-groove for supporting the lower edge of the glass plate, and a material roll disposed at the distal end of the material roll supporting lever to be arranged side by side from the distribution frame side, are insulated from the distribution frame. With an inclined conveyor supporting inclinedly with It is located on the front side of the inclined conveyor and consists of a hand of an articulated robot that can be moved and rotated in all directions. The hand, A holding means provided with a pair of holding members each having a holding roll each having a V-groove, and capable of holding the left and right longitudinal sides of the glass plate; And a supporting part supporting elevating means for supporting the glass plate at its lower end and enabling the elevating to be possible. A glass plate moving mounting apparatus, wherein the glass plate is supported by an edge so as to be taken out from the inclined conveyor. The movement mounting apparatus of the glass plate of Claim 1 in which the spring was provided in one clamping member of the said pair of clamping members, and the excessive force is not applied to a glass plate when the glass plate is clamped. The material roll of claim 1 or 2, wherein the material rolls of the inclined conveyor include a plurality of material rolls arranged in a row, The gripping rolls of the gripping member of the hand include a plurality of gripping rolls arranged in a row, When moving the glass plate from the inclined conveyor to the hand, The plurality of material rolls and the plurality of pinching rolls are positioned to sandwich the glass plate without interfering with each other. The supporting roll of the hand is positioned to move up and down between the plurality of conveying rolls of the inclined conveyor, and the conveying roll of the inclined conveyor and the supporting roll of the hand support the glass plate without interfering with each other when the lower end of the glass plate is taken out. The movable mounting apparatus of the glass plate characterized by the above-mentioned. A pair of exchange pinching members each having a pair of exchange pinching rolls each having a V-groove, and for holding pins of both sides of the glass plate; Each having a V-groove, and having an exchange support having a plurality of exchange support rolls supporting the lower edge of the glass plate, A moving plate mounting device of a glass plate, wherein the glass plate supported by the robot hand can be loaded onto the exchange support by an edge. The method of claim 4, wherein the exchange pinching rolls include a plurality of exchange pinching rolls arranged in a row, The robot hand includes a supporting portion roll having a supporting portion roll having a V-groove portion and supporting the glass plate at the lower end side thereof to enable the lifting. When moving the glass plate from the robot hand to the replacement support, The supporting plate roll of the hand is moved up and down so as not to interfere with the plurality of exchange support rolls so that the glass plate held by the robot hand can be loaded on the exchange support so as to be supported by an edge. . The glass plate can be lifted up and down by the clamping means on both the left and right sides of the left and right vertical edge edge portions of the rectangular glass plate exchanged by the mobile mounting apparatus of the previous step, The glass plate is lifted and lowered by the glass lifting means in a state where the lower end of the glass plate is supported by the hook-type support member that can move forward and backward. The whole glass lifting means and the gripping means which hold | maintain the said glass plate are raise | lifted by the main lifting means and the traveling means, and it runs between box-shaped containers from a support position, A method of inserting a glass plate into a container groove in which a glass plate is isolated and inserted one by one in both left and right grooves of a box-shaped container without contact with the glass plate surface and by supporting each edge portion of the left and right side end edges and the bottom edge. 7. The method according to claim 6, wherein each time one glass plate is inserted into the groove in the box-shaped container, the box-shaped container is moved by one pitch to the next groove position. According to claim 6 or 7, wherein the left and right pair of groove portions for inserting the left and right side end portions of the glass plate of the box-shaped container is picked up by a CCD camera, The discrepancy between the position of the groove portion detected by the position detecting means for detecting the position of the left and right groove portions and the glass plate position is determined by any one of rotation, forward retreat, or a combination of the conveying table for loading the box-shaped container. Correct the position, A method of inserting a glass plate into a container groove for moving the glass plate by the traveling means to perform position correction. In the device which isolates and inserts the rectangular glass plate exchanged by the movement mounting apparatus of a previous process, one by one in the groove | channel of a box-shaped container, A pair of left and right pinching frames each having a plurality of V-groove-like rotating pinching rollers for pinching the left and right longitudinal sides of the rectangular glass plate, A gripping means for allowing the gripping frame to move on a horizontal frame; A glass elevating member provided in a central portion of the lateral frame so as to be able to elevate; Glass plate lifting means for allowing the glass plate to be lifted and lowered while supporting the lower end of the glass plate by a hooked support member provided at the lower end of the glass lifting member; Hook-type member retracting means for advancing and retracting the hook-type member; Main lifting means for lifting the holding means of the glass plate, A traveling means for traveling on a traveling frame provided with the main lifting means across a glass plate support station and a container insertion station, and the glass plate being box-shaped by supporting each edge portion of the left and right end edges and the lower edge side without contacting the glass plate surface. An apparatus for inserting a glass plate into a groove of a container, wherein the sheet is isolated and inserted into the groove of the container automatically. 10. The glass plate into the container groove according to claim 9, wherein each time the glass plate is inserted into the groove in the box-shaped container, the box-shaped container is provided with a container conveying means for moving the box-shaped container by one pitch to the next groove-insertion position. Insertion device. The CCD camera according to claim 9 or 10, which picks up positions of grooves in the box-shaped container, Position detection means of a groove portion comprising an image processing apparatus for calculating coordinates of the imaged home position; Positioning is performed by traveling means for moving the box-shaped container in the X-axis direction and traveling means for moving in the Y-axis direction so that the coordinates of the detected groove position coincide with the coordinates of the end of the glass plate. The insertion apparatus of the glass plate in a container groove provided with the position adjustment means which adjusts an angle shift by rotation of a conveyance table. In the position adjustment device of the box-shaped container for glass plate storage, A conveying conveyor having a plurality of conveying rolls disposed separately from the left and right in the conveying direction to support the left and right bottom portions of the box-shaped container, and carrying in and out of the box-shaped container; A correction table provided between the conveying conveyors separated from side to side, A front and rear position adjustment mechanism for moving the correction table back and forth, Side positioning means for pressing and pinching from both side surfaces in a direction orthogonal to the conveying direction of the box-shaped container to determine the position in the width direction; A conveying conveyor lifting means for lowering the conveying conveyor and stacking a box-shaped container on the conveying conveyor on a correction table, and adjusting the loading position of the container so that a glass plate can be loaded in the groove of the container loaded on the correction table; Position adjustment apparatus of the glass container storage box-shaped container characterized by the above-mentioned. The box-shaped storage box according to claim 12, further comprising: a stopper fixed to the distal end of the correction table so as to be lifted and lowered to stop the box-shaped container to a predetermined position on the correction table by contact with the distal end of the box-shaped container. Positioning device of the container. The position adjustment apparatus of the box-shaped container for glass plate accommodations of Claim 12 or 13 which made the box-shaped container mounted on the said correction table rotateable, and adjusted by rotating the angle-shifted correction table.

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