TW201410563A - Method for loading flat bodies, method for manufacturing packed body, and facility for loading flat bodies - Google Patents

Abstract

The present invention relates to a method for loading flat bodies on a packing container, wherein the flat bodies and the slip sheets are loaded in an alternate manner. The method has: a loading step for loading the slip sheet and the flat body, in that order, on a packing container; an image-capturing step for capturing an image that includes at least part of the packing container, the slip sheet, and the flat body; a measuring step for measuring, from the image, the position of the slip sheet and the flat body relative to the packing container; a calculating step for calculating the deviation, from a prescribed position, of the position of the slip sheet and the flat body relative to the packing container; and a stopping process step for carrying out a stopping process in order to stop the loading of the slip sheets and the flat bodies on the packing container when the deviation is greater than a permitted value.

Description

Method for loading plate body, method for manufacturing scorpion body, loading device for plate body

The present invention relates to a method of loading a plate-like body such as a glass substrate, and more particularly to a plate-like body that stops loading when the position of the plate-like body during the loading process is shifted, and suppresses the work efficiency due to the repetition of the loading operation. Loading method.

A glass substrate for a flat panel display such as a glass substrate for a plasma display or a glass substrate for a liquid crystal display is usually produced by a glass substrate manufacturer, and then transferred to a glass substrate manufacturing factory that performs processing of a glass substrate or assembly of a display device. At the time of the conveyance, the glass substrate is placed on the stacking container for about 100 to 200 sheets of the paper, and then transported by a truck or the like (for example, refer to Patent Documents 1 and 2).

The loading of the glass substrate into the bag container is carried out, for example, by transporting the glass substrate to the vicinity of the bag container by a transfer device such as a roller conveyor, and the spacer paper is loaded on the glass substrate during the transfer, and loaded by a robot arm or the like. The glass substrate on which the spacer paper is loaded is loaded into the bag container. By repeating such an operation, it is possible to obtain a large number of glass substrates on the bag container with the spacer paper loaded thereon.

Prior technical literature Patent literature

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2011-148562

[Patent Document 2] Japanese Utility Model Registration No. 3165973

Specifically, the loading of the glass substrate and the spacer paper on the bag container is carried out by lifting the glass substrate on which the spacer paper is loaded from a transfer device such as a roller conveyor by a loading device such as a robot arm, and in the middle The glass substrate and the upper and lower positions of the spacer paper are reversed to be reversed, and transferred to the bag container. At this time, there is a case where the position of the glass substrate or the spacer paper is shifted with respect to the pocket container.

The offset of such a position occurs, for example, when the spacer paper is loaded on the glass substrate, the spacer paper is blocked by the spacer paper loading device for loading the spacer paper, and the glass is loaded when the spacer bag is loaded. Air enters between the substrate and the spacer paper, and the spacer paper moves in a sliding manner. When the position of the glass substrate or the spacer paper is shifted with respect to the bag container, there is a possibility that the glass substrate is easily damaged during the conveyance of the bag container, and the glass substrate or the spacer paper cannot be automatically adsorbed at the transfer destination.

Previously, such an offset was observed by visual inspection or using a scale or jig. However, when the person observes the offset, the loading device cannot be moved when it is operated, so that it is necessary to stop the loading device, and the productivity is easily lowered. Further, when the person observes the offset, there is a case where the offset is not surely found, and the glass substrate or the spacer paper is loaded in the offset state.

If the offset can be found immediately when the offset is generated, the correction can be easily performed. However, if it is found to be later, it is necessary to remove the entire portion of the portion loaded with the offset from the upper side and load it again. Productivity is greatly reduced. In order to find the offset, it is also considered to periodically check and shorten the time for confirmation. However, since the number of times the loading device is stopped is increased, productivity is liable to lower.

The present invention has been made to solve the above problems, and an object thereof is to detect the occurrence of an offset early and surely, thereby suppressing a decrease in efficiency of a loading operation.

The method for loading a plate-shaped body according to the present invention is to alternately load a spacer paper and a plate-like body on a bag container, and includes a loading step, an imaging step, a measuring step, a calculating step, and Abort the processing steps.

The loading step is to sequentially load the spacer paper and the plate-like body on the bag container.

The imaging step captures an image of at least a portion of the bag container, the spacer paper, and the plate body.

The measurement step is from the position of the image measuring spacer and the plate-shaped body relative to the bag container.

The calculation step calculates the deviation of the position of the spacer paper and the plate-shaped body relative to the bag container from the predetermined position.

The aborting process is performed to suspend the loading process of the paper and the plate-shaped body to the bag container when the magnitude of the offset exceeds the allowable value.

In the method of loading a plate-shaped body according to the present invention, it is preferable that an image is taken for a plurality of parts, and a measurement step, a calculation step, and a suspension processing step are performed on the images of the plurality of parts.

In the method of loading a plate-shaped body of the present invention, it is preferable to repeat the loading step, the image capturing step, the measuring step, the calculating step, and the stopping the processing step.

In the method of loading a plate-like body according to the present invention, it is preferable that the position of the spacer paper and the plate-shaped body relative to the bag container is a space between the paper and the plate with respect to the position of the outer peripheral portion of the specific structural portion of the bag container. The position of the outer part of the body.

Further, it is preferable that the outer peripheral portion is two sides constituting the corner portion.

Further, it is preferable that the bag container has a four-sided shape and includes a cylindrical portion for laminating another bag container at the four corners of the bag container, and the tube portion is a specific structural portion.

In the method for loading a plate-shaped body according to the present invention, preferably, the position of the spacer paper and the plate-like body relative to the bag container is determined by measuring the position of the bag container, the spacer paper, and the plate-like body on the image. Find out.

In the loading method of the plate-shaped body of the present invention, preferably, the measurement in the measuring step is performed by setting a specific region in the image as a search region in advance, and in the search region. The measurement object is searched for.

Further, preferably, the search is performed using a difference in contrast in the image.

In the method of loading a plate-shaped body of the present invention, it is preferable that the plate-shaped body is a glass substrate.

Moreover, it is preferable that the glass substrate has a size of G5 or more (1,300 mm or more in length × 1,100 mm or more in width).

Further, it is preferable that the glass substrate contains an alkali-free glass.

The manufacturing method of the enamel body of the present invention includes: a carrier manufacturing step of obtaining a carrier on which a spacer paper and a plate-like body are loaded on a bag container by the method of loading the plate-like body; and a bagging step of Load the body bag. Obtain the scorpion inclusions.

The loading device of the plate-shaped body of the present invention includes: an image pickup device that captures an image of a bag container loaded with a spacer paper and a plate-like body; and an image processing device that measures the spacer paper and the plate-shaped body with respect to the image based on the image The position of the bag container is calculated as a deviation from the predetermined position of the position of the spacer paper and the plate-shaped body relative to the bag container, and it is judged whether or not the magnitude of the offset is within the allowable value; and the control device exceeds the allowable amount of the offset At the time of the value, the suspension processing for stopping the loading of the spacer paper and the plate-shaped body container is performed.

According to the loading method of the plate-shaped body of the present invention, the occurrence of the offset can be found early and surely, and the reduction in the efficiency of the loading operation can be suppressed. Moreover, according to the method for producing a wrapper body of the present invention, it is possible to manufacture a wrapper body having a good loading state in which the occurrence of offset is suppressed. Further, according to the loading device for the plate-shaped body of the present invention, the occurrence of the offset can be found early and surely, and the reduction in the efficiency of the loading operation can be suppressed.

10‧‧‧Loading equipment

11‧‧‧Transporting device

12‧‧‧Loading device

13‧‧‧Base

14‧‧‧ camera

15‧‧‧Package container

16‧‧‧ glass substrate

16x‧‧‧ search area for the horizontal direction of the glass substrate

16y‧‧‧Search area for the vertical direction of the glass substrate

17‧‧‧ spacer paper

17x‧‧‧ search area for the horizontal direction of the spacer paper

17y‧‧‧ search area in the longitudinal direction of the spacer paper

18‧‧‧Image processing device

19‧‧‧Control device

21‧‧‧ display device

111‧‧‧ Roll

121‧‧‧ Rod

122‧‧‧Fixed Department

141‧‧‧Photography

151‧‧‧ Frame Department

152‧‧‧Loading Department

153‧‧‧ Tube

153x‧‧‧Search area in the horizontal direction of the tube

153y‧‧‧Search area in the longitudinal direction of the tube

X ₀ ‧‧‧The position of the side of the tube extending in the longitudinal direction

X ₁ ‧‧‧ The position of the spacer on the side extending in the longitudinal direction

X ₂ ‧‧‧The position of the glass substrate on the side extending in the longitudinal direction

Y ₀ ‧‧‧The position of the tube on the side extending in the lateral direction

Y ₁ ‧‧‧ The position of the spacer paper on the side extending in the lateral direction

Y ₂ ‧‧‧The position of the glass substrate on the side extending in the lateral direction

Fig. 1 is a view showing an example of a loading procedure of the embodiment.

Fig. 2 is a view showing an example of a loading procedure of the embodiment.

Fig. 3 is a view showing an example of a loading procedure of the embodiment.

Fig. 4 is a view showing an example of a loading procedure of the embodiment.

Fig. 5 is a view showing an example of a loading procedure of the embodiment.

Fig. 6 is a plan view showing a bag container in which a spacer paper and a glass substrate are loaded.

Fig. 7 is a cross-sectional view taken along line A-A of the bag container in which the spacer paper and the glass substrate are shown in Fig. 6.

Fig. 8 is a view showing a method of measuring an image and a position to be photographed.

Fig. 9 is a block diagram showing an example of a loading device of the embodiment.

Hereinafter, embodiments of the method for loading a plate-shaped body of the present invention will be described.

In the method of loading a plate-shaped body according to the embodiment, a plate-shaped body such as a spacer paper or a glass substrate is alternately mounted on the bag container, and includes a loading step, an imaging step, a measurement step, a calculation step, and a suspension processing step.

The loading step is to sequentially load the spacer paper and the plate-like body on the bag container.

The imaging step captures an image of at least a portion of the bag container, the spacer paper, and the plate body.

The measurement step is from the position of the image measuring spacer and the plate-shaped body relative to the bag container.

The calculation step calculates the deviation of the spacer paper and the plate-like body from the predetermined position.

The aborting process is performed to suspend the loading process of the paper and the plate-shaped body to the bag container when the magnitude of the offset exceeds the allowable value.

According to the method of loading a plate-shaped body according to the embodiment, in the method of loading the plate-like body in which the spacer paper and the plate-like body are alternately mounted on the bag container, the occurrence of the offset can be detected early and surely, thereby suppressing the loading operation. The efficiency is reduced. In other words, the person does not need to perform direct observation, and it is not necessary to periodically stop the loading device or the like for observation, so that the decrease in productivity can be suppressed. Moreover, since it can be reliably found immediately after the offset is generated, it is also possible to suppress the decrease in productivity due to reloading. Hereinafter, each step will be specifically described.

The loading step is a step of sequentially loading the spacer paper and the plate-like body on the bag container as described above. 1 to 5 are diagrams showing an example of a loading step in order of steps.

The loading device 10 used in the loading method of the embodiment includes, for example, a conveying device 11 such as a roller conveyor, a loading device 12, a base 13, and an imaging device 14, as shown in Fig. 1, and includes an image processing device, although not shown. , control devices and display devices. A bag container 15 is detachably disposed on the base 13. In the following description, a glass substrate will be described as an example of a plate-like body.

The conveying device 11 is provided to convey the glass substrate 16 to the vicinity of the bag container 15. The loading device 12 is provided to mount the glass substrate 16 and the spacer paper 17 in the bag container 15 from the transfer device 11 . The imaging device 14 is provided on the upper portion of the bag container 15 in order to capture images of the glass substrate 16 and the spacer paper 17 when the bag container 15 is loaded.

In the loading step, for example, the glass substrate 16 is first placed on a conveying device 11 such as a roller conveyor, and is conveyed toward the vicinity of the bag container 15. In the conveyance process, the spacer paper 17 is loaded on the glass substrate 16 by a spacer paper loading device (not shown) (FIG. 1). Thereafter, the glass substrate 16 on which the spacer paper 17 is placed is conveyed toward the vicinity of the bag container 15, and is stopped at a specific stop position. A loading device 12 such as a robot arm (FIG. 2) is disposed at the stop position.

After the stop, the loading device 12 is brought into close contact with the lower portion of the glass substrate 16 (Fig. 3). The loading device 12 includes, for example, a plurality of rod-shaped portions 121 extending in the same direction as the axial direction of the roller 111 of the conveying device 11 and disposed between the rollers 111, and a fixing portion 122 that has a plurality of rods One end of the portion 121 is fixed, and the plurality of rod portions 121 are placed in contact with the glass substrate 16 so as to be disposed between the rollers 111 of the conveying device 11.

The glass substrate 16 on which the spacer paper 17 is loaded is lifted by the pick-up device 11 by a plurality of bar-shaped portions 121, and is reversed in such a manner that the glass substrate 16 and the upper and lower positions of the spacer paper 17 are reversed. The bag container 15 is placed on the bag container 15 and the glass substrate 16 in this order from the side of the bag container 15 (FIG. 4).

After the spacer paper 17 and the glass substrate 16 are loaded onto the packet container 15, the loading device 12 is removed from the spacer paper 17 and the glass substrate 16 (FIG. 5). In this manner, a loading step of sequentially loading the spacer paper 17 and the glass substrate 16 on the packet container 15 is performed.

In the imaging step, for example, as shown in FIG. 5, in the state in which the spacer paper 17 and the glass substrate 16 are mounted on the packet container 15, the image is taken by the imaging device 14 provided on the upper portion.

Fig. 6 is a plan view showing the packet container 15 on which the spacer paper 17 and the glass substrate 16 are loaded. Further, Fig. 7 is a cross-sectional view taken along line A-A of the packet container 15 in which the spacer paper 17 and the glass substrate 16 are mounted as shown in Fig. 6. Furthermore, the imaging device 14 is also shown in FIG.

The bag container 15 includes, for example, a frame portion 151 having a four-sided shape, a loading portion 152 which is provided inside the frame portion 151 in a lattice shape or the like, and four cylindrical portions 153 which are respectively disposed at four corners of the frame portion 151. unit. The loading unit 152 mainly mounts the glass substrate 16 and the portion of the spacer paper 17. Further, the four tubular portions 153 are used when the other purse containers 15 are stacked, and the four tubular portions 153 of the other purse containers 15 are laminated. That is, the bag container 15 is formed by laminating the other bag containers 15 after the loading of the glass substrate 16 is completed.

On the bag container 15, the spacer paper 17 and the glass substrate 16 are alternately loaded in the order of the spacer paper 17 and the glass substrate 16 from the side of the bag container 15. In general, the size of the spacer paper 17 is smaller than the size of the packet container 15, and the frame portion 151 and the tubular portion 153 of the bag container 15 are exposed around the spacer paper 17. Moreover, since the size of the glass substrate 16 is smaller than the size of the spacer paper 17, the outer peripheral portion of the spacer paper 17 is exposed around the glass substrate 16.

The imaging system performs the imaging device 14 in a fixed manner. That is, the position of the bag container 15 is not necessarily fixed, and the position of the bag container 15 is slightly different depending on the replacement of the bag container 15. However, in this case, it is not necessary to change the position or angle of the image pickup device 14 in conjunction with the position of the bag container 15. And can be fixed at a fixed position or angle for imaging.

As shown in FIG. 6, the imaging portion 141 preferably includes two portions of the corner portions of the respective members of the cylindrical portion 153, the spacer paper 17, and the glass substrate 16 of the package container 15. can The position in the longitudinal direction and the lateral direction of each member is measured from the image by including the two sides constituting the corner portion. In the case where one of the members is set as the imaging portion 141 in this manner, it is preferable that the imaging portion 141 is a plurality of portions. By increasing the imaging portion 141 at a plurality of locations, the positions of the components of the packet container 15, the spacer paper 17, and the glass substrate 16 in the longitudinal direction and the lateral direction can be more accurately measured.

In the case where the imaging portion 141 is set to two locations, two portions of the adjacent corner portions as shown in FIG. 6 may be used, and two portions of the corner portions on the diagonal line may be used although not shown. In either case, the positions of the members of the package container 15, the spacer paper 17, and the glass substrate 16 in the longitudinal direction and the lateral direction can be accurately measured. Further, the case where the imaging portion 141 is set to three portions is not particularly limited, and any three portions can be used. In the case where the imaging portion 141 is a plurality of portions, it is preferable to appropriately arrange the imaging device 14 in accordance with the portions or the number.

Further, the image capturing portion 141 may include at least a part of each of the bag container 15, the spacer paper 17, and the glass substrate 16, and is not limited to a portion including the two sides of the corner portion. For example, it may be a portion including a peripheral portion other than the corner portion of each of the specific structural portion such as the packet container 15 or the tubular portion 153 thereof, the spacer paper 17, and the glass substrate 16. Since at least the outer peripheral portion is included, the position of each member can be measured from the image by adjusting the difference in contrast as described below by adjusting the position or number of the image capturing portion 141. Further, the imaging portion 141 may include the entire member.

The measurement step is based on the image taken in this manner, and the position of each member with respect to the packet container 15 is obtained. Furthermore, in the description of the subsequent steps, the case of one image will be described. However, in the case where the imaging portion 141 is a plurality of portions, that is, when there are a plurality of images, it is preferable that Each of the images of the respective images independently performs the following steps. In this case, the configuration of each member in each image is different, but basically, the same principle as the following steps can be used.

The position of each member with respect to the bag container 15 can be obtained as follows. First of all, From the image, the position on the image was measured for each of the bag container 15, the spacer paper 17, and the glass substrate 16. Then, the position of the spacer paper 17 with respect to the bag container 15 can be obtained by the difference between the position of the bag container 15 on the image and the position of the spacer paper 17 on the image. Further, the position of the glass substrate 16 with respect to the packet container 15 can be obtained by the difference between the position of the packet container 15 on the image and the position of the glass substrate 16 on the image.

In this manner, after the position of each of the packet container 15, the spacer paper 17, and the glass substrate 16 on the image is measured, the position of the spacer paper 17 and the glass substrate 16 with respect to the packet container 15 is obtained, whereby even the figure is obtained. The position of the spacer paper 17 and the glass substrate 16 with respect to the packet container 15 can also be determined as the position of the upper bag container 15 changes. Thereby, the imaging device 14 can be fixed and imaged. In other words, it is not necessary to change the position or angle of the imaging device 14 in conjunction with the position of the packet container 15, and the image can be fixed at a fixed position or angle.

Fig. 8 is a view showing an image of the image pickup portion 141 shown in Fig. 6.

The position of the packet container 15 on the image may be, for example, a position constituting two sides of the corner portion of the tubular portion 153, and may constitute two sides of the corner portion of the image itself (the left side and the upper side of the image) as a reference. The position in the lateral direction is the position X ₀ of the side in which the tubular portion 153 extends in the longitudinal direction, and the position in the longitudinal direction is the position Y ₀ of the side in which the tubular portion 153 extends in the lateral direction.

Similarly, the position of the spacer paper 17 on the image may be such that the position in the lateral direction is the position X ₁ of the side extending in the longitudinal direction, and the position in the longitudinal direction can be set to the position Y ₁ of the side extending in the lateral direction. . Further, the position of the glass substrate 16 on the image may be such that the position in the lateral direction is the position X ₂ of the side extending in the longitudinal direction, and the position in the longitudinal direction may be the position Y ₂ of the side extending in the lateral direction.

In this case, the position of the spacer paper 17 in the lateral direction with respect to the packet container 15 is obtained by X ₁ -X ₀ , and the position in the longitudinal direction is obtained by Y ₁ -Y ₀ , and the glass substrate 16 is opposed to the packet container 15 The position in the lateral direction is obtained by X ₂ -X ₀ , and the position in the longitudinal direction is obtained by Y ₂ -Y ₀ .

Preferably, the position of the spacer paper 17 and the glass substrate 16 with respect to the packet container 15 is set to be the position of the spacer paper 17 and the glass substrate 16 with respect to the cylindrical portion 153 of the package container 15 as described above. The position of the two sides of the corners of the spacer paper 17 and the glass substrate 16 is particularly large with respect to the position of the two sides of the corner portion of the cylindrical portion 153. However, it is not necessary to use the tubular portion 153 as a reference. A specific structural portion including a specific structure that is identified on an image can be used as a reference. As the specific structural portion, for example, any part of the outer peripheral portion of the packet container 15 can be cited.

The measurement of the position on the image can be performed by setting a specific region in the image as a search region in advance, searching for the measurement target in the search region, and reading the position of the measurement target found by the search. By setting a specific area as a search area in advance and searching for the search area, it is easy to search for an object to be measured on the image, and the position can be easily and accurately determined.

In other words, the measurement of the position (search for the measurement target) can be performed by using the contrast difference on the image. However, if the search area is too wide, there is a large portion having a contrast difference, and the position measurement cannot be performed due to erroneous recognition. Hey. By setting a specific region, that is, a region having a specific position and size as a search region, it is easy to determine that the contrast difference is a contrast difference of the measurement target.

For example, as shown in FIG. 8 , the position of the bag container 15 is set to be two positions of the corner portions of the tubular portion 153, and the positions of the spacer paper 17 and the glass substrate 16 are used as the corner portions. When the position of the two sides is the same, it becomes the same side. Further, the search area is set to include a specific area which is assumed to be the part where the side is located, that is, a part of the image, and is set to a specific size in a specific position including a portion where the side is assumed to be.

Specifically, a search area 153x for searching for the position X ₀ of the side extending in the longitudinal direction of the tubular portion 153, and a search area 153y for searching for the position Y ₀ of the side extending in the lateral direction may be cited for searching intervals. The search area 17x of the position X ₁ of the side of the paper 17 extending in the longitudinal direction, the search area 17y for searching the position Y ₁ of the side extending in the lateral direction, and the side extending in the longitudinal direction for searching the glass substrate 16 X 16x ₂ position of the search area and the search area 16y extends to a position on a search of the lateral side direction of Y _2.

The position or size of the search area is preliminarily loaded with the spacer paper 17 and the glass substrate 16 on the packet container 15, and the range (permissible range) in which the measurement target is normally located is analyzed, and the position or size of such a range is set. The position of each member in the image is slightly different depending on the loading device, etc., but the size of the object is usually changed by about -1 to +1 mm as compared with the position of the ideal state. In other words, the change from about -1 to +1 mm is within the allowable range. Therefore, the length of the search area is preferably 5 mm or more, more preferably about 10 mm or more. Further, the length of the search area is preferably 40 mm or less, more preferably 30 mm or less. The length of the search area is usually preferably about 20 mm.

Further, the length of the search area is perpendicular to the length of the direction of the side to be measured or the like. For example, the length of the search area 153x of the tubular portion 153 is the length in the horizontal direction in the drawing, and the length of the search area 153y is the length in the longitudinal direction of the drawing.

The search system can be performed based on the difference in contrast between the measurement target and its peripheral portion, for example, based on the contrast difference between the unevenness and the material, and can be performed by analysis by the image processing apparatus. Further, a portion having a contrast difference of a fixed degree or more, that is, a boundary line portion can be set as a measurement target position. The reading of the position can be performed, for example, in a pixel unit in a monitor or the like that displays an image.

The calculation step is to determine the magnitude of the offset of the position of the spacer paper 17 and the glass substrate 16 with respect to the packet container 15 from a predetermined position. The magnitude of the offset is the position of the spacer paper 17 and the glass substrate 16 with respect to the packet container 15 as described above, and the position of the paper 17 and the glass substrate 16 with respect to the packet container 15 in an ideal state. The difference is found.

For example, the position of the spacer paper 17 obtained from the image as described above with respect to the horizontal direction of the packet container 15 is X ₁ -X ₀ , and the position in the longitudinal direction is Y ₁ -Y ₀ , and The position of the glass substrate 16 in the lateral direction with respect to the packet container 15 is X ₂ -X ₀ , and the position in the longitudinal direction is Y ₂ -Y ₀ . In the ideal state, the spacer paper 17 is lateral to the packet container 15 The position is X ₄ and the position in the longitudinal direction is Y ₄ , and in the ideal state, the position of the glass substrate 16 in the lateral direction with respect to the packet container 15 is X ₅ and the position in the longitudinal direction is Y ₅ . The magnitude of the offset of the spacer paper 17 in the lateral direction is represented by (X ₁ -X ₀ )-X ₄ , and the magnitude of the offset in the longitudinal direction is represented by (Y ₁ -Y ₀ )-Y ₄ , and the horizontal direction of the glass substrate 16 The magnitude of the offset of the direction is represented by (X ₁ -X ₀ )-X ₅ , and the magnitude of the offset in the longitudinal direction is represented by (Y ₁ -Y ₀ )-Y ₅ .

In the suspension processing step, when the size of the offset exceeds the allowable value, the loading process for stopping the loading of the pocket paper 17 and the glass substrate 16 with respect to the packet container 15 is performed. For example, the absolute value of the magnitude of the offset of the spacer paper 17 as described above |(X ₁ -X ₀ )-X ₄ |, the absolute value of the magnitude of the longitudinal offset |(Y ₁ -Y ₀ ) -Y ₄ |, the absolute value of the magnitude of the lateral displacement of the glass substrate 16 |(X ₁ -X ₀ )-X ₅ |, the absolute value of the magnitude of the longitudinal offset |(Y ₁ -Y ₀ )-Y _When the absolute value of the magnitude of the offset of any of ₅ | exceeds the allowable value, the loading process for stopping the loading of the pocket paper 17 and the glass substrate 16 with respect to the packet container 15 is performed.

The allowable value can be appropriately set in accordance with the size of the spacer paper 17 or the glass substrate 16, respectively. When the offset is increased, there is a problem that the glass substrate 16 is easily damaged during the conveyance of the packet container 15, and the glass substrate 16 or the spacer paper 17 cannot be automatically adsorbed at the transfer destination.

Fig. 9 is a block diagram showing a configuration example of one of the loading devices 10 applied to the loading method of the embodiment. The loading device 10 includes, for example, a conveying device 11, a loading device 12, an imaging device 14, an image processing device 18, a control device 19, a display device 21, and the like.

The measurement of the position of the packet container 15, the spacer paper 17, and the glass substrate 16 on the image as described above, the calculation of the position of the spacer paper 17 and the glass substrate 16 with respect to the package container 15 or the offset thereof, and the deviation The judgment of the shift size and the like can be performed collectively by the image processing device 18, for example.

As the suspension processing, for example, when it is judged that the magnitude of the offset exceeds the allowable value, the display device 21 is caused to display the occurrence of the offset, and the display indicating that the loading of the spacer paper 17 and the glass substrate 16 with respect to the packaging container 15 is suspended. In this case, the person confirms the display in the display device 21, and the transfer device 11 and the loading device 12 are stopped by manual operation. As the suspension processing, as long as it is identifiable to indicate that there is a generator of the offset, it is not limited to being visually recognized as in the display device 21, or may be recognized by an auditory person such as an alarm or the like. . Further, when it is determined that the magnitude of the offset exceeds the allowable value, the transport device 11 and the loading device 12 may be automatically stopped. The display of the display device 21, the stop of the transport device 11 or the loading device 12, and the like can be performed, for example, by the control device 19 connected to the image processing device 18.

After the processing step is suspended, when the number of loaded glass substrates 16 on the packet container 15 does not reach a specific number of sheets, the series of steps of the loading step, the imaging step, the measuring step, the calculating step, and the stopping processing step are repeated again, and The glass substrate 16 is sequentially loaded before a specific number of sheets is reached. On the other hand, when the number of loaded glass substrates 16 on the bag container 15 reaches a certain number of sheets, the subsequent loading of the glass substrate 16 is completed. In this way, a carrier in which the spacer paper 17 and the glass substrate 16 are well loaded on the packet container 15 can be obtained. The final number of loads, that is, the number of repetitions of each step is not limited, but is preferably 50 sheets (50 times) or more, more preferably 100 sheets (100 times) or more.

Although each step in the loading method of the embodiment has been described above, as described above, when the imaging portion 141 in the imaging step is a plurality of portions, that is, when there are a plurality of images, The measurement step, the calculation step, and the suspension processing step are performed independently for each image. Further, the position of the bag container 15, the spacer paper 17, and the glass substrate 16 on the image is not limited to the position of the two sides of the corner portion, and the position of the other portion may be the position where the position can be measured. .

The manufacturing method of the enamel body of the embodiment includes a carrier manufacturing step of manufacturing a carrier as described above, and a squeezing step of staking the carrier to obtain a scorpion. The method of forming the load body into the enamel body is not particularly limited, and a known sling method can be applied.

The glass substrate 16 to be used in the above-described loading method is not particularly limited, and examples thereof include known glass plates for a plasma display panel and glass substrates for liquid crystal displays. A glass substrate for the display. The size of the glass substrate 16 is not limited, but is preferably a size of G5 or more (1,300 mm or more in length × 1,100 mm or more in width), and is exemplified by a length of 2,460 mm × a width of 2,160 mm, or a length of 2,500 mm × a width of 2,200 mm. .

The glass substrate 16 is obtained by melting a glass raw material and molding the molten glass into a plate shape. As such a molding method, a usual method such as a float method, a fusion method, a flow-down method, a rich method, a Luber method, or the like can be used. In particular, a glass plate having a thin plate thickness is preferably a method in which a glass which is temporarily formed into a plate shape is heated to a temperature at which it can be formed, and is stretched and thinned by stretching or the like (re-drawing method), and preferably Formed.

The type of the glass substrate 16 is not limited, and examples thereof include alkali-free borosilicate glass, borosilicate glass, soda lime glass, sorghum glass, and other oxide-based glass containing cerium oxide as a main component. The oxide-based glass is preferably a glass having a content of cerium oxide in an amount of 40 to 90% by mass in terms of oxide.

The elution of the alkali metal component tends to affect the liquid crystal. Therefore, for example, glass (alkali-free glass) which does not substantially contain an alkali metal component is preferable. The alkali-free glass is represented by mass percentage based on oxide, and contains SiO ₂ : 50 to 66%, Al ₂ O ₃ : 10.5 to 24%, B ₂ O ₃ : 0 to 12%, and MgO: 0 to 8 %, CaO: 0 to 14.5%, SrO: 0 to 24%, BaO: 0 to 13.5%, MgO + CaO + SrO + BaO: 9 to 29.5%, and ZnO: 0 to 5%.

When the content of the SiO ₂ system is less than 50%, the strain point cannot be sufficiently increased, and the chemical durability is deteriorated, and the coefficient of thermal expansion is increased. If it exceeds 66%, the meltability is lowered and the devitrification temperature is increased. It is preferably 58 to 66 mol%.

The Al ₂ O ₃ system suppresses phase separation of the glass, lowers the coefficient of thermal expansion, and increases the strain point. If the content is less than 10.5%, the effect is not exhibited, and if it exceeds 24%, the meltability of the glass is deteriorated. It is preferably 15 to 22%.

B ₂ O ₃ is not essential, but chemical durability against various chemicals used in semiconductor formation can be improved, and the thermal expansion coefficient and density can be lowered without increasing the viscosity at a high temperature. If the content exceeds 12%, the acid resistance deteriorates and the strain point becomes low. It is preferably 5 to 12%.

MgO is not essential, but in the alkaline earth metal oxide, the coefficient of thermal expansion can be lowered without lowering the strain point, so it may be contained although it is not necessary. When the content exceeds 8%, the chemical durability of various chemicals and the like used in the formation of a semiconductor is lowered, and phase separation of the glass is likely to occur.

CaO is not essential, but the meltability of the glass can be improved by inclusion. On the other hand, if it exceeds 14.5%, the coefficient of thermal expansion becomes large, and the devitrification temperature also rises. It is preferably 0 to 9%.

SrO is not essential, but it is a component which suppresses phase separation of glass and improves chemical durability of various chemicals used in semiconductor formation. If the content exceeds 24%, the expansion coefficient increases. It is preferably 3 to 12.5%.

BaO is not essential, but it is a more effective component from the viewpoint of a lower density and a lower coefficient of thermal expansion. The content is 0 to 13.5%, preferably 0 to 2%.

If MgO+CaO+Sr+BaO is less than 9%, melting becomes difficult, and if it exceeds 29.5%, density becomes large. MgO+CaO+Sr+BaO is preferably from 9 to 18%.

ZnO is not essential, but may be added for the purpose of improving the meltability, clarity, and formability of the glass. The content is preferably from 0 to 5%, more preferably from 0 to 2%.

In the alkali-free glass, in addition to the above components, in order to improve the meltability, clarity, and formability of the glass, a total amount of 5% or less of SO ₃ , F, and Cl may be added.

The alkali-free glass is preferably expressed by mass percentage based on oxide, and contains SiO ₂ : 58 to 66%, Al ₂ O ₃ : 15 to 22%, B ₂ O ₃ : 5 to 12%, and MgO: 0~8%, CaO: 0~9%, SrO: 3~12.5%, BaO: 0~2%, and MgO+CaO+SrO+BaO: 9~18%.

The strain point of the alkali-free glass is preferably 640 ° C or higher, more preferably 650 ° C or higher. The coefficient of thermal expansion is preferably less than 40 × 10 ^-7 / ° C, and preferably 30 × 10 ^-7 / ° C or more and less than 40 × 10 ^-7 / ° C. The density is preferably less than 2.60 g/cc, more preferably less than 2.55 g/cc, and even more preferably less than 2.50 g/cc.

Example

As shown in FIGS. 1 and 9, the loading device 10 is prepared to include a conveying device 11 including a roller conveyor, a loading device 12, a base 13, two imaging devices 14, an image processing device 18, a control device 19, and a display. Device 21 and the like. Further, a bag container 15 is disposed on the base 13. The bag container 15 includes four cylindrical portions 153 at its four corners.

The glass substrate 16 is placed on the conveyance device 11 and conveyed toward the bag container 15 , and the spacer paper 17 is placed on the glass substrate 16 during the conveyance. Further, when the glass substrate 16 has a size of G5 to G8, for example, a spacer having a width of 2,540 to 2,600 mm and a thickness of 0.06 to 0.105 mm can be used.

Thereafter, the glass substrate 16 loaded with the spacer paper 17 is self-contained using a loading device 12 including a mechanical arm having a plurality of rod portions 121 and fixing portions 122 fixed to one end of the plurality of rod portions 121. 11 is lifted up by the shovel, and the glass substrate 16 and the upper and lower positions of the spacer paper 17 are reversed, and are loaded in the order of the paper 17 and the glass substrate 16 from the side of the bag container 15 Container 15.

Then, as shown in FIG. 6, the corner portion of the two portions of the bag container 15 on which the spacer paper 17 and the glass substrate 16 are placed is referred to as an imaging portion 141, and images are obtained by imaging from the upper portion by the two imaging devices 14. image. Further, the imaging portion 141 includes the entire tubular portion 153 and two sides of the corner portions constituting the spacer paper 17 and the glass substrate 16. Further, the size of each image is set to a size corresponding to a portion of the object of 400 ± 50 mm in length × 500 ± 50 mm in width.

Further, as shown in FIG. 8, the search area is set at six locations, and the horizontal direction and the longitudinal direction of the cylindrical portion 153, the spacer paper 17, and the glass substrate 16 are obtained by the image processing device 18 for each image. position. The search system uses the difference in contrast between the cylindrical portion 153 of the bag container 15 and the portion other than the portion, the difference in contrast between the packet container 15 and the spacer paper 17, and the contrast between the spacer paper 17 and the glass substrate 16.

Thereafter, the position of the spacer paper 17 and the glass substrate 16 in the lateral direction and the longitudinal direction of the tubular portion 153 is obtained based on the above position. Further, the difference between the absolute value of the position of the spacer paper 17 and the glass substrate 16 with respect to the lateral direction and the longitudinal direction of the cylindrical portion 153 and the predetermined position is obtained as the magnitude of the offset. Further, when the magnitude of the offset exceeds a specific allowable value, the display device 21 is caused to display the occurrence of the offset and to indicate that the loading of the spacer paper 17 and the glass substrate 16 against the package container 15 is suspended. Furthermore, the series of steps described above are automatically performed by the image processing device 18 and the control device 19.

The step of loading the spacer paper 17 and the glass substrate 16 in the package container 15 by the series of steps is repeated before the number of the glass substrates 16 is 200, and the spacer paper 17 and the glass are loaded in the package container 15. The carrier of the substrate 16. Such a carrier is manufactured in large quantities.

As a result, there is no indication that the occurrence of the offset and the display indicating that the loading of the spacer paper 17 and the glass substrate 16 with respect to the packaging container 15 is considered to be in a good loading state. Again, a display indicating the presence of an offset and indicating that the subsequent loading is aborted can be considered to produce an offset in the spacer paper 17 or the glass substrate 16.

The present invention has been described in detail with reference to the specific embodiments thereof.

The present application is based on Japanese Patent Application No. 2012-124050, filed on Jan.

Claims (14)

A method for loading a plate-shaped body, wherein the spacer paper and the plate-like body are alternately loaded on the bag container, and comprising: a loading step of sequentially loading the spacer paper and the plate-like body on the bag container; a step of capturing at least a portion of the image of the packet container, the spacer paper, and the plate-like body; and measuring the position of the spacer and the plate-like body relative to the bag container from the image; a calculation step of calculating a deviation from a predetermined position of the position of the spacer and the plate-shaped body with respect to the bag container; and a stopping processing step of stopping the above when the magnitude of the offset exceeds an allowable value The spacer paper and the above-mentioned plate-shaped body are suspended in the loading of the above-mentioned bag container. The method of loading a plate-shaped body according to claim 1, wherein the image is captured for a plurality of parts, and the measuring step, the calculating step, and the stopping processing step are performed on the images of the plurality of parts. The method of loading a plate-shaped body according to claim 1 or 2, wherein the loading step, the imaging step, the measuring step, the calculating step, and the stopping processing step are repeated. The method of loading a plate-shaped body according to any one of claims 1 to 3, wherein the position of the spacer paper and the plate-like body relative to the bag container is relative to a position of a peripheral portion of a specific structural portion of the bag container; The position of the spacer paper and the outer peripheral portion of the plate-shaped body. The method of loading a plate-shaped body according to claim 4, wherein the outer peripheral portion constitutes a corner portion 2 sides. The method of loading a plate-shaped body according to claim 4, wherein the above-mentioned bag container has a 4-sided shape, and includes a cylindrical portion for laminating other bag containers at a corner of the bag container, and the tube portion becomes the above-mentioned specific structure. unit. The method of loading a plate-shaped body according to any one of claims 1 to 6, wherein the position of the spacer paper and the plate-shaped body relative to the bag-shaped container is determined by measuring the bag container, the spacer paper, and the plate-like body It is obtained at the position on the above image. The method of loading a plate-shaped body according to any one of claims 1 to 7, wherein the measuring in the measuring step is performed by setting a specific region in the image as a search region in advance and determining the inside of the search region. The object is searched for. A method of loading a plate-like body according to claim 8, wherein said searching is performed by using a difference in contrast in said image. The method of loading a plate-shaped body according to any one of claims 1 to 9, wherein the plate-shaped body is a glass substrate. The method of loading a plate-shaped body according to claim 10, wherein the glass substrate has a size larger than a G5 size. A method of loading a plate-like body according to claim 10 or 11, wherein the glass substrate comprises an alkali-free glass. A method of manufacturing a scorpion body, comprising: a carrier manufacturing step obtained by loading a plate-shaped body according to any one of claims 1 to 12, wherein the bag container is loaded with a spacer paper and a plate shape a carrier of the body; and a bagging step of wrapping the above-mentioned carrier to obtain a scorpion body. A loading device for a plate-shaped body, comprising: an image capturing device that captures an image of a bag container loaded with a spacer paper and a plate-like body; An image processing device that measures a position of the spacer paper and the plate-shaped body with respect to the bag container based on the image, and calculates a position of the spacer paper and the plate-shaped body relative to the bag container at a predetermined position Deviating, determining whether the magnitude of the offset is within an allowable value; and controlling the device to suspend loading of the spacer and the sheet-like body to the packet container when the magnitude of the offset exceeds an allowable value Suspend processing.