TW201801872A - Position determining device for processing object, processing device, position determination method, and manufacturing method of glass plate capable of precisely determining position of processing object relative to supporting portion in short period of time - Google Patents
Position determining device for processing object, processing device, position determination method, and manufacturing method of glass plate capable of precisely determining position of processing object relative to supporting portion in short period of time Download PDFInfo
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本發明係關於一種被處理構件之位置決定裝置、處理裝置、位置決定方法及玻璃板之製造方法。The present invention relates to a position determination device, a processing device, a position determination method, and a method for manufacturing a glass plate of a member to be processed.
先前，業界已知悉玻璃製品之加工裝置(例如，參照專利文獻1、2)。 在專利文獻1之裝置中，由機器人臂之卡盤固持玻璃製品，使其移動至輪驅動盤附近之後，由輪驅動盤之輪研削玻璃製品。 在專利文獻2之裝置中，若將玻璃板載置於支持臺上，則使位於支持台之側面之玻璃板按壓部上升。其後，使玻璃板按壓部朝向玻璃板之外周緣移動，按壓玻璃板而進行定位。 [先前技術文獻] [專利文獻] [專利文獻1]日本特開平5-185349號公報 [專利文獻2]日本特開2015-171752號公報Previously, processing apparatuses for glass products are known in the industry (for example, refer to Patent Documents 1 and 2). In the device of Patent Document 1, a glass product is held by a chuck of a robot arm and moved near a wheel drive disc, and then the glass product is ground by a wheel of the wheel drive disc. In the device of Patent Document 2, when a glass plate is placed on a support table, a glass plate pressing portion located on a side surface of the support table is raised. Thereafter, the glass plate pressing portion is moved toward the outer peripheral edge of the glass plate, and the glass plate is pressed to perform positioning. [Prior Art Document] [Patent Document] [Patent Document 1] Japanese Patent Laid-Open No. 5-185349 [Patent Document 2] Japanese Patent Laid-Open No. 2015-171752
[發明所欲解決之問題] 然而，在如專利文獻1之裝置中，由於利用機器人臂進行玻璃製品相對於輪之位置決定，故難以高精度地進行定位。尤其是，在玻璃製品之重量為大之情形下，高精度地進行定位變得更加困難。 又，在如專利文獻2之裝置中，在玻璃板朝支持台之載置完成後，由於使玻璃板按壓部移動來進行玻璃板之位置決定，故位置決定所需之時間變長。 另外，可考量應用專利文獻1之機器人臂來替代專利文獻2之玻璃板按壓部，而在由該機器人臂將玻璃板載置於支持台時，亦同時進行定位，但產生與如上述之專利文獻1之裝置相同之問題。 本發明提供一種以短時間高精度地進行被處理構件相對於支持部之位置決定的被處理構件之位置決定裝置、處理裝置、位置決定方法及玻璃板之製造方法。 [解決問題之技術手段] 本發明之被處理構件之位置決定裝置之特徵在於：其係板狀之被處理構件之位置決定裝置者，並具備：搬送器件、及支持器件；前述搬送器件具備：自第1主面側固持前述被處理構件之固持部、及固持側位置決定部；前述支持器件具備：自第2主面側支持前述被處理構件之支持部、及支持側位置決定部；且前述固持側位置決定部藉由嵌合或卡合而相對於前述支持側位置決定部被定位。 根據本發明，在由固持部自第1主面側以預先設定之狀態固持被處理構件之後，進行固持側位置決定部相對於支持側位置決定部之位置決定，同時進行被處理構件相對於支持部之位置決定。又，由於針對支持側位置決定部與固持側位置決定部之位置決定，採用嵌合或卡合此一構造性之方法，故與被處理構件之重量無關，與使用機器人臂之情形相比可高精度地進行定位。 在本發明之被處理構件之位置決定裝置中，較佳者係，前述固持部具有可面接觸於前述第1主面之至少一部分的固持側曲面部。 根據本發明之此一態樣，在使用可變形之構件作為被處理構件時，使該被處理構件面接觸於固持側曲面部，以彎曲之狀態由固持部固持並搬送，藉由使被處理構件之彎曲之部分與支持部接觸後而解除固持，而在被處理構件返回平板狀時，逐出被處理構件與支持部之間之空氣。 在本發明之被處理構件之位置決定裝置中，較佳者係，前述支持部具有可面接觸於前述第2主面之至少一部分之支持側曲面部。 根據本發明之此一態樣，在對至少一部分處具有曲面部而不能變形之被處理構件進行定位時，藉由以其第1主面側之曲面部面接觸於固持側曲面部之狀態固持並搬送，使第2主面側之曲面部面接觸於支持側曲面部，而可以短時間高精度地進行被處理構件相對於支持部之位置決定。 在本發明之被處理構件之位置決定裝置中，較佳者係，前述固持部藉由利用負壓之吸附而固持前述被處理構件。 在本發明之被處理構件之位置決定裝置中，較佳者係，前述支持部藉由利用負壓之吸附而支持前述被處理構件。 根據本發明之此一態樣，可抑制固持時及支持時之被處理構件之損傷。此外，由於可僅自與第2主面對向之位置支持被處理構件，而無須在被處理構件之周圍設置支持機構，而可容易地進行被處理構件之外周部之處理。 在本發明之被處理構件之位置決定裝置中，較佳者係，前述支持側位置決定部構成為相對於前述支持部可移動。 根據本發明之此一態樣，在處理器件對由支持部支持之被處理構件進行處理時，可抑制支持側位置決定部之妨礙。 在本發明之被處理構件之位置決定裝置中，較佳者係，前述搬送器件具備使前述固持部及前述固持側位置決定部移動之機器人臂。 根據本發明之此一態樣，可謀求位置決定之自動化。 在本發明之被處理構件之位置決定裝置中，較佳者係，具備用於將前述被處理構件以預先設定之狀態固持於前述固持部之事先位置對準器件，且前述事先位置對準器件具備：自前述第2主面側支持前述被處理構件之位置對準支持部、及藉由嵌合或卡合而相對於前述固持側位置決定部被定位之事先位置決定部。 根據本發明之此一態樣，固持部可確實地以預先設定之狀態固持被處理構件。 本發明之被處理構件之處理裝置具備：上述之被處理構件之位置決定裝置，及處理由前述位置決定裝置之前述支持部支持之前述被處理構件的處理器件。 根據本發明之此一態樣，可提供一種提高被處理構件之處理精度的處理裝置。 本發明之被處理構件之位置決定方法係使用上述之被處理構件之位置決定裝置的被處理構件之位置決定方法，由前述固持部自第1主面側以預先設定之狀態固持前述被處理構件，並使前述搬送器件移動，將前述固持側位置決定部藉由嵌合或卡合而相對於前述支持側位置決定部進行定位，且由前述支持部自前述第2主面側支持前述被處理構件。 本發明之被處理構件之位置決定方法係使用上述之被處理構件之位置決定裝置的被處理構件之位置決定方法，由前述位置對準支持部自第2主面側以預先設定之狀態支持前述被處理構件，並使前述搬送器件移動，將前述固持側位置決定部藉由嵌合或卡合而相對於前述事先位置決定部進行定位，且由前述固持部自第1主面側以預先設定之狀態固持前述被處理構件，並使前述搬送器件移動，將前述固持側位置決定部藉由嵌合或卡合而相對於前述支持側位置決定部進行定位，且由前述支持部自前述第2主面側支持前述被處理構件。 本發明之玻璃板之製造方法之特徵在於，其係針對在至少一部分處具有曲面部之玻璃板進行處理的玻璃板之製造方法，其使用具有自第1主面側固持前述玻璃板之固持部及固持側位置決定部的搬送器件、具有自第2主面側支持前述玻璃板之支持部及支持側位置決定部的支持器件、及進行前述處理的處理器件，以前述第1主面之曲面部按照預先設定之狀態面接觸於前述固持部之固持側曲面部之方式固持前述玻璃板，使前述搬送器件移動，將前述固持側位置決定部藉由嵌合或卡合而相對於前述支持側位置決定部進行定位，以前述第2主面之曲面部面接觸於前述支持部之支持側曲面部之方式支持前述玻璃板，利用前述處理器件處理前述玻璃板。 根據本發明，可使在至少一部分處具有曲面部之玻璃板相對於支持部高精度地進行定位，而可提高玻璃板之處理精度。 在本發明之玻璃板之製造方法中，較佳者係，前述處理為前述玻璃板之倒角、切斷或印刷。 根據本發明之此一態樣，可提高玻璃板之倒角、切斷、印刷之精度。 在本發明之玻璃板之製造方法中，較佳者係，在俯視觀察下，前述支持部之與前述玻璃板之接觸面內包於前述玻璃板。 根據本發明之此一態樣，在處理玻璃板之外周部時，可令用於處理之工具周繞玻璃板之外周部而進行順滑地加工。 在本發明之玻璃板之製造方法中，較佳者係，前述支持部之與前述玻璃板之接觸面為前述玻璃板之面積之50%以上。 根據本發明之此一態樣，可穩定地固持或支持玻璃板，提高玻璃板之加工精度，而可獲得尺寸精度高的加工後之玻璃板。[Problems to be Solved by the Invention] However, in the device such as Patent Document 1, since the position of the glass product with respect to the wheel is determined using a robot arm, it is difficult to perform positioning with high accuracy. In particular, when the weight of the glass product is large, it becomes more difficult to perform positioning with high accuracy. Further, in the device such as Patent Document 2, the position of the glass plate is determined after the glass plate pressing portion is moved after the placement of the glass plate on the support table is completed, so the time required for the position determination becomes long. In addition, it is possible to consider the application of the robot arm of Patent Document 1 instead of the glass plate pressing part of Patent Document 2. When the glass plate is placed on the support table by the robot arm, positioning is performed at the same time, but the same patent as above is generated. Document 1 has the same problem. The present invention provides a position determination device, a processing device, a position determination method, and a glass plate manufacturing method for determining the position of a processing member relative to a support portion with high accuracy in a short time. [Technical means for solving the problem] The device for determining the position of a member to be processed according to the present invention is characterized in that it is a device for determining the position of a plate-like member to be processed, and includes: a transport device and a supporting device; the aforementioned transport device includes: A holding portion that holds the member to be processed from the first main surface side, and a holding side position determination unit; the supporting device includes a support portion that supports the processed member from the second main surface side, and a support side position determination unit; and The holding-side position determining portion is positioned with respect to the supporting-side position determining portion by fitting or engaging. According to the present invention, after the to-be-processed member is held by the holding portion in a preset state from the first main surface side, the position of the holding-side position determining portion with respect to the supporting-side position determining portion is determined, and at the same time the to-be-treated component is supported relative to The location of the ministry is determined. In addition, since the structural position method of fitting or engaging is adopted for the position determination of the support-side position determination section and the holding-side position determination section, it is independent of the weight of the component to be processed, and can be compared with the case of using a robot arm. Positioning with high accuracy. In the device for determining a position of a member to be processed according to the present invention, it is preferable that the holding portion has a holding-side curved surface portion that can face-contact with at least a part of the first main surface. According to this aspect of the present invention, when a deformable member is used as a member to be processed, the member to be processed is brought into surface contact with the curved surface portion on the holding side, and is held and transported by the holding portion in a bent state. After the curved part of the member contacts the supporting part, the holding is released, and when the member to be processed returns to the flat plate shape, the air between the member to be processed and the supporting part is expelled. In the device for determining a position of a member to be processed according to the present invention, it is preferable that the support portion has a support-side curved surface portion that can surface-contact with at least a part of the second main surface. According to this aspect of the present invention, when a to-be-processed member having a curved portion at least in part which cannot be deformed is positioned, it is held in a state where the curved portion on the first main surface side is in contact with the curved portion on the holding side. Then, the curved portion on the second main surface side is brought into contact with the curved portion on the support side, and the position of the member to be processed relative to the support portion can be determined in a short time and with high accuracy. In the device for determining a position of a member to be processed according to the present invention, it is preferable that the holding portion holds the member to be processed by suction using negative pressure. In the device for determining a position of a member to be processed according to the present invention, it is preferable that the support section supports the member to be processed by suction using negative pressure. According to this aspect of the present invention, it is possible to suppress damage to a member to be treated during holding and supporting. In addition, since the member to be processed can be supported only from the position facing the second main body, there is no need to provide a support mechanism around the member to be processed, and the processing of the outer periphery of the member to be processed can be easily performed. In the device for determining a position of a member to be processed according to the present invention, it is preferable that the support-side position determination section is configured to be movable relative to the support section. According to this aspect of the present invention, when the processing device processes the member to be processed supported by the support section, it is possible to suppress interference from the support-side position determination section. In the device for determining a position of a member to be processed according to the present invention, it is preferable that the transport device includes a robot arm that moves the holding portion and the holding-side position determining portion. According to this aspect of the invention, it is possible to automate the position determination. In the device for determining a position of a member to be processed according to the present invention, it is preferable that the device includes a prior position alignment device for holding the member to be processed to the holding portion in a preset state, and the prior position alignment device It includes a position alignment support section that supports the member to be processed from the second main surface side, and a prior position determination section that is positioned relative to the holding side position determination section by fitting or engagement. According to this aspect of the present invention, the holding portion can surely hold the member to be processed in a preset state. A processing device for a processed component according to the present invention includes the position determining device for the processed component described above, and a processing device for processing the processing target component supported by the support section of the position determining device. According to this aspect of the present invention, it is possible to provide a processing device that improves the processing accuracy of a component to be processed. The method for determining the position of a member to be processed according to the present invention is a method for determining the position of a member to be processed using the above-mentioned device for determining the position of the member to be processed, and the aforementioned holding section holds the member to be processed in a preset state from the first main surface side. And moving the conveying device, positioning the holding-side position determining portion with respect to the supporting-side position determining portion by fitting or engaging, and supporting the processed object from the second main surface side by the supporting portion. member. The method for determining the position of a member to be processed according to the present invention is a method for determining the position of a member to be processed using the above-mentioned device for determining the position of the member to be processed, and the aforementioned position alignment support unit supports the aforementioned in a preset state from the second main surface side. The member to be processed moves the conveying device, positions the holding-side position determining portion relative to the prior position determining portion by fitting or engaging, and the holding portion is set in advance from the first main surface side. In this state, the member to be processed is held, and the conveying device is moved. The holding-side position determining portion is positioned relative to the supporting-side position determining portion by fitting or engaging, and the supporting portion is moved from the second portion by the supporting portion. The main surface side supports the member to be processed. The manufacturing method of the glass plate of this invention is the manufacturing method of the glass plate processed with respect to the glass plate which has a curved surface part in at least one part, using the holding | maintenance part which hold | maintains the said glass plate from the 1st main surface side, It is characterized by the above-mentioned. And the transport device of the holding position determining section, the supporting device having a supporting section for supporting the glass plate from the second main surface side and the supporting side position determining section, and a processing device for performing the aforementioned processing, using the curved surface of the first main surface The holding part holds the glass plate in a state in which it is in surface contact with the holding side curved part of the holding part in advance, moves the conveying device, and positions the holding side position determination part with respect to the supporting side by fitting or engaging. The position determination unit performs positioning, supports the glass plate such that the curved surface portion of the second main surface is in contact with the supporting side curved surface portion of the support portion, and processes the glass plate by using the processing device. According to the present invention, a glass plate having a curved surface portion at least in part can be positioned with high accuracy with respect to the support portion, and the processing accuracy of the glass plate can be improved. In the manufacturing method of the glass plate of this invention, it is preferable that the said process is chamfering, cutting, or printing of the said glass plate. According to this aspect of the invention, the accuracy of chamfering, cutting and printing of the glass plate can be improved. In the manufacturing method of the glass plate of this invention, it is preferable that the contact surface of the said support part and the said glass plate is enclosed in the said glass plate in planar view. According to this aspect of the present invention, when processing the outer periphery of the glass plate, the tool for processing can be smoothly processed around the outer periphery of the glass plate. In the manufacturing method of the glass plate of this invention, it is preferable that the contact surface of the said support part and the said glass plate is 50% or more of the area of the said glass plate. According to this aspect of the present invention, the glass plate can be stably held or supported, the processing accuracy of the glass plate is improved, and a processed glass plate with high dimensional accuracy can be obtained.
［實施形態］ 以下，針對本發明之實施方式，參照圖式進行說明。 〔玻璃板之構成〕 首先，針對由本發明之位置決定裝置作位置決定之玻璃板之構成進行說明。又，將圖1之與X軸平行之方向表達為左右方向、與Y軸平行之方向表達為前後方向、與Z軸平行之方向表達為上下方向。 如圖1所示般，作為被處理構件之玻璃板G在俯視觀察下為長方形，且具備：圓筒狀地彎曲之曲面部GA、及平面部GB。曲面部GA設置於較玻璃板G之長邊方向中央更靠一側(在圖1中為左側)，平面部GB設置於另一側(在圖1中為右側)。玻璃板G之右端面用作平面狀之基準面G3。 如此之玻璃板G，例如，使用下述之自身重量成形法而獲得，即：將平面狀之玻璃板載置於在一部分處具有曲面部之模，以基準面G3之對應部分與模之基準面抵接之方式，將平面部GB之對應部分固定於模之後，將至少與曲面部GA對應之部分加熱而使其軟化，以因自身重量而沿著模之方式使其變形。 〔玻璃板之位置決定裝置之構成〕 其次，針對玻璃板G之位置決定裝置10之構成進行說明。 位置決定裝置10具備：事先位置對準器件20、搬送器件30、及支持器件40。 事先位置對準器件20，如圖1及圖2所示般，具備板狀之位置對準支持基座21。在位置對準支持基座21之上表面設置有：在俯視觀察下為四角形之位置對準支持部22、及4個作為事先位置決定部之第1凹治具23。 在位置對準支持部22之上表面，設置有在玻璃板G被定位下一面將其收容之收容槽部221。收容槽部221由YZ平面構成，並具備：基準面G3所面接觸之基準面抵接部222、由XZ平面構成為而且玻璃板G之側面G4所面接觸之側面抵接部223、及第2主面G2與其面接觸之主面抵接部224。主面抵接部224具備：第1主面G1之曲面部GA整體所面接觸之台座側曲面部225、及平面部GB整體所面接觸之台座側平面部226。若基準面抵接部222、側面抵接部223及主面抵接部224，能夠將玻璃板G在收容槽部221內進行定位，則可與基準面G3、側面G4、第2主面G2以面、點、線中任一者接觸。 第1凹治具23分別設置在位置對準支持部22之四隅角之外側。第1凹治具23具備柱狀之第1凹治具本體231。在該第1凹治具本體231之上表面，形成在俯視觀察下呈圓形之第1嵌合凹部232。第1嵌合凹部232具備：位於上側之大徑部233、及位於下側而內徑較大徑部233為小之小徑部234。在大徑部233、小徑部234之各自之上端，設置有朝向上側而內徑逐漸變大之第1傾斜面235、第2傾斜面236。 搬送器件30具備板狀之固持基座31。固持基座31之上表面，經由浮動單元32與例如6軸機器人之機器人臂33連結。在固持基座31之下表面，設置有：在仰視觀察下之形狀與玻璃板G大致相等之固持部34、及柱狀之4個作為固持側位置決定部的凸治具35。 在固持部34之下表面，設置有固持側主面抵接部341。 固持側主面抵接部341具備：第1主面G1之曲面部GA整體所面接觸之固持側曲面部342、及平面部GB整體所面接觸之固持側平面部343。在固持側主面抵接部341，設置有未圖示之複數個固持吸附孔。對於該固持吸附孔，自未圖示之吸引泵供給負壓。 凸治具35分別設置於固持部34之四隅角之外側。凸治具35具備柱狀之凸治具本體351。在該凸治具本體351之下表面，設置有嵌合於第1凹治具23之第1嵌合凹部232的嵌合凸部352。該嵌合凸部352具備：外徑與第1凹治具23之大徑部233相等之大徑圓柱部353、及位於該大徑圓柱部353之下側且外徑與小徑部234相等之小徑圓柱部354。在大徑圓柱部353、小徑圓柱部354之各自之下端，設置有朝向下側外徑逐漸變小之第1固持側傾斜面355、第2固持側傾斜面356。 支持器件40如圖1及圖3所示般，具備在俯視觀察下呈四角形之支持基座41。在支持基座41之上表面，設置有在俯視觀察下之形狀較玻璃板G小之四角形之支持部42。 支持部42之上表面構成包含第2主面G2之曲面部GA之一部分所面接觸之支持側曲面部422、及平面部GB之一部分所面接觸之支持側平面部423的支持側主面抵接部421。在支持側主面抵接部421設置有未圖示之複數個支持吸附孔。對於該支持吸附孔，自未圖示之吸引泵供給負壓。 在支持基座41之上表面的支持部42之四隅角之外側，分別可升降地設置作為支持側位置決定部之第2凹治具43。第2凹治具43具備柱狀之第2凹治具本體431。在該第2凹治具本體431之上表面，形成第2嵌合凹部432。第2嵌合凹部432具備分別與第1凹治具23之大徑部233、小徑部234、第1傾斜面235、第2傾斜面236為相同形狀的大徑部433、小徑部434、第1支持側傾斜面435、第2支持側傾斜面436。 〔玻璃板之位置決定方法〕 其次，針對使用位置決定裝置10之玻璃板G之位置決定方法進行說明。 首先，如在圖2中以實線所示般，由未圖示之機器人或操作者將玻璃板G收容在事先位置對準器件20之收容槽部221，並使基準面G3、側面G4、第2主面G2與基準面抵接部222、側面抵接部223、主面抵接部224分別面接觸。藉由該等之抵接，進行玻璃板G相對於位置對準支持部22之6軸方向(上下方向、前後方向、左右方向、側傾方向(以Z軸為中心之旋轉方向)、側滾方向(以Y軸為中心之旋轉方向)、縱傾方向(以X軸為中心之旋轉方向))之位置決定。 其次，搬送器件30藉由6軸機器人之驅動使固持基座31移動，如圖4(A)所示般，藉由使各凸治具35之嵌合凸部352嵌合於各第1凹治具23之第1嵌合凹部232，而進行凸治具35相對於第1凹治具23之位置決定。此時，即便嵌合前之凸治具35之水平方向之位置自第1凹治具23之正上方之位置偏離若干，藉由如圖2所示之嵌合凸部352之第1、第2固持側傾斜面355、356、與第1嵌合凹部232之第1、第2傾斜面235、236之滑接，而可使嵌合凸部352順暢地嵌合於第1嵌合凹部232。 而後，藉由凸治具35相對於該第1凹治具23之位置決定，而進行固持部34相對於由位置對準支持部22支持之玻璃板G之6軸方向之位置決定，玻璃板G之第1主面G1整體以預先設定之狀態面接觸於固持側主面抵接部341。 其次，驅動搬送器件30之吸引泵而將負壓供給至固持吸附孔，由固持側主面抵接部341自第1主面G1側吸附固持玻璃板G後，驅動6軸機器人，如圖1中以兩點鏈線所示般，使固持基座31位於支持器件40之支持基座41上方。而後，如圖4(B)所示般，藉由使各凸治具35之嵌合凸部352嵌合於各第2凹治具43之第2嵌合凹部432，而進行凸治具35相對於第2凹治具43之位置決定。此時，即便嵌合前之凸治具35之水平方向之位置自第2凹治具43之正上方之位置偏離若干，藉由如圖3所示之嵌合凸部352之第1、第2固持側傾斜面355、356、與第2嵌合凹部432之第1、第2支持側傾斜面435、436之滑接，可使嵌合凸部352順暢地嵌合於第2嵌合凹部432。 而後，藉由凸治具35相對於該第2凹治具43之位置決定，而進行玻璃板G相對於支持部42之6軸方向之位置決定，玻璃板G之第2主面G2面接觸於支持側主面抵接部421。 其後，驅動支持器件40之吸引泵而將負壓供給至支持吸附孔，由支持側主面抵接部421自第2主面G2側吸附支持玻璃板G。而後，停止搬送器件30之吸引泵之驅動而解除固持部34對玻璃板G之吸附固持，由6軸機器人將固持基座31返回至初始位置。 其後，例如，如圖4(C)所示般，在利用切刀501切斷玻璃板G時，使各第2凹治具43下降以使第2凹治具43不妨礙玻璃板G之切斷。 〔實施形態之作用效果〕 本發明構成為藉由將自第1主面G1側固持玻璃板G且搬送之搬送器件30之凸治具35、與自第2主面G2側支持之支持器件40之第2凹治具43嵌合而可進行定位。 因此，與進行凸治具35相對於第2凹治具43之位置決定同時地進行玻璃板G相對於支持部42之位置決定上，除此之外，由於在凸治具35與第2凹治具43之位置決定上使用嵌合此一構造性方法，故與玻璃板G之重量無關，與使用機器人臂之情形相比，可高精度地進行定位。因此，可提供一種以短時間高精度地進行玻璃板G相對於支持部42之位置決定的位置決定裝置10。 在固持側主面抵接部341及支持側主面抵接部421，設置有分別面接觸於玻璃板G之第1、第2主面G1、G2側之曲面部GA的固持側曲面部342、支持側曲面部422。 因此，即便為彎曲之玻璃板G，藉由以其第1主面G1側之曲面部GA面接觸於固持側曲面部342之狀態固持並搬送，使第2主面G2側之曲面部GA與支持側曲面部422面接觸，而可以短時間高精度地進行定位。 由於固持部34及支持部42藉由利用負壓之固持吸附玻璃板G，或支持吸附玻璃板G，而可抑制固持時或支持時之對玻璃板G之損傷。又，由於支持部42僅自與第2主面G2對向之位置支持玻璃板G，故可容易地進行玻璃板G之外周部之處理。 由於設置4組凸治具35及第2凹治具43，故可提高玻璃板G之位置決定精度。 ［具備位置決定裝置之玻璃加工裝置］ 如上述之位置決定裝置10可使用於例如如圖5所示之作為被處理構件之處理裝置之玻璃加工裝置1。 玻璃加工裝置1具備：位置決定裝置10、及處理器件50，進行對由位置決定裝置10之支持部42支持之玻璃板G之切斷或倒角等。 處理器件50具備：主軸51、主軸移動載台52、及工具自動變換器53。在主軸51，經由浮動部512安裝有收集卡盤511。在收集卡盤511內，固定脫離自如地安裝有切刀501或研削磨石502等之各種加工工具。主軸51利用未圖示之馬達使加工工具升降或旋轉。 主軸移動載台52使主軸51在前後左右方向上移動。 工具自動變換器53具備：由前端部保持加工工具之一對臂531、將該臂531由軸532保持而上下移動或旋轉之交換驅動部533、及存放加工工具之未圖示之工具存放器，而將特定之加工工具自主軸51之收集卡盤511拆卸、或安裝於收集卡盤511。 在利用玻璃加工裝置1加工玻璃板G時，如上述實施形態所說明般，在利用位置決定裝置10將玻璃板G在支持部42進行定位之後，使各第2凹治具43下降。其後，根據需要驅動主軸51之未圖示之馬達及主軸移動載台52，將玻璃板G之較支持部42更靠外側之位置利用切刀501切斷，或利用研削磨石502倒角。 而後，若玻璃板G之加工終了，則停止支持器件40之吸引泵之驅動而解除支持部42對玻璃板G之吸附支持，由機器人或操作者將加工後之玻璃板G自支持部42取出。 此處，在切斷平板狀之玻璃板之外周部時，例如，即便未正確地進行側傾方向之位置決定，仍能獲得所期望之形狀之製品，但在玻璃板G具有曲面部GA時，若不正確地進行側傾方向之位置決定，則不能獲得所期望之形狀之製品。 根據上述之玻璃加工裝置1，由於正確地進行玻璃板G相對於支持部42之6軸方向之位置決定，故可獲得所期望之形狀之製品。 特別是，由於利用事先位置對準器件20進行玻璃板G之最初之6軸方向之位置決定，故可抑制在切削屑附著於第1凹治具23之第1嵌合凹部232之狀態下嵌合凸部352嵌合，而可更高精度地進行定位。 ［變化例］ 此外，本發明並不僅限定於上述實施形態，在不脫離本發明之要旨之範圍內可進行各種改良及設計之變更等，另外，本發明之實施時之具體之步驟、及構造等在達成本發明之目的之範圍內可採用其他構造等。 例如，在上述實施形態中，可應用以下之構成。 可不採用事先位置對準器件20，該情形下，可由搬送器件30固持載置於臺上或收容於箱內之玻璃板G並搬送。 在位置對準支持部22，可設置吸附支持玻璃板G之機構。 可行的是，將主面抵接部224、固持側主面抵接部341、支持側主面抵接部421全部設為平面狀，而將平板狀之玻璃板相對於支持部42進行定位。 位置對準支持部22之主面抵接部224、固持部34之固持側主面抵接部341、支持部42之支持側主面抵接部421之面積，自實現穩定之固持及支持之觀點出發較佳者為玻璃板G之50%以上。特別是，在利用處理器件50加工玻璃板G時，支持部42之支持側主面抵接部421之面積較佳者為玻璃板G之60%以上，更佳者為70%以上，尤佳者為80%以上。藉此，可提高玻璃板G之加工精度，而可獲得尺寸精度高的加工後之玻璃板。支持部42之支持側主面抵接部421之面積較佳者為玻璃板G之98%以下，更佳者為95%以下。藉此，在利用研削磨石502等處理玻璃板G之外周部時，在研削磨石502等不與支持部42接觸下即可處理，而可降低對玻璃板G之損傷。 又，支持部42之支持側主面抵接部421較佳者為以在俯視觀察下內包於玻璃板G之方式被支持。藉此，在利用研削磨石502等處理玻璃板G之外周部時，研削磨石502等可容易地周繞玻璃板G之外周部而順滑地進行加工。 主面抵接部224、固持側主面抵接部341、支持側主面抵接部421之形狀較佳者為與玻璃板G之第1主面G1或第2主面G2對應之形狀，亦可為不對應。例如，在上述實施形態中，可不採用固持側曲面部342或固持側平面部343，亦可不採用支持側曲面部422或支持側平面部423。 又，如圖6(A)、圖6(B)所示般，在對使用真空成形法成形之玻璃板H進行定位時，可使用本發明之位置決定裝置。 玻璃板H具備：例如四角框狀之基準平面部HA、該基準平面部HA內側之曲面部HB、及基準平面部HA外側之變形部HC。在基準平面部HA之對角位置，設置有2個正圓形之標記HD。 位置決定裝置10A具備事先位置對準器件20A替代構成上述實施形態之位置決定裝置10之事先位置對準器件20。又，雖然在此處未圖示，但位置決定裝置10A之固持部34之固持側主面抵接部341、支持部42之支持側主面抵接部421形成與玻璃板H之第1、第2主面H1、H2分別對應之曲面狀。 事先位置對準器件20A具備：位置對準支持基座21、第1凹治具23、由位置對準基座24A支持之平面支持部25A、變更位置對準基座24A之姿勢之基座驅動部26A、自平面支持部25A之上方拍攝標記HD之攝像器件27A、及基於攝像器件27A之攝像結果控制基座驅動部26A之未圖示之姿勢控制器件。由平面支持部25A、基座驅動部26A、攝像器件27A、姿勢控制器件構成本發明之位置對準支持部。 平面支持部25A形成為四角筒狀，構成為可在其上表面251A處自第2主面H2側支持玻璃板H之基準平面部HA，且可使曲面部HB位於其內部。基座驅動部26A以由4個第1凹治具23包圍位置對準基座24A之方式支持。攝像器件27A之配置位置只要可自平面支持部25A之上方拍攝標記HD可為任一位置，例如，可固定於搬送器件30之固持基座31，亦可固定於平面支持部25A之上方且為固持基座31之移動範圍外之位置。 在由位置決定裝置10A對玻璃板H進行定位時，首先，由未圖示之機器人或操作者將玻璃板H之基準平面部HA載置於平面支持部25A上。其次，由攝像器件27A拍攝2個標記HD，以該拍攝到的標記HD成為正圓形之方式，藉由姿勢控制器件根據需要位置將對準基座24A在側傾方向、側滾方向、縱傾方向移動，而進行玻璃板H之位置決定。而後，與上述實施形態之位置決定裝置10相同地，由搬送器件30之固持部34固持該被定位之玻璃板H並搬送，而進行玻璃板H相對於支持部42之位置決定。 此外，標記HD可為3個以上，若為正圓形以外之形狀則可為1個。 圖7所示般，替代上述實施形態中圖6(A)、圖6(B)之第1凹治具23、凸治具35、第2凹治具43，而應用第1被卡合治具23B、作為固持側位置決定部之卡合治具35B、作為支持側位置決定部之第2被卡合治具43B。第1被卡合治具23B、卡合治具35B、第2被卡合治具43B分別具備四角柱狀之治具本體231B、351B、431B。在治具本體231B、431B之上端，分別設置朝向上方呈四角板狀突出之第1、第2被卡合凸部232B、432B。在治具本體351B之下表面，設置有朝向下方呈四角板狀突出且與第1、第2被卡合凸部232B、432B卡合之卡合凸部352B。 在如此之構成中，由於卡合治具35B與第1被卡合治具23B或第2被卡合治具43B之位置決定，採用卡合凸部352B與第1被卡合凸部232B或第2被卡合凸部432B之卡合此一構造性之方法來進行，故可發揮與使用上述實施形態之嵌合之情形相同之效果。 另外，雖設置4組第1被卡合治具23B、卡合治具35B、第2被卡合治具43B，但亦可設置2組或3組，還可設置5組以上。 如圖8所示般，在將可變形之膜F積層於平板狀之玻璃板J上時，可使用本發明之位置決定裝置。 在如此之構成中，位置決定裝置10C之搬送器件30C，具備固持部34C替代構成上述實施形態之搬送器件30的固持部34。固持部34C之下表面整體構成固持側曲面部342C。支持器件40C具備支持部42C替代構成上述實施形態之支持器件40的支持部42。支持部42C之上表面整體構成支持側平面部423C。 在位置決定裝置10C中，在將膜F積層於玻璃板J時，首先，如圖8中以實線所示般，使膜F之上表面(第1主面)與固持側曲面部342C接觸，以彎曲狀態由固持部34C吸附固持。且，使支持部42C支持玻璃板J。其次，使固持基座31移動，藉由使各凸治具35嵌合於各第2凹治具43，而以膜F之下表面(第2主面)之中央部與玻璃板J接觸之狀態將膜F進行定位。此後，若停止搬送器件30C之吸引泵之驅動而解除固持部34C對膜F之吸附固持，則與膜F之玻璃板J之非接觸部分因自身重量而下降，一面逐出與玻璃板J之間之空氣，一面如圖8中以兩點鏈線所示般，膜F積層於玻璃板J。 作為其後之處理，可沿玻璃板J之外緣切斷膜F，還可進一步積層其他膜或玻璃板。 又，在圖8中，係將膜F積層於玻璃板J，但可替代膜F而積層呈平板狀且可變形之其他玻璃板。又，可應用圖7所示之卡合治具35B、第2被卡合治具43B替代凸治具35、第2凹治具43。此外，雖然此處以支持側平面部423C進行了說明，但可設為具有曲面之支持側曲面部。該情形下，較佳者係與固持側曲面部342C相比，將曲率半徑增大。藉此，在先前困難之製作使用具有曲面部之玻璃板J的夾層玻璃時，可製作在膜F與玻璃板J之間不殘留氣泡等，具有良好之曲面部的夾層玻璃。 在上述實施形態之圖6(A)、圖6(B)、圖8所示之裝置中，可應用以下之構成。 可無第1凹治具23、凸治具35、第2凹治具43之小徑部234、小徑圓柱部354、小徑部434。可在小徑部234、小徑圓柱部354、小徑部434之端部設置較其等更小徑之柱狀部或凹部。可無各傾斜面235、236、355、356、435、436。 雖設置4組第1凹治具23、凸治具35、第2凹治具43，但亦可設置2組或3組，還可設置5組以上。若第1嵌合凹部232、嵌合凸部352、第2嵌合凹部432之在俯視觀察下之形狀為圓形以外，則第1凹治具23、凸治具35、第2凹治具43可為1組。作為圓形以外之形狀，可例示十字形、多角形、橢圓形。 可行的是，替代第1、第2凹治具23、43而設置與凸治具35相同之凸治具，替代凸治具35而設置與第1凹治具23相同之凹治具。 在上述實施形態之圖6(A)、圖6(B)、圖7、圖8所示之裝置中，可應用以下之構成。 將第2凹治具43、第2被卡合治具43B構成為可升降，亦可不升降，還可在水平方向上移動。 為了使第2凹治具43不成為玻璃板G或膜F之切斷等之處理之妨礙，而可使支持部42、42C上升。 位置對準支持部22、平面支持部25A、固持部34、34C、支持部42、42C之固持或支持，可藉由爪等之機械性機構而進行。 可設置異物去除器件，其去除在嵌合凸部352與第1、第2嵌合凹部232、432之嵌合後或在卡合凸部352B與第1、第2被卡合凸部232B、432B之卡合後，附著於第1、第2嵌合凹部232、432、嵌合凸部352、第1、第2被卡合凸部232B、432B、卡合凸部352B之切削屑等之異物。 作為本發明之處理器件，可採用印刷特定之圖案之印刷器件等的能夠處理玻璃板或膜等之被處理構件的構成。 作為本發明之被處理構件，強化玻璃、未被強化之玻璃、積層玻璃與樹脂之夾層玻璃、可由樹脂、金屬、木材而形成，亦可為夾層玻璃用之中間膜或轉印膜等之片狀者，若為板狀則無特別限制。玻璃之強化處理可為物理強化亦可為化學強化，若厚度在2 mm以下，則化學強化為較佳。作為基材之厚度，較佳者為0.3 mm～5 mm，更佳者為0.7 mm～5 mm，尤佳者為1.3 mm～3 mm。此外，作為被處理構件之厚度無須在主面內為均一，可具有未落入前述範圍之區域。在被處理構件中，可在任一個主面上進行印刷處理、防眩處理(AG處理)、防反射處理(AR處理)、防指紋處理(AFP處理)。被處理構件可在複數個部位具有不同形狀之曲面部。被處理構件之平面形狀亦可為正方形或三角形等之多角形、梯形、圓形、橢圓形或異形。被處理構件亦可為液晶顯示器等之平板顯示器或智慧型手機等可攜式機器等之保護玻璃、車輛用之窗玻璃。曲面部係可將各種基材在高溫等之環境下成形而形成，亦可使玻璃暫時性撓曲而彎曲。 上述實施形態及變化例可根據需要進行組合。 由於利用本發明之位置決定裝置可使玻璃、樹脂、玻璃容易地重合，故可簡便地製作夾層玻璃。特別是，在製作具有曲面部之夾層玻璃時，可正確地積層玻璃、樹脂、玻璃，而可有效率地製作曲面夾層玻璃。 對本發明詳細地或參照特定之實施態樣進行了說明，但由熟悉此項技術者顯而易知，在不脫離本發明之精神與範圍之下可施以各種變更或修正。 本申請案係基於2016年7月8日申請案之日本專利申請案2016-135981及2017年6月21日申請案之日本專利申請案2017-121510而作成者，將其內容作為參照而納入本申請案中。[Embodiment] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [Configuration of Glass Plate] First, the configuration of a glass plate whose position is determined by the position determining device of the present invention will be described. The direction parallel to the X axis in FIG. 1 is expressed as a left-right direction, the direction parallel to the Y axis is expressed as a front-back direction, and the direction parallel to the Z axis is expressed as an up-down direction. As shown in FIG. 1, the glass plate G, which is a member to be processed, has a rectangular shape in a plan view, and includes a curved portion GA and a flat portion GB that are curved in a cylindrical shape. The curved surface portion GA is provided on one side (left side in FIG. 1) from the center in the longitudinal direction of the glass plate G, and the planar portion GB is provided on the other side (right side in FIG. 1). The right end surface of the glass plate G is used as a flat reference surface G3. Such a glass plate G is obtained, for example, by using its own weight forming method, that is, placing a flat glass plate on a mold having a curved surface at a part, and using the corresponding portion of the reference surface G3 and the mold as a reference In the surface abutment method, after fixing a corresponding portion of the flat surface portion GB to the mold, at least a portion corresponding to the curved surface portion GA is heated to soften it, and deformed along the mold due to its own weight. [Configuration of Glass Plate Position Determination Device] Next, the configuration of the glass plate G position determination device 10 will be described. The position determination device 10 includes a pre-alignment device 20, a transport device 30, and a support device 40. The pre-alignment device 20 includes, as shown in FIGS. 1 and 2, a plate-shaped alignment support base 21. On the upper surface of the alignment support base 21, there are provided a quadrangular position alignment support portion 22 in a plan view, and four first recessed fixtures 23 serving as a predetermined position determination portion. A storage groove portion 221 is provided on the upper surface of the alignment support portion 22 to receive the glass plate G when the glass plate G is positioned. The receiving groove portion 221 is formed of a YZ plane, and includes a reference surface abutting portion 222 that is in surface contact with the reference surface G3, a side abutting portion 223 that is formed in the XZ plane and is in surface contact with the side surface G4 of the glass plate G, and 2 The main surface abutting portion 224 that the main surface G2 is in contact with. The main surface abutting portion 224 includes a pedestal-side curved surface portion 225 in which the entire curved surface portion GA of the first main surface G1 is in surface contact, and a pedestal-side planar portion 226 in overall contact with the plane portion GB. If the reference surface contact portion 222, the side contact portion 223, and the main surface contact portion 224 can position the glass plate G in the accommodation groove portion 221, the glass plate G can be aligned with the reference surface G3, the side surface G4, and the second main surface G2. Touch with any of faces, points, and lines. The first concave jigs 23 are respectively provided on the outer sides of the four corners of the positioning support portion 22. The first concave jig 23 includes a columnar first concave jig body 231. A first fitting recessed portion 232 that is circular in a plan view is formed on the upper surface of the first recessed jig body 231. The first fitting recessed portion 232 includes a large-diameter portion 233 located on the upper side, and a small-diameter portion 234 located on the lower side and having a large inner diameter portion 233 that is small. A first inclined surface 235 and a second inclined surface 236 are provided at the upper ends of the large-diameter portion 233 and the small-diameter portion 234, respectively, and the inner diameter gradually increases toward the upper side. The transport device 30 includes a plate-shaped holding base 31. The upper surface of the holding base 31 is connected to a robot arm 33 of, for example, a 6-axis robot via a floating unit 32. The lower surface of the holding base 31 is provided with a holding portion 34 having a shape substantially equal to that of the glass plate G when viewed from the bottom, and four columnar convex fixtures 35 serving as holding position determining portions. A holding side main surface abutting portion 341 is provided on the lower surface of the holding portion 34. The holding-side main surface abutting portion 341 includes a holding-side curved surface portion 342 in which the entire curved surface portion GA of the first main surface G1 is in surface contact, and a holding-side flat surface portion 343 in which the entire planar portion GB is in surface contact. The holding-side main surface abutting portion 341 is provided with a plurality of holding suction holes (not shown). A negative pressure is supplied to the holding suction hole from a suction pump (not shown). The convex fixtures 35 are respectively disposed on the outer sides of the four corners of the holding portion 34. The convex jig 35 includes a columnar convex jig body 351. On the lower surface of the convex jig body 351, a fitting convex portion 352 fitted into the first fitting concave portion 232 of the first concave jig 23 is provided. The fitting convex portion 352 includes a large-diameter cylindrical portion 353 having an outer diameter equal to that of the large-diameter portion 233 of the first female jig 23, and an outer diameter equal to the small-diameter portion 234 located below the large-diameter cylindrical portion 353.之 小径 柱 部 354. At the lower ends of the large-diameter cylindrical portion 353 and the small-diameter cylindrical portion 354, there are provided a first holding-side inclined surface 355 and a second holding-side inclined surface 356 that gradually decrease in outer diameter toward the lower side. As shown in FIG. 1 and FIG. 3, the supporting device 40 includes a supporting base 41 having a quadrangular shape in a plan view. On the upper surface of the support base 41, a quadrangular support portion 42 having a shape smaller than that of the glass plate G in a plan view is provided. The upper surface of the support portion 42 includes a support-side curved surface portion 422 in contact with a portion of the curved portion GA of the second principal surface G2 and a support-side principal surface of the support-side planar portion 423 in contact with a portion of the planar portion GB.接 部 421. Then 421. The support-side main surface contact portion 421 is provided with a plurality of support suction holes (not shown). A negative pressure is supplied to the support suction hole from a suction pump (not shown). On the outer side of the four corners of the support portion 42 on the upper surface of the support base 41, second concave jigs 43 serving as support-side position determination portions are provided so as to be able to be raised and lowered, respectively. The second concave jig 43 includes a columnar second concave jig body 431. A second fitting recessed portion 432 is formed on the upper surface of the second recessed jig body 431. The second fitting concave portion 432 includes a large diameter portion 433 and a small diameter portion 434 having the same shape as the large diameter portion 233, the small diameter portion 234, the first inclined surface 235, and the second inclined surface 236 of the first concave jig 23, respectively. The first support-side inclined surface 435 and the second support-side inclined surface 436. [Method for Determining Position of Glass Plate] Next, a method for determining the position of the glass plate G using the position determining device 10 will be described. First, as shown by a solid line in FIG. 2, an unillustrated robot or operator stores the glass plate G in the storage groove portion 221 of the alignment device 20 in advance, and sets the reference surface G3, the side surface G4, The second main surface G2 is in surface contact with the reference surface contact portion 222, the side surface contact portion 223, and the main surface contact portion 224, respectively. By such abutment, the 6-axis direction of the glass plate G with respect to the position alignment support portion 22 (up-down direction, front-rear direction, left-right direction, roll direction (direction of rotation centered on the Z-axis)), side rolling The direction (direction of rotation centered on the Y-axis) and the pitch direction (direction of rotation centered on the X-axis) are determined. Next, as shown in FIG. 4 (A), the conveying device 30 moves the holding base 31 by the drive of a 6-axis robot, and the fitting protrusions 352 of the protrusions 35 are fitted into the first recesses as shown in FIG. 4 (A). The first fitting recessed portion 232 of the jig 23 is determined by the position of the convex jig 35 relative to the first concave jig 23. At this time, even if the horizontal position of the convex fixture 35 before the fitting is slightly deviated from the position directly above the first concave fixture 23, the first and the first parts of the fitting convex part 352 shown in FIG. 2 2 The holding side inclined surfaces 355 and 356 and the first and second inclined surfaces 235 and 236 of the first fitting recessed portion 232 are in sliding contact with each other, so that the fitting protruding portion 352 can be smoothly fitted into the first fitting recessed portion 232. . Then, by determining the position of the convex jig 35 with respect to the first concave jig 23, the position of the holding portion 34 relative to the 6-axis direction of the glass plate G supported by the position alignment support portion 22 is determined. The entire first main surface G1 of G is in surface contact with the holding-side main surface abutting portion 341 in a preset state. Next, the suction pump of the conveying device 30 is driven to supply negative pressure to the holding suction hole, and the holding side main surface abutting portion 341 sucks and holds the glass plate G from the first main surface G1 side, and then drives the 6-axis robot, as shown in FIG. 1 As shown by the two-dot chain line, the holding base 31 is positioned above the supporting base 41 of the supporting device 40. Then, as shown in FIG. 4 (B), the convex jig 35 is carried out by fitting the fitting convex part 352 of each convex jig 35 to the second fitting concave part 432 of each second female jig 43. The position with respect to the second concave jig 43 is determined. At this time, even if the position in the horizontal direction of the convex fixture 35 before the fitting is slightly deviated from the position directly above the second concave fixture 43, the first and first parts of the fitting convex part 352 shown in FIG. 3 2 The holding side inclined surfaces 355 and 356 and the first and second supporting side inclined surfaces 435 and 436 of the second fitting recessed portion 432 are slidably contacted, so that the fitting convex portion 352 can be smoothly fitted into the second fitting recessed portion. 432. Then, the position of the glass plate G with respect to the 6-axis direction of the support portion 42 is determined by the position of the convex jig 35 with respect to the second concave jig 43 and the second main surface G2 of the glass plate G is in contact with each other. On the supporting side main surface abutting portion 421. Thereafter, the suction pump of the support device 40 is driven to supply negative pressure to the support suction hole, and the support-side main surface abutting portion 421 suction-supports the glass plate G from the second main surface G2 side. Then, the driving of the suction pump of the conveying device 30 is stopped to release the holding of the glass plate G by the holding portion 34, and the holding base 31 is returned to the initial position by a 6-axis robot. Thereafter, for example, as shown in FIG. 4 (C), when the glass plate G is cut by the cutter 501, each of the second concave fixtures 43 is lowered so that the second concave fixtures 43 do not interfere with the glass plate G. Cut off. [Functions and Effects of the Embodiment] The present invention is configured by a convex fixture 35 that holds the glass plate G from the first main surface G1 side and transports the transport device 30 and a support device 40 that supports the second main surface G2 side. The second concave jig 43 is fitted and positionable. Therefore, the position of the glass plate G relative to the support portion 42 is determined at the same time as the position determination of the convex fixture 35 with respect to the second concave fixture 43 is performed. This structural method of fitting is used for the determination of the position of the jig 43, so it has no relation to the weight of the glass plate G, and can perform positioning with high accuracy compared to the case of using a robot arm. Therefore, it is possible to provide a position determination device 10 that determines the position of the glass plate G relative to the support portion 42 with high accuracy in a short time. The holding-side main surface abutting portion 341 and the supporting-side main surface abutting portion 421 are provided with a holding-side curved surface portion 342 that is in surface contact with the curved surface portion GA of the first and second main surfaces G1 and G2 of the glass plate G, respectively. 。 Support side curved surface portion 422. Therefore, even if the glass plate G is curved, the curved surface portion GA on the first main surface G1 side is held in contact with the holding-side curved surface portion 342 and transported, so that the curved surface portion GA on the second main surface G2 side and The side curved surface portion 422 is supported for surface contact, and positioning can be performed with high accuracy in a short time. Since the holding portion 34 and the supporting portion 42 hold or adsorb the glass plate G by using a negative pressure, the glass plate G can be prevented from being damaged during the holding or supporting. Moreover, since the support part 42 supports the glass plate G only from the position which opposes the 2nd main surface G2, processing of the outer peripheral part of the glass plate G can be performed easily. Since four sets of convex fixtures 35 and second concave fixtures 43 are provided, the position determination accuracy of the glass plate G can be improved. [Glass Processing Apparatus Equipped with Position Determination Apparatus] The position determination apparatus 10 as described above can be used for the glass processing apparatus 1 as a processing apparatus as a processing member as shown in FIG. 5. The glass processing apparatus 1 includes a position determination device 10 and a processing device 50, and cuts or chamfers the glass plate G supported by the support portion 42 of the position determination device 10. The processing device 50 includes a spindle 51, a spindle moving stage 52, and an automatic tool changer 53. A collection chuck 511 is attached to the main shaft 51 via a floating portion 512. Various tools such as a cutter 501 or a grinding stone 502 are fixedly detachably mounted in the collection chuck 511. The spindle 51 raises or lowers the processing tool by a motor (not shown). The spindle moving stage 52 moves the spindle 51 in the front-back, left-right, and left-right directions. The automatic tool changer 53 includes a pair of arms 531 that hold one of the processing tools at the front end, an exchange driving unit 533 that moves the arm 531 up and down while rotating by the shaft 532, and a tool holder (not shown) that stores the processing tools. The collection chuck 511 of the main shaft 51 of the specific processing tool is disassembled or mounted on the collection chuck 511. When the glass plate G is processed by the glass processing apparatus 1, as described in the above embodiment, after the glass plate G is positioned on the support portion 42 by the position determination device 10, the second recesses 43 are lowered. Thereafter, as necessary, a motor (not shown) of the main shaft 51 and the main shaft moving stage 52 are driven, and the glass plate G is cut further outside by the support portion 42 with a cutter 501 or chamfered with a grinding stone 502 . Then, if the processing of the glass plate G is completed, the driving of the suction pump of the support device 40 is stopped and the support of the glass plate G by the support portion 42 is released, and the processed glass plate G is removed from the support portion 42 by a robot or an operator. . Here, when the outer peripheral portion of the flat glass plate is cut, for example, a product with a desired shape can be obtained even if the position determination of the roll direction is not performed correctly, but when the glass plate G has a curved portion GA If the position determination of the roll direction is not performed correctly, a product with a desired shape cannot be obtained. According to the glass processing apparatus 1 described above, since the position determination of the glass plate G with respect to the 6-axis direction of the support portion 42 is accurately performed, a product having a desired shape can be obtained. In particular, since the position determination of the first 6-axis direction of the glass plate G is performed by using the pre-alignment device 20, it is possible to prevent the chip from being fitted in a state where the chips adhere to the first fitting recessed portion 232 of the first recessed fixture 23. The engaging convex portion 352 is fitted, and positioning can be performed with higher accuracy. [Modifications] In addition, the present invention is not limited to the above-mentioned embodiments, and various improvements and design changes can be made without departing from the gist of the present invention. In addition, specific steps and structures during the implementation of the present invention Other structures may be adopted as long as the object of the present invention is achieved. For example, in the above-mentioned embodiment, the following configurations can be applied. The pre-position alignment device 20 may not be used. In this case, the glass plate G placed on a table or housed in a box may be held by the transfer device 30 and transferred. A mechanism for absorbing and supporting the glass plate G may be provided in the position alignment support section 22. It is feasible to set the main surface abutting portion 224, the holding side main surface abutting portion 341, and the supporting side main surface abutting portion 421 to be flat, and position the flat glass plate relative to the support portion 42. Position the area of the main surface abutment portion 224 of the support portion 22, the holding side main surface abutment portion 341 of the holding portion 34, and the support side main surface abutting portion 421 of the support portion 42 to achieve stable holding and support. From a viewpoint, 50% or more of glass plate G is preferable. In particular, when the glass plate G is processed by the processing device 50, the area of the supporting side main surface abutting portion 421 of the supporting portion 42 is preferably 60% or more of the glass plate G, and more preferably 70% or more, and particularly preferably Those are more than 80%. Thereby, the processing accuracy of the glass plate G can be improved, and a processed glass plate with high dimensional accuracy can be obtained. The area of the supporting-side main surface abutting portion 421 of the supporting portion 42 is preferably 98% or less of the glass plate G, and more preferably 95% or less. Thereby, when the outer periphery of the glass plate G is processed by the grinding stone 502 or the like, the grinding stone 502 or the like can be processed without contacting the support portion 42, and damage to the glass plate G can be reduced. The supporting-side main surface abutting portion 421 of the supporting portion 42 is preferably supported so as to be enclosed in the glass plate G in a plan view. Thereby, when the outer peripheral part of the glass plate G is processed with the grinding grindstone 502 and the like, the grinding grindstone 502 and the like can easily be smoothly processed around the outer peripheral part of the glass plate G. The shape of the main surface contact portion 224, the holding side main surface contact portion 341, and the support side main surface contact portion 421 is preferably a shape corresponding to the first main surface G1 or the second main surface G2 of the glass plate G. It may not correspond. For example, in the above-mentioned embodiment, the holding-side curved surface portion 342 or the holding-side planar portion 343 may not be used, and the supporting-side curved surface portion 422 or the supporting-side planar portion 423 may not be used. As shown in FIGS. 6 (A) and 6 (B), when positioning the glass plate H formed by the vacuum forming method, the position determining device of the present invention can be used. The glass plate H includes, for example, a rectangular frame-shaped reference plane portion HA, a curved portion HB inside the reference plane portion HA, and a deformation portion HC outside the reference plane portion HA. At the diagonal position of the reference plane portion HA, two perfectly circular marks HD are provided. The position determination device 10A is provided with a pre-alignment device 20A instead of the pre-alignment device 20 constituting the position determination device 10 of the above-mentioned embodiment. Although not shown here, the holding side main surface abutting portion 341 of the holding portion 34 of the position determining device 10A and the supporting side main surface abutting portion 421 of the supporting portion 42 form the first and the first sides of the glass plate H. The second principal surfaces H1 and H2 correspond to curved surfaces. The pre-alignment device 20A includes: the alignment support base 21, the first concave jig 23, a flat support portion 25A supported by the alignment base 24A, and a base drive for changing the posture of the alignment base 24A. 26A, an image pickup device 27A that shoots a mark HD from above the plane support portion 25A, and a posture control device (not shown) that controls the base drive portion 26A based on the imaging results of the image pickup device 27A. The plane support portion 25A, the base driving portion 26A, the imaging device 27A, and the attitude control device constitute a position alignment support portion of the present invention. The planar support portion 25A is formed in a rectangular tube shape, and is configured to support the reference planar portion HA of the glass plate H from the second main surface H2 side at the upper surface 251A, and the curved surface portion HB can be positioned inside. The base driving portion 26A is supported so as to be aligned with the base 24A while being surrounded by the four first female fixtures 23. The placement position of the imaging device 27A can be any position as long as the mark HD can be taken from above the flat support portion 25A. For example, it can be fixed to the holding base 31 of the transport device 30 or fixed above the flat support portion 25A and is Hold the position outside the moving range of the base 31. When positioning the glass plate H by the position determination device 10A, first, a reference plane portion HA of the glass plate H is placed on the plane support portion 25A by a robot or an operator (not shown). Next, two markers HD are photographed by the imaging device 27A, and the orientation marker is used to position the alignment base 24A in the roll direction, roll direction, and vertical direction so that the captured marker HD becomes a perfect circle. It moves in the tilt direction, and determines the position of the glass plate H. Then, similarly to the position determining device 10 of the above-mentioned embodiment, the positioning glass plate H is held and held by the holding portion 34 of the transport device 30, and the position of the glass plate H relative to the support portion 42 is determined. The number of marks HD may be three or more, and the number of marks HD may be one if the shape is not a perfect circle. As shown in FIG. 7, instead of the first concave jig 23, convex jig 35, and second concave jig 43 of FIGS. 6 (A) and 6 (B) in the above embodiment, the first latching rule is applied. Tool 23B, an engaging jig 35B as a holding-side position determining section, and a second engaged jig 43B as a supporting-side position determining section. The first engagement jig 23B, the engagement jig 35B, and the second engagement jig 43B each include a quadrangular columnar jig body 231B, 351B, and 431B. On the upper ends of the fixture bodies 231B and 431B, first and second engaged convex portions 232B and 432B protruding in a rectangular plate shape upwardly are provided, respectively. On the lower surface of the jig body 351B, there are provided engaging convex portions 352B that protrude downward in a rectangular plate shape and engage with the first and second engaged convex portions 232B and 432B. In such a configuration, since the position of the engagement jig 35B and the first engagement jig 23B or the second engagement jig 43B is determined, the engagement projection 352B and the first engagement projection 232B or Since the engagement of the second engaged convex portion 432B is performed by this structural method, the same effect as that in the case of using the fitting of the above embodiment can be exhibited. In addition, although four sets of the first engagement jig 23B, the engagement jig 35B, and the second engagement jig 43B are provided, two or three sets may be provided, and five or more sets may be provided. As shown in FIG. 8, when the deformable film F is laminated on the flat glass plate J, the position determining device of the present invention can be used. In such a configuration, the transfer device 30C of the position determination device 10C includes a holding portion 34C instead of the holding portion 34 constituting the transfer device 30 of the embodiment described above. The entire lower surface of the holding portion 34C constitutes a holding-side curved surface portion 342C. The support device 40C includes a support portion 42C instead of the support portion 42 constituting the support device 40 of the embodiment described above. The entire upper surface of the support portion 42C constitutes a support-side flat portion 423C. In the position determination device 10C, when the film F is laminated on the glass plate J, first, as shown by a solid line in FIG. 8, the upper surface (the first main surface) of the film F is brought into contact with the holding-side curved surface portion 342C. , Is held by the holding portion 34C in a bent state. Then, the support portion 42C supports the glass plate J. Next, the holding base 31 is moved, and each convex jig 35 is fitted to each second concave jig 43 so that the central portion of the lower surface (the second main surface) of the film F is in contact with the glass plate J. The state positions the film F. Thereafter, if the driving of the suction pump of the conveying device 30C is stopped and the adsorption and holding of the film F by the holding portion 34C is released, the non-contact portion with the glass plate J of the film F drops due to its own weight, and is expelled from the glass plate J On the other hand, as shown by a two-dot chain line in FIG. 8, the film F is laminated on the glass plate J. As a subsequent treatment, the film F may be cut along the outer edge of the glass plate J, and other films or glass plates may be further laminated. Further, in FIG. 8, the film F is laminated on the glass plate J, but it can be replaced with another glass plate that is flat and deformable instead of the film F. In addition, the engagement jig 35B and the second engaged jig 43B shown in FIG. 7 may be used instead of the convex jig 35 and the second concave jig 43. In addition, although the supporting-side flat surface portion 423C is described here, it may be a supporting-side curved surface portion having a curved surface. In this case, it is preferable to increase the radius of curvature as compared with the holding side curved surface portion 342C. This makes it possible to produce laminated glass having a good curved portion without leaving bubbles or the like between the film F and the glass plate J when the laminated glass using the glass plate J having a curved portion was previously difficult to produce. 6 (A), FIG. 6 (B), and FIG. 8 of the embodiment described above, the following configurations can be applied. The small-diameter portion 234, the small-diameter cylindrical portion 354, and the small-diameter portion 434 of the first concave fixture 23, the convex fixture 35, and the second concave fixture 43 may be omitted. A columnar portion or a concave portion having a smaller diameter than these may be provided at the ends of the small diameter portion 234, the small diameter cylindrical portion 354, and the small diameter portion 434. There may be no inclined surfaces 235, 236, 355, 356, 435, 436. Although four groups of the first concave jig 23, the convex jig 35, and the second concave jig 43 are provided, two or three groups may be provided, and five or more groups may be provided. If the shapes of the first fitting recessed portion 232, the fitting protruding portion 352, and the second fitting recessed portion 432 in a plan view are other than circular, the first concave fixture 23, the convex fixture 35, and the second concave fixture 43 can be a group. Examples of the shape other than a circle include a cross shape, a polygon shape, and an oval shape. It is feasible to provide the same convex jig as the convex jig 35 instead of the first and second concave jigs 23 and 43, and to provide the same concave jig as the first concave jig 23 instead of the convex jig 35. The following configurations can be applied to the devices shown in Figs. 6 (A), 6 (B), 7 and 8 of the above embodiment. The second concave jig 43 and the second engaged jig 43B are configured to be movable up and down, and may be moved in a horizontal direction without being raised and lowered. The support portions 42 and 42C can be raised so that the second concave jig 43 does not interfere with processing such as cutting of the glass plate G or the film F. The positioning or supporting unit 22, the planar supporting unit 25A, the holding units 34, 34C, and the supporting units 42, 42C can be held or supported by a mechanical mechanism such as a claw. A foreign matter removing device may be provided to remove the fitting convex portion 352 and the first and second fitting concave portions 232 and 432 or the engaging convex portion 352B and the first and second engaged convex portions 232B, After the 432B is engaged, it is attached to the first and second fitting recesses 232 and 432, the fitting protrusion 352, the first and second engaged protrusions 232B and 432B, and the chips of the engagement protrusion 352B. foreign matter. As the processing device of the present invention, a configuration capable of processing a member to be processed such as a glass plate or a film, such as a printing device that prints a specific pattern, can be adopted. As the to-be-processed member of the present invention, reinforced glass, unreinforced glass, laminated glass and resin laminated glass can be formed of resin, metal, wood, and can also be sheets such as interlayer films or transfer films for laminated glass. The shape is not particularly limited as long as it is plate-shaped. The strengthening treatment of glass can be physical strengthening or chemical strengthening. If the thickness is less than 2 mm, chemical strengthening is better. The thickness of the substrate is preferably 0.3 mm to 5 mm, more preferably 0.7 mm to 5 mm, and even more preferably 1.3 mm to 3 mm. In addition, the thickness of the member to be processed need not be uniform in the main surface, and may have a region that does not fall within the aforementioned range. Among the members to be processed, printing processing, anti-glare processing (AG processing), anti-reflection processing (AR processing), and anti-fingerprint processing (AFP processing) can be performed on any main surface. The member to be processed may have curved portions having different shapes at a plurality of locations. The planar shape of the component to be processed may also be a polygon, trapezoid, circle, oval, or special shape such as a square or a triangle. The member to be processed may be a flat glass display such as a liquid crystal display, a protective glass for a portable device such as a smart phone, or a window glass for a vehicle. The curved surface portion can be formed by molding various substrates in an environment such as a high temperature, and can also temporarily bend and bend the glass. The above-mentioned embodiments and modifications can be combined as necessary. Since the glass, resin, and glass can be easily superposed using the position determining device of the present invention, laminated glass can be easily manufactured. In particular, when manufacturing laminated glass having a curved portion, glass, resin, and glass can be accurately laminated, and curved laminated glass can be efficiently produced. The present invention has been described in detail or with reference to specific implementation aspects, but it will be apparent to those skilled in the art that various changes or modifications can be made without departing from the spirit and scope of the present invention. This application is based on the Japanese patent application 2016-135981 filed on July 8, 2016 and the Japanese patent application 2017-121510 filed on June 21, 2017, the contents of which are incorporated herein by reference Application.
1‧‧‧玻璃加工裝置(處理裝置)
10‧‧‧位置決定裝置
10A‧‧‧位置決定裝置
10C‧‧‧位置決定裝置
20‧‧‧事先位置對準器件
20A‧‧‧事先位置對準器件
21‧‧‧位置對準支持基座
22‧‧‧位置對準支持部
23‧‧‧第1凹治具(事先位置決定部)
23B‧‧‧第1被卡合治具
24A‧‧‧位置對準基座
25A‧‧‧平面支持部(位置對準支持部)
26A‧‧‧基座驅動部(位置對準支持部)
27A‧‧‧攝像器件(位置對準支持部)
30‧‧‧搬送器件
30C‧‧‧搬送器件
31‧‧‧固持基座
32‧‧‧浮動單元
33‧‧‧機器人臂
34‧‧‧固持部
34C‧‧‧固持部
35‧‧‧凸治具(固持側位置決定部)
35B‧‧‧卡合治具(固持側位置決定部)
40‧‧‧支持器件
40C‧‧‧支持器件
41‧‧‧支持基座
42‧‧‧支持部
42C‧‧‧支持部
43‧‧‧第2凹治具(支持側位置決定部)
43B‧‧‧第2被卡合治具(支持側位置決定部)
50‧‧‧處理器件
51‧‧‧主軸
52‧‧‧主軸移動載台
53‧‧‧工具自動變換器
221‧‧‧收容槽部
222‧‧‧基準面抵接部
223‧‧‧側面抵接部
224‧‧‧主面抵接部
225‧‧‧台座側曲面部
226‧‧‧台座側平面部
231‧‧‧第1凹治具本體
231B‧‧‧治具本體
232‧‧‧第1嵌合凹部
232B‧‧‧第1被卡合凸部
233‧‧‧大徑部
234‧‧‧小徑部
235‧‧‧第1傾斜面/傾斜面
236‧‧‧第2傾斜面/傾斜面
251A‧‧‧上表面
341‧‧‧固持側主面抵接部
342‧‧‧固持側曲面部
342C‧‧‧固持側曲面部
343‧‧‧固持側平面部
351‧‧‧凸治具本體
351B‧‧‧治具本體
352‧‧‧嵌合凸部
352B‧‧‧卡合凸部
353‧‧‧大徑圓柱部
354‧‧‧小徑圓柱部
355‧‧‧第1固持側傾斜面/傾斜面
356‧‧‧第2固持側傾斜面/傾斜面
421‧‧‧支持側主面抵接部
422‧‧‧支持側曲面部
423‧‧‧支持側平面部
423C‧‧‧支持側平面部
431‧‧‧第2凹治具本體
431B‧‧‧治具本體
432‧‧‧第2嵌合凹部
432B‧‧‧第2被卡合凸部
433‧‧‧大徑部
434‧‧‧小徑部
435‧‧‧第1支持側傾斜面/傾斜面
436‧‧‧第2支持側傾斜面/傾斜面
501‧‧‧切刀
502‧‧‧研削磨石
511‧‧‧收集卡盤
512‧‧‧浮動部
531‧‧‧臂
532‧‧‧軸
533‧‧‧交換驅動部
G‧‧‧玻璃板(被處理構件)
G1‧‧‧第1主面
G2‧‧‧第2主面
G3‧‧‧基準面
G4‧‧‧側面
GA‧‧‧曲面部
GB‧‧‧平面部
F‧‧‧膜(被處理構件)
J‧‧‧玻璃板(被處理構件)
H‧‧‧玻璃板(被處理構件)
H1‧‧‧第1主面
H2‧‧‧第2主面
HA‧‧‧基準平面部
HB‧‧‧曲面部
HC‧‧‧變形部
HD‧‧‧標記
X‧‧‧軸
Y‧‧‧軸
Z‧‧‧軸
1‧‧‧ Glass processing equipment (processing equipment)
10‧‧‧Position determining device
10A‧‧‧Position determining device
10C‧‧‧Position determining device
20‧‧‧ Position the device in advance
20A‧‧‧ Pre-positioned device
21‧‧‧Position alignment support base
22‧‧‧ Position alignment support
23‧‧‧ 1st concave jig (priority position determination section)
23B‧‧‧1st clamped fixture
24A‧‧‧Position alignment base
25A‧‧‧plane support (position alignment support)
26A‧‧‧Base drive unit (position alignment support unit)
27A‧‧‧ Camera (Positioning Support Unit)
30‧‧‧Transport device
30C‧‧‧Transport device
31‧‧‧ holding base
32‧‧‧ floating unit
33‧‧‧ robot arm
34‧‧‧holding department
34C‧‧‧holding department
35‧‧‧ convex jig (fixing position determination unit)
35B‧‧‧ Engagement jig (fixing position determination unit)
40‧‧‧Supported devices
40C‧‧‧Support device
41‧‧‧ support base
42‧‧‧Support Department
42C‧‧‧Support Department
43‧‧‧ 2nd concave jig (support side position determining section)
43B‧‧‧Second clamped jig (support side position determination unit)
50‧‧‧Processing device
51‧‧‧ Spindle
52‧‧‧ Spindle moving stage
53‧‧‧tool automatic converter
221‧‧‧Containment trough
222‧‧‧ datum abutting section
223‧‧‧Side abutment
224‧‧‧Main face abutment
225‧‧‧ pedestal side curved part
226‧‧‧Platform side flat part
231‧‧‧The first concave fixture body
231B‧‧‧ Fixture body
232‧‧‧The first fitting recess
232B‧‧‧The first engaged protrusion
233‧‧‧large diameter department
234‧‧‧ Trail
235‧‧‧ 1st inclined surface / inclined surface
236‧‧‧ 2nd inclined surface / inclined surface
251A‧‧‧ Top surface
341‧‧‧Main side abutting part
342‧‧‧Fixed side curved surface
342C‧‧‧Fixed side curved surface
343‧‧‧ holding side plane
351‧‧‧ convex fixture body
351B‧‧‧Jig body
352‧‧‧ fit convex
352B‧‧‧ Engagement protrusion
353‧‧‧large diameter cylindrical part
354‧‧‧Small diameter cylindrical part
355‧‧‧ 1st holding side inclined surface / inclined surface
356‧‧‧ 2nd holding side inclined surface / inclined surface
421‧‧‧Support side main surface contact part
422‧‧‧Support side curved surface
423‧‧‧Support side plane
423C‧‧‧Support side plane
431‧‧‧2nd concave fixture body
431B‧‧‧Jig body
432‧‧‧ 2nd fitting recess
432B‧‧‧Second engaged protrusion
433‧‧‧large diameter department
434‧‧‧ Trail
435‧‧‧ 1st support side inclined surface / inclined surface
436‧‧‧ 2nd support side inclined surface / inclined surface
501‧‧‧Cutter
502‧‧‧grinding stone
511‧‧‧collection chuck
512‧‧‧Floating Department
531‧‧‧arm
532‧‧‧axis
533‧‧‧Exchange Drive
G‧‧‧Glass plate (processed member)
G1‧‧‧1st main face
G2‧‧‧ 2nd main face
G3‧‧‧ datum
G4‧‧‧ side
GA‧‧‧ Surface
GB‧‧‧Plane Department
F‧‧‧ film (processed member)
J‧‧‧ glass plate
H‧‧‧ glass plate
H1‧‧‧first main face
H2‧‧‧ 2nd main face
HA‧‧‧ Reference Plane Section
HB‧‧‧Surface
HC‧‧‧Deformation Department
HD‧‧‧Mark
X‧‧‧axis
Y‧‧‧axis
Z‧‧‧axis
圖1係本發明之一實施形態之位置決定裝置之立體圖。 圖2係前述位置決定裝置之事先位置對準器件及搬送器件之在前視觀察下之部分剖視圖。 圖3係前述位置決定裝置之支持器件之在前視觀察下之部分剖視圖。 圖4(A)、圖4(B)、圖4(C)係使用前述位置決定裝置的玻璃板之位置決定方法的說明圖。 圖5係具備前述位置決定裝置之玻璃加工裝置之前視圖。 圖6顯示本發明之變化例之位置決定裝置之事先位置對準器件，圖6(A)係在前視觀察下之部分剖視圖，圖6(B)係俯視圖。 圖7係本發明之另一變化例之搬送器件與事先位置對準器件或支持器件之位置決定機構之在俯視觀察下之剖視圖。 圖8係本發明之又一變化例之位置決定裝置之搬送器件及支持器件之前視圖。FIG. 1 is a perspective view of a position determining device according to an embodiment of the present invention. FIG. 2 is a partial cross-sectional view of the prior position alignment device and the transport device of the aforementioned position determination device under a front view. FIG. 3 is a partial cross-sectional view of the supporting device of the aforementioned position determining device under a front view. 4 (A), 4 (B), and 4 (C) are explanatory diagrams of a method for determining a position of a glass plate using the position determination device. Fig. 5 is a front view of a glass processing apparatus provided with the aforementioned position determining device. FIG. 6 shows a prior position alignment device of a position determination device according to a modification of the present invention. FIG. 6 (A) is a partial cross-sectional view under a front view, and FIG. 6 (B) is a top view. FIG. 7 is a cross-sectional view of a position determining mechanism of a conveying device and a prior-position alignment device or a supporting device according to another modification of the present invention in a plan view. FIG. 8 is a front view of a transporting device and a supporting device of a position determining device according to still another modification of the present invention.
10‧‧‧位置決定裝置 10‧‧‧Position determining device
20‧‧‧事先位置對準器件 20‧‧‧ Position the device in advance
21‧‧‧位置對準支持基座 21‧‧‧Position alignment support base
22‧‧‧位置對準支持部 22‧‧‧ Position alignment support
23‧‧‧第1凹治具(事先位置決定部) 23‧‧‧ 1st concave jig (priority position determination section)
30‧‧‧搬送器件 30‧‧‧Transport device
31‧‧‧固持基座 31‧‧‧ holding base
32‧‧‧浮動單元 32‧‧‧ floating unit
33‧‧‧機器人臂 33‧‧‧ robot arm
34‧‧‧固持部 34‧‧‧holding department
35‧‧‧凸治具(固持側位置決定部) 35‧‧‧ convex jig (fixing position determination unit)
40‧‧‧支持器件 40‧‧‧Supported devices
41‧‧‧支持基座 41‧‧‧ support base
42‧‧‧支持部 42‧‧‧Support Department
43‧‧‧第2凹治具(支持側位置決定部) 43‧‧‧ 2nd concave jig (support side position determining section)
221‧‧‧收容槽部 221‧‧‧Containment trough
222‧‧‧基準面抵接部 222‧‧‧ datum abutting section
223‧‧‧側面抵接部 223‧‧‧Side abutment
224‧‧‧主面抵接部 224‧‧‧Main face abutment
231‧‧‧第1凹治具本體 231‧‧‧The first concave fixture body
232‧‧‧第1嵌合凹部 232‧‧‧The first fitting recess
341‧‧‧固持側主面抵接部 341‧‧‧Main side abutting part
351‧‧‧凸治具本體 351‧‧‧ convex fixture body
352‧‧‧嵌合凸部 352‧‧‧ fit convex
421‧‧‧支持側主面抵接部 421‧‧‧Support side main surface contact part
422‧‧‧支持側曲面部 422‧‧‧Support side curved surface
423‧‧‧持側平面部 423‧‧‧ side plane
G‧‧‧玻璃板(被處理構件) G‧‧‧Glass plate (processed member)
G1‧‧‧第1主面 G1‧‧‧1st main face
G2‧‧‧第2主面 G2‧‧‧ 2nd main face
G3‧‧‧基準面 G3‧‧‧ datum
G4‧‧‧側面 G4‧‧‧ side
GA‧‧‧曲面部 GA‧‧‧ Surface
GB‧‧‧平面部 GB‧‧‧Plane Department
X‧‧‧軸 X‧‧‧axis
Y‧‧‧軸 Y‧‧‧axis
Z‧‧‧軸 Z‧‧‧axis
Claims (15)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016135981 | 2016-07-08 | ||
| JP??2016-135981 | 2016-07-08 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TW201801872A true TW201801872A (en) | 2018-01-16 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW106122512A TW201801872A (en) | 2016-07-08 | 2017-07-05 | Position determining device for processing object, processing device, position determination method, and manufacturing method of glass plate capable of precisely determining position of processing object relative to supporting portion in short period of time |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6922467B2 (en) |
| TW (1) | TW201801872A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI831958B (en) * | 2019-04-15 | 2024-02-11 | 日商Ａｇｃ股份有限公司 | Manufacturing methods and manufacturing systems for glass articles |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7205047B2 (en) * | 2019-01-30 | 2023-01-17 | 株式会社東京精密 | Positioning device and positioning method for transported object |
| JP7265045B1 (en) | 2022-01-31 | 2023-04-25 | 株式会社牧野フライス製作所 | Machine Tools |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0651255B2 (en) * | 1988-12-20 | 1994-07-06 | オリンパス光学工業株式会社 | Lens transport device |
| JPH04102731U (en) * | 1991-02-14 | 1992-09-04 | 松下電器産業株式会社 | Printed circuit board regulation device |
| JP2577678B2 (en) * | 1992-01-14 | 1997-02-05 | 東洋ガラス株式会社 | Glassware surface processing equipment |
| JPH10175139A (en) * | 1996-12-16 | 1998-06-30 | Aru Techno:Kk | Loading device of workpiece |
| JP4513643B2 (en) * | 2005-05-12 | 2010-07-28 | 株式会社デンソー | Sheet positioning method, positioning apparatus, and sheet laminating apparatus using them |
| JP2015171752A (en) * | 2014-03-12 | 2015-10-01 | 日本電気硝子株式会社 | Positioning device of glass plate and processing method of glass plate |
| JP6183301B2 (en) * | 2014-06-16 | 2017-08-23 | 信越半導体株式会社 | Automatic handling device |
-
2017
- 2017-06-21 JP JP2017121510A patent/JP6922467B2/en active Active
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI831958B (en) * | 2019-04-15 | 2024-02-11 | 日商Ａｇｃ股份有限公司 | Manufacturing methods and manufacturing systems for glass articles |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2018012189A (en) | 2018-01-25 |
| JP6922467B2 (en) | 2021-08-18 |
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