TW201804565A - Robot, robot control method, teaching tool, and robot teaching method - Google Patents

Abstract

A robot 9 for transferring a display panel from a tray 3 on a tray stage 7 is provided with: a panel gripping unit 29; and a moving mechanism 35 for the panel gripping unit 29. When the coordinate system of the tray stage 7 side is defined as a first coordinate system, when the coordinate system of the robot 9 side is defined as a second coordinate system, when the coordinates of a target destination position for the panel gripping unit 29 represented by the first coordinate system are defined as first coordinates, and when the coordinates of a target destination position for the panel gripping unit 29 represented by the second coordinate system are defined as second coordinates; the first coordinate system and the second coordinate system are associated with each other in advance by teaching a prescribed position on the tray stage 7 side to the panel gripping unit 29. During operation of the panel gripping unit 29, the first coordinates are inputted to a control unit of the robot 9. The control unit converts the first coordinates into second coordinates, and moves the panel gripping unit 29 to the target destination position by controlling the moving mechanism 35 on the basis of the second coordinates.

Description

Robot, robot control method, teaching jig, and robot teaching method

The present invention relates to a robot for conveying a display panel such as a liquid crystal panel and a method for controlling the robot. In addition, the present invention relates to a teaching jig used for teaching operations of a robot that transports a display panel such as a liquid crystal panel, and a teaching method for a robot using the teaching jig.

Conventionally, there has been known a transfer device incorporated in an assembly line of a liquid crystal display device used in a portable device or the like (for example, refer to Patent Document 1). The transporting device described in Patent Document 1 includes five transporting units, and various assembling processes for assembling steps of the liquid crystal display device are assigned to each transporting unit. Moreover, this transfer apparatus is equipped with the automatic loader which supplies the liquid crystal panel accommodated in a tray to a transfer unit (refer FIG. 19 of patent document 1). The automatic loader automatically supplies the LCD panel to a positioning jig in the transfer unit. [Prior Art Literature] [Patent Literature] Patent Literature 1: International Publication No. 2012/120956

[Problems to be Solved by the Invention] In the transfer device described in Patent Document 1, the automatic loader includes a transfer robot that transfers a liquid crystal panel from a pallet to a positioning jig, for example. In this transfer robot, the positions of each of the plurality of liquid crystal panels stored in the tray are generally taught in advance. In this case, if the storage position of the liquid crystal panel in the tray does not change, if the position of each of the plurality of liquid crystal panels stored in the tray is taught to the robot once, the liquid crystal panel can be transported from the tray to the positioning jig. . However, the storage position of the liquid crystal panel in the tray may change due to changes in the size of the liquid crystal panel stored in the tray. At this time, unless the storage position of the liquid crystal panel is taught to the robot, the liquid crystal panel cannot be transported from the tray to the positioning jig. Therefore, when the storage position of the liquid crystal panel in the tray is changed, it is necessary to perform a teaching operation of the robot. Therefore, an object of the present invention is to provide a robot and a method for controlling a robot that can teach when a storage position of a display panel in a tray of a robot that does not need to transport a display panel to a tray changes. Another object of the present invention is to provide a teaching jig for teaching tasks when the storage position of a display panel in a tray of a robot that does not need to carry a display panel to be transferred is changed, and a teaching method for a robot using the teaching jig. method. [Technical means to solve the problem] In order to solve the above-mentioned problem, the robot of the present invention is characterized in that it carries out at least the self-loading of the display panel placed on the tray carrier and the display panel into the tray placed on the tray carrier. Any one of the robots has a panel holding part that holds a display panel, a moving mechanism that moves the panel holding part, and a control part that controls the robot. If the panel holding part holds a display panel of a tray stored on a tray carrier, The position where the display panel is held by the panel holding part on the tray carrier, or the position where the display panel is released by the panel holding part is set as the target arrival position of the panel holding part. The coordinate system of the reference point on the side is set to the first coordinate system, the coordinate system based on the reference point set on the robot side is set to the second coordinate system, and the coordinate of the target arrival position of the panel holding portion indicated by the first coordinate system is set. Is the first coordinate, and the coordinate of the target arrival position of the panel holding portion indicated by the second coordinate system is set to the second coordinate, and the first coordinate system Corresponds to the second coordinate system by teaching a specific position on the tray side to the panel holding section in advance, and when the panel holding section operates, the first coordinate is input to the control section, and the control section inputs the first input The coordinates are converted into the second coordinates, and the moving mechanism is controlled based on the second coordinates, so that the panel holding portion is moved to the target arrival position of the panel holding portion. In order to solve the above problems, the robot control method of the present invention is characterized in that it is a robot control method including a panel holding portion that holds a display panel, and a moving mechanism that moves the panel holding portion, and performs At least one of the operation of removing the display panel from the tray loaded on the tray carrier and loading the display panel into the tray loaded on the tray carrier, and if the panel holding portion holds the display panel of the tray stored on the tray carrier, The position, or the position at which the display panel is released by the panel holding part to store the display panel held by the panel holding part on the tray carrier, is set as the target arrival position of the panel holding part, based on the setting on the tray carrier side. The coordinate system of the reference point is set to the first coordinate system, the coordinate system based on the reference point set on the robot side is set to the second coordinate system, and the coordinate of the target arrival position of the panel holding portion indicated by the first coordinate system is set. Is the first coordinate, and the coordinate of the target arrival position of the panel holding portion indicated by the second coordinate system is set to the second coordinate, and the first coordinate system Corresponds to the second coordinate system in advance by teaching a specific position on the tray carrier side to the panel holding section; and the above control method includes: a coordinate input step of inputting the first coordinate; and a first input of the coordinate input step. The first coordinate is converted into the second coordinate, and the movement process of the panel holding portion is moved based on the second coordinate to control the moving mechanism to move the panel holding portion to the target arrival position of the panel holding portion. In the present invention, the first coordinate system based on the reference point set on the pallet stage side and the second coordinate system based on the reference point set on the robot side are taught to the panel holding portion by a specific position on the pallet stage side. And the correspondence is established in advance. If the first coordinate of the target arrival position of the panel holding portion displayed using the first coordinate system is input, the first coordinate is converted to the second target arrival position of the panel holding portion displayed using the second coordinate system. The coordinates control the moving mechanism based on the second coordinates to move the panel holding portion to the target arrival position of the panel holding portion. Therefore, in the present invention, if a teaching operation is performed for the robot corresponding to the first coordinate system and the second coordinate system, even if the storage position of the display panel in the subsequent tray is changed, the teaching operation of the robot is not performed. The inputted first coordinate can also be converted into the second coordinate, and the panel holding portion can be moved to the storage position of the display panel in the tray. That is, in the present invention, if a teaching operation for performing a robot corresponding to the first coordinate system and the second coordinate system is performed, the teaching operation of the robot may not be performed when the storage position of the display panel in the subsequent tray is changed. Therefore, in the present invention, the teaching work of the robot when the storage position of the display panel in the tray is changed is not required. In the present invention, for example, the moving mechanism includes: a main body portion; a plurality of rods rotatably connected to the main body portion at a base end side; and a plurality of arm portions each of which is rotatably connected to a plurality of base end sides. Each of the end sides of the rods; a movable portion rotatably connected to the end sides of the plurality of arm portions; and a plurality of rotation driving mechanisms that rotate each of the plurality of rods; and a plurality of rod systems The arm portion is connected to the main body portion so as to extend radially at approximately equal angular intervals to the outer peripheral side of the main body portion. The arm portion is provided with two linear arms parallel to each other, and a base end side of each of the two arms can be rotated. The ground is connected to the distal end side of the rod, and the movable part is rotatably connected to the distal ends of the two arms. The panel holding part is mounted on the movable part. That is, the robot is, for example, a parallel robot. In order to solve the above-mentioned problems, the teaching jig of the present invention is characterized in that it is a teaching jig used in teaching work of a robot, and the robot includes a panel holding portion that holds a display panel and a panel holding portion that moves the panel holding portion. Moving the mechanism, and carrying out at least any one of moving out the display panel from the tray placed on the tray stage and loading in the display panel to the tray placed on the tray stage, and the teaching jig has: placing on the tray stage The plate-shaped mounting portion, and the first reference pin, the second reference pin, and the third reference pin standing up from one side in the thickness direction of the mounting portion to one side in the thickness direction of the mounting portion, if A specific direction orthogonal to the thickness direction of the mounting portion is set to a first direction, and a direction orthogonal to the thickness direction and the first direction of the mounting portion is set to a second direction. The outer diameter of the first reference pin, The outer diameter of the second reference pin is equal to the outer diameter of the third reference pin. The second reference pin is disposed at a position deviating from the first reference pin in the first direction, and the third reference pin is disposed at the second direction from the first reference pin. 1 The position where the reference pin deviates. In the teaching jig of the present invention, the second reference pin is disposed at a position deviated from the first reference pin in the first direction, and the third reference pin is disposed at a position deviated from the first reference pin in the second direction. Therefore, in the present invention, by using the first reference pin and the second reference pin of the teaching jig placed on the tray stage, a specific position on the tray stage side is taught to the panel holding portion, and the setting can be performed based on The first coordinate system of the reference point on the pallet stage side corresponds to the first direction based on the second coordinate system of the reference point set on the robot side. In addition, the first coordinate system and the second coordinate system can be taught by using a first reference pin and a third reference pin placed on the tray stage to teach the specific position on the tray stage side to the panel holding portion. Correspondence in the second direction. Therefore, in the present invention, if the teaching operation of the robot is performed using a teaching jig, then the first coordinate of the target arrival position of the panel holding portion displayed using the first coordinate system can be converted into the second coordinate display system. The second coordinate of the target arrival position of the panel holding portion, and based on the second coordinate, the panel holding portion is moved to the target arrival position of the panel holding portion. That is, in the present invention, if the teaching operation of the robot is performed using the teaching jig, the panel holding portion can be moved into the tray even if the teaching operation of the robot is not performed when the storage position of the display panel in the tray is subsequently changed. Storage position of the display panel. Therefore, if the teaching operation of the robot is performed using the teaching jig of the present invention, the teaching operation of the robot when the storage position of the display panel in the tray is changed may be unnecessary. In the present invention, it is preferable that the teaching jig includes a fourth reference pin which is erected from a surface on one side in the thickness direction of the mounting portion to one side in the thickness direction of the mounting portion, and the fourth reference pin and the 1 reference pins are arranged adjacently, and the distance between the first reference pin and the fourth reference pin is closer than the distance between the first reference pin and the second reference pin, and the distance between the first reference pin and the third reference pin. With this configuration, the first reference pin and the fourth reference pin of the teaching jig placed on the tray stage can be used to teach the specific position on the tray stage side to the panel holding portion, and the vertical direction can be used as Correspondence between the first coordinate system and the second coordinate system in the rotation direction of the rotation axis. In the present invention, the outer diameter of the first reference pin is preferably different from the outer diameter of the fourth reference pin. With this configuration, it is possible to prevent an operation error when the first reference pin and the fourth reference pin are used to correspond to the first coordinate system and the second coordinate system in the direction of rotation in which the vertical direction is the axis of rotation. In the present invention, it is preferable that the teaching jig includes a fifth reference pin which is erected from a side of one side in the thickness direction of the mounting portion to one side in the thickness direction of the mounting portion, and an end of the fifth reference pin. The plane is a plane orthogonal to the thickness direction of the mounting portion. With such a configuration, the first coordinate system and the second coordinate system can be taught by teaching a specific position on the pallet stage side to the panel holding portion by using the fifth reference pin of the teaching jig placed on the pallet stage. Corresponding to the vertical direction. In the teaching method of a robot using the teaching jig of the present invention, for example, the following position is taught to the panel holding section: the first reference pin of the teaching jig placed on a tray stage is inserted into the panel holding section formed The first reference hole, and the fourth reference pin of the teaching jig placed on the tray carrier is inserted into the position of the second reference hole formed in the panel holding portion; A position at which the second reference pin is inserted into the first reference hole; and a position at which the third reference pin placed on the pallet stage of the teaching jig is inserted into the first reference hole. [Effects of the Invention] As described above, in the present invention, teaching work when the storage position of the display panel in the tray of the robot that transports the display panel to the tray does not need to be taught.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. (Configuration of the conveying system) FIG. 1 is a side view of the conveying system 1 incorporating a robot 9 according to an embodiment of the present invention. FIG. 2 is a plan view showing the conveying system 1 from the E-E direction in FIG. 1. FIG. 3 is a plan view for explaining a state in which the liquid crystal panel 2 is stored in the tray 3 shown in FIG. 2. FIG. 4 is a perspective view of the robot 9 shown in FIG. 1. FIG. 5 is a plan view of the panel holding portion 29 shown in FIG. 4. The robot 9 in this form is a robot for carrying out the display panel, that is, the liquid crystal panel 2 from the pallet 3 placed on the pallet carriers 6 and 7. This robot 9 is incorporated in the transport system 1 and used. The transport system 1 is incorporated into a manufacturing line of a liquid crystal display used in a portable device or the like. This transport system 1 transports the liquid crystal panel 2 and supplies the liquid crystal panel 2 to a processing device 15 (see FIG. 2) that performs specific processing on the liquid crystal panel 2. The transport system 1 transports a small or medium-sized liquid crystal panel 2 (for example, a 4 inch to 15 inch liquid crystal panel 2). The liquid crystal panel 2 is formed in a rectangular flat plate shape. The tray 3 is also formed in a rectangular flat plate shape. The tray 3 can store the liquid crystal panel 2, and a receiving recess for storing the liquid crystal panel 2 is formed on the upper surface of the tray 3. The number of pieces of the liquid crystal panel 2 stored in the tray 3 varies depending on the size of the liquid crystal panel 2 and the like. For example, according to the size of the liquid crystal panel 2, two liquid crystal panels 2 are stored in the tray 3 as shown in FIG. 3 (A), or four liquid crystal panels 2 are stored as shown in FIG. 3 (B), or as shown in FIG. 3 ( C) shows eight liquid crystal panels 2 accommodated. In addition, in FIG. 2, illustration of the liquid crystal panel 2 stored in the tray 3 is omitted. The conveyance system 1 includes two conveyors 4 and 5 for conveying the pallet 3 in addition to the two pallet stages 6 and 7 and the robot 9. The conveyors 4 and 5 linearly transport the pallets 3 stacked in a plurality of layers (ie, the stacked pallets 3) in a horizontal direction. For example, the conveyors 4 and 5 linearly transport the pallets 3 stacked in 20 layers in a horizontal direction. The transport system 1 includes a robot 8 that transports the pallet 3 between the conveyors 4 and 5 and the pallet stages 6 and 7, and a supply unit 10 that receives the liquid crystal panel 2 from the robot 9 and supplies the liquid crystal panel 2 to the processing device 15. In the following description, the direction of the conveying tray 3 of the conveyors 4 and 5 (the X direction in FIG. 1 and the like) is set to the “front-rear direction”, and the direction orthogonal to the vertical direction (vertical direction) and the front-rear direction (FIG. Y direction of 1st class) is set to "left and right direction". In addition, one side in the front-rear direction (the X1 direction side in FIG. 1 and the like) is set to the “front” side, the other side (the X2 direction side in FIG. 1 and the like) is set to the “rear (rear) side”, and the left-right direction is set One side (the Y1 direction side in FIG. 2 and the like) is set to the “right” side, and the opposite side (the Y2 direction side in FIG. 2 and the like) is set to the “left” side. In this embodiment, a processing device 15 is disposed on the rear side of the transport system 1. In addition, the tray carriers 6 and 7 are arranged more rearward than the conveyors 4 and 5, and the supply unit 10 is arranged further behind the tray carriers 6 and 7. The transport system 1 includes a body frame 11 on which the conveyors 4 and 5, tray trays 6 and 7, a robot 8, and a supply unit 10 are installed, and a body frame 12 on which the robot 9 is installed. The upper surface of the main body frame 11 is formed in a flat shape orthogonal to the vertical direction. Conveyors 4 and 5, tray carriers 6 and 7, a robot 8, and a supply unit 10 are provided on the upper surface of the main body frame 11. The main body frame 12 is a door-type frame formed in a substantially door shape, and is provided so as to span the rear end portion of the main body frame 11 in the left-right direction. The robot 9 is provided on the upper surface portion of the main body frame 12. The conveyors 4 and 5 are roller conveyors having a plurality of rollers. The conveyor 4 and the conveyor 5 are arranged adjacent to each other in the left-right direction. The conveyor 4 conveys the stacked tray 3 to the rear side, and the conveyor 5 conveys the stacked tray 3 to the front side. A liquid crystal panel 2 is housed on a tray 3 carried by a conveyor 4. On the other hand, since the liquid crystal panel 2 is not stored in the tray 3 carried by the conveyor 5, the tray 3 carried by the conveyor 5 is an empty tray. The conveyors 4 and 5 may be belt conveyors or the like. On the front end side of the conveyor 4, a stacked tray 3 carried by a worker from a temporary shelf (not shown) is placed. The stacked tray 3 placed on the front end side of the conveyor 4 is transported toward the rear side, and the stacked tray 3 carried on the rear end side of the conveyor 4 is disassembled by the robot 8 as described later. On the rear end side of the conveyor 5, the empty tray 3 is stacked by a robot 8 as described later. When the trays 3 are stacked to a specific number, the stacked trays 3 are transported to the front side. The stacked pallets 3 carried to the front end of the conveyor 5 are carried by the operator to a rack for empty pallets. One pallet 3 is placed on the pallet stages 6 and 7. The tray stages 6 and 7 are fixed to the main body frame 11. The tray stage 6 and the tray stage 7 are arrange | positioned in the state which left | separated the specific space | interval in the left-right direction. The upper surfaces of the tray stages 6 and 7 are formed in a flat shape orthogonal to the vertical direction. The trays 3 and 7 are placed on the tray carriers 6 and 7 so that the direction of the long sides of the tray 3 formed in a rectangular flat plate is the same as the front-rear direction. The robot 8 is a so-called 3-axis orthogonal robot. The robot 8 includes: a main body frame 20 formed in a door shape; a movable frame 21 which is held in the main body frame 20 so as to be slidable in the left-right direction with respect to the main body frame 20; and a movable frame 22 which is movable relative to the main body frame 20. The frame 21 is held on the movable frame 21 by sliding forward and backward; the movable frame 23 is held on the movable frame 22 by sliding up and down relative to the movable frame 22; and the tray holding portion 24 is mounted on the movable Frame 23. In addition, the robot 8 includes a drive mechanism that slides the movable frame 21 in the left-right direction, a drive mechanism that slides the movable frame 22 in the front-back direction, and a drive mechanism that slides the movable frame 23 in the up-down direction. The main body frame 20 is provided so as to straddle the conveyors 4 and 5 in the left-right direction. The movable frame 21 is attached to the upper surface side of the main body frame 20. The movable frame 22 is mounted on the right side of the movable frame 21. The movable frame 23 is attached to the rear end side of the movable frame 22. The tray holding portion 24 is attached to the lower end of the movable frame 23. The tray holding section 24 includes a plurality of suction sections for the suction tray 3. This suction unit comes into contact with the upper surface of the tray 3 when the robot 8 transports the tray 3 and vacuum suctions the tray 3. The robot 8 transfers the pallet 3 from the conveyor 4 to the pallets 3 and 7 and the pallet 3 from the pallets 6 and 7 to the conveyor 3. Specifically, the robot 8 transfers the stacked trays 3 to the rear end of the conveyor 4 one by one to the tray stage 6 or the tray stage 7 and unstacks the stacked trays 3 on the conveyor 4. In addition, the robot 8 transfers one empty tray 3 from the tray stage 6 or the tray stage 7 to the rear end of the conveyor 5, and stacks the tray 3 on the conveyor 5. The robot 9 is a so-called parallel robot. The robot 9 includes a main body portion 25, three rods 26 connected to the main body portion 25, three arm portions 27 connected to each of the three rods 26, and a head unit 28 as a movable portion connected to The three arm portions 27 and the panel holding portion 29 are attached to the head unit 28. The main body portion 25 is provided so as to hang on the upper surface portion of the main body frame 12. The main body portion 25 is disposed above the tray stages 6 and 7, and is disposed further rearward than the main body frame 20 of the robot 8. The three rods 26 are connected to the main body portion 25 so as to extend substantially radially at approximately equal angular intervals to the outer peripheral side of the main body portion 25. That is, the three rods 26 are connected to the main body portion 25 so as to extend substantially radially at an interval of approximately 120 ° toward the outer peripheral side of the main body portion 25. The base end sides of the three rods 26 are rotatably connected to the main body portion 25. A motor 30 with a speed reducer is arranged at a connecting portion between the main body portion 25 and the lever 26 as a rotation driving mechanism for rotating the lever 26. The robot 9 of this form is provided with three motors 30 which rotate each of the three rods 26. The output shaft of the motor 30 is fixed to the base end side of the rod 26. The proximal end side of the arm portion 27 is rotatably connected to the distal end side of the lever 26. Specifically, the arm portion 27 includes two parallel arms 32 that are linear and parallel to each other, and a base end side of each of the two arms 32 is rotatably connected to a distal end side of the lever 26. The head unit 28 is rotatably connected to the distal ends of the three arm portions 27. That is, the head unit 28 is rotatably connected to the distal ends of the six arms 32. In the robot 9, by driving the three motors 30 individually, the head unit 28 can be positioned at any position in the vertical direction, the left-right direction, and the front-back direction within a specific area, and the head unit 28 can be maintained in a certain posture (Specifically, the state holding the panel holding | maintenance part 29 toward a lower side) is moved. The panel holding portion 29 is formed in a substantially rectangular flat plate shape. The panel holding portion 29 is attached to the lower end of the head unit 28 such that the thickness direction of the panel holding portion 29 formed in a flat plate shape matches the vertical direction. A motor 33 is attached to the upper end of the head unit 28. The panel holding portion 29 is connected to the motor 33 and can be rotated in the axial direction in which the upper and lower directions are rotated by the power of the motor 33. In this form, a moving mechanism 35 that moves the panel holding portion 29 is configured by the main body portion 25, the three levers 26, the three arm portions 27, the head unit 28, the three motors 30, and the motors 33. The panel holding portion 29 includes a plurality of suction portions (not shown) that vacuum-suck the liquid crystal panel 2. The adsorption portion is provided on the lower surface side of the panel holding portion 29, and the panel holding portion 29 holds the liquid crystal panel 2 by adsorbing the upper surface of the liquid crystal panel 2 with the adsorption portion. In addition, two reference holes 29a and 29b (see FIG. 5) used in the teaching work of the robot 9 are formed in the panel holding portion 29. The reference hole 29a of this form is a first reference hole, and the reference hole 29b is a second reference hole. The reference holes 29a and 29b are formed in a circular hole shape penetrating the panel holding portion 29 in the vertical direction. The inner diameter of the reference hole 29a is larger than the inner diameter of the reference hole 29b. When viewed from the up-down direction, the reference holes 29 a and 29 b are formed at positions where the rotation center C1 of the panel holding portion 29 rotated by the power of the motor 33 is deviated. When viewed from the up-down direction, the reference hole 29a and the reference hole 29b are formed with the rotation center C1 therebetween. In addition, the reference holes 29a and 29b may be formed in a circular hole shape recessed from the lower surface of the panel holding portion 29 so as not to penetrate the panel holding portion 29 in the vertical direction. The robot 9 loads the liquid crystal panel 2 one by one from the tray 3 placed on the tray stage 6 or the tray 3 placed on the tray stage 7. Specifically, the robot 9 carries out the liquid crystal panel 2 piece by piece from the tray 3 until the tray 3 placed on the tray carriers 6 and 7 becomes empty. The robot 9 transfers the liquid crystal panel 2 carried out from the tray 3 to a panel stage 38 described later. The supply unit 10 includes a data reading device 36 that reads data such as inspection data recorded on the liquid crystal panel 2 of the liquid crystal panel 2. In addition, the supply unit 10 includes an alignment device 37 that performs alignment of the liquid crystal panel 2 before reading the data of the liquid crystal panel 2 by the data reading device 36. The alignment device 37 includes a panel stage 38 on which the liquid crystal panel 2 is placed, and the liquid crystal panel 2 carried out by the robot 9 from the trays 3 on the tray stages 6 and 7 is placed on the panel stage 38. In addition, the supply unit 10 includes a robot 39 that transports the liquid crystal panel 2 that has been read by the data reading device 36 to the processing device 15, and an ionizer (static removal device) 40 that transports liquid crystals to the processing device 15. The panel 2 is destaticized; a transfer device 41 transfers the liquid crystal panel 2 aligned with the alignment device 37 to the robot 39; and a robot 42 transfers the liquid crystal panel 2 aligned with the alignment device 37 to the transfer device 41 . In the supply unit 10, when the liquid crystal panel 2 is aligned with the alignment device 37, the robot 42 transfers the liquid crystal panel 2 to the transfer device 41. The transfer device 41 transfers the liquid crystal panel 2 to the robot 39. When the liquid crystal panel 2 is conveyed toward the robot 39 by the conveying device 41, the conveying device 41 stops once to read the data of the liquid crystal panel 2 by the data reading device 36. The ionizer 40 is disposed above the transfer device 41 and removes static electricity from the liquid crystal panel 2 transferred by the transfer device 41. (Control method of robot) Set the coordinate system based on the reference points set on the pallet stage 6 and 7 as the first coordinate system, and set the coordinate system (robot coordinate system) based on the reference points set on the robot 9 side as The second coordinate system, the first coordinate system, and the second coordinate system preliminarily correspond to each other by teaching specific portions on the tray stages 6 and 7 to the panel holding portion 29 using a teaching jig 50 to be described later. In this form, the first coordinate system on the tray carrier 6 side and the first coordinate system on the tray carrier 7 side are individually set, and the first coordinate system and the second coordinate system on the tray carrier 6 side are set in advance. Correspondence is established, and the first coordinate system and the second coordinate system on the side of the pallet stage 7 are associated in advance. In addition, if the position where the panel holding portion 29 holds the liquid crystal panel 2 of the tray 3 stored on the tray carriers 6 and 7 is set as the target arrival position of the panel holding portion 29, the panel holding portion 29 displayed using the first coordinate system will be used. The coordinate of the target arrival position is set to the first coordinate, and the coordinate of the target arrival position of the panel holding portion 29 displayed using the second coordinate system is set to the second coordinate. When the panel holding portion 29 operates, enter the first coordinate The control unit 45 (see FIG. 4) that controls the robot 9 (coordinate input step). That is, when the panel holding portion 29 operates, the first coordinate of the position coordinates of the liquid crystal panel 2 of the tray 3 held and held on the tray carriers 6 and 7 by the first coordinate system display panel holding portion 29 is input to the control portion. 45. The control unit 45 converts the first coordinate input in the coordinate input step into a second coordinate, and controls the moving mechanism 35 based on the second coordinate to move the panel holding portion 29 to the target arrival position of the panel holding portion 29 (the panel holding portion operates step). The panel holding portion 29 moved to the target arrival position holds the liquid crystal panel 2 and transfers the liquid crystal panel 2 to the panel stage 38. The storage position of the liquid crystal panel 2 in the tray 3 is changed according to the size of the liquid crystal panel 2 (see FIG. 3). Therefore, the target arrival position of the panel holding portion 29 varies depending on the size of the liquid crystal panel 2 and the like. On the other hand, the position of the panel stage 38 when the liquid crystal panel 2 is placed is fixed. In order to place the liquid crystal panel 2 held by the panel holding portion 29 on the panel stage 38, the panel holding portion 29 releases the liquid crystal panel 2 The position is fixed. (Composition of teaching jig) FIG. 6 is a diagram showing a teaching jig 50 used for teaching operation of the robot 9 shown in FIG. 4, (A) is a top view, (B) is a front view, and (C) Department side view. The teaching jig 50 is used for teaching operations of the robot 9 for associating the first coordinate system with the second coordinate system. The teaching jig 50 includes a mounting portion 51 mounted on the tray stages 6 and 7, and five reference pins 52 to 56, which are erected from the mounting portion 51. The reference pin 52 in this form is a first reference pin, the reference pin 53 is a second reference pin, the reference pin 54 is a third reference pin, the reference pin 55 is a fourth reference pin, and the reference pin 56 is a fifth reference pin. The mounting portion 51 is formed in a rectangular flat plate shape. Specifically, if a specific direction (the V direction in FIG. 6 (A)) orthogonal to the thickness direction of the placement portion 51 is set as the first direction, it will be orthogonal to the thickness direction and the first direction of the placement portion 51. The direction (W direction in FIG. 6 (A)) is the second direction, and the mounting portion 51 is formed in a rectangular flat plate shape with the first direction as the long side direction and the second direction as the short side direction. The outer shape of the mounting portion 51 matches the outer shape of the tray 3. Hereinafter, the first direction is referred to as the V direction, and the second direction is referred to as the W direction. The reference pins 52 to 56 are formed in a cylindrical shape. The reference pins 52 to 56 are fixed to one surface in the thickness direction side of the mounting portion 51 and stand from one surface in the thickness direction side of the mounting portion 51 toward one side in the thickness direction of the mounting portion 51. The reference pins 52 to 54 are arranged at each of the three corners of the four corners of the mounting portion 51 formed in a rectangular shape. The reference pin 56 is arranged at the center of the mounting portion 51. The reference pin 53 is disposed at the same position as the reference pin 52 in the W direction, and is disposed at a position deviated from the reference pin 52 in the V direction. The reference pin 54 is arranged at the same position as the reference pin 53 in the V direction and is deviated from the reference pin 52 in the W direction. The reference pin 55 is disposed adjacent to the reference pin 52. Specifically, the reference pin 55 is disposed adjacent to the reference pin 52 in the W direction. The distance between the reference pin 52 and the reference pin 55 is closer than the distance between the reference pin 52 and the reference pin 53 and the distance between the reference pin 52 and the reference pin 54. The distance between the reference pin 52 and the reference pin 55 is equal to the distance between the reference hole 29 a and the reference hole 29 b of the panel holding portion 29. The reference pin 52, the reference pin 53, and the reference pin 54 are formed in the same shape, and the outer diameter of the reference pin 52, the outer diameter of the reference pin 53, and the outer diameter of the reference pin 54 are equal. The outer diameters of the reference pins 52 to 54 are substantially equal to the inner diameters of the reference holes 29 a of the panel holding portion 29. A tapered portion having a conical ladder shape is formed in which the outer diameter gradually decreases toward the distal ends of the reference pins 52 to 54 on the distal sides of the reference pins 52 to 54. The outer diameter of the reference pin 55 is different from the outer diameter of the reference pin 52. Specifically, the outer diameter of the reference pin 55 is smaller than the outer diameter of the reference pin 52. The outer diameter of the reference pin 55 is substantially equal to the inner diameter of the reference hole 29 b of the panel holding portion 29. A tapered portion having a tapered ladder shape is also formed on the distal end side of the reference pin 55 as the outer diameter gradually decreases toward the distal end side of the reference pin 55. The end surface of the reference pin 56 is a plane orthogonal to the thickness direction of the mounting portion 51. (Robot teaching method) In this form, the teaching operation of the robot 9 is performed as follows, and the first coordinate system and the second coordinate system are associated with each other. First, the teaching jig 50 is placed on the tray stage 6. Specifically, the teaching jig 50 is placed on the tray stage 6 in such a manner that it coincides with the thickness direction and the up-down direction of the placement portion 51, and coincides with the long-side direction and the front-rear direction of the placement portion 51. The reference pins 52 to 56 protrude upward. In addition, the teaching jig 50 is placed on the tray stage 6 so that the position where the tray 3 is placed on the tray stage 6 is the same as the position on which the teaching jig 50 is placed on the tray stage 6. Subsequently, the panel holding portion 29 is moved. As shown by the two-dot chain line in FIG. 6 (A), the reference pin 52 is inserted into the reference hole 29a of the panel holding portion 29 and the reference pin 55 is inserted into the reference hole 29b of the panel holding portion 29 This position is taught to the panel holding | maintenance part 29 (1st teaching step). In the first teaching step, the first coordinate system and the second coordinate system are associated with each other in the rotation direction of the axial direction in which the upper and lower directions are the rotation. In addition, the panel holding portion 29 is moved to teach the panel holding portion 29 at a position where the reference pin 53 is inserted into the reference hole 29a as shown by a dotted line in FIG. 6 (A) (second teaching step). According to the first teaching step and the second teaching step, the first coordinate system and the second coordinate system are associated in the front-rear direction. In addition, the panel holding portion 29 is moved, and the position of the reference pin 54 inserted into the reference hole 29a is taught to the panel holding portion 29 as shown by a dotted chain line in FIG. 6 (A) (third teaching step). According to the first teaching step and the third teaching step, or according to the second teaching step and the third teaching step, the first coordinate system and the second coordinate system are associated in the left-right direction. In addition, as the panel holding portion 29 is moved, as shown by the two-dot chain line in FIG. 6 (B), the lower surface of the panel holding portion 29 and the end surface (upper end surface) of the reference pin 56 are aligned with each other with a slight gap. This position is taught to the panel holding | maintenance part 29 (4th teaching process). According to the fourth teaching step, the first coordinate system and the second coordinate system are associated in the vertical direction. In addition, in the fourth teaching step, the position where the lower surface of the panel holding portion 29 contacts the end surface of the reference pin 56 may be taught to the panel holding portion 29. The first teaching step, the second teaching step, the third teaching step, and the fourth teaching step may be performed sequentially, or may be performed in any order. As described above, since the reference hole 29a is formed at a position shifted from the rotation center C1 of the panel holding portion 29, the reference hole 29a is corrected when the rotation center C1 of the reference hole 29a is shifted in the left-right direction. The offset between 29a and the rotation center C1 corresponds to the first coordinate system in the left-right direction and the second coordinate system. When the rotation center C1 of the reference hole 29a is shifted in the front-back direction, the first coordinate system in the front-back direction and the second coordinate system are corrected by correcting the offset between the reference hole 29a and the rotation center C1. . When the teaching operation using the robot 9 placed on the tray stage 6 with the teaching jig 50 is completed, the teaching fixture 50 is placed on the tray stage 7. In addition, a teaching operation using the robot 9 mounted on the pallet stage 7 using the teaching jig 50 is performed in the same manner. (Major effects of this form) As described above, in this form, the first coordinate system is related to the panel holding part 29 by teaching a specific portion on the tray stage 6, 7 side with the teaching jig 50. The 2nd coordinate system corresponds in advance. Moreover, in this form, when the panel holding portion 29 is operated, the first coordinate is input to the control unit 45, the control unit 45 converts the input first coordinate to the second coordinate, and controls the moving mechanism 35 based on the second coordinate, Then, the panel holding portion 29 is moved to the target arrival position of the panel holding portion 29. Therefore, in this form, if the teaching jig 50 is used to perform the teaching operation of the robot 9 corresponding to the first coordinate system and the second coordinate system, even the storage position of the liquid crystal panel 2 in the tray 3 later When the change is not performed, the teaching operation of the robot 9 is not performed, and the inputted first coordinate may be converted into the second coordinate, so that the panel holding portion 29 is moved to the storage position of the liquid crystal panel 2 in the tray 3. That is, in this embodiment, if the teaching work of the robot 9 is performed using the teaching jig 50, the teaching work of the robot 9 may not be performed when the storage position of the liquid crystal panel 2 in the tray 3 is changed subsequently. Therefore, in this embodiment, the teaching operation of the robot 9 when the storage position of the liquid crystal panel 2 in the tray 3 changes is not required. In this form, the inner diameter of the reference hole 29a of the panel holding portion 29 is different from the inner diameter of the reference hole 29b, and the outer diameter of the reference pin 52 is different from the outer diameter of the reference pin 55. Therefore, in this embodiment, in the first teaching step, it is possible to prevent an operation error of inserting the reference pin 55 into the reference hole 29a and inserting the reference pin 52 into the reference hole 29b. Therefore, in this form, it is possible to prevent an operation error when the first coordinate system and the second coordinate system corresponding to the rotation direction of the axial direction of the rotation are performed. (Other Embodiments) The above embodiment is an example of a preferred embodiment of the present invention, but it is not limited thereto, and various changes can be made within a range not changing the gist of the present invention. In the above-mentioned form, the robot 9 is incorporated in the transport system 1 that transports the liquid crystal panel 2 supplied to the processing device 15, but the robot 9 may also be incorporated in the transport system that transports the liquid crystal panel 2 discharged from the processing device 15. In this case, the robot 9 carries in the liquid crystal panel 2 carried on the tray 3 placed on the tray carriers 6 and 7. In this case, in order to store the liquid crystal panel 2 held by the panel holding portion 29 on the tray 3 on the tray carriers 6 and 7, the position where the panel holding portion 29 releases the liquid crystal panel 2 becomes the target of the panel holding portion 29. Reach the position. The robot 9 may be incorporated in a transport system that transports the liquid crystal panel 2 supplied to the processing device 15 and transports the liquid crystal panel 2 discharged from the processing device 15. In this case, the robot 9 carries out the self-loading of the liquid crystal panel 2 on the tray 3 placed on the tray carriers 6 and 7, and carries in the liquid crystal panel 2 on the tray 3 placed on the tray carriers 6 and 7. In this case, the panel holding portion 29 holds the position of the liquid crystal panel 2 of the tray 3 stored on the tray holders 6 and 7, or stores the liquid crystal panel 2 held by the panel holding portion 29 on the tray holder 6. The position at which the panel holding portion 29 releases the liquid crystal panel 2 on the tray 3 on, 7 becomes the target arrival position of the panel holding portion 29. In the above aspect, the teaching jig 50 may not include the reference pin 56. In this case, for example, the panel holding portion 29 can be taught by teaching the end surface of any one of the reference pins 52 to 54 and the lower surface of the panel holding portion 29 to face each other with a slight gap therebetween, Corresponds to the first coordinate system and the second coordinate system in the vertical direction. Moreover, in the said form, the teaching jig 50 may not be equipped with the reference pin 55. In this case, for example, two or more reference pins corresponding to the first coordinate system and the second coordinate system of the rotation direction in which the up-down direction is the axial direction of the rotation are fixed to the mounting portion. 51. In the above embodiment, one tray 3 is placed on the tray stages 6 and 7. However, a plurality of trays 3 may be placed on the tray stages 6 and 7 so as not to overlap each other. Further, in the above embodiment, the outer diameter of the reference pin 55 is smaller than the outer diameter of the reference pin 52, but the outer diameter of the reference pin 55 may be larger than the outer diameter of the reference pin 52. The outer diameter of the reference pin 55 and the outer diameter of the reference pin 52 may be the same. In the above embodiment, the robot 9 is a parallel robot, but the robot 9 may be a horizontal articulated robot. Moreover, in the above-mentioned form, the display panel conveyed by the robot 9 is the liquid crystal panel 2, but the display panel conveyed by the robot 9 may be a display panel other than the liquid crystal panel 2. For example, the display panel carried by the robot 9 may be an organic EL (Electro Luminescence) panel.

1‧‧‧ transport system
2‧‧‧LCD panel (display panel)
3‧‧‧ tray
4‧‧‧ conveyor
5‧‧‧ conveyor
6‧‧‧Tray carrier
7‧‧‧Tray carrier
8‧‧‧ Robot
9‧‧‧ Robot
10‧‧‧ Supply Unit
11‧‧‧ Ontology framework
12‧‧‧ Ontology framework
15‧‧‧treatment device
20‧‧‧ Ontology Frame
21‧‧‧ movable frame
22‧‧‧ movable frame
23‧‧‧ movable frame
24‧‧‧Tray holding section
25‧‧‧Body
26‧‧‧shot
27‧‧‧arm
28‧‧‧ head unit (movable part)
29‧‧‧ panel holding section
29a‧‧‧ Reference hole (1st reference hole)
29b‧‧‧ Reference hole (second reference hole)
30‧‧‧motor (rotary drive mechanism)
32‧‧‧ arm
33‧‧‧Motor
35‧‧‧ mobile agency
36‧‧‧Data reading device
37‧‧‧Alignment device
38‧‧‧ Panel carrier
39‧‧‧ Robot
40‧‧‧ ionizer
41‧‧‧ transport device
42‧‧‧ Robot
45‧‧‧Control Department
50‧‧‧Teaching jig
51‧‧‧mounting section
52‧‧‧ benchmark pin (1st benchmark pin)
53‧‧‧ benchmark pin (second benchmark pin)
54‧‧‧ benchmark pin (3rd benchmark pin)
55‧‧‧ benchmark pin (4th benchmark pin)
56‧‧‧ benchmark pin (5th benchmark pin)
C1‧‧‧Rotation Center
EE‧‧‧direction
V‧‧‧ 1st direction
W‧‧‧ 2nd direction
X‧‧‧ forward and backward direction
X1‧‧‧ Front
X2‧‧‧ rear
Y‧‧‧left and right
Y1‧‧‧ right
Y2‧‧‧left

FIG. 1 is a side view of a transport system incorporating a robot according to an embodiment of the present invention. Fig. 2 is a plan view showing the conveying system from the direction E-E in Fig. 1. 3 (A)-(C) are plan views for explaining a state where the liquid crystal panel is stored in the tray shown in FIG. 2. FIG. 4 is a perspective view of the robot shown in FIG. 1. FIG. 5 is a plan view of the panel holding portion shown in FIG. 4. FIG. 6 is a diagram of a teaching jig used in the teaching operation of the robot shown in FIG. 4, (A) is a top view, (B) is a front view, and (C) is a side view.

1‧‧‧ transport system

3‧‧‧ tray

5‧‧‧ conveyor

7‧‧‧Tray carrier

8‧‧‧ Robot

9‧‧‧ Robot

10‧‧‧ Supply Unit

11‧‧‧ Ontology framework

12‧‧‧ Ontology framework

20‧‧‧ Ontology Frame

21‧‧‧ movable frame

22‧‧‧ movable frame

23‧‧‧ movable frame

24‧‧‧Tray holding section

25‧‧‧Body

26‧‧‧shot

27‧‧‧arm

28‧‧‧ head unit (movable part)

29‧‧‧ panel holding section

30‧‧‧motor (rotary drive mechanism)

32‧‧‧ arm

35‧‧‧ mobile agency

36‧‧‧Data reading device

37‧‧‧Alignment device

38‧‧‧ Panel carrier

39‧‧‧ Robot

40‧‧‧ ionizer

42‧‧‧ Robot

E-E‧‧‧ direction

X‧‧‧ forward and backward direction

X1‧‧‧ Front

X2‧‧‧ rear

Y‧‧‧left and right

Y1‧‧‧ right

Claims (8)

A robot characterized in that it is a robot that carries out at least one of the operations of carrying out a display panel and loading a display panel into a tray placed on a tray carrier, and comprising: holding the display panel A panel holding portion, a moving mechanism that moves the panel holding portion, and a control portion that controls the robot; and if the panel holding portion holds the position of the display panel of the tray stored on the tray carrier, or The position where the display panel held by the panel holding portion is stored in the tray on the tray carrier, and the display panel is released by the panel holding portion is set as the target arrival position of the panel holding portion. The coordinate system of the reference point on the pallet stage is set to the first coordinate system, the coordinate system based on the reference point set to the robot side is set to the second coordinate system, and the panel holding portion indicated by the first coordinate system is used. The coordinate of the target arrival position is set to the first coordinate, and the above panel fixing indicated by the second coordinate system will be used. The coordinate of the target arrival position of the holding part is set to the second coordinate, and the first coordinate system and the second coordinate system are set up in advance by teaching the specific position on the tray carrier side to the panel holding unit; and When the panel holding portion operates, the first coordinate is input to the control portion, and the control portion converts the inputted first coordinate to the second coordinate, and controls the moving mechanism based on the second coordinate to hold the panel. The part moves to the target arrival position of the panel holding part. For example, the robot of claim 1, wherein the moving mechanism is provided with: a body portion; a plurality of rods rotatably connected to the body portion on a base end side; and a plurality of arms on each of the base end sides. The movable portion is rotatably connected to the end sides of the plurality of arm portions; and the plurality of rotation driving mechanisms are provided to rotate each of the plurality of rods And the plurality of rods are connected to the main body portion so as to extend radially at approximately equal angular intervals to the outer peripheral side of the main body portion; the arm portion includes two linear arms parallel to each other; and 2 A base end side of each of the arms is rotatably connected to a distal end side of the lever, and the movable portion is rotatably connected to a distal end side of the two arms; the panel holding portion is mounted on the movable portion. A control method for a robot, which is characterized in that it is a control method for a robot having a panel holding portion that holds a display panel and a moving mechanism that moves the panel holding portion, and performs self-loading on a pallet stage At least one of the operation of carrying out the display panel from the tray and carrying the display panel into the tray placed on the tray carrier, and if the panel holding portion holds the position of the display panel of the tray stored on the tray carrier Or, in order to store the display panel held by the panel holding section on the tray on the tray stage, the position where the display panel is released by the panel holding section is set as the target arrival position of the panel holding section, based on The coordinate system of the reference point set on the pallet stage side is set to the first coordinate system, the coordinate system based on the reference point set to the robot side is set to the second coordinate system, and the above described using the first coordinate system is used. The coordinate of the target arrival position of the panel holding part is set to the first coordinate, and the second coordinate system will be used to indicate The coordinate of the target arrival position of the panel holding portion is set to a second coordinate, and the first coordinate system and the second coordinate system are set up in advance by teaching a specific position on the tray carrier side to the panel holding unit; The control method includes: inputting a coordinate input step of the first coordinate; and converting the first coordinate input in the coordinate input step into the second coordinate, and controlling the moving mechanism based on the second coordinate to make the panel. Steps of the panel holding portion moving when the holding portion moves to the target arrival position of the panel holding portion. A teaching jig, characterized in that it is a teaching jig used in teaching work of a robot, the robot is provided with a panel holding part for holding a display panel, and a moving mechanism for moving the panel holding part, and is self-loading At least one of the operations of carrying out the display panel on the tray placed on the tray carrier and carrying in the display panel onto the tray placed on the tray carrier, and the teaching jig has: The mounting portion, and the first reference pin, the second reference pin, and the third reference pin standing up from a surface on one side in the thickness direction of the mounting portion to one side in the thickness direction of the mounting portion; and A specific direction orthogonal to the thickness direction of the mounting portion is set as a first direction, and a direction orthogonal to the thickness direction of the mounting portion and the first direction is set as a second direction. The outer diameter, the outer diameter of the second reference pin, and the outer diameter of the third reference pin are equal. The second reference pin is disposed at a position deviated from the first reference pin in the first direction, and the third reference pin In the second direction above Disposed at a position offset from the reference to the first pin. For example, the teaching jig for claim 4 includes a fourth reference pin standing up from one side of the thickness direction of the mounting portion toward one of the thickness direction sides of the mounting portion; and the fourth reference The pins are disposed adjacent to the first reference pin, and the distance between the first reference pin and the fourth reference pin is greater than the distance between the first reference pin and the second reference pin, and the first reference pin and the third reference pin. Pins are closer. For example, the teaching jig for claim 5, wherein the outer diameter of the first reference pin is different from the outer diameter of the fourth reference pin. The teaching jig according to any one of claims 4 to 6, which includes a fifth reference pin standing up from one side of the thickness direction of the mounting portion toward one of the thickness direction sides of the mounting portion. And the end surface of the fifth reference pin is a plane orthogonal to the thickness direction of the mounting portion. A teaching method for a robot, characterized in that it is a teaching method for a robot using the teaching jig of any one of claims 4 to 7, and teaching the following position to the panel holding section: placing the tray on the tray The first reference pin of the teaching jig of the stage is inserted into the first reference hole formed in the panel holding portion, and the fourth reference pin of the teaching jig placed on the tray stage is inserted. A position of a second reference hole at the panel holding portion; a position of inserting the second reference pin of the teaching jig placed on the tray stage into the first reference hole; and a position of the second reference hole The position where the third reference pin of the teaching jig of the table is inserted into the first reference hole.