TW201831962A - Edge detection device and alignment device - Google Patents

Abstract

This edge detection device 1 is provided with: a camera 22 for imaging a display panel 2; and a diffusion plate 33 which diffuses light emitted from a light source 32, are irradiates the display panel 2 therewith. The camera 22 is disposed above the display panel 2, and further towards the X1 direction side than the display panel 2. When viewed from the Y direction, the optical axis L of the camera 22 is inclined with respect to the vertical direction such that the optical axis approaches the X1 direction side as the optical axis extends upwards. The diffusion plate 33 is disposed in the same position as the camera 22 in the Y direction, and is disposed in a position which, when viewed from the Y direction, intersects a virtual line VL extending upwards and towards the X2 direction side, from an intersection point C between the display panel 2 and the optical axis L of the camera 22, at angle [Theta]2 relative to the vertical direction, said angle θ2 being identical to the inclination angle [Theta]1 of the optical axis L of the camera 22 relative to the vertical direction.

Description

Edge detection device and alignment device

The present invention relates to an edge detecting device for detecting an edge of a display panel such as a liquid crystal panel. Further, the present invention relates to an alignment device including the edge detecting device.

A panel processing system for performing inspection and correction of a liquid crystal panel is known (for example, see Patent Document 1). The panel processing system disclosed in Patent Document 1 includes a plurality of transport units, an inspection device for inspecting the liquid crystal panel, a correction device for correcting the liquid crystal panel, and a panel for ejecting the liquid crystal panel determined to be defective by the inspection device from the transport unit toward the correction device. Device. The panel feeding device includes a lifter that lifts the liquid crystal panel from the transport unit, an alignment mechanism that performs alignment of the liquid crystal panel lifted by the lifter, and a slide that transports the liquid crystal panel aligned by the alignment mechanism toward the correcting device. mechanism. In the panel processing system disclosed in Patent Document 1, the alignment mechanism includes an X-axis alignment mechanism portion and a Y-axis alignment mechanism portion. The X-axis alignment mechanism portion includes a first positioning pin and a second positioning pin, and the first positioning pin and the second positioning pin include an abutting portion that abuts against an end portion of the liquid crystal panel, a support portion that supports the abutting portion, and the pillar is oriented A sliding mechanism that slides in the X-axis direction. Similarly to the X-axis alignment mechanism portion, the Y-axis alignment mechanism portion further includes a first positioning pin and a second positioning pin, and the first positioning pin and the second positioning pin have an abutting portion that abuts against an end portion of the liquid crystal panel, A support mechanism that supports the pillar of the abutting portion and slides the pillar in the Y-axis direction. In the panel processing system disclosed in Patent Document 1, the two abutting portions of the X-axis alignment mechanism portion are slid by the sliding mechanism to abut against both end portions of the liquid crystal panel in the X-axis direction, and simultaneously And sliding the two abutting portions of the Y-axis alignment mechanism portion by the sliding mechanism to abut against the both end portions of the liquid crystal panel in the Y-axis direction, thereby performing alignment of the alignment mechanism on the liquid crystal panel Bit. PRIOR ART DOCUMENT PATENT DOCUMENT Patent Document 1: Japanese Laid-Open Patent Publication No. 2011-237530

Technical Problem to Be Solved by the Invention The inventors of the present invention have studied the configuration of an aligning device for performing alignment of a display panel such as a liquid crystal panel. In the alignment mechanism of the panel processing system disclosed in Patent Document 1, the abutting portion that slides is in contact with the end portion of the liquid crystal panel, and thus an excessive force may be applied to the liquid crystal panel to cause damage to the liquid crystal panel. Accordingly, the inventors of the present invention have studied the use of an alignment device including a robot and an edge detecting device having a panel holding portion for sucking and holding the display panel and a moving mechanism for moving the panel holding portion, and the edge detecting device optically detecting The edge of the display panel. In the aligning device, the panel holding portion holds the predetermined portion of the display panel and lifts the display panel based on the detection result of the edge detecting device, and the display panel is aligned by correcting the orientation of the display panel by the moving mechanism. Just fine. However, the specific configuration of the edge detecting device constituting such an alignment device has not been proposed. Accordingly, an object of the present invention is to provide an edge detecting device capable of optically detecting an edge of a display panel with high precision. Further, an object of the present invention is to provide an alignment device including the edge detecting device. Means for Solving the Problems In order to solve the above problems, the present invention provides an edge detecting device for detecting an edge of a display panel, comprising: a camera that captures a display panel; and an illumination unit that emits light to the display panel, the display panel The thickness direction of the display panel is aligned with the vertical direction, and the illumination unit includes a light source and a diffusion plate that diffuses the light emitted from the light source and illuminates the display panel, and the predetermined direction orthogonal to the vertical direction is the first direction and When the direction orthogonal to the first direction and the vertical direction is the second direction, the side of the second direction is the third direction side, and the opposite side of the third direction side is the fourth direction side, the camera is disposed above the display panel. And disposed on the third direction side of the display panel, the camera and the diffusion plate are disposed at the same position in the first direction, and when viewed from the first direction, the optical axis of the camera is oriented toward the third direction toward the upper side. The side mode is inclined with respect to the up and down direction, the diffusing plate is disposed at a position intersecting the imaginary line, and the imaginary line is taken from the display panel and photographed The intersection of the optical axis of the camera extends upward and toward the fourth direction with respect to the vertical direction at an angle equal to the inclination angle of the optical axis of the camera with respect to the vertical direction. In the edge detecting device of the present invention, the camera disposed on the upper side of the display panel is disposed on the third direction side of the display panel. Therefore, in the present invention, it is possible to prevent the camera from being reflected on the upper surface of the display panel. Further, in the present invention, the optical axis of the camera is inclined with respect to the vertical direction so as to be closer to the third direction side as it goes upward from the first direction, and the light emitted from the light source is diffused to the display panel. The illuminating diffusing plate is disposed at the same position as the camera in the first direction, and is disposed at a position intersecting the imaginary line when viewed from the first direction, the imaginary line from the intersection of the display panel and the optical axis of the camera The upper and lower directions extend upward with respect to the vertical direction at an angle equal to the inclination angle of the optical axis of the camera with respect to the vertical direction. Therefore, in the present invention, it is possible to illuminate a display panel photographed by a camera with moderate and uniform light. Thus, in the present invention, it is possible to prevent the camera from being reflected on the upper surface of the display panel, and it is possible to illuminate the display panel photographed by the camera with moderate and uniform light. Therefore, in the present invention, the edge of the display panel can be detected optically with high precision. In the present invention, it is preferable that the inclination angle of the optical axis of the camera with respect to the vertical direction when viewed from the first direction is 25° or more and 35° or less. In this case, the angle of inclination of the optical axis of the camera with respect to the up and down direction when viewed from the first direction is, for example, 30°. According to this configuration, since the tilt angle of the optical axis of the camera with respect to the vertical direction is 35 degrees or less, even if the optical axis of the camera is tilted with respect to the vertical direction, the edge of the display panel can be accurately photographed by the camera. Therefore, the edge of the display panel can be detected optically with higher precision. In the present invention, for example, the diffusion plate is formed in a flat shape, and is disposed in parallel with the optical axis of the camera when viewed from the first direction. In the present invention, for example, the edge detecting device includes a conveyor that conveys the display panel, the first direction is parallel to the conveying direction of the conveyor conveyance display panel, and the second direction is the width direction of the conveyor. In this case, the camera can be easily installed even if the edge detecting device includes the conveyor, compared with the case where the width direction of the conveyor of the first direction conveyor and the direction of the second direction are parallel to the conveyance direction of the display panel. Lighting unit. In the present invention, it is desirable that the illumination unit illuminates the entire area of the conveyor in the second direction. According to this configuration, even if a plurality of display panels having different widths in the second direction are transported by the conveyor, the entire illumination panel in the second direction can be irradiated with light using the common illumination unit. In the present invention, it is preferable that the edge detecting device is provided with an end face detecting mechanism for detecting an end surface of the display panel in the first direction, the conveyor is a roller conveyor having a plurality of rollers, and the end face detecting mechanism is provided with a line-shaped mine The light-emitting portion that emits light and the light-receiving portion that receives the laser beam that is emitted from the light-emitting portion and is reflected by the display panel on the conveyor are disposed below the roller, and are disposed on the light-emitting portion and the light-receiving portion when viewed from the upper side. In the gap between the rollers of the machine, the light-emitting portion emits a linear laser beam passing through the gap between the rollers toward the upper side. According to this configuration, the detection range of the end face detecting mechanism in the second direction can be expanded. Therefore, even when the end surface of the display panel in the first direction is inclined with respect to the second direction when viewed from the up-and-down direction, variations in the detection timing of the end faces of the display panel conveyed by the conveyor in the first direction can be suppressed. In the present invention, it is preferable that the edge detecting device is provided with a cover member made of an aluminum alloy, which covers the camera and the illumination unit from both sides in the first direction, both sides and the upper side in the second direction, and from the second direction The two sides and the upper side cover at least a part of the conveyor, and the inner side of the cover member is an alumite treated surface which is treated with a black alumite treatment. According to this configuration, when the display panel is imaged by the camera, it is possible to prevent the disturbance light other than the light irradiated from the illumination unit from being irradiated onto the display panel. Therefore, it is possible to optically detect the edge of the display panel conveyed by the conveyor with higher precision. The edge detecting device of the present invention can be used for an aligning device including a robot for panel transportation, and the robot for panel transporting includes a panel gripping portion that sucks and holds the display panel, and a moving mechanism that moves the panel gripping portion. In the alignment device, for example, the robot grips a predetermined portion of the display panel and lifts the display panel by the panel gripping portion based on the detection result of the edge detecting device, and corrects the orientation of the display panel. In the alignment device, the edge of the display panel can be optically detected with high precision. Further, in the alignment device, since the edge of the display panel can be optically detected with high precision, the display panel can be accurately aligned based on the detection result of the edge detecting device. Advantageous Effects of Invention As described above, in the edge detecting device and the aligning device of the present invention, the edge of the display panel can be optically detected with high precision.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. (Schematic Configuration of Inspection System) FIG. 1 is a plan view showing a schematic configuration of an inspection system 4 incorporating the edge detection device 1 according to the embodiment of the present invention. 2 is a perspective view of the robot 9 shown in FIG. 1. The edge detecting device 1 of this type detects a device as an edge of the liquid crystal panel 2 of the display panel. Specifically, the edge detecting device 1 is a device that detects the edge of the liquid crystal panel 2 conveyed by the conveyor 3. The edge detecting device 1 is loaded into the inspection system 4 for use. The liquid crystal panel 2 is, for example, a small or medium-sized panel of about 4 inches to 15 inches, and is formed in a rectangular flat plate shape. A terminal portion (not shown) is formed on the liquid crystal panel 2. The liquid crystal panel 2 is placed on the conveyor 3 such that the thickness direction of the liquid crystal panel 2 coincides with the vertical direction. In other words, the liquid crystal panel 2 is disposed such that the thickness direction of the liquid crystal panel 2 coincides with the vertical direction. Further, the liquid crystal panel 2 is linearly conveyed in the horizontal direction by the conveyor 3. In the following description, the X direction of FIG. 1 and the like which are orthogonal to the vertical direction (vertical direction) is the “front-rear direction”, and the Y direction of FIG. 1 and the like which are orthogonal to the vertical direction and the front-rear direction is the “left-right direction”. Further, one side in the front-rear direction, that is, the X1 direction side in FIG. 1 and the like is the "front" side, and the opposite side, that is, the X2 direction side in FIG. 1 and the like is the "rear" side, and the one side in the left-right direction, that is, FIG. The Y1 direction side is the "right" side, and the opposite side, that is, the Y2 direction side of FIG. 1 and the like is the "left" side. The left-right direction (Y direction) of the present mode is a first direction which is a predetermined direction orthogonal to the vertical direction, and the front-back direction (X direction) is a second direction orthogonal to the vertical direction and the first direction. Further, the front side (the X1 direction side) is the third direction side which is one side of the second direction, and the rear side (X2 direction side) is the fourth direction side which is the opposite side of the third direction side. Moreover, in this embodiment, the liquid crystal panel 2 is conveyed to the right by the conveyor 3. That is, in the right direction (Y1 direction) of the present type, the conveyor 3 conveys the conveyance direction of the liquid crystal panel 2, and the left-right direction is a direction parallel to the conveyance direction of the liquid crystal panel 2. Further, the front-rear direction is the width direction of the conveyor 3. The inspection system 4 is a system for performing visual inspection of the liquid crystal panel 2. In addition to the edge detecting device 1, the inspection system 4 includes two cameras 7 and 8 for inspection and two robots 9, 10 for transporting the liquid crystal panel 2. The cameras 7 and 8 and the robots 9 and 10 are housed in the casing 11. Further, the edge detecting device 1 is disposed adjacent to the front end side portion of the left side surface of the casing 11. Conveyor 3 is a roller conveyor. The left end of the conveyor 3 is disposed on the left side of the left side surface of the cover member 25 which will be described later which constitutes the edge detecting device 1, and the right end of the conveyor 3 is disposed on the right side of the right side surface of the casing 11. One of the conveyors 3 is disposed inside the casing 11. Further, the conveyor 3 is disposed on the front end side of the inspection system 4. The cameras 7 and 8 are arranged such that the optical axes of the cameras 7 and 8 coincide with the vertical direction. The cameras 7 and 8 are disposed on the back side of the inside of the casing 11. The camera 7 and the camera 8 are arranged adjacent to each other in the left-right direction. In this embodiment, the camera 7 is disposed on the left side and the camera 8 is disposed on the right side. The robots 9, 10 are disposed between the conveyor 3 and the cameras 7, 8 in the front-rear direction. Further, the robot 9 is disposed on the left side of the inside of the casing 11, and the robot 10 is disposed on the right side of the inside of the casing 11. The robot 9 is a vertical articulated robot for transporting the panel of the liquid crystal panel 2. This type of robot 9 is a six-axis vertical articulated robot. As shown in FIG. 2, the robot 9 includes a support member 15 constituting a proximal end portion of the robot 9, six joint portions 16, two arms 17, and a panel grip portion 18 that sucks and holds the liquid crystal panel 2. The support member 15 is fixed to the bottom surface of the frame 11. The joint portion 16 includes a motor, a speed reducer coupled to the output shaft of the motor, and a housing that houses the motor and the speed reducer. The arm 17 is formed in an elongated cylindrical shape. The panel holding portion 18 is formed with a plurality of adsorption holes for adsorbing the liquid crystal panel 2. In the robot 9, for example, the six joint portions 16 and the two arms 17 are coupled, so that the robot 9 can perform the operation from the facing posture shown in Fig. 2(A) to the posture shown in Fig. 2(B). The joint portion 16 disposed on the most proximal end side of the robot 9 is rotatably coupled to the support member 15, and the joint portion 16 is rotatable in the axial direction of the rotation in the up-and-down direction. The panel grip portion 18 is rotatably coupled to the joint portion 16 disposed on the most distal end side of the robot 9 . The panel grip portion 18 is rotatable in the axial direction of the rotation of the liquid crystal panel 2 held by the panel grip portion 18. In the present embodiment, the movement mechanism 19 that moves the panel grip portion 18 is constituted by the six joint portions 16 and the two arms 17. Like the robot 9, the robot 10 is a six-axis vertical articulated robot. Since the robot 10 is configured in the same manner as the robot 9, the description of the configuration of the robot 10 is omitted. (Configuration of Edge Detection Device) Fig. 3 is a side view for explaining the configuration of the edge detection device 1 shown in Fig. 1. Fig. 4 is a perspective view showing a state in which the cover member 25 of the edge detecting device 1 shown in Fig. 1 is removed. Fig. 5 is a plan view for explaining the configuration and arrangement of the end face detecting mechanism 24 shown in Fig. 3. The edge detecting device 1 includes the above-described conveyor 3 that transports the liquid crystal panel 2, a camera 22 that captures the liquid crystal panel 2 in order to detect the edge of the liquid crystal panel 2, an illumination unit 23 that emits light to the liquid crystal panel 2, and a liquid crystal panel 2 that detects the left and right direction. The end face detecting mechanism 24 of the end face. Further, the edge detecting device 1 includes a cover member 25 that covers the camera 22, the illumination unit 23, and the end surface detecting mechanism 24, and a display device 26 that displays an image captured by the camera 22. As described above, the conveyor 3 is a roller conveyor and includes a plurality of rollers 28. The roller 28 is disposed so as to be rotatable in the axial direction in which the front and rear directions are rotated. The width of the roller 28 (the width in the front-rear direction) is wider than the width of the liquid crystal panel 2 formed in a rectangular shape in the width direction. A plurality of rollers 28 are arranged at a constant pitch in the left-right direction. As described above, the conveyor 3 conveys the liquid crystal panel 2 in the right direction. In the conveyor 3, the liquid crystal panel 2 is conveyed in a state in which the longitudinal direction of the liquid crystal panel 2 formed in a rectangular shape substantially coincides with the left-right direction. The camera 22 is fixed to the upper end side of the pillar 29 disposed at the front end of the inside of the cover member 25, and is disposed above the conveyor 3. Further, the camera 22 is disposed above the liquid crystal panel 2. That is, the camera 22 is disposed above the liquid crystal panel 2 that is transported by the conveyor 3. Further, the camera 22 is disposed on the front side of the liquid crystal panel 2. In this embodiment, the camera 22 is disposed on the front side of the front end of the roller 28. Further, the camera 22 is disposed at the center position of the edge detecting device 1 in the left-right direction. When viewed from the left-right direction, the optical axis L of the camera 22 is inclined toward the vertical direction so as to face the upper side toward the upper side (see FIG. 3 ). Moreover, when viewed from the left-right direction, the inclination angle θ1 of the optical axis L of the camera 22 with respect to the up-and-down direction is 25 degrees or more and 35 degrees or less. In the present mode, the inclination angle θ1 of the optical axis L of the camera 22 is 30° when viewed from the left and right direction. The illumination unit 23 includes a light source 32 and a diffusion plate 33 that diffuses the light emitted from the light source 32 and irradiates the liquid crystal panel 2 . The light source 32 is an LED lamp having an LED (Light Emitting Diode). Further, the light source 32 is formed as a flat panel lamp having a rectangular shape (square or rectangular shape). The light source 32 is fixed to a mounting plate 34 formed in a rectangular plate shape. The diffusion plate 33 is formed of a resin. Specifically, the diffusion plate 33 is formed of a resin that does not absorb the light of all the light emitted from the light source 32 and does not transmit the entire light emitted from the light source 32. Further, the diffusion plate 33 is formed of a white resin. The diffusion plate 33 is formed in a rectangular plate shape. The shape of the diffusing plate 33 is larger than the shape of the light source 32. The diffusion plate 33 is fixed to the front end of the fixed shaft 35, and the fixed shaft 35 is fixed at the four corners of the mounting plate 34. The lighting unit 23 is fixed to a stay 36 disposed at the rear end of the inside of the cover member 25. The light source 32 is disposed above the conveyor 3. Further, the light source 32 is disposed above the liquid crystal panel 2. That is, the light source 32 is disposed above the liquid crystal panel 2 transported by the conveyor 3. The light source 32 is disposed on the rear side of the liquid crystal panel 2 . In this form, the light source 32 is disposed on the rear side of the rear end of the roller 28. The light source 32, the diffusion plate 33, and the mounting plate 34 which are formed in a flat shape are arranged in parallel with the left-right direction. Further, the light source 32, the diffusion plate 33, and the mounting plate 34 are disposed such that the left and right end faces of the light source 32, the left and right end faces of the diffusion plate 33, and the left and right end faces of the mounting plate 34 are orthogonal to the left-right direction. The light source 32 and the diffusion plate 33 are formed in parallel when viewed from the left and right direction. Further, the light source 32 and the diffusion plate 33 are inclined with respect to the vertical direction so as to face toward the front side as they go upward. The diffusion plate 33 is disposed on the lower side before the light source 32. Further, the light source 32 and the diffusion plate 33 are disposed in parallel with the optical axis L of the camera 22 when viewed from the left-right direction. That is, when viewed from the left-right direction, the inclination angle θ of the optical axis L of the camera 22 with respect to the vertical direction, the inclination angle of the light source 32 with respect to the vertical direction, and the inclination angle of the diffusion plate 33 with respect to the vertical direction are equal. The width of the light source 32 in the left-right direction is wider than the width of the liquid crystal panel 2 formed in a rectangular shape in the longitudinal direction. The width of the diffusion plate 33 in the left-right direction is wider than the width of the light source 32 in the left-right direction. The light source 32 and the diffusion plate 33 are disposed such that the center of the light source 32 in the left-right direction coincides with the center of the diffusion plate 33. Further, the light source 32 and the diffusion plate 33 are disposed at the center position of the edge detecting device 1 in the left-right direction. That is, the light source 32, the diffusion plate 33, and the camera 22 are disposed at the same position in the left-right direction. Specifically, the center of the light source 32 in the left-right direction and the center of the diffusion plate 33 and the optical axis L of the camera 22 are disposed at the same position in the left-right direction. When viewed from the left-right direction, the diffusion plate 33 is disposed at an intersection C from the liquid crystal panel 2 and the optical axis L of the camera 22, and extends toward the upper side and the rear side at an angle θ2 that is the same as the inclination angle θ1 with respect to the vertical direction. The position where the imaginary line VL intersects (refer to FIG. 3). In other words, when a light source that matches the optical axis L of the camera 22 and a light source that emits light toward the liquid crystal panel 2 on the conveyor 3 is assumed instead of the camera 22, the diffusion plate 33 is disposed from the light source. The position where the emitted light is positively reflected. When viewed from the left-right direction, the upper end of the diffusion plate 33 is disposed on the upper side of the center position of the roller 28 in the front-rear direction. Moreover, when viewed from the left-right direction, the lower end of the diffusion plate 33 is disposed on the rear side of the upper surface of the roller 28. The illumination unit 23 of this type irradiates the light diffused by the diffusion plate 33 to the entire area in the front-rear direction of the conveyor 3. That is, the illumination unit 23 irradiates light to the entire area of the conveyor 3 in the front-rear direction. When the light source 32 is viewed from the upper surface of the roller 28, the light source 32 is completely covered by the diffusion plate 33. As shown in FIG. 5, the end face detecting mechanism 24 is a reflective type laser sensor having a light-emitting portion 37 that emits a linear laser and is received from the light-emitting portion 37 and reflected by the liquid crystal panel 2 on the conveyor 3. The laser light receiving portion 38. The end face detecting mechanism 24 is disposed on the lower side of the roller 28. Further, the end surface detecting mechanism 24 is disposed on the right side of the camera 22. The distance between the camera 22 and the end face detecting mechanism 24 in the left-right direction is shorter than the width of the liquid crystal panel 2 formed in a rectangular shape in the longitudinal direction. For example, the distance between the camera 22 and the end face detecting mechanism 24 in the left-right direction forms about 2/3 of the width of the liquid crystal panel 2 in the longitudinal direction. As shown in FIG. 5, the light-emitting portion 37 and the light-receiving portion 38 are disposed in a gap (a gap in the left-right direction) between the rollers 28 of the conveyor 3 when viewed from the upper side. The light-emitting portion 37 emits a linear laser having a wide width in the front-rear direction toward the upper side. That is, the light-emitting portion 37 emits a linear laser beam that passes through the gap between the rollers 28 toward the upper side. The light receiving portion 38 receives light that is reflected by the lower surface of the liquid crystal panel 2 on the conveyor 3 and passes through the gap between the rollers 28 toward the lower side. The end surface detecting mechanism 24 detects the left and right end faces of the liquid crystal panel 2 based on the amount of light received by the light receiving unit 38. Further, the gap between the rolls 28 is, for example, about 1.5 (mm). The cover member 25 is formed in a box shape of a rectangular parallelepiped whose lower surface is open. The upper surface of the cover member 25 has a plane perpendicular to the vertical direction, and the front and rear sides of the cover member 25 form a plane orthogonal to the front-rear direction, and the left and right side faces of the cover member 25 form a plane orthogonal to the left-right direction. The cover member 25 covers the camera 22 and the illumination unit 23 from both sides in the front-rear direction, both sides in the left-right direction, and the upper side. Moreover, the cover member 25 covers the end surface detecting mechanism 24 from both sides and the upper side in the front-rear direction. Further, the cover member 25 covers one portion of the conveyor 3 from the crotch side and the upper side in the front-rear direction. Specifically, the cover member 25 covers one portion of the conveyor 3 including the portion where the liquid crystal panel 2 is photographed by the camera 22 from both sides and the upper side in the front-rear direction. A notch portion 25a (see FIG. 3) for arranging the conveyor 3 is formed on the left and right side faces of the cover member 25. Further, the cover member 25 is formed of an aluminum alloy. The cover member 25 is subjected to a black alumite treatment. Specifically, the cover member 25 is treated with a matte black alumite treatment. That is, the inner side surface of the cover member 25 formed in a box shape forms an alumite-treated surface subjected to black alumite treatment. The display device 26 is disposed on the front side of the front surface of the cover member 25. As described above, the image captured by the camera 22 is displayed on the display device 26. Further, the detection result of the edge of the liquid crystal panel 2 and the like are displayed on the display device 26. In the edge detecting device 1, when the right end surface of the liquid crystal panel 2 conveyed in the right direction by the conveyor 3 is detected by the end surface detecting means 24 (the front end surface of the liquid crystal panel 2 in the conveyance direction of the liquid crystal panel 2), the start is started. The photographing of the liquid crystal panel 2 by the camera 22. The imaging of the liquid crystal panel 2 by the camera 22 is continued until the left end surface of the liquid crystal panel 2 (the end surface of the liquid crystal panel 2 in the conveyance direction of the liquid crystal panel 2) is detected by the end surface detecting mechanism 24. As described above, the camera 22 is disposed on the front side and the front side of the liquid crystal panel 2, and when viewed from the left-right direction, the optical axis L of the camera 22 is inclined toward the vertical direction as it goes toward the upper side, so that the camera 22 is Shoot the LCD panel 2 diagonally above. The edge detecting device 1 detects the edge of the liquid crystal panel 2 based on the image of the liquid crystal panel 2 captured by the camera 22. Specifically, the edge detecting device 1 detects the edge of the left end side of the liquid crystal panel 2 based on the image of the liquid crystal panel 2 captured by the camera 22. When the edge of the liquid crystal panel 2 is detected, the position of the specific liquid crystal panel 2 with respect to the front and rear directions of the conveyor 3 and the orientation (inclination) of the liquid crystal panel 2 with respect to the conveyor 3. The edge detecting device 1 calculates a correction coefficient corresponding to the position and orientation of the liquid crystal panel 2 in the front-rear direction. Further, the edge detecting device 1 of the present type converts an image obtained by photographing the liquid crystal panel 2 obliquely upward into an image obtained by observing the liquid crystal panel 2 from directly above, and detects the edge of the liquid crystal panel 2. (Operation of Inspection System) In the inspection system 4, the panel grip portion 18 of the robot 9 sucks and holds the upper surface of the liquid crystal panel 2 on the conveyor 3 after the edge is detected by the edge detecting device 1. Thereafter, the robot 9 transports the liquid crystal panel 2 from the conveyor 3 to the upper side of the camera 7. When the liquid crystal panel 2 is carried over the camera 7, the visual inspection of one side of the liquid crystal panel 2 is performed using the camera 7. When the visual inspection of one of the faces of the liquid crystal panel 2 is completed, the robot 9 hands over the liquid crystal panel 2 to the robot 10. That is, the panel grip portion of the robot 10 retrieves and holds the liquid crystal panel 2 from the panel grip portion 18 of the robot 9. Thereafter, the robot 10 transports the liquid crystal panel 2 above the camera 7. When the liquid crystal panel 2 is carried over the camera 7, the visual inspection of the other side of the liquid crystal panel 2 is performed using the camera 7. When the visual inspection of the other side of the liquid crystal panel 2 is completed, the robot 10 transports the liquid crystal panel 2 above the camera 8. When the liquid crystal panel 2 is transported above the camera 8, the visual inspection of the terminal portion of the liquid crystal panel 2 is performed using the camera 8. When the visual inspection of the terminal portion of the liquid crystal panel 2 is completed, the robot 10 transports the liquid crystal panel 2 to the conveyor 3 and places it on the conveyor 3. In the present embodiment, the robot 9 is based on the detection result of the edge detecting device 1 (that is, based on the correction coefficient corresponding to the position of the liquid crystal panel 2 in the front-rear direction and the orientation of the liquid crystal panel 2 specified by the edge detecting device 1) The panel holding portion 18 grips a predetermined portion of the liquid crystal panel 2 on the conveyor 3, lifts the liquid crystal panel 2 from the conveyor 3, and conveys the liquid crystal panel 2 to the upper side of the camera 7 while correcting the orientation of the liquid crystal panel 2. The liquid crystal panel 2 is transported to an appropriate position above the camera 7 in an appropriate orientation. That is, in this type, the alignment (positioning) of the liquid crystal panel 2 is performed by the edge detecting device 1 and the robot 9 before the visual inspection of the liquid crystal panel 2 by the camera 7. In this form, the edge detecting device 1 and the robot 9 constitute the aligning device 40 (refer to Fig. 1). Further, the edge detecting device 1 and the robot 9 are electrically connected via a PLC. Further, the edge detecting device 1 is provided with an encoder that detects the amount of rotation of the roller 28, and the robot 9 starts the liquid crystal panel on the conveyor 3 based on the amount of rotation of the roller 28 after the right end surface of the liquid crystal panel 2 is detected by the end face detecting mechanism 24. 2 adsorption action. (Main Effect of the Present Mode) As described above, in the present embodiment, the camera 22 disposed above the liquid crystal panel 2 is disposed on the front side of the liquid crystal panel 2. Therefore, in this embodiment, the camera 22 can be prevented from being reflected on the upper surface of the liquid crystal panel 2 carried by the conveyor 3. In the present embodiment, the optical axis L of the camera 22 is inclined with respect to the vertical direction so as to be toward the front side as viewed from the left-right direction, and the light emitted from the light source 32 is diffused and irradiated to the liquid crystal. The diffusion plate 33 of the panel 2 is disposed at the same position as the camera 22 in the left-right direction, and is disposed on the optical axis L of the liquid crystal panel 2 and the camera 22 from the conveyor 3 when viewed from the left-right direction. The intersection point C is a position at which the imaginary line VL extending toward the upper side and the rear side at an angle θ2 equal to the inclination angle θ1 with respect to the vertical direction intersects. Therefore, in this embodiment, the liquid crystal panel 2 on the conveyor 3 imaged by the camera 22 can be irradiated with moderate and uniform light. Thus, in this form, it is possible to prevent the camera 22 from being reflected on the upper surface of the liquid crystal panel 2. Further, in this embodiment, the liquid crystal panel 2 imaged by the camera 22 can be irradiated with moderate and uniform light. Therefore, in the present mode, the edge of the liquid crystal panel 2 can be optically detected with high precision. Further, in the present embodiment, since the edge of the liquid crystal panel 2 can be optically detected with high precision, the liquid crystal panel 2 transported above the camera 7 can be accurately aligned based on the detection result of the edge detecting device 1. In the present mode, the inclination angle θ1 of the optical axis L of the camera 22 with respect to the vertical direction when viewed from the left-right direction is 35° or less. Therefore, in this embodiment, even if the optical axis L of the camera 22 is inclined with respect to the vertical direction, the edge of the liquid crystal panel 2 can be accurately photographed by the camera 22. Therefore, in this form, the edge of the liquid crystal panel 2 can be detected optically with higher precision. In the present embodiment, the edge detecting device 1 is provided with a cover member 25 that covers the camera 22 and the illumination unit 23 from both sides in the front-rear direction, both sides and the upper side in the left-right direction, and from both sides in the front-rear direction and The upper side covers one portion of the conveyor 3 including the portion where the liquid crystal panel 2 is photographed by the camera 22, and the matte black alumite treatment is performed on the inner side surface of the cover member 25. Therefore, in the present mode, when the liquid crystal panel 2 is imaged by the camera 22, it is possible to prevent the disturbance light other than the light irradiated from the illumination unit 23 from being irradiated onto the liquid crystal panel 2. Therefore, in this form, the edge of the liquid crystal panel 2 can be detected optically with higher precision. In this form, the illumination unit 23 illuminates the entire area of the conveyor 3 in the front-rear direction. Therefore, in this embodiment, a plurality of liquid crystal panels 2 having different widths in the front-rear direction are transported by the conveyor 3 (that is, a plurality of liquid crystal panels 2 having different widths in the width direction of the liquid crystal panel 2 are transported by the camera 3) It is also possible to illuminate the entirety of the liquid crystal panel 2 in the front-rear direction using the common illumination unit 23. In the present embodiment, the light-emitting portion 37 and the light-receiving portion 38 of the end surface detecting means 24 are disposed on the lower side of the roller 28, and are disposed in the gap between the rollers 28 in the left-right direction when viewed from the upper side. Further, the light-emitting portion 37 emits a linear laser having a wide width in the front-rear direction passing through the gap between the rollers 28 toward the upper side. Therefore, in the present mode, the detection range of the end face detecting mechanism 24 in the front-rear direction can be widened. Therefore, in the present embodiment, for example, as shown by the two-dot chain line in FIG. 5, even when the end surface of the liquid crystal panel 2 in the left-right direction is inclined with respect to the front-rear direction, it can be suppressed by the conveyor when viewed from the up-down direction. (3) The deviation of the detection timing of the end faces of the liquid crystal panel 2 conveyed in the left-right direction. (Other Embodiments) The above-described embodiments are examples of preferred embodiments of the present invention, and are not limited thereto, and various modifications can be made without departing from the spirit and scope of the invention. In the above aspect, when one side (left side or right side) of the left-right direction is set to the third direction side and the opposite side (right side or left side) of the third direction side is set to the fourth direction, the camera 22 is disposed at a ratio of When the liquid crystal panel 2 is photographed by the camera 22 on the third direction side, the camera 22 and the diffusion plate 33 may be disposed at the same position in the front-rear direction. In this case, when viewed from the front-rear direction, the optical axis L of the camera 22 is inclined with respect to the vertical direction so as to be closer to the third direction side as it goes upward. Further, when viewed from the front-rear direction, the diffusion plate 33 is disposed at an angle of inclination with respect to the vertical direction from the optical axis L of the camera 22 with respect to the vertical direction from the intersection of the liquid crystal panel 2 and the optical axis L of the camera 22. The same angle is the position at which the imaginary lines extending to the upper side and toward the fourth direction side intersect. Even in this case, as in the above-described manner, the edge of the liquid crystal panel 2 conveyed by the conveyor 3 can be optically accurately detected. Further, at this time, the front and rear directions (X direction) are the first direction, and the left and right direction (Y direction) is the second direction. Further, the first direction may be a direction inclined with respect to the front-rear direction and the left-right direction. That is, the second direction may be a direction inclined with respect to the front-rear direction and the left-right direction. In the above manner, the entire area of the conveyor 3 in the front-rear direction of the illumination unit 23 is irradiated with light, but the illumination unit 23 may also illuminate only the area through which the liquid crystal panel 2 of the conveyor 3 in the front-rear direction passes. Further, in the above aspect, the inclination angle θ1 of the optical axis L of the camera 22 with respect to the vertical direction when viewed from the left-right direction may be less than 25° or may be greater than 35°. Further, in the above aspect, the optical axis L of the camera 22 and the diffusion plate 33 may not be parallel when viewed from the left and right direction. Further, the light source 32 and the diffusion plate 33 may not be parallel when viewed from the left and right direction. In the above-described embodiment, the liquid crystal panel 2 is transported to the right by the conveyor 3, but the liquid crystal panel 2 can also be transported in the left and right directions by the conveyor 3. For example, the liquid crystal panel 2 transported to the left by the conveyor 3 toward the inside of the cover member 25 may also be moved from the inside of the cover member 25 to the right by the conveyor 3 after the edge detection by the edge detecting device 1 Directional handling. In this case, the left-right direction (Y direction) is the conveyance direction of the liquid crystal panel 2. In the above aspect, the edge detecting device 1 may be provided with the end face detecting mechanism 24. In this case, the upper surface of the conveyor 3 is continuously photographed by the camera 22. Further, in the above aspect, the edge detecting device 1 may not include the conveyor 3. In this case, the edge detecting device 1 includes a mounting table on which the liquid crystal panel 2 is placed. Moreover, in this case, for example, the liquid crystal panel 2 is carried into the mounting table and the liquid crystal panel 2 is carried out from the mounting table by a predetermined robot. In the above manner, the conveyor 3 can also be constructed by a plurality of belt conveyors. In this case, for example, the light-emitting portion 37 and the light-receiving portion 38 of the end surface detecting mechanism 24 are disposed below the joints of the plurality of belt conveyors. Further, in the above aspect, the robots 9, 10 may be vertical multi-joint robots other than the six axes, and may be horizontal multi-joint robots or three-axis orthogonal robots. Further, the robots 9 and 10 may be a so-called parallel link robot disclosed in Japanese Laid-Open Patent Publication No. 2013-141704. In the above manner, the light source 32 may be a lamp other than the LED lamp, or may be a lamp other than the panel lamp. Further, in the above aspect, the edge panel detecting device 1 detects the edge of the display panel liquid crystal panel 2, but the display panel that detects the edge by the edge detecting device 1 may be a display panel other than the liquid crystal panel 2. For example, the display panel that detects the edge by the edge detecting device 1 may also be an organic EL panel. In the above manner, the edge detecting device 1 is incorporated in the inspection system 4, but the edge detecting device 1 can also be incorporated into a system or device other than the inspection system 4. Further, in the above-described embodiment, the inspection system 4 is a system for performing the visual inspection of the liquid crystal panel 2. However, the inspection system 4 may be a system for performing inspections other than the visual inspection of the liquid crystal panel 2. Further, a plurality of inspection systems 4 may be continuously arranged in the left-right direction.

1‧‧‧Edge detection device

2‧‧‧LCD panel (display panel)

3‧‧‧Conveyor

9‧‧‧ Robot

18‧‧‧ Panel Control Department

19‧‧‧Mobile agencies

22‧‧‧Camera

23‧‧‧Lighting unit

24‧‧‧End detection mechanism

25‧‧‧ Cover member

25a‧‧‧Gap section

26‧‧‧Display device

28‧‧‧roll

29‧‧‧ pillar

32‧‧‧Light source

33‧‧‧Diffuse board

34‧‧‧Installation board

35‧‧‧Fixed shaft

36‧‧‧ pillar

37‧‧‧Lighting Department

38‧‧‧Receiving Department

40‧‧‧Alignment device

C‧‧‧The intersection of the display panel and the optical axis of the camera

L‧‧‧ camera optical axis

VL‧‧‧ imaginary line

X‧‧‧second direction

X1‧‧‧ third direction

X2‧‧‧ fourth direction

Y‧‧‧First direction

Θ1‧‧‧ tilt angle

Fig. 1 is a plan view showing a schematic configuration of an inspection system incorporating an edge detecting device according to an embodiment of the present invention. 2(A) and 2(B) are perspective views of the robot shown in Fig. 1. Fig. 3 is a side view for explaining the configuration of the edge detecting device shown in Fig. 1. Fig. 4 is a perspective view showing a state in which the cover member is removed from the edge detecting device shown in Fig. 1. Fig. 5 is a plan view showing the configuration and arrangement of the end face detecting mechanism shown in Fig. 3.

Claims (9)

An edge detecting device for detecting an edge of a display panel, comprising: a camera that captures the display panel; and an illumination unit that emits light to the display panel, wherein the display panel is disposed such that a thickness direction of the display panel and a vertical direction are aligned The illumination unit includes a light source and a diffusion plate that diffuses the light emitted from the light source and emits the light onto the display panel, and the predetermined direction orthogonal to the vertical direction is a first direction and orthogonal to the first direction and the vertical direction. When the direction is the second direction, the one side of the second direction is the third direction side, and the opposite side of the third direction side is the fourth direction side, the camera is disposed above the display panel and disposed above the display. The camera is disposed on the third direction side, and the camera and the diffusion plate are disposed at the same position in the first direction. When viewed from the first direction, the optical axis of the camera is oriented toward the third direction toward the upper side. The method is inclined with respect to the vertical direction, and the diffusion plate is disposed at a position intersecting the imaginary line, and the imaginary line is from above The intersection of the display panel and the optical axis of the camera extends upward and downward toward the fourth direction with respect to the vertical direction at an angle equal to the inclination angle of the optical axis of the camera with respect to the vertical direction. The edge detecting device according to claim 1, wherein the tilt angle of the optical axis of the camera with respect to the vertical direction is 25° or more and 35° or less when viewed from the first direction. The edge detecting device of claim 2, wherein the optical axis of the camera has an inclination angle of 30 with respect to the up and down direction when viewed from the first direction. The edge detecting device according to any one of claims 1 to 3, wherein the diffusing plate is formed in a flat plate shape and arranged in parallel with an optical axis of the camera when viewed from a first direction. The edge detecting device according to any one of claims 1 to 4, further comprising: a conveyor that transports the display panel, wherein the first direction is parallel to a direction in which the conveyor conveys the display panel, and the second direction is The width direction of the conveyor. The edge detecting device of claim 5, wherein the illumination unit emits light to the entire area of the conveyor in the second direction. An edge detecting device according to claim 5 or 6, wherein the end detecting means for detecting an end surface of the display panel in the first direction, the conveyor is a roller conveyor having a plurality of rollers, and the end detecting mechanism is provided a light-emitting portion of a linear laser and a light-receiving portion that receives a laser beam that is emitted from the light-emitting portion and reflected by the display panel on the conveyor, and is disposed below the roller, and the light-emitting portion and The light-receiving portion is disposed in a gap between the rollers of the conveyor when viewed from the upper side, and the light-emitting portion emits a linear laser that passes through a gap between the rollers toward the upper side. The edge detecting device according to any one of claims 5 to 7, further comprising: a cover member made of an aluminum alloy, wherein the cover member covers the camera and the illumination from both sides of the first direction, both sides and the upper side of the second direction And a unit covering at least a part of the conveyor from both sides and an upper side in the second direction, wherein the inner side surface of the cover member is an alumite-treated surface subjected to black alumite treatment. An alignment device comprising: an edge detecting device according to any one of claims 1 to 8, a panel holding portion for holding and holding the display panel, and a panel transporting mechanism for moving the panel holding portion The robot, based on the detection result of the edge detecting device, grasps a predetermined portion of the display panel by the panel gripping portion, lifts the display panel, and corrects the orientation of the display panel.