TWI730134B - Robots, robot control methods, teaching jigs and robot teaching methods - Google Patents

Abstract

The robot 9 for carrying out the display panel from the tray 3 on the tray stage 7 of the present invention is provided with a panel holding portion 29 and a moving mechanism 35 of the panel holding portion 29. If the coordinate system on the side of the pallet stage 7 is set to the first coordinate system, and the coordinate system on the side of the robot 9 is set to the second coordinate system, the coordinate system of the target arrival position of the panel holding portion 29 expressed in the first coordinate system is set It is the first coordinate, and the second coordinate is the coordinate of the target arrival position of the panel holding portion 29 represented by the second coordinate system. The first coordinate system and the second coordinate system are determined by setting the specific position on the side of the tray carrier 7 Instruct the panel holding portion 29 to establish correspondence in advance. When the panel holding part 29 is in motion, the first coordinates are input to the control part of the robot 9. The control part converts the first coordinates to the second coordinates, and controls the moving mechanism 35 based on the second coordinates to move the panel holding part 29 to the target. position.

Description

Robots, robot control methods, teaching jigs and robot teaching methods

The present invention relates to a robot that transports a display panel such as a liquid crystal panel and a control method of the robot. In addition, the present invention relates to a teaching jig used in the teaching operation of a robot that conveys a display panel such as a liquid crystal panel, and a teaching method of a robot using the teaching jig.

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

[Problem to be Solved by the Invention] In the conveying device described in Patent Document 1, the automatic loader is equipped with, for example, a conveying robot that conveys a liquid crystal panel from a tray to a positioning jig. In the transport robot, generally, the position of each of the plurality of liquid crystal panels stored in the tray is 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, due to changes in the size of the liquid crystal panel stored in the tray, etc., the storage position of the liquid crystal panel in the tray may change. At this time, if the storage position of the liquid crystal panel is not 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 changes, the robot must be taught. Therefore, the subject of the present invention is to provide a robot and a control method of the robot that do not require the teaching operation when the storage position of the display panel in the tray of the robot that transfers the display panel to the tray changes. In addition, the subject of the present invention is to provide a teaching jig for teaching when the storage position of the display panel in the pallet is changed in a robot that does not need to transport the display panel to the pallet, and a teaching for the robot using the teaching jig method. [Technical Means to Solve the Problem] In order to solve the above-mentioned problems, the robot of the present invention is characterized in that it carries out at least one of carrying out the display panel from the tray placed on the tray carrier and carrying the display panel into the tray placed on the tray carrier. Any kind of action robot, and equipped with a panel holding part to hold the display panel, a moving mechanism to move the panel holding part, and a control part to control the robot, and if the panel holding part holds the display panel of the tray stored on the tray stage The position of the display panel or the position where the display panel is released by the panel holding part in order to store the display panel held by the panel holding part on the tray on the tray carrier is set as the target arrival position of the panel holding part, which will be based on the setting on the tray carrier 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 setting of the target arrival position of the panel holding part represented by the first coordinate system is set It is the first coordinate, and the second coordinate system is used to indicate the target arrival position of the panel holding part. The first coordinate system and the second coordinate system are used to point the specific position of the tray carrier to the panel. The holding part teaches and establishes a correspondence in advance, and when the panel holding part operates, the first coordinate is input to the control part, and the control part converts the input first coordinate to the second coordinate, and controls the moving mechanism based on the second coordinate to make the panel The holding part moves to the target reaching position of the panel holding part. In addition, in order to solve the above-mentioned problems, the robot control method of the present invention is characterized in that it is a robot control method as follows. The robot has a panel holding portion for holding a display panel and a moving mechanism for moving the panel holding portion. At least one of the actions of carrying out the display panel from the tray placed on the tray carrier and moving the display panel into the tray placed on the tray carrier, and if the display panel of the tray stored on the tray carrier is held by the panel holder The position or the position where the display panel is released by the panel holding part in order to store the display panel held by the panel holding part on the tray on the tray carrier is set as the target arrival position of the panel holding part, which will be 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 system of the target arrival position of the panel holding part represented by the first coordinate system is set It is the first coordinate, and the second coordinate system is used to indicate the target arrival position of the panel holding part. The first coordinate system and the second coordinate system are used to point the specific position of the tray carrier to the panel. The holding part teaches and establishes a correspondence in advance; and the above-mentioned control method includes: a coordinate input step of inputting the first coordinate; and converting the first coordinate input in the coordinate input step into the second coordinate, and control the moving mechanism based on the second coordinate to make An action step of the panel holding part in which the panel holding part moves to the target reaching position of the panel holding part. In the present invention, the first coordinate system based on the reference point set on the side of the pallet stage and the second coordinate system based on the reference point set on the side of the robot are taught by teaching a specific position on the side of the pallet stage to the panel holding part The correspondence is established in advance. If the first coordinate of the target reaching position of the panel holding part displayed using the first coordinate system is input, the first coordinate is converted to the second coordinate system of the target reaching position of the panel holding part displayed using the second coordinate system. The coordinates control the moving mechanism based on the second coordinates to move the panel holding part to the target arrival position of the panel holding part. Therefore, in the present invention, if the teaching operation of the robot corresponding to the first coordinate system and the second coordinate system is performed, the teaching operation of the robot will not be performed even when the storage position of the display panel in the tray changes subsequently. It is also possible to convert the input first coordinate to the second coordinate, so that the panel holding part can be moved to the storage position of the display panel in the tray. That is, in the present invention, if the teaching operation of the 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 tray changes subsequently. Therefore, in the present invention, there is no need to teach the robot when the storage position of the display panel in the tray changes. In the present invention, for example, the moving mechanism includes: a main body; a plurality of rods, the base end side of which is rotatably connected to the main body; and a plurality of arm sections, each of which base end side is rotatably connected to the plural Each of the end sides of the rods; the movable part, which is rotatably connected to the end sides of the plurality of arm parts; and the plurality of rotation driving mechanisms, which make each of the plurality of rods rotate; and the plurality of rods are It is connected to the main body so as to extend radially at approximately equal angular intervals to the outer peripheral side of the main body. The arm has two straight arms parallel to each other, and the base end of each of the two arms can be rotated. The ground is connected to the end side of the rod, the movable part is rotatably connected to the end side of the two arms, and the panel holding part is installed on the movable part. That is, the robot is, for example, a parallel robot. In addition, 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 the teaching operation of a robot, and the robot has a panel holding part for holding a display panel and a panel holding part for moving the panel holding part. A moving mechanism, and at least one of the actions of carrying out the display panel from the tray placed on the pallet stage and moving the display panel into the tray placed on the pallet stage, and the teaching jig is equipped with: placed on the pallet stage The plate-shaped placement part, and the first reference pin, the second reference pin, and the third reference pin that stand up from one side of the thickness direction of the placement part toward one side of the thickness direction of the placement part, if Let the specific direction orthogonal to the thickness direction of the placing part be the first direction, and the direction orthogonal to the thickness direction and the first direction of the placing part as the second direction, then the outer diameter of the first reference pin, The outer diameter of the second reference pin and the outer diameter of the third reference pin are equal. The second reference pin is arranged at a position deviated from the first reference pin in the first direction, and the third reference pin is arranged in the second direction at a position offset 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 arranged at a position deviated from the first reference pin in the first direction, and the third reference pin is arranged 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 pallet stage to teach a specific position on the side of the pallet stage to the panel holding part, it is possible to set it 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, by using the first reference pin and the third reference pin of the teaching jig placed on the pallet stage to teach the specific position on the pallet stage side to the panel holding part, the first coordinate system and the second coordinate system can be performed. Correspondence in the second direction of the department. Therefore, in the present invention, if the teaching jig is used to perform the teaching operation of the robot, 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 display using the second coordinate system. The second coordinate of the target reaching position of the panel holding part, and based on the second coordinate, the panel holding part is moved to the target reaching position of the panel holding part. That is, in the present invention, if the teaching jig is used to perform the teaching operation of the robot, even if the teaching operation of the robot is not performed when the storage position of the display panel in the tray changes subsequently, the panel holding part can be moved into the tray. The storage location of the display panel. Therefore, if the teaching jig of the present invention is used for the teaching operation of the robot, the teaching operation of the robot when the storage position of the display panel in the tray changes is not required. In the present invention, it is preferable that the teaching jig includes a fourth reference pin that rises from one side of the thickness direction of the placing portion toward one side of the thickness direction of the placing portion, and the fourth reference pin and the first 1 The 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 specific position on the pallet stage side can be taught to the panel holding portion by using the first reference pin and the fourth reference pin of the teaching jig placed on the pallet stage, and the vertical direction can be used as Correspondence between the first coordinate system and the second coordinate system in the rotating direction of the rotating axis. In the present invention, it is preferable that the outer diameter of the first reference pin is different from the outer diameter of the fourth reference pin. With this configuration, it is possible to prevent operation errors when using the first reference pin and the fourth reference pin to perform the correspondence between the first coordinate system and the second coordinate system in the direction of rotation with the vertical direction as the axis of rotation. In the present invention, it is preferable that the teaching jig has a fifth reference pin that rises from one side of the thickness direction of the placing portion toward one side of the thickness direction of the placing portion, and the end of the fifth reference pin The surface is a plane orthogonal to the thickness direction of the placing part. With this configuration, the first coordinate system and the second coordinate system can be performed by using the fifth reference pin of the teaching jig placed on the pallet stage to teach the specific position on the pallet stage side to the panel holding part. Corresponding to the vertical direction. In the teaching method of the robot using the teaching jig of the present invention, for example, the following position is taught to the panel holding part: inserting the first reference pin of the teaching jig placed on the pallet stage into the panel holding part The first reference hole, and the fourth reference pin of the teaching jig placed on the pallet stage is inserted into the position of the second reference hole formed in the panel holding part; one of the teaching jigs placed on the pallet stage The position where the second reference pin is inserted into the first reference hole; and the position where the third reference pin of the teaching jig placed on the tray stage is inserted into the first reference hole. [Effects of the Invention] As described above, in the present invention, the teaching operation when the storage position of the display panel in the tray is changed in the tray of the robot that transports the display panel to the tray is not required.

Hereinafter, the embodiments of the present invention will be described with reference to the drawings. (Configuration of transport system) Fig. 1 is a side view of a transport system 1 incorporating a robot 9 according to an embodiment of the present invention. Fig. 2 is a top view showing the conveying system 1 from the E-E direction of Fig. 1. FIG. 3 is a plan view for explaining the state in which the liquid crystal panel 2 is contained 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 top view of the panel holding portion 29 shown in FIG. 4. The robot 9 of this form is a robot used to carry out the display panel, that is, the liquid crystal panel 2 from the tray 3 placed on the tray stages 6 and 7. This robot 9 is incorporated in the conveying system 1 and used. The transport system 1 is integrated into the manufacturing line of liquid crystal displays used in portable machines and the like. The conveying system 1 conveys the liquid crystal panel 2 and supplies the liquid crystal panel 2 to a processing device 15 (refer to FIG. 2) that performs a specific process on the liquid crystal panel 2. In addition, 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. In the tray 3, the liquid crystal panel 2 can be stored, and a storage recess for storing the liquid crystal panel 2 is formed on the upper surface of the tray 3. The number of liquid crystal panels 2 stored in the tray 3 varies according to the size of the liquid crystal panel 2 and the like. For example, according to the size of the liquid crystal panel 2 in the tray 3, two liquid crystal panels 2 are stored 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( As shown in C), 8 liquid crystal panels 2 are housed. In addition, in FIG. 2, the illustration of the liquid crystal panel 2 stored in the tray 3 is omitted. In addition to the two tray stages 6 and 7 and the robot 9, the transport system 1 also includes two conveyors 4 and 5 for transporting the tray 3. The conveyors 4 and 5 transport the pallets 3 stacked in multiple layers (ie, the stacked pallets 3) straight in the horizontal direction. For example, the conveyors 4 and 5 linearly convey the pallets 3 stacked in 20 layers in the horizontal direction. In addition, the transport system 1 includes a robot 8 that transports the tray 3 between the conveyors 4 and 5 and the tray stages 6 and 7 and a supply unit 10 that receives the liquid crystal panel 2 from the robot 9 and supplies it 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 etc.) is set as the "front and rear direction", and the direction orthogonal to the vertical direction (vertical direction) and the front and rear direction (Fig. 1st grade Y direction) is set to "left and right direction". Also, let one side of the front-rear direction (X1 direction side in Fig. 1 etc.) be the "front" side, and set the opposite side (X2 direction side in Fig. 1, etc.) to the "rear (rear) side", and set the left and right direction One side (the side in the Y1 direction in Fig. 2 etc.) is referred to as the "right" side, and the opposite side (the side in the Y2 direction in Fig. 2 etc.) is referred to as the "left" side. In this aspect, the processing device 15 is arranged on the rear side of the conveying system 1. In addition, the tray stages 6 and 7 are arranged on the rear side of the conveyors 4 and 5, and the supply unit 10 is arranged on the rear side of the tray stages 6 and 7. In addition, the conveying system 1 includes a main body frame 11 on which conveyors 4 and 5, tray stages 6, 7, a robot 8 and a supply unit 10 are installed, and a main body frame 12 on which a robot 9 is installed. The upper surface of the main body frame 11 is formed in a plane shape orthogonal to the vertical direction, and the upper surface of the main body frame 11 is provided with conveyors 4, 5, tray stages 6, 7, robot 8 and supply unit 10. The main body frame 12 is a door-shaped frame formed into a substantially door shape, and is provided so as to straddle the rear end portion of the main body frame 11 in the left-right direction. The robot 9 is installed on the upper surface of the main body frame 12. The conveyors 4 and 5 are roller conveyors equipped with 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 transports the stacked pallets 3 to the rear side, and the conveyor 5 transports the stacked pallets 3 to the front side. The liquid crystal panel 2 is stored in the tray 3 conveyed by the conveyor 4. On the other hand, the tray 3 conveyed by the conveyor 5 does not contain the liquid crystal panel 2, so the tray 3 conveyed by the conveyor 5 is an empty tray. In addition, the conveyors 4 and 5 may also be belt conveyors and the like. On the front end side of the conveyor 4, the pallet 3 in a stacked state transported by the operator from a shelf (not shown) for temporary placement is placed. The stacked tray 3 placed on the front end of the conveyor 4 is transported to the rear, and the stacked tray 3 transported to the rear of the conveyor 4 is unstacked by the robot 8 as described later. In addition, on the rear end side of the conveyor 5, the empty pallets 3 are stacked by the robot 8 as described later. If the tray 3 is stacked to a specific number of layers, the tray 3 in the stacked state is transported to the front side. The stacked pallets 3 conveyed to the front end side of the conveyor 5 are conveyed by the operator to a shelf for empty pallets. One tray 3 is placed on the tray 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 arranged in a state with a certain interval in the left-right direction. The upper surfaces of the tray stages 6, 7 are formed in a planar shape orthogonal to the up-down direction. The tray 3 is placed on the tray platforms 6 and 7 such that the direction of the long side of the tray 3 formed into a rectangular flat plate is consistent with 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 that is held by the main body frame 20 so as to be slidable in the left-right direction relative to the main body frame 20; and a movable frame 22 that is movable relative to The frame 21 is held by the movable frame 21 so as to slide forward and backward; the movable frame 23 is held by the movable frame 22 so as to be slidable in the up and down directions relative to the movable frame 22; and the tray holding portion 24 is mounted on the movable frame Frame 23. In addition, the robot 8 includes a drive mechanism that slides the movable frame 21 in the left and right directions, a drive mechanism that slides the movable frame 22 in the forward and backward directions, and a drive mechanism that slides the movable frame 23 in the up and down directions. The main body frame 20 is installed so as to straddle the conveyors 4 and 5 in the left-right direction. The movable frame 21 is installed on the upper surface side of the main body frame 20. The movable frame 22 is installed 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 installed at the lower end of the movable frame 23. The tray holding part 24 is provided with a plurality of suction parts for sucking the tray 3. The suction part contacts the upper surface of the tray 3 when the robot 8 transports the tray 3 and vacuum suctions the tray 3. The robot 8 transports the pallets 3 from the conveyor 4 to the pallet stages 6 and 7 and conveys the pallets 3 from the pallet stages 6 and 7 to the conveyor 5. Specifically, the robot 8 transports the stacked pallets 3 on the rear end side of the conveyor 4 to the pallet stage 6 or the pallet stage 7 one by one, and unstacks the stacked pallets 3 on the conveyor 4. In addition, the robot 8 transports the 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 25; three rods 26 connected to the main body 25; three arm parts 27 connected to each of the three rods 26; and a head unit 28 as a movable part connected to Three arm portions 27; and a panel holding portion 29, which are mounted on the head unit 28. The main body portion 25 is provided in a manner of hanging over the upper surface portion of the main body frame 12. In addition, the main body portion 25 is arranged above the tray stages 6 and 7 and is arranged on the rear side of 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 substantially 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 a pitch of approximately 120° to the outer peripheral side of the main body portion 25. In addition, the base ends of the three rods 26 are rotatably connected to the main body 25. A motor 30 with a speed reducer as a rotating drive mechanism for rotating the lever 26 is arranged at the connecting portion between the main body 25 and the rod 26. The robot 9 of this form is provided with three motors 30 that 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 base end side of the arm 27 is rotatably connected to the distal end side of the rod 26. Specifically, the arm 27 includes two linear arms 32 parallel to each other, and the base end side of each of the two arms 32 is rotatably connected to the distal end side of the rod 26. The head unit 28 is rotatably connected to the end sides of the three arm parts 27. That is, the head unit 28 is rotatably connected to the end side of the six arms 32. In the robot 9, by individually driving the three motors 30, the head unit 28 can be moved to any position in the up-down direction, the left-right direction and the front-rear direction in a specific area, and the head unit 28 can maintain a certain posture. (Specifically, it moves in a state where the panel holding portion 29 faces the lower side). The panel holding portion 29 is formed in a substantially rectangular flat plate shape. The panel holding portion 29 is installed at the lower end of the head unit 28 in such a manner that the thickness direction of the panel holding portion 29 formed in a flat plate shape coincides with the vertical direction. In addition, 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 an axial direction in the upper and lower directions by the power of the motor 33. In this embodiment, the main body 25, the three rods 26, the three arm portions 27, the head unit 28, the three motors 30, and the motors 33 constitute a moving mechanism 35 that moves the panel holding portion 29. The panel holding portion 29 includes a plurality of suction portions (not shown) for vacuum suction of the liquid crystal panel 2. The suction part is arranged on the lower surface side of the panel holding part 29, and the panel holding part 29 holds the liquid crystal panel 2 by sucking the upper surface of the liquid crystal panel 2 with the suction part. In addition, two reference holes 29a, 29b (refer to FIG. 5) used in the teaching operation 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 the shape of a circular hole 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 vertical direction, the reference holes 29a and 29b are formed at positions deviated from the rotation center C1 of the panel holding portion 29 rotated by the power of the motor 33. In addition, when viewed from the vertical direction, the reference hole 29a and the reference hole 29b are formed so as to sandwich the rotation center C1. In addition, the reference holes 29a and 29b may be formed in the shape of a circular hole 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 carries out the liquid crystal panel 2 piece by piece 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 panels 2 from the tray 3 one by one until the tray 3 placed on the tray stages 6 and 7 becomes empty. Moreover, the robot 9 conveys the liquid crystal panel 2 carried out from the tray 3 to the panel stage 38 mentioned 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 is provided with an alignment device 37 that aligns 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 on the panel stage 38 is placed the liquid crystal panel 2 carried out by the robot 9 from the tray 3 on the tray stages 6 and 7. In addition, the supply unit 10 includes a robot 39 that transports the liquid crystal panel 2 after reading the data by the data reading device 36 to the processing device 15; and an ionizer (static electricity removal device) 40 that transports the liquid crystal from the processing device 15 The panel 2 removes static electricity; the transport device 41, which transports the liquid crystal panel 2 aligned by the alignment device 37 to the robot 39; and the robot 42, which transports the liquid crystal panel 2 aligned by the alignment device 37 to the transport device 41 . In the supply unit 10, when the liquid crystal panel 2 is aligned by the alignment device 37, the robot 42 conveys the liquid crystal panel 2 to the conveying device 41. The conveying device 41 conveys the liquid crystal panel 2 to the robot 39. In addition, when the conveying device 41 conveys the liquid crystal panel 2 to the robot 39, it stops once in order to read the data of the liquid crystal panel 2 by the data reading device 36. The ionizer 40 is disposed above the conveying device 41 and removes static electricity of the liquid crystal panel 2 conveyed by the conveying device 41. (Robot control method) Set the coordinate system based on the reference point set on the pallet stage 6 and 7 side as the first coordinate system, and set the coordinate system based on the reference point set on the robot 9 side (robot coordinate system) as The second coordinate system, the first coordinate system and the second coordinate system are pre-established correspondence by teaching specific parts of the tray stages 6 and 7 to the panel holding portion 29 using a teaching jig 50 described later. In addition, 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 preset Correspondence is established, and the first coordinate system and the second coordinate system on the side of the tray stage 7 are previously corresponded. 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 stages 6 and 7 is set as the target reaching position of the panel holding portion 29, the panel holding portion 29 of the first coordinate system display will be used. Set the coordinates of the target arrival position as the first coordinate, and set the coordinates of the target arrival position of the panel holding portion 29 displayed using the second coordinate system as the second coordinate, and then input the first coordinate when the panel holding portion 29 operates The control unit 45 (refer to FIG. 4) that controls the robot 9 (coordinate input step). That is, when the panel holding portion 29 operates, the first coordinate of the positional coordinates of the liquid crystal panel 2 of the tray 3 stored on the tray stages 6 and 7 is input to the control portion by the first coordinate system display panel holding portion 29 45. The control unit 45 converts the first coordinate input in the coordinate input step into the 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 (panel holding portion action step). The panel holding part 29 moved to the target arrival position holds the liquid crystal panel 2 and transports it to the panel stage 38. In addition, the storage position of the liquid crystal panel 2 in the tray 3 changes according to the size of the liquid crystal panel 2 and the like (refer to FIG. 3). Therefore, the target reaching position of the panel holding portion 29 varies according to 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. (Configuration of teaching jig) Fig. 6 is a diagram showing the teaching jig 50 used in the teaching operation of the robot 9 shown in Fig. 4, (A) is a top view, (B) is a front view, (C) Department side view. The teaching jig 50 is used for the teaching operation of the robot 9 corresponding to the first coordinate system and the second coordinate system. The teaching jig 50 includes a mounting part 51 which is mounted on the tray mounting tables 6 and 7 and five reference pins 52 to 56 which stand up from the mounting part 51. The reference pin 52 of this form is the first reference pin, the reference pin 53 is the second reference pin, the reference pin 54 is the third reference pin, the reference pin 55 is the fourth reference pin, and the reference pin 56 is the fifth reference pin. The placing portion 51 is formed in a rectangular flat plate shape. Specifically, if the specific direction (the V direction in FIG. 6(A)) orthogonal to the thickness direction of the placing portion 51 is set as the first direction, it will be orthogonal to the thickness direction and the first direction of the placing portion 51 When the direction (the W direction in FIG. 6(A)) is set as the second direction, the placement 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 placing portion 51 matches the outer shape of the tray 3. In the following, 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 the surface on one side in the thickness direction of the placing portion 51, and stand up from the surface on the one side in the thickness direction of the placing portion 51 toward one side in the thickness direction of the placing portion 51. The reference pins 52 to 54 are arranged in each of three places among the four corners of the mounting portion 51 formed in a rectangular shape. The reference pin 56 is arranged at the center of the placing portion 51. The reference pin 53 is arranged at the same position as the reference pin 52 in the W direction and 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 at a position deviated from the reference pin 52 in the W direction. The reference pin 55 is arranged adjacent to the reference pin 52. Specifically, the reference pin 55 is arranged adjacent to the reference pin 52 in the W direction. The distance between the reference pin 52 and the reference pin 55 is shorter 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. In addition, the distance between the reference pin 52 and the reference pin 55 is equal to the distance between the reference hole 29a and the reference hole 29b 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. In addition, the outer diameters of the reference pins 52 to 54 are substantially equal to the inner diameter of the reference hole 29a of the panel holding portion 29. On the end sides of the reference pins 52 to 54, there is formed a conical trapezoidal tapered portion whose outer diameter gradually decreases toward the end 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. In addition, the outer diameter of the reference pin 55 is substantially equal to the inner diameter of the reference hole 29b of the panel holding portion 29. On the end side of the reference pin 55, a conical trapezoidal tapered portion whose outer diameter gradually decreases as it goes to the end side of the reference pin 55 is also formed. The end surface of the reference pin 56 is a plane orthogonal to the thickness direction of the placing portion 51. (The teaching method of the robot) In this form, the teaching operation of the robot 9 is performed as follows, and the first coordinate system is associated with the second coordinate system. First, the teaching jig 50 is placed on the tray stage 6. Specifically, the teaching jig 50 is placed on the tray stage 6 as follows: the thickness direction and the vertical direction of the placement portion 51 are consistent, and the longitudinal direction and the front-rear direction of the placement portion 51 are consistent In addition, 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 and the position where the teaching jig 50 is placed on the tray stage 6 are the same positions. 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 The position is taught to the panel holding portion 29 (the first teaching step). In the first teaching step, the first coordinate system is corresponding to the second coordinate system in the rotation direction, which is the axis of rotation. Furthermore, the panel holding part 29 is moved, as shown by the broken line in FIG. 6(A), and the position where the reference pin 53 is inserted into the reference hole 29a is taught to the panel holding part 29 (2nd teaching step). According to the first teaching step and the second teaching step, the first coordinate system is associated with the second coordinate system in the front-rear direction. In addition, the panel holding portion 29 is moved, as shown by the one-dot chain line in FIG. 6(A), and the position where the reference pin 54 is inserted into the reference hole 29a is taught to the panel holding portion 29 (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, the panel holding portion 29 is moved, as shown by the two-dot chain line in FIG. 6(B), and the lower surface of the panel holding portion 29 is aligned with the end surface (upper end surface) of the reference pin 56 in a state with a small gap separated from each other. The position to which is taught to the panel holding portion 29 (the fourth teaching step). According to the fourth teaching step, the first coordinate system and the second coordinate system are corresponded in the up and down direction. In addition, in the fourth teaching step, the position where the lower surface of the panel holding portion 29 is in contact with the end surface of the reference pin 56 can also 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 can be executed in sequence or in any order. Also, 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, when the reference hole 29a is shifted from the rotation center C1 in the left-right direction, the reference hole is corrected The offset between 29a and the center of rotation C1 corresponds to the first coordinate system in the left-right direction and the second coordinate system. In addition, when the spin center C1 of the reference hole 29a is shifted in the front-rear direction, the first coordinate system and the second coordinate system in the front-rear direction are corresponded by correcting the shift between the reference hole 29a and the spin center C1. . When the teaching operation of the robot 9 using the teaching jig 50 placed on the pallet stage 6 is completed, the teaching jig 50 is placed on the pallet stage 7. In addition, the teaching operation of the robot 9 using the teaching jig 50 placed on the pallet stage 7 is similarly performed. (Main effects of this form) As explained above, in this form, by using the teaching jig 50 to teach the specific parts of the tray carrier 6, 7 side to the panel holding part 29, the first coordinate system and Correspondence is established in advance for the second coordinate system. In addition, in this embodiment, when the panel holding portion 29 operates, the first coordinate is input to the control portion 45, and the control portion 45 converts the input first coordinate into the second coordinate, and controls the moving mechanism 35 based on the second coordinate. The panel holding portion 29 is moved to the target reaching position of the panel holding portion 29. Therefore, in this embodiment, 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, it will be even in the storage position of the liquid crystal panel 2 in the tray 3 afterwards. During the change, the teaching operation of the robot 9 is not performed, and the input first coordinate can be converted into the second coordinate, and the panel holding portion 29 can be moved to the storage position of the liquid crystal panel 2 in the tray 3. That is, in this embodiment, if the teaching jig 50 is used to perform the teaching operation of the robot 9, when the storage position of the liquid crystal panel 2 in the tray 3 subsequently changes, the teaching operation of the robot 9 may not be performed. Therefore, in this form, the teaching operation of the robot 9 when the storage position of the liquid crystal panel 2 in the tray 3 changes is unnecessary. 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 aspect, in the first teaching step, it is possible to prevent the 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 the present aspect, it is possible to prevent an operation error when the first coordinate system and the second coordinate system corresponding to the rotation direction in which the up and down direction is the axial direction of the rotation are performed. (Other Embodiments) The above-mentioned embodiment is an example of a preferable embodiment of the present invention, but it is not limited to this, and various changes can be implemented without changing the gist of the present invention. In the above aspect, 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 on the tray 3 placed on the tray stages 6 and 7. Also, in this case, in order to store the liquid crystal panel 2 held by the panel holding portion 29 in the tray 3 on the tray stages 6, 7, the position where the panel holding portion 29 releases the liquid crystal panel 2 becomes the target of the panel holding portion 29 Arrived at the location. In addition, the robot 9 may also be incorporated in a conveying system that conveys the liquid crystal panel 2 supplied to the processing device 15 and conveys the liquid crystal panel 2 discharged from the processing device 15. In this case, the robot 9 carries out the unloading of the liquid crystal panel 2 from the tray 3 placed on the tray stages 6 and 7 and the transfer to the liquid crystal panel 2 of the tray 3 placed on the tray stages 6 and 7. Also, 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 stages 6, 7 or in order to store the liquid crystal panel 2 held by the panel holding portion 29 on the tray stage 6. , 7 on the tray 3 and the position where the panel holding portion 29 releases the liquid crystal panel 2 becomes the target arrival position of the panel holding portion 29. In the above form, the teaching jig 50 may not have the reference pin 56. In this case, for example, it is possible to teach the panel holding portion 29 at a position where the end surface of any one of the reference pins 52 to 54 and the lower surface of the panel holding portion 29 are opposed to each other with a small gap therebetween. Correspondence between the first coordinate system and the second coordinate system in the vertical direction. In addition, in the above-mentioned form, the teaching jig 50 may not include the reference pin 55. In this case, for example, fix two or more reference pins corresponding to the first coordinate system and the second coordinate system in the rotating direction, which is the axial direction of the upper and lower directions, to the mounting part. 51. In the above form, one tray 3 is placed on the tray stages 6, 7, but a plurality of trays 3 may be placed on the tray stages 6, 7 so as not to overlap each other. Furthermore, in the above-mentioned form, 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. In addition, the outer diameter of the reference pin 55 and the outer diameter of the reference pin 52 may be equal. In the above form, the robot 9 is a parallel robot, but the robot 9 may also be a horizontal articulated robot. In addition, 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 transported by the robot 9 may also be an organic EL (Electro Luminescence) panel.

1‧‧‧Transportation 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‧‧‧Body frame 12‧‧‧Body frame 15‧‧‧Processing device 20‧‧‧Body frame 21‧‧‧Movable frame 22‧‧‧Movable frame 23 ‧‧‧Movable frame 24‧‧‧Tray holding part 25‧‧‧Body part 26‧‧‧Bar 27‧‧‧Arm part 28‧‧‧Head unit (movable part) 29‧‧‧Panel holding part 29a‧‧‧ Reference hole (1st reference hole) 29b‧‧‧ Reference hole (2nd reference hole) 30‧‧‧Motor (rotating drive mechanism) 32‧‧‧Arm 33‧‧‧Motor 35‧‧‧Moving mechanism 36‧‧ ‧Data reading device 37‧‧‧Alignment device 38‧‧‧Panel stage 39‧‧‧Robot 40‧‧‧Ionizer 41‧‧‧Transfer device 42‧‧‧Robot 45‧‧‧Control part 50‧‧ ‧Teaching jig 51‧‧‧Mounting part 52‧‧‧Reference pin (1st reference pin) 53‧‧‧Reference pin (2nd reference pin) 54‧‧‧ Reference pin (3rd reference pin) 55‧ ‧‧ Reference pin (4th reference pin) 56‧‧‧ Reference pin (5th reference pin) C1‧‧‧ Rotation center EE‧‧ Direction V‧‧‧First direction W‧‧‧Second direction X‧ ‧‧Front and rear direction X1‧‧‧Front side X2‧‧‧Back side Y‧‧‧Left and right direction Y1‧‧‧Right side Y2‧‧‧Left side

Fig. 1 is a side view of a conveying system incorporating a robot according to an embodiment of the present invention. Fig. 2 is a top view showing the conveying system from the E-E direction of Fig. 1. 3(A) to (C) are top views for explaining the state in which 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 top view of the panel holding portion shown in Fig. 4. Fig. 6 is a diagram of the 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‧‧‧Transportation system

3‧‧‧Tray

5‧‧‧Conveyor

7‧‧‧Tray carrier

8‧‧‧Robot

9‧‧‧Robot

10‧‧‧Supply unit

11‧‧‧Ontology frame

12‧‧‧Ontology frame

20‧‧‧Ontology frame

21‧‧‧Movable frame

22‧‧‧Movable frame

23‧‧‧Movable frame

24‧‧‧Tray holding part

25‧‧‧Main body

26‧‧‧Pole

27‧‧‧Arm

28‧‧‧Head unit (movable part)

29‧‧‧Panel holding part

30‧‧‧Motor (rotating drive mechanism)

32‧‧‧arm

35‧‧‧Mobile mechanism

36‧‧‧Data reading device

37‧‧‧Alignment device

38‧‧‧Panel Stage

39‧‧‧Robot

40‧‧‧Ionizer

42‧‧‧Robot

E-E‧‧‧ direction

X‧‧‧Front and back direction

X1‧‧‧Front side

X2‧‧‧Back

Y‧‧‧Left and right direction

Y1‧‧‧right

Claims (8)

A robot, characterized in that it is a robot that performs at least any one of actions of carrying out a display panel from a tray placed on a tray carrier and carrying a display panel into a tray placed on the tray carrier, and is provided with: holding the above-mentioned display panel The panel holding part, the moving mechanism that moves the panel holding part, and the control part that controls the robot; and the moving mechanism is provided with a motor, and the upper and lower directions are the axis of rotation to rotate the panel holding part; The panel holding portion forms the first reference hole and the second reference hole used in the teaching operation of the robot; when viewed from the vertical direction, the first reference hole and the second reference hole are rotated by the power of the motor The rotation center of the panel holding part is formed; the inner diameter of the first reference hole is greater than the inner diameter of the second reference hole; the display of the tray held on the tray carrier by the panel holding part The position of the panel, or the position where the display panel is released by the panel holding part in order to store the display panel held by the panel holding part on the tray on the tray carrier is set as the target reaching position of the panel holding part , Set the coordinate system based on the reference point set on the pallet stage side as the first coordinate system, and set the coordinate system based on the reference point set on the robot side as the second coordinate system, and the above first coordinate system will be used The coordinates of the target arrival position of the panel holding portion indicated are set to the first coordinate, and the coordinates of the target arrival position of the panel holding portion indicated by the second coordinate system are set to the second coordinate, then the first coordinate system and The second coordinate system is pre-established by teaching the specific position of the tray carrier side to the panel holding part Corresponding; and when the panel holding portion operates, the first coordinate is input to the control portion, and the control portion converts the input first coordinate to the second coordinate, and controls the moving mechanism based on the second coordinate, and The panel holding part is moved to the target reaching position of the panel holding part. The robot of claim 1, wherein the moving mechanism includes: a main body; a plurality of rods, which are rotatably connected to the main body on the base end side; and a plurality of arm sections, each of which is rotatable on the base end side Connected to each of the end sides of the plurality of rods; a movable portion, which is rotatably connected to the end sides of the plurality of arm portions; and a plurality of rotating drive mechanisms, which make each of the plurality of rods rotate And a plurality of the rods are connected to the main body in such a way as to extend substantially radially at substantially equal angular intervals to the outer peripheral side of the main body; the arm is provided with two straight arms parallel to each other; and 2 The base end side of each of the arms is rotatably connected to the end side of the rod, and the movable part is rotatably connected to the end sides of the two arms; the panel holding part is attached to the movable part. A control method of a robot, characterized in that it is a control method of a robot having a panel holding portion for holding a display panel, and a moving mechanism for moving the panel holding portion, and the moving mechanism is provided with a motor, the above The downward direction is the axis of rotation, so that the panel holding part rotates; the panel holding part forms the first reference hole and the second reference hole used in the teaching operation of the robot; when viewed from the vertical direction, the first reference hole is Reference hole and the above 2 The reference hole is formed through the center of rotation of the panel holding part that is rotated by the power of the motor; the inner diameter of the first reference hole is larger than the inner diameter of the second reference hole; it is self-loading on the tray The tray of the carrier moves at least any one of the above-mentioned display panel out of the tray and the above-mentioned display panel is carried in the tray placed on the tray carrier, and the panel holding portion holds the display panel of the tray stored on the tray carrier The position, or the position where the display panel is released by the panel holding part in order to store the display panel held by the panel holding part in the tray on the tray carrier is set as the target reaching position of the panel holding part, The coordinate system based on the reference point set on the pallet carrier side is set to the first coordinate system, and the coordinate system based on the reference point set on the robot side is set to the second coordinate system, and the first coordinate system will be used to represent The coordinates of the target reaching position of the panel holding portion are set to the first coordinate, and the coordinates of the target reaching position of the panel holding portion represented by the second coordinate system are set to the second coordinate, then the first coordinate system is the same as the first coordinate system. The second coordinate system is pre-established correspondence by teaching the specific position of the tray carrier side to the panel holding part; and the above control method includes: inputting the coordinate input step of the first coordinate; and inputting the coordinate input step in the above coordinate input step The first coordinate is converted to the second coordinate, and the moving mechanism is controlled based on the second coordinate to move the panel holding portion to the target reaching position of the panel holding portion. A teaching jig, characterized in that it is a teaching jig used in the teaching operation of a robot. The robot has 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 any one of the actions of moving the display panel out of the tray placed on the tray loading platform and moving the display panel into the tray placed on the tray loading platform, and the teaching The jig is equipped with: a plate-shaped placement portion placed on the tray table, and a first raised from one side of the placement portion in the thickness direction toward one side of the placement portion in the thickness direction Reference pins, second reference pins, and third reference pins; and set the specific direction orthogonal to the thickness direction of the placement portion as the first direction, and set it orthogonal to the thickness direction of the placement portion and the first direction The direction is set as the second direction, then the outer diameter of the first reference pin, the outer diameter of the second reference pin, and the outer diameter of the third reference pin are equal, and the second reference pin is arranged in the first direction The position deviated from the first reference pin, and the third reference pin is arranged at a position deviated from the first reference pin in the second direction. Such as the teaching jig of claim 4, which includes: a fourth reference pin that rises from one side of the thickness direction of the placing portion toward one side of the thickness direction of the placing portion; and the fourth reference The pins are arranged 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 The distance between the pins is closer. Such as the teaching jig of 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 that rises from one side of the placement portion in the thickness direction toward one side of the placement portion in the thickness direction ; And The distal end surface of the fifth reference pin is a plane orthogonal to the thickness direction of the placing 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 the requirements 4 to 7, and the following position is taught to the panel holding part: the tray is placed on the tray The first reference pin of the teaching jig of the carrier 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 carrier is inserted into the formation. In the position of the second reference hole of the panel holding portion; insert the second reference pin of the teaching jig placed on the tray carrier into the position of the first reference hole; and place the place on the tray carrier The position where the third reference pin of the teaching jig of the table is inserted into the first reference hole.

Images