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

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

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TWI730134B
TWI730134B TW106121946A TW106121946A TWI730134B TW I730134 B TWI730134 B TW I730134B TW 106121946 A TW106121946 A TW 106121946A TW 106121946 A TW106121946 A TW 106121946A TW I730134 B TWI730134 B TW I730134B
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coordinate
tray
pin
panel
robot
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TW106121946A
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Chinese (zh)
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TW201804565A (en
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遠藤和雄
赤羽賢俊
瀧澤典彦
小口陽二
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日商日本電產三協股份有限公司
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Priority to JP??2016-130227 priority Critical
Priority to JP2016130227A priority patent/JP6709692B2/en
Priority to PCT/JP2017/022540 priority patent/WO2018003575A1/en
Priority to WOPCT/JP2017/022540 priority
Priority to ??PCT/JP2017/022540 priority
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Abstract

本發明之自托盤載台7上之托盤3搬出顯示面板之機器人9具備:面板固持部29、及面板固持部29之移動機構35。若將托盤載台7側之座標系設為第1座標系,將機器人9側之座標系設為第2座標系,將以第1座標系表示之面板固持部29之目標到達位置之座標設為第1座標,將以第2座標系表示之面板固持部29之目標到達位置之座標設為第2座標,第1座標系與第2座標系係藉由將托盤載台7側之特定位置向面板固持部29教示而預先建立對應。於面板固持部29動作時,將第1座標輸入機器人9之控制部,控制部將第1座標轉換為第2座標,基於第2座標控制移動機構35,而使面板固持部29移動至目標到達位置。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

機器人、機器人之控制方法、教示用治具及機器人之教示方法Robots, robot control methods, teaching jigs and robot teaching methods
本發明係關於搬送液晶面板等顯示面板之機器人及機器人之控制方法。又,本發明係關於搬送液晶面板等顯示面板之機器人之教示作業時所使用之教示用治具、及使用該教示用治具之機器人之教示方法。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.
先前,已知有一種組入於可攜式機器等所使用之液晶顯示裝置之組裝線之搬送裝置(例如,參照專利文獻1)。專利文獻1所記載之搬送裝置具備5個搬送單元,且於各搬送單元分配有液晶顯示裝置之組裝步驟之各種組裝加工處理。又,該搬送裝置具備將收納於托盤之液晶面板供給至搬送單元之自動裝載機(參照專利文獻1之圖19)。自動裝載機將液晶面板自動供給至搬送單元內之定位用治具。 [先前技術文獻] [專利文獻] 專利文獻1:國際公開第2012/120956號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
[發明所欲解決之問題] 於專利文獻1所記載之搬送裝置中,自動裝載機具備例如自托盤向定位用治具搬送液晶面板之搬送用機器人。於該搬送用機器人,一般預先教示收納於托盤之複數個液晶面板各者之位置。於該情形時,若托盤內之液晶面板之收納位置不發生變化,若將收納於托盤之複數個液晶面板各者之位置1次向機器人教示,則可自托盤向定位用治具搬送液晶面板。 然而,基於收納於托盤之液晶面板之大小變化等理由,有時托盤內之液晶面板之收納位置會發生變化。此時,若不將液晶面板之收納位置向機器人教示,則無法自托盤向定位用治具搬送液晶面板。因此,於托盤內之液晶面板之收納位置變化時,必須進行機器人之教示作業。 因此,本發明之課題在於提供一種可不需要對托盤進行顯示面板之搬送之機器人的托盤內之顯示面板之收納位置變化時之教示作業的機器人及機器人之控制方法。又,本發明之課題在於提供一種可不需要對托盤進行顯示面板之搬送之機器人的托盤內之顯示面板之收納位置變化時之教示作業的教示用治具及使用該教示用治具之機器人之教示方法。 [解決問題之技術手段] 為了解決上述課題,本發明之機器人之特徵在於,其係進行自載置於托盤載台之托盤搬出顯示面板及向載置於托盤載台之托盤搬入顯示面板之至少任一種動作的機器人,且具備固持顯示面板之面板固持部、使面板固持部移動之移動機構、及控制機器人之控制部,且若將面板固持部固持收納於托盤載台上之托盤之顯示面板的位置、或者為了將面板固持部所固持之顯示面板收納於托盤載台上之托盤而由面板固持部放開顯示面板的位置設為面板固持部之目標到達位置,將基於設定於托盤載台側之基準點之座標系設第1座標系,將基於設定於機器人側之基準點之座標系設為第2座標系,將使用第1座標系表示之面板固持部之目標到達位置之座標設為第1座標,將使用第2座標系表示之面板固持部之目標到達位置之座標設為第2座標,第1座標系與第2座標系係藉由將托盤載台側之特定位置向面板固持部教示而預先建立對應,且於面板固持部動作時,將第1座標輸入於控制部,控制部將輸入之第1座標轉換為第2座標,基於第2座標控制移動機構,而使面板固持部移動至面板固持部之目標到達位置。 又,為了解決上述課題,本發明之機器人之控制方法之特徵在於,其係如下之機器人之控制方法,該機器人具備固持顯示面板之面板固持部、及使面板固持部移動之移動機構,且進行自載置於托盤載台之托盤搬出顯示面板及向載置於托盤載台之托盤搬入顯示面板之至少任一種動作,且若將面板固持部固持收納於托盤載台上之托盤之顯示面板的位置、或者為了將面板固持部所固持之顯示面板收納於托盤載台上之托盤而由面板固持部放開顯示面板的位置設為面板固持部之目標到達位置,將基於設定於托盤載台側之基準點之座標系設為第1座標系,將基於設定於機器人側之基準點之座標系設為第2座標系,將使用第1座標系表示之面板固持部之目標到達位置之座標設為第1座標,將使用第2座標系表示之面板固持部之目標到達位置之座標設為第2座標,第1座標系與第2座標系係藉由將托盤載台側之特定位置向面板固持部教示而預先建立對應;且上述控制方法具備:輸入第1座標之座標輸入步驟;及將座標輸入步驟中輸入之第1座標轉換為第2座標,基於第2座標控制移動機構,而使面板固持部移動至面板固持部之目標到達位置的面板固持部動作步驟。 於本發明中,基於設定於托盤載台側之基準點之第1座標系與基於設定於機器人側之基準點之第2座標系係藉由將托盤載台側之特定位置向面板固持部教示而預先建立對應,若輸入使用第1座標系顯示之面板固持部之目標到達位置之第1座標,則將第1座標轉換為使用第2座標系顯示之面板固持部之目標到達位置之第2座標,基於第2座標控制移動機構,而使面板固持部移動至面板固持部之目標到達位置。 因此,於本發明中,若進行用以進行第1座標系與第2座標系之對應之機器人之教示作業,則即便於隨後托盤內之顯示面板之收納位置變化時不進行機器人之教示作業,亦可將輸入之第1座標轉換為第2座標,而使面板固持部移動至托盤內之顯示面板之收納位置。即,於本發明中,若進行用以進行第1座標系與第2座標系之對應之機器人之教示作業,則於隨後托盤內之顯示面板之收納位置變化時,可不進行機器人之教示作業。因此,於本發明中,不需要托盤內之顯示面板之收納位置變化時之機器人之教示作業。 於本發明中,例如移動機構具備:本體部;複數條桿,其等基端側可旋動地連結於本體部;複數個臂部,其等基端側各者可旋動地連結於複數條桿之末端側各者;可動部,其可旋動地連結於複數個臂部之末端側;及複數個旋動驅動機構,其等使複數條桿各者旋動;且複數條桿係以向本體部之外周側以大致等角度間距大致放射狀地延伸之方式連結於本體部,臂部具備相互平行之直線狀之2條臂,且2條臂各者之基端側可旋動地連結於桿之末端側,且可動部可旋動地連結於2條臂之末端側,面板固持部安裝於可動部。即,機器人例如為並聯機器人。 又,為了解決上述課題,本發明之教示用治具之特徵在於,其係機器人之教示作業時使用之教示用治具,該機器人具備固持顯示面板之面板固持部、及使面板固持部移動之移動機構,且進行自載置於托盤載台之托盤搬出顯示面板及向載置於托盤載台之托盤搬入顯示面板之至少任一種動作,且該教示用治具具備:載置於托盤載台之板狀之載置部、及自載置部之厚度方向之一側之面朝載置部之厚度方向之一側立起之第1基準銷、第2基準銷及第3基準銷,若將與載置部之厚度方向正交之特定方向設為第1方向,將與載置部之厚度方向及第1方向正交之方向設為第2方向,則第1基準銷之外徑、第2基準銷之外徑及第3基準銷之外徑相等,第2基準銷於第1方向上配置於與第1基準銷偏離之位置,第3基準銷於第2方向上配置於與第1基準銷偏離之位置。 於本發明之教示用治具中,第2基準銷於第1方向上配置於與第1基準銷偏離之位置,第3基準銷於第2方向上配置於與第1基準銷偏離之位置。因此,於本發明中,藉由使用載置於托盤載台之教示用治具之第1基準銷與第2基準銷將托盤載台側之特定位置向面板固持部教示,可進行基於設定於托盤載台側之基準點之第1座標系與基於設定於機器人側之基準點之第2座標系之第1方向的對應。又,藉由使用載置於托盤載台之教示用治具之第1基準銷與第3基準銷將托盤載台側之特定位置向面板固持部教示,可進行第1座標系與第2座標系之第2方向的對應。 因此,於本發明中,若使用教示用治具進行機器人之教示作業,則隨後可將使用第1座標系顯示之面板固持部之目標到達位置之第1座標轉換為使用第2座標系顯示之面板固持部之目標到達位置之第2座標,並基於第2座標,使面板固持部移動至面板固持部之目標到達位置。即,於本發明中,若使用教示用治具進行機器人之教示作業,則即便隨後於托盤內之顯示面板之收納位置變化時不進行機器人之教示作業,亦可使面板固持部移動至托盤內之顯示面板之收納位置。因此,若使用本發明之教示用治具進行機器人之教示作業,則可不需要托盤內之顯示面板之收納位置變化時之機器人之教示作業。 於本發明中,較佳為教示用治具具備自載置部之厚度方向之一側之面朝載置部之厚度方向之一側立起之第4基準銷,且第4基準銷與第1基準銷相鄰配置,第1基準銷與第4基準銷之距離較第1基準銷與第2基準銷之距離、及第1基準銷與第3基準銷之距離更近。若如此構成,則可藉由使用載置於托盤載台之教示用治具之第1基準銷與第4基準銷將托盤載台側之特定位置向面板固持部教示,而進行以鉛直方向為旋動之軸向之旋動方向上之第1座標系與第2座標系之對應。 於本發明中,較佳為第1基準銷之外徑與第4基準銷之外徑不同。若如此構成,則可防止使用第1基準銷與第4基準銷進行以鉛直方向為旋動之軸向之旋動方向之第1座標系與第2座標系之對應時的操作錯誤。 於本發明中,較佳為教示用治具具備自載置部之厚度方向之一側之面朝載置部之厚度方向之一側立起之第5基準銷,且第5基準銷之末端面為與載置部之厚度方向正交之平面。若如此構成,則可藉由使用載置於托盤載台之教示用治具之第5基準銷將托盤載台側之特定位置向面板固持部教示,而進行第1座標系與第2座標系之鉛直方向之對應。 於使用本發明之教示用治具之機器人之教示方法中,例如將以下位置向面板固持部教示:將載置於托盤載台之教示用治具之第1基準銷插入形成於面板固持部之第1基準孔、且將載置於托盤載台之教示用治具之第4基準銷插入形成於面板固持部之第2基準孔的位置;將載置於托盤載台之教示用治具之第2基準銷插入第1基準孔的位置;及將載置於托盤載台之教示用治具之第3基準銷插入第1基準孔的位置。 [發明之效果] 如以上般,於本發明中,可不需要對托盤進行顯示面板之搬送之機器人的托盤內之顯示面板之收納位置變化時的教示作業。[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.
以下,一面參照圖式,一面說明本發明之實施形態。 (搬送系統之構成) 圖1係組入有本發明實施形態之機器人9之搬送系統1之側視圖。圖2係自圖1之E-E方向顯示搬送系統1之俯視圖。圖3係用以說明於圖2所示之托盤3收納有液晶面板2之狀態之俯視圖。圖4係圖1所示之機器人9之立體圖。圖5係圖4所示之面板固持部29之俯視圖。 本形態之機器人9係用以自載置於托盤載台6、7之托盤3搬出顯示面板即液晶面板2之機器人。該機器人9被組入於搬送系統1而使用。搬送系統1被組入於可攜式機器等所使用之液晶顯示器之製造線。該搬送系統1搬送液晶面板2,並將液晶面板2供給至對液晶面板2進行特定處理之處理裝置15(參照圖2)。又,搬送系統1搬送小型或中型之液晶面板2(例如4英吋~15英吋之液晶面板2)。 液晶面板2形成為長方形之平板狀。托盤3亦形成為長方形之平板狀。於托盤3,可收納液晶面板2,且於托盤3之上表面形成有收納液晶面板2之收納凹部。收納於托盤3之液晶面板2之片數係根據液晶面板2之大小等而變化。例如,於托盤3根據液晶面板2之大小而如圖3(A)所示收納有2片液晶面板2,或如圖3(B)所示收納有4片液晶面板2,或如圖3(C)所示收納有8片液晶面板2。另,於圖2中,省略收納於托盤3之液晶面板2之圖示。 搬送系統1除了2個托盤載台6、7及機器人9以外,亦具備搬送托盤3之2個輸送機4、5。輸送機4、5將堆疊成複數層之托盤3(即層疊之托盤3)向水平方向直線搬送。例如,輸送機4、5將堆疊成20層之托盤3向水平方向直線搬送。又,搬送系統1具備於輸送機4、5與托盤載台6、7之間搬送托盤3之機器人8、及自機器人9接收液晶面板2並供給至處理裝置15之供給單元10。 於以下之說明中,將輸送機4、5之搬送托盤3之方向(圖1等之X方向)設為「前後方向」,將與上下方向(鉛直方向)及前後方向正交之方向(圖1等之Y方向)設為「左右方向」。又,將前後方向之一側(圖1等之X1方向側)設為「前」側,將其相反側(圖1等之X2方向側)設為「後(後方)側」,將左右方向之一側(圖2等之Y1方向側)設為「右」側,將其相反側(圖2等之Y2方向側)設為「左」側。於本形態中,於搬送系統1之後側配置有處理裝置15。又,托盤載台6、7配置於較輸送機4、5更後側,且供給單元10配置於較托盤載台6、7更後側。 又,搬送系統1具備供設置輸送機4、5、托盤載台6、7、機器人8及供給單元10之本體框架11、及供設置機器人9之本體框架12。本體框架11之上表面形成為與上下方向正交之平面狀,且於本體框架11之上表面設置有輸送機4、5、托盤載台6、7、機器人8及供給單元10。本體框架12為形成為大致門型之門型框架,且以於左右方向跨越本體框架11之後端側部分之方式設置。機器人9設置於本體框架12之上表面部。 輸送機4、5為具備複數個滾筒之滾筒輸送機。輸送機4與輸送機5於左右方向相鄰配置。輸送機4將層疊之托盤3向後側搬送,輸送機5將層疊之托盤3向前側搬送。於以輸送機4搬送之托盤3收納有液晶面板2。另一方面,於以輸送機5搬送之托盤3未收納液晶面板2,故以輸送機5搬送之托盤3為空托盤。另,輸送機4、5亦可為帶式輸送機等。 於輸送機4之前端側,載置由作業者自臨時放置用之架子(省略圖示)搬運來之層疊狀態之托盤3。將載置於輸送機4之前端側之層疊狀態之托盤3朝後側搬送,搬送至輸送機4之後端側之層疊狀態之托盤3如後述般由機器人8予以拆疊。又,於輸送機5之後端側,如後述般由機器人8層疊空托盤3。若將托盤3層疊至特定層數,則將層疊狀態之托盤3朝前側搬送。搬送至輸送機5之前端側之層疊狀態之托盤3由作業者搬運至空托盤用之架子。 於托盤載台6、7載置1個托盤3。托盤載台6、7固定於本體框架11。托盤載台6與托盤載台7以於左右方向上隔出特定間隔之狀態配置。托盤載台6、7之上表面形成為與上下方向正交之平面狀。於托盤載台6、7,以形成為長方形之平板狀之托盤3之長邊之方向與前後方向一致之方式載置托盤3。 機器人8為所謂之3軸正交機器人。該機器人8具備:本體框架20,其形成為門型;可動框架21,其以可相對於本體框架20向左右方向滑動之方式被保持於本體框架20;可動框架22,其以可相對於可動框架21向前後方向滑動之方式被保持於可動框架21;可動框架23,其以可相對於可動框架22向上下方向滑動之方式被保持於可動框架22;及托盤固持部24,其安裝於可動框架23。又,機器人8具備使可動框架21向左右方向滑動之驅動機構、使可動框架22向前後方向滑動之驅動機構、及使可動框架23向上下方向滑動之驅動機構。 本體框架20以於左右方向跨越輸送機4、5之方式設置。可動框架21安裝於本體框架20之上表面側。可動框架22安裝於可動框架21之右側。可動框架23安裝於可動框架22之後端側。托盤固持部24安裝於可動框架23之下端。該托盤固持部24具備吸附托盤3之複數個吸附部。該吸附部於機器人8搬送托盤3時與托盤3之上表面接觸並真空吸附托盤3。 機器人8進行自輸送機4向托盤載台6、7之托盤3之搬送、及自托盤載台6、7向輸送機5之托盤3之搬送。具體而言,機器人8將搬送至輸送機4之後端側之層疊狀態之托盤3逐個搬送至托盤載台6或托盤載台7,並將輸送機4上之層疊狀態之托盤3拆疊。又,機器人8將變空之1個托盤3自托盤載台6或托盤載台7搬送至輸送機5之後端側,並將托盤3層疊於輸送機5。 機器人9係所謂之並聯機器人。該機器人9具備:本體部25;3條桿26,其等連結於本體部25;3個臂部27,其等連結於3條桿26各者;作為可動部之頭單元28,其連結於3個臂部27;及面板固持部29,其安裝於頭單元28。本體部25以懸垂於本體框架12之上表面部之方式設置。又,本體部25配置於托盤載台6、7之上方,且配置於較機器人8之本體框架20更後側。 3條桿26以向本體部25之外周側以大致等角度間距大致放射狀地延伸之方式連結於本體部25。即,3條桿26以向本體部25之外周側以大致120°間距大致放射狀地延伸之方式連結於本體部25。又,3條桿26之基端側可旋動地連結於本體部25。於本體部25與桿26之連結部,配置有作為使桿26旋動之旋動驅動機構之附減速機之馬達30。本形態之機器人9具備使3條桿26各者旋動之3個馬達30。馬達30之輸出軸固定於桿26之基端側。 臂部27之基端側可旋動地連結於桿26之末端側。具體而言,臂部27具備相互平行之直線狀之2條臂32,且2條臂32各者之基端側可旋動地連結於桿26之末端側。頭單元28可旋動地連結於3個臂部27之末端側。即,頭單元28可旋動地連結於6條臂32之末端側。於機器人9中,可藉由個別地驅動3個馬達30,而於特定之區域內使頭單元28朝上下方向、左右方向及前後方向之任意位置、且以頭單元28保持一定之姿勢之狀態(具體而言係以保持面板固持部29朝向下側之狀態)移動。 面板固持部29形成為大致長方形之平板狀。該面板固持部29以形成為平板狀之面板固持部29之厚度方向與上下方向一致之方式安裝於頭單元28之下端。又,於頭單元28之上端安裝有馬達33。面板固持部29連結於馬達33,可藉由馬達33之動力而進行以上下方向為旋動之軸向之旋動。於本形態中,藉由本體部25、3條桿26、3個臂部27、頭單元28、3個馬達30及馬達33,構成使面板固持部29移動之移動機構35。 面板固持部29具備真空吸附液晶面板2之複數個吸附部(省略圖示)。該吸附部設置於面板固持部29之下表面側,面板固持部29藉由以吸附部吸附液晶面板2之上表面而固持液晶面板2。又,於面板固持部29形成有機器人9之教示作業時使用之2個基準孔29a、29b(參照圖5)。本形態之基準孔29a為第1基準孔,基準孔29b為第2基準孔。 基準孔29a、29b形成為於上下方向貫通面板固持部29之圓孔狀。基準孔29a之內徑大於基準孔29b之內徑。於自上下方向觀察時,基準孔29a、29b形成於自以馬達33之動力旋動之面板固持部29之旋動中心C1偏離的位置。又,於自上下方向觀察時,基準孔29a與基準孔29b以隔著旋動中心C1之方式形成。另,基準孔29a、29b亦可以不於上下方向貫通面板固持部29之方式形成為自面板固持部29之下表面凹陷之圓孔狀。 機器人9自載置於托盤載台6之托盤3或載置於托盤載台7之托盤3逐片搬出液晶面板2。具體而言,機器人9自托盤3逐片搬出液晶面板2直至載置於托盤載台6、7之托盤3變空為止。又,機器人9將自托盤3搬出之液晶面板2向後述之面板載台38搬送。 供給單元10具備讀取記錄於液晶面板2之液晶面板2之檢查資料等資料的資料讀取裝置36。又,供給單元10具備於以資料讀取裝置36讀取液晶面板2之資料之前進行液晶面板2之對位的對準裝置37。對準裝置37具備載置液晶面板2之面板載台38,且於面板載台38載置由機器人9自托盤載台6、7上之托盤3搬出之液晶面板2。 又,供給單元10具備:機器人39,其將以資料讀取裝置36讀取資料後之液晶面板2向處理裝置15搬送;電離器(靜電去除裝置)40,其自向處理裝置15搬送之液晶面板2去除靜電;搬送裝置41,其將以對準裝置37對位後之液晶面板2向機器人39搬送;及機器人42,其將經對準裝置37對位之液晶面板2搬送至搬送裝置41。 於供給單元10中,若以對準裝置37將液晶面板2對位,則機器人42將液晶面板2搬送至搬送裝置41。搬送裝置41朝機器人39搬送液晶面板2。又,搬送裝置41於朝機器人39搬送液晶面板2時,為了藉由資料讀取裝置36讀取液晶面板2之資料而一次停止。電離器40配置於搬送裝置41之上方,且去除由搬送裝置41搬送之液晶面板2之靜電。 (機器人之控制方法) 將基於設定於托盤載台6、7側之基準點之座標系設為第1座標系,將基於設定於機器人9側之基準點之座標系(機器人座標系)設為第2座標系,第1座標系與第2座標系藉由使用後述之教示用治具50將托盤載台6、7側之特定部位向面板固持部29教示而預先建立對應。另,於本形態中,個別地設定托盤載台6側之第1座標系與托盤載台7側之第1座標系,並將托盤載台6側之第1座標系與第2座標系預先建立對應,且將托盤載台7側之第1座標系與第2座標系預先建立對應。 又,若將面板固持部29固持收納於托盤載台6、7上之托盤3之液晶面板2之位置設為面板固持部29之目標到達位置,將使用第1座標系顯示之面板固持部29之目標到達位置之座標設為第1座標,將使用第2座標系顯示之面板固持部29之目標到達位置之座標設為第2座標,則於面板固持部29動作時,將第1座標輸入於控制機器人9之控制部45(參照圖4)(座標輸入步驟)。即,於面板固持部29動作時,將藉由第1座標系顯示面板固持部29固持收納於托盤載台6、7上之托盤3之液晶面板2之位置座標的第1座標輸入於控制部45。 控制部45將座標輸入步驟中輸入之第1座標轉換為第2座標,並基於第2座標控制移動機構35,而使面板固持部29移動至面板固持部29之目標到達位置(面板固持部動作步驟)。移動至目標到達位置之面板固持部29固持液晶面板2並搬送至面板載台38。另,托盤3內之液晶面板2之收納位置係根據液晶面板2之大小等而變化(參照圖3)。因此,面板固持部29之目標到達位置係根據液晶面板2之大小等而變化。另一方面,載置有液晶面板2時之面板載台38之位置係固定,為了將面板固持部29所固持之液晶面板2載置於面板載台38,面板固持部29放開液晶面板2之位置係固定。 (教示用治具之構成) 圖6係顯示圖4所示之機器人9之教示作業時所使用之教示用治具50之圖,(A)係俯視圖,(B)係前視圖,(C)係側視圖。 於用以將第1座標系與第2座標系建立對應之機器人9之教示作業時,使用教示用治具50。教示用治具50具備:載置部51,其載置於托盤載台6、7;及5條基準銷52~56,其等自載置部51立起。本形態之基準銷52係第1基準銷,基準銷53係第2基準銷,基準銷54係第3基準銷,基準銷55係第4基準銷,基準銷56係第5基準銷。 載置部51形成為長方形之平板狀。具體而言,若將與載置部51之厚度方向正交之特定方向(圖6(A)之V方向)設為第1方向,將與載置部51之厚度方向及第1方向正交之方向(圖6(A)之W方向)設為第2方向,則載置部51形成為以第1方向為長邊方向,以第2方向為短邊方向之長方形之平板狀。載置部51之外形與托盤3之外形一致。於以下將第1方向設為V方向,將第2方向設為W方向。 基準銷52~56形成為圓柱狀。該基準銷52~56固定於載置部51之厚度方向一側之面,且自載置部51之厚度方向一側之面朝載置部51之厚度方向之一側立起。基準銷52~54配置於形成為長方形狀之載置部51之四個角中之3個部位各者。基準銷56配置於載置部51之中心。 基準銷53於W方向上配置於與基準銷52相同之位置且於V方向上配置於與基準銷52偏離之位置。基準銷54於V方向上配置於與基準銷53相同之位置且於W方向上配置於與基準銷52偏離之位置。基準銷55與基準銷52相鄰配置。具體而言,基準銷55於W方向上與基準銷52相鄰配置。基準銷52與基準銷55之距離較基準銷52與基準銷53之距離、及基準銷52與基準銷54之距離更近。又,基準銷52與基準銷55之間距等於面板固持部29之基準孔29a與基準孔29b之間距。 基準銷52、基準銷53、及基準銷54形成為相同形狀,且基準銷52之外徑、基準銷53之外徑、及基準銷54之外徑相等。又,基準銷52~54之外徑與面板固持部29之基準孔29a之內徑大致相等。於基準銷52~54之末端側,形成有隨著朝向基準銷52~54之末端側而外徑逐漸減小之圓錐梯形狀之錐形部。 基準銷55之外徑與基準銷52之外徑不同。具體而言,基準銷55之外徑小於基準銷52之外徑。又,基準銷55之外徑與面板固持部29之基準孔29b之內徑大致相等。於基準銷55之末端側,亦形成有隨著朝向基準銷55之末端側而外徑逐漸減小之圓錐梯形狀之錐形部。基準銷56之末端面為與載置部51之厚度方向正交之平面。 (機器人之教示方法) 於本形態中,如以下般進行機器人9之教示作業,將第1座標系與第2座標系建立對應。首先,將教示用治具50載置於托盤載台6。具體而言,以如下之方式將教示用治具50載置於托盤載台6:與載置部51之厚度方向及上下方向一致,且,與載置部51之長邊方向及前後方向一致且基準銷52~56朝上側突出。又,以向托盤載台6載置托盤3之位置、與向托盤載台6載置教示用治具50之位置為相同位置之方式,將教示用治具50載置於托盤載台6。 隨後,使面板固持部29移動,如圖6(A)之二點鏈線所示,將基準銷52插入面板固持部29之基準孔29a,且基準銷55插入面板固持部29之基準孔29b之位置向面板固持部29教示(第1教示步驟)。於第1教示步驟中,於以上下方向為旋動之軸向之旋動方向上將第1座標系與第2座標系建立對應。 又,使面板固持部29移動,如圖6(A)之虛線所示,將基準銷53插入基準孔29a之位置向面板固持部29教示(第2教示步驟)。根據第1教示步驟與第2教示步驟,於前後方向上將第1座標系與第2座標系建立對應。又,使面板固持部29移動,如圖6(A)之一點鏈線所示,將基準銷54插入基準孔29a之位置向面板固持部29教示(第3教示步驟)。根據第1教示步驟與第3教示步驟,或根據第2教示步驟與第3教示步驟,於左右方向上將第1座標系與第2座標系建立對應。 又,使面板固持部29移動,如圖6(B)之二點鏈線所示,將面板固持部29之下表面與基準銷56之末端面(上端面)以隔出微小間隙之狀態對向之位置向面板固持部29教示(第4教示步驟)。根據第4教示步驟,於上下方向上將第1座標系與第2座標系建立對應。另,於第4教示步驟中,亦可將面板固持部29之下表面與基準銷56之末端面接觸之位置向面板固持部29教示。 第1教示步驟、第2教示步驟、第3教示步驟及第4教示步驟可依序執行,亦可以任意之順序執行。又,如上所述,由於基準孔29a形成於自面板固持部29之旋動中心C1偏移之位置,故於左右方向上基準孔29a自旋動中心C1偏移之情形時,以修正基準孔29a與旋動中心C1之偏移之方式進行左右方向之第1座標系與第2座標系之對應。又,於前後方向上基準孔29a自旋動中心C1偏移之情形時,以修正基準孔29a與旋動中心C1之偏移之方式進行前後方向之第1座標系與第2座標系之對應。 當使用載置於托盤載台6之教示用治具50的機器人9之教示作業結束時,將教示用治具50載置於托盤載台7。又,同樣地進行使用載置於托盤載台7之教示用治具50的機器人9之教示作業。 (本形態之主要效果) 如以上說明般,於本形態中,藉由使用教示用治具50將托盤載台6、7側之特定部位向面板固持部29教示,而將第1座標系與第2座標系預先建立對應。又,於本形態中,於面板固持部29動作時,將第1座標輸入於控制部45,控制部45將輸入之第1座標轉換為第2座標,並基於第2座標控制移動機構35,而使面板固持部29移動至面板固持部29之目標到達位置。 因此,於本形態中,若使用教示用治具50進行用以進行第1座標系與第2座標系之對應的機器人9之教示作業,則即便於隨後托盤3內之液晶面板2之收納位置變化時不進行機器人9之教示作業,亦可將輸入之第1座標轉換為第2座標,而使面板固持部29移動至托盤3內之液晶面板2之收納位置。即,於本形態中,若使用教示用治具50進行機器人9之教示作業,則於隨後托盤3內之液晶面板2之收納位置變化時,可不進行機器人9之教示作業。因此,於本形態中,可不需要托盤3內之液晶面板2之收納位置變化時之機器人9之教示作業。 於本形態中,面板固持部29之基準孔29a之內徑與基準孔29b之內徑不同,且基準銷52之外徑與基準銷55之外徑不同。因此,於本形態中,於第1教示步驟中,可防止將基準銷55插入基準孔29a、且將基準銷52插入基準孔29b之操作錯誤。因此,於本形態中,可防止進行以上下方向為旋動之軸向之旋動方向之第1座標系與第2座標系之對應時的操作錯誤。 (其他實施形態) 上述形態係本發明之較佳形態之一例,但並非限定於此,於不變更本發明主旨之範圍內可實施各種變化。 於上述形態中,機器人9組入於搬送供給至處理裝置15之液晶面板2之搬送系統1,但機器人9亦可組入於搬送自處理裝置15排出之液晶面板2之搬送系統。於該情形時,機器人9進行向載置於托盤載台6、7之托盤3之液晶面板2之搬入。又,於該情形時,為了將面板固持部29所固持之液晶面板2收納於托盤載台6、7上之托盤3,面板固持部29放開液晶面板2之位置成為面板固持部29之目標到達位置。 又,機器人9亦可組入於搬送供給至處理裝置15之液晶面板2且搬送自處理裝置15排出之液晶面板2之搬送系統。於該情形時,機器人9進行自載置於托盤載台6、7之托盤3之液晶面板2之搬出、及向載置於托盤載台6、7之托盤3之液晶面板2之搬入。又,於該情形時,面板固持部29固持收納於托盤載台6、7上之托盤3之液晶面板2之位置、或為了將面板固持部29所固持之液晶面板2收納於托盤載台6、7上之托盤3而面板固持部29放開液晶面板2之位置成為面板固持部29之目標到達位置。 於上述形態中,教示用治具50亦可不具備基準銷56。於該情形時,例如,可藉由將基準銷52~54中任一者之末端面與面板固持部29之下表面以隔出微小間隙之狀態對向的位置向面板固持部29教示,而進行上下方向之第1座標系與第2座標系之對應。又,於上述形態中,教示用治具50亦可不具備基準銷55。於該情形時,例如將用以進行以上下方向為旋動之軸向之旋動方向之第1座標系與第2座標系之對應的2條或2條以上之基準銷固定於載置部51。 於上述形態中,於托盤載台6、7載置有1個托盤3,但亦可將複數個托盤3以相互不重疊之方式載置於托盤載台6、7。又,於上述形態中,基準銷55之外徑小於基準銷52之外徑,但基準銷55之外徑亦可大於基準銷52之外徑。又,基準銷55之外徑與基準銷52之外徑亦可相等。 於上述形態中,機器人9係並聯機器人,但機器人9亦可為水平多關節機器人。又,於上述形態中,以機器人9搬送之顯示面板係液晶面板2,但以機器人9搬送之顯示面板亦可為液晶面板2以外之顯示面板。例如,以機器人9搬送之顯示面板亦可為有機EL(Electro Luminescence:電致發光)面板。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‧‧‧搬送系統2‧‧‧液晶面板(顯示面板)3‧‧‧托盤4‧‧‧輸送機5‧‧‧輸送機6‧‧‧托盤載台7‧‧‧托盤載台8‧‧‧機器人9‧‧‧機器人10‧‧‧供給單元11‧‧‧本體框架12‧‧‧本體框架15‧‧‧處理裝置20‧‧‧本體框架21‧‧‧可動框架22‧‧‧可動框架23‧‧‧可動框架24‧‧‧托盤固持部25‧‧‧本體部26‧‧‧桿27‧‧‧臂部28‧‧‧頭單元(可動部)29‧‧‧面板固持部29a‧‧‧基準孔(第1基準孔)29b‧‧‧基準孔(第2基準孔)30‧‧‧馬達(旋動驅動機構)32‧‧‧臂33‧‧‧馬達35‧‧‧移動機構36‧‧‧資料讀取裝置37‧‧‧對準裝置38‧‧‧面板載台39‧‧‧機器人40‧‧‧電離器41‧‧‧搬送裝置42‧‧‧機器人45‧‧‧控制部50‧‧‧教示用治具51‧‧‧載置部52‧‧‧基準銷(第1基準銷)53‧‧‧基準銷(第2基準銷)54‧‧‧基準銷(第3基準銷)55‧‧‧基準銷(第4基準銷)56‧‧‧基準銷(第5基準銷)C1‧‧‧旋動中心E-E‧‧‧方向V‧‧‧第1方向W‧‧‧第2方向X‧‧‧前後方向X1‧‧‧前側X2‧‧‧後側Y‧‧‧左右方向Y1‧‧‧右側Y2‧‧‧左側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
圖1係組入有本發明實施形態之機器人之搬送系統之側視圖。 圖2係自圖1之E-E方向顯示搬送系統之俯視圖。 圖3(A)~(C)係用以說明於圖2所示之托盤收納有液晶面板之狀態之俯視圖。 圖4係圖1所示之機器人之立體圖。 圖5係圖4所示之面板固持部之俯視圖。 圖6係圖4所示之機器人之教示作業時所使用之教示用治具之圖,(A)係俯視圖,(B)係前視圖,(C)係側視圖。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‧‧‧搬送系統 1‧‧‧Transportation system
3‧‧‧托盤 3‧‧‧Tray
5‧‧‧輸送機 5‧‧‧Conveyor
7‧‧‧托盤載台 7‧‧‧Tray carrier
8‧‧‧機器人 8‧‧‧Robot
9‧‧‧機器人 9‧‧‧Robot
10‧‧‧供給單元 10‧‧‧Supply unit
11‧‧‧本體框架 11‧‧‧Ontology frame
12‧‧‧本體框架 12‧‧‧Ontology frame
20‧‧‧本體框架 20‧‧‧Ontology frame
21‧‧‧可動框架 21‧‧‧Movable frame
22‧‧‧可動框架 22‧‧‧Movable frame
23‧‧‧可動框架 23‧‧‧Movable frame
24‧‧‧托盤固持部 24‧‧‧Tray holding part
25‧‧‧本體部 25‧‧‧Main body
26‧‧‧桿 26‧‧‧Pole
27‧‧‧臂部 27‧‧‧Arm
28‧‧‧頭單元(可動部) 28‧‧‧Head unit (movable part)
29‧‧‧面板固持部 29‧‧‧Panel holding part
30‧‧‧馬達(旋轉驅動機構) 30‧‧‧Motor (rotating drive mechanism)
32‧‧‧臂 32‧‧‧arm
35‧‧‧移動機構 35‧‧‧Mobile mechanism
36‧‧‧資料讀取裝置 36‧‧‧Data reading device
37‧‧‧對準裝置 37‧‧‧Alignment device
38‧‧‧面板載台 38‧‧‧Panel Stage
39‧‧‧機器人 39‧‧‧Robot
40‧‧‧電離器 40‧‧‧Ionizer
42‧‧‧機器人 42‧‧‧Robot
E-E‧‧‧方向 E-E‧‧‧ direction
X‧‧‧前後方向 X‧‧‧Front and back direction
X1‧‧‧前側 X1‧‧‧Front side
X2‧‧‧後側 X2‧‧‧Back
Y‧‧‧左右方向 Y‧‧‧Left and right direction
Y1‧‧‧右側 Y1‧‧‧right

Claims (8)

  1. 一種機器人,其特徵在於,其係進行自載置於托盤載台之托盤搬出顯示面板及向載置於托盤載台之托盤搬入顯示面板之至少任一種動作的機器人,且具備:固持上述顯示面板之面板固持部、使上述面板固持部移動之移動機構、及控制上述機器人之控制部;且上述移動機構具備:馬達,以上下方向為旋動之軸向,使上述面板固持部旋動;於上述面板固持部形成機器人之教示作業時所使用之第1基準孔及第2基準孔;自上下方向觀察時,上述第1基準孔及上述第2基準孔以隔著以上述馬達之動力旋動之上述面板固持部之旋動中心之方式形成;上述第1基準孔之內徑大於上述第2基準孔之內徑;將上述面板固持部固持收納於上述托盤載台上之上述托盤之上述顯示面板的位置、或者為了將上述面板固持部所固持之上述顯示面板收納於上述托盤載台上之上述托盤而由上述面板固持部放開上述顯示面板之位置設為上述面板固持部之目標到達位置,將基於設定於上述托盤載台側之基準點之座標系設為第1座標系,將基於設定於上述機器人側之基準點之座標系設為第2座標系,將使用上述第1座標系表示之上述面板固持部之目標到達位置之座標設為第1座標,將使用上述第2座標系表示之上述面板固持部之目標到達位置之座標設為第2座標,則上述第1座標系與上述第2座標系係藉由將上述托盤載台側之特定位置向上述面板固持部教示而預先建立 對應;且於上述面板固持部動作時,將上述第1座標輸入於上述控制部,上述控制部將輸入之上述第1座標轉換為上述第2座標,基於上述第2座標控制上述移動機構,而使上述面板固持部移動至上述面板固持部之目標到達位置。 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.
  2. 如請求項1之機器人,其中上述移動機構具備:本體部;複數條桿,其等基端側可旋動地連結於上述本體部;複數個臂部,其等基端側各者可旋動地連結於複數條上述桿之末端側各者;可動部,其可旋動地連結於複數個上述臂部之末端側;及複數個旋動驅動機構,其等使複數條上述桿各者旋動;且複數條上述桿係以向上述本體部之外周側以大致等角度間距大致放射狀地延伸之方式連結於上述本體部;上述臂部具備相互平行之直線狀之2條臂;且2條上述臂各者之基端側可旋動地連結於上述桿之末端側,且上述可動部可旋動地連結於2條上述臂之末端側;上述面板固持部安裝於上述可動部。 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.
  3. 一種機器人之控制方法,其特徵在於,其係如下之機器人之控制方法,該機器人具備固持顯示面板之面板固持部、及使上述面板固持部移動之移動機構,且上述移動機構具備:馬達,以上下方向為旋動之軸向,使上述面板固持部旋動;於上述面板固持部形成機器人之教示作業時所使用之第1基準孔及第2基準孔;自上下方向觀察時,上述第1基準孔及上述第 2基準孔以隔著以上述馬達之動力旋動之上述面板固持部之旋動中心之方式形成;上述第1基準孔之內徑大於上述第2基準孔之內徑;進行自載置於托盤載台之托盤搬出上述顯示面板及向載置於托盤載台之托盤搬入上述顯示面板之至少任一種動作,且將上述面板固持部固持收納於上述托盤載台上之上述托盤之上述顯示面板的位置、或者為了將上述面板固持部所固持之上述顯示面板收納於上述托盤載台上之上述托盤而由上述面板固持部放開上述顯示面板之位置設為上述面板固持部之目標到達位置,將基於設定於上述托盤載台側之基準點之座標系設為第1座標系,將基於設定於上述機器人側之基準點之座標系設為第2座標系,將使用上述第1座標系表示之上述面板固持部之目標到達位置之座標設為第1座標,將使用上述第2座標系表示之上述面板固持部之目標到達位置之座標設為第2座標,則上述第1座標系與上述第2座標系係藉由將上述托盤載台側之特定位置向上述面板固持部教示而預先建立對應;且上述控制方法具備:輸入上述第1座標之座標輸入步驟;及將上述座標輸入步驟中輸入之上述第1座標轉換為上述第2座標,基於上述第2座標控制上述移動機構,而使上述面板固持部移動至上述面板固持部之目標到達位置的面板固持部動作步驟。 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.
  4. 一種教示用治具,其特徵在於,其係機器人之教示作業時使用之教示用治具,該機器人具備固持顯示面板之面板固持部、及使上述面板固持部移動之移動機構,且進行自載置於托盤載台之托盤搬出上述顯示面板及向載置於托盤載台之托盤搬入上述顯示面板之至少任一種動作,且該教示 用治具具備:載置於上述托盤載台之板狀之載置部、及自上述載置部之厚度方向之一側之面朝上述載置部之厚度方向之一側立起之第1基準銷、第2基準銷及第3基準銷;且將與上述載置部之厚度方向正交之特定方向設為第1方向,將與上述載置部之厚度方向及上述第1方向正交之方向設為第2方向,則上述第1基準銷之外徑、上述第2基準銷之外徑及上述第3基準銷之外徑相等,上述第2基準銷於上述第1方向上配置於與上述第1基準銷偏離之位置,上述第3基準銷於上述第2方向上配置於與上述第1基準銷偏離之位置。 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.
  5. 如請求項4之教示用治具,其具備:自上述載置部之厚度方向之一側之面朝上述載置部之厚度方向之一側立起之第4基準銷;且上述第4基準銷與上述第1基準銷相鄰配置,上述第1基準銷與上述第4基準銷之距離較上述第1基準銷與上述第2基準銷之距離、及上述第1基準銷與上述第3基準銷之距離更近。 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.
  6. 如請求項5之教示用治具,其中上述第1基準銷之外徑與上述第4基準銷之外徑不同。 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.
  7. 如請求項4至6中任一項之教示用治具,其具備:自上述載置部之厚度方向之一側之面朝上述載置部之厚度方向之一側立起之第5基準銷;且 上述第5基準銷之末端面為與上述載置部之厚度方向正交之平面。 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.
  8. 一種機器人之教示方法,其特徵在於,其係使用請求項4至7中任一項之教示用治具的機器人之教示方法,且將以下位置向上述面板固持部教示:將載置於上述托盤載台之上述教示用治具之上述第1基準銷插入形成於上述面板固持部之第1基準孔、且將載置於上述托盤載台之上述教示用治具之上述第4基準銷插入形成於上述面板固持部之第2基準孔的位置;將載置於上述托盤載台之上述教示用治具之上述第2基準銷插入上述第1基準孔的位置;及將載置於上述托盤載台之上述教示用治具之上述第3基準銷插入上述第1基準孔的位置。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.
TW106121946A 2016-06-30 2017-06-30 Robots, robot control methods, teaching jigs and robot teaching methods TWI730134B (en)

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JP??2016-130227 2016-06-30
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PCT/JP2017/022540 WO2018003575A1 (en) 2016-06-30 2017-06-19 Robot, robot control method, teaching tool, and robot teaching method

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CN101347938A (en) 2008-08-27 2009-01-21 福建华冠光电有限公司 Method for disassembling LCD display panel
CN101676770A (en) 2008-09-19 2010-03-24 北京京东方光电科技有限公司 Liquid crystal panel shift apparatus and method
TW201139248A (en) 2010-02-23 2011-11-16 Murata Machinery Ltd Transfer device, and workpiece mounting device
CN103025841A (en) 2010-03-05 2013-04-03 泰根尼克斯有限公司 Collagen gel for bonding porous collagen- based materials with non- porous collagen- based materials

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101347938A (en) 2008-08-27 2009-01-21 福建华冠光电有限公司 Method for disassembling LCD display panel
CN101676770A (en) 2008-09-19 2010-03-24 北京京东方光电科技有限公司 Liquid crystal panel shift apparatus and method
TW201139248A (en) 2010-02-23 2011-11-16 Murata Machinery Ltd Transfer device, and workpiece mounting device
CN103025841A (en) 2010-03-05 2013-04-03 泰根尼克斯有限公司 Collagen gel for bonding porous collagen- based materials with non- porous collagen- based materials

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