WO2010013549A1 - 板状ワークの移送設備および移送方法 - Google Patents
板状ワークの移送設備および移送方法 Download PDFInfo
- Publication number
- WO2010013549A1 WO2010013549A1 PCT/JP2009/060791 JP2009060791W WO2010013549A1 WO 2010013549 A1 WO2010013549 A1 WO 2010013549A1 JP 2009060791 W JP2009060791 W JP 2009060791W WO 2010013549 A1 WO2010013549 A1 WO 2010013549A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- plate
- workpiece
- transfer
- glass substrate
- series
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0095—Manipulators transporting wafers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67763—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
- H01L21/67766—Mechanical parts of transfer devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
- B65G2249/04—Arrangements of vacuum systems or suction cups
Definitions
- the present invention relates to a plate-like workpiece transfer facility and transfer method, for example, a facility and a transfer for transferring a glass substrate for a liquid crystal display, a plasma display, or a flat panel display (FPD) such as an organic EL, FED, and SED. Regarding the method.
- a plate-like workpiece transfer facility and transfer method for example, a facility and a transfer for transferring a glass substrate for a liquid crystal display, a plasma display, or a flat panel display (FPD) such as an organic EL, FED, and SED.
- the glass plate (glass substrate) according to the above application has a surface on which various display elements can be attached. Therefore, one surface of the glass substrate that is the attachment surface needs to be handled more carefully than the other surfaces. Become. That is, regarding the transfer of the glass substrate, it is preferable to perform the transfer without touching the mounting surface as much as possible.
- Patent Document 1 as a transfer machine constituting a substrate transfer device in which a thin film is formed on one surface, a receiving recess opened to at least one of a transfer terminal or a side surface of a substrate transfer means; and A swivel base that can be rotated about a vertical axis is mounted on a fixed base, and an arm base is mounted on the swivel base so that the arm base can be raised and lowered.
- An articulated robot having a suction head for sucking (lower surface) is disclosed. And the board
- the head base of the suction head is connected to the tip of the articulated arm so as to be rotatable about a horizontal axis, and the suction head in the horizontal posture is reversed and held by 180 ° so that it is sucked and held by the suction head.
- the substrate is turned upside down.
- Patent Document 2 as an inter-press transfer robot for loading and unloading a workpiece into and from a press machine, a linear motion base arranged in parallel to the workpiece conveyance direction, and a swing base linearly moving on the linear motion base, A first arm which is attached to a swing base and swings around a swing axis perpendicular to the conveying direction in a vertical plane, and is attached to the tip of the first arm so as to be movable forward and backward with respect to the first arm; An inter-press transfer robot configured by a second arm and a wrist attached to the tip of the second arm is disclosed.
- two inter-press transfer robots are placed facing each other across the workpiece transfer path, and the workpiece gripping hands that hold the workpiece by suction are supported by the two inter-press transfer robots. It is disclosed that workpieces are conveyed between presses by cooperatively operating a press conveying robot.
- the installation area of the safety fence or the like must be increased, and an increase in the footprint (area occupied by the device) is inevitable. In this case, improvement in work efficiency cannot be expected, and on the contrary, work efficiency and productivity may be reduced.
- the equipment since the equipment is often installed in a clean environment, it also hinders reduction in management costs necessary for maintaining the clean environment. Therefore, the footprint of the transfer facility is also required to save more space than ever.
- the articulated arm holding the substrate is swung around the vertical axis to move the substrate from the receiving position to the delivery position. Becomes longer. Also, considering the stopping operation at the delivery position, it is difficult to move the robot arm at high speed. Therefore, as long as such a transfer route is taken, it must be said that shortening the transfer time is difficult. Moreover, since it is necessary to take a large operation space for the transfer machine (robot arm), it is disadvantageous in terms of footprint. Furthermore, since the substrate reversing operation is performed around an axis different from the above-described swivel transfer, a dedicated drive mechanism is required for each. Therefore, it is difficult to reduce the weight of the entire arm.
- this transfer equipment is a facility for acquiring a plate-like workpiece at the acquisition position of the plate-like workpiece, and transferring the acquired plate-like workpiece to its placement position, and a series of movable arms having multiple joints.
- a multi-joint robot provided with a holding unit for holding and acquiring one surface of the plate-like workpiece at the tip of a series of movable arms, on the supply side of the plate-like workpiece supplied to the acquisition position by the multi-joint robot.
- a plate-shaped workpiece transfer facility that holds the lower surface and places the upper surface opposite to the lower surface on the mounting surface of the mounting position, the acquisition position and the mounting position are opposed to each other, and the opposite space side
- An articulated robot is arranged on the side, and the articulated robot moves the plate-shaped workpiece from the acquisition position to the placement position through the opposing space by turning and bending movement of a series of movable arms.
- a plate-like word It characterized with that it is configured to serve as the inversion operation for placing the top surface on the mounting surface.
- the articulated robot is disposed at a position that is laterally distant from the facing space between the plate-like workpiece acquisition position and the mounting position, and the plate-like workpiece is transferred through the facing space. It is not necessary to turn the work around the robot body or to shift the position of the robot body when the work is transferred. Therefore, it is possible to reduce the transfer time and to reduce the area of the peripheral region to be secured when transferring the plate-like workpiece as compared with the conventional case. As a result, the occupation area (footprint) of the transfer facility can be reduced to improve the work efficiency, and also contribute to the reduction of the management cost necessary for maintaining a clean environment.
- a mechanism for performing only the reversal operation independently of the transfer operation is not required.
- a driving source such as a motor
- a driving motor used only for the reversing operation is not necessary, and only a driving motor for the transfer operation is sufficient.
- the series of movable arms can be reduced in weight and the arm rigidity can be increased to improve the moving speed of the arms.
- the plate-like workpiece transfer operation may be configured to be performed by turning / bending / extending movement of the series of movable arms around the horizontal axis. This is because, from the point that the acquisition position and the mounting position are arranged to face each other and the above transfer form, the plate-like workpiece is transferred and the posture is changed (reversed) only by the rotational movement around the horizontal axis. By comprising in this way, working efficiency can be improved further, minimizing the substantial equipment occupation area (footprint) required for a transfer equipment.
- a general-purpose 6-axis type multi-degree-of-freedom robot arm For example, an articulated robot having joints of 5 axes or less which are horizontal and parallel to each other is used. It may be provided. Preferably, all of them may include a multi-joint robot having three axes that are horizontal and parallel to each other. Further, if the number of links and joints (axes) can be reduced, the operation speed of the entire series of movable arms is not limited by the restriction of one joint having a low operation speed. Further, since the arm rigidity is improved as compared with the conventional art by reducing the number of joints, the plate-like workpiece can be transferred at a high speed while ensuring high positional accuracy.
- the transfer operation includes, for example, an operation of holding the lower surface of the plate-shaped workpiece by inserting the holding portion below the plate-shaped workpiece supplied to the acquisition position, and then pushing the plate-shaped workpiece upward. It may be a thing.
- By moving the series of movable arms in this way it is possible to start the transfer of the plate-like workpiece by pushing the plate-like workpiece from the lower surface side on the transport side. Therefore, even if the transfer speed is increased immediately after the start of transfer, there is no possibility that the plate-like workpiece is detached (detached) from the holding portion.
- the transfer operation includes, for example, an operation of moving the plate-like work to a position facing the placement surface, and then moving the plate-like work toward the placement surface while maintaining the facing posture. There may be.
- This is a placement operation effective when a plate-shaped workpiece is loaded. According to this operation, even when the plate-shaped workpiece is loaded on the mounting surface and the actual position of the mounting surface is slightly shifted in the stacking thickness direction, the plate-shaped workpiece is already loaded. Can be placed with high accuracy.
- Both the placement operation and the acquisition operation described above can be performed with a series of movable arms (articulated robots) having at least three axes.
- the plate-like workpiece transfer operation by the articulated robot may be set so that the sum of the outputs of the drive motors provided at the joints of the articulated robot is minimized. This is because the plate-like workpiece cannot simply be linearly transferred from the acquisition position to the mounting position because of the form of transferring with reversal.
- the trajectory that minimizes the transfer path depends on what is taken as the reference. Even if the trajectory that minimizes the path length is found, the path setting that takes into account the air resistance that actually acts on the plate workpiece This is because it may be considered that the transfer speed as set can not be obtained in consideration of the load capacity of the motor.
- the plate-like workpiece can be transferred efficiently and in a short time.
- the transfer operation (path) is set based on the motor output, it is not necessary to use a motor with a large output. Therefore, a motor with a relatively small capacity can be used, and the high-speed transfer operation as set can be realized by reducing the weight of the entire arm.
- the transfer operation include, for example, an operation of turning a series of movable arms in a direction to push up the lower surface of the plate-like workpiece to reversely move the plate-like workpiece to a position where the upper surface faces the placement surface,
- position with a mounting surface can be mentioned.
- the plate-like workpiece transfer operation by the articulated robot may be set so that the total kinetic energy lost by the plate-like workpiece receiving air resistance during the transfer operation is minimized. .
- This is especially true from the viewpoint that minimizing the air resistance received by the plate-like workpiece contributes most to the improvement of the transfer speed, taking into account the relationship between the air resistance received by the plate-like workpiece during transfer and the path length.
- a transfer route is set. Therefore, by setting the transfer operation (transfer path) as described above, it is possible to maximize the transfer speed of the plate workpiece and shorten the transfer time.
- the plate-like workpiece is lifted from the base end side, and the tip of the plate-like workpiece is erected downward, and a series of movable arms are bent from the upright state.
- the plate-like workpiece is lowered and rotated around its base end side, whereby a transfer operation having an operation of sliding the plate-like workpiece toward the placement surface while being reversed can be exemplified.
- the “base end” means the end of the plate-like workpiece on the side close to the main body of the movable arm
- the “tip” means the side of the plate-like workpiece far from the series of movable arm main bodies.
- the articulated robot having the above-described configuration may be arranged on a base and configured to be able to horizontally move the articulated robot with respect to the base in a direction orthogonal to the transfer direction of the plate-like workpiece. .
- the plate-shaped workpiece transferred to the mounting position is configured to be mounted in a state where it is accurately positioned with respect to the loading surface.
- the above configuration is preferable. Even if there is a slight variation in the stop position of the plate-like workpiece, the articulated robot body can be moved in the horizontal direction to correct the variation and place it at an accurate position.
- the plate-shaped workpiece transfer equipment can be provided, for example, in the form shown below. That is, the transfer equipment, a transport means for transporting the plate-like work to the acquisition position, and a mounting position, and one or a plurality of packing pallets for packing the plate-like work in a stacked state,
- the transport means is provided with the same number of acquisition positions as the packing pallet, and an articulated robot is arranged on the side of the facing space between each acquisition position and the packing pallet and is transported to the acquisition position by the transport means.
- the plate-like workpiece can be provided as a plate-like workpiece packing facility that is configured to selectively load the plate-like workpiece on each packing pallet by the transfer operation of the articulated robot.
- the use of a plurality of transfer facilities can improve the transfer efficiency (packing efficiency). Further, when different types of plate-like workpieces are conveyed by the same conveying means, it is possible to load each workpiece accurately and efficiently.
- the solution to the above problem is a method of acquiring a plate-like workpiece at the plate-like workpiece acquisition position and transferring the acquired plate-like workpiece to its placement position, which has a series of movable arms having multiple joints.
- a multi-joint robot provided with a holding unit for holding and acquiring one surface of the plate-like workpiece at the tip of a series of movable arms, the lower surface on the supply side of the plate-like workpiece supplied to the acquisition position is held.
- the acquisition position and the placement position are arranged to face each other, and the articulated robot is placed laterally in the facing space.
- a plate-like workpiece is transferred from the acquisition position to the mounting position through the opposing space by turning and bending / extending movement of a series of movable arms of the multi-joint robot, and the plate-like work is part of the transfer operation.
- Reaction to place the upper surface of the workpiece on the mounting surface That double as the operation can also be achieved by transferring method of the plate-shaped workpiece, characterized in.
- the plate-like workpiece transfer time and the space required for transfer can be reduced.
- FIG. 1 is a plan view of a glass substrate packaging facility 1 according to an embodiment of the present invention.
- the packaging facility 1 acquires the glass substrate 3 for liquid crystal display, which is transported to the acquisition position 4 by the transport means 2, using the transfer facility 10, and acquires the acquired glass substrate 3 on the transport means 2 side.
- a pallet 5 5.
- the transport means 2 has a transport path 6 that can transport the glass substrate 3 in a horizontal posture.
- This conveyance path 6 is comprised by suitable drive means, such as a roller conveyor, for example.
- suitable drive means such as a roller conveyor, for example.
- One or a plurality of acquisition positions 4 of the glass substrate 3 by the transfer facility 10 exist on the transport path 6.
- a concave portion 7 having a shape that allows a work holding portion 23 of the multi-joint robot 11 to be described later to pass in the vertical direction is formed open to the side of the conveying means 2.
- the glass substrate 3 stopped in the state can be held and acquired by the work holding unit 23 from below.
- An alignment unit 8 is disposed on the transport path 6 at the acquisition position 4 so that the glass substrate 3 stopped at the acquisition position 4 is aligned in the transport orthogonal direction.
- the packing pallet 5 for the glass substrate 3 is arranged at a position facing the acquisition position 4 in the transport means 2. Precisely, the left and right end surfaces of the glass substrate 3 at the acquisition position 4 and the left and right end surfaces of the glass substrate 3 placed on the placement surface 26 of the packing pallet 5 (at the placement position) are parallel to each other.
- An arrangement position (opposite interval and direction) of the packing pallet 5 with respect to the conveying means 2 (acquisition position 4) is determined.
- An articulated robot 11 of the transfer equipment 10 is disposed on the side of the facing space 9 formed between the acquisition position 4 and the placement position (packing pallet 5).
- the recessed part 7 (acquisition position 4) is provided for every predetermined interval of the conveyance path 6, and the packing pallet 5 and the articulated robot 11 of the same number as this recessed part 7 are each arrange
- FIG. 2 shows a side view of the transfer facility 10.
- the transfer facility 10 includes an articulated robot 11 and is disposed on a grounded base 12.
- the articulated robot 11 includes a series of movable arms 13 and a control panel 14 (see FIG. 1) that controls the operations of the series of movable arms 13.
- the series of movable arms 13 has a so-called articulated robot arm structure, and each joint axis is arranged in parallel with each other and in the direction along the transport direction of the glass substrate 3 by the transport means 2.
- the structure of the series of movable arms 13 and the acquisition positions so that the normal line of the glass substrate 3 held by the work holding unit 23 is always kept orthogonal to any joint axis (joint axis). 4 and the installation posture of the articulated robot 11 with respect to the mounting position (packing pallet 5) are set.
- the series of movable arms 13 has a three-axis joint structure, and the first link 15 located closest to the base 12 is erected with respect to the base 12. At the same time, one end of the second link 17 is connected to the other end of the first link 15 via the first joint 16. One end of the third link 19 is connected to the other end of the second link 17 via the second joint 18, and the other end of the third link 19 is connected to the work holding portion 23 via the third joint 20.
- the wrist 21 is connected.
- Corresponding drive motors (only the drive motor 22 for the first joint 16 is shown) are integrally disposed in the vicinity of the joints 16, 18, and 20.
- a series of movable arms 13 are configured together with 17 and 19.
- a reduction gear may be incorporated in each joint 16, 18, 20 or a motor with a reduction gear may be used as the drive motor.
- the reduction gear used at this time is a reduction gear that suppresses the occurrence of backlash in order to further improve the rigidity of the arm (for example, a roller drive that is a zero backlash precision reduction gear manufactured by Sankyo Corporation) Trademark)).
- each link 15, 17, 19 can be rotated forward and backward independently around each joint 16, 18, 20 so that there is no interference between the links or surrounding objects depending on the rotation angle. Has been.
- the work holding part 23 has a shape capable of passing through the concave part 7 provided on the conveying path 6 in the vertical direction.
- a plurality of protrusions are arranged in parallel like a so-called fork.
- a decompression means 25 such as a vacuum pump connected to a series of movable arms 13. It is like that.
- the packing pallet 5 has a mounting surface 26 inclined at a predetermined angle (for example, 72 °), and is configured such that a plurality of glass substrates 3 can be stacked on the mounting surface 26.
- a predetermined angle for example, 72 °
- an interleaf supply means for supplying the interleaf 27 to the placement surface 26 is disposed above the packing pallet 5.
- the slip sheet 27 is placed on the placement surface 26 (one or more glass substrates 3 are already placed). If it is, the plurality of glass substrates 3 can be stacked on the mounting surface 26 via the interleaving paper 27 by being supplied onto the lower surface 3 a of the uppermost glass substrate 3.
- a suitable position sensor detects that the glass substrate 3 transported on the transport path 6 by the transport means 2 has arrived at the acquisition position 4 shown in FIG. To stop. Thereby, the glass substrate 3 stops and is set on the acquisition position 4. At this time, for example, the position of the glass substrate 3 in the left-right direction (the position on the virtual axis orthogonal to the transport direction) is adjusted by an appropriate alignment means 8 installed on the acquisition position 4. At this stage, the work holding portions 23 of the series of movable arms 13 are arranged directly below the glass substrate 3 set on the acquisition position 4 as shown in FIG. The second joint 18 is located below the first joint 16 and the third joint 20.
- the lower surface 3a of the glass substrate 3 is sucked and held by a plurality of suction pads 24 provided on the work holding portion 23 at the position shown in FIG. 3, and the third link 19 is centered on the second joint 18 from this state in FIG.
- the glass substrate 3 is pushed up from the conveyance path 6 and the transfer of the glass substrate 3 is started.
- the wrist 21 remains fixed to the third link 19, and the second link 17 gradually rotates clockwise with respect to the first link 15 in accordance with the turning operation of the third link 19. Do.
- the glass substrate 3 is sucked and held and lifted slightly upward, and the above-mentioned swiveling operation is performed from a state in which a series of movable arms 13 are bent and translated in front (close to the packing pallet 5). Like to start. This is to avoid interference with other objects on the acquisition position 4. Further, as described above, by rotating the third link 19 around the second joint 18 positioned below the articulated robot 11, the rotational movement distance of the glass substrate 3 can be reduced, and the loading described later. It is made possible to reach a position suitable for (a position facing the placement surface 26).
- the glass substrate 3 held at the tip is rotated and transferred around the horizontal axis, and the position shown in FIG.
- the transfer operation of the glass substrate 3 is changed as follows. That is, a series of movable arms 13 are extended while maintaining the facing posture between the upper surface 3b of the glass substrate 3 and the mounting surface 26, and the glass substrate 3 is slid toward the mounting surface 26 (moves linearly). Let Thereby, the glass substrate 3 is mounted on the mounting surface 26 of the packing pallet 5 in a state where the glass substrate 3 is accurately positioned.
- the position of the glass substrate 3 may be finely adjusted by slightly moving the series of movable arms 13 in the direction perpendicular to the transfer direction by the slide mechanism 28 shown in FIG.
- the slip sheet 27 is supplied on the lower surface 3 a of the glass substrate 3 loaded first.
- the supply timing is arbitrary.
- the work holding unit 23 is moved below the acquisition position 4 to perform the transfer and stacking operation of the glass substrate 3 again.
- the wrist 21 is first rotated clockwise around the third joint 20 to bring the work holding portion 23 closer to the horizontal, and the third link 19 is centered on the second joint 18.
- the workpiece holder 23 is moved closer to the acquisition position 4 by rotating clockwise.
- the work holding unit 23 is inserted below the glass substrate 3 set at the acquisition position 4, and directly below the glass substrate 3, that is, FIG. 3. Place it at the position shown in.
- the third link 19 is rotated clockwise around the second joint 18, and the wrist 21 is rotated counterclockwise around the third joint 20, From the state where the tip of the work holding part 23 is lowered and tilted, the above-described rolling operation is performed by extending the series of movable arms 13.
- the series of operations shown in FIGS. 3 to 7 By repeating the series of operations shown in FIGS. 3 to 7 in this way, a plurality of glass substrates 3 are stacked on the mounting surface 26 of the packing pallet 5.
- a plurality of acquisition positions 4 are provided on the conveyance path 6, and the same number of packing pallets 5 and articulated robots 11 as the acquisition positions 4 are arranged in the same positional relationship. Therefore, while the glass substrate 3 set at one acquisition position 4 is transferred and loaded by one articulated robot 11, the other articulated robot 11 is transported and set to the corresponding other acquisition position 4.
- the glass substrate 3 can be transferred and loaded, and the transfer and loading efficiency of the glass substrate 3 can be greatly increased.
- this type of packaging equipment 1 even if different types of glass substrates 3 are transported on the same transport path 6, the transport equipment 10 corresponding to each of the various glass substrates 3 is configured. Thus, transfer and loading operations for each glass substrate 3 are possible.
- first operation example of the glass substrate 3 using the transfer facility 10 according to the present invention
- second operation example of the transfer operation using the transfer facility 10
- a case where the glass substrate 3 conveyed in a horizontal state on the acquisition position 4 is transferred toward a mounting table 29 having the same mounting surface 26 in the horizontal state is taken as an example. I will explain to you.
- the transfer equipment 10 to be used is the same as that in the first operation example.
- the transfer operation here is an operation when the transfer operation of the glass substrate 3 by a series of movable arms 13 is set so that the sum of the kinetic energy lost by the glass substrate 3 receiving air resistance during the transfer operation is minimized.
- An example is shown. From the viewpoint that minimizing the air resistance received by the glass substrate 3 is most effective for improving the transfer speed, based on the relationship between the air resistance received by the glass substrate 3 during transfer and the path length, An optimal transfer route is set.
- the work holding unit 23 is disposed immediately below the glass substrate 3 set on the acquisition position 4.
- the second joint 18 is located above the first joint 16 and the third joint 20.
- the lower surface 3a of the glass substrate 3 is sucked and held by a plurality of suction pads 24 provided on the work holding portion 23, and the glass substrate 3 is lifted slightly upward as shown in FIG.
- Substantially transfer operation is started from the state of being translated. That is, as shown in FIG. 10, the second link 17 is turned counterclockwise around the first joint 16 (and in this illustrated example, the third link 19 is also moved in response to the turning operation of the second link 17. Further, as shown in FIG. 11, the wrist 21 is rotated around the third joint 20 in the clockwise direction, and the glass substrate 3 is lifted while being tilted with its mounting position side facing up. To go.
- the glass substrate 3 is moved toward the mounting table 29 while being tilted.
- the second link 17 and the third link 19 are arranged in a straight line and are moved in series.
- the glass substrate 3 is moved to a position where the arm 13 extends vertically upward.
- the wrist 21 is rotated so that the tip side end portion of the glass substrate 3 is erected downward. .
- the wrist 21 is continuously rotated in the clockwise direction, and the second link 17 is rotated in the clockwise direction and the third link 19 is rotated in the counterclockwise direction (see FIG. 12 respectively).
- the series of movable arms 13 By moving the series of movable arms 13 in such a manner as to bend, the glass substrate 3 is moved down and the glass substrate 3 is lowered while the glass substrate 3 is gradually laid down.
- the glass substrate 3 is rotated by rotating the second link 17 that has been swiveled in the clockwise direction and swiveling in the counterclockwise direction. It moves so that it may slide on the mounting surface 26.
- FIG. That is, the glass substrate 3 is moved from the acquisition position 4 to the mounting position through the opposing space 9 with the operation of lowering the wrist 21 side end portion while bringing the glass substrate 3 close to the horizontal posture. And transport. Thereby, as shown in FIG. 14, the glass substrate 3 is transferred to a position facing the mounting surface 26 in a reversed state.
- the work holding unit 23 is moved below the acquisition position 4 to perform the transfer / placement operation of the glass substrate 3 again.
- the second link 17 and the third link 19 are both rotated clockwise to stand substantially vertically upward, and the wrist 21 is rotated counterclockwise so that the work holding portion 23 is rotated. Move from a horizontal position to an upright position.
- the third link 19 is further rotated clockwise while maintaining the upright posture of the work holding portion 23, and the wrist 21 is centered on the third joint 20 from the time when the third joint 20 is positioned below the second joint 18.
- the work holding unit 23 is inserted under the glass substrate 3 set at the acquisition position 4 from the position shown in FIG.
- the transfer and placement operation of the glass substrate 3 from the acquisition position 4 to the placement table 29 is repeatedly executed.
- the glass substrate 3 is not necessarily stacked on the mounting surface 26.
- the mounting table 29 constitutes a part of appropriate transport means, the glass substrate 3 is transported one by one toward the next work process. It may be.
- the transfer operation example of the glass substrate 3 by the transfer equipment 10 was demonstrated, of course, this invention is not limited to the said operation example.
- the acquisition position 4 and the placement position are arranged opposite to each other, and a transfer articulated robot 11 is arranged on the side of the facing space 9 between the acquisition position 4 and the articulated robot 11.
- the glass substrate 3 is transferred from the acquisition position 4 to the mounting position through the opposing space 9 by the swiveling / bending / extending movement of the glass substrate 3, and the upper surface 3b of the glass substrate 3 is mounted on the mounting surface 26 as part of this transfer operation.
- the configuration that the transfer facility 10 can take is arbitrary.
- the process of mainly loading the glass substrate 3 on the packing pallet 5 has been described as an example.
- the present invention can be applied to an arbitrary process from the production of the glass substrate 3 to the shipment or the unloading process after the shipment, for example, when transferring 3.
- the glass substrate 3 for a liquid crystal display is exemplified as a work to be transferred.
- the present invention is not limited to the liquid crystal display, but various flats such as a plasma display, an organic EL display, an FED, and an SED.
- Transferable glass plates for panel displays for example, those having a thickness of 0.4 mm or more and 1.2 mm or less
- glass plates generally used as substrates for forming various electronic display functional elements and thin films Can do.
- workpiece work which comprises plate shape, it cannot be overemphasized that this invention can also make transfer object other than what uses glass as a raw material.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
Description
2 搬送手段
3 ガラス基板
3a (搬送側の)下面
3b (載置側の)上面
4 取得位置
5 梱包用パレット
6 搬送路
7 凹部
8 アライメント手段
9 対向空間
10 ガラス基板の移送設備
11 多関節ロボット
12 基台
13 一連の可動アーム
14 制御盤
15 第1リンク
16 第1ジョイント
17 第2リンク
18 第2ジョイント
19 第3リンク
20 第3ジョイント
21 手首
22 駆動モータ
23 ワーク保持部
24 吸着パッド
25 減圧手段
26 載置面
27 合紙
28 スライド機構
29 載置台
Claims (12)
- 板状ワークの取得位置で板状ワークを取得し、該取得した板状ワークをその載置位置まで移送するための設備であって、多関節を有する一連の可動アームを有し、該一連の可動アームの先端に前記板状ワークの一面を保持取得するための保持部を設けた多関節ロボットを備え、該多関節ロボットにより、前記取得位置に供給された前記板状ワークの供給側の下面を保持して該下面とは反対側の上面を前記載置位置の載置面に載置する板状ワークの移送設備において、
前記取得位置と前記載置位置とが対向配置されると共に、該対向空間の側方に前記多関節ロボットが配置され、
前記多関節ロボットは、前記一連の可動アームの旋回・屈伸運動により前記板状ワークを前記取得位置から前記対向空間上を通って前記載置位置まで移送する動作を行い、かつ、該移送動作の一部で前記板状ワークの前記上面を前記載置面に載置するための反転動作を兼ねるように構成されていることを特徴とする板状ワークの移送設備。 - 前記移送動作が、前記一連の可動アームの水平軸まわりの旋回・屈伸運動により行われる請求項1に記載の板状ワークの移送設備。
- 前記多関節ロボットは、何れも水平かつ互いに平行な3軸を有する請求項1に記載の板状ワークの移送設備。
- 前記移送動作は、前記取得位置に供給された前記板状ワークの下方に前記保持部をもぐり込ませて前記板状ワークの前記下面を保持し、然る後、前記板状ワークを上方に押上げる動作を含む請求項1に記載の板状ワークの移送設備。
- 前記移送動作は、前記載置面と正対する位置まで前記板状ワークを移動させ、然る後、前記正対姿勢を維持して前記板状ワークを前記載置面に向けて移動させる動作を含む請求項1に記載の板状ワークの移送設備。
- 前記多関節ロボットの各関節に設けられた駆動モータの出力の総和が最小となるように、前記多関節ロボットによる前記板状ワークの前記移送動作が設定されている請求項1に記載の板状ワークの移送設備。
- 前記移送動作は、前記板状ワークの前記下面を押上げる向きに前記一連の可動アームを旋回させて前記上面が前記載置面と正対する位置まで前記板状ワークを反転移動させる動作と、前記載置面との正対姿勢を維持して前記板状ワークを前記載置面に向け直線的に移動させる動作とを有する請求項6に記載の板状ワークの移送設備。
- 前記移送動作時に前記板状ワークが空気抵抗を受けることで失う運動エネルギーの総和が最小となるように、前記多関節ロボットによる前記板状ワークの前記移送動作が設定されている請求項1に記載の板状ワークの移送設備。
- 前記移送動作は、前記板状ワークをその基端側から持上げていき、前記板状ワークの先端を下方に向けて直立させる動作と、該直立した状態から前記一連の可動アームの屈曲により前記板状ワークを下降させると共にその基端側を中心に回転させることで、前記板状ワークを反転させつつ前記載置面に向けて滑り込ませる動作とを有する請求項8に記載の板状ワークの移送設備。
- 前記多関節ロボットは基台上に配置され、該基台に対して、前記板状ワークの移送方向に直交する向きに前記多関節ロボットを水平移動できるように構成されている請求項1に
記載の板状ワークの移送設備。 - 請求項1~10の何れかに記載の移送設備と、前記取得位置に前記板状ワークを搬送する搬送手段と、前記載置位置を有し、前記板状ワークを積層した状態で梱包するための1又は複数の梱包用パレットとを備え、
前記搬送手段に前記梱包用パレットと同数の前記取得位置が設けられ、各々の前記取得位置と前記梱包用パレットとの間の対向空間の側方に前記多関節ロボットが配置されると共に、前記搬送手段により前記取得位置に搬送される前記板状ワークを前記多関節ロボットの前記移送動作で各梱包用パレットに選択的に積載するように構成されている板状ワークの梱包設備。 - 板状ワークの取得位置で板状ワークを取得し、該取得した板状ワークをその載置位置まで移送する方法であって、多関節を有する一連の可動アームを有し、該一連の可動アームの先端に前記板状ワークの一面を保持取得するための保持部を設けた多関節ロボットを用いて、前記取得位置に供給された前記板状ワークの供給側の下面を保持して該下面とは反対側の上面を前記載置位置の載置面に載置する板状ワークの移送方法において、
前記取得位置と前記載置位置とが対向配置されると共に、該対向空間の側方に前記多関節ロボットが配置され、かつ、
前記多関節ロボットの前記一連の可動アームの旋回・屈伸運動により前記板状ワークを前記取得位置から前記対向空間上を通って前記載置位置まで移送し、かつ、該移送動作の一部で前記板状ワークの前記上面を前記載置面に載置するための反転動作を兼ねるようにしたことを特徴とする板状ワークの移送方法。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200980129617.0A CN102105375B (zh) | 2008-07-29 | 2009-06-12 | 板状工件的移送设备及移送方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008-195217 | 2008-07-29 | ||
JP2008195217A JP5311277B2 (ja) | 2008-07-29 | 2008-07-29 | 板状ワークの移送設備および移送方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010013549A1 true WO2010013549A1 (ja) | 2010-02-04 |
Family
ID=41610255
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2009/060791 WO2010013549A1 (ja) | 2008-07-29 | 2009-06-12 | 板状ワークの移送設備および移送方法 |
Country Status (5)
Country | Link |
---|---|
JP (1) | JP5311277B2 (ja) |
KR (1) | KR101609205B1 (ja) |
CN (1) | CN102105375B (ja) |
TW (1) | TWI487607B (ja) |
WO (1) | WO2010013549A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102050330A (zh) * | 2010-11-05 | 2011-05-11 | 深圳市华星光电技术有限公司 | 机械手臂及具有该机械手臂的搬运装置 |
AT14702U1 (de) * | 2014-10-20 | 2016-04-15 | Lisec Austria Gmbh | Verfahren und Vorrichtung zum Handhaben plattenförmiger Gegenstände |
ITUB20152339A1 (it) * | 2015-07-21 | 2017-01-21 | Giuseppe Gallucci | Apparecchiatura per il ribaltamento di fogli e/o pannelli |
KR20190122802A (ko) | 2017-04-26 | 2019-10-30 | 니혼 덴산 가부시키가이샤 | 다관절 로봇 및 다관절 로봇 시스템 |
Families Citing this family (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4723044B1 (ja) | 2010-09-17 | 2011-07-13 | 日東電工株式会社 | 液晶表示素子の製造システム及び製造方法 |
JP4676026B1 (ja) | 2010-09-17 | 2011-04-27 | 日東電工株式会社 | 液晶表示素子の製造システム及び製造方法 |
JP4689763B1 (ja) | 2010-09-29 | 2011-05-25 | 日東電工株式会社 | 液晶表示素子の連続製造システムおよび液晶表示素子の連続製造方法 |
JP4733227B1 (ja) | 2010-09-30 | 2011-07-27 | 日東電工株式会社 | 液晶表示素子の製造システム及び製造方法 |
JP4750227B1 (ja) | 2011-01-14 | 2011-08-17 | 日東電工株式会社 | 液晶表示素子の連続製造システムおよび液晶表示素子の連続製造方法 |
JP5861495B2 (ja) * | 2011-04-18 | 2016-02-16 | 株式会社デンソー | 車両用温度調整装置、および車載用熱システム |
JP5808577B2 (ja) * | 2011-05-27 | 2015-11-10 | 日東電工株式会社 | 液晶パネルの反転装置 |
JP6101431B2 (ja) | 2012-04-16 | 2017-03-22 | 日東電工株式会社 | 光学表示パネルの連続製造方法および光学表示パネルの連続製造システム |
CN103372618B (zh) * | 2012-04-18 | 2015-08-12 | 珠海格力电器股份有限公司 | 钣金件自动堆码系统 |
DE102012019841B4 (de) | 2012-10-09 | 2022-01-05 | Grenzebach Maschinenbau Gmbh | Verfahren und Vorrichtung für das Umsetzen großflächiger Platten in extremer Übergröße |
CN102923508B (zh) * | 2012-11-07 | 2015-08-05 | 天津南玻节能玻璃有限公司 | 一种自动输送翻转式玻璃下片台 |
JP6488553B2 (ja) * | 2014-03-31 | 2019-03-27 | 日本電気株式会社 | 部品搬送装置、部品搬送方法、及びプログラム |
CN106185280B (zh) * | 2016-08-30 | 2018-07-17 | 朱洋 | 隔磁杆托盘上料机构 |
JP6948125B2 (ja) * | 2016-12-22 | 2021-10-13 | 川崎重工業株式会社 | 搬送システム及びその運転方法 |
CN107611072A (zh) * | 2017-07-27 | 2018-01-19 | 彩虹(合肥)液晶玻璃有限公司 | 一种用于翻转tft-lcd玻璃基板的装置及其翻转方法 |
JP2019064764A (ja) * | 2017-09-29 | 2019-04-25 | 日本電産サンキョー株式会社 | 搬送システム |
CN110202611B (zh) * | 2018-02-28 | 2023-07-11 | 精工爱普生株式会社 | 机器人 |
CN109625969A (zh) * | 2019-01-07 | 2019-04-16 | 彩虹(合肥)液晶玻璃有限公司 | 液晶玻璃基板放板装置及放板方法 |
CN110482220A (zh) * | 2019-07-26 | 2019-11-22 | 蚌埠凯盛工程技术有限公司 | 一种玻璃基板存储工艺、装置及应用 |
JP7366344B2 (ja) | 2019-10-09 | 2023-10-23 | 日本電気硝子株式会社 | ガラス板の製造方法及びその製造装置 |
KR20220079812A (ko) * | 2019-10-11 | 2022-06-14 | 니폰 덴키 가라스 가부시키가이샤 | 유리판 곤포체의 제조 방법 및 제조 장치 |
WO2021117555A1 (ja) | 2019-12-10 | 2021-06-17 | 日本電気硝子株式会社 | ガラス板の製造方法 |
JP7463891B2 (ja) | 2020-07-13 | 2024-04-09 | 日本電気硝子株式会社 | ワークの姿勢変更具、ワークの姿勢変更装置、及び梱包体の製造方法 |
KR102578346B1 (ko) * | 2021-09-07 | 2023-09-14 | 아주엠씨엠(주) | 방화문 문짝 보양재 자동 부착방법 |
CN116354124B (zh) * | 2023-04-26 | 2023-10-20 | 东莞市坤鹏伯爵机械设备有限公司 | 放板机及板件的转运方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6342665U (ja) * | 1986-09-08 | 1988-03-22 | ||
JPH08132368A (ja) * | 1994-11-07 | 1996-05-28 | Toyo Kohan Co Ltd | 板材加工機−ロボットシステムにおける位置決め方法および装置 |
JP2001180822A (ja) * | 1999-12-24 | 2001-07-03 | Kanegafuchi Chem Ind Co Ltd | 基板の受渡し方法及び装置 |
JP2001225286A (ja) * | 2000-02-14 | 2001-08-21 | Nachi Fujikoshi Corp | 搬送装置 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5243300B2 (ja) * | 1974-02-01 | 1977-10-29 | ||
JPH02225225A (ja) * | 1989-02-27 | 1990-09-07 | Nippon Sheet Glass Co Ltd | 板ガラスの入込み装置 |
JPH03256393A (ja) * | 1990-03-06 | 1991-11-15 | Matsushita Electric Ind Co Ltd | プリント配線板の製造方法 |
JPH11881A (ja) * | 1997-06-11 | 1999-01-06 | Shin Meiwa Ind Co Ltd | クリーンロボット |
JP3443398B2 (ja) | 2000-11-08 | 2003-09-02 | 川崎重工業株式会社 | 反転積み重ね装置 |
JP4032778B2 (ja) * | 2002-03-07 | 2008-01-16 | セイコーエプソン株式会社 | 板状部材の搬送装置 |
TWI287528B (en) * | 2002-11-19 | 2007-10-01 | Murata Machinery Ltd | Carrier system |
JP4378603B2 (ja) * | 2003-07-24 | 2009-12-09 | 株式会社ダイフク | 板状体取出装置 |
JP2005272113A (ja) * | 2004-03-25 | 2005-10-06 | Sharp Corp | 基板搬送装置および基板搬送方法 |
JP4388493B2 (ja) * | 2005-03-16 | 2009-12-24 | 東レエンジニアリング株式会社 | ガラス基板用フイルムの貼付方法 |
-
2008
- 2008-07-29 JP JP2008195217A patent/JP5311277B2/ja active Active
-
2009
- 2009-06-12 CN CN200980129617.0A patent/CN102105375B/zh active Active
- 2009-06-12 WO PCT/JP2009/060791 patent/WO2010013549A1/ja active Application Filing
- 2009-06-12 KR KR1020117002856A patent/KR101609205B1/ko active IP Right Grant
- 2009-07-01 TW TW098122232A patent/TWI487607B/zh active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6342665U (ja) * | 1986-09-08 | 1988-03-22 | ||
JPH08132368A (ja) * | 1994-11-07 | 1996-05-28 | Toyo Kohan Co Ltd | 板材加工機−ロボットシステムにおける位置決め方法および装置 |
JP2001180822A (ja) * | 1999-12-24 | 2001-07-03 | Kanegafuchi Chem Ind Co Ltd | 基板の受渡し方法及び装置 |
JP2001225286A (ja) * | 2000-02-14 | 2001-08-21 | Nachi Fujikoshi Corp | 搬送装置 |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102050330A (zh) * | 2010-11-05 | 2011-05-11 | 深圳市华星光电技术有限公司 | 机械手臂及具有该机械手臂的搬运装置 |
CN102050330B (zh) * | 2010-11-05 | 2013-02-06 | 深圳市华星光电技术有限公司 | 机械手臂及具有该机械手臂的搬运装置 |
AT14702U1 (de) * | 2014-10-20 | 2016-04-15 | Lisec Austria Gmbh | Verfahren und Vorrichtung zum Handhaben plattenförmiger Gegenstände |
ITUB20152339A1 (it) * | 2015-07-21 | 2017-01-21 | Giuseppe Gallucci | Apparecchiatura per il ribaltamento di fogli e/o pannelli |
WO2017013583A1 (en) * | 2015-07-21 | 2017-01-26 | Giuseppe Gallucci | Apparatus to overturn sheets and/or panels |
US10392214B2 (en) | 2015-07-21 | 2019-08-27 | Elitron Ipm S.R.L. | Apparatus to overturn sheets and/or panels |
KR20190122802A (ko) | 2017-04-26 | 2019-10-30 | 니혼 덴산 가부시키가이샤 | 다관절 로봇 및 다관절 로봇 시스템 |
US11213952B2 (en) | 2017-04-26 | 2022-01-04 | Nidec Corporation | Articulated robot and articulated robot system |
JP7144754B2 (ja) | 2017-04-26 | 2022-09-30 | 日本電産株式会社 | 多関節ロボットおよび多関節ロボットシステム |
Also Published As
Publication number | Publication date |
---|---|
TW201008726A (en) | 2010-03-01 |
JP5311277B2 (ja) | 2013-10-09 |
KR101609205B1 (ko) | 2016-04-05 |
TWI487607B (zh) | 2015-06-11 |
JP2010030744A (ja) | 2010-02-12 |
KR20110039455A (ko) | 2011-04-18 |
CN102105375A (zh) | 2011-06-22 |
CN102105375B (zh) | 2014-01-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5311277B2 (ja) | 板状ワークの移送設備および移送方法 | |
JP5196158B2 (ja) | ガラス基板梱包装置およびその梱包方法 | |
TW200930524A (en) | Multijoint robot | |
KR20110093096A (ko) | 디스플레이 패널 박스 운반용 로봇 핸드 | |
JP2001253536A (ja) | 基板移載ロボット装置 | |
WO2016166952A1 (ja) | 基板搬送ロボット及びそのエンドエフェクタ | |
CN108349088B (zh) | 示教用夹具及机器人的示教方法 | |
JPH08216073A (ja) | ワーク搬入・搬出作業用ロボット | |
JP2006327819A (ja) | ガラス板の移載装置および移載方法 | |
JPH07276174A (ja) | ワーク加工方法および装置 | |
JP5212899B2 (ja) | ワーク搬送装置及びワーク搬送方法 | |
JP5978937B2 (ja) | 基板搬送用ハンド及び基板搬送方法 | |
JP2007260862A (ja) | ロボット | |
KR20150104440A (ko) | 기판 이송 로봇 | |
CN108352350B (zh) | 搬运系统 | |
JP2008254138A (ja) | 多関節ロボット | |
JP3124886U (ja) | ハンドリング装置 | |
JP2007204181A (ja) | 板材の搬送装置 | |
JP7495729B2 (ja) | コンテナ移載システム | |
JPH0826419A (ja) | ワーク搬送用ロボットおよびワーク保管庫 | |
JPH07196165A (ja) | パレタイジング装置 | |
JP2003168719A (ja) | アライメント処理方法およびアライメント処理装置 | |
CN113184505A (zh) | 基板翻转装置及分割系统 | |
JP2009208174A (ja) | 産業用ロボット | |
TWM351219U (en) | Movable loading apparatus |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200980129617.0 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 09802794 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 20117002856 Country of ref document: KR Kind code of ref document: A |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 09802794 Country of ref document: EP Kind code of ref document: A1 |