WO2014119458A1 - シート材取扱方法、及びシート材取扱装置 - Google Patents

シート材取扱方法、及びシート材取扱装置 Download PDF

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Publication number
WO2014119458A1
WO2014119458A1 PCT/JP2014/051345 JP2014051345W WO2014119458A1 WO 2014119458 A1 WO2014119458 A1 WO 2014119458A1 JP 2014051345 W JP2014051345 W JP 2014051345W WO 2014119458 A1 WO2014119458 A1 WO 2014119458A1
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WO
WIPO (PCT)
Prior art keywords
sheet material
sheet
holding
chucks
inclined surface
Prior art date
Application number
PCT/JP2014/051345
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
剛夫 谷田
和幸 天山
Original Assignee
日本電気硝子株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2013019373A external-priority patent/JP6024494B2/ja
Priority claimed from JP2013019372A external-priority patent/JP5983445B2/ja
Application filed by 日本電気硝子株式会社 filed Critical 日本電気硝子株式会社
Priority to CN201480003530.XA priority Critical patent/CN104871303B/zh
Priority to KR1020157015946A priority patent/KR102173674B1/ko
Publication of WO2014119458A1 publication Critical patent/WO2014119458A1/ja

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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
    • B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
    • 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
    • B65G49/063—Transporting devices for sheet glass
    • B65G49/066—Transporting devices for sheet glass being suspended; Suspending devices, e.g. clamps, supporting tongs
    • 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
    • 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
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B65H5/14—Details of grippers; Actuating-mechanisms therefor

Definitions

  • the buffer sheet waiting between the sheet material and the inclined surface is held at the upper part and the lower part on both sides by a holder.
  • the holding step it is preferable to hold the sheet material in the curved state using a plurality of chucks capable of individually changing the timing of holding or releasing the sheet material. .
  • the sheet material handling method of the present configuration since the sheet material is held in a suspended state from above, it is possible to increase the bending rigidity by curving the upper side of the sheet material that is particularly easy to be folded away from the inclined surface. it can. Further, if the sheet material is held in a suspended state from above, the curved state of the sheet material becomes gentler downward, and it is possible to place the sheet material on the inclined surface with the lower end side being substantially linear. If the sheet is held in this manner, the sheet material can be easily positioned with respect to the inclined surface. In addition, when the sheet material is placed on the inclined surface, the lower side of the sheet material and the inclined surface (the lower side of the buffer sheet and the inclined surface when the buffer sheet is interposed) are easily in close contact with each other. Misalignment with respect to the lower end of the inclined surface hardly occurs. Furthermore, because of the close contact effect, it is difficult to collect air between the stacked sheet materials, so that the sheet materials can be densely stacked on the inclined surface.
  • the sheet material handling method of the present configuration since the sheet material being conveyed is in a curved state protruding in the conveyance direction, the bending rigidity in the vertical direction is increased. For this reason, even if external forces such as vibration, wind pressure, and inertial force act on the sheet material during conveyance, the sheet material maintains a stable posture and prevents the sheet material from swinging, bending, breakage, etc. be able to. Further, since the sheet material protrudes in the conveying direction, it is possible to easily receive the wind from the front to the rear. As a result, it becomes easy to increase the conveying speed of the sheet material, and the manufacturing efficiency can be improved.
  • a characteristic configuration of a sheet material handling apparatus according to the present invention for solving the above-described problem is a sheet material handling apparatus that handles a sheet material in a continuous process, and projects the sheet material in a flow direction of the continuous process. There exists in providing the curve formation part made into a curve state.
  • the sheet material is conveyed, and the curve forming unit has a holding unit capable of holding the sheet material in a curved state protruding in a conveyance direction, It is preferable to further include a conveyance unit that conveys the sheet material by moving the holding unit.
  • the sheet material handling apparatus of this configuration when the sheet material is conveyed, since the holding unit holds the sheet material in a curved state protruding in the conveyance direction, the sheet material being conveyed is curved and the bending rigidity in the vertical direction is increased. Will increase. For this reason, even if external forces such as vibration, wind pressure, and inertial force act on the sheet material during conveyance, the sheet material maintains a stable posture and prevents the sheet material from swinging, bending, breakage, etc. be able to. Further, since the sheet material protrudes in the conveying direction, it is possible to easily receive the wind from the front to the rear. As a result, it becomes easy to increase the conveying speed of the sheet material, and the manufacturing efficiency can be improved.
  • the holding unit includes a plurality of chucks that hold the upper end portion of the sheet material in a suspended state, and the plurality of chucks hold the sheet material in a flat state. It is preferable to be configured to be changeable between a linear array that is an array and a curved array that is an array when the sheet material is held in a curved state.
  • the plurality of chucks provided in the holding unit hold the upper end portion of the sheet material in a suspended state, so that the conveyance can be performed without contacting the effective surface of the sheet.
  • the arrangement of the plurality of chucks can be appropriately changed according to the situation, the holding operation and the conveying operation of the sheet material can be reliably performed.
  • the plurality of chucks are configured to be able to change the posture following the shape change of the sheet material while holding the sheet material.
  • the sheet material handling apparatus of this configuration when the sheet material is bent so as to protrude in the conveyance direction, the posture of the plurality of chucks can be changed following the curved shape of the sheet material.
  • the curved state can be maintained without imposing a burden on the material. Even when the sheet material is returned to the original flat state, the postures of the plurality of chucks immediately change, and the sheet material can be held in an optimum posture.
  • the sheet material can be stably held from both the inside and the outside by providing the inner chuck and the outer chuck as a plurality of chucks. Also, the operation free range is changed between the inner chuck and the outer chuck.
  • the inner chuck is in the x direction. And movement in the y-direction and rotation in the xy plane, and the outer chuck is configured to be operation-free in rotation in the xy plane.
  • FIG. 1 is a schematic configuration diagram of a glass sheet conveying apparatus.
  • 2A is a front view of the outer chuck, and FIG. 2B is a plan view thereof.
  • 3A is a front view of the inner chuck, and FIG. 3B is a plan view thereof.
  • FIG. 4 is an explanatory diagram showing the positional relationship before and after the movement of the chuck holding the glass sheet.
  • FIG. 5 is a plan view and a perspective view showing a schematic configuration of the glass sheet stacking apparatus.
  • 6A is a front view of the operation free chuck, and FIG. 6B is a plan view thereof.
  • FIG. 7 is a plan view and a perspective view showing a schematic configuration of a glass sheet stacking apparatus according to another embodiment.
  • FIG. 8 is a plan view and a perspective view showing a schematic configuration of a glass sheet stacking apparatus according to another embodiment.
  • FIG. 9 is a diagram for explaining a problem in placing a thin glass plate with a conventional glass sheet stacking apparatus
  • the glass sheet G to be conveyed is, for example, a thin glass sheet having a thickness of 0.2 mm or less manufactured by the overflow down draw method.
  • a glass sheet G formed by cutting a thin glass sheet into sheets of a predetermined size is held in a suspended state at the upper end by the chuck 10, and the base 20 is operated in this suspended holding state to perform subsequent steps (for example, Pallet loading process).
  • the base 20 that conveys the glass sheet G includes a moving mechanism (not shown) that is driven by a driving source (not shown) such as a motor.
  • a chuck 10 is attached below the base 20.
  • a plurality of chucks 10 are provided so that the glass sheet G can be stably held.
  • four chucks 10 a to 10 d are provided below the base 20 as the chuck 10.
  • the chucks 10a and 10d are outer chucks that hold the outside of the glass sheet G (close to the edge in the vertical direction), and the chucks 10b and 10c are internal chucks that hold the inside (close to the center) of the glass sheet G. is there.
  • the operations of the chucks 10a to 10d as a movable chuck and an operation-free chuck are as follows.
  • the conveyance direction A of the glass sheet G is the y direction and the direction perpendicular to the conveyance direction A in the horizontal plane is the x direction
  • the movement in the x direction is performed.
  • Movement in the y direction is performed.
  • Movement in the y direction and rotation in the xy plane.
  • the x direction and the y direction are shown.
  • the length direction (longitudinal direction) of the glass sheet G held in a suspended state by the chuck 10 is shown as the z direction.
  • the specific structure of the chucks 10a to 10d functioning as the movable chuck and the operation-free chuck will be described in detail in the item of “chuck configuration” described later.
  • the chucks 10a to 10d When holding the flat glass sheet G before conveyance, the chucks 10a to 10d are arranged in a straight line as shown in FIG. 1 (a). In this linear arrangement, the chucks 10a to 10d are arranged at substantially equal intervals to suspend and hold the upper end portion of the glass sheet G (holding step). Further, while holding the glass sheet G, the chucks 10a to 10d pull the glass sheet G in the z direction to a position where the lower end portion of the glass sheet G is lifted in the air as necessary. When the holding of the glass sheet G is completed, the glass sheet G is transported in the transport direction A (y direction).
  • the chucks 10a to 10d are arranged in a curved line on the curve as shown in FIG.
  • the chucks 10a and 10d located on the outer side are separated from the chucks 10b and 10c located on the inner side in the transport direction A (that is, the y direction), and the transport direction.
  • the chuck is moved in a direction approaching the chucks 10b and 10c located inside.
  • the curved state of the glass sheet G is the steepest at the upper end portion and becomes gentler downward, and the lower end portion is almost a straight line.
  • the base 20 is driven to transport the glass sheet G in the transport direction A (transport process).
  • the rigidity (stickiness) against bending in the vertical direction (longitudinal direction) of the glass sheet G is increased.
  • the glass sheet G is stable even when an external force acts on the glass sheet G, such as vibration is applied to the glass sheet G, wind pressure is applied from the front, or inertia force acts on the glass sheet G. Maintaining the posture, it is possible to prevent rocking, bending, and breakage. Moreover, since the glass sheet G protrudes in the conveyance direction A, the wind from the front can be easily received backward. As a result, it becomes easy to raise the conveyance speed of the glass sheet G, and it can improve manufacturing efficiency.
  • the base 20 conveys the glass sheet G to the position (loading position) of the pallet 30 as shown in FIG.
  • the pallet 30 has a placement surface 31 on which the glass sheet G is placed.
  • the mounting surface 31 is configured by a rectangular surface having a size larger than that of the glass sheet G so that the glass sheet G can be received.
  • the placement surface 31 is provided so as to be inclined at an inclination angle ⁇ such that the lower side of the rectangular surface is the front side and the upper side is the back side when viewed from the transport direction A.
  • the inclination angle ⁇ of the mounting surface 31 can be set to an arbitrary value. For example, it is set in the range of 10 to 30 degrees, but is set to 18 degrees in the present embodiment.
  • the holding of the glass sheet G by the chucks 10a to 10d is released as shown in FIG. 1 (d).
  • the glass sheet G elastically returns from the curved state to the original flat state, and is loaded on the placement surface 31 of the pallet 30 as it is, as shown in FIG.
  • a buffer sheet is sandwiched between the glass sheet G and the placement surface 31 as necessary.
  • a buffer sheet is further arranged on the placed glass sheet G, and the glass sheets G are stacked so as to sandwich the buffer sheets.
  • the chucks 10a to 10d in the curved array return to the original linear array so that the next new glass sheet G can be held. Return to the position to hold the glass sheet G.
  • the return of the chucks 10a to 10d from the curvilinear array to the linear array can be performed by performing an operation reverse to the operation of changing the array of the chucks 10a to 10d from FIG. 1 (a) to FIG. 1 (b). .
  • an elastic member (not shown) is attached to the chucks 10a to 10d to constitute a return mechanism, and the chucks 10a to 10d When the hold is released, it automatically returns to the original posture.
  • the elastic force (restoring force) of the elastic member may be set smaller than the elastic force of the glass sheet G.
  • FIG. 2A is a front view of the chuck 10a which is an outer chuck
  • FIG. 2B is a plan view thereof.
  • the inside of the blowing in the front view shows a state in which the holding portion 18 of the chuck 10a is rotated by 90 °.
  • the chuck 10d which is another outer chuck, has the same configuration as the chuck 10a.
  • 3A is a front view of the chuck 10b, which is an inner chuck
  • FIG. 3B is a plan view thereof.
  • the inside of the blowing in the front view shows a state in which the holding portion 18 of the chuck 10b is rotated by 90 °.
  • the chuck 10c which is another inner chuck, has the same configuration as the chuck 10b.
  • the chucks 10a to 10d are configured as movable chucks that can change between a “linear array” and a “curved array”, and the glass sheet G is held while the glass sheet G is held. It is configured as an operation-free chuck that can change its posture following the shape of.
  • the chucks 10a and 10d which are outer chucks, include an x operation mechanism 11 including a guide portion 19 operable in the x direction and a y operation mechanism including a guide portion 19 operable in the y direction. 12. That is, the chucks 10a and 10d are configured as chucks having a drive mechanism.
  • the x operation mechanism 11 and the y operation mechanism 12 are provided with a ball screw 13 and a motor 14, respectively.
  • the motor 14 it is preferable to use a servo motor capable of accurately controlling the moving distance (that is, the rotation speed).
  • the chucks 10a and 10d move in the x direction and the y direction.
  • the chucks 10a and 10d move directly to the positions interpolated between both directions.
  • the chucks 10 a and 10 d are not restricted in rotating operation, and are configured to be free to rotate in the xy plane via the ball bearing 15. For this reason, the chucks 10a and 10d rotate freely following the shape change of the glass sheet G being held, and change their postures. Therefore, even after the operations of the x operation mechanism 11 and the y operation mechanism 12 are completed, the glass sheet G does not receive stress from the chucks 10a and 10d.
  • the chucks 10b and 10c which are inner chucks, include an x moving mechanism 16 having a guide portion 19 movable in the x direction and a y moving mechanism having a guide portion 19 movable in the y direction. 17.
  • the movable range (stroke) of the x moving mechanism 16 and the y moving mechanism 17 may be set smaller than the movable range (stroke) of the x operating mechanism 11 and the y operating mechanism 12 provided in the chucks 10a and 10d. Further, the x moving mechanism 16 and the y moving mechanism 17 do not have a driving mechanism such as a ball screw or a motor provided in the x operating mechanism 11 and the y operating mechanism 12.
  • the chucks 10a to 10d can move so as to follow the shape of the glass sheet G being held, they can be changed between a linear array and a curved array. If the chucks 10a to 10d are configured as operation-free chucks as described above, the chucks 10a to 10d can move during the conveyance of the glass sheet G, but the shape of the glass sheet G changes during the conveyance. If it is not necessary, a lock mechanism for fixing the arrangement of the chucks 10a to 10d is preferably provided.
  • the lock mechanism can be configured, for example, by providing a brake mechanism in each guide portion 19 of the x operation mechanism 11 and the y operation mechanism 12 and in each guide portion 19 of the x movement mechanism 16 and the y movement mechanism 17. In this case, the chucks 10a to 10d are locked in a curved arrangement and can be conveyed while maintaining the curved state of the glass sheet G, so that the posture of the glass sheet G during conveyance can be further stabilized. it can.
  • FIG. 4 is an explanatory diagram showing the relative positional relationship before and after the movement of the chucks 10a to 10d holding the glass sheet G.
  • FIG. 4 The adjustment of the movement amount of the chucks 10a to 10d for setting the curved state of the glass sheet G will be described with reference to FIG.
  • the curved state of the glass sheet G is appropriately determined according to the glass sheet G to be conveyed, but the curved state is set by adjusting the movement amount of the chucks 10a to 10d. For example, as shown in FIG.
  • x1 and y1 in the above formula are the positions (x1, y1) of the chuck 10a after movement based on the center of the arc obtained by bending the glass sheet G.
  • x2 and y2 are the positions (x2, y2) of the chuck 10b after the movement with reference to the center of the arc obtained by curving the glass sheet G, as shown in FIG.
  • the glass sheet conveying apparatus 100 it is possible to convey the glass sheet G in a state in which the glass sheet G is rigid as it is easily bent in the vertical direction. Therefore, the glass sheet conveying apparatus 100 can be suitably used for conveying a thin glass sheet having a thickness of 0.2 mm or less or a G11 class glass sheet having a length exceeding 3000 mm. Further, the glass sheet conveying apparatus 100 can be realized by a small-scale improvement in the conventional glass sheet conveying apparatus by simply replacing the fixed chuck with a movable operation free chuck. Accordingly, it is possible to increase the loading efficiency of the glass sheets G while suppressing the equipment cost, and it can be said that the apparatus is excellent in practicality.
  • the ball screw 13 and the motor 14 are used as drive sources for the x operation mechanism 11 and the y operation mechanism 12 that move the chucks 10a and 10d in the x direction and the y direction. It is also possible to adopt a system in which a conductive actuator is connected to 10d and driven in the x and y directions, or a driving system using a belt. In this case, the configuration of the drive source can be simplified.
  • the driving source is connected only to the outer chucks 10a and 10d, and the inner chucks 10b and 10c are moved following the deformation of the glass sheet G accompanying the movement of the chucks 10a and 10d.
  • a driving source it is also possible to connect a driving source to the chucks 10b and 10c, and to comprehensively control the movement of all the chucks 10a to 10d in the x and y directions and the rotation operation in the xy plane.
  • the arrangement of the chucks 10a to 10d can be positively switched, and the switching response can be improved.
  • the number of chucks 10 can be further increased.
  • the number of chucks 10 may be at least three. In this case, the apparatus configuration can be simplified.
  • a sheet material stacking apparatus which is one of the sheet material handling apparatuses of the present invention, is an apparatus used for stacking sheet materials on an inclined surface.
  • the sheet material to be stacked is the same as the sheet material handled by the above-described sheet material conveying apparatus.
  • a glass sheet will be described as an example of the sheet material to be stacked. Accordingly, in the following description, it is assumed that the sheet material stacking apparatus is handled as a “glass sheet stacking apparatus”.
  • FIG. 5 is a plan view and a perspective view showing a schematic configuration of the glass sheet stacking apparatus 200.
  • the steps of holding and transporting the glass sheet G by the glass sheet stacking apparatus 200 and stacking the transported glass sheet G on the pallet 30 are shown step by step in the order of (a) to (d).
  • the conveyance direction of the glass sheet G is the direction shown by the arrow A during each process of FIG.
  • the glass sheet stacking apparatus 200 includes a chuck 10 as a holding unit that holds the glass sheet G, and a base 20 to which the chuck 10 is attached.
  • the chuck 10 serves as a curve forming portion capable of holding the glass sheet G in a curved state protruding in the flow direction of a continuous process.
  • the glass sheet stacking apparatus 200 has the same configuration as that of the glass sheet conveying apparatus 100 described above. Therefore, the detailed description regarding the chuck 10 and the base 20 is omitted.
  • the x direction and the y direction are set in order to explain the operation and state of the glass sheet G.
  • the x direction is a direction perpendicular to the transport direction A
  • the y direction is the same direction as the transport direction A.
  • the vertical direction is shown as the z direction.
  • the buffer sheet S When stacking the glass sheet G on the pallet 30, the buffer sheet S may be sandwiched between the glass sheets G in order to protect the effective surface of the glass sheet G.
  • a resin sheet having flexibility for example, a non-crosslinked foamed polyethylene sheet “Miramat (registered trademark)” commercially available from JSP Corporation
  • the buffer sheet S is kept in a hollow standby state between the glass sheet G and the inclined surface 31 of the pallet 30.
  • the buffer sheet S in standby is held on both sides in the width direction (x direction) by the holder 40.
  • the holder 40 can continue to hold the buffer sheet S as it is even after the glass sheet G has moved to the buffer sheet S, as will be described later. That is, the holder 40 holds the buffer sheet S, thereby indirectly holding the glass sheet G. Therefore, the holder 40 also has a function as a holding portion that holds the glass sheet G.
  • the holder 40 includes an upper holder 40a and a lower holder 40b, and holds an upper part and a lower part on both sides of the buffer sheet S.
  • the posture of the buffer sheet S held by the upper holder 40a and the lower holder 40b is basically maintained parallel to the glass sheet G.
  • the buffer sheet S in standby is preferably in a state in which at least a part thereof is in contact with the inclined surface 31 of the pallet 30 in order to smoothly perform the subsequent placing process.
  • the lower end portion of the buffer sheet S is in line contact with the inclined surface 31 of the pallet 30. In this case, positioning of the buffer sheet S with respect to the inclined surface 31 can be performed reliably.
  • a region extending from the lower end of the buffer sheet S to a predetermined width above is in surface contact with the inclined surface 31 of the pallet 30.
  • air between the buffer sheet S and the buffer sheet S and the inclined surface 31 can be prevented from entering, so that the glass sheets G can be densely stacked on the inclined surface 31.
  • the upper holder 40a and the lower holder 40b are configured to be movable along the x direction, and the holding interval of the buffer sheet S can be adjusted. Further, the upper holder 40a and the lower holder 40b can be moved in the x direction while holding the buffer sheet S. For this reason, for example, if the upper holder 40a and the lower holder 40b are moved in the direction approaching each other along the x direction while holding the buffer sheet S, the held buffer sheet S may be loosened. it can.
  • the holding interval of the buffer sheet S by the upper holder 40a and the lower holder 40b can be set separately. In this case, the slackness of the buffer sheet S can be made different between the upper side and the lower side of the buffer sheet S. .
  • the base 20 is driven from the state of FIG. 5A and approached to the vicinity where the glass sheet G held by the chucks 10a to 10d contacts the outside of the buffer sheet S.
  • the glass sheet G is released from the holding of the outer chucks 10a and 10d, and the glass sheet G is further held in the state where the glass sheet G is held only by the inner chucks 10b and 10c.
  • the upper holder 40a and the lower holder 40b holding the buffer sheet S move slightly in the direction approaching each other along the x direction. Thereby, the buffer sheet S is in a slightly loosened state. Further, the buffer sheet S itself extends slightly.
  • the glass sheet G comes into contact with the outer side of the buffer sheet S, and is bent so as to be wound backward, thereby being in a curved state.
  • the curved state of the glass sheet G is the largest at the upper end side held by the inner chucks 10b and 10c, becomes gentler downward, and can be made substantially linear at the lower end side.
  • a driving mechanism is provided in at least a part of the chucks 10a to 10d, and the arrangement of the chucks 10a to 10d is changed to a curved shape, so that the glass sheet G is positively curved. It can also be formed. As shown in FIG.
  • the curved glass sheet G held by the inner chucks 10b and 10c is inclined surface 31 of the pallet 30 in plan view. Therefore, the vicinity of the center in the width direction (x direction) of the glass sheet G (particularly, the vicinity of the center of the upper end of the glass sheet G) is in contact with the buffer sheet S that is waiting in the hollow state. Touch.
  • the upper holder 40a and the lower holder 40b holding the buffer sheet S are appropriately moved in the direction approaching each other along the x direction, so that the buffer sheet S matches the curved state of the glass sheet G. To be deformed.
  • the curved glass sheet G is exchanged between the upper holder 40a and the lower holder 40b. It is received by the buffer sheet S loosened by the approach. At this time, since the glass sheet G overlaps with the buffer sheet S substantially in contact with the buffer sheet S, the buffer sheet S is unlikely to become wrinkles and air does not easily accumulate between the glass sheet G and the buffer sheet S. Therefore, the glass sheet G is not easily displaced from the buffer sheet S. In addition, since the glass sheet G is delivered to the buffer sheet S in standby, the movement amount (stroke) of the chucks 10a to 10d can be reduced as compared with the case where the glass sheet G is directly placed on the pallet 30. .
  • the upper holder 40a and the lower holder 40b holding the buffer sheet S are released from the state of FIG.
  • the glass sheet G is elastically returned from the curved state to the original flat state while being overlapped with the buffer sheet S, and is placed on the inclined surface 31 of the pallet 30 as shown in FIG.
  • the inclined surface 31 of the pallet 30 is configured by a rectangular surface having a larger size so that the glass sheet G and the buffer sheet S can be received.
  • the inclined surface 31 is provided so as to be inclined at an inclination angle ⁇ so that the lower side of the rectangular surface is the front side and the upper side is the back side when viewed from the conveyance direction A.
  • FIG. 6 exemplifies the structure of the chuck 10a which is one of the outer chucks configured as an operation free chuck, and shows (a) a front view and (b) a plan view of the chuck 10a, respectively.
  • the inside of the blowing in the front view shows a state in which the holding portion 18 of the chuck 10a is rotated by 90 °.
  • the chuck 10d which is another outer chuck, has the same configuration as the chuck 10a.
  • the basic configuration of the chucks 10b and 10c, which are inner chucks, is the same as that of the chucks 10a and 10d, but the movable range in the x direction and the y direction may be smaller than the chucks 10a and 10d.
  • the chucks 10a to 10d provided in the glass sheet stacking apparatus 200 adopt the same configuration as the chucks 10a to 10d of the glass sheet conveying apparatus 100 described above, and can be operated similarly.
  • the glass sheet stacking apparatus 200 may be provided with a lock mechanism that fixes the arrangement of the chucks 10a to 10d and a drive mechanism that actively changes the arrangement of the chucks 10a to 10d. it can.
  • the glass sheet stacking method of the present invention is executed using the glass sheet stacking apparatus 200 described above, the glass sheet G is held in a curved state protruding from the inclined surface 31 of the pallet 30 in the holding step. Therefore, the rigidity with respect to the bending of the glass sheet G can be increased. For this reason, even if an external force such as vibration, wind pressure, or inertial force acts on the glass sheet G until the glass sheet G is held and placed on the inclined surface 31, the glass sheet G maintains a stable posture. Thus, the glass sheet G can be prevented from swinging, bending, breakage, and the like. Therefore, the glass sheet stacking apparatus 200 can be suitably used for transporting a thin glass sheet having a thickness of 0.2 mm or less or a G11 class glass sheet having a length exceeding 3000 mm.
  • the glass sheet G in the placing step, the glass sheet G is elastically restored from the curved state to the original flat state and placed on the inclined surface 31 as it is.
  • maintenance of the glass sheet G of the curved state which protrudes with respect to the inclined surface 31 is cancelled
  • the glass sheet G is placed on the inclined surface 31 from a state where the bending rigidity is increased by the bending, the glass sheet G is easily adhered to the inclined surface 31. As a result, the stacking operation of the glass sheets G can be performed quickly and reliably while densely stacking the glass sheets G on the inclined surface 31.
  • FIG. 7 is a plan view and a perspective view showing a schematic configuration of a glass sheet stacking apparatus 200 according to another embodiment.
  • the steps of holding and transporting the glass sheet G by the glass sheet stacking apparatus 200 and stacking the transported glass sheet G on the pallet 30 are stepwise in order of (a) to (d). It is shown.
  • the base 20 is driven from the state of FIG. 7A, and the buffer sheet on which the glass sheet G held by the chucks 10a to 10d is placed on the inclined surface 31 of the pallet 30.
  • the chucks 10a to 10d are changed to an arcuate curved array.
  • the glass sheet G is bent so that the outer side is wound backward, and is in a curved state.
  • the glass sheet G is brought close to the buffer sheet S and at least the lower end side of the glass sheet G comes into contact with the buffer sheet S, the glass sheet G is held by the chucks 10a to 10d as shown in FIG. Is released.
  • the glass sheet G is elastically restored from the curved state to the original flat state, and is loaded on the buffer sheet S placed on the inclined surface 31 of the pallet 30 as shown in FIG.
  • FIG. 8 is a plan view and a perspective view showing a schematic configuration of a glass sheet stacking apparatus 200 according to another embodiment.
  • the steps of holding and transporting the glass sheet G by the glass sheet stacking apparatus 200 and stacking the transported glass sheet G on the pallet 30 are stepwise in order of (a) to (d). It is shown.
  • the base 20 is driven from the state of FIG. 8A, and the glass sheet G held by the chucks 10a to 10d comes into contact with the outside of the buffer sheet S that is loosened.
  • the chucks 10a to 10d are changed to an arcuate curved array.
  • the glass sheet G is bent so that the outer side is wound backward, and is in a curved state. In this state, the glass sheet G is further advanced.
  • the holding of the glass sheet G by the chucks 10a to 10d is released as shown in FIG. Then, the curved glass sheet G is received by the buffer sheet S that has been slackened.
  • the shape of the glass sheet G that is curving the shape of the buffer sheet S make sure to match.
  • the buffer sheet S is unlikely to become wrinkles and air does not easily accumulate between the glass sheet G and the buffer sheet S. Therefore, the glass sheet G is not easily displaced from the buffer sheet S. It is also possible to reduce the degree of slackening of the buffer sheet S when the glass sheet G is received with the buffer sheet S in standby being loosened.
  • the upper holder 40a and the lower holder 40b holding the buffer sheet S are released from the state of FIG.
  • the glass sheet G is elastically returned from the curved state to the original flat state while being overlapped with the buffer sheet S, and is placed on the inclined surface 31 of the pallet 30 as shown in FIG.
  • the four chucks 10a to 10d are provided as the chuck 10 for holding the glass sheet G.
  • the number of chucks 10 can be further increased.
  • the number of chucks 10 may be at least three. In this case, the apparatus configuration can be simplified.
  • the sheet material handling apparatus and the sheet material handling method of the present invention can be used in the case of conveying a glass sheet or loading a glass sheet on a pallet or the like, but it is a material other than glass and has a certain degree of elasticity. It can also be applied to transporting and stacking thin materials such as resin films, paper products, textile products, metal sheets, wooden sheets and the like.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Packaging Frangible Articles (AREA)
PCT/JP2014/051345 2013-02-04 2014-01-23 シート材取扱方法、及びシート材取扱装置 WO2014119458A1 (ja)

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KR1020157015946A KR102173674B1 (ko) 2013-02-04 2014-01-23 시트재 취급 방법, 및 시트재 취급 장치

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JP2013019373A JP6024494B2 (ja) 2013-02-04 2013-02-04 シート材搬送装置、及びシート材搬送方法
JP2013019372A JP5983445B2 (ja) 2013-02-04 2013-02-04 シート材積載方法、及びシート材積載装置
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WO2018180651A1 (ja) * 2017-03-27 2018-10-04 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
WO2022107458A1 (ja) * 2020-11-20 2022-05-27 日本電気硝子株式会社 ガラス板梱包体及びガラス板梱包体製造方法

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JP6702065B2 (ja) * 2016-08-01 2020-05-27 日本電気硝子株式会社 ガラス板の製造方法およびガラス板製造装置
JP6700149B2 (ja) * 2016-09-29 2020-05-27 株式会社Ｓｃｒｅｅｎホールディングス 姿勢変更装置
CN107381049A (zh) * 2017-08-08 2017-11-24 德阳市聚阳特种玻璃有限公司 适用于多种规格玻璃的运输方法
CN107487631A (zh) * 2017-08-08 2017-12-19 德阳市聚阳特种玻璃有限公司 能够减小晃动幅度的吊装运输设备
JP7196855B2 (ja) * 2017-11-10 2022-12-27 Ａｇｃ株式会社 屈曲基材の製造方法及び屈曲基材の成形型
CN110482225A (zh) * 2019-08-30 2019-11-22 彩虹显示器件股份有限公司 一种用于机器人交接基板玻璃的机构

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WO2022107458A1 (ja) * 2020-11-20 2022-05-27 日本電気硝子株式会社 ガラス板梱包体及びガラス板梱包体製造方法

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TWI541180B (zh) 2016-07-11
CN104871303A (zh) 2015-08-26
TWI570044B (zh) 2017-02-11
KR102173674B1 (ko) 2020-11-03
TW201431763A (zh) 2014-08-16
TW201627217A (zh) 2016-08-01
CN104871303B (zh) 2017-03-15

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