WO2019065203A1 - Cassette placement unit, and conveyance system - Google Patents

Cassette placement unit, and conveyance system Download PDF

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Publication number
WO2019065203A1
WO2019065203A1 PCT/JP2018/033541 JP2018033541W WO2019065203A1 WO 2019065203 A1 WO2019065203 A1 WO 2019065203A1 JP 2018033541 W JP2018033541 W JP 2018033541W WO 2019065203 A1 WO2019065203 A1 WO 2019065203A1
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WO
WIPO (PCT)
Prior art keywords
cassette
disposed
panel
holding portion
liquid crystal
Prior art date
Application number
PCT/JP2018/033541
Other languages
French (fr)
Japanese (ja)
Inventor
昌輝 久保田
佐藤　史朗
Original Assignee
日本電産サンキョー株式会社
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
Application filed by 日本電産サンキョー株式会社 filed Critical 日本電産サンキョー株式会社
Priority to CN201890001243.9U priority Critical patent/CN211957607U/en
Publication of WO2019065203A1 publication Critical patent/WO2019065203A1/en

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    • 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
    • G—PHYSICS
    • G02—OPTICS
    • G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
    • G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
    • G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour 
    • G02F1/13—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour  based on liquid crystals, e.g. single liquid crystal display cells
    • 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

Definitions

  • the present invention relates to a cassette placement unit in which a cassette in which a plurality of display panels are housed is disposed.
  • the present invention also relates to a transport system provided with such a cassette placement unit.
  • an inspection apparatus for inspecting the lighting of a liquid crystal panel is known (see, for example, Patent Document 1).
  • the inspection apparatus described in Patent Document 1 is incorporated in the middle of a liquid crystal display manufacturing system.
  • This inspection apparatus includes a prober for inspecting the lighting of the liquid crystal panel, a carry-in side conveyor for carrying the liquid crystal panel before the test toward the prober, and a carry-in mechanism for carrying the liquid crystal panel carried by the carry-in conveyor into the prober. It has an unloading mechanism for unloading the liquid crystal panel after inspection from the prober, and an unloading conveyor for transporting the liquid crystal panel unloaded by the unloading mechanism.
  • a liquid crystal panel before inspection stored in a cassette disposed at a predetermined place is carried into the inspection device by a robot or the like, and the liquid crystal panel after inspection is inspected by the robot or the like Out of the cassette to a cassette disposed at a predetermined location.
  • the inventor of the present application is examining the installation of a cassette arrangement portion in which a plurality of liquid crystal panels before inspection and a cassette in which a plurality of liquid crystal panels after inspection are accommodated are arranged.
  • no specific configuration of such a cassette placement unit has been proposed.
  • the cassette arranging unit of the present invention is a cassette arranging unit in which a cassette in which a plurality of display panels are accommodated is arranged, and the cassette holding unit for holding the cassette and the cassette holding unit A bottom surface of the cassette when a plurality of display panels accommodated in the cassette are arranged to overlap in a state of being spaced apart in the vertical direction as a cassette bottom surface;
  • the back of the cassette at this time is the back of the cassette
  • the opposite side of the back of the cassette to the back of the cassette is the panel entry / exit face where the display panel is inserted and removed, and the cassette holder contacts the bottom of the cassette It is provided with a bottom member and a back member with which the back of the cassette is in contact, and an upright position in which the panel entry and exit faces front and the bottom of the cassette faces downward
  • the inclined position where the panel entry / exit surface is directed obliquely upward or upward, relative to the support frame, and the cassette holding portion is further arranged when the cassette holding portion is
  • An anti-overturn mechanism for preventing the overturning of the cassette to the front side, wherein the overturn prevention mechanism is a contact member for contacting the cassette with the cassette bottom surface contacting the bottom surface member and the cassette back surface contacting the back surface member And a spring member for biasing the contact member toward the cassette.
  • the cassette is attached to, for example, a cassette holding unit disposed in a tilted position.
  • the cassette holding unit for holding the cassette has an erected position where the panel entry / exit surface of the cassette where the display panel is taken in / out faces front side and the cassette bottom face faces downward, It is pivotable relative to the support frame between an inclined position facing upward or upward. Therefore, in the present invention, a cassette in which the panel entrance / exit surface is directed obliquely upward or upward is attached to the cassette holder disposed in the inclining position, or the panel entrance / exit surface is attached from the cassette holder disposed in the inclining position. It becomes possible to remove the cassette in the state of facing obliquely upward or upward. Therefore, in the present invention, when attaching or detaching the cassette to the cassette holding portion, it is possible to prevent the display panel from falling from the panel entry / exit surface and damaging the display panel.
  • the panel entrance / outlet surface faces the front side and the cassette bottom surface faces the lower side, and the thickness direction and the vertical direction of the display panel are substantially Match. Therefore, in the present invention, when the cassette holding portion is disposed in the upright position, the state of the display panel accommodated in the cassette can be stabilized by the influence of gravity acting on the display panel. Therefore, in the present invention, it is possible to reliably hold a predetermined portion of the display panel contained in the cassette and carry the display panel out of the cassette, for example, by the robot for transporting the panel.
  • the cassette holding unit includes the overturn preventing mechanism for preventing the cassette from being overturned to the front side when the cassette holding unit is disposed in the upright position, and the overturn preventing mechanism
  • a contact member that contacts the member and contacts the cassette with the cassette back surface in contact with the back member, and a spring member that biases the contact member toward the cassette. Therefore, in the present invention, the contact member automatically contacts the cassette when the cassette is attached to the cassette holding portion such that the cassette bottom surface contacts the bottom surface member and the cassette back surface contacts the back surface member.
  • the situation in which the contact member of the overturn preventing mechanism does not contact the cassette attached to the cassette holding unit does not occur due to the operator's operation error or the like. Therefore, in the present invention, when the cassette holding portion is pivoted from the inclined position to the upright position, it is possible to prevent the cassette from falling to the front side from the cassette holding portion, and as a result, display from the panel entry / exit surface It becomes possible to prevent the panel from falling and damaging the display panel. In the present invention, since the contact member is biased by the spring member, the contact member pushes the contact member using the cassette in the direction away from the cassette even if the cassette holding portion includes the overturn preventing mechanism. It is possible to remove the cassette from the cassette holder relatively easily.
  • the overturn preventing mechanism is disposed on the upper end side of the cassette holding portion when disposed in the upright position. Further, in the present invention, it is preferable that the overturn preventing mechanism be disposed on both left and right sides of the cassette holding portion. According to this structure, when the cassette holding portion is disposed at the upright position, the cassette is less likely to fall down.
  • the overturn preventing mechanism includes, for example, a ball plunger having a ball as a contact member and a compression coil spring as a spring member, and a plunger holding member for holding the ball plunger.
  • the structure of the overturn preventing mechanism can be simplified to miniaturize the overturn preventing mechanism.
  • the cassette holding unit includes a clamp mechanism that fixes the cassette to the cassette holding unit with the cassette bottom surface in contact with the bottom surface member and the cassette back surface in contact with the back surface member.
  • the clamp mechanism is a manual type
  • the cassette holder is pivoted from the inclined position to the upright position in a state where the cassette is not fixed to the cassette holding unit by the clamp mechanism due to a worker's operation error.
  • the clamp mechanism is an automatic type having an actuator
  • the cassette is fixed to the cassette holding portion by the clamp mechanism if the actuator is not driven due to an operator's mistake or the actuator is broken.
  • the cassette holding portion may be rotated from the inclining position to the upright position in a state where it is not being carried out.
  • the cassette holding unit of the present invention includes the above-described overturn preventing mechanism, the cassette holding unit is rotated from the inclined position to the upright position in a state where the cassette is not fixed to the cassette holding unit by the clamp mechanism. Even in this case, it is possible to prevent the cassette from falling forward from the cassette holding portion. Further, in the present invention, since the contact member is biased by the spring member, the overturn preventing mechanism is unlikely to break down.
  • the cassette placement portion preferably includes a buffer mechanism for relieving the shock of the cassette holding portion at the time of rising from the inclining position to the rising position.
  • the cassette arranging unit prevents the second clamp mechanism for fixing the cassette holding unit arranged in the upright position to the support frame, and prevents the cassette holding unit arranged in the upright position from falling to the inclined position side.
  • a second contact member contacting one of the cassette holder and the support frame disposed in the upright position, and the cassette retainer disposed in the upright position.
  • the second contact member automatically contacts the cassette holding portion or the support frame when the cassette holding portion is disposed at the upright position, and the fall of the cassette holding portion toward the tilting position is prevented. Be done.
  • the cassette placement portion includes the buffer mechanism, it is possible to automatically stabilize the state of the cassette holding portion before being fixed to the support frame by the second clamp mechanism. Therefore, even if the cassette placement unit includes the buffer mechanism, the fixing operation of the cassette holding unit by the second clamp mechanism can be easily performed. Further, even if the cassette holding portion is not fixed to the support frame by the second clamp mechanism due to an operator's mistake or the like, it becomes possible to prevent the cassette holding portion from falling to the tilting position side.
  • the display panel accommodated in the cassette be slightly inclined so as to be upward toward the front side.
  • the cassette placement unit of the present invention can be used in a transport system that carries in the display panel to the inspection apparatus for inspecting the display panel and carries out the display panel from the inspection apparatus.
  • the transport system includes, for example, a panel transport robot that transports the display panel from the cassette placement unit to the inspection apparatus and / or transports the display panel from the inspection device to the cassette placement unit.
  • a panel transport robot that transports the display panel from the cassette placement unit to the inspection apparatus and / or transports the display panel from the inspection device to the cassette placement unit.
  • the panel transfer robot can reliably hold a predetermined portion of the display panel housed in the cassette and carry the display panel out of the cassette.
  • the panel transport robot preferably includes a panel holding portion for holding the display panel, and the panel holding portion is preferably formed in a flat plate shape having a thickness smaller than the distance between the display panels housed in the cassette. .
  • the panel holding portion can be inserted between the display panels housed in the cassette, and the panel holding portion can suck and hold a relatively wide range of the upper surface and the lower surface of the display panel. . Therefore, the holding state of the display panel by the panel holding portion can be stabilized.
  • the present invention when the cassette is attached to or detached from the cassette holding portion, it is possible to prevent the display panel from falling from the panel entry / exit surface and damaging the display panel. Further, in the present invention, it is possible to reliably hold a predetermined portion of the display panel contained in the cassette and to carry out the display panel from the cassette by the robot for transporting the panel. Furthermore, in the present invention, when the cassette holding portion is pivoted from the inclined position to the upright position, it is possible to prevent the cassette from falling to the front side from the cassette holding portion, and as a result, display from the panel entry / exit surface It becomes possible to prevent the panel from falling and damaging the display panel.
  • FIG. 5 is a side view for explaining the state when the cassette holding unit shown in FIG. 4 is in the upright position.
  • FIG. 5 is a side view for explaining the state when the cassette holding portion shown in FIG. 4 is in the inclined position.
  • FIG. 7 is a view for explaining the state when the cassette holding portion shown in FIG. 4 is in the inclined position.
  • FIG. 7 is a view for explaining the configuration of a second overturn preventing mechanism and the like from the direction of arrows F in FIG. 6.
  • FIG. 1 is a perspective view of a transport system 1 according to an embodiment of the present invention.
  • FIG. 2 is a view for explaining the transport system 1 shown in FIG. 1 from the top.
  • the transport system 1 of the present embodiment is used by being incorporated into a manufacturing line of a relatively small liquid crystal display used in a portable device or the like.
  • the transport system 1 transports a liquid crystal panel 2 which is a display panel.
  • the transport system 1 carries in the liquid crystal panel 2 to the inspection device 3 which inspects the liquid crystal panel 2 and carries out the liquid crystal panel 2 from the inspection device 3.
  • the liquid crystal panel 2 is formed in a rectangular flat plate shape.
  • the liquid crystal panel 2 before the inspection by the inspection device 3 is accommodated in the tray 4 or the cassette 5 according to the size of the liquid crystal panel 2 to be inspected.
  • the relatively large liquid crystal panel 2 is accommodated in the tray 4, and the relatively small liquid crystal panel 2 is accommodated in the cassette 5.
  • the liquid crystal panel 2 after the inspection by the inspection device 3 is accommodated in the tray 4.
  • the tray 4 is formed in a substantially rectangular flat plate shape, and a recess in which the liquid crystal panel 2 is accommodated is formed on the upper surface of the tray 4. Further, in FIG. 1, the illustration of the tray 4 and the cassette 5 is omitted.
  • the transport system 1 includes a tray arrangement portion 6 in which the trays 4 in which the liquid crystal panels 2 before the inspection are accommodated are stacked in a plurality of stages, and the liquid crystal panels 2 determined to be normal in the inspection by the inspection device 3.
  • a tray arrangement unit 9 in which empty trays 4 are arranged in a plurality of stages.
  • the tray placement units 6 to 9 are provided with a tray elevating mechanism that raises and lowers the tray 4.
  • the tray arranging unit 6, the tray arranging unit 7, the tray arranging unit 8 and the tray arranging unit 9 are arranged in a line.
  • the tray arranging unit 9, the tray arranging unit 6, the tray arranging unit 7, and the tray arranging unit 8 are arranged in this order.
  • the tray placement units 6 to 9 are installed on the gantry 10.
  • the transport system 1 also includes a robot 11 as a panel transport robot for transporting the liquid crystal panel 2, a robot 12 for transporting the tray 4, and a cassette placement unit in which the cassette 5 in which the plurality of liquid crystal panels 2 are housed is disposed. It has 13 and.
  • the inspection device 3 of the present embodiment is a lighting inspection device which performs lighting inspection of the liquid crystal panel 2.
  • the inspection apparatus 3 has, for example, a panel holding unit having two panel mounting units 15 on which the liquid crystal panel 2 is mounted, a rotation mechanism that rotates the panel holding unit with the vertical axis as the rotation axial direction, and the liquid crystal panel And a case where the inside becomes a dark room at the time of the lighting inspection of 2.
  • a backlight and a camera for inspecting the lighting of the liquid crystal panel 2 are installed inside the housing.
  • the rotation mechanism has a position where one panel mounting portion 15 of the two panel mounting portions 15 is disposed outside the housing and the other panel mounting portion 15 is disposed inside the housing. The panel holding portion is rotated between the position where one panel mounting portion 15 is disposed inside the housing and the other panel mounting portion 15 is disposed outside the housing.
  • a straight arm 22 whose base end is fixed to the joint 21; a joint 23 fixed to the tip of the arm 22; a joint 24 connected to the joint 23 so as to be rotatable relative to the joint 23;
  • a straight arm 25 whose proximal end is relatively rotatably coupled to the joint 24, a joint 26 to which the tip of the arm 25 is fixed, a joint 27 relatively movably connected to the joint 26, and a joint
  • a panel holding mechanism 28 rotatably connected to the portion 27 and holding the liquid crystal panel 2.
  • the joints 20, 21, 23, 24, 26, 27 include a motor and a reduction gear that decelerates and transmits the power of the motor.
  • the joint portion 20 is connected to the support member 19 so as to be able to rotate with the vertical direction as the axial direction of rotation.
  • the joint portion 21 is connected to the joint portion 20 so as to be able to rotate with the horizontal direction as the axial direction of rotation.
  • the joint portion 24 is connected to the joint portion 23 so as to be able to rotate with the horizontal direction as the axial direction of rotation.
  • the joint portion 27 is connected to the joint portion 26 so as to be able to rotate with the horizontal direction as the axial direction of rotation.
  • the axial direction of rotation of the joint 21 with respect to the joint 20 and the axial direction of rotation of the joint 24 with respect to the joint 23 are orthogonal to the longitudinal direction of the arm 22.
  • the axial direction of rotation of the joint 24 with respect to the joint 23 and the axial direction of rotation of the joint 27 with respect to the joint 26 are orthogonal to the longitudinal direction of the arm 25.
  • the axial direction of rotation of the joint 24 with respect to the joint 23 and the axial direction of rotation of the arm 25 with respect to the joint 24 are orthogonal to each other.
  • the axial direction of the rotation of the joint 27 with respect to the joint 26 and the axial direction of the rotation of the panel holding mechanism 28 with respect to the joint 27 are orthogonal to each other.
  • the panel holding mechanism 28 includes a panel holding portion 28 a that holds the liquid crystal panel 2.
  • the panel holding portion 28 a is formed in a rectangular flat plate shape.
  • a plurality of suction holes are formed in the panel holding portion 28a.
  • An air suction mechanism such as a vacuum pump is connected to the plurality of suction holes via a predetermined pipe.
  • the panel holding portion 28 a sucks and holds the liquid crystal panel 2.
  • the panel holding unit 28 a holds one liquid crystal panel 2.
  • the robot 11 inspects the liquid crystal panel 2 in the tray 4 disposed at the top of the tray arrangement unit 6. Transport to On the other hand, when the liquid crystal panel 2 before inspection contained in the cassette 5 is supplied to the inspection device 3, the robot 11 transports the liquid crystal panel 2 in the cassette 5 to the inspection device 3. That is, the robot 11 transports the liquid crystal panel 2 from the cassette placement unit 13 to the inspection device 3.
  • the robot 11 places the liquid crystal panel 2 after inspection from the inspection apparatus 3 in the tray 4 disposed at the top of the tray placement unit 7 or in the tray 4 disposed at the top of the tray placement unit 8. Transport and store. Specifically, the robot 11 transports and accommodates the liquid crystal panel 2 determined to be normal in the inspection by the inspection device 3 to the tray 4 disposed at the top of the tray arrangement unit 7 and stores the liquid crystal panel 2 in the inspection device 3. The liquid crystal panel 2 determined to be abnormal in the inspection is conveyed to and stored in the tray 4 disposed at the top of the tray placement unit 8.
  • the robot 12 is a so-called two-axis orthogonal robot.
  • the robot 12 is arranged on the upper side of the tray arranging parts 6-9.
  • the robot 12 includes a fixed frame 31 fixed to the gantry 10, and a movable frame 32 held by the fixed frame 31 so that the fixed frame 31 can slide in the arrangement direction of the tray placement sections 6-9.
  • the movable frame 33 is held by the movable frame 32 so that the movable frame 32 can slide in the vertical direction, and the tray holding unit 34 is attached to the movable frame 33.
  • the tray holding unit 34 includes a plurality of suction units for sucking and holding the tray 4.
  • An air suction mechanism such as a vacuum pump is connected to the suction portion via a predetermined pipe, and the suction portion contacts the upper surface of the tray 4 to vacuum suction the tray 4.
  • the robot 12 is provided with a drive mechanism for sliding the movable frame 32, a drive mechanism for sliding the movable frame 33, and the like.
  • the robot 12 conveys the emptied tray 4 from the tray arrangement unit 6 to the tray arrangement unit 9 when the tray 4 at the uppermost stage of the tray arrangement unit 6 to which the liquid crystal panel 2 is carried out by the robot 11 becomes empty. Do. Further, when a predetermined number of liquid crystal panels 2 are accommodated in the uppermost tray 4 of the tray arranging unit 7 to which the liquid crystal panels 2 are carried in by the robot 11, the robot 12 is empty from the tray arranging unit 9 to the tray arranging unit 7 The tray 4 is conveyed and stacked on the uppermost tray 4 of the tray arrangement unit 7.
  • the robot 12 is empty from the tray arranging unit 9 to the tray arranging unit 8
  • the tray 4 is conveyed and stacked on the uppermost tray 4 of the tray arrangement unit 8.
  • FIG. 3A is a front view for explaining the configuration of the cassette 5 shown in FIG. 2, and FIG. 3B is a side view for explaining the configuration of the cassette 5 shown in FIG.
  • the plurality of liquid crystal panels 2 contained in the cassette 5 are arranged to overlap in the state of being spaced apart in the vertical direction There is. Specifically, when the liquid crystal panel 2 in the cassette 5 is transported by the robot 11, in the liquid crystal panel 2 housed in the cassette 5, the thickness direction of the liquid crystal panel 2 and the vertical direction substantially coincide with each other. A plurality of liquid crystal panels 2 which are disposed and which are spaced apart from each other in the vertical direction are overlapped in the vertical direction. Further, as shown in FIG. 3 (A), in the cassette 5, a plurality of liquid crystal panels 2 disposed in a state of being spaced apart in the vertical direction are arranged in a plurality of rows in a state of being spaced apart in a horizontal direction. It is done.
  • the outer shape of the cassette 5 is a rectangular parallelepiped.
  • the bottom surface of the cassette 5 is referred to as a cassette bottom surface 5a when the plurality of liquid crystal panels 2 are arranged to overlap in the up-down direction with an interval, and the top surface of the cassette 5 at this time is referred to as a cassette top surface 5b.
  • the surface of the cassette 5 opposite to the cassette back surface 5c is a panel entry / exit surface 5d where the liquid crystal panel 2 is inserted into and removed from the cassette 5.
  • the panel entry / exit surface 5d is opened so that the liquid crystal panel 2 can be inserted / removed.
  • a state in which a plurality of liquid crystal panels 2 accommodated in the cassette 5 are arranged to overlap in a state of being spaced apart in the vertical direction is referred to as an "upright state”.
  • the side (the X1 direction side in FIG. 1 etc.) where the panel entry / exit surface 5d is disposed with respect to the cassette back surface 5c is the "front" side
  • the X2 direction side in FIG. 1, etc., which is the side, is the “rear” side.
  • the Y direction in FIG. 1 and the like orthogonal to the vertical direction and the front-rear direction is referred to as “horizontal direction”.
  • the robot 11 is disposed on the front side of the cassette placement unit 13.
  • the panel placement unit 15 of the inspection device 3 is disposed on the front side of the cassette placement unit 13.
  • the cassette 5 comprises a flat cassette bottom plate 36 constituting the cassette bottom 5a, a flat cassette upper plate 37 constituting the cassette top 5b, and two flat cassettes constituting a part of the cassette back 5c.
  • a back plate 38 and two columns 39 connecting the cassette bottom plate 36 and the cassette top plate 37 are provided.
  • the cassette 5 is provided with a plurality of panel supports 40 for supporting the liquid crystal panel 2. In FIG. 3B, the panel support 40 is not shown.
  • the cassette bottom plate 36 is disposed such that the thickness direction of the cassette bottom plate 36 coincides with the vertical direction, and the cassette top plate 37 corresponds to the thickness direction of the cassette top plate 37 and the vertical direction.
  • the two cassette back plates 38 are arranged such that the thickness direction of the cassette back plate 38 and the front-rear direction coincide with each other.
  • the support 39 is disposed so that the axial direction of the support 39 matches the vertical direction, and the panel support 40 matches the axial direction of the panel support 40 in the vertical direction. It is arranged.
  • Each of the two cassette back plates 38 is disposed on each of both ends in the left-right direction of the cassette 5.
  • the lower end surface of the cassette back plate 38 is fixed to the upper surface of the cassette bottom plate 36, and the upper end surface of the cassette back plate 38 is fixed to the lower surface of the cassette upper plate 37.
  • the numeral 38 connects the cassette bottom plate 36 and the cassette top plate 37.
  • the two columns 39 are disposed on the front end side of the cassette 5. Further, each of the two columns 39 is disposed on each of both end sides in the left-right direction of the cassette 5.
  • the lower end surface of the support 39 is fixed to the upper surface of the cassette bottom plate 36, and the upper end surface of the support 39 is fixed to the lower surface of the cassette upper plate 37.
  • the plurality of panel supports 40 are disposed with a predetermined interval in the front-rear direction and with a predetermined interval in the left-right direction. It is arranged.
  • the lower end surface of the panel support 40 is fixed to the upper surface of the cassette bottom plate 36, and the upper end surface of the panel support 40 is fixed to the lower surface of the cassette upper surface plate 37. Connects the cassette bottom plate 36 and the cassette top plate 37.
  • the liquid crystal panel 2 is arrange
  • the panel support 40 has a convex portion for supporting the lower surface of the end portion of the liquid crystal panel 2 in the cassette 5 in the upright state.
  • the interval P (see FIG. 3A) in the vertical direction of the liquid crystal panel 2 accommodated in the cassette 5 is wider than the thickness of the panel holding portion 28a. That is, the thickness of the panel holding portion 28 a is thinner than the interval P of the liquid crystal panels 2 accommodated in the cassette 5.
  • FIG. 4 is a perspective view of the cassette placement unit 13 shown in FIG.
  • FIG. 5 is a plan view of the cassette placement unit 13 shown in FIG. 6 is a front view of the cassette placement unit 13 shown in FIG.
  • FIG. 7 is a side view for explaining the state when the cassette holding portion 42 shown in FIG. 4 is at the standing position 42A.
  • FIG. 8 is a side view for explaining the state when the cassette holding portion 42 shown in FIG. 4 is at the tilting position 42B.
  • FIG. 9 is an enlarged view of part E of FIG.
  • FIG. 10 is a view for explaining the configuration of the overturn preventing mechanism 49 and the like from the direction of arrows F in FIG.
  • the cassette placement unit 13 includes a cassette holding unit 42 for holding the cassette 5 and a support frame 43 for rotatably supporting the lower end of the cassette holding unit 42.
  • the cassette holding portion 42 is supported by the support frame 43 so as to be able to rotate with the left and right direction as the axial direction of rotation.
  • the cassette holding portion 42 further includes a bottom surface member 44 in contact with the cassette bottom surface 5 a of the cassette 5 and a back surface member 45 in contact with the cassette back surface 5 c of the cassette 5.
  • the cassette holding unit 42 has an erected position 42A in which the panel entry / exit surface 5d of the cassette 5 held by the cassette holding unit 42 is directed to the front side and the cassette bottom 5a is directed downward, and the cassette 5 held by the cassette holding unit 42. It can be rotated relative to the support frame 43 between the panel entrance surface 5d and an inclined position 42B (see FIG. 8) which is directed obliquely upward (more specifically, obliquely upward toward the front). In the present embodiment, the operator manually rotates the cassette holding portion 42 between the standing position 42A and the tilting position 42B.
  • the cassette holding portion 42 When the cassette holding portion 42 is disposed at the standing position 42A, the cassette 5 is in the upright state, and the liquid crystal panel is selected by the robot 11 from among the cassettes 5 held by the cassette holding portion 42 disposed at the standing position 42A. 2 is carried out. Further, in the present embodiment, the cassette 5 is attached to the cassette holding portion 42 disposed at the tilting position 42B. Specifically, the cassette 5 containing the plurality of liquid crystal panels 2 before the inspection is attached by manual operation of a worker to the cassette holding portion 42 disposed at the tilting position 42B. Further, the cassette 5 which has been emptied of all the liquid crystal panels 2 in the cassette 5 is removed from the cassette holding portion 42 disposed at the tilting position 42B by a manual operation of the operator.
  • the cassette placement unit 13 also has a buffer mechanism 46 for relieving the shock of the cassette holding unit 42 at the time of standing up from the tilting position 42B to the rising position 42A, and a cassette at the time of tilting from the rising position 42A to the tilting position 42B. And a buffer mechanism 47 for reducing the impact of the holding portion 42.
  • the buffer mechanisms 46 and 47 of this embodiment are shock absorbers. Therefore, in the following description, the shock absorbing mechanism 46 is referred to as a "shock absorber 46", and the shock absorbing mechanism 47 is referred to as a "shock absorber 47".
  • the cassette placement unit 13 moves to the clamp mechanism 48 for fixing the cassette holding unit 42 disposed at the standing position 42A to the support frame 43 and to the side of the inclined position 42B of the cassette holding unit 42 disposed at the standing position 42A. And a sensor 50 for detecting that the cassette 5 is attached to the cassette holder 42 disposed at the standing position 42A.
  • the clamp mechanism 48 of this embodiment is a second clamp mechanism
  • the overturn prevention mechanism 49 is a second overturn prevention mechanism.
  • the cassette holding portion 42 includes, in addition to the bottom surface member 44 and the back surface member 45, a clamp mechanism 52 for fixing the cassette 5 to the cassette holding portion 42, and the cassette 5 of the cassette 5 when the cassette holding portion 42 is disposed at the standing position 42A. And a fall prevention mechanism 53 for preventing a fall to the front side.
  • the bottom surface member 44 is a flat bottom plate 54 constituting the bottom surface of the cassette holding portion 42 disposed at the upright position 42A, and a flat contact plate 55 mounted on the bottom plate 54 and in contact with the cassette bottom surface 5a. And a fixing member 57 to which a fixed shaft 56 serving as a rotation center of the cassette holding portion 42 is fixed, and a receiving member 58 to which the rod head 46a of the shock absorber 46 is in contact.
  • the bottom plate 54 and the contact plate 55 are formed in a rectangular plate shape elongated in the left-right direction.
  • the fixing member 57 and the receiving member 58 are formed in a substantially rectangular block shape.
  • the contact plate 55 is fixed to the upper surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the upright position 42A.
  • the cassette bottom surface 5a is in contact with the upper surface of the contact plate 55.
  • the length of the bottom plate 54 in the left-right direction is longer than the length of the contact plate 55 in the left-right direction, and both left and right ends of the bottom plate 54 are disposed outside the left and right ends of the contact plate 55 in the left-right direction. It is done.
  • On the front end side of the bottom plate 54 a notch 54a in which the sensor 50 is disposed is formed.
  • the notch 54 a is formed to be cut away from the front end of the bottom plate 54 toward the rear side.
  • the contact plate 55 is formed with a through hole 55a communicating with the notch 54a.
  • the through hole 55 a passes through the contact plate 55.
  • the optical axis of the sensor 50 passes through the through hole 55a.
  • the fixing member 57 is fixed to the rear end portion of the lower surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the upright position 42A. Further, the fixing members 57 are fixed at two places on the left and right sides of the bottom plate 54.
  • the fixed shaft 56 is fixed to the fixing member 57 so that the axial direction of the fixed shaft 56 and the left and right direction coincide with each other.
  • the right end portion of the fixed shaft 56 fixed to the fixing member 57 disposed on the right protrudes to the right from the fixing member 57, and the left end portion of the fixed shaft 56 secured to the fixing member 57 disposed on the left is the fixing member It projects from 57 to the left.
  • the receiving member 58 is fixed to the front end portion of the lower surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the upright position 42A. Further, the receiving members 58 are fixed at two places on the left and right sides of the lower surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the upright position 42A. In the state where the cassette holding portion 42 is disposed at the standing position 42A, the lower surface of the receiving member 58 is an inclined surface which is slightly inclined toward the upper side as it goes to the rear side.
  • the back member 45 is a flat plate-shaped back plate 61 constituting the back surface of the cassette holding portion 42 disposed at the upright position 42A, and a front surface of the back plate 61 when the cassette holding portion 42 is disposed at the upright position 42A.
  • a flat contact plate 62 fixed and in contact with the back surface 5c of the cassette, and a receiving member 63 contacted by the rod head 47a of the shock absorber 47 are provided.
  • the back member 45 is provided with a handle 64 held by a worker when the cassette holding portion 42 is manually rotated.
  • the back plate 61 and the contact plate 62 are formed in a substantially H-shaped flat plate shape, and the left and right ends of the back plate 61 and the contact plate 62 are formed with recessed portions that are recessed inward in the left-right direction. There is.
  • the length of the back plate 61 in the left-right direction is longer than the length of the contact plate 62 in the left-right direction, and both left and right ends of the back plate 61 are disposed outside the left and right ends of the contact plate 62 in the left-right direction. It is done.
  • the back plate 61 is fixed to the rear end portion of the top surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the standing position 42A.
  • the back plate 61 is fixed to the bottom plate 54 so as to be orthogonal to the bottom plate 54, and the back plate 61 and the bottom plate 54 form a member having an L shape when viewed in the left-right direction. It is done.
  • the length of the back plate 61 in the left-right direction is equal to the length of the bottom plate 54 in the left-right direction.
  • the back plate 61 is fixed to the bottom plate 54 so that the left and right ends of the back plate 61 and the left and right ends of the bottom plate 54 coincide with each other.
  • the contact plate 62 is fixed to the rear end portion of the upper surface of the contact plate 55 when the cassette holding portion 42 is disposed at the standing position 42A. Further, the contact plate 62 is fixed to the contact plate 55 so as to be orthogonal to the contact plate 55, and the contact plate 62 and the contact plate 55 form a member having an L shape when viewed in the left-right direction. It is done.
  • the length of the contact plate 62 in the left-right direction is substantially equal to the length of the contact plate 55 in the left-right direction.
  • the contact plate 62 is fixed to the contact plate 55 so that the left and right ends of the contact plate 62 and the left and right ends of the contact plate 55 substantially coincide with each other.
  • the front surface of the contact plate 55 is disposed substantially right above the axial center of the fixed shaft 56.
  • the receiving member 63 is formed in a substantially rectangular block shape.
  • the receiving member 63 is fixed to the lower end side of the rear surface of the back plate 61 when the cassette holding portion 42 is disposed at the upright position 42A.
  • the receiving members 63 are fixed at two places on the left and right sides of the back plate 61.
  • the lower half of the rear surface of the receiving member 63 is an inclined surface which is inclined toward the front side as it goes downward.
  • the handle 64 is fixed to the upper end portion of the rear surface of the back plate 61 when the cassette holding portion 42 is disposed at the upright position 42A.
  • the clamp mechanism 52 is a manual toggle clamp. Therefore, in the following description, the clamp mechanism 52 is referred to as a "toggle clamp 52".
  • the toggle clamp 52 is fixed to the upper end side of the front surface of the back plate 61 when the cassette holding portion 42 is disposed at the upright position 42A. Further, the toggle clamps 52 are disposed at two places on the left and right of the upper end portion of the contact plate 62.
  • the toggle clamp 52 fixes the cassette 5 in a state in which the cassette bottom 5a is in contact with the contact plate 55 of the bottom surface member 44 and the cassette back surface 5c is in contact with the contact plate 62 of the back surface member 45 .
  • the head of the bolt 65 of the toggle clamp 52 is placed on the front of the cassette back plate 38 when the cassette holder 42 is disposed at the upright position 42A.
  • the parts are in contact at a predetermined contact pressure.
  • the overturn prevention mechanism 53 includes two ball plungers 67 and a plunger holding member 68 for holding the two ball plungers 67.
  • the ball plunger 67 includes a ball 69 as a contact member, a case 70 for holding the ball 69, and a compression coil spring 71 as a spring member for biasing the ball 69.
  • the plunger holding member 68 is formed in a substantially rectangular block shape.
  • the overturn preventing mechanism 53 is fixed to the upper end portion of the front surface of the back plate 61 when the cassette holding portion 42 is disposed at the upright position 42A. Specifically, the plunger holding member 68 is fixed to the upper end portion of the front surface of the back plate 61 when the cassette holding portion 42 is disposed at the standing position 42A. Further, the overturn preventing mechanisms 53 are disposed at two places on the left and right outside of the upper end portion of the contact plate 62. That is, the overturn preventing mechanism 53 is disposed on the upper end side of the cassette holding portion 42 when disposed at the standing position 42A, and is disposed on both left and right end sides of the cassette holding portion 42.
  • the overturn prevention mechanism 53 is disposed on the upper side of the toggle clamp 52 when the cassette holding portion 42 is disposed at the upright position 42A.
  • the distance between the two plunger holding members 68 in the left-right direction is slightly larger than the width in the left-right direction of the cassette 5.
  • the two ball plungers 67 are held by the plunger holding member 68 so as to overlap in the vertical direction with a predetermined interval in the vertical direction when the cassette holding portion 42 is arranged at the standing position 42A. Further, the ball plunger 67 is held by the plunger holding member 68 such that the ball 69 protrudes inward in the left-right direction. The ball 69 is biased inward in the left-right direction by the compression coil spring 71. Further, the ball 69 is disposed on the front side of the contact plate 62 when the cassette holding portion 42 is disposed at the standing position 42A.
  • the cassette back plate 38 passes between the balls 69 disposed on both sides in the left-right direction.
  • the balls 69 temporarily move outward in the left-right direction against the biasing force of the compression coil spring 71. Return to the inside in the left and right direction by the biasing force. That is, when the cassette back plate 38 passes between the balls 69 disposed on both sides in the left-right direction and the cassette 5 is attached to the cassette holding portion 42, the biasing force of the compression coil spring 71 causes the balls to be transferred to the cassette back plate 38. 69 contacts automatically.
  • the cassette holding portion 42 When the cassette 5 is attached to the cassette holding portion 42, the cassette 5 is slightly inclined with respect to the contact plate 62 so that the cassette back plate 38 passes between the balls 69 disposed on both sides in the left-right direction.
  • the cassette holding portion 42 holds the cassette 69 while the ball 69 of the overturn preventing mechanism 53 of one of the two cassette back plates 38 is pushed to the outside in the left and right direction by the outer end face of one cassette back plate 38 in the left and right direction. Attach the.
  • cassette back of the two cassette back plates 38 is disposed so that the cassette back plate 38 passes between the balls 69 disposed on both sides in the left and right direction.
  • the cassette 5 is removed from the cassette holding portion 42 by slightly inclining the cassette 5 with respect to the contact plate 62 while pushing the balls 69 of one overturn preventing mechanism 53 to the outside in the left and right direction by the outer end face of the face plate 38 in the left and right direction. .
  • the support frame 43 includes a flat base plate 73 forming the bottom surface of the cassette placement portion 13, a bearing holding member 75 for holding a bearing 74 rotatably supporting the fixed shaft 56, and a part of the overturn preventing mechanism 49. And the contact member 76 which the below-mentioned ball 82 which comprises B contacts.
  • the base plate 73 is formed in a rectangular flat plate shape. The length of the base plate 73 in the left-right direction is longer than the length of the bottom plate 54 in the left-right direction. The width in the front-rear direction of the base plate 73 is wider than the width in the front-rear direction of the bottom plate 54 when the cassette holding portion 42 is disposed at the standing position 42A.
  • the base plate 73 is fixed to the gantry 10.
  • the bearing holding member 75 is fixed to the upper surface of the base plate 73. Further, the bearing holding members 75 are disposed at two places on both end sides in the left-right direction of the upper surface of the base plate 73. The two bearing holding members 75 are disposed outside the two fixing members 57 in the left-right direction.
  • the bearing 74 held by the right bearing holding member 75 supports the right end portion of the fixed shaft 56 projecting rightward from the right fixing member 57, and the bearing 74 held by the left bearing holding member 75 is the left It supports the left end portion of the fixed shaft 56 protruding leftward from the fixed member 57.
  • the contact member 76 is formed in a substantially rectangular block shape.
  • the contact member 76 is disposed at a position shifted from the center of the base plate 73 in the left-right direction to one side in the left-right direction.
  • the contact member 76 is fixed to the front end of the base plate 73 via the fixing plate 77, and is disposed above the front end of the base plate 73.
  • the upper end side of the rear surface of the contact member 76 is a flat inclined surface 76a which is inclined downward toward the rear side.
  • the lower end side of the rear surface of the contact member 76 is a flat inclined surface 76b which is inclined downward toward the front side.
  • the inclined surface 76a and the inclined surface 76b it is a plane orthogonal to the front-back direction.
  • the shock absorber 46 is fixed to the front end of the base plate 73. Also, the shock absorbers 46 are fixed at two places on the left and right sides of the base plate 73. The shock absorber 46 is disposed such that the rod head 46 a of the shock absorber 46 protrudes upward. The rod head 46 a is disposed above the upper surface of the base plate 73. When the cassette holding portion 42 rises from the tilting position 42B to the rising position 42A, the rod head 46a contacts the lower surface of the receiving member 58, and the impact of the cassette holding portion 42 is alleviated.
  • the shock absorber 47 is fixed to the rear end of the base plate 73. Also, the shock absorbers 47 are fixed at two places on the left and right sides of the base plate 73. The shock absorber 47 is disposed such that the rod head 47 a of the shock absorber 47 protrudes upward. The rod head 47 a is disposed above the upper surface of the base plate 73. When the cassette holding portion 42 falls from the standing position 42A to the tilting position 42B, the rod head 47a contacts the inclined surface of the receiving member 63, and the impact of the cassette holding portion 42 is alleviated.
  • the clamp mechanism 48 is a manual toggle clamp. Therefore, in the following description, the clamp mechanism 48 is referred to as a "toggle clamp 48".
  • the toggle clamp 48 is fixed to the base plate 73 via a fixing member 78. Further, the toggle clamps 48 are disposed at two places on the left and right sides of the base plate 73. The toggle clamp 48 is disposed above the upper surface of the base plate 73.
  • the toggle clamp 48 fixes the cassette holding portion 42 disposed at the standing position 42A to the support frame 43.
  • the head of the bolt 79 of the toggle clamp 48 is in contact with both left and right ends of the upper surface of the bottom plate 54 with a predetermined contact pressure.
  • the rod head 46a of the shock absorber 46 is in contact with the lower surface of the receiving member 58 with a predetermined contact pressure.
  • the overturn preventing mechanism 49 includes three ball plungers 80 and a plunger holding member 81 for holding the three ball plungers 80.
  • the ball plunger 80 includes a ball 82 as a second contact member, a case 83 for holding the ball 82, and a compression coil spring 84 as a second spring member for urging the ball 82. Is equipped.
  • the plunger holding member 81 is formed in a substantially rectangular block shape.
  • the overturn preventing mechanism 49 is fixed to the lower surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the upright position 42A.
  • the plunger holding member 81 is fixed to the lower surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the standing position 42A.
  • the overturn preventing mechanism 53 is disposed at a position shifted from the center of the bottom plate 54 to one side in the left-right direction.
  • the three ball plungers 80 are held by the plunger holding member 81 in a state in which a predetermined space is left in the left-right direction. Further, the ball plunger 80 is held by the plunger holding member 81 such that the ball 82 protrudes to the front side when the cassette holding portion 42 is disposed at the standing position 42A.
  • the ball 82 is biased toward the front side by the compression coil spring 84 when the cassette holding portion 42 is disposed at the upright position 42A.
  • the ball 82 is in contact with the inclined surface 76b of the contact member 76 at a predetermined contact pressure. At this time, the ball 82 is biased toward the contact member 76 by the compression coil spring 84. That is, the ball 82 biased by the compression coil spring 84 is in contact with the support frame 43.
  • the balls 82 are inclined surfaces 76a of the contact member 76, a plane between the inclined surfaces 76a and 76b, And it contacts the inclined surface 76b one by one.
  • the ball 82 once moves rearward against the biasing force of the compression coil spring 84 and then returns to the front side by the biasing force of the compression coil spring 84. That is, when the cassette holding portion 42 disposed at the tilting position 42B is rotated and disposed at the standing position 42A, the biasing force of the compression coil spring 84 causes the ball 82 to automatically contact the inclined surface 76b.
  • the balls 82 sequentially contact the inclined surface 76b, the plane between the inclined surface 76a and the inclined surface 76b, and the inclined surface 76a. And then leave the contact member 76. At this time, the ball 82 once moves rearward against the biasing force of the compression coil spring 84 and then returns to the front side by the biasing force of the compression coil spring 84.
  • the sensor 50 is a reflective optical sensor having a light emitting element and a light receiving element.
  • the sensor 50 is fixed to the front end of the base plate 73 via the fixing member 87, and is disposed above the front end of the base plate 73. Also, the sensor 50 is disposed in the notch 54 a of the bottom plate 54. The optical axis of the sensor 50 passes through the through hole 55 a of the contact plate 55.
  • the cassette holding portion 42 is disposed at the standing position 42 A, light emitted from the light emitting element of the sensor 50 is reflected by the cassette bottom surface 5 a of the cassette 5 and enters the light receiving element of the sensor 50.
  • the illustration of the fixing member 87 is omitted.
  • the cassette 5 is attached to the cassette holding portion 42 disposed at the tilting position 42B by the manual work of the worker, and the cassette 5 is attached from the cassette holding portion 42 disposed at the tilting position 42B. It is removed. Further, the cassette holding portion 42 is rotated between the standing position 42A and the tilting position 42B by the manual work of the worker.
  • the cassette bottom surface 5a is orthogonal to the vertical direction
  • the cassette back surface 5c is orthogonal to the longitudinal direction. Further, when the cassette holding portion 42 is disposed at the tilting position 42B, the cassette back surface 5c is inclined, for example, by about 10 ° with respect to the horizontal direction.
  • the cassette holding unit 42 holds the cassette 5 held by the cassette holding unit 42 at the erected position 42A with the panel entry / exit surface 5d of the cassette 5 held by the cassette holding unit 42 facing frontward.
  • the panel entry / exit surface 5d is pivotable with respect to the support frame 43 between the tilting position 42B and the slanting front upper side.
  • the cassette 5 in which the plurality of liquid crystal panels 2 before inspection is accommodated is attached to the cassette holding portion 42 disposed at the tilting position 42B. Therefore, in the present embodiment, when the cassette 5 is attached to the cassette holding portion 42, it is possible to prevent the liquid crystal panel 2 from being dropped from the panel entry / exit surface 5d and damaging the liquid crystal panel 2.
  • the liquid crystal panel 2 in the cassette 5 is transported by the robot 11 when the cassette holding portion 42 is disposed at the standing position 42A and the panel entry / exit surface 5d faces the front side. That is, the liquid crystal panel 2 in a state in which the liquid crystal panel 2 is accommodated in the cassette 5 so that the thickness direction and the vertical direction of the liquid crystal panel 2 substantially coincide with each other and is spaced in the vertical direction is transported by the robot 11 ing. Therefore, in the present embodiment, when the liquid crystal panel 2 accommodated in the cassette 5 is held by the robot 11, the state of the liquid crystal panel 2 accommodated in the cassette 5 is stabilized by the influence of gravity acting on the liquid crystal panel 2. It becomes possible. Therefore, in the present embodiment, the robot 11 can reliably hold the predetermined portion of the liquid crystal panel 2 housed in the cassette 5 and carry the liquid crystal panel 2 out of the cassette 5.
  • the cassette holding unit 42 includes the overturn preventing mechanism 53 for preventing the cassette 5 from falling to the front side when the cassette holding unit 42 is disposed at the standing position 42A, and is disposed at the tilting position 42B.
  • the biasing force of the compression coil spring 71 causes the ball 69 to automatically contact the cassette back plate 38. Therefore, in the present embodiment, the situation where the ball 69 does not contact the cassette back plate 38 of the cassette 5 attached to the cassette holding unit 42 does not occur due to a worker's operation error or the like.
  • the cassette holding portion 42 is provided with the toggle clamp 52, it is possible to more reliably make the cassette 5 fall to the front side when the cassette holding portion 42 is pivoted from the tilting position 42B to the standing position 42A. It becomes possible to prevent.
  • the cassette holding unit 42 since the cassette holding unit 42 includes the overturn preventing mechanism 53, the operator does not make the cassette 5 fixed to the cassette holding unit 42 by the toggle clamp 52 from the tilting position 42 B Even when the cassette holding portion 42 is pivoted to the standing position 42A, it is possible to prevent the cassette 2 from being tilted forward from the cassette holding portion 42.
  • the overturn preventing mechanism 53 is disposed on the upper end side of the cassette holding portion 42 disposed at the standing position 42A, and is disposed on both left and right end sides of the cassette holding portion 42. Therefore, in the present embodiment, when the cassette holding portion 42 is disposed at the standing position 42A, the cassette 2 is more difficult to fall down. Further, in the present embodiment, since the ball plunger 67 is used as the overturn preventing mechanism 53, the configuration of the overturn preventing mechanism 53 can be simplified and the overturn preventing mechanism 53 can be miniaturized.
  • the cassette placement unit 42 includes a shock absorber 46 for relieving the shock of the cassette holding unit 42 at the time of rising from the tilting position 42B to the rising position 42A. Therefore, in the present embodiment, it is possible to prevent the liquid crystal panel 2 from falling from the panel entry / exit surface 5d due to the impact of the cassette holding portion 42 at the time of rising. Therefore, in the present embodiment, it is possible to prevent the breakage of the liquid crystal panel 2 due to the impact of the cassette holding portion 42 at the time of rising.
  • the cassette placement unit 13 includes the overturn preventing mechanism 49 for preventing the cassette holding unit 42 disposed at the standing position 42A from falling to the tilting position 42B side, and the cassette holding unit 42 is at the standing position 42A.
  • the biasing force of the compression coil spring 84 causes the ball 82 to automatically contact the inclined surface 76 b. Therefore, in this embodiment, even if the cassette placement unit 13 includes the shock absorber 46, the state of the cassette holding unit 42 before being fixed to the support frame 43 by the toggle clamp 48 can be automatically stabilized. . Therefore, in the present embodiment, even if the cassette placement unit 13 includes the shock absorber 46, the operation of fixing the cassette holding unit 42 by the toggle clamp 48 can be easily performed.
  • the robot 11 includes a panel holding portion 28 a whose thickness is thinner than the interval P of the liquid crystal panels 2 accommodated in the cassette 5. Therefore, in the present embodiment, the panel holding portion 28a is inserted between the liquid crystal panels 2 housed in the cassette 5, and the panel holding portion 28a sucks and holds a relatively wide range of the upper surface and the lower surface of the liquid crystal panel 2. Becomes possible. Therefore, in the present embodiment, the holding state of the liquid crystal panel 2 by the panel holding portion 28a can be stabilized.
  • the liquid crystal panel 2 housed in the cassette 5 when the cassette holding portion 42 is disposed at the upright position 42A, the liquid crystal panel 2 housed in the cassette 5 is disposed such that the thickness direction of the liquid crystal panel 2 and the vertical direction substantially coincide with each other.
  • the liquid crystal panel 2 housed in the cassette 5 when the cassette holding portion 42 is disposed at the standing position 42A, the liquid crystal panel 2 housed in the cassette 5 may be slightly inclined to be upward toward the front side. .
  • the liquid crystal panel 2 housed in the cassette 5 when the cassette holding portion 42 is disposed at the standing position 42A, the liquid crystal panel 2 housed in the cassette 5 may be inclined at an angle of 1 ° or less with respect to the horizontal direction.
  • the mounting position of the bolt 79 of the toggle clamp 48 in the vertical direction and the mounting position of the shock absorber 46 in the vertical direction may be adjusted.
  • the liquid crystal panel 2 when the cassette holding portion 42 is disposed at the upright position 42A, the liquid crystal panel 2 can be moved from the panel entry / exit surface 4d even if vibration of the robot 11 or the like during operation is transmitted to the cassette holding portion 42. It becomes possible to prevent the liquid crystal panel 2 from being broken down.
  • anti-vibration rubber may be disposed between the gantry 10 to which the base plate 73 is fixed and the base plate 73. In this case, since the vibration of the robot 11 or the like during operation is not transmitted to the cassette placement unit 13, the vibration of the robot 11 or the like during operation occurs when the cassette holding unit 42 is disposed at the upright position 42A. Even in this case, it is possible to prevent the liquid crystal panel 2 from being damaged by the liquid crystal panel 2 falling from the panel entry / exit surface 4d.
  • the clamp mechanisms 48, 52 are manual toggle clamps, but the clamp mechanisms 48, 52 may be automatic with actuators.
  • the clamp mechanism 52 is an automatic type having an actuator
  • the cassette 5 is held by the clamp mechanism 52 when the actuator is not driven or the actuator is broken due to a worker's operation error.
  • the cassette holding portion 42 may be rotated from the tilting position 42B to the rising position 42A in a state where the cassette is not fixed to 42, but even in this case, the cassette holding portion 42 is the same as the embodiment described above.
  • the panel holding unit 42 may not include the clamp mechanism 52.
  • the buffer mechanisms 46, 47 may be rotary dampers attached to the fixed shaft 56.
  • the cassette holding portion 42 is rotated between the erected position 42A and the inclining position 42B by the operator's manual work.
  • the cassette placement portion 13 has the erected position 42A and the inclining position 42B.
  • a pivot mechanism such as an air cylinder that pivots the cassette holding unit 42 between them.
  • the cassette 5 may be automatically attached to the cassette holding unit 42 disposed at the tilting position 42B using a robot or the like.
  • the panel entry / exit surface 5d of the cassette 5 held by the cassette holding portion 42 may face upward (directly above) It may be diagonally backward and upward.
  • the contact member 76 may be fixed to the lower surface of the bottom plate 54, and the overturn preventing mechanism 49 may be fixed to the base plate 73 via a predetermined fixing member.
  • the ball 82 contacts the contact member 76 of the cassette holding portion 42 disposed at the upright position 42A, and the compression coil spring 84 faces the contact member 76 of the cassette holding portion 42 disposed at the upright position 42A.
  • the cassette placement unit 13 may not include the overturn prevention mechanism 49. In this case, the contact member 76 is not necessary.
  • the balls 69 of the ball plunger 67 are in contact with the front corners of the left and right end surfaces of the cassette back plate 38.
  • the cassette 5 may have a recess in which the ball 69 fits.
  • the overturn preventing mechanism 53 may be fixed to the lower end portion of the front surface of the back plate 61 or the central portion in the vertical direction when the cassette holding portion 42 is disposed at the upright position 42A.
  • the overturn preventing mechanism 53 may not include the ball plunger 67.
  • the overturn preventing mechanism 53 includes a contact member that contacts the cassette 5 and a spring member that biases the contact member toward the cassette 5 instead of the ball plunger 67.
  • the liquid crystal panel 2 before inspection is transported from the cassette 5 to the inspection device 3, but the liquid crystal panel 2 after inspection may be transported from the inspection device 3 to the cassette 5.
  • the liquid crystal panel 2 before the inspection may be transported from the cassette 5 to the inspection device 3 and the liquid crystal panel 2 after the inspection may be transported from the inspection device 3 to the cassette 5.
  • the cassette 5 containing the liquid crystal panel 2 after inspection is removed from the cassette holding portion 42 disposed at the tilting position 42B, but when the cassette holding portion 42 is disposed at the tilting position 42B, the panel Since the entry and exit surface 5d is obliquely directed to the front upper side, when the cassette 5 is removed from the cassette holding portion 42, the liquid crystal panel 2 can be prevented from falling from the panel entry and exit surface 5d and the liquid crystal panel 2 being damaged. become.
  • the inspection device 3 may be an inspection device other than the lighting inspection device.
  • the transport system 1 transports the liquid crystal panel 2 to the inspection device 3, but the transport system 1 performs predetermined processing on the liquid crystal panel 2 other than the inspection device 3.
  • the liquid crystal panel 2 may be transported to the processing apparatus. That is, the liquid crystal panel 2 before being processed by the processing apparatus may be accommodated in the cassette 5.
  • the robot 11 may be a vertical articulated robot other than six axes, a horizontal articulated robot, a three axis orthogonal robot, or so-called parallel It may be a link robot.
  • the transport system 1 may not include the tray placement units 6 to 9 and the robot 12. Further, in the embodiment described above, the display panel conveyed by the conveyance system 1 is the liquid crystal panel 2, but the display panel conveyed by the conveyance system 1 may be a display panel other than the liquid crystal panel 2. For example, the display panel transported by the transport system 1 may be an organic EL panel.
  • Transport system Liquid crystal panel (display panel) Reference Signs List 3 inspection apparatus 5 cassette 5a cassette bottom 5c cassette back 5d panel entry / exit surface 11 robot (panel transfer robot) 13 cassette placement portion 28a panel holding portion 42 cassette holding portion 42A upstanding position 42B tilting position 43 support frame 44 bottom member 45 back member 46 shock absorber (buffer mechanism) 48 Toggle clamp (2nd clamp mechanism) 49 Fall prevention mechanism (2nd fall prevention mechanism) 52 Toggle clamp (clamp mechanism) 53 Overturn prevention mechanism 67 Ball plunger 68 Plunger holding member 69 Ball (contact member) 71 Compression coil spring (spring member) 82 Ball (second contact member) 84 Compression coil spring (second spring member) Distance between display panels housed in P cassette

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Abstract

In this cassette placement unit, a cassette holding unit 42 for holding a cassette 5 comprises a bottom surface member 44 with which a cassette bottom surface 5a comes into contact, and a rear surface member 45 with which a cassette rear surface 5c comes into contact, the cassette holding unit 42 also being capable of rotating about a fixed shaft 56 between an upright position in which a panel exit/entry surface 5d faces forward and a tilt position in which the panel exit/entry surface 5d faces diagonally upward. Also, the cassette holding unit 42 comprises an overturn prevention mechanism 53 for preventing overturn of the cassette 5 toward the front when the cassette holding unit 42 is placed in the upright position. The overturn prevention mechanism 53 comprises: a contact member that contacts the cassette 5 in a state in which the cassette bottom surface 5a contacts the bottom surface member 44 and the cassette rear surface 5c contacts the rear surface member 45; and a spring member that urges the contact member toward the cassette 5.

Description

カセット配置部および搬送システムCassette placement unit and transfer system
　本発明は、複数枚の表示パネルが収容されるカセットが配置されるカセット配置部に関する。また、本発明は、かかるカセット配置部を備える搬送システムに関する。 The present invention relates to a cassette placement unit in which a cassette in which a plurality of display panels are housed is disposed. The present invention also relates to a transport system provided with such a cassette placement unit.
　従来、液晶パネルを点灯検査するための検査装置が知られている（たとえば、特許文献１参照）。特許文献１に記載の検査装置は、液晶ディスプレイの製造システムの途中に組み込まれている。この検査装置は、液晶パネルの点灯検査を行うプローバと、検査前の液晶パネルをプローバに向かって搬送する搬入側コンベヤと、搬入側コンベヤで搬送された液晶パネルをプローバに搬入する搬入機構と、検査後の液晶パネルをプローバから搬出する搬出機構と、搬出機構によって搬出された液晶パネルを搬送する搬出側コンベヤとを備えている。 Conventionally, an inspection apparatus for inspecting the lighting of a liquid crystal panel is known (see, for example, Patent Document 1). The inspection apparatus described in Patent Document 1 is incorporated in the middle of a liquid crystal display manufacturing system. This inspection apparatus includes a prober for inspecting the lighting of the liquid crystal panel, a carry-in side conveyor for carrying the liquid crystal panel before the test toward the prober, and a carry-in mechanism for carrying the liquid crystal panel carried by the carry-in conveyor into the prober. It has an unloading mechanism for unloading the liquid crystal panel after inspection from the prober, and an unloading conveyor for transporting the liquid crystal panel unloaded by the unloading mechanism.
特開２００７－１０７９７３号公報JP 2007-107973 A
　特許文献１に記載の検査装置では、たとえば、所定の場所に配置されたカセットに収容される検査前の液晶パネルがロボット等によって検査装置に搬入され、検査後の液晶パネルがロボット等によって検査装置から所定の場所に配置されたカセットに搬出される。本願発明者は、検査前の複数枚の液晶パネルや検査後の複数枚の液晶パネルが収容されるカセットが配置されるカセット配置部の設置を検討している。しかしながら、従来、このようなカセット配置部の具体的な構成は提案されていない。 In the inspection device described in Patent Document 1, for example, a liquid crystal panel before inspection stored in a cassette disposed at a predetermined place is carried into the inspection device by a robot or the like, and the liquid crystal panel after inspection is inspected by the robot or the like Out of the cassette to a cassette disposed at a predetermined location. The inventor of the present application is examining the installation of a cassette arrangement portion in which a plurality of liquid crystal panels before inspection and a cassette in which a plurality of liquid crystal panels after inspection are accommodated are arranged. However, conventionally, no specific configuration of such a cassette placement unit has been proposed.
　そこで、本発明の課題は、複数枚の表示パネルが収容されるカセットが配置されるカセット配置部の具体的な構成を提案することにある。また、本発明の課題は、かかるカセット配置部を備える搬送システムを提供することにある。 Therefore, an object of the present invention is to propose a specific configuration of a cassette arranging unit in which a cassette in which a plurality of display panels are accommodated is arranged. Another object of the present invention is to provide a transport system provided with such a cassette placement unit.
　上記の課題を解決するため、本発明のカセット配置部は、複数枚の表示パネルが収容されるカセットが配置されるカセット配置部であって、カセットを保持するカセット保持部と、カセット保持部の下端部を回動可能に支持する支持フレームとを備え、カセットに収容される複数枚の表示パネルが上下方向に間隔をあけた状態で重なるように配置されるときのカセットの底面をカセット底面とし、このときのカセットの背面をカセット背面とすると、カセットの、カセット背面の反対側の面は、表示パネルの出し入れが行われるパネル出入面となっており、カセット保持部は、カセット底面が接触する底面部材と、カセット背面が接触する背面部材とを備えるとともに、パネル出入面が前側を向くとともにカセット底面が下側を向く起立位置と、パネル出入面が斜め上側または上側を向く傾倒位置との間で支持フレームに対して回動可能となっており、カセット保持部は、さらに、起立位置にカセット保持部が配置されるときの、カセットの前側への転倒を防止する転倒防止機構を備え、転倒防止機構は、カセット底面が底面部材に接触し、かつ、カセット背面が背面部材に接触している状態のカセットに接触する接触部材と、接触部材をカセットに向かって付勢するバネ部材とを備えることを特徴とする。 In order to solve the above problems, the cassette arranging unit of the present invention is a cassette arranging unit in which a cassette in which a plurality of display panels are accommodated is arranged, and the cassette holding unit for holding the cassette and the cassette holding unit A bottom surface of the cassette when a plurality of display panels accommodated in the cassette are arranged to overlap in a state of being spaced apart in the vertical direction as a cassette bottom surface; Assuming that the back of the cassette at this time is the back of the cassette, the opposite side of the back of the cassette to the back of the cassette is the panel entry / exit face where the display panel is inserted and removed, and the cassette holder contacts the bottom of the cassette It is provided with a bottom member and a back member with which the back of the cassette is in contact, and an upright position in which the panel entry and exit faces front and the bottom of the cassette faces downward And the inclined position where the panel entry / exit surface is directed obliquely upward or upward, relative to the support frame, and the cassette holding portion is further arranged when the cassette holding portion is disposed in the upright position. An anti-overturn mechanism for preventing the overturning of the cassette to the front side, wherein the overturn prevention mechanism is a contact member for contacting the cassette with the cassette bottom surface contacting the bottom surface member and the cassette back surface contacting the back surface member And a spring member for biasing the contact member toward the cassette.
　本発明において、カセットは、たとえば、傾倒位置に配置されるカセット保持部に取り付けられる。 In the present invention, the cassette is attached to, for example, a cassette holding unit disposed in a tilted position.
　本発明のカセット配置部では、カセットを保持するカセット保持部は、表示パネルの出し入れが行われるカセットのパネル出入面が前側を向くとともにカセット底面が下側を向く起立位置と、パネル出入面が斜め上側または上側を向く傾倒位置との間で支持フレームに対して回動可能となっている。そのため、本発明では、傾倒位置に配置されるカセット保持部に、パネル出入面が斜め上側または上側を向いた状態のカセットを取り付けたり、傾倒位置に配置されるカセット保持部から、パネル出入面が斜め上側または上側を向いた状態のカセットを取り外したりすることが可能になる。したがって、本発明では、カセット保持部に対するカセットの取付時や取外し時に、パネル出入面から表示パネルが落下して表示パネルが破損するのを防止することが可能になる。 In the cassette placement unit of the present invention, the cassette holding unit for holding the cassette has an erected position where the panel entry / exit surface of the cassette where the display panel is taken in / out faces front side and the cassette bottom face faces downward, It is pivotable relative to the support frame between an inclined position facing upward or upward. Therefore, in the present invention, a cassette in which the panel entrance / exit surface is directed obliquely upward or upward is attached to the cassette holder disposed in the inclining position, or the panel entrance / exit surface is attached from the cassette holder disposed in the inclining position. It becomes possible to remove the cassette in the state of facing obliquely upward or upward. Therefore, in the present invention, when attaching or detaching the cassette to the cassette holding portion, it is possible to prevent the display panel from falling from the panel entry / exit surface and damaging the display panel.
　また、本発明では、カセット保持部が起立位置に配置されているときに、パネル出入面が前側を向くとともにカセット底面が下側を向いており、表示パネルの厚さ方向と上下方向とが略一致している。そのため、本発明では、カセット保持部が起立位置に配置されているときに、表示パネルに作用する重力の影響によって、カセットに収容される表示パネルの状態を安定させることが可能になる。したがって、本発明では、たとえば、パネルを搬送するロボットによって、カセットに収容される表示パネルの所定の箇所を確実に保持して、カセットから表示パネルを搬出することが可能になる。 Further, in the present invention, when the cassette holding portion is disposed at the upright position, the panel entrance / outlet surface faces the front side and the cassette bottom surface faces the lower side, and the thickness direction and the vertical direction of the display panel are substantially Match. Therefore, in the present invention, when the cassette holding portion is disposed in the upright position, the state of the display panel accommodated in the cassette can be stabilized by the influence of gravity acting on the display panel. Therefore, in the present invention, it is possible to reliably hold a predetermined portion of the display panel contained in the cassette and carry the display panel out of the cassette, for example, by the robot for transporting the panel.
　さらに、本発明では、カセット保持部は、起立位置にカセット保持部が配置されるときの、カセットの前側への転倒を防止する転倒防止機構を備えており、転倒防止機構は、カセット底面が底面部材に接触し、かつ、カセット背面が背面部材に接触している状態のカセットに接触する接触部材と、接触部材をカセットに向かって付勢するバネ部材とを備えている。そのため、本発明では、カセット底面が底面部材に接触し、かつ、カセット背面が背面部材に接触するように、カセット保持部にカセットが取り付けられると、自動的に接触部材がカセットに接触する。 Furthermore, in the present invention, the cassette holding unit includes the overturn preventing mechanism for preventing the cassette from being overturned to the front side when the cassette holding unit is disposed in the upright position, and the overturn preventing mechanism A contact member that contacts the member and contacts the cassette with the cassette back surface in contact with the back member, and a spring member that biases the contact member toward the cassette. Therefore, in the present invention, the contact member automatically contacts the cassette when the cassette is attached to the cassette holding portion such that the cassette bottom surface contacts the bottom surface member and the cassette back surface contacts the back surface member.
　すなわち、本発明では、作業者の作業ミス等に起因して、カセット保持部に取り付けられたカセットに転倒防止機構の接触部材が接触しないといった状況は発生しない。したがって、本発明では、傾倒位置から起立位置へカセット保持部を回動させたときに、カセット保持部からカセットが前側に倒れるのを防止することが可能になり、その結果、パネル出入面から表示パネルが落下して表示パネルが破損するのを防止することが可能になる。なお、本発明では、バネ部材によって接触部材が付勢されているため、カセット保持部が転倒防止機構を備えていても、接触部材がカセットから離れる方向へカセットを用いて接触部材を押すことで、比較的容易にカセット保持部からカセットを取り外すことが可能になる。 That is, in the present invention, the situation in which the contact member of the overturn preventing mechanism does not contact the cassette attached to the cassette holding unit does not occur due to the operator's operation error or the like. Therefore, in the present invention, when the cassette holding portion is pivoted from the inclined position to the upright position, it is possible to prevent the cassette from falling to the front side from the cassette holding portion, and as a result, display from the panel entry / exit surface It becomes possible to prevent the panel from falling and damaging the display panel. In the present invention, since the contact member is biased by the spring member, the contact member pushes the contact member using the cassette in the direction away from the cassette even if the cassette holding portion includes the overturn preventing mechanism. It is possible to remove the cassette from the cassette holder relatively easily.
　本発明において、転倒防止機構は、起立位置に配置されるときのカセット保持部の上端側に配置されていることが好ましい。また、本発明において、転倒防止機構は、カセット保持部の左右の両端側に配置されていることが好ましい。このように構成すると、起立位置にカセット保持部が配置されたときに、カセットがより倒れにくくなる。 In the present invention, it is preferable that the overturn preventing mechanism is disposed on the upper end side of the cassette holding portion when disposed in the upright position. Further, in the present invention, it is preferable that the overturn preventing mechanism be disposed on both left and right sides of the cassette holding portion. According to this structure, when the cassette holding portion is disposed at the upright position, the cassette is less likely to fall down.
　本発明において、転倒防止機構は、たとえば、接触部材としてのボールとバネ部材としての圧縮コイルバネとを有するボールプランジャと、ボールプランジャを保持するプランジャ保持部材とを備えている。この場合には、転倒防止機構の構成を簡素化して、転倒防止機構を小型化することが可能になる。 In the present invention, the overturn preventing mechanism includes, for example, a ball plunger having a ball as a contact member and a compression coil spring as a spring member, and a plunger holding member for holding the ball plunger. In this case, the structure of the overturn preventing mechanism can be simplified to miniaturize the overturn preventing mechanism.
　本発明において、カセット保持部は、カセット底面が底面部材に接触し、かつ、カセット背面が背面部材に接触している状態のカセットをカセット保持部に固定するクランプ機構を備えることが好ましい。このように構成すると、傾倒位置から起立位置へカセット保持部を回動させたときのカセットの前側への倒れをより確実に防止することが可能になる。 In the present invention, it is preferable that the cassette holding unit includes a clamp mechanism that fixes the cassette to the cassette holding unit with the cassette bottom surface in contact with the bottom surface member and the cassette back surface in contact with the back surface member. With this configuration, it is possible to more reliably prevent the cassette from falling to the front side when the cassette holding portion is pivoted from the inclining position to the upright position.
　なお、たとえば、クランプ機構が手動式のものである場合、作業者の作業ミスで、クランプ機構によってカセットがカセット保持部に固定されていない状態で傾倒位置から起立位置へカセット保持部が回動させられるおそれがある。また、たとえば、クランプ機構がアクチュエータを有する自動式のものである場合でも、作業者の作業ミスによってアクチュエータを駆動させなかったり、アクチュエータが故障していたりすると、クランプ機構によってカセットがカセット保持部に固定されていない状態で傾倒位置から起立位置へカセット保持部が回動させられるおそれがある。しかしながら、本発明のカセット保持部は、上述の転倒防止機構を備えているため、クランプ機構によってカセットがカセット保持部に固定されていない状態で傾倒位置から起立位置へカセット保持部が回動させられても、カセット保持部からカセットが前側に倒れるのを防止することが可能になる。また、本発明では、バネ部材によって接触部材が付勢されているため、転倒防止機構は故障しにくい。 If, for example, the clamp mechanism is a manual type, the cassette holder is pivoted from the inclined position to the upright position in a state where the cassette is not fixed to the cassette holding unit by the clamp mechanism due to a worker's operation error. There is a risk of Also, for example, even if the clamp mechanism is an automatic type having an actuator, the cassette is fixed to the cassette holding portion by the clamp mechanism if the actuator is not driven due to an operator's mistake or the actuator is broken. There is a possibility that the cassette holding portion may be rotated from the inclining position to the upright position in a state where it is not being carried out. However, since the cassette holding unit of the present invention includes the above-described overturn preventing mechanism, the cassette holding unit is rotated from the inclined position to the upright position in a state where the cassette is not fixed to the cassette holding unit by the clamp mechanism. Even in this case, it is possible to prevent the cassette from falling forward from the cassette holding portion. Further, in the present invention, since the contact member is biased by the spring member, the overturn preventing mechanism is unlikely to break down.
　本発明において、カセット配置部は、傾倒位置から起立位置に立ち上がる立上時のカセット保持部の衝撃を緩和するための緩衝機構を備えることが好ましい。このように構成すると、立上時のカセット保持部の衝撃に起因してパネル出入面から表示パネルが落下するのを防止することが可能になる。したがって、立上時のカセット保持部の衝撃に起因する表示パネルの破損を防止することが可能になる。 In the present invention, the cassette placement portion preferably includes a buffer mechanism for relieving the shock of the cassette holding portion at the time of rising from the inclining position to the rising position. With this configuration, it is possible to prevent the display panel from falling from the panel entrance / exit surface due to the impact of the cassette holding portion at the time of rising. Therefore, it is possible to prevent the display panel from being damaged due to the impact of the cassette holding portion at the time of rising.
　本発明において、カセット配置部は、起立位置に配置されるカセット保持部を支持フレームに固定するための第２クランプ機構と、起立位置に配置されるカセット保持部の傾倒位置側への倒れを防止する第２転倒防止機構とを備え、第２転倒防止機構は、起立位置に配置されるカセット保持部および支持フレームのいずれか一方に接触する第２接触部材と、起立位置に配置されるカセット保持部および支持フレームのいずれか一方に向かって第２接触部材を付勢する第２バネ部材とを備えることが好ましい。このように構成すると、カセット保持部が起立位置に配置されたときに、第２接触部材が自動的にカセット保持部または支持フレームに接触して、傾倒位置側へのカセット保持部の倒れが防止される。したがって、カセット配置部が緩衝機構を備えていても、第２クランプ機構によって支持フレームに固定される前のカセット保持部の状態を自動的に安定させることが可能になる。そのため、カセット配置部が緩衝機構を備えていても、第２クランプ機構によるカセット保持部の固定作業を容易に行うことが可能になる。また、作業者の作業ミス等で、第２クランプ機構によって支持フレームにカセット保持部が固定されない場合であっても、傾倒位置側へのカセット保持部の倒れを防止することが可能になる。 In the present invention, the cassette arranging unit prevents the second clamp mechanism for fixing the cassette holding unit arranged in the upright position to the support frame, and prevents the cassette holding unit arranged in the upright position from falling to the inclined position side. And a second contact member contacting one of the cassette holder and the support frame disposed in the upright position, and the cassette retainer disposed in the upright position. It is preferable to include a second spring member that biases the second contact member toward any one of the portion and the support frame. According to this structure, the second contact member automatically contacts the cassette holding portion or the support frame when the cassette holding portion is disposed at the upright position, and the fall of the cassette holding portion toward the tilting position is prevented. Be done. Therefore, even if the cassette placement portion includes the buffer mechanism, it is possible to automatically stabilize the state of the cassette holding portion before being fixed to the support frame by the second clamp mechanism. Therefore, even if the cassette placement unit includes the buffer mechanism, the fixing operation of the cassette holding unit by the second clamp mechanism can be easily performed. Further, even if the cassette holding portion is not fixed to the support frame by the second clamp mechanism due to an operator's mistake or the like, it becomes possible to prevent the cassette holding portion from falling to the tilting position side.
　本発明において、カセット保持部が起立位置に配置されているときに、カセットに収容される表示パネルは、前側に向かうにしたがって上側に向かうようにわずかに傾斜していることが好ましい。このように構成すると、たとえば、カセットから表示パネルを搬出する搬送機構やカセットに表示パネルを搬入する搬送機構の振動がカセット保持部に伝達されたとしても、パネル出入面から表示パネルが落下して表示パネルが破損するのを防止することが可能になる。 In the present invention, when the cassette holding portion is disposed in the upright position, it is preferable that the display panel accommodated in the cassette be slightly inclined so as to be upward toward the front side. With such a configuration, for example, even if vibration of the transport mechanism for loading the display panel into the transport mechanism for unloading the display panel from the cassette or to the cassette is transmitted to the cassette holding portion, the display panel falls from the panel entry / exit surface. It becomes possible to prevent the display panel from being damaged.
　本発明のカセット配置部は、表示パネルを検査する検査装置への表示パネルの搬入および検査装置からの表示パネルの搬出を行う搬送システムに用いることができる。この搬送システムは、たとえば、カセット配置部から検査装置への表示パネルの搬送および検査装置からカセット配置部への表示パネルの搬送の少なくともいずれか一方を行うパネル搬送ロボットを備えている。この搬送システムでは、カセット保持部に対するカセットの取付時や取外し時に、パネル出入面から表示パネルが落下して表示パネルが破損するのを防止することが可能になる。また、この搬送システムでは、パネル搬送ロボットによって、カセットに収容される表示パネルの所定の箇所を確実に保持して、カセットから表示パネルを搬出することが可能になる。さらに、この搬送システムでは、傾倒位置から起立位置へカセット保持部を回動させたときに、カセット保持部からカセットが前側に倒れるのを防止することが可能になり、その結果、パネル出入面から表示パネルが落下して表示パネルが破損するのを防止することが可能になる。 The cassette placement unit of the present invention can be used in a transport system that carries in the display panel to the inspection apparatus for inspecting the display panel and carries out the display panel from the inspection apparatus. The transport system includes, for example, a panel transport robot that transports the display panel from the cassette placement unit to the inspection apparatus and / or transports the display panel from the inspection device to the cassette placement unit. In this transport system, it is possible to prevent the display panel from falling from the panel entry / exit surface and damaging the display panel when attaching or detaching the cassette to the cassette holding unit. In addition, in this transfer system, the panel transfer robot can reliably hold a predetermined portion of the display panel housed in the cassette and carry the display panel out of the cassette. Furthermore, in this transport system, when the cassette holding portion is rotated from the inclining position to the upright position, it is possible to prevent the cassette from falling forward from the cassette holding portion, and as a result, from the panel entry / exit surface It becomes possible to prevent the display panel from falling and damaging the display panel.
　本発明において、パネル搬送ロボットは、表示パネルを保持するパネル保持部を備え、パネル保持部は、カセットに収容される表示パネルの間隔よりも厚さが薄い平板状に形成されていることが好ましい。このように構成すると、カセットに収容される表示パネルの間にパネル保持部を入れ込んで、表示パネルの上面や下面の比較的広い範囲をパネル保持部で吸引して保持することが可能になる。したがって、パネル保持部による表示パネルの保持状態を安定させることが可能になる。 In the present invention, the panel transport robot preferably includes a panel holding portion for holding the display panel, and the panel holding portion is preferably formed in a flat plate shape having a thickness smaller than the distance between the display panels housed in the cassette. . With this configuration, the panel holding portion can be inserted between the display panels housed in the cassette, and the panel holding portion can suck and hold a relatively wide range of the upper surface and the lower surface of the display panel. . Therefore, the holding state of the display panel by the panel holding portion can be stabilized.
　以上のように、本発明では、カセット保持部に対するカセットの取付時や取外し時に、パネル出入面から表示パネルが落下して表示パネルが破損するのを防止することが可能になる。また、本発明では、パネルを搬送するロボットによって、カセットに収容される表示パネルの所定の箇所を確実に保持して、カセットから表示パネルを搬出することが可能になる。さらに、本発明では、傾倒位置から起立位置へカセット保持部を回動させたときに、カセット保持部からカセットが前側に倒れるのを防止することが可能になり、その結果、パネル出入面から表示パネルが落下して表示パネルが破損するのを防止することが可能になる。 As described above, according to the present invention, when the cassette is attached to or detached from the cassette holding portion, it is possible to prevent the display panel from falling from the panel entry / exit surface and damaging the display panel. Further, in the present invention, it is possible to reliably hold a predetermined portion of the display panel contained in the cassette and to carry out the display panel from the cassette by the robot for transporting the panel. Furthermore, in the present invention, when the cassette holding portion is pivoted from the inclined position to the upright position, it is possible to prevent the cassette from falling to the front side from the cassette holding portion, and as a result, display from the panel entry / exit surface It becomes possible to prevent the panel from falling and damaging the display panel.
本発明の実施の形態にかかる搬送システムの斜視図である。It is a perspective view of a conveyance system concerning an embodiment of the invention. 図１に示す搬送システムを上面から説明するための図である。It is a figure for demonstrating the conveyance system shown in FIG. 1 from an upper surface. （Ａ）は、図２に示すカセットの構成を説明するための正面図であり、（Ｂ）は、図２に示すカセットの構成を説明するための側面図である。(A) is a front view for demonstrating the structure of the cassette shown in FIG. 2, (B) is a side view for demonstrating the structure of the cassette shown in FIG. 図１に示すカセット配置部の斜視図である。It is a perspective view of the cassette arrangement | positioning part shown in FIG. 図４に示すカセット配置部の平面図である。It is a top view of the cassette arrangement | positioning part shown in FIG. 図４に示すカセット配置部の正面図である。It is a front view of the cassette arrangement | positioning part shown in FIG. 図４に示すカセット保持部が起立位置にあるときの状態を説明するための側面図である。FIG. 5 is a side view for explaining the state when the cassette holding unit shown in FIG. 4 is in the upright position. 図４に示すカセット保持部が傾倒位置にあるときの状態を説明するための側面図である。FIG. 5 is a side view for explaining the state when the cassette holding portion shown in FIG. 4 is in the inclined position. 図５のＥ部の拡大図である。It is an enlarged view of the E section of FIG. 図６のＦ－Ｆ方向から第２転倒防止機構等の構成を説明するための図である。FIG. 7 is a view for explaining the configuration of a second overturn preventing mechanism and the like from the direction of arrows F in FIG. 6.
　以下、図面を参照しながら、本発明の実施の形態を説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　（搬送システムの全体構成）
　図１は、本発明の実施の形態にかかる搬送システム１の斜視図である。図２は、図１に示す搬送システム１を上面から説明するための図である。 (Overall configuration of transfer system)
FIG. 1 is a perspective view of a transport system 1 according to an embodiment of the present invention. FIG. 2 is a view for explaining the transport system 1 shown in FIG. 1 from the top.
　本形態の搬送システム１は、携帯機器等で使用される比較的小型の液晶ディスプレイの製造ラインに組み込まれて使用される。この搬送システム１は、表示パネルである液晶パネル２を搬送する。具体的には、搬送システム１は、液晶パネル２を検査する検査装置３への液晶パネル２の搬入および検査装置３からの液晶パネル２の搬出を行う。液晶パネル２は、長方形の平板状に形成されている。 The transport system 1 of the present embodiment is used by being incorporated into a manufacturing line of a relatively small liquid crystal display used in a portable device or the like. The transport system 1 transports a liquid crystal panel 2 which is a display panel. Specifically, the transport system 1 carries in the liquid crystal panel 2 to the inspection device 3 which inspects the liquid crystal panel 2 and carries out the liquid crystal panel 2 from the inspection device 3. The liquid crystal panel 2 is formed in a rectangular flat plate shape.
　本形態では、検査装置３で検査が行われる前の液晶パネル２は、検査される液晶パネル２のサイズに応じて、トレイ４またはカセット５に収容されている。具体的には、比較的大きな液晶パネル２はトレイ４に収容され、比較的小さな液晶パネル２はカセット５に収容されている。また、検査装置３で検査が行われた後の液晶パネル２は、トレイ４に収容される。なお、トレイ４は、略長方形の平板状に形成されており、トレイ４の上面には液晶パネル２が収容される凹部が形成されている。また、図１では、トレイ４およびカセット５の図示を省略している。 In the present embodiment, the liquid crystal panel 2 before the inspection by the inspection device 3 is accommodated in the tray 4 or the cassette 5 according to the size of the liquid crystal panel 2 to be inspected. Specifically, the relatively large liquid crystal panel 2 is accommodated in the tray 4, and the relatively small liquid crystal panel 2 is accommodated in the cassette 5. Further, the liquid crystal panel 2 after the inspection by the inspection device 3 is accommodated in the tray 4. The tray 4 is formed in a substantially rectangular flat plate shape, and a recess in which the liquid crystal panel 2 is accommodated is formed on the upper surface of the tray 4. Further, in FIG. 1, the illustration of the tray 4 and the cassette 5 is omitted.
　搬送システム１は、検査前の液晶パネル２が収容されるトレイ４が複数段に積み重なった状態で配置されるトレイ配置部６と、検査装置３での検査で正常と判断された液晶パネル２が収容されるトレイ４が複数段に積み重なった状態で配置されるトレイ配置部７と、検査装置３での検査で異常と判断された液晶パネル２が収容されるトレイ４が複数段に積み重なった状態で配置されるトレイ配置部８と、空のトレイ４が複数段に積み重なった状態で配置されるトレイ配置部９とを備えている。 The transport system 1 includes a tray arrangement portion 6 in which the trays 4 in which the liquid crystal panels 2 before the inspection are accommodated are stacked in a plurality of stages, and the liquid crystal panels 2 determined to be normal in the inspection by the inspection device 3. A state in which the tray arrangement portion 7 arranged in a state in which the trays 4 to be accommodated are stacked in a plurality of stages and the tray 4 in which the liquid crystal panels 2 determined to be abnormal in the inspection by the inspection device 3 are accommodated And a tray arrangement unit 9 in which empty trays 4 are arranged in a plurality of stages.
　トレイ配置部６～９は、トレイ４を昇降させるトレイ昇降機構を備えている。トレイ配置部６とトレイ配置部７とトレイ配置部８とトレイ配置部９とは、一列に配列されている。本形態では、トレイ配置部９とトレイ配置部６とトレイ配置部７とトレイ配置部８とがこの順番で並んでいる。トレイ配置部６～９は、架台１０の上に設置されている。また、搬送システム１は、液晶パネル２を搬送するパネル搬送ロボットとしてのロボット１１と、トレイ４を搬送するロボット１２と、複数枚の液晶パネル２が収容されるカセット５が配置されるカセット配置部１３とを備えている。 The tray placement units 6 to 9 are provided with a tray elevating mechanism that raises and lowers the tray 4. The tray arranging unit 6, the tray arranging unit 7, the tray arranging unit 8 and the tray arranging unit 9 are arranged in a line. In the present embodiment, the tray arranging unit 9, the tray arranging unit 6, the tray arranging unit 7, and the tray arranging unit 8 are arranged in this order. The tray placement units 6 to 9 are installed on the gantry 10. The transport system 1 also includes a robot 11 as a panel transport robot for transporting the liquid crystal panel 2, a robot 12 for transporting the tray 4, and a cassette placement unit in which the cassette 5 in which the plurality of liquid crystal panels 2 are housed is disposed. It has 13 and.
　本形態の検査装置３は、液晶パネル２を点灯検査する点灯検査装置である。検査装置３は、たとえば、液晶パネル２が載置されるパネル載置部１５を２箇所に有するパネル保持部と、上下方向を回転の軸方向としてパネル保持部を回転させる回転機構と、液晶パネル２の点灯検査時に内部が暗室となる筐体とを備えている。筐体の内部には、液晶パネル２の点灯検査を行うためのバックライトやカメラが設置されている。回転機構は、２個のパネル載置部１５のうちの一方のパネル載置部１５が筐体の外部に配置されるとともに他方のパネル載置部１５が筐体の内部に配置される位置と、一方のパネル載置部１５が筐体の内部に配置されるとともに他方のパネル載置部１５が筐体の外部に配置される位置との間でパネル保持部を回転させる。 The inspection device 3 of the present embodiment is a lighting inspection device which performs lighting inspection of the liquid crystal panel 2. The inspection apparatus 3 has, for example, a panel holding unit having two panel mounting units 15 on which the liquid crystal panel 2 is mounted, a rotation mechanism that rotates the panel holding unit with the vertical axis as the rotation axial direction, and the liquid crystal panel And a case where the inside becomes a dark room at the time of the lighting inspection of 2. A backlight and a camera for inspecting the lighting of the liquid crystal panel 2 are installed inside the housing. The rotation mechanism has a position where one panel mounting portion 15 of the two panel mounting portions 15 is disposed outside the housing and the other panel mounting portion 15 is disposed inside the housing. The panel holding portion is rotated between the position where one panel mounting portion 15 is disposed inside the housing and the other panel mounting portion 15 is disposed outside the housing.
　ロボット１１は、６軸の垂直多関節ロボットである。ロボット１１は、ロボット１１の下端部を構成する支持部材１９と、支持部材１９に相対回動可能に連結される関節部２０と、関節部２０に相対回動可能に連結される関節部２１と、関節部２１に基端が固定される直線状のアーム２２と、アーム２２の先端に固定される関節部２３と、関節部２３に相対回動可能に連結される関節部２４と、関節部２４に基端が相対回動可能に連結される直線状のアーム２５と、アーム２５の先端が固定される関節部２６と、関節部２６に相対可動可能に連結される関節部２７と、関節部２７に回動可能に連結されるとともに液晶パネル２を保持するパネル保持機構２８とを備えている。 The robot 11 is a six-axis vertical articulated robot. The robot 11 includes a support member 19 constituting a lower end portion of the robot 11, a joint unit 20 rotatably connected to the support member 19, and a joint unit 21 rotatably connected to the joint unit 20. A straight arm 22 whose base end is fixed to the joint 21; a joint 23 fixed to the tip of the arm 22; a joint 24 connected to the joint 23 so as to be rotatable relative to the joint 23; A straight arm 25 whose proximal end is relatively rotatably coupled to the joint 24, a joint 26 to which the tip of the arm 25 is fixed, a joint 27 relatively movably connected to the joint 26, and a joint And a panel holding mechanism 28 rotatably connected to the portion 27 and holding the liquid crystal panel 2.
　関節部２０、２１、２３、２４、２６、２７は、モータとモータの動力を減速して伝達する減速機とを備えている。関節部２０は、上下方向を回動の軸方向とする回動が可能になるように支持部材１９に連結されている。関節部２１は、水平方向を回動の軸方向とする回動が可能となるように関節部２０に連結されている。関節部２４は、水平方向を回動の軸方向とする回動が可能となるように関節部２３に連結されている。関節部２７は、水平方向を回動の軸方向とする回動が可能となるように関節部２６に連結されている。 The joints 20, 21, 23, 24, 26, 27 include a motor and a reduction gear that decelerates and transmits the power of the motor. The joint portion 20 is connected to the support member 19 so as to be able to rotate with the vertical direction as the axial direction of rotation. The joint portion 21 is connected to the joint portion 20 so as to be able to rotate with the horizontal direction as the axial direction of rotation. The joint portion 24 is connected to the joint portion 23 so as to be able to rotate with the horizontal direction as the axial direction of rotation. The joint portion 27 is connected to the joint portion 26 so as to be able to rotate with the horizontal direction as the axial direction of rotation.
　関節部２０に対する関節部２１の回動の軸方向および関節部２３に対する関節部２４の回動の軸方向と、アーム２２の長手方向とは直交している。関節部２３に対する関節部２４の回動の軸方向および関節部２６に対する関節部２７の回動の軸方向と、アーム２５の長手方向とは直交している。また、関節部２３に対する関節部２４の回動の軸方向と、関節部２４に対するアーム２５の回動の軸方向とは直交している。関節部２６に対する関節部２７の回動の軸方向と、関節部２７に対するパネル保持機構２８の回動の軸方向とは直交している。 The axial direction of rotation of the joint 21 with respect to the joint 20 and the axial direction of rotation of the joint 24 with respect to the joint 23 are orthogonal to the longitudinal direction of the arm 22. The axial direction of rotation of the joint 24 with respect to the joint 23 and the axial direction of rotation of the joint 27 with respect to the joint 26 are orthogonal to the longitudinal direction of the arm 25. Further, the axial direction of rotation of the joint 24 with respect to the joint 23 and the axial direction of rotation of the arm 25 with respect to the joint 24 are orthogonal to each other. The axial direction of the rotation of the joint 27 with respect to the joint 26 and the axial direction of the rotation of the panel holding mechanism 28 with respect to the joint 27 are orthogonal to each other.
　パネル保持機構２８は、液晶パネル２を保持するパネル保持部２８ａを備えている。パネル保持部２８ａは、長方形の平板状に形成されている。パネル保持部２８ａには、複数の吸引穴が形成されている。複数の吸引穴には、所定の配管を介して真空ポンプ等の空気の吸引機構が接続されている。パネル保持部２８ａは、液晶パネル２を吸引して保持する。また、パネル保持部２８ａは、１枚の液晶パネル２を保持する。 The panel holding mechanism 28 includes a panel holding portion 28 a that holds the liquid crystal panel 2. The panel holding portion 28 a is formed in a rectangular flat plate shape. A plurality of suction holes are formed in the panel holding portion 28a. An air suction mechanism such as a vacuum pump is connected to the plurality of suction holes via a predetermined pipe. The panel holding portion 28 a sucks and holds the liquid crystal panel 2. In addition, the panel holding unit 28 a holds one liquid crystal panel 2.
　トレイ４に収容されている検査前の液晶パネル２が検査装置３に供給される場合、ロボット１１は、トレイ配置部６の最上段に配置されるトレイ４の中の液晶パネル２を検査装置３に搬送する。一方、カセット５に収容されている検査前の液晶パネル２が検査装置３に供給される場合には、ロボット１１は、カセット５の中の液晶パネル２を検査装置３に搬送する。すなわち、ロボット１１は、カセット配置部１３から検査装置３への液晶パネル２の搬送を行う。 When the liquid crystal panel 2 before inspection contained in the tray 4 is supplied to the inspection apparatus 3, the robot 11 inspects the liquid crystal panel 2 in the tray 4 disposed at the top of the tray arrangement unit 6. Transport to On the other hand, when the liquid crystal panel 2 before inspection contained in the cassette 5 is supplied to the inspection device 3, the robot 11 transports the liquid crystal panel 2 in the cassette 5 to the inspection device 3. That is, the robot 11 transports the liquid crystal panel 2 from the cassette placement unit 13 to the inspection device 3.
　また、ロボット１１は、検査装置３から検査後の液晶パネル２を、トレイ配置部７の最上段に配置されるトレイ４の中またはトレイ配置部８の最上段に配置されるトレイ４の中に搬送して収容する。具体的には、ロボット１１は、検査装置３での検査で正常と判断された液晶パネル２をトレイ配置部７の最上段に配置されるトレイ４に搬送して収容し、検査装置３での検査で異常と判断された液晶パネル２をトレイ配置部８の最上段に配置されるトレイ４に搬送して収容する。 In addition, the robot 11 places the liquid crystal panel 2 after inspection from the inspection apparatus 3 in the tray 4 disposed at the top of the tray placement unit 7 or in the tray 4 disposed at the top of the tray placement unit 8. Transport and store. Specifically, the robot 11 transports and accommodates the liquid crystal panel 2 determined to be normal in the inspection by the inspection device 3 to the tray 4 disposed at the top of the tray arrangement unit 7 and stores the liquid crystal panel 2 in the inspection device 3. The liquid crystal panel 2 determined to be abnormal in the inspection is conveyed to and stored in the tray 4 disposed at the top of the tray placement unit 8.
　ロボット１２は、いわゆる２軸直交ロボットである。このロボット１２は、トレイ配置部６～９の上側に配置されている。ロボット１２は、架台１０に固定される固定フレーム３１と、固定フレーム３１に対してトレイ配置部６～９の配列方向へのスライドが可能となるように固定フレーム３１に保持される可動フレーム３２と、可動フレーム３２に対して上下方向へのスライドが可能となるように可動フレーム３２に保持される可動フレーム３３と、可動フレーム３３に取り付けられるトレイ保持部３４とを備えている。 The robot 12 is a so-called two-axis orthogonal robot. The robot 12 is arranged on the upper side of the tray arranging parts 6-9. The robot 12 includes a fixed frame 31 fixed to the gantry 10, and a movable frame 32 held by the fixed frame 31 so that the fixed frame 31 can slide in the arrangement direction of the tray placement sections 6-9. The movable frame 33 is held by the movable frame 32 so that the movable frame 32 can slide in the vertical direction, and the tray holding unit 34 is attached to the movable frame 33.
　トレイ保持部３４は、トレイ４を吸引して保持する複数の吸引部を備えている。この吸引部には、所定の配管を介して真空ポンプ等の空気の吸引機構が接続されており、吸引部は、トレイ４の上面に接触してトレイ４を真空吸引する。なお、ロボット１２は、可動フレーム３２をスライドさせる駆動機構および可動フレーム３３をスライドさせる駆動機構等を備えている。 The tray holding unit 34 includes a plurality of suction units for sucking and holding the tray 4. An air suction mechanism such as a vacuum pump is connected to the suction portion via a predetermined pipe, and the suction portion contacts the upper surface of the tray 4 to vacuum suction the tray 4. The robot 12 is provided with a drive mechanism for sliding the movable frame 32, a drive mechanism for sliding the movable frame 33, and the like.
　ロボット１２は、ロボット１１によって液晶パネル２が搬出されるトレイ配置部６の最上段のトレイ４が空になると、空になったトレイ４をトレイ配置部６からトレイ配置部９に搬送して配置する。また、ロボット１２は、ロボット１１によって液晶パネル２が搬入されるトレイ配置部７の最上段のトレイ４に所定枚数の液晶パネル２が収容されると、トレイ配置部９からトレイ配置部７に空のトレイ４を搬送してトレイ配置部７の最上段のトレイ４の上に重ねる。また、ロボット１２は、ロボット１１によって液晶パネル２が搬入されるトレイ配置部８の最上段のトレイ４に所定枚数の液晶パネル２が収容されると、トレイ配置部９からトレイ配置部８に空のトレイ４を搬送してトレイ配置部８の最上段のトレイ４の上に重ねる。 The robot 12 conveys the emptied tray 4 from the tray arrangement unit 6 to the tray arrangement unit 9 when the tray 4 at the uppermost stage of the tray arrangement unit 6 to which the liquid crystal panel 2 is carried out by the robot 11 becomes empty. Do. Further, when a predetermined number of liquid crystal panels 2 are accommodated in the uppermost tray 4 of the tray arranging unit 7 to which the liquid crystal panels 2 are carried in by the robot 11, the robot 12 is empty from the tray arranging unit 9 to the tray arranging unit 7 The tray 4 is conveyed and stacked on the uppermost tray 4 of the tray arrangement unit 7. Further, when a predetermined number of liquid crystal panels 2 are accommodated in the uppermost tray 4 of the tray arranging unit 8 to which the liquid crystal panels 2 are carried in by the robot 11, the robot 12 is empty from the tray arranging unit 9 to the tray arranging unit 8 The tray 4 is conveyed and stacked on the uppermost tray 4 of the tray arrangement unit 8.
　（カセットの構成）
　図３（Ａ）は、図２に示すカセット５の構成を説明するための正面図であり、図３（Ｂ）は、図２に示すカセット５の構成を説明するための側面図である。 (Configuration of cassette)
FIG. 3A is a front view for explaining the configuration of the cassette 5 shown in FIG. 2, and FIG. 3B is a side view for explaining the configuration of the cassette 5 shown in FIG.
　カセット５の中の液晶パネル２がロボット１１によって検査装置３に搬送されるときには、カセット５に収容される複数枚の液晶パネル２は、上下方向に間隔をあけた状態で重なるように配置されている。具体的には、カセット５の中の液晶パネル２がロボット１１によって搬送されるときには、カセット５に収容される液晶パネル２は、液晶パネル２の厚さ方向と上下方向とが略一致するように配置されており、上下方向に一定の間隔をあけた状態の複数枚の液晶パネル２が上下方向で重なっている。また、図３（Ａ）に示すように、カセット５では、上下方向に間隔をあけた状態で配置される複数枚の液晶パネル２が水平方向に所定の間隔をあけた状態で複数列、配置されている。 When the liquid crystal panel 2 in the cassette 5 is transported to the inspection device 3 by the robot 11, the plurality of liquid crystal panels 2 contained in the cassette 5 are arranged to overlap in the state of being spaced apart in the vertical direction There is. Specifically, when the liquid crystal panel 2 in the cassette 5 is transported by the robot 11, in the liquid crystal panel 2 housed in the cassette 5, the thickness direction of the liquid crystal panel 2 and the vertical direction substantially coincide with each other. A plurality of liquid crystal panels 2 which are disposed and which are spaced apart from each other in the vertical direction are overlapped in the vertical direction. Further, as shown in FIG. 3 (A), in the cassette 5, a plurality of liquid crystal panels 2 disposed in a state of being spaced apart in the vertical direction are arranged in a plurality of rows in a state of being spaced apart in a horizontal direction. It is done.
　カセット５の外形は、直方体となっている。複数枚の液晶パネル２が上下方向に間隔をあけた状態で重なるように配置されているときの、カセット５の底面をカセット底面５ａとし、このときのカセット５の上面をカセット上面５ｂとし、このときのカセット５の背面をカセット背面５ｃとすると、カセット５の、カセット背面５ｃの反対側の面は、カセット５に対する液晶パネル２の出し入れが行われるパネル出入面５ｄとなっている。パネル出入面５ｄは、液晶パネル２の出し入れが可能となるように開口している。 The outer shape of the cassette 5 is a rectangular parallelepiped. The bottom surface of the cassette 5 is referred to as a cassette bottom surface 5a when the plurality of liquid crystal panels 2 are arranged to overlap in the up-down direction with an interval, and the top surface of the cassette 5 at this time is referred to as a cassette top surface 5b. Assuming that the back surface of the cassette 5 at this time is the cassette back surface 5c, the surface of the cassette 5 opposite to the cassette back surface 5c is a panel entry / exit surface 5d where the liquid crystal panel 2 is inserted into and removed from the cassette 5. The panel entry / exit surface 5d is opened so that the liquid crystal panel 2 can be inserted / removed.
　以下の説明では、カセット５に収容された複数枚の液晶パネル２が上下方向に間隔をあけた状態で重なるように配置されている状態を「直立状態」とする。また、カセット配置部１３に配置された直立状態のカセット５において、カセット背面５ｃに対してパネル出入面５ｄが配置される側（図１等のＸ１方向側）を「前」側とし、その反対側である図１等のＸ２方向側を「後ろ」側とする。また、上下方向と前後方向とに直交する図１等のＹ方向を「左右方向」とする。本形態では、カセット配置部１３の前側にロボット１１が配置されている。また、検査装置３のパネル載置部１５は、カセット配置部１３よりも前側に配置されている。 In the following description, a state in which a plurality of liquid crystal panels 2 accommodated in the cassette 5 are arranged to overlap in a state of being spaced apart in the vertical direction is referred to as an "upright state". Further, in the cassette 5 in the upright state disposed in the cassette placement portion 13, the side (the X1 direction side in FIG. 1 etc.) where the panel entry / exit surface 5d is disposed with respect to the cassette back surface 5c is the "front" side The X2 direction side in FIG. 1, etc., which is the side, is the “rear” side. In addition, the Y direction in FIG. 1 and the like orthogonal to the vertical direction and the front-rear direction is referred to as “horizontal direction”. In the present embodiment, the robot 11 is disposed on the front side of the cassette placement unit 13. The panel placement unit 15 of the inspection device 3 is disposed on the front side of the cassette placement unit 13.
　カセット５は、カセット底面５ａを構成する平板状のカセット底面板３６と、カセット上面５ｂを構成する平板状のカセット上面板３７と、カセット背面５ｃの一部を構成する平板状の２枚のカセット背面板３８と、カセット底面板３６とカセット上面板３７とを繋ぐ２本の支柱３９とを備えている。また、カセット５は、液晶パネル２を支持する複数本のパネル支柱４０を備えている。なお、図３（Ｂ）では、パネル支柱４０の図示を省略している。 The cassette 5 comprises a flat cassette bottom plate 36 constituting the cassette bottom 5a, a flat cassette upper plate 37 constituting the cassette top 5b, and two flat cassettes constituting a part of the cassette back 5c. A back plate 38 and two columns 39 connecting the cassette bottom plate 36 and the cassette top plate 37 are provided. Further, the cassette 5 is provided with a plurality of panel supports 40 for supporting the liquid crystal panel 2. In FIG. 3B, the panel support 40 is not shown.
　直立状態のカセット５において、カセット底面板３６は、カセット底面板３６の厚さ方向と上下方向とが一致するように配置され、カセット上面板３７は、カセット上面板３７の厚さ方向と上下方向とが一致するように配置され、２枚のカセット背面板３８は、カセット背面板３８の厚さ方向と前後方向とが一致するように配置されている。また、直立状態のカセット５において、支柱３９は、支柱３９の軸方向と上下方向とが一致するように配置され、パネル支柱４０は、パネル支柱４０の軸方向と上下方向とが一致するように配置されている。 In the cassette 5 in the upright state, the cassette bottom plate 36 is disposed such that the thickness direction of the cassette bottom plate 36 coincides with the vertical direction, and the cassette top plate 37 corresponds to the thickness direction of the cassette top plate 37 and the vertical direction. And the two cassette back plates 38 are arranged such that the thickness direction of the cassette back plate 38 and the front-rear direction coincide with each other. Further, in the cassette 5 in the upright state, the support 39 is disposed so that the axial direction of the support 39 matches the vertical direction, and the panel support 40 matches the axial direction of the panel support 40 in the vertical direction. It is arranged.
　２枚のカセット背面板３８のそれぞれは、カセット５の左右方向の両端側のそれぞれに配置されている。直立状態のカセット５において、カセット背面板３８の下端面は、カセット底面板３６の上面に固定され、カセット背面板３８の上端面は、カセット上面板３７の下面に固定されており、カセット背面板３８は、カセット底面板３６とカセット上面板３７とを繋いでいる。カセット配置部１３に配置された直立状態のカセット５において、２本の支柱３９は、カセット５の前端側に配置されている。また、２本の支柱３９のそれぞれは、カセット５の左右方向の両端側のそれぞれに配置されている。直立状態のカセット５において、支柱３９の下端面は、カセット底面板３６の上面に固定され、支柱３９の上端面は、カセット上面板３７の下面に固定されている。 Each of the two cassette back plates 38 is disposed on each of both ends in the left-right direction of the cassette 5. In the cassette 5 in the upright state, the lower end surface of the cassette back plate 38 is fixed to the upper surface of the cassette bottom plate 36, and the upper end surface of the cassette back plate 38 is fixed to the lower surface of the cassette upper plate 37. The numeral 38 connects the cassette bottom plate 36 and the cassette top plate 37. In the cassette 5 in the upright state disposed in the cassette placement unit 13, the two columns 39 are disposed on the front end side of the cassette 5. Further, each of the two columns 39 is disposed on each of both end sides in the left-right direction of the cassette 5. In the cassette 5 in the upright state, the lower end surface of the support 39 is fixed to the upper surface of the cassette bottom plate 36, and the upper end surface of the support 39 is fixed to the lower surface of the cassette upper plate 37.
　カセット配置部１３に配置された直立状態のカセット５において、複数本のパネル支柱４０は、前後方向に所定の間隔をあけた状態で配置されるとともに、左右方向に所定の間隔をあけた状態で配置されている。また、直立状態のカセット５において、パネル支柱４０の下端面は、カセット底面板３６の上面に固定され、パネル支柱４０の上端面は、カセット上面板３７の下面に固定されており、パネル支柱４０は、カセット底面板３６とカセット上面板３７とを繋いでいる。 In the cassette 5 in the upright state disposed in the cassette placement portion 13, the plurality of panel supports 40 are disposed with a predetermined interval in the front-rear direction and with a predetermined interval in the left-right direction. It is arranged. In the cassette 5 in the upright state, the lower end surface of the panel support 40 is fixed to the upper surface of the cassette bottom plate 36, and the upper end surface of the panel support 40 is fixed to the lower surface of the cassette upper surface plate 37. Connects the cassette bottom plate 36 and the cassette top plate 37.
　図３（Ａ）に示すように、液晶パネル２は、左右方向におけるパネル支柱４０の間に配置されている。パネル支柱４０には、直立状態のカセット５において、液晶パネル２の端部の下面を支持する凸部が形成されている。直立状態のカセット５において、カセット５に収容される液晶パネル２の上下方向の間隔Ｐ（図３（Ａ）参照）は、パネル保持部２８ａの厚さよりも広くなっている。すなわち、パネル保持部２８ａの厚さは、カセット５に収容される液晶パネル２の間隔Ｐよりも薄くなっている。 As shown to FIG. 3 (A), the liquid crystal panel 2 is arrange | positioned between the panel support | pillars 40 in the left-right direction. The panel support 40 has a convex portion for supporting the lower surface of the end portion of the liquid crystal panel 2 in the cassette 5 in the upright state. In the cassette 5 in the upright state, the interval P (see FIG. 3A) in the vertical direction of the liquid crystal panel 2 accommodated in the cassette 5 is wider than the thickness of the panel holding portion 28a. That is, the thickness of the panel holding portion 28 a is thinner than the interval P of the liquid crystal panels 2 accommodated in the cassette 5.
　（カセット配置部の構成）
　図４は、図１に示すカセット配置部１３の斜視図である。図５は、図４に示すカセット配置部１３の平面図である。図６は、図４に示すカセット配置部１３の正面図である。図７は、図４に示すカセット保持部４２が起立位置４２Ａにあるときの状態を説明するための側面図である。図８は、図４に示すカセット保持部４２が傾倒位置４２Ｂにあるときの状態を説明するための側面図である。図９は、図５のＥ部の拡大図である。図１０は、図６のＦ－Ｆ方向から転倒防止機構４９等の構成を説明するための図である。 (Configuration of cassette placement unit)
FIG. 4 is a perspective view of the cassette placement unit 13 shown in FIG. FIG. 5 is a plan view of the cassette placement unit 13 shown in FIG. 6 is a front view of the cassette placement unit 13 shown in FIG. FIG. 7 is a side view for explaining the state when the cassette holding portion 42 shown in FIG. 4 is at the standing position 42A. FIG. 8 is a side view for explaining the state when the cassette holding portion 42 shown in FIG. 4 is at the tilting position 42B. FIG. 9 is an enlarged view of part E of FIG. FIG. 10 is a view for explaining the configuration of the overturn preventing mechanism 49 and the like from the direction of arrows F in FIG.
　カセット配置部１３は、カセット５を保持するカセット保持部４２と、カセット保持部４２の下端部を回動可能に支持する支持フレーム４３とを備えている。カセット保持部４２は、左右方向を回動の軸方向とする回動が可能となるように支持フレーム４３に支持されている。また、カセット保持部４２は、カセット５のカセット底面５ａが接触する底面部材４４と、カセット５のカセット背面５ｃが接触する背面部材４５とを備えている。 The cassette placement unit 13 includes a cassette holding unit 42 for holding the cassette 5 and a support frame 43 for rotatably supporting the lower end of the cassette holding unit 42. The cassette holding portion 42 is supported by the support frame 43 so as to be able to rotate with the left and right direction as the axial direction of rotation. The cassette holding portion 42 further includes a bottom surface member 44 in contact with the cassette bottom surface 5 a of the cassette 5 and a back surface member 45 in contact with the cassette back surface 5 c of the cassette 5.
　カセット保持部４２は、カセット保持部４２に保持されるカセット５のパネル出入面５ｄが前側を向くとともにカセット底面５ａが下側を向く起立位置４２Ａと、カセット保持部４２に保持されるカセット５のパネル出入面５ｄが斜め上側（より具体的には、斜め前上側）を向く傾倒位置４２Ｂ（図８参照）との間で支持フレーム４３に対して回動可能となっている。本形態では、作業員が手作業によって、起立位置４２Ａと傾倒位置４２Ｂとの間でカセット保持部４２を回動させる。 The cassette holding unit 42 has an erected position 42A in which the panel entry / exit surface 5d of the cassette 5 held by the cassette holding unit 42 is directed to the front side and the cassette bottom 5a is directed downward, and the cassette 5 held by the cassette holding unit 42. It can be rotated relative to the support frame 43 between the panel entrance surface 5d and an inclined position 42B (see FIG. 8) which is directed obliquely upward (more specifically, obliquely upward toward the front). In the present embodiment, the operator manually rotates the cassette holding portion 42 between the standing position 42A and the tilting position 42B.
　カセット保持部４２が起立位置４２Ａに配置されているときには、カセット５は直立状態となっており、起立位置４２Ａに配置されたカセット保持部４２に保持されるカセット５の中からロボット１１によって液晶パネル２が搬出される。また、本形態では、カセット５は、傾倒位置４２Ｂに配置されるカセット保持部４２に取り付けられる。具体的には、検査前の複数枚の液晶パネル２が収容されたカセット５が、傾倒位置４２Ｂに配置されるカセット保持部４２に作業員の手作業によって取り付けられる。また、カセット５の中の全ての液晶パネル２が搬出されて空になったカセット５は、傾倒位置４２Ｂに配置されるカセット保持部４２から作業員の手作業によって取り外される。 When the cassette holding portion 42 is disposed at the standing position 42A, the cassette 5 is in the upright state, and the liquid crystal panel is selected by the robot 11 from among the cassettes 5 held by the cassette holding portion 42 disposed at the standing position 42A. 2 is carried out. Further, in the present embodiment, the cassette 5 is attached to the cassette holding portion 42 disposed at the tilting position 42B. Specifically, the cassette 5 containing the plurality of liquid crystal panels 2 before the inspection is attached by manual operation of a worker to the cassette holding portion 42 disposed at the tilting position 42B. Further, the cassette 5 which has been emptied of all the liquid crystal panels 2 in the cassette 5 is removed from the cassette holding portion 42 disposed at the tilting position 42B by a manual operation of the operator.
　また、カセット配置部１３は、傾倒位置４２Ｂから起立位置４２Ａに立ち上がる立上時のカセット保持部４２の衝撃を緩和するための緩衝機構４６と、起立位置４２Ａから傾倒位置４２Ｂに倒れる傾倒時のカセット保持部４２の衝撃を緩和するための緩衝機構４７とを備えている。本形態の緩衝機構４６、４７は、ショックアブソーバである。したがって、以下の説明では、緩衝機構４６を「ショックアブソーバ４６」とし、緩衝機構４７を「ショックアブソーバ４７」とする。 The cassette placement unit 13 also has a buffer mechanism 46 for relieving the shock of the cassette holding unit 42 at the time of standing up from the tilting position 42B to the rising position 42A, and a cassette at the time of tilting from the rising position 42A to the tilting position 42B. And a buffer mechanism 47 for reducing the impact of the holding portion 42. The buffer mechanisms 46 and 47 of this embodiment are shock absorbers. Therefore, in the following description, the shock absorbing mechanism 46 is referred to as a "shock absorber 46", and the shock absorbing mechanism 47 is referred to as a "shock absorber 47".
　さらに、カセット配置部１３は、起立位置４２Ａに配置されるカセット保持部４２を支持フレーム４３に固定するためのクランプ機構４８と、起立位置４２Ａに配置されるカセット保持部４２の傾倒位置４２Ｂ側への倒れを防止する転倒防止機構４９と、起立位置４２Ａに配置されるカセット保持部４２にカセット５が取り付けられていることを検知するためのセンサ５０とを備えている。本形態のクランプ機構４８は第２クランプ機構であり、転倒防止機構４９は第２転倒防止機構である。 Furthermore, the cassette placement unit 13 moves to the clamp mechanism 48 for fixing the cassette holding unit 42 disposed at the standing position 42A to the support frame 43 and to the side of the inclined position 42B of the cassette holding unit 42 disposed at the standing position 42A. And a sensor 50 for detecting that the cassette 5 is attached to the cassette holder 42 disposed at the standing position 42A. The clamp mechanism 48 of this embodiment is a second clamp mechanism, and the overturn prevention mechanism 49 is a second overturn prevention mechanism.
　カセット保持部４２は、底面部材４４および背面部材４５に加えて、カセット５をカセット保持部４２に固定するクランプ機構５２と、起立位置４２Ａにカセット保持部４２が配置されるときの、カセット５の前側への転倒を防止する転倒防止機構５３とを備えている。 The cassette holding portion 42 includes, in addition to the bottom surface member 44 and the back surface member 45, a clamp mechanism 52 for fixing the cassette 5 to the cassette holding portion 42, and the cassette 5 of the cassette 5 when the cassette holding portion 42 is disposed at the standing position 42A. And a fall prevention mechanism 53 for preventing a fall to the front side.
　底面部材４４は、起立位置４２Ａに配置されるカセット保持部４２の底面を構成する平板状の底面板５４と、底面板５４に載置されるとともにカセット底面５ａが接触する平板状の接触板５５と、カセット保持部４２の回動中心となる固定軸５６が固定される固定部材５７と、ショックアブソーバ４６のロッドヘッド４６ａが接触する受け部材５８とを備えている。底面板５４および接触板５５は、左右方向に細長い長方形の平板状に形成されている。固定部材５７および受け部材５８は、略直方体のブロック状に形成されている。 The bottom surface member 44 is a flat bottom plate 54 constituting the bottom surface of the cassette holding portion 42 disposed at the upright position 42A, and a flat contact plate 55 mounted on the bottom plate 54 and in contact with the cassette bottom surface 5a. And a fixing member 57 to which a fixed shaft 56 serving as a rotation center of the cassette holding portion 42 is fixed, and a receiving member 58 to which the rod head 46a of the shock absorber 46 is in contact. The bottom plate 54 and the contact plate 55 are formed in a rectangular plate shape elongated in the left-right direction. The fixing member 57 and the receiving member 58 are formed in a substantially rectangular block shape.
　接触板５５は、カセット保持部４２が起立位置４２Ａに配置されているときの底面板５４の上面に固定されている。カセット保持部４２が起立位置４２Ａに配置されているときには、カセット底面５ａは、接触板５５の上面に接触している。底面板５４の左右方向の長さは、接触板５５の左右方向の長さよりも長くなっており、底面板５４の左右の両端は、接触板５５の左右の両端よりも左右方向の外側に配置されている。底面板５４の前端側には、センサ５０が配置される切欠き部５４ａが形成されている。切欠き部５４ａは、底面板５４の前端から後ろ側に向かって切り欠かれるように形成されている。接触板５５には、切欠き部５４ａに通じる貫通穴５５ａが形成されている。貫通穴５５ａは、接触板５５を貫通している。センサ５０の光軸は、貫通穴５５ａを通過する。 The contact plate 55 is fixed to the upper surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the upright position 42A. When the cassette holding portion 42 is disposed at the upright position 42A, the cassette bottom surface 5a is in contact with the upper surface of the contact plate 55. The length of the bottom plate 54 in the left-right direction is longer than the length of the contact plate 55 in the left-right direction, and both left and right ends of the bottom plate 54 are disposed outside the left and right ends of the contact plate 55 in the left-right direction. It is done. On the front end side of the bottom plate 54, a notch 54a in which the sensor 50 is disposed is formed. The notch 54 a is formed to be cut away from the front end of the bottom plate 54 toward the rear side. The contact plate 55 is formed with a through hole 55a communicating with the notch 54a. The through hole 55 a passes through the contact plate 55. The optical axis of the sensor 50 passes through the through hole 55a.
　固定部材５７は、カセット保持部４２が起立位置４２Ａに配置されているときの底面板５４の下面の後端部に固定されている。また、固定部材５７は、底面板５４の左右の両端側の２箇所に固定されている。固定軸５６は、固定軸５６の軸方向と左右方向とが一致するように固定部材５７に固定されている。右側に配置される固定部材５７に固定される固定軸５６の右端部は、固定部材５７から右側へ突出し、左側に配置される固定部材５７に固定される固定軸５６の左端部は、固定部材５７から左側へ突出している。 The fixing member 57 is fixed to the rear end portion of the lower surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the upright position 42A. Further, the fixing members 57 are fixed at two places on the left and right sides of the bottom plate 54. The fixed shaft 56 is fixed to the fixing member 57 so that the axial direction of the fixed shaft 56 and the left and right direction coincide with each other. The right end portion of the fixed shaft 56 fixed to the fixing member 57 disposed on the right protrudes to the right from the fixing member 57, and the left end portion of the fixed shaft 56 secured to the fixing member 57 disposed on the left is the fixing member It projects from 57 to the left.
　受け部材５８は、カセット保持部４２が起立位置４２Ａに配置されているときの底面板５４の下面の前端部に固定されている。また、受け部材５８は、カセット保持部４２が起立位置４２Ａに配置されているときの底面板５４の下面の左右の両端側の２箇所に固定されている。カセット保持部４２が起立位置４２Ａに配置されている状態では、受け部材５８の下面は、後ろ側に向かうにしたがって上側に向かうようにわずかに傾斜する傾斜面となっている。 The receiving member 58 is fixed to the front end portion of the lower surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the upright position 42A. Further, the receiving members 58 are fixed at two places on the left and right sides of the lower surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the upright position 42A. In the state where the cassette holding portion 42 is disposed at the standing position 42A, the lower surface of the receiving member 58 is an inclined surface which is slightly inclined toward the upper side as it goes to the rear side.
　背面部材４５は、起立位置４２Ａに配置されるカセット保持部４２の後面を構成する平板状の背面板６１と、起立位置４２Ａにカセット保持部４２が配置されているときの背面板６１の前面に固定されるとともにカセット背面５ｃが接触する平板状の接触板６２と、ショックアブソーバ４７のロッドヘッド４７ａが接触する受け部材６３とを備えている。また、背面部材４５は、カセット保持部４２を手作業で回動させる際に作業員が握る取手６４を備えている。 The back member 45 is a flat plate-shaped back plate 61 constituting the back surface of the cassette holding portion 42 disposed at the upright position 42A, and a front surface of the back plate 61 when the cassette holding portion 42 is disposed at the upright position 42A. A flat contact plate 62 fixed and in contact with the back surface 5c of the cassette, and a receiving member 63 contacted by the rod head 47a of the shock absorber 47 are provided. Further, the back member 45 is provided with a handle 64 held by a worker when the cassette holding portion 42 is manually rotated.
　背面板６１および接触板６２は、略Ｈ形状の平板状に形成されており、背面板６１および接触板６２の左右の両端部には、左右方向の内側に向かって窪む凹部が形成されている。背面板６１の左右方向の長さは、接触板６２の左右方向の長さよりも長くなっており、背面板６１の左右の両端は、接触板６２の左右の両端よりも左右方向の外側に配置されている。 The back plate 61 and the contact plate 62 are formed in a substantially H-shaped flat plate shape, and the left and right ends of the back plate 61 and the contact plate 62 are formed with recessed portions that are recessed inward in the left-right direction. There is. The length of the back plate 61 in the left-right direction is longer than the length of the contact plate 62 in the left-right direction, and both left and right ends of the back plate 61 are disposed outside the left and right ends of the contact plate 62 in the left-right direction. It is done.
　背面板６１は、起立位置４２Ａにカセット保持部４２が配置されているときの底面板５４の上面の後端部に固定されている。また、背面板６１は、底面板５４と直交するように底面板５４に固定されており、背面板６１と底面板５４とによって、左右方向から見たときの形状がＬ形状となる部材が形成されている。背面板６１の左右方向の長さは、底面板５４の左右方向の長さと等しくなっている。背面板６１は、背面板６１の左右の両端と底面板５４の左右の両端とが一致するように底面板５４に固定されている。 The back plate 61 is fixed to the rear end portion of the top surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the standing position 42A. The back plate 61 is fixed to the bottom plate 54 so as to be orthogonal to the bottom plate 54, and the back plate 61 and the bottom plate 54 form a member having an L shape when viewed in the left-right direction. It is done. The length of the back plate 61 in the left-right direction is equal to the length of the bottom plate 54 in the left-right direction. The back plate 61 is fixed to the bottom plate 54 so that the left and right ends of the back plate 61 and the left and right ends of the bottom plate 54 coincide with each other.
　接触板６２は、起立位置４２Ａにカセット保持部４２が配置されているときの接触板５５の上面の後端部に固定されている。また、接触板６２は、接触板５５と直交するように接触板５５に固定されており、接触板６２と接触板５５とによって、左右方向から見たときの形状がＬ形状となる部材が形成されている。接触板６２の左右方向の長さは、接触板５５の左右方向の長さとほぼ等しくなっている。接触板６２は、接触板６２の左右の両端と接触板５５の左右の両端とが略一致するように接触板５５に固定されている。起立位置４２Ａにカセット保持部４２が配置されているときに、接触板５５の前面は、固定軸５６の軸心のほぼ真上に配置されている。 The contact plate 62 is fixed to the rear end portion of the upper surface of the contact plate 55 when the cassette holding portion 42 is disposed at the standing position 42A. Further, the contact plate 62 is fixed to the contact plate 55 so as to be orthogonal to the contact plate 55, and the contact plate 62 and the contact plate 55 form a member having an L shape when viewed in the left-right direction. It is done. The length of the contact plate 62 in the left-right direction is substantially equal to the length of the contact plate 55 in the left-right direction. The contact plate 62 is fixed to the contact plate 55 so that the left and right ends of the contact plate 62 and the left and right ends of the contact plate 55 substantially coincide with each other. When the cassette holding portion 42 is disposed at the standing position 42A, the front surface of the contact plate 55 is disposed substantially right above the axial center of the fixed shaft 56.
　受け部材６３は、略直方体のブロック状に形成されている。受け部材６３は、カセット保持部４２が起立位置４２Ａに配置されているときの背面板６１の後面の下端側に固定されている。また、受け部材６３は、背面板６１の左右の両端側の２箇所に固定されている。カセット保持部４２が起立位置４２Ａに配置されている状態では、受け部材６３の後面の下半分は、下側に向かうにしたがって前側に向かうように傾斜する傾斜面となっている。取手６４は、カセット保持部４２が起立位置４２Ａに配置されているときの背面板６１の後面の上端部に固定されている。 The receiving member 63 is formed in a substantially rectangular block shape. The receiving member 63 is fixed to the lower end side of the rear surface of the back plate 61 when the cassette holding portion 42 is disposed at the upright position 42A. Also, the receiving members 63 are fixed at two places on the left and right sides of the back plate 61. In the state where the cassette holding portion 42 is disposed at the standing position 42A, the lower half of the rear surface of the receiving member 63 is an inclined surface which is inclined toward the front side as it goes downward. The handle 64 is fixed to the upper end portion of the rear surface of the back plate 61 when the cassette holding portion 42 is disposed at the upright position 42A.
　クランプ機構５２は、手動式のトグルクランプである。したがって、以下の説明では、クランプ機構５２を「トグルクランプ５２」とする。トグルクランプ５２は、カセット保持部４２が起立位置４２Ａに配置されているときの背面板６１の前面の上端側に固定されている。また、トグルクランプ５２は、接触板６２の上端部の左右の両外側の２箇所に配置されている。 The clamp mechanism 52 is a manual toggle clamp. Therefore, in the following description, the clamp mechanism 52 is referred to as a "toggle clamp 52". The toggle clamp 52 is fixed to the upper end side of the front surface of the back plate 61 when the cassette holding portion 42 is disposed at the upright position 42A. Further, the toggle clamps 52 are disposed at two places on the left and right of the upper end portion of the contact plate 62.
　トグルクランプ５２は、カセット底面５ａが底面部材４４の接触板５５に接触し、かつ、カセット背面５ｃが背面部材４５の接触板６２に接触している状態のカセット５をカセット保持部４２に固定する。トグルクランプ５２によってカセット５が固定されているときには、図９に示すように、カセット保持部４２が起立位置４２Ａに配置されているときのカセット背面板３８の前面にトグルクランプ５２のボルト６５の頭部が所定の接触圧で接触している。 The toggle clamp 52 fixes the cassette 5 in a state in which the cassette bottom 5a is in contact with the contact plate 55 of the bottom surface member 44 and the cassette back surface 5c is in contact with the contact plate 62 of the back surface member 45 . When the cassette 5 is fixed by the toggle clamp 52, as shown in FIG. 9, the head of the bolt 65 of the toggle clamp 52 is placed on the front of the cassette back plate 38 when the cassette holder 42 is disposed at the upright position 42A. The parts are in contact at a predetermined contact pressure.
　転倒防止機構５３は、２個のボールプランジャ６７と、２個のボールプランジャ６７を保持するプランジャ保持部材６８とを備えている。ボールプランジャ６７は、図９に示すように、接触部材としてのボール６９と、ボール６９を保持するケース７０と、ボール６９を付勢するバネ部材としての圧縮コイルバネ７１とを備えている。プランジャ保持部材６８は、略直方体のブロック状に形成されている。 The overturn prevention mechanism 53 includes two ball plungers 67 and a plunger holding member 68 for holding the two ball plungers 67. As shown in FIG. 9, the ball plunger 67 includes a ball 69 as a contact member, a case 70 for holding the ball 69, and a compression coil spring 71 as a spring member for biasing the ball 69. The plunger holding member 68 is formed in a substantially rectangular block shape.
　転倒防止機構５３は、カセット保持部４２が起立位置４２Ａに配置されているときの背面板６１の前面の上端部に固定されている。具体的には、カセット保持部４２が起立位置４２Ａに配置されているときの背面板６１の前面の上端部にプランジャ保持部材６８が固定されている。また、転倒防止機構５３は、接触板６２の上端部の左右の両外側の２箇所に配置されている。すなわち、転倒防止機構５３は、起立位置４２Ａに配置されているときのカセット保持部４２の上端側に配置されるとともに、カセット保持部４２の左右の両端側に配置されている。また、転倒防止機構５３は、カセット保持部４２が起立位置４２Ａに配置されているときのトグルクランプ５２の上側に配置されている。２個のプランジャ保持部材６８の左右方向の間隔は、カセット５の左右方向の幅よりもわずかに広くなっている。 The overturn preventing mechanism 53 is fixed to the upper end portion of the front surface of the back plate 61 when the cassette holding portion 42 is disposed at the upright position 42A. Specifically, the plunger holding member 68 is fixed to the upper end portion of the front surface of the back plate 61 when the cassette holding portion 42 is disposed at the standing position 42A. Further, the overturn preventing mechanisms 53 are disposed at two places on the left and right outside of the upper end portion of the contact plate 62. That is, the overturn preventing mechanism 53 is disposed on the upper end side of the cassette holding portion 42 when disposed at the standing position 42A, and is disposed on both left and right end sides of the cassette holding portion 42. Further, the overturn prevention mechanism 53 is disposed on the upper side of the toggle clamp 52 when the cassette holding portion 42 is disposed at the upright position 42A. The distance between the two plunger holding members 68 in the left-right direction is slightly larger than the width in the left-right direction of the cassette 5.
　２個のボールプランジャ６７は、カセット保持部４２が起立位置４２Ａに配置されているときに上下方向に所定の間隔をあけた状態で上下方向で重なるようにプランジャ保持部材６８に保持されている。また、ボールプランジャ６７は、ボール６９が左右方向の内側へ突出するようにプランジャ保持部材６８に保持されている。ボール６９は、圧縮コイルバネ７１によって左右方向の内側に向かって付勢されている。また、ボール６９は、カセット保持部４２が起立位置４２Ａに配置されているときの接触板６２よりも前側に配置されている。 The two ball plungers 67 are held by the plunger holding member 68 so as to overlap in the vertical direction with a predetermined interval in the vertical direction when the cassette holding portion 42 is arranged at the standing position 42A. Further, the ball plunger 67 is held by the plunger holding member 68 such that the ball 69 protrudes inward in the left-right direction. The ball 69 is biased inward in the left-right direction by the compression coil spring 71. Further, the ball 69 is disposed on the front side of the contact plate 62 when the cassette holding portion 42 is disposed at the standing position 42A.
　カセット保持部４２が起立位置４２Ａに配置されているときであって、カセット底面５ａが接触板５５に接触し、かつ、カセット背面５ｃが接触板６２に接触しているときには、図９に示すように、カセット背面板３８の左右の両端面の前側の角部にボール６９が接触しており、ボール６９の一部は、カセット背面板３８の前に配置されている。また、このときには、ボール６９は、圧縮コイルバネ７１によってカセット背面板３８に向かって付勢されている。すなわち、カセット底面５ａが接触板５５に接触し、かつ、カセット背面５ｃが接触板６２に接触している状態のカセット５に、圧縮コイルバネ７１に付勢されたボール６９が接触している。 As shown in FIG. 9, when the cassette holding portion 42 is disposed at the upright position 42A and the cassette bottom 5a is in contact with the contact plate 55 and the cassette back 5c is in contact with the contact plate 62. The balls 69 are in contact with the front corners of the left and right end surfaces of the cassette back plate 38, and a part of the balls 69 is disposed in front of the cassette back plate 38. At this time, the ball 69 is urged toward the cassette back plate 38 by the compression coil spring 71. That is, the ball 69 biased by the compression coil spring 71 is in contact with the cassette 5 in a state where the cassette bottom 5a is in contact with the contact plate 55 and the cassette back surface 5c is in contact with the contact plate 62.
　カセット保持部４２にカセット５が取り付けられるときには、左右方向の両側に配置されるボール６９の間をカセット背面板３８が通過する。左右方向の両側に配置されるボール６９の間をカセット背面板３８が通過する過程でボール６９は、圧縮コイルバネ７１の付勢力に抗して左右方向の外側へ一旦移動した後、圧縮コイルバネ７１の付勢力によって左右方向の内側へ戻る。すなわち、左右方向の両側に配置されるボール６９の間をカセット背面板３８が通過して、カセット保持部４２にカセット５が取り付けられると、圧縮コイルバネ７１の付勢力によって、カセット背面板３８にボール６９が自動的に接触する。 When the cassette 5 is attached to the cassette holding portion 42, the cassette back plate 38 passes between the balls 69 disposed on both sides in the left-right direction. In the process of the cassette back plate 38 passing between the balls 69 disposed on both sides in the left-right direction, the balls 69 temporarily move outward in the left-right direction against the biasing force of the compression coil spring 71. Return to the inside in the left and right direction by the biasing force. That is, when the cassette back plate 38 passes between the balls 69 disposed on both sides in the left-right direction and the cassette 5 is attached to the cassette holding portion 42, the biasing force of the compression coil spring 71 causes the balls to be transferred to the cassette back plate 38. 69 contacts automatically.
　なお、カセット保持部４２にカセット５を取り付けるときには、左右方向の両側に配置されるボール６９の間をカセット背面板３８が通過するように、接触板６２に対してカセット５をわずかに傾けた状態で、２枚のカセット背面板３８のうちの一方のカセット背面板３８の左右方向の外端面によって一方の転倒防止機構５３のボール６９を左右方向の外側に押しながら、カセット保持部４２にカセット５を取り付ける。 When the cassette 5 is attached to the cassette holding portion 42, the cassette 5 is slightly inclined with respect to the contact plate 62 so that the cassette back plate 38 passes between the balls 69 disposed on both sides in the left-right direction. The cassette holding portion 42 holds the cassette 69 while the ball 69 of the overturn preventing mechanism 53 of one of the two cassette back plates 38 is pushed to the outside in the left and right direction by the outer end face of one cassette back plate 38 in the left and right direction. Attach the.
　また、カセット保持部４２からカセット５を取り外すときには、左右方向の両側に配置されるボール６９の間をカセット背面板３８が通過するように、２枚のカセット背面板３８のうちの一方のカセット背面板３８の左右方向の外端面によって一方の転倒防止機構５３のボール６９を左右方向の外側に押しながら、接触板６２に対してカセット５をわずかに傾けて、カセット保持部４２からカセット５を取り外す。 Further, when the cassette 5 is removed from the cassette holding portion 42, one cassette back of the two cassette back plates 38 is disposed so that the cassette back plate 38 passes between the balls 69 disposed on both sides in the left and right direction. The cassette 5 is removed from the cassette holding portion 42 by slightly inclining the cassette 5 with respect to the contact plate 62 while pushing the balls 69 of one overturn preventing mechanism 53 to the outside in the left and right direction by the outer end face of the face plate 38 in the left and right direction. .
　支持フレーム４３は、カセット配置部１３の底面を構成する平板状のベース板７３と、固定軸５６を回動可能に支持する軸受７４を保持する軸受保持部材７５と、転倒防止機構４９の一部を構成する後述のボール８２が接触する接触部材７６とを備えている。ベース板７３は、長方形の平板状に形成されている。ベース板７３の左右方向の長さは、底面板５４の左右方向の長さよりも長くなっている。ベース板７３の前後方向の幅は、起立位置４２Ａにカセット保持部４２が配置されているときの底面板５４の前後方向の幅よりも広くなっている。ベース板７３は、架台１０に固定されている。 The support frame 43 includes a flat base plate 73 forming the bottom surface of the cassette placement portion 13, a bearing holding member 75 for holding a bearing 74 rotatably supporting the fixed shaft 56, and a part of the overturn preventing mechanism 49. And the contact member 76 which the below-mentioned ball 82 which comprises B contacts. The base plate 73 is formed in a rectangular flat plate shape. The length of the base plate 73 in the left-right direction is longer than the length of the bottom plate 54 in the left-right direction. The width in the front-rear direction of the base plate 73 is wider than the width in the front-rear direction of the bottom plate 54 when the cassette holding portion 42 is disposed at the standing position 42A. The base plate 73 is fixed to the gantry 10.
　軸受保持部材７５は、ベース板７３の上面に固定されている。また、軸受保持部材７５は、ベース板７３の上面の左右方向の両端側の２箇所に配置されている。２個の軸受保持部材７５は、２個の固定部材５７の左右方向の外側に配置されている。右側の軸受保持部材７５に保持される軸受７４は、右側の固定部材５７から右側へ突出する固定軸５６の右端部を支持し、左側の軸受保持部材７５に保持される軸受７４は、左側の固定部材５７から左側へ突出する固定軸５６の左端部を支持している。 The bearing holding member 75 is fixed to the upper surface of the base plate 73. Further, the bearing holding members 75 are disposed at two places on both end sides in the left-right direction of the upper surface of the base plate 73. The two bearing holding members 75 are disposed outside the two fixing members 57 in the left-right direction. The bearing 74 held by the right bearing holding member 75 supports the right end portion of the fixed shaft 56 projecting rightward from the right fixing member 57, and the bearing 74 held by the left bearing holding member 75 is the left It supports the left end portion of the fixed shaft 56 protruding leftward from the fixed member 57.
　接触部材７６は、略直方体のブロック状に形成されている。この接触部材７６は、ベース板７３の左右方向の中心から左右方向の一方側へずれた位置に配置されている。接触部材７６は、固定板７７を介してベース板７３の前端に固定されており、ベース板７３の前端部の上側に配置されている。図１０に示すように、接触部材７６の後面の上端側は、後ろ側に向かうにしたがって下側に向かうように傾斜する平面状の傾斜面７６ａとなっている。接触部材７６の後面の下端側は、前側に向かうにしたがって下側に向かうように傾斜する平面状の傾斜面７６ｂとなっている。なお、傾斜面７６ａと傾斜面７６ｂとの間は、前後方向に直交する平面となっている。 The contact member 76 is formed in a substantially rectangular block shape. The contact member 76 is disposed at a position shifted from the center of the base plate 73 in the left-right direction to one side in the left-right direction. The contact member 76 is fixed to the front end of the base plate 73 via the fixing plate 77, and is disposed above the front end of the base plate 73. As shown in FIG. 10, the upper end side of the rear surface of the contact member 76 is a flat inclined surface 76a which is inclined downward toward the rear side. The lower end side of the rear surface of the contact member 76 is a flat inclined surface 76b which is inclined downward toward the front side. In addition, between the inclined surface 76a and the inclined surface 76b, it is a plane orthogonal to the front-back direction.
　ショックアブソーバ４６は、ベース板７３の前端部に固定されている。また、ショックアブソーバ４６は、ベース板７３の左右の両端側の２箇所に固定されている。ショックアブソーバ４６は、ショックアブソーバ４６のロッドヘッド４６ａが上側へ突出するように配置されている。ロッドヘッド４６ａは、ベース板７３の上面よりも上側に配置されている。カセット保持部４２が傾倒位置４２Ｂから起立位置４２Ａに立ち上がるときには、ロッドヘッド４６ａが受け部材５８の下面に接触して、カセット保持部４２の衝撃が緩和される。 The shock absorber 46 is fixed to the front end of the base plate 73. Also, the shock absorbers 46 are fixed at two places on the left and right sides of the base plate 73. The shock absorber 46 is disposed such that the rod head 46 a of the shock absorber 46 protrudes upward. The rod head 46 a is disposed above the upper surface of the base plate 73. When the cassette holding portion 42 rises from the tilting position 42B to the rising position 42A, the rod head 46a contacts the lower surface of the receiving member 58, and the impact of the cassette holding portion 42 is alleviated.
　ショックアブソーバ４７は、ベース板７３の後端部に固定されている。また、ショックアブソーバ４７は、ベース板７３の左右の両端側の２箇所に固定されている。ショックアブソーバ４７は、ショックアブソーバ４７のロッドヘッド４７ａが上側へ突出するように配置されている。ロッドヘッド４７ａは、ベース板７３の上面よりも上側に配置されている。カセット保持部４２が起立位置４２Ａから傾倒位置４２Ｂに倒れるときには、ロッドヘッド４７ａが受け部材６３の傾斜面に接触して、カセット保持部４２の衝撃が緩和される。 The shock absorber 47 is fixed to the rear end of the base plate 73. Also, the shock absorbers 47 are fixed at two places on the left and right sides of the base plate 73. The shock absorber 47 is disposed such that the rod head 47 a of the shock absorber 47 protrudes upward. The rod head 47 a is disposed above the upper surface of the base plate 73. When the cassette holding portion 42 falls from the standing position 42A to the tilting position 42B, the rod head 47a contacts the inclined surface of the receiving member 63, and the impact of the cassette holding portion 42 is alleviated.
　クランプ機構４８は、手動式のトグルクランプである。したがって、以下の説明では、クランプ機構４８を「トグルクランプ４８」とする。トグルクランプ４８は、固定部材７８を介して、ベース板７３に固定されている。また、トグルクランプ４８は、ベース板７３の左右の両外側の２箇所に配置されている。トグルクランプ４８は、ベース板７３の上面よりも上側に配置されている。 The clamp mechanism 48 is a manual toggle clamp. Therefore, in the following description, the clamp mechanism 48 is referred to as a "toggle clamp 48". The toggle clamp 48 is fixed to the base plate 73 via a fixing member 78. Further, the toggle clamps 48 are disposed at two places on the left and right sides of the base plate 73. The toggle clamp 48 is disposed above the upper surface of the base plate 73.
　上述のように、トグルクランプ４８は、起立位置４２Ａに配置されているカセット保持部４２を支持フレーム４３に対して固定する。トグルクランプ４８によってカセット保持部４２が固定されているときには、底面板５４の上面の左右の両端部にトグルクランプ４８のボルト７９の頭部が所定の接触圧で接触している。また、トグルクランプ４８によってカセット保持部４２が固定されているときには、ショックアブソーバ４６のロッドヘッド４６ａが受け部材５８の下面に所定の接触圧で接触している。 As described above, the toggle clamp 48 fixes the cassette holding portion 42 disposed at the standing position 42A to the support frame 43. When the cassette holding portion 42 is fixed by the toggle clamp 48, the head of the bolt 79 of the toggle clamp 48 is in contact with both left and right ends of the upper surface of the bottom plate 54 with a predetermined contact pressure. Further, when the cassette holding portion 42 is fixed by the toggle clamp 48, the rod head 46a of the shock absorber 46 is in contact with the lower surface of the receiving member 58 with a predetermined contact pressure.
　転倒防止機構４９は、３個のボールプランジャ８０と、３個のボールプランジャ８０を保持するプランジャ保持部材８１とを備えている。ボールプランジャ８０は、図１０（Ｂ）に示すように、第２接触部材としてのボール８２と、ボール８２を保持するケース８３と、ボール８２を付勢する第２バネ部材としての圧縮コイルバネ８４とを備えている。プランジャ保持部材８１は、略直方体のブロック状に形成されている。 The overturn preventing mechanism 49 includes three ball plungers 80 and a plunger holding member 81 for holding the three ball plungers 80. As shown in FIG. 10B, the ball plunger 80 includes a ball 82 as a second contact member, a case 83 for holding the ball 82, and a compression coil spring 84 as a second spring member for urging the ball 82. Is equipped. The plunger holding member 81 is formed in a substantially rectangular block shape.
　転倒防止機構４９は、カセット保持部４２が起立位置４２Ａに配置されているときの底面板５４の下面に固定されている。具体的には、カセット保持部４２が起立位置４２Ａに配置されているときの底面板５４の下面にプランジャ保持部材８１が固定されている。また、転倒防止機構５３は、底面板５４の中心から左右方向の一方側へずれた位置に配置されている。 The overturn preventing mechanism 49 is fixed to the lower surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the upright position 42A. Specifically, the plunger holding member 81 is fixed to the lower surface of the bottom plate 54 when the cassette holding portion 42 is disposed at the standing position 42A. In addition, the overturn preventing mechanism 53 is disposed at a position shifted from the center of the bottom plate 54 to one side in the left-right direction.
　３個のボールプランジャ８０は、左右方向に所定の間隔をあけた状態でプランジャ保持部材８１に保持されている。また、ボールプランジャ８０は、カセット保持部４２が起立位置４２Ａに配置されているときに、ボール８２が前側へ突出するようにプランジャ保持部材８１に保持されている。ボール８２は、カセット保持部４２が起立位置４２Ａに配置されているときに、圧縮コイルバネ８４によって前側に向かって付勢されている。カセット保持部４２が起立位置４２Ａに配置されているときには、図１０（Ｂ）に示すように、接触部材７６の傾斜面７６ｂにボール８２が所定の接触圧で接触している。このときには、ボール８２は、圧縮コイルバネ８４によって接触部材７６に向かって付勢されている。すなわち、圧縮コイルバネ８４に付勢されたボール８２が支持フレーム４３に接触している。 The three ball plungers 80 are held by the plunger holding member 81 in a state in which a predetermined space is left in the left-right direction. Further, the ball plunger 80 is held by the plunger holding member 81 such that the ball 82 protrudes to the front side when the cassette holding portion 42 is disposed at the standing position 42A. The ball 82 is biased toward the front side by the compression coil spring 84 when the cassette holding portion 42 is disposed at the upright position 42A. When the cassette holding portion 42 is disposed at the standing position 42A, as shown in FIG. 10B, the ball 82 is in contact with the inclined surface 76b of the contact member 76 at a predetermined contact pressure. At this time, the ball 82 is biased toward the contact member 76 by the compression coil spring 84. That is, the ball 82 biased by the compression coil spring 84 is in contact with the support frame 43.
　傾倒位置４２Ｂに配置されるカセット保持部４２が回動して起立位置４２Ａに配置されるときには、ボール８２は、接触部材７６の傾斜面７６ａ、傾斜面７６ａと傾斜面７６ｂとの間の平面、および、傾斜面７６ｂに順次接触する。このとき、ボール８２は、圧縮コイルバネ８４の付勢力に抗して後ろ側へ一旦移動した後、圧縮コイルバネ８４の付勢力によって前側に戻る。すなわち、傾倒位置４２Ｂに配置されるカセット保持部４２が回動して起立位置４２Ａに配置されると、圧縮コイルバネ８４の付勢力によって、傾斜面７６ｂにボール８２が自動的に接触する。 When the cassette holding portion 42 arranged at the inclined position 42B is rotated and arranged at the standing position 42A, the balls 82 are inclined surfaces 76a of the contact member 76, a plane between the inclined surfaces 76a and 76b, And it contacts the inclined surface 76b one by one. At this time, the ball 82 once moves rearward against the biasing force of the compression coil spring 84 and then returns to the front side by the biasing force of the compression coil spring 84. That is, when the cassette holding portion 42 disposed at the tilting position 42B is rotated and disposed at the standing position 42A, the biasing force of the compression coil spring 84 causes the ball 82 to automatically contact the inclined surface 76b.
　また、カセット保持部４２が起立位置４２Ａから傾倒位置４２Ｂに向かって回動すると、ボール８２は、傾斜面７６ｂ、傾斜面７６ａと傾斜面７６ｂとの間の平面、および、傾斜面７６ａに順次接触した後、接触部材７６から離れる。このとき、ボール８２は、圧縮コイルバネ８４の付勢力に抗して後ろ側へ一旦移動した後、圧縮コイルバネ８４の付勢力によって前側に戻る。 In addition, when the cassette holding portion 42 pivots from the standing position 42A toward the tilting position 42B, the balls 82 sequentially contact the inclined surface 76b, the plane between the inclined surface 76a and the inclined surface 76b, and the inclined surface 76a. And then leave the contact member 76. At this time, the ball 82 once moves rearward against the biasing force of the compression coil spring 84 and then returns to the front side by the biasing force of the compression coil spring 84.
　センサ５０は、発光素子と受光素子とを有する反射型の光学式センサである。センサ５０は、固定部材８７を介してベース板７３の前端に固定されており、ベース板７３の前端部の上側に配置されている。また、センサ５０は、底面板５４の切欠き部５４ａに配置されている。センサ５０の光軸は、接触板５５の貫通穴５５ａを通過している。カセット保持部４２が起立位置４２Ａに配置されているときには、センサ５０の発光素子から射出された光がカセット５のカセット底面５ａで反射されて、センサ５０の受光素子に入射する。なお、図５、図６では、固定部材８７の図示を省略している。 The sensor 50 is a reflective optical sensor having a light emitting element and a light receiving element. The sensor 50 is fixed to the front end of the base plate 73 via the fixing member 87, and is disposed above the front end of the base plate 73. Also, the sensor 50 is disposed in the notch 54 a of the bottom plate 54. The optical axis of the sensor 50 passes through the through hole 55 a of the contact plate 55. When the cassette holding portion 42 is disposed at the standing position 42 A, light emitted from the light emitting element of the sensor 50 is reflected by the cassette bottom surface 5 a of the cassette 5 and enters the light receiving element of the sensor 50. In FIG. 5 and FIG. 6, the illustration of the fixing member 87 is omitted.
　上述のように、本形態では、作業員の手作業によって、傾倒位置４２Ｂに配置されるカセット保持部４２にカセット５が取り付けられるとともに、傾倒位置４２Ｂに配置されるカセット保持部４２からカセット５が取り外される。また、作業員の手作業によって、起立位置４２Ａと傾倒位置４２Ｂとの間でカセット保持部４２を回動させる。本形態では、カセット保持部４２が起立位置４２Ａに配置されているときに、カセット底面５ａは、上下方向に直交し、カセット背面５ｃは、前後方向に直交している。また、カセット保持部４２が傾倒位置４２Ｂに配置されているときには、カセット背面５ｃは、水平方向に対してたとえば、１０°程度傾いている。 As described above, in the present embodiment, the cassette 5 is attached to the cassette holding portion 42 disposed at the tilting position 42B by the manual work of the worker, and the cassette 5 is attached from the cassette holding portion 42 disposed at the tilting position 42B. It is removed. Further, the cassette holding portion 42 is rotated between the standing position 42A and the tilting position 42B by the manual work of the worker. In the present embodiment, when the cassette holding portion 42 is disposed at the standing position 42A, the cassette bottom surface 5a is orthogonal to the vertical direction, and the cassette back surface 5c is orthogonal to the longitudinal direction. Further, when the cassette holding portion 42 is disposed at the tilting position 42B, the cassette back surface 5c is inclined, for example, by about 10 ° with respect to the horizontal direction.
　（本形態の主な効果）
　以上説明したように、本形態では、カセット保持部４２は、カセット保持部４２に保持されるカセット５のパネル出入面５ｄが前側を向く起立位置４２Ａと、カセット保持部４２に保持されるカセット５のパネル出入面５ｄが斜め前上側を向く傾倒位置４２Ｂとの間で支持フレーム４３に対して回動可能となっている。また、本形態では、検査前の複数枚の液晶パネル２が収容されたカセット５が、傾倒位置４２Ｂに配置されるカセット保持部４２に取り付けられる。そのため、本形態では、カセット保持部４２にカセット５を取り付けるときに、パネル出入面５ｄから液晶パネル２が落下して液晶パネル２が破損するのを防止することが可能になる。 (Main effects of this form)
As described above, in the present embodiment, the cassette holding unit 42 holds the cassette 5 held by the cassette holding unit 42 at the erected position 42A with the panel entry / exit surface 5d of the cassette 5 held by the cassette holding unit 42 facing frontward. The panel entry / exit surface 5d is pivotable with respect to the support frame 43 between the tilting position 42B and the slanting front upper side. Further, in the present embodiment, the cassette 5 in which the plurality of liquid crystal panels 2 before inspection is accommodated is attached to the cassette holding portion 42 disposed at the tilting position 42B. Therefore, in the present embodiment, when the cassette 5 is attached to the cassette holding portion 42, it is possible to prevent the liquid crystal panel 2 from being dropped from the panel entry / exit surface 5d and damaging the liquid crystal panel 2.
　また、本形態では、カセット保持部４２が起立位置４２Ａに配置されてパネル出入面５ｄが前側を向いているときに、カセット５の中の液晶パネル２がロボット１１によって搬送されている。すなわち、液晶パネル２の厚さ方向と上下方向とが略一致するようにカセット５に収容されるとともに上下方向に間隔をあけた状態で配置されている状態の液晶パネル２がロボット１１によって搬送されている。そのため、本形態では、カセット５に収容される液晶パネル２をロボット１１で保持する際には、液晶パネル２に作用する重力の影響によって、カセット５に収容される液晶パネル２の状態を安定させることが可能になる。したがって、本形態では、ロボット１１によって、カセット５に収容される液晶パネル２の所定の箇所を確実に保持して、カセット５から液晶パネル２を搬出することが可能になる。 Further, in the present embodiment, the liquid crystal panel 2 in the cassette 5 is transported by the robot 11 when the cassette holding portion 42 is disposed at the standing position 42A and the panel entry / exit surface 5d faces the front side. That is, the liquid crystal panel 2 in a state in which the liquid crystal panel 2 is accommodated in the cassette 5 so that the thickness direction and the vertical direction of the liquid crystal panel 2 substantially coincide with each other and is spaced in the vertical direction is transported by the robot 11 ing. Therefore, in the present embodiment, when the liquid crystal panel 2 accommodated in the cassette 5 is held by the robot 11, the state of the liquid crystal panel 2 accommodated in the cassette 5 is stabilized by the influence of gravity acting on the liquid crystal panel 2. It becomes possible. Therefore, in the present embodiment, the robot 11 can reliably hold the predetermined portion of the liquid crystal panel 2 housed in the cassette 5 and carry the liquid crystal panel 2 out of the cassette 5.
　本形態では、カセット保持部４２は、起立位置４２Ａにカセット保持部４２が配置されるときの、カセット５の前側への転倒を防止する転倒防止機構５３を備えており、傾倒位置４２Ｂに配置されるカセット保持部４２にカセット５が取り付けられると、圧縮コイルバネ７１の付勢力によって、カセット背面板３８にボール６９が自動的に接触する。そのため、本形態では、作業者の作業ミス等に起因して、カセット保持部４２に取り付けられたカセット５のカセット背面板３８にボール６９が接触しないといった状況は発生しない。したがって、本形態では、傾倒位置４２Ｂから起立位置４２Ａへカセット保持部４２を回動させたときに、カセット保持部４２からカセット５が前側に倒れるのを防止することが可能になり、その結果、パネル出入面５ｄから液晶パネル２が落下して液晶パネル２が破損するのを防止することが可能になる。 In the present embodiment, the cassette holding unit 42 includes the overturn preventing mechanism 53 for preventing the cassette 5 from falling to the front side when the cassette holding unit 42 is disposed at the standing position 42A, and is disposed at the tilting position 42B. When the cassette 5 is attached to the cassette holder 42, the biasing force of the compression coil spring 71 causes the ball 69 to automatically contact the cassette back plate 38. Therefore, in the present embodiment, the situation where the ball 69 does not contact the cassette back plate 38 of the cassette 5 attached to the cassette holding unit 42 does not occur due to a worker's operation error or the like. Therefore, in the present embodiment, when the cassette holding portion 42 is rotated from the tilting position 42B to the rising position 42A, it is possible to prevent the cassette 5 from falling to the front side from the cassette holding portion 42. As a result, It is possible to prevent the liquid crystal panel 2 from being damaged by the liquid crystal panel 2 falling from the panel entry / exit surface 5d.
　また、本形態では、カセット保持部４２がトグルクランプ５２を備えているため、傾倒位置４２Ｂから起立位置４２Ａへカセット保持部４２を回動させたときのカセット５の前側への倒れをより確実に防止することが可能になる。なお、本形態では、カセット保持部４２が転倒防止機構５３を備えているため、作業者の作業ミスで、トグルクランプ５２によってカセット５がカセット保持部４２に固定されていない状態で傾倒位置４２Ｂから起立位置４２Ａにカセット保持部４２が回動させられても、カセット保持部４２からカセット２が前側に倒れるのを防止することが可能になる。 Further, in the present embodiment, since the cassette holding portion 42 is provided with the toggle clamp 52, it is possible to more reliably make the cassette 5 fall to the front side when the cassette holding portion 42 is pivoted from the tilting position 42B to the standing position 42A. It becomes possible to prevent. In the present embodiment, since the cassette holding unit 42 includes the overturn preventing mechanism 53, the operator does not make the cassette 5 fixed to the cassette holding unit 42 by the toggle clamp 52 from the tilting position 42 B Even when the cassette holding portion 42 is pivoted to the standing position 42A, it is possible to prevent the cassette 2 from being tilted forward from the cassette holding portion 42.
　本形態では、転倒防止機構５３は、起立位置４２Ａに配置されているカセット保持部４２の上端側に配置されるとともに、カセット保持部４２の左右の両端側に配置されている。そのため、本形態では、起立位置４２Ａにカセット保持部４２が配置されたときに、カセット２がより倒れにくくなる。また、本形態では、転倒防止機構５３にボールプランジャ６７を用いているため、転倒防止機構５３の構成を簡素化して、転倒防止機構５３を小型化することが可能になる。 In the present embodiment, the overturn preventing mechanism 53 is disposed on the upper end side of the cassette holding portion 42 disposed at the standing position 42A, and is disposed on both left and right end sides of the cassette holding portion 42. Therefore, in the present embodiment, when the cassette holding portion 42 is disposed at the standing position 42A, the cassette 2 is more difficult to fall down. Further, in the present embodiment, since the ball plunger 67 is used as the overturn preventing mechanism 53, the configuration of the overturn preventing mechanism 53 can be simplified and the overturn preventing mechanism 53 can be miniaturized.
　本形態では、カセット配置部４２は、傾倒位置４２Ｂから起立位置４２Ａに立ち上がる立上時のカセット保持部４２の衝撃を緩和するためのショックアブソーバ４６を備えている。そのため、本形態では、立上時のカセット保持部４２の衝撃に起因して、パネル出入面５ｄから液晶パネル２が落下するのを防止することが可能になる。したがって、本形態では、立上時のカセット保持部４２の衝撃に起因する液晶パネル２の破損を防止することが可能になる。 In the present embodiment, the cassette placement unit 42 includes a shock absorber 46 for relieving the shock of the cassette holding unit 42 at the time of rising from the tilting position 42B to the rising position 42A. Therefore, in the present embodiment, it is possible to prevent the liquid crystal panel 2 from falling from the panel entry / exit surface 5d due to the impact of the cassette holding portion 42 at the time of rising. Therefore, in the present embodiment, it is possible to prevent the breakage of the liquid crystal panel 2 due to the impact of the cassette holding portion 42 at the time of rising.
　本形態では、カセット配置部１３は、起立位置４２Ａに配置されるカセット保持部４２の傾倒位置４２Ｂ側への倒れを防止する転倒防止機構４９を備えており、カセット保持部４２が起立位置４２Ａに配置されると、圧縮コイルバネ８４の付勢力によって、傾斜面７６ｂにボール８２が自動的に接触する。そのため、本形態では、カセット配置部１３がショックアブソーバ４６を備えていても、トグルクランプ４８によって支持フレーム４３に固定される前のカセット保持部４２の状態を自動的に安定させることが可能になる。したがって、本形態では、カセット配置部１３がショックアブソーバ４６を備えていても、トグルクランプ４８によるカセット保持部４２の固定作業を容易に行うことが可能になる。また、作業者の作業ミスで、トグルクランプ４８によって支持フレーム４３にカセット保持部４２が固定されない場合であっても、ロボット１１で液晶パネル２を搬送する際に、傾倒位置４２Ｂ側へカセット保持部４２が倒れるのを防止することが可能になる。 In the present embodiment, the cassette placement unit 13 includes the overturn preventing mechanism 49 for preventing the cassette holding unit 42 disposed at the standing position 42A from falling to the tilting position 42B side, and the cassette holding unit 42 is at the standing position 42A. Once disposed, the biasing force of the compression coil spring 84 causes the ball 82 to automatically contact the inclined surface 76 b. Therefore, in this embodiment, even if the cassette placement unit 13 includes the shock absorber 46, the state of the cassette holding unit 42 before being fixed to the support frame 43 by the toggle clamp 48 can be automatically stabilized. . Therefore, in the present embodiment, even if the cassette placement unit 13 includes the shock absorber 46, the operation of fixing the cassette holding unit 42 by the toggle clamp 48 can be easily performed. In addition, even when the cassette holding unit 42 is not fixed to the support frame 43 by the toggle clamp 48 due to an operator's mistake, when the liquid crystal panel 2 is transported by the robot 11, the cassette holding unit toward the tilting position 42B It becomes possible to prevent 42 from falling down.
　本形態では、ロボット１１は、カセット５に収容される液晶パネル２の間隔Ｐよりも厚さが薄いパネル保持部２８ａを備えている。そのため、本形態では、カセット５に収容される液晶パネル２の間にパネル保持部２８ａを入れて、液晶パネル２の上面や下面の比較的広い範囲をパネル保持部２８ａで吸引して保持することが可能になる。したがって、本形態では、パネル保持部２８ａによる液晶パネル２の保持状態を安定させることが可能になる。 In the present embodiment, the robot 11 includes a panel holding portion 28 a whose thickness is thinner than the interval P of the liquid crystal panels 2 accommodated in the cassette 5. Therefore, in the present embodiment, the panel holding portion 28a is inserted between the liquid crystal panels 2 housed in the cassette 5, and the panel holding portion 28a sucks and holds a relatively wide range of the upper surface and the lower surface of the liquid crystal panel 2. Becomes possible. Therefore, in the present embodiment, the holding state of the liquid crystal panel 2 by the panel holding portion 28a can be stabilized.
　（他の実施の形態）
　上述した形態は、本発明の好適な形態の一例ではあるが、これに限定されるものではなく本発明の要旨を変更しない範囲において種々変形実施が可能である。 (Other embodiments)
The embodiment described above is an example of the preferred embodiment of the present invention, but is not limited to this, and various modifications can be made without departing from the scope of the present invention.
　上述した形態では、カセット保持部４２が起立位置４２Ａに配置されているときに、カセット５に収容される液晶パネル２は、液晶パネル２の厚さ方向と上下方向とが略一致するように配置されているが、カセット保持部４２が起立位置４２Ａに配置されているときに、カセット５に収容される液晶パネル２は、前側に向かうにしたがって上側に向かうようにわずかに傾斜していても良い。たとえば、カセット保持部４２が起立位置４２Ａに配置されているときに、カセット５に収容される液晶パネル２は、水平方向に対して１°以下の角度で傾斜していても良い。この場合には、たとえば、上述した形態において、トグルクランプ４８のボルト７９の上下方向の取付位置およびショックアブソーバ４６の上下方向の取付位置を調整すれば良い。 In the embodiment described above, when the cassette holding portion 42 is disposed at the upright position 42A, the liquid crystal panel 2 housed in the cassette 5 is disposed such that the thickness direction of the liquid crystal panel 2 and the vertical direction substantially coincide with each other. However, when the cassette holding portion 42 is disposed at the standing position 42A, the liquid crystal panel 2 housed in the cassette 5 may be slightly inclined to be upward toward the front side. . For example, when the cassette holding portion 42 is disposed at the standing position 42A, the liquid crystal panel 2 housed in the cassette 5 may be inclined at an angle of 1 ° or less with respect to the horizontal direction. In this case, for example, in the embodiment described above, the mounting position of the bolt 79 of the toggle clamp 48 in the vertical direction and the mounting position of the shock absorber 46 in the vertical direction may be adjusted.
　この場合には、カセット保持部４２が起立位置４２Ａに配置されているときに、動作時のロボット１１等の振動がカセット保持部４２に伝達されたとしても、パネル出入面４ｄから液晶パネル２が落下して液晶パネル２が破損するのを防止することが可能になる。なお、ベース板７３が固定される架台１０とベース板７３との間に防振ゴムが配置されていても良い。この場合には、動作時のロボット１１等の振動がカセット配置部１３に伝達されなくなるため、カセット保持部４２が起立位置４２Ａに配置されているときに、動作時のロボット１１等の振動が発生しても、パネル出入面４ｄから液晶パネル２が落下して液晶パネル２が破損するのを防止することが可能になる。 In this case, when the cassette holding portion 42 is disposed at the upright position 42A, the liquid crystal panel 2 can be moved from the panel entry / exit surface 4d even if vibration of the robot 11 or the like during operation is transmitted to the cassette holding portion 42. It becomes possible to prevent the liquid crystal panel 2 from being broken down. In addition, anti-vibration rubber may be disposed between the gantry 10 to which the base plate 73 is fixed and the base plate 73. In this case, since the vibration of the robot 11 or the like during operation is not transmitted to the cassette placement unit 13, the vibration of the robot 11 or the like during operation occurs when the cassette holding unit 42 is disposed at the upright position 42A. Even in this case, it is possible to prevent the liquid crystal panel 2 from being damaged by the liquid crystal panel 2 falling from the panel entry / exit surface 4d.
　上述した形態では、クランプ機構４８、５２は、手動式のトグルクランプであるが、クランプ機構４８、５２は、アクチュエータを有する自動式のものであっても良い。なお、クランプ機構５２がアクチュエータを有する自動式のものである場合には、作業者の作業ミスによってアクチュエータを駆動させなかったり、アクチュエータが故障していたりすると、クランプ機構５２によってカセット５がカセット保持部４２にカセットが固定されていない状態で傾倒位置４２Ｂから起立位置４２Ａへカセット保持部４２が回動させられるおそれがあるが、この場合であっても、上述した形態と同様に、カセット保持部４２からカセット５が前側に倒れるのを防止することが可能になり、その結果、パネル出入面５ｄから液晶パネル２が落下して液晶パネル２が破損するのを防止することが可能になる。また、上述した形態において、パネル保持部４２は、クランプ機構５２を備えていなくても良い。 In the embodiment described above, the clamp mechanisms 48, 52 are manual toggle clamps, but the clamp mechanisms 48, 52 may be automatic with actuators. When the clamp mechanism 52 is an automatic type having an actuator, the cassette 5 is held by the clamp mechanism 52 when the actuator is not driven or the actuator is broken due to a worker's operation error. There is a possibility that the cassette holding portion 42 may be rotated from the tilting position 42B to the rising position 42A in a state where the cassette is not fixed to 42, but even in this case, the cassette holding portion 42 is the same as the embodiment described above. As a result, it is possible to prevent the cassette 5 from falling to the front side, and as a result, it is possible to prevent the liquid crystal panel 2 from being damaged by the liquid crystal panel 2 falling from the panel entrance surface 5 d. Further, in the embodiment described above, the panel holding unit 42 may not include the clamp mechanism 52.
　上述した形態において、緩衝機構４６、４７は、固定軸５６に取り付けられる回転式のダンパであっても良い。また、上述した形態では、作業者の手作業によって、起立位置４２Ａと傾倒位置４２Ｂとの間でカセット保持部４２を回動させているが、カセット配置部１３は、起立位置４２Ａと傾倒位置４２Ｂとの間でカセット保持部４２を回動させるエアシリンダ等の回動機構を備えていても良い。さらに、上述した形態において、ロボット等を用いて、傾倒位置４２Ｂに配置されるカセット保持部４２にカセット５を自動で取り付けても良い。また、上述した形態において、カセット保持部４２が傾倒位置４２Ｂに配置されているときに、カセット保持部４２に保持されるカセット５のパネル出入面５ｄは上側（真上）を向いていても良いし、斜め後ろ上側を向いていても良い。 In the embodiment described above, the buffer mechanisms 46, 47 may be rotary dampers attached to the fixed shaft 56. In the embodiment described above, the cassette holding portion 42 is rotated between the erected position 42A and the inclining position 42B by the operator's manual work. However, the cassette placement portion 13 has the erected position 42A and the inclining position 42B. And a pivot mechanism such as an air cylinder that pivots the cassette holding unit 42 between them. Furthermore, in the embodiment described above, the cassette 5 may be automatically attached to the cassette holding unit 42 disposed at the tilting position 42B using a robot or the like. Further, in the embodiment described above, when the cassette holding portion 42 is disposed at the tilting position 42B, the panel entry / exit surface 5d of the cassette 5 held by the cassette holding portion 42 may face upward (directly above) It may be diagonally backward and upward.
　上述した形態において、接触部材７６が底面板５４の下面に固定され、転倒防止機構４９が所定の固定部材を介してベース板７３に固定されていても良い。この場合には、ボール８２は、起立位置４２Ａに配置されるカセット保持部４２の接触部材７６に接触し、圧縮コイルバネ８４は、起立位置４２Ａに配置されるカセット保持部４２の接触部材７６に向かってボール８２を付勢する。また、上述した形態において、カセット配置部１３は、転倒防止機構４９を備えていなくても良い。この場合には、接触部材７６は不要になる。 In the embodiment described above, the contact member 76 may be fixed to the lower surface of the bottom plate 54, and the overturn preventing mechanism 49 may be fixed to the base plate 73 via a predetermined fixing member. In this case, the ball 82 contacts the contact member 76 of the cassette holding portion 42 disposed at the upright position 42A, and the compression coil spring 84 faces the contact member 76 of the cassette holding portion 42 disposed at the upright position 42A. To energize the ball 82. In the embodiment described above, the cassette placement unit 13 may not include the overturn prevention mechanism 49. In this case, the contact member 76 is not necessary.
　上述した形態では、ボールプランジャ６７のボール６９は、カセット背面板３８の左右の両端面の前側の角部に接触しているが、カセット５にボール６９が嵌る凹部が形成されていても良い。また、上述した形態において、転倒防止機構５３は、カセット保持部４２が起立位置４２Ａに配置されているときの背面板６１の前面の下端部または上下方向の中心部に固定されていても良い。さらに、上述した形態において、転倒防止機構５３は、ボールプランジャ６７を備えていなくても良い。この場合には、転倒防止機構５３は、ボールプランジャ６７に代えて、カセット５に接触する接触部材と、接触部材をカセット５に向かって付勢するバネ部材を備えている。 In the embodiment described above, the balls 69 of the ball plunger 67 are in contact with the front corners of the left and right end surfaces of the cassette back plate 38. However, the cassette 5 may have a recess in which the ball 69 fits. Further, in the embodiment described above, the overturn preventing mechanism 53 may be fixed to the lower end portion of the front surface of the back plate 61 or the central portion in the vertical direction when the cassette holding portion 42 is disposed at the upright position 42A. Furthermore, in the embodiment described above, the overturn preventing mechanism 53 may not include the ball plunger 67. In this case, the overturn preventing mechanism 53 includes a contact member that contacts the cassette 5 and a spring member that biases the contact member toward the cassette 5 instead of the ball plunger 67.
　上述した形態では、検査前の液晶パネル２がカセット５から検査装置３に搬送されているが、検査後の液晶パネル２が検査装置３からカセット５に搬送されても良い。また、検査前の液晶パネル２がカセット５から検査装置３に搬送されるとともに検査後の液晶パネル２が検査装置３からカセット５に搬送されても良い。この場合には、傾倒位置４２Ｂに配置されるカセット保持部４２から、検査後の液晶パネル２が収容されたカセット５が取り外されるが、傾倒位置４２Ｂにカセット保持部４２が配置されるときには、パネル出入面５ｄが斜め前上側を向いているため、カセット保持部４２からカセット５を取り外すときに、パネル出入面５ｄから液晶パネル２が落下して液晶パネル２が破損するのを防止することが可能になる。 In the embodiment described above, the liquid crystal panel 2 before inspection is transported from the cassette 5 to the inspection device 3, but the liquid crystal panel 2 after inspection may be transported from the inspection device 3 to the cassette 5. In addition, the liquid crystal panel 2 before the inspection may be transported from the cassette 5 to the inspection device 3 and the liquid crystal panel 2 after the inspection may be transported from the inspection device 3 to the cassette 5. In this case, the cassette 5 containing the liquid crystal panel 2 after inspection is removed from the cassette holding portion 42 disposed at the tilting position 42B, but when the cassette holding portion 42 is disposed at the tilting position 42B, the panel Since the entry and exit surface 5d is obliquely directed to the front upper side, when the cassette 5 is removed from the cassette holding portion 42, the liquid crystal panel 2 can be prevented from falling from the panel entry and exit surface 5d and the liquid crystal panel 2 being damaged. become.
　上述した形態において、検査装置３は、点灯検査装置以外の検査装置であっても良い。また、上述した形態では、搬送システム１は、検査装置３に対して液晶パネル２を搬送しているが、搬送システム１は、検査装置３以外の、液晶パネル２に対して所定の処理を行う処理装置に対して液晶パネル２を搬送しても良い。すなわち、カセット５に、処理装置で処理される前の液晶パネル２が収容されていても良い。さらに、上述した形態において、ロボット１１は、６軸以外の垂直多関節ロボットであっても良いし、水平多関節ロボットであっても良いし、３軸直交ロボットであっても良いし、いわゆるパラレルリンクロボットであっても良い。 In the embodiment described above, the inspection device 3 may be an inspection device other than the lighting inspection device. Further, in the embodiment described above, the transport system 1 transports the liquid crystal panel 2 to the inspection device 3, but the transport system 1 performs predetermined processing on the liquid crystal panel 2 other than the inspection device 3. The liquid crystal panel 2 may be transported to the processing apparatus. That is, the liquid crystal panel 2 before being processed by the processing apparatus may be accommodated in the cassette 5. Furthermore, in the embodiment described above, the robot 11 may be a vertical articulated robot other than six axes, a horizontal articulated robot, a three axis orthogonal robot, or so-called parallel It may be a link robot.
　上述した形態において、搬送システム１は、トレイ配置部６～９およびロボット１２を備えていなくても良い。また、上述した形態では、搬送システム１で搬送される表示パネルは、液晶パネル２であるが、搬送システム１で搬送される表示パネルは、液晶パネル２以外の表示パネルであっても良い。たとえば、搬送システム１で搬送される表示パネルは、有機ＥＬパネルであっても良い。 In the embodiment described above, the transport system 1 may not include the tray placement units 6 to 9 and the robot 12. Further, in the embodiment described above, the display panel conveyed by the conveyance system 1 is the liquid crystal panel 2, but the display panel conveyed by the conveyance system 1 may be a display panel other than the liquid crystal panel 2. For example, the display panel transported by the transport system 1 may be an organic EL panel.
　１　搬送システム
　２　液晶パネル（表示パネル）
　３　検査装置
　５　カセット
　５ａ　カセット底面
　５ｃ　カセット背面
　５ｄ　パネル出入面
　１１　ロボット（パネル搬送ロボット）
　１３　カセット配置部
　２８ａ　パネル保持部
　４２　カセット保持部
　４２Ａ　起立位置
　４２Ｂ　傾倒位置
　４３　支持フレーム
　４４　底面部材
　４５　背面部材
　４６　ショックアブソーバ（緩衝機構）
　４８　トグルクランプ（第２クランプ機構）
　４９　転倒防止機構（第２転倒防止機構）
　５２　トグルクランプ（クランプ機構）
　５３　転倒防止機構
　６７　ボールプランジャ
　６８　プランジャ保持部材
　６９　ボール（接触部材）
　７１　圧縮コイルバネ（バネ部材）
　８２　ボール（第２接触部材）
　８４　圧縮コイルバネ（第２バネ部材）
　Ｐ　カセットに収容される表示パネルの間隔 1 Transport system 2 Liquid crystal panel (display panel)
Reference Signs List 3 inspection apparatus 5 cassette 5a cassette bottom 5c cassette back 5d panel entry / exit surface 11 robot (panel transfer robot)
13 cassette placement portion 28a panel holding portion 42 cassette holding portion 42A upstanding position 42B tilting position 43 support frame 44 bottom member 45 back member 46 shock absorber (buffer mechanism)
48 Toggle clamp (2nd clamp mechanism)
49 Fall prevention mechanism (2nd fall prevention mechanism)
52 Toggle clamp (clamp mechanism)
53 Overturn prevention mechanism 67 Ball plunger 68 Plunger holding member 69 Ball (contact member)
71 Compression coil spring (spring member)
82 Ball (second contact member)
84 Compression coil spring (second spring member)
Distance between display panels housed in P cassette

Claims (11)

  1. 　複数枚の表示パネルが収容されるカセットが配置されるカセット配置部であって、
    　前記カセットを保持するカセット保持部と、前記カセット保持部の下端部を回動可能に支持する支持フレームとを備え、
    　前記カセットに収容される複数枚の前記表示パネルが上下方向に間隔をあけた状態で重なるように配置されるときの前記カセットの底面をカセット底面とし、このときの前記カセットの背面をカセット背面とすると、前記カセットの、前記カセット背面の反対側の面は、前記表示パネルの出し入れが行われるパネル出入面となっており、
    　前記カセット保持部は、前記カセット底面が接触する底面部材と、前記カセット背面が接触する背面部材とを備えるとともに、前記パネル出入面が前側を向くとともに前記カセット底面が下側を向く起立位置と、前記パネル出入面が斜め上側または上側を向く傾倒位置との間で前記支持フレームに対して回動可能となっており、
    　前記カセット保持部は、さらに、前記起立位置に前記カセット保持部が配置されるときの、前記カセットの前側への転倒を防止する転倒防止機構を備え、
    　前記転倒防止機構は、前記カセット底面が前記底面部材に接触し、かつ、前記カセット背面が前記背面部材に接触している状態の前記カセットに接触する接触部材と、前記接触部材を前記カセットに向かって付勢するバネ部材とを備えることを特徴とするカセット配置部。     A cassette placement unit in which a cassette for receiving a plurality of display panels is disposed,
    A cassette holding unit for holding the cassette; and a support frame rotatably supporting a lower end of the cassette holding unit,
    The bottom surface of the cassette when the plurality of display panels housed in the cassette are arranged to overlap in a state of being spaced apart in the vertical direction is a cassette bottom surface, and the back surface of the cassette at this time is a cassette back surface Then, the surface of the cassette opposite to the rear surface of the cassette is a panel entry / exit surface on which the display panel is inserted and removed.
    The cassette holding portion includes a bottom surface member in contact with the bottom surface of the cassette and a back surface member in contact with the back surface of the cassette, and an erected position in which the panel entrance surface faces front and the cassette bottom surface faces downward; It is rotatable relative to the support frame between an inclined position where the panel entry / exit surface faces obliquely upward or upward,
    The cassette holding unit further includes a fall prevention mechanism that prevents the cassette from being turned to the front side when the cassette holding unit is disposed at the standing position;
    The overturn prevention mechanism includes a contact member contacting the cassette in a state where the cassette bottom surface contacts the bottom surface member and the cassette back surface contacts the back surface member, and the contact member facing the cassette And a spring member for biasing.
  2. 　前記カセットは、前記傾倒位置に配置される前記カセット保持部に取り付けられることを特徴とする請求項１記載のカセット配置部。 The cassette placement unit according to claim 1, wherein the cassette is attached to the cassette holding unit disposed at the inclining position.
  3. 　前記転倒防止機構は、前記起立位置に配置されるときの前記カセット保持部の上端側に配置されていることを特徴とする請求項１または２記載のカセット配置部。 The cassette arrangement portion according to claim 1 or 2, wherein the overturn preventing mechanism is disposed on the upper end side of the cassette holding portion when disposed at the upright position.
  4. 　前記転倒防止機構は、前記カセット保持部の左右の両端側に配置されていることを特徴とする請求項１から３のいずれかに記載のカセット配置部。 The cassette arrangement portion according to any one of claims 1 to 3, wherein the overturn preventing mechanism is disposed on both left and right sides of the cassette holding portion.
  5. 　前記転倒防止機構は、前記接触部材としてのボールと前記バネ部材としての圧縮コイルバネとを有するボールプランジャと、前記ボールプランジャを保持するプランジャ保持部材とを備えていることを特徴とする請求項１から４のいずれかに記載のカセット配置部。 The overturn prevention mechanism includes a ball plunger having a ball as the contact member and a compression coil spring as the spring member, and a plunger holding member for holding the ball plunger. The cassette arrangement | positioning part in any one of 4.
  6. 　前記カセット保持部は、前記カセット底面が前記底面部材に接触し、かつ、前記カセット背面が前記背面部材に接触している状態の前記カセットを前記カセット保持部に固定するクランプ機構を備えることを特徴とする請求項１から５のいずれかに記載のカセット配置部。 The cassette holding unit includes a clamp mechanism that fixes the cassette in a state in which the cassette bottom surface contacts the bottom surface member and the cassette back surface is in contact with the back surface member. The cassette arrangement portion according to any one of claims 1 to 5, wherein
  7. 　前記傾倒位置から前記起立位置に立ち上がる立上時の前記カセット保持部の衝撃を緩和するための緩衝機構を備えることを特徴とする請求項１から６のいずれかに記載のカセット配置部。 The cassette arrangement portion according to any one of claims 1 to 6, further comprising a buffer mechanism for relieving an impact of the cassette holding portion at the time of rising from the inclining position to the rising position.
  8. 　前記起立位置に配置される前記カセット保持部を前記支持フレームに固定するための第２クランプ機構と、前記起立位置に配置される前記カセット保持部の前記傾倒位置側への倒れを防止する第２転倒防止機構とを備え、
    　前記第２転倒防止機構は、前記起立位置に配置される前記カセット保持部および前記支持フレームのいずれか一方に接触する第２接触部材と、前記起立位置に配置される前記カセット保持部および前記支持フレームのいずれか一方に向かって前記第２接触部材を付勢する第２バネ部材とを備えることを特徴とする請求項７記載のカセット配置部。     A second clamp mechanism for fixing the cassette holding portion disposed at the upright position to the support frame, and a second clamping mechanism for preventing the cassette holding portion disposed at the upright position from falling to the inclined position side Equipped with a fall prevention mechanism,
    The second overturn preventing mechanism includes a second contact member contacting one of the cassette holder and the support frame disposed at the upright position, the cassette retainer and the support disposed at the upright position. 8. The cassette arrangement according to claim 7, further comprising a second spring member for biasing the second contact member toward any one of the frames.
  9. 　前記カセット保持部が前記起立位置に配置されているときに、前記カセットに収容される前記表示パネルは、前側に向かうにしたがって上側に向かうようにわずかに傾斜していることを特徴とする請求項１から８のいずれかに記載のカセット配置部。 When the cassette holding portion is disposed in the upright position, the display panel housed in the cassette is slightly inclined so as to be upward toward the front side. The cassette placement unit according to any one of 1 to 8.
  10. 　請求項１から９のいずれかに記載のカセット配置部を備え、前記表示パネルを検査する検査装置への前記表示パネルの搬入および前記検査装置からの前記表示パネルの搬出を行う搬送システムであって、
    　前記カセット配置部から前記検査装置への前記表示パネルの搬送および前記検査装置から前記カセット配置部への前記表示パネルの搬送の少なくともいずれか一方を行うパネル搬送ロボットを備えることを特徴とする搬送システム。     A transport system comprising the cassette placement unit according to any one of claims 1 to 9, carrying in the display panel to an inspection apparatus for inspecting the display panel, and carrying out the display panel from the inspection apparatus. ,
    A transport system comprising: a panel transport robot that performs at least one of transport of the display panel from the cassette placement unit to the inspection apparatus and delivery of the display panel from the inspection apparatus to the cassette placement unit. .
  11. 　前記パネル搬送ロボットは、前記表示パネルを保持するパネル保持部を備え、
    　前記パネル保持部は、前記カセットに収容される前記表示パネルの間隔よりも厚さが薄い平板状に形成されていることを特徴とする請求項１０記載の搬送システム。     The panel transfer robot includes a panel holding unit that holds the display panel.
    11. The transfer system according to claim 10, wherein the panel holding portion is formed in a flat plate shape whose thickness is thinner than a distance between the display panels accommodated in the cassette.
PCT/JP2018/033541 2017-09-29 2018-09-11 Cassette placement unit, and conveyance system WO2019065203A1 (en)

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