JP3220188U - End detection device and end surface coating device - Google Patents

Abstract

An end detection device capable of detecting the end of the glass substrate with high accuracy while improving the work efficiency of the end detection operation, and an end surface coating apparatus including the end detection device are provided. An end surface coating apparatus includes an image pickup device above a work holder holding a glass substrate, and a light shielding body and a work illumination device below. The imaging device 104 outputs captured image information obtained by imaging the glass substrate 90 to the control device 120. The light shielding body 107 shields the light emitted to the end 91 of the glass substrate 90 out of the light emitted from the work illumination device 108. The work illumination device 108 emits red light toward the glass substrate 90. The control device 120 extracts the image information representing the end 91 of the glass substrate 90 from the captured image information, and detects the position and orientation of the glass substrate 90. [Selection] Figure 1

Description

This invention relates to an edge detection device that uses image processing to detect the edges of a plate-shaped glass substrate, and an edge coating device that is equipped with this edge detection device and applies a fluid to the edge of the glass substrate.

In the manufacturing process of thin glass substrates that make up liquid crystal displays such as those used in mobile phones, smartphones, tablet devices, LCD televisions, and organic EL display devices, the position and orientation of the glass substrate being processed has traditionally been detected using image processing. For example, Patent Document 1 below discloses an inspection device for liquid crystal substrates that marks the surface of a glass substrate that makes up an LCD display with a cross mark parallel to one side of the glass substrate, captures an image of this cross mark, and performs image processing to detect the position and orientation of the glass substrate.

Japanese Patent Application Publication No. 07-199139

However, the liquid crystal substrate inspection device described in Patent Document 1 has the problem of low edge detection accuracy because it indirectly detects the edge of the glass substrate via a cross mark. Furthermore, with the liquid crystal substrate inspection device, it is difficult to place a cross mark parallel to one side of the glass substrate, and the cross mark must be removed from the surface of the glass substrate after inspection, which reduces work efficiency.

This invention was made to address the above-mentioned problems, and its purpose is to provide an edge detection device that can detect edges of glass substrates with high accuracy while improving the efficiency of the edge detection process, and an edge coating device equipped with this edge detection device.

Here, an edge coating device is a mechanical device that applies an uncured (fluid) resin material to the edge of a glass substrate, which hardens when exposed to ultraviolet light, in order to form a protective layer on the edge of the glass substrate to prevent cracking or chipping.

To achieve the above objective, the present invention is characterized by an edge detection device that detects the edge of a plate-shaped glass substrate, and includes a work holder that detachably holds the glass substrate; an imaging device that images at least the edge of the glass substrate held by the work holder and outputs the imaged image information; a work illumination device that irradiates light onto the plate surface of the glass substrate held by the work holder from the side facing the imaging device; a light shield that is positioned between the glass substrate held by the work holder and the work illumination device to block light from reaching the edge of the glass substrate; and image processing means that detects the edge of the glass substrate using the imaged image information.

With this configuration, the edge detection device uses a light-shielding element to shield the edge of the glass substrate from the workpiece illumination device. Light emitted from the workpiece illumination device enters the glass substrate from a portion of the glass substrate that is inside the light-shielding element and exits from the edge surface, which is the side surface of the edge that is the light-shielding element. In other words, the edge detection device uses an imaging device to capture an image of the glass substrate edge, which is shielded by the light-shielding element, while emitting light from the edge. This improves the contrast between the edge of the glass substrate and its surroundings, allowing the image processing means to easily and accurately detect the edge of the glass substrate. As a result, the edge detection device of this invention can accurately detect the edge of the glass substrate while improving the efficiency of the edge detection process.

Another feature of the present invention is that in the edge detection device, the light blocking body is formed in a sheet shape.

Another feature of the present invention, configured in this way, is that the light blocking body of the edge detection device is formed in a sheet shape, making it easy to attach and detach from the edge detection device or the glass substrate itself, and the shape can be easily changed to suit the type of glass substrate, simplifying the device configuration and improving workability.

Another feature of the present invention is that the edge detection device further includes a light shielding body support member that is positioned between the glass substrate held by the workpiece holder and the workpiece illumination device and that detachably supports the light shielding body.

Another feature of the present invention, configured in this manner, is that the edge detection device is equipped with a light shielding body support that detachably supports the light shielding body between the glass substrate held by the workpiece holder and the workpiece illumination device. This makes it easy to attach and detach the light shielding body to and from the edge detection device, and also makes it easy to change its shape to suit the type of glass substrate, simplifying the device configuration and improving work efficiency.

Another feature of the present invention is that in the edge detection device, the area of the illumination area illuminated by light from the workpiece illumination device is larger than the area of the light-blocking area on the glass substrate where light is blocked by the light-blocking element.

Another feature of the present invention, configured in this way, is that the area of the illumination area illuminated by the workpiece illumination device is larger than the area of the light-blocking area on the glass substrate where light is blocked by the light blocking body. This allows a sufficient amount of light to be emitted from the edge of the glass substrate, improving the accuracy of edge detection by the image processing means.

Another feature of the present invention is that in the edge detection device, the light shielding body does not come into contact with the glass substrate held by the work holder.

Another feature of the present invention, configured in this way, is that the light shield of the edge detection device does not come into contact with the glass substrate held by the work holder, preventing damage to the glass substrate due to adhesion of dust and other foreign matter and friction.

Furthermore, this invention can be implemented not only as an edge detection device, but also as an edge coating device equipped with this edge detection device.

Specifically, an edge coating device that coats an edge of a plate-shaped glass substrate includes a work holder that detachably holds the glass substrate, a fluid dispenser that dispenses a fluid onto the edge of the glass substrate held by the work holder, dispenser displacement means that displaces the fluid dispenser relative to the work holder, an imaging device that captures an image of at least the edge of the glass substrate held by the work holder and outputs the image information, a work illumination device that irradiates light onto the plate surface of the glass substrate held by the work holder from the side facing the imaging device, a light shield that is positioned between the glass substrate held by the work holder and the work illumination device to block light from reaching the edge of the glass substrate, and image processing means that detects the edge of the glass substrate using the edge image information. This allows the edge coating device to accurately coat the edge of the glass substrate with a fluid by achieving the same effects as the edge detection device.

1 is a partially cross-sectional side view showing a schematic internal configuration of a main part of an edge coating device according to an embodiment of the present invention; FIG. 2 is a plan view schematically showing the configuration of the main part of the edge surface coating device shown in FIG. 1 . 2 is a plan view showing a schematic external configuration of a glass substrate, which is a processing object to be coated with a fluid by the edge surface coating device shown in FIG. 1 ; 2 is a plan view showing the external configuration of a light shielding body in the edge coating apparatus shown in FIG. 1 together with its positional relationship with a glass substrate. FIG. 5A and 5B are explanatory plan views for explaining a light-shielded region blocked by a light-shielding body shown in FIG. 4 and an irradiation region where light is directly irradiated onto the glass substrate. 2 is an enlarged cross-sectional view of a main part showing an irradiation state of light emitted from a workpiece illumination device in the edge surface coating device shown in FIG. 1. FIG. 10A and 10B are explanatory diagrams illustrating an image state obtained by binarizing captured image information.

One embodiment of an edge coating device equipped with an edge detection device according to the present invention will now be described with reference to the drawings. FIG. 1 is a partial cross-sectional side view showing the configuration of the main components of an edge coating device 100 according to the present invention. FIG. 2 is a plan view showing the configuration of the main components of the edge coating device 100 shown in FIG. 1. Note that the drawings referred to in this specification are schematic, with some components exaggerated to facilitate understanding of the present invention. For this reason, the dimensions and proportions of the components may differ. This edge coating device 100 is a machine for applying a resin fluid 94, which is the raw material for forming a protective layer 93, to the edge 91a of a glass substrate 90 that constitutes a liquid crystal display, including a touch panel, in a mobile terminal device such as a smartphone.

(Description of Glass Substrate 90)
Before describing the edge coating apparatus 100 according to the present invention, we will first describe the glass substrate 90 that is the object of processing by this edge coating apparatus 100. As shown in FIG. 3, the glass substrate 90 is a component that constitutes a liquid crystal display in a mobile terminal device (not shown) such as a smartphone, and is formed by forming a glass material into a plate shape. In this case, the size of the glass substrate 90 in a planar view is formed to be slightly smaller than the size of the mobile terminal device, and the thickness of the glass substrate 90 is approximately 0.1 mm to 1.0 mm. In this embodiment, the glass substrate 90 is formed to be approximately rectangular in a planar view, with long sides of 130 mm, short sides of 70 mm, and a thickness of 0.5 mm.

The glass substrate 90 also has a recess 92 formed in part of the end 91 that constitutes the outer edge. The recess 92 is a relief portion that avoids physical contact with other components when the glass substrate 90 is assembled into a mobile terminal device, and is recessed from the lower short side of the four sides that constitute the end 91 of the glass substrate 90. In this embodiment, the recess 92 is formed linearly 2 mm inward from the end 91, and both ends are connected to the end 91 via concave arcs.

The protective layer 93 is a solid or semi-solid resin layer formed on the end face 91a, which is the wall surface of the end 91, to prevent cracking or chipping of the glass substrate 90. This protective layer 93 is formed to a thickness ranging from 50 μm to 1 mm. The fluid 94 is an uncured resin material with fluidity that serves as the raw material for the solid or semi-solid protective layer 93. Various resin materials such as acrylic, epoxy, enethiol, and polyene-polythiol can be used as the fluid 94. Note that in Figure 3, the protective layer 93 is shown hatched with a cloud of points, and its thickness is exaggerated.

(Configuration of Edge Coating Apparatus 100)
The edge coating apparatus 100 includes a workpiece holder 101. The workpiece holder 101 is a device that detachably holds one glass substrate 90, which is the object to be processed, and is fixedly provided on a support table (not shown) in the edge coating apparatus 100. The workpiece holder 101 includes a flat holding surface 102 that holds the plate surface of the glass substrate 90.

The holding surface 102 is a portion for adsorbing the glass substrate 90 by negative pressure, and is formed in a shape (in this embodiment, rectangular) smaller than the size of the glass substrate 90 in a plan view. That is, the holding surface 102 is configured so that the edge 91 of the glass substrate 90 extends beyond the outer periphery (four sides) of the holding surface 102. The holding surface 102 is formed with suction holes 102a consisting of a group of multiple small holes for sucking in air and generating negative pressure. Each of these suction holes 102a is connected to a suction pump 103 that sucks in air and is operated and controlled by a control device 120 (described below).

An imaging device 104 is provided above the work holder 101. The imaging device 104 is an optical mechanical device for capturing an image of the glass substrate 90 in order to detect the position and orientation (forming direction) of the edge 91 of the glass substrate 90 held on the work holder 101, and is fixedly mounted on a support base (not shown) of the edge coating device 100 in a position opposite the holding surface 102 of the work holder 101. The operation of this imaging device 104 is controlled by the control device 120 to capture an image of the glass substrate 90 held on the work holder 101, and outputs captured image information, which is color image information, to the control device 120.

In this embodiment, the imaging device 104 is configured as a CCD (Charge Coupled Device) image sensor, but as long as it can output captured image information capturing at least the edge of the glass substrate 90, it may also be an imaging element other than a CCD image sensor, such as a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The imaging device 104 may also output monochrome captured image information.

A light shielding body support 105 is provided around the workpiece holder 101 below the holding surface 102 of the workpiece holder 101. The light shielding body support 105 is a component that supports the light shielding body 107 between the workpiece illumination device 108 and the glass substrate 90, and is composed of a transparent plate (a glass or resin plate) on which the light shielding body 107 can be placed. In this embodiment, the light shielding body support 105 is composed of a glass plate that is rectangular in plan view. In this case, a through hole 105a is formed in the center of the light shielding body support 105, through which the workpiece holder 101 passes.

This light shielding body support 105 is supported by a support holder 106 in a horizontal position at a height where the light shielding body 107 does not come into contact with the underside of the glass substrate 90 held by the workpiece holder 101. The support holder 106 is a component that supports the light shielding body support 105 between the workpiece illumination device 108 and the glass substrate 90, and is composed of a metal block and metal fittings that clamp both ends of the light shielding body support 105 in the X-axis direction shown in the figure. This support holder 106 is supported on a movable base 110, which will be described later.

As shown in FIG. 4, the light shielding body 107 is a component that prevents light emitted from the workpiece lighting device 108 from irradiating the edge 91 of the glass substrate 90 held by the workpiece holder 101, and is formed in the shape of a square frame in plan view. More specifically, the light shielding body 107 is formed with an inner hole 107a, which is a square through-hole formed in the center, sized to fit inside each edge 91 of the glass substrate 90.

In this case, the inner hole 107a is formed to a size such that its ends are located at least 1 mm inward from each edge 91 of the glass substrate 90. Furthermore, as shown in FIG. 5, the inner hole 107a is formed so that the area of the glass substrate 90 onto which light is irradiated through the inner hole 107a (i.e., the area of the irradiation area IE) is larger than the area covering from the end of the inner hole 107a to each edge 91 of the glass substrate 90 (i.e., the area of the light-shielding area SE). Note that in FIGS. 4 and 5, the position of the glass substrate 90 relative to the light-shielding body 107 is indicated by a two-dot chain line. Furthermore, in FIGS. 4 and 6, the thickness of the light-shielding body 107 is exaggerated and the interior is colored black. Furthermore, in FIG. 5, the light-shielding area SE is indicated by dark hatching, and the irradiation area is indicated by light hatching.

The outer shape of the light shielding body 107 is sized to cover the workpiece lighting device 108 outside the edge 91 of the glass substrate 90 held by the workpiece holder 101. In this embodiment, the light shielding body 107 is formed in a sheet shape from black cardboard. The light shielding body 107 can also be formed in a flexible sheet shape, an inflexible plate shape, or a block shape thicker than a plate shape from various paper materials such as corrugated cardboard other than cardboard, as well as from materials other than paper, such as resin, ceramic, metal, or cloth.

The workpiece lighting device 108 is a lighting fixture that irradiates light from the opposite side of the imaging device 104 onto the plate surface of the portion of the glass substrate 90 held by the workpiece holder 101 that protrudes from the holding surface 102. Specifically, the workpiece lighting device 108 is equipped with a light source 108a consisting of multiple LED elements so that it can irradiate light onto the plate surface of the glass substrate 90 held by the workpiece holder 101 from the portion that protrudes from the holding surface 102 to the outside of the edge 91, and is arranged in a rectangular frame shape in a plan view so as to surround the periphery of the workpiece holder 101. In this embodiment, the light source 108a is composed of LED elements that emit red light, but it may also emit light other than red, such as blue light, white light, orange light, or yellow light. It goes without saying that the light source 108a may also be a light source other than an LED, such as a fluorescent lamp or an incandescent lamp.

The workpiece lighting device 108 also includes a diffuser plate 108b for diffusing light forward from the multiple light sources 108a to emit light from a surface. The operation of this workpiece lighting device 108 is controlled by a control device 120. The workpiece lighting device 108 is supported on a movable base 110.

The movable base 110 is a component that supports the workpiece retainer 101, support holder 106, and workpiece lighting device 108, and is constructed from a metal plate. This movable base 110 is supported by the X-axis drive mechanism 111.

The X-axis drive mechanism 111 is a mechanical device for reciprocatingly displacing the movable base 110 in the X-axis direction (left and right in the figure), which is the direction between the position directly below the imaging device 104 and the position directly below the edge coating mechanism 130 (described below), and is composed of a feed screw mechanism (not shown) equipped with an electric motor (e.g., a servo motor) whose operation is controlled by the control device 120. This X-axis drive mechanism 111 is supported by a support frame (not shown) of the edge coating device 100.

The control device 120 is composed of a microcomputer and controls the operation of the suction pump 103, imaging device 104, workpiece lighting device 108, and edge coating mechanism 130. This control device 120 is equipped with an input device 121 consisting of an operator for inputting instructions from the operator, and a display device 122 consisting of a liquid crystal display for displaying the operating status of the control device 120.

The control device 120 also executes an edge detection program (not shown) to detect the position of the edge 91 of the glass substrate 90 using the captured image information output from the imaging device 104. In other words, the control device 120 corresponds to the image processing means of the present invention. The control device 120 also executes a fluid application program (not shown) to apply fluid 94 to the edge surface 91a of the glass substrate 90.

The edge coating mechanism 130 is a mechanical device for applying fluid 94, which is the raw material for the protective layer 93, to the edge 91a of the glass substrate 90 held on the work holder 101, and is mainly equipped with a fluid dispenser 131, a dispenser holder 132, a syringe pump 133, a Z-axis drive mechanism 134, a θ-axis drive mechanism 135, and a Y-axis drive mechanism 136.

The fluid dispenser 131 is a tool for dispensing fluid 94 onto the end surface 91a of the glass substrate 90 held by the work holder 101, and is constructed by forming a metal material into a cylindrical body with a bottom. More specifically, the fluid dispenser 131 is constructed such that a flow path 131a is formed within the cylindrical body to guide the fluid 94 toward the tip end, and a discharge port 131b is formed that is connected to the flow path 131a and opens onto the outer surface of the cylindrical body to dispense the fluid 94. In this case, the discharge port 131b is formed with an inner diameter that is equal to or less than the thickness of the end surface 91a of the glass substrate 90.

The dispenser holder 132 is a component that holds the fluid dispenser 131 and the syringe pump 133 and connects the fluid dispenser 131 and the syringe pump 133 to each other, and is made of a metal material formed into a block shape. The dispenser holder 132 is supported by the Z-axis drive mechanism 134.

The syringe pump 133 is a device that stores the fluid 94 to be discharged by the fluid discharger 131, and discharges the stored fluid 94 toward the fluid discharger 131 via the discharger holder 132 under the control of the control device 120. The syringe pump 133 is held in the discharger holder 132 in a detachable manner.

The Z-axis drive mechanism 134 is a device that reciprocates the fluid dispenser 131 in the vertical Z-axis direction by reciprocating the dispenser holder 132 in the same direction, and is composed of a pneumatic cylinder whose operation is controlled by the control device 120. This Z-axis drive mechanism 134 is supported by the θ-axis drive mechanism 135.

The θ-axis drive mechanism 135 is a device that rotates the Z-axis drive mechanism 134 back and forth around the Z-axis direction, thereby rotating the fluid dispenser 131 back and forth in the same direction, and is composed of an electric motor (e.g., a pulse motor) whose operation is controlled by the control device 120. This θ-axis drive mechanism 135 is supported by the Y-axis drive mechanism 136.

The Y-axis drive mechanism 136 is a device that reciprocates the θ-axis drive mechanism 135 in the Y-axis direction (the depth direction of the paper in the figure), which is perpendicular to the Z-axis direction, thereby reciprocating the fluid dispenser 131 in the same direction. It is composed of a feed screw mechanism (not shown) equipped with an electric motor (e.g., a servo motor) whose operation is controlled by the control device 120. This Y-axis drive mechanism 136 is supported by a support frame (not shown) of the edge surface coating device 100.

The edge coating device 100 also includes a power supply unit for supplying power from a power source to various electrical devices such as the suction pump 103, imaging device 104, workpiece lighting device 108, X-axis drive mechanism 111, control device 120, and edge coating mechanism 130 (syringe pump 133, Z-axis drive mechanism 134, θ-axis drive mechanism 135, Y-axis drive mechanism 136), exterior covers for enclosing each of these components, and a UV light source for irradiating ultraviolet light onto the fluid 94 applied to the edge 91a of the glass substrate 90 to harden it. However, as these are not directly related to the present invention, their description will be omitted.

(Operation of Edge Coating Device 100)
Next, a description will be given of the operation of the edge coating apparatus 100 configured as described above. First, an operator who uses the edge coating apparatus 100 to coat the edge 91 a of the glass substrate 90 with the fluid 94 to form the protective layer 93 on the edge 91 a starts the control device 120 by turning on a power switch (not shown) of the edge coating apparatus 100. This causes the control device 120 to start operation by executing a control program pre-stored in a storage device such as a ROM, and then enters a standby state where it waits for instructions from the operator.

Next, the worker places the light shield 107 on the light shield support 105. Specifically, the worker places the light shield 107, which is made by cutting out a piece of paper into a shape that corresponds to the size of the glass substrate 90, on the light shield support 105.

Next, the worker sets the glass substrate 90 on the work holder 101. Specifically, the worker places the glass substrate 90 on the holding surface 102 of the work holder 101, and then operates the input device 121 to generate negative pressure on the holding surface 102, thereby holding the glass substrate 90. As a result, the glass substrate 90 is fixedly held in a horizontal position on the holding surface 102 of the work holder 101 (see Figure 1). Note that the glass substrate 90 is cut into a predetermined shape using a cutting tool such as a cutter in a process prior to being set in the edge coating device 100, and the edge 91a is then polished using a grinding tool such as a brush.

Next, the worker detects the position and orientation (forming direction) of the edge 91 of the glass substrate 90 held on the work holder 101. Specifically, the worker operates the input device 121 to instruct the control device 120 to execute an edge detection program. Here, the edge detection program is a computer program that controls the operation of the imaging device 104 to capture an image of the edge portion, including the edge 91, of the glass substrate 90 held on the work holder 101 to obtain captured image information, and causes the control device 120 to execute a process to detect the position and orientation of the edge 91 of the glass substrate 90 using this obtained captured image information. This program is stored in the control device 120 in advance by the worker.

After starting execution of the edge detection program, the control device 120 first controls the operation of the workpiece lighting device 108 to turn on the light source 108a. As a result, the workpiece lighting device 108 emits red light L from its surface toward the glass substrate 90 held on the workpiece holder 101, illuminating the glass substrate 90 from below, as shown in FIG. 6. In this case, because a light shield 107 is provided between the workpiece lighting device 108 and the glass substrate 90, light L is only irradiated onto the portion of the glass substrate 90 surface where the light shield 107 is not present, i.e., the portion facing the inner hole 107a. A portion of the light L incident on the glass substrate 90 travels toward the end face 91a and is then emitted to the outside from the end face 91a.

If the edge 91 of the glass substrate 90 is not shielded by the light shielding body 107 when the workpiece lighting device 108 is turned on, the worker adjusts the position of the light shielding body 107 on the light shielding body support 105 so that the edge 91 of the glass substrate 90 is shielded by the light shielding body 107. In addition, in Figure 6, the light L emitted from the workpiece lighting device 108 is indicated by a dashed arrow.

Next, the control device 120 controls the operation of the imaging device 104 with the workpiece lighting device 108 turned on to capture an image of the glass substrate 90 held on the workpiece holder 101, thereby acquiring captured image information. In this case, the captured image information is generated in such a way that the brightness of the portions corresponding to the inner hole 107a of the light blocking body 107 and the end portion 91 of the glass substrate 90 is high, and the brightness of other portions is low.

Next, the control device 120 performs image processing using the acquired captured image information to detect image information representing the edge 91 of the glass substrate 90. Specifically, as shown in FIG. 7, the control device 120 binarizes the captured image information acquired from the imaging device 104 for each pixel according to the luminance (also called brightness) corresponding to the amount of light received, specifically converting it into a monochrome image in which parts of the captured image information for each pixel where the luminance is equal to or greater than a predetermined value are colored white and parts below this predetermined value are colored black. In this case, the control device 120 can perform binarization with high accuracy because the luminance of the information representing the edge 91 of the glass substrate 90 in the captured image information is significantly higher than the luminance around the edge 91.

The control device 120 then extracts only the portion EP representing the edge 91 of the glass substrate 90 from the binarized captured image information. In this case, the control device 120 can extract only the portion EP representing the edge 91 of the glass substrate 90 by extracting captured image information of a predetermined region (the portion where the edge 91 of the glass substrate 90 is located) from the binarized captured image information, or by extracting the outermost white annular portion from the binarized captured image information. This allows the control device 120 to determine the position and formation direction of the edge 91 of the glass substrate 90 held on the work holder 101 (in other words, the position and formation direction of the edge surface 91a), i.e., the position and orientation of the glass substrate 90. Note that in Figure 7, the black portion of the portion EP representing the edge 91 of the glass substrate 90 is indicated by hatching using a dark dot cloud.

The control device 120 then controls the operation of the workpiece lighting device 108 to turn off the light source 108a, thereby terminating execution of the edge detection program. In other words, the workpiece holder 101, imaging device 104, light blocking body 107, workpiece lighting device 108, and control device 120 constitute the edge detection device of the present invention.

Next, the worker applies fluid 94 to the edge surface 91a of the glass substrate 90 held on the work holder 101. Specifically, the worker instructs the control device 120 to start applying the fluid 94 via the input device 121. In response to this instruction, the control device 120 executes a fluid application program (not shown) to start applying the fluid 94 to the edge surface 91a of the glass substrate 90.

Specifically, the control device 120 controls the operation of the X-axis drive mechanism 111 to move the movable base 110 to a position below the edge coating mechanism 130. Next, the control device 120 controls the operation of the X-axis drive mechanism 111, Z-axis drive mechanism 134, θ-axis drive mechanism 135, and Y-axis drive mechanism 136 to position the fluid dispenser 131 at the application start position for the fluid 94 on the edge surface 91a of the glass substrate 90.

The control device 120 then controls the operation of the syringe pump 133 to push out the fluid 94, thereby discharging the fluid 94 from the outlet 131b of the fluid dispenser 131, while controlling the operation of the X-axis drive mechanism 111 and the Y-axis drive mechanism 136 to displace the fluid dispenser 131 along the edge surface 91a of the glass substrate 90. In this case, when the fluid dispenser 131 approaches a corner on the edge surface 91a or a curved portion of the recess 92, the control device 120 controls the operation of the θ-axis drive mechanism 135 to change the orientation of the fluid dispenser 131 so that the outlet 131b always faces forward relative to the curved edge surface 91a.

In this process of positioning the fluid dispenser 131 and applying the fluid 94, the control device 120 positions the fluid dispenser 131 relative to the edge surface 91a of the glass substrate 90 using the position and orientation of the edge 91 of the glass substrate 90 obtained by executing the edge detection program. This allows the control device 120 to accurately position the fluid dispenser 131 relative to the edge surface 91a of the glass substrate 90 and apply the fluid 94.

Next, when the control device 120 has applied the fluid 94 to the edge surface 91a of the glass substrate 90, it retracts the fluid dispenser 131 from around the glass substrate 90 and then irradiates the fluid 94 applied to the edge surface 91a with ultraviolet light. This allows the control device 120 to solidify the fluid 94 applied to the edge surface 91a of the glass substrate 90 and form a protective layer 93. Next, the control device 120 releases the workpiece holder 101 from holding the glass substrate 90. This allows the operator to remove the glass substrate 90 with the protective layer 93 formed on the edge surface 91a of the glass substrate 90 from the edge surface coating device 100.

The control device 120 then controls the operation of the X-axis drive mechanism 111 to position the movable base 110 below the imaging device 104 and waits for a new glass substrate 90 to be set. Therefore, the worker can apply the fluid 94 to the new glass substrate 90 by setting the new glass substrate 90 on the work holder 101 and again executing the edge detection program and the fluid application program.

As can be seen from the above operational description, according to the above embodiment, the edge coating device 100 uses the light shielding body 107 to shield the edge 91 of the glass substrate 90 from the workpiece lighting device 108. Light emitted from the workpiece lighting device 108 enters the glass substrate 90 from a portion of the glass substrate 90 that is inside the light-shielded portion and exits from the edge 91a, which is the side surface of the edge 91 that is the light-shielded portion. In other words, the edge coating device 100 uses the imaging device 104 to capture an image while light is emitting from the edge 91a of the glass substrate 90, which is shielded by the light shielding body 107. This improves the contrast between the edge 91 of the glass substrate 90 and its surroundings, allowing the control device 120 to easily and accurately detect the edge 91 of the glass substrate 90. As a result, the edge coating device 100 equipped with the edge detection device according to the present invention can detect the edge 91 of the glass substrate 90 with high accuracy while improving the efficiency of the detection process.

Furthermore, the implementation of this invention is not limited to the above-described embodiment, and various modifications are possible as long as they do not deviate from the purpose of this invention.

For example, in the above embodiment, the light shield 107 is formed in a sheet shape and placed on the light shield support 105. However, the light shield 107 can also be formed in a non-flexible plate or block shape and configured to be supported directly on the support holder 106. This allows the edge detection device and edge surface coating device 100 to be configured more simply.

In addition, in the above embodiment, the light shielding body 107 is formed so that its outer shape is large enough to cover the workpiece lighting device 108 outside the edge 91 of the glass substrate 90 held by the work holder 101. In other words, it is configured so that light L emitted by the workpiece lighting device 108 is not irradiated outside the edge 91 of the glass substrate 90 held by the work holder 101. However, it is sufficient that the light shielding body 107 is formed in a shape that can block the irradiation of light L to at least the edge 91 of the glass substrate 90 held by the work holder 101. In this case, it is preferable that the light shielding body 107 is formed in a shape that blocks light within a range of 1 mm or more and at least 5 mm inside and outside the edge 91 of the glass substrate 90 held by the work holder 101.

Furthermore, in the above embodiment, the light shielding body 107 is configured in black. However, the light shielding body 107 may be configured in any color that can be imaged by the imaging device 104 and that enables information about the end portion 91 to be extracted from the image information. Therefore, the light shielding body 107 can be configured in a color other than black, but dark colors such as black or brown are preferable to light colors such as white, flesh color, or yellow.

Furthermore, in the above embodiment, the light shielding body 107 is positioned so as not to come into contact with the glass substrate 90 held by the work holder 101. However, the light shielding body 107 can also be positioned so as to come into contact with the glass substrate 90 held by the work holder 101. In this way, the edge detection device and edge coating device 100 can prevent light from being irradiated onto the surface of the glass substrate 90 in areas outside the inner hole 107a of the light shielding body 107, thereby improving the detection accuracy of the edge 91.

Furthermore, in the above embodiment, the edge detection device is applied to the edge coating device 100. However, the edge detection device can be widely applied in the manufacturing process (including the inspection process) of the glass substrate 90. Therefore, for example, the edge detection device can be used in a process (apparatus) for applying a fluid other than a coating material (e.g., an adhesive) to the edge 91a of the glass substrate 90, a process (apparatus) for grinding the edge 91a of the glass substrate 90, or a process (apparatus) for inspecting the forming accuracy of the glass substrate 90.

SE...light-shielded area, IE...illuminated area, EP...information representing the edge of the glass substrate in the captured image information, L...light,
90...glass substrate, 91...edge, 91a...edge surface, 92...recess, 93...protective layer, 94...fluid,
100...edge coating device,
101...workpiece holder, 102...holding surface, 102a...suction hole, 103...suction pump, 104...imaging device, 105...light shielding body support, 105a...through hole, 106...support holder, 107...light shielding body, 107a...inner hole, 108...workpiece illumination device, 108a...light source, 108b...diffusion plate,
110... Movable base, 111... X-axis drive mechanism,
120...control device, 121...input device, 122...display device,
130...end surface application mechanism, 131...fluid discharge tool, 131a...flow path, 131b...discharge port, 132...discharge tool holder, 133...syringe pump, 134...Z-axis drive mechanism, 135...θ-axis drive mechanism, 136...Y-axis drive mechanism.

Specifically, an edge coating device for coating an edge of a plate-shaped glass substrate includes a workpiece holder for detachably holding the glass substrate, a fluid dispenser for dispensing a fluid onto the edge of the glass substrate held by the workpiece holder, dispenser displacement means for displacing the fluid dispenser relative to the workpiece holder, an imaging device for imaging at least the edge of the glass substrate held by the workpiece holder and outputting edge image information , a workpiece illumination device for irradiating light onto the plate surface of the glass substrate held by the workpiece holder from the side facing the imaging device, a light shielding body disposed between the glass substrate held by the workpiece holder and the workpiece illumination device for blocking light irradiation onto the edge of the glass substrate, and image processing means for detecting the edge of the glass substrate using the edge image information. This allows the edge coating device to accurately coat the edge of the glass substrate with a fluid by achieving the same effects as the edge detection device.

Claims (6)

An edge detection device for detecting an edge of a glass substrate formed in a plate shape,
a work holder that detachably holds the glass substrate;
an imaging device that images at least the edge of the glass substrate held by the work holder and outputs captured image information;
a workpiece illumination device that irradiates light onto a plate surface of the glass substrate held by the workpiece holder from a side facing the imaging device;
a light blocking body disposed between the glass substrate held by the workpiece holder and the workpiece lighting device, the light blocking body blocking the irradiation of the light onto the end portion of the glass substrate;
The edge detection device further comprises image processing means for detecting the edge of the glass substrate using the captured image information. 2. The edge detection device according to claim 1,
The edge detection device is characterized in that the light blocking body is formed in a sheet shape. The edge detection device according to claim 2, further comprising:
an edge detection device comprising a light shielding body support member disposed between the glass substrate held by the workpiece holder and the workpiece illumination device, the light shielding body being detachably supported; 4. The edge detection device according to claim 1, wherein:
An edge detection device characterized in that the area of the illuminated area onto which the light is irradiated by the workpiece illumination device is larger than the area of the light-blocking area on the glass substrate where the light is blocked by the light-blocking body. 5. The edge detection device according to claim 1,
The light blocking body is
An edge detection device that does not come into contact with the glass substrate held by the work holder. An edge coating device that applies a fluid to an edge of a plate-shaped glass substrate,
a work holder that detachably holds the glass substrate;
a fluid dispenser that dispenses the fluid onto the end surface of the glass substrate held by the work holder;
a dispenser displacement means for displacing the fluid dispenser relative to the workpiece holder;
an imaging device that images at least an edge of the glass substrate held by the work holder and outputs imaging information;
a workpiece illumination device that irradiates light onto a plate surface of the glass substrate held by the workpiece holder from a side facing the imaging device;
a light blocking body disposed between the glass substrate held by the workpiece holder and the workpiece lighting device, the light blocking body blocking the irradiation of the light onto the end portion of the glass substrate;
The edge coating device further comprises an image processing unit that detects the edge of the glass substrate using the edge image information.