JP6791665B2 - Transport system - Google Patents

Description

The present invention relates to a transport system that transports a display panel such as a liquid crystal panel.

Conventionally, a transfer device incorporated in an assembly line of a liquid crystal display device used in a portable device or the like is known (see, for example, Patent Document 1). The transport device described in Patent Document 1 includes five transport units, and each transport unit is assigned various assembly processing processes in the assembly process of the liquid crystal display device. Further, this transfer device includes an automatic loader that supplies a liquid crystal display panel housed in a tray to a transfer unit (see FIG. 19 of Patent Document 1).

International Publication No. 2012/120956

In the assembly line of the liquid crystal display device in which the transfer device described in Patent Document 1 is used, generally, the trays before being supplied to the automatic loader are stacked on a shelf in a state of being stacked in a plurality of stages (in a state of being stacked). The trays are temporarily placed and the workers manually stack the trays and supply them to the automatic loader one by one. When the operator manually disassembles the tray, the work of the operator tends to vary, and when the tray is disassembled, the liquid crystal display panel in the tray is impacted and the liquid crystal display panel is damaged. There is a risk.

Therefore, an object of the present invention is that the display panel is accommodated in a transfer system that performs at least one of the transfer of the display panel supplied to the predetermined processing device and the transfer of the display panel discharged from the predetermined processing device. An object of the present invention is to provide a transport system capable of suppressing damage to a display panel when trays are disassembled or stacked.

In order to solve the above problems, the transfer system of the present invention is a transfer system that performs at least one of transfer of a display panel supplied to a predetermined processing device and transfer of a display panel discharged from the predetermined processing device. There are a conveyor that conveys trays that can be stacked in multiple stages and can accommodate display panels, a tray stage on which the trays are placed, a first transfer robot that conveys trays between the conveyor and the tray stage, and trays. A second transfer robot that carries out at least one of carrying out the display panel from the tray mounted on the stage and loading the display panel into the tray mounted on the tray stage, and reading the data recorded on the display panel. A data reading device, a first frame in which the first transfer robot is installed, and a second frame in which the second transfer robot is installed are provided, and the data reading device is carried out from the tray by the second transfer robot. read-at least one of the data of the previous display panel is carried into the tray by the data and the second transport robot of the display panel, the first frame, the installation surface of the first transfer robot is installed is formed, The second frame is arranged above the installation surface and includes an installation portion on which the second transfer robot is installed. The first transfer robot is installed on the installation surface so as to stand up from the installation surface, and the second transfer robot is installed. It is characterized in that it is installed in the installation part so as to hang from the installation part .

In the transport system of the present invention, a conveyor that transports trays that can be stacked in a plurality of stages and can accommodate a display panel, a tray stage on which the trays are placed, and a first conveyor that transports trays between the conveyor and the tray stage. Equipped with a robot. Therefore, in the present invention, by transporting the tray between the conveyor and the tray stage by the first transfer robot, it is possible to disassemble and stack the tray in which the display panel is housed. That is, in the present invention, it is possible to automatically disassemble and stack trays. Therefore, in the present invention, it is possible to suppress variations in the tray disassembling work and the stacking work, and it is possible to stabilize the tray disassembling work and the stacking work. As a result, in the present invention, it is possible to suppress damage to the display panel when the trays are disassembled or stacked. Further, according to the present invention, it is possible to automatically disassemble and stack trays, so that labor costs can be reduced.

Further, the transfer system of the present invention provides a second transfer robot that carries out at least one of the removal of the display panel from the tray mounted on the tray stage and the loading of the display panel into the tray mounted on the tray stage. Since it is provided, it is possible to automatically transport the display panel housed in the tray after being disassembled toward the processing device, or automatically store the display panel discharged from the processing device in the tray. become.

Further, the transfer system of the present invention reads at least one of the data of the display panel after being carried out from the tray by the second transfer robot and the data of the display panel before being carried into the tray by the second transfer robot. Since the reading device is further provided, it is possible to associate individual data with the display panel carried out from the tray, and it is possible to supply the display panel with which the individual data is associated to the processing device. In addition, individual data can be associated with the display panel discharged from the processing device, and the display panel with which the individual data is associated can be stored in the tray. Further, in the present invention, the transfer system includes a first frame in which the first transfer robot is installed and a second frame in which the second transfer robot is installed, and the first transfer robot is installed in the first frame. The installation surface to be installed is formed, the second frame is arranged above the installation surface and includes an installation portion where the second transfer robot is installed, and the first transfer robot is installed on the installation surface so as to stand up from the installation surface. Since the second transfer robot is installed in the installation portion so as to hang from the installation portion, the first transfer robot and the second transfer robot when the first transfer robot and the second transfer robot are operated at the same time. It becomes easier to prevent interference with.

In the present invention, the transfer system includes, as a conveyor, a supply-side conveyor that conveys the tray in a direction approaching the tray stage and a discharge-side conveyor that conveys the tray in a direction away from the tray stage, and the first transfer robot supplies the tray. It is preferable to transfer the tray from the side conveyor to the tray stage and transfer the tray from the tray stage to the discharge side conveyor.

With this configuration, since the transport system includes a supply-side conveyor and a discharge-side conveyor, the trays are transported in the direction closer to the tray stage and the trays are separately transported in the direction away from the tray stage. Becomes possible. Therefore, the common conveyor makes it possible to shorten the cycle time in the transport system as compared with the case where the tray is conveyed in the direction approaching the tray stage and the tray is conveyed in the direction away from the tray stage. Become. Further, in this configuration, the first transfer robot transfers the tray from the supply side conveyor to the tray stage and transfers the tray from the tray stage to the discharge side conveyor, so that the tray is transferred from the supply side conveyor to the tray stage. It is possible to simplify the configuration of the transport system as compared with the case where the robot for transporting the tray and the robot for transporting the tray from the tray stage to the discharge side conveyor are individually provided.

In the present invention, the supply side conveyor is arranged on both sides in the left-right direction orthogonal to the tray transport direction and the vertical direction, and is arranged at the downstream end of the tray transport direction and the guide members that regulate the movement of the tray in the left-right direction. It is preferable that the tray is provided with a contact member to which the tray comes into contact with the tray, and the tray is brought into contact with the contact member before the tray is conveyed to the tray stage by the first transfer robot. With this configuration, the tray before being conveyed to the tray stage by the first transfer robot can be positioned on the supply side conveyor. Therefore, the tray can be placed on the tray stage with high accuracy.

In the present invention, the transport system preferably includes a plurality of tray stages. With this configuration, the trays on the tray stage can be replaced by the first transfer robot while the display panel is carried in and out by the second transfer robot. Therefore, it is possible to shorten the cycle time in the transport system as compared with the case where the number of tray stages provided in the transport system is one.

In the present invention, the transfer system may include an alignment device that detects the edge of the display panel carried out from the tray by the second transfer robot and aligns the display panel based on the detection result of the edge of the display panel. preferable. With this configuration, the data on the display panel after being aligned by the alignment device can be read by the data reading device. Therefore, the data on the display panel after being carried out from the tray by the second transfer robot can be reliably and accurately read by the data reading device.

In the present invention, it is preferable that the transfer system includes a stage number detection mechanism for detecting the number of stages of trays on the conveyor, and the stage number detection mechanism includes a sensor for detecting the presence or absence of trays and an elevating mechanism for raising and lowering the sensors. With this configuration, by operating the first transfer robot based on the detection result of the number of stages detection mechanism, the tray on the conveyor collides with the first transfer robot, and the tray on the conveyor and the first transfer robot move. It is possible to prevent a collision with the tray being conveyed.

In the present invention, it is preferable that the conveyor is composed of a plurality of divided conveyors that are divided in the transport direction of the tray and can be individually driven. With this configuration, a plurality of stacked trays can be individually transported in the tray transport direction. Therefore, the usability of the conveyor is improved.

In the present invention, in the second transfer robot, for example, the main body portion, a plurality of levers whose proximal end side is rotatably connected to the main body portion, and the proximal end side of each of the distal end sides of the plurality of levers are rotated. A plurality of movably connected arm portions, a movable portion rotatably connected to the tip side of the plurality of arm portions, a panel grip portion attached to the movable portion to grip the display panel, and a plurality of levers. A plurality of rotation drive mechanisms for rotating each are provided, and the plurality of levers are connected to the main body portion so as to extend substantially radially to the outer peripheral side of the main body portion at a substantially equal angle pitch, and the arm portions are parallel to each other. It is equipped with two linear arms, and the base end side of each of the two arms is rotatably connected to the tip side of the lever, and the movable part is rotatably connected to the tip side of the two arms. The main body is fixed to the installation part. That is, the second transfer robot is, for example, a so-called parallel link robot. In this case, it is possible to carry out the display panel from the tray and carry the display panel into the tray at a relatively high speed.

In the present invention, as a tray stage, the transport system can move two fixed tray stages adjacent to each other in the left-right direction orthogonal to the tray transport direction and the tray transport direction and the left-right direction. It is equipped with two movable tray stages and two stage movement mechanisms that move the two movable tray stages individually. The stage movement mechanism has a first position alongside the fixed tray stage in the left-right direction and a tray. It is preferable to move the movable tray stage between at least a part of the fixed tray stage and the second position overlapping in the transport direction. With this configuration, even if the movable range of the first transfer robot and the movable range of the second transfer robot are narrowed, the tray can be transferred between the conveyor and the movable tray stage by the first transfer robot. At the same time, the display panel housed in the tray on the movable tray stage can be carried out by the second transfer robot, and the display panel can be carried in the tray on the movable tray stage.

As described above, in the present invention, the display panel is accommodated in the transfer system that performs at least one of the transfer of the display panel supplied to the predetermined processing device and the transfer of the display panel discharged from the predetermined processing device. It is possible to prevent damage to the display panel when the trays are disassembled or stacked.

It is a side view of the transport system which concerns on Embodiment 1 of this invention. It is a top view which shows the transport system from the EE direction of FIG. It is a perspective view of the split conveyor shown in FIG. It is a schematic diagram for demonstrating the structure of the step number detection mechanism shown in FIG. 3 and the structure of the tray grip part shown in FIG. It is a perspective view of the 2nd transfer robot shown in FIG. It is a perspective view of the supply unit shown in FIG. It is a top view of the supply unit shown in FIG. It is a side view of the transport system which concerns on Embodiment 2 of this invention. It is a top view which shows the transport system from the FF direction of FIG. It is a perspective view of the fixed tray stage and the movable tray stage shown in FIG. It is a perspective view of the discharge unit shown in FIG. It is a top view of the discharge unit shown in FIG. It is a perspective view of the supply unit which concerns on the modification of Embodiment 1. FIG. It is a top view of the supply unit shown in FIG. It is a perspective view of the discharge unit which concerns on the modification of Embodiment 2. It is a top view of the discharge unit shown in FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[Embodiment 1]
(Overall configuration of transport system)
FIG. 1 is a side view of the transport system 1 according to the first embodiment of the present invention. FIG. 2 is a plan view showing the transport system 1 from the EE direction of FIG.

The transport system 1 of this embodiment is incorporated and used in a production line of a small liquid crystal display used in a portable device or the like. The transport system 1 transports the liquid crystal panel 2 which is a display panel, and supplies the liquid crystal panel 2 to a processing device 15 (see FIG. 2) which performs a predetermined process on the liquid crystal panel 2. That is, the transport system 1 transports the liquid crystal panel 2 supplied to the processing device 15. Further, the transport system 1 transports a small liquid crystal panel 2 (for example, a 4-inch liquid crystal panel 2).

The liquid crystal panel 2 is formed in a rectangular flat plate shape. Data such as inspection data of the liquid crystal panel 2 is recorded in a portion of the liquid crystal panel 2 outside the display area. Specifically, data such as inspection data is recorded as a two-dimensional code or a one-dimensional code in a portion of the liquid crystal panel 2 outside the display area. That is, optically readable data is recorded in a portion of the liquid crystal panel 2 outside the display area. A polarizing plate (polarizing film) may or may not be attached to the liquid crystal panel 2 conveyed by the conveying system 1 of the present embodiment. Further, the liquid crystal panel 2 may or may not have an FPC or a chip mounted on the liquid crystal panel 2.

The transport system 1 includes two conveyors 4 and 5 that transport trays 3 capable of accommodating the liquid crystal panel 2. The conveyors 4 and 5 linearly convey the trays 3 stacked in a plurality of stages (that is, the stacked trays 3) in the horizontal direction. For example, the conveyors 4 and 5 linearly convey the trays 3 stacked in 20 stages in the horizontal direction.

In the following description, the transport direction of the tray 3 by the conveyors 4 and 5 (X direction in FIG. 1 and the like) is defined as the "front-back direction", and the direction orthogonal to the vertical direction (vertical direction) and the front-back direction (Y in FIG. 1 and the like). Direction) is defined as "left-right direction". Further, one side in the front-rear direction (X1 direction side in FIG. 1 etc.) is defined as the "front" side, and the opposite side (X2 direction side in FIG. 1 etc.) is defined as "rear (rear) side". (Y1 direction side in FIG. 2 etc.) is the "right" side, and the opposite side (Y2 direction side in FIG. 2 etc.) is the "left" side. In this embodiment, the processing device 15 is arranged behind the transport system 1.

Further, the transfer system 1 is a robot as a first transfer robot that transfers the tray 3 between the two tray stages 6 and 7 on which the tray 3 is placed and the trays 4 and 5 and the tray stages 6 and 7. 8 and the robot 9 as a second transfer robot that carries out the liquid crystal panel 2 from the trays 3 placed on the tray stages 6 and 7, and the supply unit 10 that receives the liquid crystal panel 2 from the robot 9 and supplies it to the processing device 15. And have. The tray stages 6 and 7 are arranged behind the conveyors 4 and 5. The supply unit 10 is arranged behind the tray stages 6 and 7.

Further, the transfer system 1 includes a main body frame 11 as a first frame in which the conveyors 4 and 5, tray stages 6 and 7, a robot 8 and a supply unit 10 are installed, and a second frame in which the robot 9 is installed. It is provided with a main body frame 12. The main body frame 11 is formed in a flat rectangular parallelepiped shape that is elongated in the front-rear direction and has a low height. The upper surface 11a of the main body frame 11 is formed in a plane shape orthogonal to the vertical direction, and the conveyors 4 and 5, the tray stages 6 and 7, the robot 8 and the supply unit 10 are installed on the upper surface 11a of the main body frame 11. ing. The upper surface 11a of this embodiment is an installation surface on which the robot 8 is installed.

The main body frame 12 is a gate-shaped frame formed in a substantially gate shape. The width of the main body frame 12 in the left-right direction is wider than the width of the main body frame 11 in the left-right direction, and the width of the main body frame 12 in the front-rear direction is shorter than the length of the main body frame 11 in the front-rear direction. The height of the main body frame 12 is higher than the height of the main body frame 11, and the main body frame 12 includes an upper surface portion 12a arranged above the upper surface 11a of the main body frame 11. The upper surface portion 12a is arranged above the conveyors 4, 5, tray stages 6, 7, the robot 8, and the supply unit 10.

The main body frame 12 is installed so as to straddle the main body frame 11 when viewed from the front-rear direction. That is, the main body frame 12 is installed so as to straddle the main body frame 11 in the left-right direction. Further, the main body frame 12 is installed so as to straddle the rear end side portion of the main body frame 11. The robot 9 is installed on the upper surface portion 12a of the main body frame 12. The upper surface portion 12a of this embodiment is an installation portion on which the robot 9 is installed.

(Conveyor configuration and operation)
FIG. 3 is a perspective view of the split conveyor 20 shown in FIG. FIG. 4 is a schematic view for explaining the configuration of the stage number detection mechanism 29 shown in FIG. 3 and the configuration of the tray grip portion 39 shown in FIG.

Conveyors 4 and 5 are roller conveyors including a plurality of rollers. The conveyor 4 and the conveyor 5 are arranged adjacent to each other in the left-right direction. The conveyor 4 conveys the stacked trays 3 toward the rear side, and the conveyor 5 conveys the stacked trays 3 toward the front side. That is, the conveyor 4 conveys the tray 3 in the direction approaching the tray stages 6 and 7, and the conveyor 5 conveys the tray 3 in the direction away from the tray stages 6 and 7. A plurality of liquid crystal panels 2 are housed in the tray 3 conveyed by the conveyor 4. On the other hand, the liquid crystal panel 2 is not housed in the tray 3 conveyed by the conveyor 5, and the tray 3 conveyed by the conveyor 5 is an empty tray. The conveyor 4 of this embodiment is a supply-side conveyor, and the conveyor 5 is a discharge-side conveyor. The conveyors 4 and 5 may be belt conveyors or the like.

The conveyor 4 is composed of a plurality of divided conveyors 16 to 20 divided in the front-rear direction. The conveyor 4 of this embodiment is composed of five divided conveyors 16 to 20. The split conveyors 16 to 20 are arranged in this order from the front side to the rear side. Similarly, the conveyor 5 is composed of five divided conveyors 21 to 25 divided in the front-rear direction. The split conveyors 21 to 25 are arranged in this order from the front side to the rear side. Each of the split conveyors 16 to 25 includes a motor and a power transmission mechanism for transmitting the power of the motor to the rollers, and the split conveyors 16 to 25 can be individually driven. The width of the split conveyors 16 to 25 in the front-rear direction is wider than the width of the tray 3 in the front-rear direction. Specifically, the width of the split conveyors 16 to 25 in the front-rear direction is slightly wider than the width of the tray 3 in the front-rear direction.

On the split conveyor 16, trays 3 in a stacked state carried by an operator from a shelf for temporary storage (not shown) are placed. The stacked trays 3 placed on the split conveyor 16 are conveyed to the rear side by the conveyor 4. The stacked trays 3 conveyed to the split conveyor 20 are disassembled by the robot 8 as described later. Further, on the split conveyor 25, empty trays 3 are stacked by the robot 8 as described later. When the trays 3 are stacked up to a predetermined number of stages, the trays 3 in the stacked state are conveyed to the front side by the conveyor 5. The stacked trays 3 conveyed to the split conveyor 21 are carried by the operator to the empty tray shelves.

When the tray 3 in the stacked state is placed on the split conveyor 16, the tray 3 in the stacked state is usually placed on at least one of the split conveyors 17 to 20 of the split conveyors 17 to 20. .. Further, when the empty trays 3 are stacked on the split conveyor 25, the empty trays 3 in the stacked state are placed on at least one of the split conveyors 21 to 24. Sometimes.

The split conveyor 20 arranged at the rearmost side of the conveyor 4 includes a guide member 27 that regulates the movement of the tray 3 in the left-right direction (see FIG. 3). The guide members 27 are arranged on both sides of the split conveyor 20 in the left-right direction. The distance between the guide surface of the guide member 27 arranged on the right side and the guide surface of the guide member 27 arranged on the left side in the left-right direction is substantially equal to the width in the left-right direction of the tray 3. Further, the split conveyor 20 includes a contact member 28 with which the rear end of the tray 3 comes into contact. The abutting member 28 is arranged at the rear end of the split conveyor 20. That is, the contact member 28 is arranged at the downstream end in the transport direction of the tray 3 by the conveyor 4.

In this embodiment, the conveyor 4 conveys the tray 3 to the rear side before the tray 3 is conveyed to the tray stages 6 and 7 by the robot 8 to bring the tray 3 into contact with the contact member 28. That is, every time the tray 3 is conveyed to the tray stages 6 and 7 by the robot 8, the tray 3 is conveyed to the rear side until the tray 3 abuts on the contact member 28, and then to the tray stages 6 and 7 by the robot 8. Tray 3 is transported.

The split conveyor 20 is equipped with a stage number detection mechanism 29 that detects the number of stages of the tray 3 on the conveyor 4. The number of stages detecting mechanism 29 is attached to both ends of the split conveyor 20 in the left-right direction. As shown in FIGS. 3 and 4, the stage number detection mechanism 29 includes a sensor 30 for detecting the presence / absence of the tray 3 and an elevating mechanism 31 for raising and lowering the sensor 30. The sensor 30 is a reflection type optical sensor, and the light emitting element of the sensor 30 emits light toward the center of the division conveyor 20 in the left-right direction. The elevating mechanism 31 includes a motor 32 and a ball screw (not shown) that converts the rotational motion of the motor 32 into a linear motion in the vertical direction. The sensor 30 may be a transmissive optical sensor, a proximity sensor, or the like.

When the number of stages of the tray 3 on the conveyor 4 is detected by the stage number detection mechanism 29, the sensor 30 is moved to the upper limit position, and then the sensor 30 is lowered until the tray 3 is detected by the sensor 30. Further, the number of stages of the tray 3 on the conveyor 4 is detected based on the rotation position of the motor 32 when the tray 3 is detected by the sensor 30. Although the number of stages detection mechanism 29 is not attached to the split conveyor 25, the number of stages detection mechanism 29 may be attached to the split conveyor 25.

(Tray stage configuration)
One tray 3 is placed on the tray stages 6 and 7. The tray stages 6 and 7 are fixed to the main body frame 11. The tray stage 6 and the tray stage 7 are arranged at a predetermined distance in the left-right direction. The tray stage 6 is arranged at substantially the same position as the conveyor 4 in the left-right direction, and the tray stage 7 is arranged at substantially the same position as the conveyor 5 in the left-right direction. Further, the tray stage 6 is arranged immediately behind the dividing conveyor 20, and the tray stage 7 is arranged immediately behind the dividing conveyor 25. The upper surfaces of the tray stages 6 and 7 are formed in a plane shape orthogonal to the vertical direction. The upper surfaces of the tray stages 6 and 7 are arranged above the upper surfaces of the conveyors 4 and 5.

(Robot configuration and operation)
FIG. 5 is a perspective view of the robot 9 shown in FIG.

The robot 8 is a so-called 3-axis Cartesian robot. The robot 8 has a main body frame 35 formed in a gate shape, a movable frame 36 held by the main body frame 35 so as to be able to slide in the left-right direction with respect to the main body frame 35, and a movable frame 36. A movable frame 37 held by the movable frame 36 so as to be able to slide in the front-rear direction, and a movable frame 38 held by the movable frame 37 so as to be able to slide in the vertical direction with respect to the movable frame 37. And a tray gripping portion 39 attached to the movable frame 38. Further, the robot 8 includes a drive mechanism for sliding the movable frame 36 in the left-right direction, a drive mechanism for sliding the movable frame 37 in the front-rear direction, and a drive mechanism for sliding the movable frame 38 in the up-down direction.

The height of the main body frame 35 is higher than the height of the conveyors 4 and 5. The main body frame 35 is installed so as to straddle the conveyors 4 and 5 arranged adjacent to each other in the left-right direction when viewed from the front-rear direction. That is, the main body frame 35 is installed so as to straddle the conveyors 4 and 5 in the left-right direction. Further, the main body frame 35 is arranged so as to straddle the rear end side portions of the split conveyors 19 and 24 and the front end side portions of the split conveyors 20 and 25.

The movable frame 36 is attached to the upper surface side of the main body frame 35, and is arranged above the conveyors 4 and 5. Further, the movable frame 36 is arranged above the tray 3 in the stacked state mounted on the conveyors 4 and 5. The movable frame 37 is attached to the right side of the movable frame 36. The movable frame 38 is attached to the rear end side of the movable frame 37. Further, the main body frame 35 is fixed to the upper surface 11a so as to rise from the upper surface 11a of the main body frame 11. That is, the robot 8 is installed on the upper surface 11a so as to stand up from the upper surface 11a.

The tray grip portion 39 is attached to the lower end of the movable frame 38. As shown in FIG. 4, the tray gripping portion 39 includes a plurality of suction portions 40 for sucking the tray 3, a claw portion 41 for supporting the tray 3 from below, and a claw moving mechanism for moving the claw portion 41. It has 42 and. The suction unit 40 contacts the upper surface of the tray 3 and vacuum-sucks the tray 3. The claw portion 41 is arranged at the center position of the tray grip portion 39 in the front-rear direction and is arranged on both sides in the left-right direction. The claw moving mechanism 42 is an air cylinder and moves the claw portion 41 in the left-right direction. When the robot 8 conveys the tray 3, the claw portion 41 moves inward in the left-right direction until the claw portion 41 is arranged under the tray 3 to be conveyed. Further, when the robot 8 conveys the tray 3, the suction unit 40 sucks and grips the upper surface of the tray 3.

The robot 8 transfers the tray 3 from the conveyor 4 to the tray stages 6 and 7 and the tray 3 from the tray stages 6 and 7 to the conveyor 5. Specifically, the robot 8 conveys the stacked trays 3 transported to the split conveyor 20 one by one to the tray stage 6 or the tray stage 7, and displays the stacked trays 3 on the split conveyor 20. Step off. Further, the robot 8 conveys one empty tray 3 from the tray stage 6 or the tray stage 7 to the dividing conveyor 25, and divides the trays 3 stacked on the dividing conveyor 25 until the number of stages of the trays 3 reaches a predetermined number. The tray 3 is stacked on the conveyor 25.

The robot 9 is a so-called parallel link robot. The robot 9 has a main body 45, three levers 46 connected to the main body 45, three arm 47s connected to each of the three levers 46, and three arm 47s. It includes a head unit 48 as a movable portion to be connected, and a panel grip portion 49 attached to the head unit 48. The main body 45 is fixed to the upper surface 12a of the main frame 12. Further, the robot 9 is arranged below the upper surface portion 12a. That is, the robot 9 is installed on the upper surface portion 12a so as to hang from the upper surface portion 12a. Further, the main body portion 45 is arranged above the tray stages 6 and 7, and is arranged behind the main body frame 35 of the robot 8.

The three levers 46 are connected to the main body 45 so as to extend substantially radially toward the outer peripheral side of the main body 45 at substantially equal angle pitches. That is, the three levers 46 are connected to the main body 45 so as to extend substantially radially toward the outer peripheral side of the main body 45 at a pitch of about 120 °. Further, the base end side of the three levers 46 is rotatably connected to the main body 45. A motor 50 with a speed reducer as a rotation drive mechanism for rotating the lever 46 is arranged at a connecting portion between the main body 45 and the lever 46. The robot 9 of this embodiment includes three motors 50 that rotate each of the three levers 46. The output shaft of the motor 50 is fixed to the base end side of the lever 46.

The base end side of the arm portion 47 is rotatably connected to the tip end side of the lever 46. Specifically, the arm portion 47 includes two linear arms 52 parallel to each other, and the base end side of each of the two arms 52 is rotatably connected to the tip end side of the lever 46. There is. The head unit 48 is rotatably connected to the tip side of the three arm portions 47. That is, the head unit 48 is rotatably connected to the tip ends of the six arms 52.

The panel grip portion 49 is attached to the lower end of the head unit 48. The panel gripping portion 49 includes a plurality of suction portions that vacuum-suck the liquid crystal panel 2, and grips the liquid crystal panel 2 by sucking the upper surface of the liquid crystal panel 2 by the suction portion. A motor 53 is attached to the upper end of the head unit 48. The panel grip portion 49 is connected to the motor 53, and can be rotated with the vertical direction as the axial direction of rotation by the power of the motor 53.

In the robot 9, by individually driving the three motors 50, the head unit 48 remains in a constant posture at any position in the vertical, horizontal, and front-rear directions within a predetermined area. (Specifically, with the panel gripping portion 49 facing downward), the head unit 48 can be moved.

The robot 9 carries out the liquid crystal panels 2 one by one from the tray 3 mounted on the tray stage 6 or the tray 3 mounted on the tray stage 7. Specifically, the robot 9 carries out the liquid crystal panels 2 one by one from the tray 3 until the trays 3 placed on the tray stages 6 and 7 are empty. Further, the robot 9 conveys the liquid crystal panel 2 carried out from the tray 3 to the panel stage 64 described later.

(Configuration and operation of supply unit)
FIG. 6 is a perspective view of the supply unit 10 shown in FIG. FIG. 7 is a plan view of the supply unit 10 shown in FIG.

The supply unit 10 includes a data reading device 56 that reads the data recorded on the liquid crystal panel 2, an alignment device 57 that aligns the liquid crystal panel 2 before the data of the liquid crystal panel 2 is read by the data reading device 56, and data. Alignment with the robot 58 that conveys the liquid crystal panel 2 after the data is read by the reading device 56 to the processing device 15 and the ionizer (electrostatic removing device) 59 that removes static electricity from the liquid crystal panel 2 conveyed to the processing device 15. A transport device 60 that transports the liquid crystal panel 2 aligned by the device 57 toward the robot 58, and a robot 61 that transports the liquid crystal panel 2 aligned by the alignment device 57 to the transport device 60. Is provided with a base plate 62 on which the liquid crystal is placed and fixed.

The alignment device 57 is mounted on the left end side of the base plate 62. The robot 58 is mounted on the right end side of the base plate 62. The data reading device 56 and the ionizer 59 are placed at the center position of the base plate 62 in the left-right direction. The transport device 60 is arranged between the alignment device 57 and the robot 58 in the left-right direction. The robot 61 is arranged adjacent to the right side of the alignment device 57. The base plate 62 is placed and fixed on the rear end side portion of the upper surface 11a of the main body frame 11.

The alignment device 57 includes a panel stage 64 on which the liquid crystal panel 2 carried out by the robot 9 from the tray 3 on the tray stages 6 and 7 is placed, a movable frame 65 that rotatably holds the panel stage 64, and left and right. A movable frame 66 that holds the movable frame 65 so that it can slide in the direction, a fixed frame 67 that holds the movable frame 65 so that it can slide in the front-rear direction, and a panel with respect to the movable frame 65. It is provided with a rotation mechanism for rotating the stage 64, a drive mechanism for sliding the movable frame 65 in the left-right direction with respect to the movable frame 66, and a drive mechanism for sliding the movable frame 66 in the front-rear direction with respect to the fixed frame 67. ing. The panel stage 64 includes a plurality of suction portions that vacuum suck the liquid crystal panel 2 mounted on the upper surface of the panel stage 64. The fixed frame 67 is fixed to the base plate 62.

The alignment device 57 also includes a camera 68 and an illumination 69 that are located above the panel stage 64. The illumination 69 is a bar illumination having a plurality of LEDs (Light Emitting Diodes) arranged in the front-rear direction. The illumination 69 is arranged below the camera 68 and at a position outside the field of view of the camera 68. In this embodiment, the illumination 69 is arranged on the lower left side of the camera 68. The illumination 69 irradiates the panel stage 64 with indirect light.

The camera 68 detects an edge of the liquid crystal panel 2 mounted on the panel stage 64 (specifically, a corner portion of the liquid crystal panel 2 formed in a rectangular shape). The camera 68 includes a polarizing filter. A polarizing plate (polarizing film) is attached to the upper surface of the panel stage 64. The phase of the polarizing filter of the camera 68 and the phase of the polarizing plate of the panel stage 64 are deviated by 90 °, and the panel stage 64 captured by the camera 68 becomes black. Therefore, in the present embodiment, the contrast between the edge of the liquid crystal panel 2 captured by the camera 68 and the upper surface of the panel stage 64 is high, and the camera 68 can accurately detect the edge of the liquid crystal panel 2.

When the liquid crystal panel 2 carried out by the robot 9 is placed on the panel stage 64, the alignment device 57 detects the edge of the liquid crystal panel 2 by the camera 68. Further, the alignment device 57 rotates the panel stage 64, slides the movable frame 65 in the left-right direction, and slides the movable frame 66 in the front-rear direction based on the detection result of the edge of the liquid crystal panel 2 by the camera 68. At least one of the operations is performed to align the liquid crystal panel 2. That is, the alignment device 57 detects the edge of the liquid crystal panel 2 and aligns the liquid crystal panel 2 based on the detection result of the edge of the liquid crystal panel 2.

The transport device 60 includes two slide stages 70 on which the liquid crystal panel 2 is placed, a movable frame 71 on which the two slide stages 70 are fixed, and a movable frame 71 so as to be able to slide in the left-right direction. It is provided with a fixed frame 72 for holding the movable frame 72 and a drive mechanism for sliding the movable frame 71 in the left-right direction with respect to the fixed frame 72. The two slide stages 70 are arranged adjacent to each other in the left-right direction. The slide stage 70 includes a plurality of suction portions that vacuum-suck the liquid crystal panel 2 placed on the upper surface of the slide stage 70. The fixed frame 72 is fixed to the base plate 62.

The robot 61 has a panel grip portion 73 that vacuum-sucks and grips the liquid crystal panel 2, a movable frame 74 that holds the panel grip portion 73 so that it can slide in the vertical direction, and can slide in the left-right direction. A fixed frame 75 that holds the movable frame 74, an elevating mechanism that raises and lowers the panel grip portion 73 with respect to the movable frame 74, and a drive mechanism that slides the movable frame 74 in the left-right direction with respect to the fixed frame 75. It has. The fixed frame 75 is fixed to the base plate 62. The panel grip portion 73 is arranged at the same position as the slide stage 70 in the front-rear direction.

The robot 61 conveys the liquid crystal panel 2 after being aligned by the alignment device 57 from the panel stage 64 to the slide stage 70. Specifically, the robot 61 vacuum-sucks and grips the upper surface of the liquid crystal panel 2 on the panel stage 64 with the panel gripping portion 73, moves to the left end side, and stops at each of the two slide stages 70. The liquid crystal panel 2 is sequentially conveyed from the panel stage 64. When the liquid crystal panel 2 is placed on each of the two slide stages 70, the transport device 60 moves the slide stage 70 to the right and transports the liquid crystal panel 2 to the right end side of the transport device 60. ..

The panel grip portion 73 is arranged behind the camera 68. Further, the detection of the edge of the liquid crystal panel 2 by the camera 68 is performed in a state where the panel stage 64 is arranged directly under the camera 68, and the vacuum suction of the liquid crystal panel 2 by the panel grip portion 73 is directly under the panel grip portion 73. This is performed with the panel stage 64 arranged in. In the present embodiment, the alignment device 57 detects the edge of the liquid crystal panel 2 by the camera 68, and then moves the panel stage 64 from directly below the camera 68 to directly below the panel gripping portion 73 while aligning the liquid crystal panel 2. .. That is, in the present embodiment, the alignment device 57 conveys the liquid crystal panel 2 to a position where the liquid crystal panel 2 is vacuum-sucked by the panel grip portion 73 while aligning the liquid crystal panel 2.

The robot 58 has two panel grips 76 that vacuum-suck and grip the liquid crystal panel 2, a movable frame 77 that holds the panel grips 76 so that they can slide in the vertical direction, and a front-back direction. A fixed frame 78 that holds the movable frame 77 so that it can be slid, an elevating mechanism that raises and lowers the panel grip portion 76 with respect to the movable frame 77, and the movable frame 77 is slid back and forth with respect to the fixed frame 78. It is equipped with a drive mechanism. The two panel grip portions 76 are arranged adjacent to each other in the left-right direction. The pitch of the two panel grips 76 in the left-right direction is equal to the pitch of the two slide stages 70 in the left-right direction. The fixed frame 78 is fixed to the base plate 62.

The robot 58 carries the liquid crystal panel 2 transported to the right end side of the transfer device 60 by the transfer device 60 into the processing device 15. Specifically, the robot 58 vacuum-sucks and grips the upper surfaces of the two liquid crystal panels 2 mounted on the two slide stages 70 by the two panel gripping portions 76, respectively. The two liquid crystal panels 2 are carried into the processing device 15 together from the slide stage 70.

The data reading device 56 is movable so as to enable sliding in the vertical direction with a camera 81 that reads optically readable data such as a two-dimensional code or a one-dimensional code, and a movable frame 82 to which the camera 81 is attached. A movable frame 83 that holds the frame 82, a movable frame 84 that holds the movable frame 83 so that it can slide in the left-right direction, and a fixing that holds the movable frame 84 so that it can slide in the front-back direction. The frame 85, an elevating mechanism for raising and lowering the movable frame 82 with respect to the movable frame 83, a drive mechanism for sliding the movable frame 83 in the left-right direction with respect to the movable frame 84, and a movable frame 84 being moved back and forth with respect to the fixed frame 85. It is equipped with a drive mechanism that slides in the direction. The fixed frame 85 is fixed to the base plate 62. Further, the data reading device 56 includes illumination that irradiates the liquid crystal panel 2 with light.

As described above, the data reading device 56 is mounted at the center position of the base plate 62 in the left-right direction. The data reading device 56 reads the data recorded on the liquid crystal panel 2 which is conveyed to the right by the conveying device 60 after the position adjustment by the alignment device 57. That is, the data reading device 56 reads the data of the liquid crystal panel 2 after being carried out by the robot 9 from the trays 3 placed on the tray stages 6 and 7. When the data reading device 56 reads the data, the transport device 60 is temporarily stopped so that the liquid crystal panel 2 is arranged below the camera 81. The data of the liquid crystal panel 2 read by the data reading device 56 is associated with the liquid crystal panel 2 from which the data has been read as individual data of the liquid crystal panel 2 from which the data has been read.

The ionizer 59 is arranged above the transfer device 60. Further, the ionizer 59 is arranged on the right side of the camera 81, and removes static electricity from the liquid crystal panel 2 after the data is read by the data reading device 56.

(Main effect of this form)
As described above, in the present embodiment, the robot 8 conveys the trays 3 in the stacked state transported to the split conveyor 20 one by one to the tray stages 6 and 7, and is in the stacked state on the split conveyor 20. The tray 3 is separated. That is, in this embodiment, the tray 8 is automatically disassembled by the robot 8. Therefore, in this embodiment, it is possible to suppress the variation in the step-disassembling work of the tray 3, and it is possible to stabilize the step-disassembling work of the tray 3. Therefore, in this embodiment, it is possible to suppress damage to the liquid crystal panel 2 when the tray 3 is stepped off.

Further, in the present embodiment, the liquid crystal panel 2 in the trays 3 placed on the tray stages 6 and 7 is carried into the supply unit 10 by the robot 9, and then carried by the robot 61, the transfer device 60, and the robot 58. Is carried into the processing device 15. That is, in this embodiment, the liquid crystal panel 2 is automatically conveyed to the processing device 15 from the tray 3 after being disassembled. Therefore, in this embodiment, it is possible to suppress variations in the transport work of the liquid crystal panel 2, and it is possible to stabilize the transport work of the liquid crystal panel 2. Therefore, in this embodiment, it is possible to suppress damage to the liquid crystal panel 2 during transportation of the liquid crystal panel 2. Further, in this embodiment, the trays 3 are automatically disassembled and stacked, and the liquid crystal panel 2 is automatically transported from the tray 3 after the trays 3 to the processing device 15, so that the labor cost is reduced. Will be possible.

In this embodiment, the data of the liquid crystal panel 2 read by the data reading device 56 is associated with the liquid crystal panel 2 from which the data has been read as individual data of the liquid crystal panel 2 from which the data has been read. Further, in the present embodiment, the liquid crystal panel 2 after the data is read by the data reading device 56 is conveyed to the processing device 15. Therefore, in the present embodiment, the liquid crystal panel 2 to which the individual data is associated can be supplied to the processing device 15, and as a result, the processing device 15 appropriately processes the liquid crystal panel 2 based on the individual data. Will be possible. Further, in the present embodiment, since the liquid crystal panel 2 is aligned by the alignment device 57 before the data of the liquid crystal panel 2 is read by the data reading device 56, the data of the liquid crystal panel 2 is reliably and accurately read by the data reading device 56. It becomes possible to read.

In this embodiment, a conveyor 4 that conveys the stacked trays 3 toward the rear side and a conveyor 5 that conveys the stacked trays 3 toward the front side are individually installed, and the liquid crystal panel 2 is provided. It is possible to separately carry out the transportation to the rear side of the stored tray 3 in the stacked state and the transportation to the front side of the empty tray 3 in the stacked state. Therefore, in the present embodiment, the transport to the rear side of the tray 3 in the stacked state in which the liquid crystal panel 2 is housed and the transport to the front side of the empty tray 3 in the stacked state are performed by a common conveyor. In comparison, the cycle time in the transport system 1 can be shortened.

Further, in this embodiment, since the two tray stages 6 and 7 are installed, for example, the robot 8 carries out the liquid crystal panel 2 from the tray 3 on the tray stage 6 while the robot 8 carries out the liquid crystal panel 2 from the tray stage 7. The empty tray 3 can be conveyed to the conveyor 5, and the tray 3 containing the liquid crystal panel 2 can be conveyed from the conveyor 4 to the tray stage 7. That is, the robot 8 can replace the tray 3 on the tray stage 7 while the robot 9 carries out the liquid crystal panel 2 from the tray 3 on the tray stage 6. Therefore, in the present embodiment, it is possible to shorten the cycle time in the transport system 1 as compared with the case where the number of tray stages to be installed is one.

In the present embodiment, the robot 8 is installed on the upper surface 11a so as to stand up from the upper surface 11a of the main body frame 11, and the robot 9 hangs on the upper surface 12a of the main body frame 12 arranged above the upper end of the robot 8. It is installed on the upper surface portion 12a. Therefore, in this embodiment, it becomes easy to prevent the robot 8 and the robot 9 from interfering with each other when the robot 8 and the robot 9 are operated at the same time. Further, in the present embodiment, since the robot 9 is a so-called parallel link robot, it is possible to carry out the liquid crystal panel 2 from the tray 3 at a relatively high speed.

In this embodiment, the robot 8 transfers the tray 3 from the conveyor 4 to the tray stages 6 and 7 and the tray 3 from the tray stages 6 and 7 to the conveyor 5. Therefore, in this embodiment, a robot that transfers the tray 3 from the conveyor 4 to the tray stages 6 and 7 and a robot that transfers the tray 3 from the tray stages 6 and 7 to the conveyor 5 are individually provided. It becomes possible to simplify the configuration of the transport system 1 as compared with the case.

In this embodiment, the split conveyor 20 includes a guide member 27 that regulates the movement of the tray 3 in the left-right direction. Further, in the present embodiment, the split conveyor 20 includes a contact member 28 with which the rear end of the tray 3 comes into contact, and the conveyor 4 is the tray 3 before the tray 3 is conveyed to the tray stages 6 and 7 by the robot 8. To the rear side to bring the tray 3 into contact with the contact member 28. Therefore, in the present embodiment, the tray 3 before being conveyed to the tray stages 6 and 7 by the robot 8 can be positioned on the conveyor 4. Therefore, in this embodiment, the tray 3 can be placed on the tray stages 6 and 7 with high accuracy.

In this embodiment, a stage number detecting mechanism 29 for detecting the number of stages of the tray 3 on the conveyor 4 is attached to the split conveyor 20. Therefore, in the present embodiment, it is possible to prevent a collision between the tray gripping portion 39 of the robot 8 and the tray 3 by operating the robot 8 based on the detection result of the number of stages detecting mechanism 29. Further, in the present embodiment, the conveyor 4 is composed of five individually driveable split conveyors 16 to 20, and the conveyor 5 is composed of five individually driveable split conveyors 21 to 25. , A plurality of stacked trays 3 can be individually conveyed in the front-rear direction. Therefore, in this embodiment, the usability of the conveyors 4 and 5 is improved.

[Embodiment 2]
(Overall configuration of transport system)
FIG. 8 is a side view of the transport system 91 according to the second embodiment of the present invention. FIG. 9 is a plan view showing the transport system 91 from the FF direction of FIG.

The transport system 91 of the present embodiment is incorporated and used in the production line of a small liquid crystal display as in the transport system 1 of the first embodiment. The transport system 91 transports the liquid crystal panel 2 discharged from the processing device 15. In addition, the transport system 91 transports the small liquid crystal panel 2. In this embodiment, the transport system 91 is arranged behind the processing device 15. In the following description, the same reference numerals will be given to the configurations common to those in the first embodiment, and the description thereof will be omitted or simplified.

The conveyor system 91 includes four conveyors 94 to 97 that convey the tray 3 capable of accommodating the liquid crystal panel 2. Similar to the conveyors 4 and 5 of the first embodiment, the conveyors 94 to 97 convey the trays 3 (stacked trays 3) stacked in a plurality of stages in the front-rear direction. Further, the transfer system 91 includes robots 8 and 9 as in the transfer system 1. The width of the main body frame 35 of the robot 8 of the present embodiment in the left-right direction is longer than the length of the main body frame 35 of the robot 8 of the first embodiment in the left-right direction, and the width of the movable frame 36 of the present embodiment is longer in the left-right direction. The movable amount of the movable frame 36 is larger than the movable amount of the movable frame 36 of the first embodiment. However, except for this point, the robot 8 of the present embodiment is configured in the same manner as the robot 8 of the first embodiment.

Further, the transport system 91 includes four tray stages 98 to 101 on which the tray 3 is placed, and a discharge unit 102 that receives the liquid crystal panel 2 discharged from the processing device 15 and delivers it to the robot 9. .. The tray stages 98 to 101 are arranged in front of the conveyors 94 to 97. The discharge unit 102 is arranged in front of the tray stages 98 to 101. Further, the transport system 91 includes main body frames 11 and 12 as in the transport system 1.

(Conveyor configuration and operation)
Like the conveyors 4 and 5, the conveyors 94 to 97 are roller conveyors including a plurality of rollers. The conveyor 94, the conveyor 95, the conveyor 96, and the conveyor 97 are arranged in this order from the right side to the left side, and are arranged adjacent to each other in the left-right direction. The conveyors 94 and 95 convey the stacked trays 3 toward the front side, and the conveyors 96 and 97 convey the stacked trays 3 toward the rear side. That is, the conveyors 94 and 95 convey the tray 3 in the direction approaching the tray stages 98 to 101, and the conveyors 96 and 97 convey the tray 3 in the direction away from the tray stages 98 to 101.

The liquid crystal panel 2 is not housed in the tray 3 conveyed by the conveyors 94 and 95, and the tray 3 conveyed by the conveyors 94 and 95 is an empty tray. On the other hand, a plurality of liquid crystal panels 2 are housed in the tray 3 conveyed by the conveyors 96 and 97. The conveyors 94 and 95 of this embodiment are supply-side conveyors, and the conveyors 96 and 97 are discharge-side conveyors. The conveyors 94 to 97 may be belt conveyors or the like.

The conveyors 94 and 95 are composed of three divided conveyors 18 to 20 divided in the front-rear direction. The split conveyors 18 to 20 are arranged in this order from the rear side to the front side. Similarly, the conveyors 96 and 97 are composed of three divided conveyors 23 to 25 divided in the front-rear direction. The split conveyors 23 to 25 are arranged in this order from the rear side to the front side. As described above, each of the split conveyors 18-20 and 23-25 is provided with a motor and a power transmission mechanism for transmitting the power of the motor to the rollers, and the split conveyors 18-20 and 23-25 are individually provided. It can be driven.

On the split conveyor 18, an empty tray 3 in a stacked state carried by an operator from a shelf for temporary storage (not shown) is placed. The stacked trays 3 placed on the split conveyor 18 are conveyed to the front side by the conveyors 94 and 95. The stacked trays 3 conveyed to the split conveyor 20 are disassembled by the robot 8. Further, on the split conveyor 25, trays 3 in which the liquid crystal panels 2 are housed are stacked by the robot 8. When the trays 3 are stacked up to a predetermined number of stages, the trays 3 in the stacked state are conveyed to the rear side by the conveyors 96 and 97. The stacked trays 3 conveyed to the split conveyor 23 are carried by the operator to the temporary storage shelves.

When the tray 3 in the stacked state is placed on the split conveyor 18, the tray 3 in the stacked state is usually placed on the split conveyors 19 and 20 of at least one of the split conveyors 19 and 20. .. Further, when the trays 3 are stacked on the split conveyor 25, the trays 3 in the stacked state may be placed on at least one of the split conveyors 23 and 24.

Similar to the first embodiment, the split conveyor 20 includes a guide member 27. Further, the split conveyor 20 includes a contact member 28. The abutting member 28 is arranged at the front end of the split conveyor 20. That is, the contact member 28 is arranged at the downstream end in the transport direction of the tray 3 by the conveyors 94 and 95. Similar to the first embodiment, the conveyors 94 and 95 convey the tray 3 to the front side before the robot 8 conveys the tray 3 to the tray stages 98 to 101 to bring the tray 3 into contact with the contact member 28. Further, the split conveyor 20 is provided with a stage number detection mechanism 29 as in the first embodiment.

(Tray stage configuration and operation)
FIG. 10 is a perspective view of the tray stages 98 to 101 shown in FIG.

One tray 3 is placed on the tray stages 98 to 101. The upper surface of the tray stages 98 to 101 is formed in a plane shape orthogonal to the vertical direction. Further, the upper surface of the tray stages 98 to 101 is arranged above the upper surface of the conveyors 94 to 97. The tray stages 98 and 99 are fixed to the main body frame 11. The tray stage 98 and the tray stage 99 are arranged adjacent to each other in the left-right direction. In this embodiment, the tray stage 98 is arranged on the right side and the tray stage 99 is arranged on the left side.

Further, the transport system 91 includes a stage moving mechanism 105 for moving the tray stage 100 in the left-right direction and the front-back direction, and a stage moving mechanism 106 for moving the tray stage 101 in the left-right direction and the front-back direction. That is, the transfer system 91 includes two stage moving mechanisms 105 and 106 that individually move the two tray stages 100 and 101. The tray stages 98 and 99 of this embodiment are fixed tray stages, and the tray stages 100 and 101 are movable tray stages that can be moved in the left-right direction and the front-back direction.

The stage moving mechanism 105 includes a movable frame 107 that holds the tray stage 100 so that it can slide in the left-right direction, and a fixed frame 108 that holds the movable frame 107 so that it can slide in the front-back direction. A drive mechanism for sliding the tray stage 100 in the left-right direction with respect to the movable frame 107 and a drive mechanism for sliding the movable frame 107 in the front-rear direction with respect to the fixed frame 108 are provided. Similarly, the stage moving mechanism 106 has a movable frame 109 that holds the tray stage 101 so that it can slide in the left-right direction, and a fixed frame that holds the movable frame 109 so that it can slide in the front-back direction. The 110, a drive mechanism for sliding the tray stage 101 in the left-right direction with respect to the movable frame 109, and a drive mechanism for sliding the movable frame 109 in the front-rear direction with respect to the fixed frame 110 are provided.

The stage moving mechanism 105 has a first position (position indicated by a two-point chain line in FIG. 9) where the tray stage 100 is arranged on the right side of the tray stage 98, and a tray stage in front of the right end side portion of the tray stage 98 in the front-rear direction. The tray stage 100 is moved to and from the second position (position shown by the solid line in FIG. 9) where the left end side portion of 100 is arranged. That is, the stage moving mechanism 105 moves the tray stage 100 between the first position alongside the tray stage 98 in the left-right direction and the second position overlapping a part of the tray stage 98 in the front-rear direction.

The stage moving mechanism 106 is in front of the first position (the position indicated by the alternate long and short dash line in FIG. 9) where the tray stage 101 is arranged on the left side of the tray stage 99 and the left end side portion of the tray stage 99 in the front-rear direction. The tray stage 101 is moved to and from the second position (position shown by the solid line in FIG. 9) where the right end side portion of 101 is arranged. That is, the stage moving mechanism 106 moves the tray stage 101 between the first position alongside the tray stage 99 in the left-right direction and the second position overlapping a part of the tray stage 99 in the front-rear direction.

(Robot configuration and operation)
As described above, the width of the main body frame 35 of the robot 8 of the present embodiment in the left-right direction is longer than the length of the main body frame 35 of the robot 8 of the first embodiment in the left-right direction, and the movable frame 36 of the present embodiment. The amount of movement in the left-right direction is larger than the amount of movement of the movable frame 36 of the first embodiment. The main body frame 35 is installed so as to straddle the conveyors 94 to 97 in the left-right direction. Further, the main body frame 35 is arranged so as to straddle the front end side portions of the division conveyors 19 and 24 and the rear end side portions of the division conveyors 20 and 25.

The robot 8 transfers the tray 3 from the conveyors 94 and 95 to the tray stages 98 to 101 and the tray 3 from the tray stages 98 to 101 to the conveyors 96 and 97. Specifically, the robot 8 conveys the empty trays 3 in the stacked state transported to the split conveyor 20 one by one to the tray stages 98 to 101, and transfers the trays 3 in the stacked state on the split conveyor 20 one by one. Step off. Further, the robot 8 conveys one tray 3 containing a predetermined number of liquid crystal panels 2 from the tray stages 98 to 101 to the division conveyor 25, and the number of stages of the trays 3 stacked on the division conveyor 25 is a predetermined number of stages. The trays 3 are stacked on the split conveyor 25 until

In this embodiment, when the tray 3 is conveyed between the conveyors 94 to 97 and the tray stage 100 by the robot 8, the tray stage 100 is arranged at the first position shown by the alternate long and short dash line in FIG. .. Similarly, when the robot 8 conveys the tray 3 between the conveyors 94 to 97 and the tray stage 101, the tray stage 101 is arranged at the first position shown by the alternate long and short dash line in FIG. In this embodiment, the tray stages 100 and 101 arranged at the second position shown by the solid line in FIG. 9 are out of the operating range of the robot 8.

The robot 9 has a liquid crystal panel on a tray 3 mounted on the tray stage 98, a tray 3 mounted on the tray stage 99, a tray 3 mounted on the tray stage 100, or a tray 3 mounted on the tray stage 101. Carry in 2 one by one. Specifically, the robot 9 carries the liquid crystal panels 2 carried out from the panel stage 113, which will be described later, one by one into the tray 3 placed on the tray stages 98 to 101. Further, the robot 9 carries in the liquid crystal panels 2 until a predetermined number of liquid crystal panels 2 are accommodated in the tray 3.

In the present embodiment, when the liquid crystal panel 2 is carried into the tray 3 mounted on the tray stage 100 by the robot 9, the tray stage 100 is arranged at the second position shown by the solid line in FIG. Similarly, when the liquid crystal panel 2 is carried into the tray 3 mounted on the tray stage 101 by the robot 9, the tray stage 101 is arranged at the second position shown by the solid line in FIG. In this embodiment, the tray stages 100 and 101 arranged at the first position shown by the alternate long and short dash line in FIG. 9 are out of the operating range of the robot 9.

(Configuration and operation of discharge unit)
FIG. 11 is a perspective view of the discharge unit 102 shown in FIG. FIG. 12 is a plan view of the discharge unit 102 shown in FIG.

The discharge unit 102 includes panel stages 111 to 113 on which the liquid crystal panel 2 is mounted. The discharge unit 102 of the present embodiment includes a pair (two) panel stages 111 arranged adjacently in the left-right direction, a pair of panel stages 112 arranged adjacently in the left-right direction, and a pair of panels arranged adjacently in the left-right direction. It is equipped with a stage 113. The panel stages 111 to 113 are fixed to the left end side of the base plate 114. The pair of panel stages 111 to 113 are arranged in this order from the front side to the rear side and at a constant pitch. Further, the pair of panel stages 111 to 113 are arranged at the same position in the left-right direction. The panel stages 111 to 113 include a plurality of suction portions that vacuum suck the liquid crystal panel 2 placed on the upper surface of the panel stages 111 to 113.

Further, the discharge unit 102 is mounted on the data reading device 116 for reading the data recorded on the liquid crystal panel 2, the robot 117 for transporting the liquid crystal panel 2 discharged from the processing device 15 to the panel stage 111, and the panel stage 111. It includes a robot 118 that conveys the liquid crystal panel 2 to the panel stages 112 and 113, and an ionizer 59 that removes static electricity from the liquid crystal panel 2 carried into the tray 3. These configurations are placed and fixed on the base plate 114. The base plate 114 is placed and fixed on the front end side portion of the upper surface 11a of the main body frame 11. The ionizer 59 is arranged above the panel stage 111, and removes static electricity from the liquid crystal panel 2 mounted on the panel stage 111.

The robot 117 includes two panel grip portions 121 that vacuum-suck and grip the liquid crystal panel 2, a movable frame 122 that holds the panel grip portions 121 so as to be able to slide in the vertical direction, and a movable frame 122 in the left-right direction. A fixed frame 123 that holds the movable frame 122 so that it can be slid, an elevating mechanism that raises and lowers the panel grip portion 121 with respect to the movable frame 122, and the movable frame 122 is slid to the left and right with respect to the fixed frame 123. It is equipped with a drive mechanism.

The fixed frame 123 is fixed to the base plate 114. The two panel grip portions 121 are arranged in a state of being spaced apart from each other in the left-right direction. The two panel grip portions 121 are arranged at the same positions as the panel stage 111 in the front-rear direction. The robot 117 vacuum-sucks and grips the two liquid crystal panels 2 discharged from the processing device 15 by the panel gripping portion 121, and conveys the two liquid crystal panels 2 to the panel stage 111. The liquid crystal panel 2 discharged from the processing device 15 is aligned by an alignment mechanism provided inside the processing device 15.

The robot 118 can slide in the vertical direction with two panel gripping portions 124 that vacuum-suck and grip the liquid crystal panel 2 and two panel gripping portions 125 that vacuum-suck and grip the liquid crystal panel 2. The movable frame 126 that holds the panel grips 124 and 125 so as to be, the fixed frame 127 that holds the movable frame 126 so that the movable frame 126 can be slid in the front-rear direction, and the panel grip 124 with respect to the movable frame 126. It includes an elevating mechanism for elevating and lowering 125, and a drive mechanism for sliding the movable frame 126 in the front-rear direction with respect to the fixed frame 127. The fixed frame 127 is fixed to the base plate 114.

The two panel grip portions 124 are arranged at a predetermined interval in the left-right direction, and the two panel grip portions 125 are arranged at a predetermined interval in the left-right direction. The panel grip portion 124 and the panel grip portion 125 are arranged at a predetermined interval in the front-rear direction. In this embodiment, the panel grip portion 124 is arranged on the front side, and the panel grip portion 125 is arranged on the rear side. The pitch of the panel grip portion 124 and the panel grip portion 125 in the front-rear direction is equal to the pitch of the panel stages 111 to 113 in the front-rear direction. Further, the panel gripping portions 124 and 125 are arranged at the same positions as the panel stages 111 to 113 in the left-right direction.

The robot 118 sequentially conveys the liquid crystal panel 2 mounted on the panel stage 111 to the panel stage 112 and the panel stage 113. Specifically, the panel grip portion 124 conveys the liquid crystal panel 2 mounted on the panel stage 111 to the panel stage 112, and the panel grip portion 125 transfers the liquid crystal panel 2 mounted on the panel stage 112 to the panel stage. Transport to 113. The liquid crystal panel 2 mounted on the panel stage 113 is conveyed by the robot 9 to the tray 3 mounted on the tray stages 98 to 101.

The data reading device 116 has two cameras 81, two movable frames 129 that hold each of the two cameras 81 so that they can slide in the vertical direction, and can slide in the horizontal direction. A movable frame 130 that holds two movable frames 129, a movable frame 131 that holds the movable frame 130 so that it can slide in the front-rear direction, and a movable frame 131 that holds the movable frame 130 so that it can slide in the left-right direction. A fixed frame 132 that holds the movable frame 131, an elevating mechanism that raises and lowers each of the two cameras 81 with respect to each of the two movable frames 129, and two movable frames 129 with respect to the movable frame 130, respectively. A drive mechanism that slides the movable frame 130 in the front-rear direction with respect to the movable frame 131, and a drive mechanism that slides the movable frame 131 in the left-right direction with respect to the fixed frame 132. There is. The fixed frame 132 is fixed to the base plate 114. Further, the data reading device 116 includes illumination that irradiates the liquid crystal panel 2 with light.

The data reading device 116 is mounted at the center position of the base plate 114 in the front-rear direction, and reads the data recorded on the liquid crystal panel 2 mounted on the panel stage 112. That is, the data reading device 116 reads the data of the liquid crystal panel 2 before being carried into the tray 3 on the tray stages 98 to 101 by the robot 9. The data of the liquid crystal panel 2 read by the data reading device 116 is associated with the liquid crystal panel 2 from which the data has been read as individual data of the liquid crystal panel 2 from which the data has been read.

(Main effect of this form)
As described above, in the present embodiment, the robot 8 conveys one tray 3 containing the liquid crystal panel 2 from the tray stages 98 to 101 to the split conveyor 25, and stacks the trays 3 on the split conveyor 25. doing. That is, in this embodiment, the tray 8 is automatically stacked by the robot 8. Therefore, in this embodiment, it is possible to suppress variations in the stacking work of the tray 3, and it is possible to stabilize the stacking work of the tray 3. Therefore, in this embodiment, it is possible to suppress damage to the liquid crystal panel 2 when the trays 3 are stacked.

In this embodiment, the tray stages 100 and 101 are movable between the first position shown by the alternate long and short dash line in FIG. 9 and the second position shown by the solid line in FIG. Therefore, in the present embodiment, the tray stages 100 and 101 arranged at the second position are out of the operating range of the robot 8, and the tray stages 100 and 101 arranged at the first position are out of the operating range of the robot 9. Even if the robot 8 is removed, the robot 8 can convey the tray 3 between the trays 94 to 97 and the tray stages 100 and 101, and the robot 9 allows the liquid crystal panel 2 to be transferred to the tray 3 on the tray stages 100 and 101. Can be carried in. That is, in this embodiment, even if the movable range of the robot 8 or the movable range of the robot 8 is narrowed, the tray 3 can be conveyed between the conveyors 94 to 97 and the tray stages 100 and 101 by the robot 8. At the same time, the robot 9 makes it possible to carry the liquid crystal panel 2 into the tray 3 on the tray stages 100 and 101.

Further, in the present embodiment, the same effect as that of the first embodiment can be obtained. For example, in the present embodiment, the liquid crystal panel 2 discharged from the processing device 15 is conveyed to the tray stage 113 by the robots 117 and 118, and then carried into the tray 3 on the tray stages 98 to 101 by the robot 9. It is possible to suppress variations in the transport work of the liquid crystal panel 2, and it is possible to stabilize the transport work of the liquid crystal panel 2. Therefore, in this embodiment, it is possible to suppress damage to the liquid crystal panel 2 during transportation of the liquid crystal panel 2.

Further, for example, in the present embodiment, the data of the liquid crystal panel 2 read by the data reading device 116 is associated with the liquid crystal panel 2 from which the data has been read as individual data of the liquid crystal panel 2 from which the data has been read, and the data. Since the liquid crystal panel 2 after the data is read by the reading device 116 is carried into the tray 3 on the tray stages 98 to 101, the liquid crystal panel 2 to which the individual data is associated can be stored in the tray 3. become.

[Modified Example of Embodiment 1]
FIG. 13 is a perspective view of the supply unit 140 according to the modified example of the first embodiment. FIG. 14 is a plan view of the supply unit 140 shown in FIG.

In the transport system 1 of the first embodiment, the small liquid crystal panel 2 is transported, but in the transport system 1, a medium-sized liquid crystal panel 2 (for example, a 15-inch liquid crystal panel 2) may be transported. When the liquid crystal panel 2 conveyed by the transfer system 1 is small, the cycle time generally required by the supply unit 10 is generally larger than that when the liquid crystal panel 2 conveyed by the transfer system 1 is medium-sized. It gets shorter. The supply unit 10 includes a panel stage 64, movable frames 65 and 66, a fixed frame 67, and a robot 61 in order to shorten the cycle time in the supply unit 10.

On the other hand, when the liquid crystal panel 2 conveyed by the transfer system 1 is medium-sized, the configuration corresponding to the panel stage 64, the configuration corresponding to the movable frames 65 and 66, the configuration corresponding to the fixed frame 67, and the robot. A supply unit 140 that does not have a configuration corresponding to 61 may be installed in place of the supply unit 10. Hereinafter, the configuration of the supply unit 140 will be described. In the following description, the same reference numerals will be given to the configurations common to those in the first embodiment, and the description thereof will be omitted or simplified.

The supply unit 140 includes a data reading device 146 that reads the data recorded on the liquid crystal panel 2, a robot 148 that conveys the liquid crystal panel 2 after the data is read by the data reading device 146 to the processing device 15, and the processing device 15. It includes an ionizer 59 that removes static electricity from the liquid crystal panel 2 that is transported to the liquid crystal panel 2, and a transport device 150 that transports the liquid crystal panel 2 after the data is read by the data reading device 146 toward the robot 148.

The data reading device 146, the robot 148, the ionizer 59, and the transport device 150 are placed and fixed on the base plate 152. The data reading device 146 is mounted on the left end side of the base plate 152. The robot 148 is mounted on the right end side of the base plate 152. The ionizer 59 is placed at the center position of the base plate 152 in the left-right direction. The transport device 150 is arranged between the data reading device 146 and the robot 148 in the left-right direction. The base plate 152 is placed and fixed on the rear end side portion of the upper surface 11a of the main body frame 11.

Further, the supply unit 140 includes two cameras 68 and two lights 69 for aligning the liquid crystal panel 2 before the data of the liquid crystal panel 2 is read by the data reading device 146. The camera 68 and the illumination 69 are arranged on the front side of the transport device 150. Further, the camera 68 and the illumination 69 are arranged between the tray stage 6 and the tray stage 7 when viewed from above and below. Further, the camera 68 and the illumination 69 are mounted on a base plate 153 fixed to the upper surface 11a of the main body frame 11, and the camera 68 detects the edge of the liquid crystal panel 2 from the lower side of the liquid crystal panel 2.

The camera 68 has two sides, one on the right front end side of the base plate 153 and the other on the left rear end side of the base plate 153, in order to detect two diagonal corners of the rectangular liquid crystal panel 2. It is placed in a place. The two lights 69 are arranged between the two cameras 68 in the front-rear direction. The illumination 69 is arranged so as to emit light downward, and when the camera 68 detects the edge of the liquid crystal panel 2, the light reflected by the base plate 153 (that is, indirect light) is emitted. The liquid crystal panel 2 is irradiated.

The data reading device 146 includes a camera 81 and a fixed frame 154 to which the camera 81 is fixed. The fixed frame 154 is fixed to the base plate 152. Further, the data reading device 146 is provided with an illumination that irradiates the liquid crystal panel 2 with light. The camera 81 reads the data recorded on the liquid crystal panel 2 from the lower side of the liquid crystal panel 2.

The transport device 150 includes a slide stage 155 on which the liquid crystal panel 2 is mounted, a fixed frame 156 that holds the slide stage 155 so that it can slide in the left-right direction, and a slide stage 155 with respect to the fixed frame 156. It is equipped with a drive mechanism that slides in the left-right direction. The slide stage 155 includes a plurality of suction portions that vacuum suck the liquid crystal panel 2 placed on the upper surface of the slide stage 155. The fixed frame 156 is fixed to the base plate 152.

The robot 148 has a panel gripping portion 158 that vacuum-sucks and grips the liquid crystal panel 2, a movable frame 159 that holds the panel gripping portion 158 so that it can slide in the vertical direction, and can slide in the horizontal direction. The movable frame 160 that holds the movable frame 159 so as to be, the fixed frame 161 that holds the movable frame 160 so that the movable frame 160 can be slid in the front-rear direction, and the panel grip portion 158 are moved up and down with respect to the movable frame 159. It includes an elevating mechanism, a drive mechanism for sliding the movable frame 159 in the left-right direction with respect to the movable frame 160, and a drive mechanism for sliding the movable frame 160 in the front-rear direction with respect to the fixed frame 161. The fixed frame 161 is fixed to the base plate 152.

In this modification, the robot 9 directly conveys the liquid crystal panel 2 carried out from the tray 3 on the tray stages 6 and 7 above the camera 68. When the edge of the liquid crystal panel 2 is detected by the camera 68, the robot 9 transports the liquid crystal panel 2 to the data reading device 146 while aligning the liquid crystal panel 2 based on the detection result of the edge of the liquid crystal panel 2. To do. In this modification, an alignment device for aligning the liquid crystal panel 2 is configured by the robot 9, the camera 68, and the illumination 69, and this alignment device detects the edge of the liquid crystal panel 2 and the edge of the liquid crystal panel 2. The liquid crystal panel 2 is aligned based on the detection result of.

Further, when the liquid crystal panel 2 is conveyed above the data reading device 146, the camera 81 reads the data of the liquid crystal panel 2. When the data of the liquid crystal panel 2 is read by the camera 81, the robot 9 conveys the liquid crystal panel 2 to the slide stage 155 which has moved to the left end side and is stopped, and places the liquid crystal panel 2 on the slide stage 155. When the liquid crystal panel 2 is placed on the slide stage 155, the transfer device 150 moves the slide stage 155 to the right and conveys the liquid crystal panel 2 to the right end side of the transfer device 150. The robot 148 vacuum-sucks and grips the liquid crystal panel 2 transported to the right end side of the transfer device 150 by the transfer device 150 by the panel gripping portion 158, and carries the liquid crystal panel 2 from the slide stage 155 into the processing device 15. The ionizer 59 is arranged above the transport device 150, and removes static electricity from the liquid crystal panel 2 transported by the transport device 150.

[Modified Example of Embodiment 2]
FIG. 15 is a perspective view of the discharge unit 172 according to the modified example of the second embodiment. FIG. 16 is a plan view of the discharge unit 172 shown in FIG.

In the transport system 91 of the second embodiment, the small liquid crystal panel 2 is transported, but in the transport system 91, the medium-sized liquid crystal panel 2 may be transported. When the liquid crystal panel 2 is small, the cycle time required by the discharge unit 102 is generally shorter than that when the liquid crystal panel 2 is medium-sized. Therefore, the configuration of the discharge unit 172 installed when the liquid crystal panel 2 transported by the transport system 91 is medium-sized may be different from the configuration of the discharge unit 102 of the second embodiment. Hereinafter, the configuration of the discharge unit 172 will be described. In the following description, the same reference numerals will be given to the configurations common to the first and second embodiments, and the description thereof will be omitted or simplified.

The discharge unit 172 includes a panel stage 173 on which the liquid crystal panel 2 is mounted. The panel stage 173 is fixed to the left rear end side of the base plate 174. The panel stage 173 includes a plurality of suction portions that vacuum suck the liquid crystal panel 2 mounted on the upper surface of the panel stage 173. Further, the discharge unit 172 includes a data reading device 175 that reads the data recorded on the liquid crystal panel 2, a robot 176 that transports the liquid crystal panel 2 discharged from the processing device 15 to the panel stage 173, a transport device 177, and a robot 178. It is provided with an ionizer 59 that removes static electricity from the liquid crystal panel 2 carried into the tray 3. These configurations are placed and fixed on the base plate 174.

The data reading device 175 is arranged immediately behind the panel stage 173. The robot 176 is mounted on the right end side of the base plate 174, and the robot 178 is mounted on the left end side of the base plate 174. The ionizer 59 is placed at the center position of the base plate 174 in the left-right direction. The transport device 177 is arranged between the robot 176 and the robot 178 in the left-right direction. The base plate 174 is placed and fixed on the front end side portion of the upper surface 11a of the main body frame 11.

The data reading device 175 includes a camera 81 and a fixed frame 179 to which the camera 81 is fixed. The fixed frame 179 is fixed to the base plate 174. Further, the data reading device 175 includes an illumination that irradiates the liquid crystal panel 2 with light. The camera 81 reads the data recorded on the liquid crystal panel 2 from the lower side of the liquid crystal panel 2.

The transport device 177 provides a slide stage 180 on which the liquid crystal panel 2 is mounted, a fixed frame 181 that holds the slide stage 180 so as to be able to slide in the left-right direction, and a slide stage 180 with respect to the fixed frame 181. It is equipped with a drive mechanism that slides in the left-right direction. The slide stage 180 includes a plurality of suction portions that vacuum-suck the liquid crystal panel 2 placed on the upper surface of the slide stage 180. The fixed frame 181 is fixed to the base plate 174.

The robot 176 has a panel grip portion 184 that vacuum-sucks and grips the liquid crystal panel 2, a movable frame 185 that holds the panel grip portion 184 so that it can slide in the vertical direction, and can slide in the horizontal direction. A fixed frame 186 that holds the movable frame 185 so as to be, an elevating mechanism that raises and lowers the panel grip portion 184 with respect to the movable frame 185, and a drive mechanism that slides the movable frame 185 in the left-right direction with respect to the fixed frame 186. It has.

The fixed frame 186 is fixed to the base plate 174. The panel grip portion 184 is arranged at the same position as the slide stage 180 in the front-rear direction. The robot 176 vacuum-sucks and grips the liquid crystal panel 2 discharged from the processing device 15 by the panel gripping portion 184, transports the liquid crystal panel 2 to the slide stage 180 which has moved to the right end side and is stopped, and slide stage. The liquid crystal panel 2 is placed on the 180.

The robot 178 has a panel grip portion 187 that vacuum-sucks and grips the liquid crystal panel 2, a movable frame 188 that holds the panel grip portion 187 so that it can slide in the vertical direction, and can slide in the front-rear direction. A fixed frame 189 that holds the movable frame 188, an elevating mechanism that raises and lowers the panel grip portion 187 with respect to the movable frame 188, and a drive mechanism that slides the movable frame 188 in the front-rear direction with respect to the fixed frame 189. Is equipped with.

The fixed frame 188 is fixed to the base plate 174. The panel grip portion 187 is arranged at the same position as the panel stage 173 in the left-right direction. The robot 178 vacuum-sucks and grips the liquid crystal panel 2 mounted on the slide stage 180 that has moved to the left end side and is stopped by the panel gripping portion 187, and conveys the liquid crystal panel 2 to the panel stage 173.

In this modification, the robot 9 conveys the liquid crystal panel 2 mounted on the panel stage 173 above the data reading device 175. When the liquid crystal panel 2 is conveyed above the data reading device 175, the camera 81 reads the data of the liquid crystal panel 2. When the data of the liquid crystal panel 2 is read by the camera 81, the robot 9 directly conveys the liquid crystal panel 2 to the tray 3 mounted on the tray stages 98 to 101. The ionizer 59 is arranged above the transport device 177, and removes static electricity from the liquid crystal panel 2 transported by the transport device 177.

[Other embodiments]
The above-described embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications can be carried out without changing the gist of the present invention.

In the above-described embodiment, the transfer system 1 conveys the liquid crystal panel 2 supplied to the processing device 15, and the transfer system 91 conveys the liquid crystal panel 2 discharged from the processing device 15, but the present invention applies. The transport system to be carried out may transport the liquid crystal panel 2 supplied to the processing device 15 and also transport the liquid crystal panel 2 discharged from the processing device 15. The transfer system in this case includes robots 8 and 9, and similarly to the transfer system 91, four conveyors 94 to 97, four tray stages 98 to 101, and two stage moving mechanisms 105 and 106. And have. Further, the transport system in this case includes, for example, a camera 68, an illumination 69, a data reading device 56, and the like.

Further, in this case, the conveyors 94 to 97 convey the tray 3 in the stacked state in which the liquid crystal panel 2 is housed. The robot 8 conveys the tray 3 containing the liquid crystal panel 2 between the conveyors 94 to 97 and the tray stages 98 to 101. That is, the robot 8 disassembles and stacks the tray 3 in which the liquid crystal panel 2 is housed. The robot 9 carries out the liquid crystal panel 2 from the tray 3 on the tray stages 98 to 101 and carries in the liquid crystal panel 2 to the tray 3 on the tray stages 98 to 101. Further, for example, the data reading device 56 uses the data of the liquid crystal panel 2 (the liquid crystal panel 2 supplied to the processing device 15) after being carried out from the tray 3 by the robot 9 and the liquid crystal carried into the tray 3 by the robot 9. The data of the panel 2 (the liquid crystal panel 2 discharged from the processing device 15) is read.

Further, in this case, it is preferable that the tray stage (empty tray stage) on which the empty tray 3 is placed is installed within the operating range of the robot 8. For example, about three empty trays 3 are placed in a stacked state on the empty tray stage, and the robot 8 moves the empty tray from the empty tray stage to the tray stages 98 to 101 as needed. 3 is transported. Further, the robot 8 conveys the empty tray 3 on the tray stages 98 to 101 to the empty tray stage as needed.

In the above-described embodiment, one tray 3 is placed on the tray stages 6, 7, 98-101, but the tray stages 6, 7, 98-101 are placed on the tray stages 6, 7, 98-101 so that the plurality of trays 3 do not overlap each other. It may be placed. Further, in the above-described embodiment, the transfer system 1 includes two tray stages 6 and 7, and the transfer system 91 includes four tray stages 98 to 101, but the transfer system 1 includes four tray stages. The transport system 91 may include two tray stages. Further, the number of tray stages included in the transport systems 1 and 91 may be three or five or more. Further, the number of tray stages included in the transport systems 1 and 91 may be one.

In the above-described embodiment, the transfer system 1 includes two conveyors 4 and 5, and the transfer system 91 includes four conveyors 94 to 97, whereas the transfer system 1 includes four conveyors and the transfer system 91. May be equipped with two conveyors. Further, the number of conveyors included in the transfer systems 1 and 91 may be three or five or more. Further, the number of conveyors included in the transfer systems 1 and 91 may be one.

In the second embodiment, the tray stages 100 and 101 arranged at the second position shown by the solid line in FIG. 9 are out of the operating range of the robot 8, but the tray stages 100 and 101 arranged at the second position are robots. It may be within the operating range of 8. In this case, the stage moving mechanisms 105 and 106 are unnecessary, and the tray stages 100 and 101 are fixed at, for example, the second position. Further, in the second embodiment, the tray stages 100 and 101 arranged at the first position shown by the alternate long and short dash line in FIG. 9 are out of the operating range of the robot 9, but the tray stages 100 arranged at the first position. , 101 may be within the operating range of the robot 9. In this case, the stage moving mechanisms 105 and 106 are unnecessary, and the tray stages 100 and 101 are fixed at, for example, the first position.

In the above-described form, the conveyors 4, 5, 94 to 97 are composed of a plurality of divided conveyors, but the conveyors 4, 5, 94 to 97 may be an integrated conveyor. Further, in the first embodiment, the conveyor 4 and the conveyor 5 are arranged adjacent to each other in the horizontal direction, but the conveyor 4 and the conveyor 5 may be arranged so as to overlap each other in the vertical direction. Similarly, in the second embodiment, the four conveyors 94 to 97 are arranged adjacent to each other in the left-right direction, but with any two conveyors 94 to 97 selected from the four conveyors 94 to 97. The remaining two conveyors 94 to 97 may be arranged so as to overlap each other in the vertical direction.

In the above-described embodiment, the robot 8 is a 3-axis orthogonal robot capable of moving the tray grip portion 39 in the vertical direction, the horizontal direction, and the front-rear direction, whereas the robot 8 moves the tray grip portion 39 in the horizontal direction and the front-rear direction. It may be a two-axis Cartesian robot that can be moved in a direction. In this case, the conveyors 4, 5, 94 to 97, which are roller conveyors, are provided with an elevating mechanism for raising and lowering a plurality of rollers. Further, the robot 8 may be a horizontal articulated robot. Further, in the above-described embodiment, the robot 9 is a parallel link robot, but the robot 9 may be a horizontal articulated robot. In this case, the robot 9 may be installed on the upper surface 11a so as to stand up from the upper surface 11a of the main body frame 11.

In the above-described embodiment, the robot 8 transfers the tray 3 from the conveyors 4, 94, 95 to the tray stages 6, 7, 98, 101, and transfers the tray 3 from the tray stages 6, 7, 98, 101 to the trays 5, 96, 97. The robot that transports the tray 3 from the trays 4, 94, 95 to the tray stages 6, 7, 98 to 101 and the conveyor from the tray stages 6, 7, 98 to 101 A robot that transports the tray 3 to 5, 96, and 97 may be individually provided. Further, in the above-described embodiment, the display panel transported by the transport systems 1 and 91 is the liquid crystal panel 2, but the display panel transported by the transport systems 1 and 91 is a display panel other than the liquid crystal panel 2. Is also good. For example, the display panel transported by the transport systems 1 and 91 may be an organic EL panel.

1,91 Conveyance system 2 Liquid crystal panel (display panel)
3 trays 4, 94, 95 conveyors (supply side conveyors)
5, 96, 97 conveyors (discharge side conveyors)
6, 7 Tray stage 8 Robot (1st transfer robot)
9 Robot (2nd transfer robot)
11 Body frame (first frame)
11a Top surface (installation surface)
12 Body frame (second frame)
12a Top surface (installation)
15 Processing device 16 to 25 Divided conveyor 27 Guide member 28 Contact member 29 Number of stages detection mechanism 30 Sensor 31 Elevating mechanism 45 Main body 46 Lever 47 Arm 48 Head unit (movable part)
49 Panel grip 50 Motor (rotation drive mechanism)
52 Arm 56, 116, 146, 175 Data reader 57 Alignment device 98, 99 Tray stage (fixed tray stage)
100, 101 tray stage (movable tray stage)
105, 106 Stage movement mechanism X Tray transport direction Y Left-right direction

Claims (9)

A transport system that transports at least one of the display panel supplied to a predetermined processing device and the display panel discharged from the predetermined processing device.
A conveyor that conveys trays that can be stacked in multiple stages and can accommodate display panels, a tray stage on which the trays are placed, and a first transfer robot that conveys the trays between the conveyor and the tray stages. A second transfer robot that carries out at least one of carrying out the display panel from the tray mounted on the tray stage and carrying the display panel into the tray mounted on the tray stage, and the display. A data reading device for reading the data recorded on the panel, a first frame in which the first transfer robot is installed, and a second frame in which the second transfer robot is installed are provided.
The data reading device is at least one of the data on the display panel after being carried out from the tray by the second transfer robot and the data on the display panel before being carried into the tray by the second transfer robot. or read-one,
An installation surface on which the first transfer robot is installed is formed on the first frame.
The second frame includes an installation portion that is arranged above the installation surface and on which the second transfer robot is installed.
The first transfer robot is installed on the installation surface so as to stand up from the installation surface.
The second transfer robot is a transfer system characterized in that it is installed in the installation portion so as to hang from the installation portion . The conveyor includes a supply-side conveyor that conveys the tray in a direction approaching the tray stage and a discharge-side conveyor that conveys the tray in a direction away from the tray stage.
The first transfer robot according to claim 1, wherein the first transfer robot transfers the tray from the supply side conveyor to the tray stage and transfers the tray from the tray stage to the discharge side conveyor. Conveyor system. The supply-side conveyor is arranged on both sides in the left-right direction orthogonal to the transport direction of the tray and the vertical direction, and is arranged at a guide member for restricting the movement of the tray in the left-right direction and a downstream end of the tray in the transport direction. The second aspect of claim 2, wherein the tray is provided with an abutting member with which the tray abuts, and the tray is brought into contact with the abutting member before the tray is conveyed to the tray stage by the first conveying robot. Transport system. The transport system according to any one of claims 1 to 3, further comprising a plurality of the tray stages. It is characterized by including an alignment device that detects the edge of the display panel carried out from the tray by the second transfer robot and aligns the display panel based on the detection result of the edge of the display panel. The transport system according to any one of claims 1 to 4. A stage number detection mechanism for detecting the number of stages of the tray on the conveyor is provided.
The transfer system according to any one of claims 1 to 5, wherein the number of stages detecting mechanism includes a sensor for detecting the presence or absence of the tray and an elevating mechanism for raising and lowering the sensor. The transport system according to any one of claims 1 to 6, wherein the conveyor is composed of a plurality of split conveyors that are split in the transport direction of the tray and can be individually driven. The second transfer robot has a main body portion, a plurality of levers rotatably connected to the main body portion on the proximal end side, and a plurality of levers on the distal end side so that the proximal end side can rotate. A plurality of arm portions to be connected, a movable portion rotatably connected to the tip end side of the arm portion, a panel grip portion attached to the movable portion to grip the display panel, and a plurality of the levers. It is equipped with a plurality of rotation drive mechanisms that rotate each of the above.
The plurality of levers are connected to the main body portion so as to extend substantially radially toward the outer peripheral side of the main body portion at a substantially equal angle pitch.
The arm portion includes two linear arms parallel to each other.
The base end side of each of the two arms is rotatably connected to the tip end side of the lever, and the movable portion is rotatably connected to the tip end side of the two arms.
The transport system according to any one of claims 1 to 7, wherein the main body portion is fixed to the installation portion. As the tray stage, two fixed tray stages arranged adjacent to each other in the horizontal direction orthogonal to the transport direction of the tray and the vertical direction, and two movable trays movable in the transport direction and the horizontal direction of the tray. It is equipped with a stage and two stage moving mechanisms for individually moving the two movable tray stages.
The stage moving mechanism moves the movable tray stage between a first position aligned with the fixed tray stage in the left-right direction and a second position overlapping with at least a part of the fixed tray stage in the tray transport direction. The transport system according to any one of claims 1 to 8 , characterized in that.

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