CN110789990A

CN110789990A - Conveying system

Info

Publication number: CN110789990A
Application number: CN201910711998.9A
Authority: CN
Inventors: 荒井正; 佐藤史朗
Original assignee: Nidec Sankyo Corp
Current assignee: Nidec Instruments Corp
Priority date: 2018-08-03
Filing date: 2019-08-02
Publication date: 2020-02-14
Also published as: JP2020019121A

Abstract

The invention provides a conveying system, which can convey a tray capable of accommodating a display panel and the display panel, can be miniaturized, and can reduce the cost. A conveyance system (1) is provided with: a transfer robot (8) which has a detachably attachable hand and transfers the display panel and a tray (4) capable of storing the display panel; hand placing tables (9, 10) which are provided within the operating range of the transfer robot (8) and on which a hand detached from the transfer robot (8) is placed. A transfer robot (8) is provided with an arm (22) and a tool exchange device, wherein the tool exchange device is provided with an arm side member (43) fixed to the front end of the arm (22) and a hand side member fixed to a hand, and the transfer robot (8) is provided with a first hand for gripping a tray (4) and a second hand for gripping a display panel as the hand, and the first hand or the second hand is mounted on the arm (22).

Description

Conveying system

Technical Field

The present invention relates to a transport system for transporting a display panel such as a liquid crystal panel and a tray capable of housing the display panel.

Background

Conventionally, a conveying system for conveying a small-sized liquid crystal panel is known (for example, see patent document 1). The conveyance system described in patent document 1 includes: a conveyor belt that carries a tray capable of housing the liquid crystal panel; a tray carrying stage for carrying a tray; a first transfer robot that transfers the tray between the conveyor belt and the tray stage; and a second transfer robot that carries out the liquid crystal panel from the tray placed on the tray stage. The first transfer robot is a so-called three-axis orthogonal robot and includes a tray grasping portion that grasps the tray. The second transfer robot is a so-called parallel robot and includes a panel grip portion for gripping the liquid crystal panel.

Documents of the prior art

Patent document

Japanese patent application laid-open No. 2018-6518 of patent document 1

Disclosure of Invention

Technical problem to be solved by the invention

In the transport system described in patent document 1, a first transport robot that transports a tray and a second transport robot that transports a liquid crystal panel are provided separately. Therefore, in this conveyance system, the conveyance system is increased in size, and the cost of the conveyance system is increased.

Accordingly, an object of the present invention is to provide a conveyance system for conveying a tray capable of storing display panels and a display panel, which can be downsized and can reduce the cost.

Technical scheme for solving technical problem

In order to solve the above problem, a conveyance system according to the present invention includes: a transfer robot having a detachably attachable hand and transferring the display panel and a tray capable of housing the display panel; and a hand placing table provided in an operating range of the transfer robot and on which a hand detached from the transfer robot is placed, wherein the transfer robot includes an arm and a tool changer including an arm-side member fixed to a tip of the arm and a hand-side member fixed to the hand, and the transfer robot includes a first hand having a tray grasping portion for grasping the tray and a second hand having a panel grasping portion for grasping the display panel as hands, the hand-side member is detachably attached to the arm-side member, and the first hand or the second hand is attached to the arm.

In the transfer system of the present invention, a transfer robot includes: a first hand having a tray holding portion for holding the tray and detachably attached thereto; and a second hand which has a display panel grip portion capable of gripping the display panel, is detachably attached, and conveys the tray and the display panel. That is, in the present invention, the carrier robot that carries the tray and the carrier robot that carries the display panel are shared. Therefore, in the present invention, the conveyance system can be made smaller and the cost of the conveyance system can be reduced, compared to a case where the conveyance robot that conveys the tray and the conveyance robot that conveys the display panel are provided separately.

In addition, in the present invention, the transport system includes a hand placing table provided in an operation range of the transport robot and provided with a hand placing table on which a hand detached from the transport robot is placed. In the present invention, the transfer robot includes a tool changer having an arm-side member fixed to a tip of the arm and a hand-side member fixed to the hand, and the hand-side member is detachably attached to the arm-side member. Therefore, in the present invention, even if the first hand and the second hand can be detached from or attached to the arm, the first hand attached to the arm can be automatically replaced with the second hand on the hand table, and the second hand attached to the arm can be automatically replaced with the first hand. Therefore, in the present invention, even if the first hand and the second hand can be detached from or attached to the arm, the hand replacement work becomes easy.

In the present invention, for example, the arm-side member includes a lock member for fixing the hand-side member to the arm-side member, and the lock member is moved between a fixing position at which the hand-side member is fixed to the arm-side member and a release position at which the fixed state of the hand-side member with respect to the arm-side member is released by compressed air supplied to the arm-side member.

In the present invention, it is preferable that the transfer robot includes a plurality of types of first hands. With the above configuration, a plurality of types of pallets having different sizes and shapes can be transported by the transport robot.

In the present invention, it is preferable that, when the first hand is attached to the arm, the remaining first hands except for the first hand attached to the arm are placed on the hand placing table, and when the second hand is attached to the arm, all the first hands are placed on the hand placing table. With the above configuration, when the type of the tray to be conveyed is switched, the first hand corresponding to the tray to be conveyed can be automatically attached to the arm. Therefore, even when a plurality of types of pallets different in size and shape are conveyed by the conveying robot, the preliminary preparation work for switching the types of the conveyed pallets is easy.

In the present invention, it is preferable that the transfer robot includes a plurality of types of second hands. With the above configuration, the transfer robot can transfer a plurality of types of display panels having different sizes and shapes.

In the present invention, it is preferable that, when the second hand is attached to the arm, the remaining second hands except for the second hand attached to the arm are placed on the hand placing table, and when the first hand is attached to the arm, all of the second hands are placed on the hand placing table. With the above configuration, when the type of the display panel to be conveyed is switched, the second hand corresponding to the display panel to be conveyed can be automatically attached to the arm. Therefore, even when a plurality of types of display panels having different sizes and shapes are conveyed by using the conveying robot, the preparatory work for switching the types of the conveyed display panels is easy.

In the present invention, it is preferable that the conveyance system includes a tray arrangement unit in which the trays are arranged in a stacked state, the tray arrangement unit includes: a mounting plate on which the tray disposed in the tray disposition part is mounted; and a guide member for positioning the mounting plate in the horizontal direction. With the above configuration, the outer shape of the mounting plate is made constant regardless of the shape and size of the tray, and thus the mounting plate can be positioned at a constant position using the common guide member. Therefore, even when a plurality of types of trays having different sizes and shapes are conveyed by the conveying robot, the tray placed on the placement plate can be positioned at a constant position using the common guide member.

Effects of the invention

As described above, in the present invention, in the conveyance system that conveys the display panel and the tray that can house the display panel, the conveyance system can be downsized, and the cost of the conveyance system can be reduced.

Drawings

Fig. 1 is a plan view of a conveyance system according to an embodiment of the present invention.

Fig. 2 is a side view of the handling system shown in fig. 1.

Fig. 3 is a front view of the handling system shown in fig. 1.

Fig. 4 is a plan view for explaining the structure of the tray arrangement portion shown in fig. 1.

Fig. 5 is a diagram for explaining a structure of a connecting portion between the arm and the hand of the transfer robot shown in fig. 3.

Fig. 6 is a sectional view for explaining the structure of the tool changer shown in fig. 5.

Fig. 7 is a sectional view for explaining the operation of the tool changer shown in fig. 5.

Fig. 8 is a plan view for explaining the configuration of the hand rest shown in fig. 1.

Description of the reference numerals

1 conveyance system

2 LCD panel (display panel)

4 tray

5. 6 tray arrangement part

8 robot (transfer robot)

9. 10 hand placing table

13 carrying plate

16. 17 guide member

22 arm

23 hand (first hand)

24 hand (the second hand)

25 tool changer

38 tray grip

40 Panel grip

43 arm side part

44 hand piece

45 piston (locking parts)

Detailed Description

Embodiments of the present invention will be described below with reference to the drawings.

(integral Structure of carrying System)

Fig. 1 is a plan view of a conveying system 1 according to an embodiment of the present invention. Fig. 2 is a side view of the handling system 1 shown in fig. 1. Fig. 3 is a front view of the handling system 1 shown in fig. 1. Fig. 4 is a plan view for explaining the structure of the

tray arrangement parts

5 and 6 shown in fig. 1.

The transport system 1 of the present embodiment is incorporated into a production line for a relatively small liquid crystal display used for a portable device or the like. The transport system 1 transports a liquid crystal panel 2 (see fig. 4) as a display panel. Specifically, the transport system 1 transports the liquid crystal panel 2 into the processing apparatus 3 that performs a predetermined process on the liquid crystal panel 2. The liquid crystal panel 2 is formed in a rectangular flat plate shape.

The transport system 1 includes two

tray arrangement portions

5 and 6, and the trays 4 capable of storing the liquid crystal panels 2 are arranged in a stacked state (stacked state) in the two

tray arrangement portions

5 and 6. The tray 4 is formed in a substantially rectangular flat plate shape, and a concave portion for accommodating the liquid crystal panel 2 is formed on the upper surface of the tray 4. The plurality of liquid crystal panels 2 are stored on the tray 4 in a state of not overlapping in the vertical direction. The tray 4 is formed of a resin having low rigidity.

The tray arrangement portion 5 and the tray arrangement portion 6 are arranged adjacent to each other in the horizontal direction. The

tray arrangement portions

5 and 6 are provided on the mount 7. In the following description, a direction in which the tray arrangement portion 5 and the tray arrangement portion 6 are adjacent (X direction in fig. 1 and the like) is referred to as a "left-right direction", and a Y direction in fig. 1 and the like orthogonal to the up-down direction and the left-right direction is referred to as a "front-back direction". One side in the front-rear direction, i.e., the Y1 direction side in fig. 1 and the like, is referred to as the "front" side, and the opposite side to the front side, i.e., the Y2 direction side in fig. 1 and the like, is referred to as the "rear" side. In fig. 1, the gantry 7 is not shown.

Further, the conveyance system 1 includes: a robot 8 as a transfer robot for transferring the liquid crystal panel 2 and the tray 4; two hand tables 9 and 10 provided in the operation range of the robot 8. The robot 8 is disposed behind the

tray arrangement units

5 and 6. The processing device 3 is disposed behind the robot 8. The hand table 9 is disposed on one side of the robot 8 in the left-right direction, and the hand table 10 is disposed on the other side of the robot 8 in the left-right direction. In fig. 2 and 3, the hand rests 9 and 10 are not shown.

As described above, the trays 4 are arranged in a stacked state on the

tray arrangement portions

5 and 6. In fig. 2 and 3, the tray 4 is shown in a stacked state. A plurality of liquid crystal panels 2 supplied to the processing apparatus 3 are accommodated in the tray 4 disposed in the tray disposing section 5. On the other hand, the liquid crystal panel 2 is not stored in the tray 4 disposed in the tray disposing section 6, and the tray 4 disposed in the tray disposing section 6 is an empty tray.

The

tray arrangement portions

5 and 6 include: a mounting plate 13 (see fig. 4) on which the trays 4 arranged in the

tray arrangement parts

5 and 6 are mounted in a stacked state on the mounting plate 13; a base member 14 on which the mounting plate 13 is mounted, the base member 14; and a slide mechanism 15, the slide mechanism 15 sliding the base member 14 with respect to the mount 7. The

tray arrangement portions

5 and 6 are provided with guide members 16 and 17 (see fig. 4) for positioning the placement plate 13 in the horizontal direction. The

tray arrangement portions

5 and 6 include: a lock mechanism (not shown) for locking the base member 14 at one end side in the sliding direction of the base member 14; a lock mechanism (not shown) for locking the base member 14 at the other end side in the sliding direction of the base member 14. Note that, in fig. 1, the mounting plate 13, the base member 14, and the

guide members

16 and 17 are not illustrated, and in fig. 2 and 3, the mounting plate 13 and the

guide members

16 and 17 are not illustrated.

The mounting plate 13 is formed in a substantially rectangular flat plate shape, and is detachably mounted on the base member 14 so as to be aligned with the thickness direction of the mounting plate 13. The mounting plate 13 is made of resin. The mounting plate 13 has higher rigidity than the tray 4. A recess (not shown) into which the tray 4 is fitted is formed on the upper surface of the mounting plate 13 so that a plurality of types of trays 4 having different sizes and shapes can be mounted on the common mounting plate 13.

The base member 14 is formed in a substantially rectangular flat plate shape, and is disposed so that the thickness direction of the base member 14 coincides with the vertical direction. The mounting plate 13 is mounted on the base member 14 in a state of being positioned in the front-rear and left-right directions. The slide mechanism 15 includes a slide rail or the like for sliding the base member 14. The slide mechanism 15 slides the base member 14 in the front-rear direction. In this embodiment, the operator manually slides the base member 14 in the front-rear direction. A handle 18 (see fig. 3) that an operator grips when sliding the base member 14 is fixed to the front end side of the lower surface of the base member 14.

In the tray arrangement portion 5, the tray 4 in a stacked state in which the liquid crystal panels 2 are stored is placed on the placement plate 13, and is placed on the base member 14 drawn out to the front side together with the placement plate 13. In the tray arrangement portion 5, when the tray 4 in the stacked state is placed on the base member 14 drawn out to the front side together with the placement plate 13, the base member 14 is pushed in to the rear side. In the tray arrangement portion 6, the empty tray 4 in the stacked state is removed from the base member 14 drawn out to the front side together with the carriage plate 13. In the tray arrangement portion 6, when the empty tray 4 in the stacked state is removed from the base member 14 drawn out to the front side together with the carriage plate 13, the base member 14 is pushed in to the rear side. The robot 8 conveys the liquid crystal panel 2 and the tray 4 in a state where the base member 14 is pushed in to the rear side.

The guide members 16 are disposed on both sides of the carriage plate 13 in the left-right direction. Specifically, the guide members 16 are disposed on both sides in the left-right direction of the carriage plate 13 in a state where the base member 14 is pushed in toward the rear side. The guide member 16 positions the carriage plate 13 in the right-left direction. The guide member 17 is located behind the carriage plate 13 in a state where the base member 14 is pushed rearward. The guide member 17 positions the carriage plate 13 in the front-rear direction.

(Structure of transfer robot and hand placing table)

Fig. 5 is a diagram for explaining the configuration of the connection portion between the arm 22 and the

hands

23 and 24 of the robot 8 shown in fig. 3. Fig. 6 is a sectional view for explaining the structure of the tool changer 25 shown in fig. 5. Fig. 7 is a sectional view for explaining the operation of the tool changer 25 shown in fig. 5. Fig. 8 (a) is a plan view for explaining the configuration of the hand rest 9 shown in fig. 1, and fig. 8 (B) is a plan view for explaining the configuration of the hand rest 10 shown in fig. 1.

The robot 8 is a six-axis vertical articulated robot. The robot 8 includes: a support member 21, the support member 21 constituting a lower end portion of the robot 8; an arm 22 having a base end side of the arm 22 rotatably connected to the support member 21;

hands

23, 24, the

hands

23, 24 being detachably attached to the tip side of the arm 22 (see fig. 5); and a tool changer 25, wherein the tool changer 25 is disposed between the arm 22 and the

hands

23 and 24. The hand 23 is a hand for gripping the tray 3, and the hand 24 is a hand for gripping the liquid crystal panel 2. Hand 23 or hand 24 is mounted on arm 22. In this embodiment, the hand 23 is a first hand, and the hand 24 is a second hand. In fig. 1 to 3, the

hands

23 and 24 are not shown.

The support member 21 is fixed to the mount 7. The arm 22 includes: a joint 26, the joint 26 being connected to the support member 21 so as to be relatively rotatable; a joint part 27, the joint part 27 being connected to the joint part 26 so as to be relatively rotatable; a linear arm portion 28, a base end of the arm portion 28 being fixed to the joint portion 27; a joint 29, the joint 29 being fixed to the tip of the arm 28; a joint part 30, the joint part 30 being connected to the joint part 29 so as to be relatively rotatable; a linear arm portion 31 having a base end connected to the joint portion 30 so as to be relatively rotatable; a joint portion 32 to which the tip of the arm portion 31 is fixed; a joint 33, the joint 33 being connected to the joint 32 so as to be relatively movable; and an arm tip portion 34, the arm tip portion 34 being rotatably connected to the joint portion 33.

The

joint portions

26, 27, 29, 30, 32, and 33 include motors and reducers for reducing and transmitting the power of the motors. The joint 26 is connected to the support member 21 so as to be rotatable in the vertical direction as an axial direction of rotation. The joint 27 is connected to the joint 26 so as to be rotatable in the horizontal direction as the axial direction of rotation. The joint portion 30 is connected to the joint portion 29 so as to be rotatable in the horizontal direction as the axial direction of rotation. The joint 33 is connected to the joint 32 so as to be rotatable in the horizontal direction as the axial direction of rotation.

The axial direction in which the joint 27 rotates with respect to the joint 26, the axial direction in which the joint 30 rotates with respect to the joint 29, and the longitudinal direction of the arm 28 are orthogonal to each other. The axial direction in which the joint 30 rotates with respect to the joint 29, the axial direction in which the joint 33 rotates with respect to the joint 32, and the longitudinal direction of the arm 31 are orthogonal to each other. The axial direction in which the joint 30 rotates with respect to the joint 29 and the axial direction in which the arm 31 rotates with respect to the joint 30 are orthogonal to each other. The axial direction in which the joint portion 33 rotates with respect to the joint portion 32 and the axial direction in which the arm tip portion 34 rotates with respect to the joint portion 33 are orthogonal to each other.

The hand 23 is provided with a tray grasping portion 38 that grasps the tray 4. The tray grasping portion 38 includes a plurality of suction cups 39 that suck the upper surface of the tray 4. The hand 24 includes a panel grip 40 that grips the liquid crystal panel 2. The panel grip 40 includes a plurality of suction pads 41 for sucking the upper surface of the liquid crystal panel 2. The tool changer 25 includes an arm-side member 43 fixed to the tip of the arm 22 (specifically, the tip of the arm tip portion 34), and a hand-side member 44 fixed to the

hands

23 and 24. The hand member 44 is detachably attached to the arm member 43.

The arm-side member 43 includes: a piston 45; and a main body portion 46 holding the piston 45 linearly movably. The piston 45 is formed in a cylindrical shape with a brim having a shaft portion 45a formed in a cylindrical shape and a disk-shaped brim portion 45b, wherein the brim portion 45b extends from one end of the shaft portion 45a to the outer circumferential side. An air chamber 46a in which the brim 45b is disposed is formed inside the main body 46. The main body 46 is formed with two

air passages

46b and 46c communicating with the air chamber 46a, and a cylindrical protruding portion 46d through which the shaft portion 45a is inserted on the inner peripheral side.

A plurality of through holes 46e (see fig. 6) penetrating the protruding portion 46d in the radial direction of the protruding portion 46d are formed on the tip end side of the protruding portion 46 d. The balls 47 are held in the through holes 46e so as to be movable in the radial direction of the protruding portion 46 d. A seal member 48 is attached to the outer peripheral surface of the base end side of the protruding portion 46 d. Further, a seal member 49 is attached to the outer peripheral surface of the shaft portion 45a of the piston 45, and a seal member 50 is attached to the outer peripheral surface of the flange portion 45 b. The hand member 44 is formed with a recess 44a into which the projection 46d is fitted.

When the hand-side member 44 is attached to the arm-side member 43, as shown in fig. 7 (a), the robot 8 is started and the protruding portion 46d is fitted into the recess 44a in a state where compressed air is supplied from the air flow path 46b to the air chamber 46 a. Then, as shown in fig. 7 (B), compressed air is supplied from the air flow path 46c to the air chamber 46 a. When compressed air is supplied from the air passage 46c to the air chamber 46a, the piston 45 moves to press the balls 47 against the inclined surface 44b formed in the recess 44 a. When the balls 47 press the inclined surface 44b, the hand side member 44 is fixed to the arm side member 43. When the hand member 44 is detached from the arm member 43, the robot 8 is started to pull out the protruding portion 46d from the recess 44a while supplying compressed air from the air flow path 46b to the air chamber 46 a.

In this way, the piston 45 is moved between a fixed position (a position shown in fig. 7B) at which the hand-side member 44 is fixed to the arm-side member 43 and a released position (a position shown in fig. 7 a) at which the fixed state of the hand-side member 44 with respect to the arm-side member 43 is released by the compressed air supplied to the air chamber 46a (i.e., by the compressed air supplied to the arm-side member 43). When the hand-side member 44 is fixed to the arm-side member 43, the

hands

23, 24 are fixed to the arm 22. When the fixed state of the hand side member 44 to the arm side member 43 is released, the

hands

23 and 24 can be detached from the arm 22. The piston 45 of the present embodiment is a lock member for fixing the hand member 44 to the arm member 43.

The robot 8 of the present embodiment includes a plurality of types of hands 23 so as to be able to grip a plurality of types of trays 4 having different sizes and shapes. The robot 8 includes a plurality of types of hands 24 so as to be able to grip a plurality of types of liquid crystal panels 2 having different sizes and shapes. A hand side member 44 is fixed to each of the

various hands

23, 24. A hand 23 detached from the robot 8 (the hand 23 not attached to the robot 8) is placed on the hand stage 9. Further, a hand 24 detached from the robot 8 (a hand 24 not attached to the robot 8) is placed on the hand table 10.

Specifically, when the hand 23 is attached to the arm 22, the remaining hands 23 other than the hand 23 attached to the arm 22 are placed on the hand rest 9, and all the hands 24 are placed on the hand rest 10. When the hand 24 is attached to the arm 22, the remaining hands 24 other than the hand 24 attached to the arm 22 are placed on the hand rest 10, and all the hands 23 are placed on the hand rest 9.

The hand table 9 includes a rotary table 54 on which the plurality of types of hands 23 are placed, and a driving mechanism (not shown) for rotating the rotary table 54. The plurality of kinds of hands 23 are placed at equal distances from the center of the turntable 54 in the radial direction of the turntable 54 formed in a circular plate shape. In the hand placing table 9, when the rotating table 54 is stopped at a predetermined position, the hand 23 can be attached to the arm 22 or the hand 23 can be detached from the arm 22. In fig. 1, the rotary table 54 is not shown.

The hand placing table 10 includes a rotary table 55 on which the various kinds of hands 24 are placed, and a driving mechanism (not shown) for rotating the rotary table 55, as in the hand placing table 9. The plurality of kinds of hands 24 are placed at equal distances from the center of the turntable 55 in the radial direction of the turntable 55 formed in a circular plate shape. When the turntable 55 is stopped at a predetermined position on the hand placing table 10, the hand 24 can be attached to the arm 22 or the hand 24 can be detached from the arm 22. In fig. 1, the rotary table 55 is not shown.

(operation of the carrying System)

When the liquid crystal panel 2 is carried into the processing apparatus 3 by the carrying system 1, first, the tray 4 in a stacked state in which the liquid crystal panels 2 are stored is supplied to the tray arrangement portion 5 by manual operation of an operator. At this time, a hand 24 is attached to the arm 22 of the robot 8. When the trays 4 in the stacked state in which the liquid crystal panels 2 are stored are supplied to the tray arrangement portion 5, the robot 8 carries the liquid crystal panels 2 stored in the uppermost tray 4 of the tray arrangement portion 5 into the processing apparatus 3 one by one.

When all the liquid crystal panels 2 stored in the uppermost tray 4 are loaded into the processing apparatus 3, the robot 8 is started up to remove the hand 24 attached to the arm 22 from the turntable 55. Specifically, after the hand 24 attached to the arm 22 is moved on the rotary table 55 and placed at a predetermined position on the rotary table 55, the arm-side member 43 supplies compressed air from the air flow passage 46b to the air chamber 46a, and the protruding portion 46d of the arm-side member 43 is pulled out from the recess 44a of the hand-side member 44, thereby detaching the hand 24 from the arm 22.

Thereafter, the robot 8 is started to move the tip end portion of the arm 22 on the rotary table 54. Specifically, the tip end portion of the arm 22 is moved to the upper side of a predetermined hand 23 among the plurality of types of hands 23 placed on the rotating table 54. Then, in the state where the compressed air is supplied from the air flow path 46b to the air chamber 46a in the arm-side member 43, the predetermined hand 23 of the plurality of types of hands 23 is attached to the arm 22 by fitting the protrusion 46d of the arm-side member 43 into the recess 44a of the hand-side member 44 and supplying the compressed air from the air flow path 46c to the air chamber 46 a.

Thereafter, the robot 8 conveys the empty tray 4 at the uppermost layer of the tray arrangement portion 5 to the tray arrangement portion 6. Thereafter, the robot 8 is started, the hand 23 attached to the arm 22 is moved on the rotary table 54, and after being placed at a predetermined position on the rotary table 54, compressed air is supplied from the air flow passage 46b to the air chamber 46a in the arm-side member 43, and the protruding portion 46d of the arm-side member 43 is pulled out from the recessed portion 44a of the hand-side member 44, whereby the hand 23 is detached from the arm 22.

Thereafter, the robot 8 is started to move the tip end portion of the arm 22 to the upper side of the hand 24 attached to the arm 22 on the turntable 55. Then, in the state where the compressed air is supplied from the air flow path 46b to the air chamber 46a in the arm-side member 43, the projection 46d of the arm-side member 43 is fitted into the recess 44a of the hand-side member 44, and the compressed air is supplied from the air flow path 46c to the air chamber 46a, whereby a predetermined hand 24 of the plurality of types of hands 24 is attached to the arm 22.

Thereafter, the robot 8 carries the liquid crystal panels 2 stored in the uppermost tray 4 of the tray arrangement unit 5 into the processing apparatus 3 one by one. Thereafter, these operations are repeated until the tray 4 placed on the tray arrangement portion 5 is empty. When the tray 4 placed on the tray arrangement portion 5 is empty, the tray 4 in a stacked state in which the liquid crystal panels 2 are stored is supplied to the tray arrangement portion 5 by manual work of an operator. Next, the empty trays 4 stacked on the tray arrangement portion 6 are removed from the tray arrangement portion 6.

(main effect of the present embodiment)

As described above, in this embodiment, the hand 23 for gripping the tray 4 and the hand 24 for gripping the liquid crystal panel 2 can be attached to or detached from the arm 22, and the robot 8 can transport the liquid crystal panel 2 and the tray 4. That is, in this embodiment, the liquid crystal panel 2 and the tray 4 are carried by the common robot 8. Therefore, in this embodiment, the size of the conveyance system 1 can be reduced and the cost of the conveyance system 1 can be reduced, compared to a case where a robot for conveying the liquid crystal panel 2 and a robot for conveying the tray 4 are provided separately.

In the present embodiment, the carrying system 1 includes hand tables 9 and 10, and the hand tables 9 and 10 are provided in the operating range of the robot 8 and are placed by

hands

23 and 24 detached from the robot 8. In this embodiment, the robot 8 includes the tool changer 25, and the tool changer 25 includes an arm side member 43 fixed to the tip of the arm 22 and a hand side member 44 fixed to the

hands

23 and 24. Therefore, in this embodiment, even if the hand 23 and the hand 24 can be attached to or detached from the arm 22, the hand 23 attached to the arm 22 can be automatically replaced with the hand 24 on the hand tables 9 and 10, and the hand 24 attached to the arm 22 can be automatically replaced with the hand 23. Therefore, in this embodiment, even if the hand 23 and the hand 24 can be attached to or detached from the arm 22, the replacement work of the

hands

23, 24 becomes easy.

In this embodiment, the robot 8 includes a plurality of types of hands 23 and a plurality of types of hands 24. Therefore, in this embodiment, it is possible to transport a plurality of types of trays 4 having different sizes and shapes using the robot 8, and it is possible to transport a plurality of types of liquid crystal panels 2 having different sizes and shapes using the robot 8.

In this embodiment, when the hand 23 is attached to the arm 22, the remaining hand 23 other than the hand 23 attached to the arm 22 is placed on the hand rest 9, and when the hand 24 is attached to the arm 22, the entire hand 23 is placed on the hand rest 9. Therefore, in this embodiment, when the type of the tray 4 to be conveyed is changed, the hand 23 corresponding to the tray 4 to be conveyed can be automatically attached to the arm 22. Therefore, in this embodiment, even when a plurality of types of trays 4 different in size and shape are conveyed by the robot 8, the preliminary preparation work for switching the types of the conveyed trays 4 is facilitated.

In this embodiment, when the hand 24 is attached to the arm 22, the remaining hand 24 other than the hand 24 attached to the arm 22 is placed on the hand rest 10, and when the hand 23 is attached to the arm 22, the entire hand 24 is placed on the hand rest 10. Therefore, in this embodiment, when the type of the liquid crystal panel 2 to be conveyed is changed, the hand 24 corresponding to the liquid crystal panel 2 to be conveyed can be automatically attached to the arm 22. Therefore, in this embodiment, even when a plurality of types of liquid crystal panels 2 different in size and shape are conveyed by using the robot 8, the preliminary preparation work for switching the types of the conveyed liquid crystal panels 2 is facilitated.

In this embodiment, the

tray arrangement portions

5 and 6 include: a mounting plate 13 on which the tray 4 is mounted, and guide

members

16 and 17 for positioning the mounting plate 13 in the horizontal direction. In this embodiment, a recess into which the tray 4 is fitted is formed in the upper surface of the mounting plate 13 so that a plurality of types of disks 4 different in size and shape can be mounted on the common mounting plate 13. Therefore, in this embodiment, the placement plate 13 having a constant outer shape can be positioned at a constant position using the

common guide members

16 and 17 regardless of the shape and size of the tray 4. Therefore, in this embodiment, even when a plurality of types of trays 4 different in size and shape are conveyed by the robot 8, the tray 4 placed on the placement plate 13 can be positioned at a predetermined position by using the

common guide members

16 and 17.

(other embodiments)

The above-described embodiment is an example of the best mode of the present invention, but is not limited thereto, and various modifications can be made without changing the gist of the present invention.

In the above-described embodiment, the hand 23 and the hand 24 that are not attached to the robot 8 may be placed on a common hand placing table. That is, the transport system 1 may include one hand table on which the hand 23 and the hand 24 are placed. In the above-described embodiment, the hand placing table 9 may include a slide table that slides in the horizontal direction instead of the rotating table 54. Similarly, the hand rest 10 may include a slide table that slides in the horizontal direction instead of the rotating table 55.

In the above embodiment, the robot 8 may have one type of hand 23. In this case, the hand placing table 9 may not include the rotating table 54. The type of hand 24 provided in the robot 8 may be one. In this case, the hand placing table 10 may not include the rotating table 55. In the above-described embodiment, a robot or the like may be used to automatically supply the tray 4 to the tray arrangement portion 5 and take out the tray 4 from the tray arrangement portion 6.

In the above embodiment, the

tray arrangement portions

5 and 6 may not include the mounting plate 13. In this case, the tray 4 is placed on the base member 14 in the

tray arrangement portions

5 and 6. In the above-described embodiment, the number of tray arrangement portions included in the conveyance system 1 may be 3 or more. In the above-described embodiment, the conveying system 1 may include a conveyor belt that conveys the trays 4 in a stacked state in the front-rear direction instead of the

tray placement units

5 and 6.

In the above-described embodiment, the transport system 1 may transport the liquid crystal panel 2 discharged from the processing apparatus 3. In this case, the tray 4 disposed in the tray disposing section 5 is an empty tray, and the plurality of liquid crystal panels 2 discharged from the processing apparatus 3 are accommodated in the tray 4 disposed in the tray disposing section 6. In the above-described embodiment, the transport system 1 may transport the liquid crystal panel 2 and supply the liquid crystal panel 2 to the processing apparatus 3, and transport the liquid crystal panel 2 discharged from the processing apparatus 3.

In the above-described embodiment, the robot 8 may be a vertical articulated robot other than six axes, may be a horizontal articulated robot, may be a three-axis orthogonal robot, or may be a so-called parallel robot. In the above-described embodiment, the display panel conveyed by the conveying system 1 is the liquid crystal panel 2, but the display panel conveyed by the conveying system 1 may be a display panel other than the liquid crystal panel 2. For example, the display panel conveyed by the conveying system 1 may be an organic EL panel.

Claims

1. A handling system, characterized in that,

the disclosed device is provided with: a transfer robot having a detachably attachable hand and transferring a display panel and a tray capable of housing the display panel; a hand placing table provided within an operation range of the transfer robot and on which the hand detached from the transfer robot is placed,

the transfer robot includes an arm and a tool changer having an arm-side member fixed to a tip of the arm and a hand-side member fixed to the hand, and the transfer robot includes, as the hand, a first hand having a tray grip portion for gripping the tray and a second hand having a panel grip portion for gripping the display panel,

the hand-side member is detachably attached to the arm-side member,

the first hand or the second hand is mounted on the arm.

2. Handling system according to claim 1,

the arm-side member includes a lock member for fixing the hand-side member to the arm-side member,

the lock member is moved between a fixed position at which the hand-side member is fixed to the arm-side member and a released position at which the fixed state of the hand-side member with respect to the arm-side member is released by compressed air supplied to the arm-side member.

3. Handling system according to claim 1 or 2,

the transfer robot is provided with a plurality of types of the first hand.

4. Handling system according to claim 3,

when the first hand is attached to the arm, the remaining first hand other than the first hand attached to the arm is placed on the hand placing table,

when the second hand is attached to the arm, all of the first hands are placed on the hand placement table.

5. Handling system according to any of claims 1 to 4,

the transfer robot includes a plurality of types of the second hand.

6. Handling system according to claim 5,

when the second hand is attached to the arm, the remaining second hand other than the second hand attached to the arm is placed on the hand placing table,

when the first hand is attached to the arm, the entire second hand is placed on the hand placing table.

7. The handling system according to any one of claims 1 to 6,

a tray arrangement part in which the trays are arranged in a stacked state,

the tray arrangement unit includes: a mounting plate on which the tray arranged in the tray arranging portion is mounted; and a guide member that positions the carriage plate in a horizontal direction.