CN111717674A - Tray conveying device and panel conveying system - Google Patents

Tray conveying device and panel conveying system Download PDF

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Publication number
CN111717674A
CN111717674A CN202010166405.8A CN202010166405A CN111717674A CN 111717674 A CN111717674 A CN 111717674A CN 202010166405 A CN202010166405 A CN 202010166405A CN 111717674 A CN111717674 A CN 111717674A
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CN
China
Prior art keywords
tray
claw member
claw
placing
pressing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202010166405.8A
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Chinese (zh)
Inventor
佐藤史朗
浅贺恒行
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Nidec Sankyo Corp
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Nidec Sankyo Corp
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Filing date
Publication date
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Publication of CN111717674A publication Critical patent/CN111717674A/en
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/06—De-stacking from the bottom of the stack
    • B65G59/061—De-stacking from the bottom of the stack articles being separated substantially along the axis of the stack
    • B65G59/062—De-stacking from the bottom of the stack articles being separated substantially along the axis of the stack by means of reciprocating or oscillating escapement-like mechanisms
    • B65G59/063—De-stacking from the bottom of the stack articles being separated substantially along the axis of the stack by means of reciprocating or oscillating escapement-like mechanisms comprising lifting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins

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  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • De-Stacking Of Articles (AREA)

Abstract

The invention provides a tray conveying device and a panel conveying system, which can separate and convey trays in a stacked state one by one. The tray conveying device (6) is provided with: a tray pressing mechanism (12) which is in contact with the upper surface of a first tray (4A) arranged at the uppermost layer among the trays (4) arranged at the tray arrangement part (9) and presses the stacked trays from the upper side; and a tray separating mechanism (13) for separating a second tray (4B) from the first tray, the second tray being a tray arranged on a second layer from the top among the trays arranged on the tray arrangement portion. The tray pressing mechanism is provided with a pressing claw member which is in contact with the upper surface of the first tray (4A) and a pressing claw moving mechanism (36) which moves the pressing claw member, and the tray separating mechanism is provided with a separating claw member which enters between the first tray (4A) and the second tray (4B) and a separating claw moving mechanism (32) which moves the separating claw member.

Description

Tray conveying device and panel conveying system
Technical Field
The present invention relates to a tray conveying apparatus for conveying a tray capable of storing a display panel such as a liquid crystal panel. The present invention also relates to a panel transport system including the tray transport device.
Background
Conventionally, a transport system for transporting a small-sized liquid crystal panel is known (for example, see patent document 1). The conveying system described in patent document 1 includes a conveyor that conveys a tray on which a liquid crystal panel can be stored, a tray stage on which the tray is placed, a first conveying robot that conveys the tray between the conveyor and the tray stage, and a second conveying robot that carries out the liquid crystal panel from the tray placed on the tray stage. The conveyor linearly conveys the trays stacked in a multi-stage stacked state in the front-rear direction. The first conveying robot includes a tray gripping portion that grips the tray. The second transport robot includes a panel gripping unit that grips the liquid crystal panel.
The conveying system described in patent document 1 includes a supply-side conveyor and a discharge-side conveyor as conveyors for conveying trays. The first conveying robot conveys the trays one by one from the supply-side conveyor to the tray stage, and conveys the trays one by one from the tray stage to the discharge-side conveyor. A layer number detection mechanism for detecting the layer number of the tray on the conveyor is arranged on the rear end side of the conveyor on the supply side. In the conveying system described in patent document 1, the first conveying robot operates based on the detection result of the layer number detection mechanism, and conveys the tray from the conveyor on the supply side to the tray stage.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open publication No. 2018-6518
Disclosure of Invention
Technical problem to be solved by the invention
In the conveying system described in patent document 1, when two or more trays among the trays stacked on the supply-side conveyor are conveyed from the supply-side conveyor to the tray stage in a superimposed state, there are various problems that the second conveying robot cannot carry out the liquid crystal panel from the tray placed on the tray stage, or the liquid crystal panel housed in the tray placed on the tray stage collides with the panel grip portion of the second conveying robot to damage the liquid crystal panel.
Accordingly, an object of the present invention is to provide a tray conveying apparatus capable of separating and conveying trays in a stacked state one by one. Another object of the present invention is to provide a panel conveying system including the tray conveying device.
Technical solution for solving technical problem
In order to solve the above-described problem, the present invention provides a tray conveying device including: a tray arrangement unit in which trays capable of accommodating display panels are arranged in a stacked state; a tray conveying mechanism which has a tray holding part for holding a first tray, which is a tray arranged at the uppermost layer, among the trays arranged at the tray arrangement part from the upper side, and conveys the first tray in the horizontal direction; a tray pressing mechanism for contacting an upper surface of the first tray and pressing the trays stacked in multiple layers from an upper side; a tray separating mechanism for separating a second tray, which is a tray arranged at a second layer from the top among the trays arranged at the tray arrangement portion, from the first tray; and a lifting mechanism which enables the tray arrangement part to relatively move up and down relative to the tray pressing mechanism and the tray separating mechanism, wherein the tray pressing mechanism comprises: a pressing claw member that contacts an upper surface of the first tray; and a pressing claw moving mechanism for moving the pressing claw member between a tray contact position where the pressing claw member can contact with the upper surface of the first tray and a pressing claw retreat position where the pressing claw member is separated from the upper side of the first tray, the tray separating mechanism including: a separating claw member which enters between the first tray and the second tray; and a separation claw moving mechanism that moves the separation claw member between a tray separation position where the separation claw member enters between the first tray and the second tray and a separation claw retreat position where the separation claw member is separated from between the first tray and the second tray, wherein in a state where the pressing claw member is disposed at the tray contact position and the separation claw member is disposed at the separation claw retreat position, the lifting mechanism relatively lifts the tray disposition portion with respect to the tray pressing mechanism and the tray separation mechanism up to a position where the pressing claw member contacts the upper surface of the first tray and stops at the position, and thereafter, the separation claw moving mechanism moves the separation claw member disposed at the separation claw retreat position to the tray separation position, and thereafter, at least one of the following operations is performed: an operation of lowering the tray arrangement portion relatively with respect to the tray pressing mechanism and the tray separating mechanism by the lifting mechanism, and lifting the first tray relatively with respect to the second tray; and an operation of raising the tray holding part holding the first tray and lifting the first tray relative to the second tray after the pressing claw moving mechanism moves the pressing claw member arranged at the tray contact position to the pressing claw retreat position.
The tray conveying device of the present invention includes a tray separating mechanism for separating a first tray from a second tray, and the tray separating mechanism includes a separating claw member that enters between the first tray and the second tray, and a separating claw moving mechanism that moves the separating claw member between a tray separating position and a separating claw retreat position. In the present invention, after the separating pawl moving mechanism moves the separating pawl member disposed at the separating pawl retreat position to the tray separating position, either one of the following operations is performed: an operation of lowering the tray arrangement portion relatively with respect to the tray pressing mechanism and the tray separating mechanism by the lifting mechanism, and lifting the first tray relatively with respect to the second tray; and an operation of moving the pressing claw member disposed at the tray contact position to the pressing claw retreat position by the pressing claw moving mechanism, and then raising the tray holding portion holding the first tray to lift the first tray relative to the second tray.
Therefore, in the present invention, when the first tray is relatively lifted with respect to the second tray, the first tray can be separated from the second tray by the separation claw member disposed at the tray separation position. Therefore, in the present invention, the trays stacked in a stacked state of multiple layers can be separated one by one and conveyed.
Further, the tray conveying device of the present invention includes a tray pressing mechanism for pressing the stacked trays from above while contacting the upper surface of the first tray, the tray pressing mechanism including: a pressing claw member that contacts an upper surface of the first tray; and a pressing claw moving mechanism which moves the pressing claw member between a tray contact position where the pressing claw member can contact with the upper surface of the first tray and a pressing claw retreat position where the pressing claw member is separated from the upper side of the first tray. In the present invention, the lifting mechanism relatively lifts the tray placement portion with respect to the tray pressing mechanism and the tray separating mechanism until the pressing claw member comes into contact with the upper surface of the first tray and stops at the position in a state where the pressing claw member is placed at the tray contact position, and thereafter, the separating claw moving mechanism moves the separating claw member placed at the separating claw retreat position to the tray separating position.
Therefore, in the present invention, even if the trays stacked in multiple stages are inclined, the inclination of the trays stacked in multiple stages can be corrected by pressing the claw members before the separating claw members are put between the first tray and the second tray. Therefore, in the present invention, even if the trays in the stacked state arranged in the tray arrangement portion are inclined, the separation claw member can be inserted between the first tray and the second tray with a higher probability, and as a result, the trays in the stacked state can be reliably separated one by one and conveyed.
In the present invention, for example, the tray conveying mechanism includes a gripping portion elevating mechanism that raises and lowers the tray gripping portion.
In the present invention, when a direction orthogonal to the movement direction and the vertical direction of the tray holding portion linearly moving in the horizontal direction is set as the first direction, for example, the pressing claw member and the separating claw member are disposed on both sides of the tray disposed in the tray disposition portion in the first direction, the pressing claw movement mechanism moves the pressing claw member in the first direction, and the separating claw movement mechanism moves the separating claw member in the first direction.
In this case, it is preferable that the separation claw member is disposed at two locations with a space in the moving direction of the tray gripping portion on each of both sides in the first direction of the tray disposed at the tray disposition portion, and the pressing claw member is disposed at one location between the separation claw members disposed at the two locations on each of both sides in the first direction of the tray disposed at the tray disposition portion. With this configuration, since the four separating claw members can be arranged in a balanced manner, the first tray can be more easily separated from the second tray by the separating claw members. In addition, with this configuration, since the two pressing claw members can be arranged in a balanced manner, the inclination of the trays stacked in multiple stages can be easily corrected by the pressing claw members.
In the present invention, it is preferable that the tray conveying apparatus includes a detection mechanism for detecting the first tray at a position where the pressing claw member disposed at the tray contact position contacts the upper surface of the first tray, and the elevating mechanism relatively stops the tray disposition portion with respect to the tray pressing mechanism and the tray separating mechanism based on a detection result of the detection mechanism. With this configuration, the stacked trays can be prevented from being pressed from above by the pressing claw members with excessive force. Therefore, damage to the tray or the like can be prevented.
In the present invention, for example, the tray pressing mechanism and the tray separating mechanism are attached to a frame of the tray conveying device, and the elevating mechanism raises and lowers the tray placement portion with respect to the frame.
In the present invention, it is preferable that the tray conveying device includes: a first tray receiving mechanism for receiving the first tray conveyed by the tray conveying mechanism; a second tray receiving mechanism for receiving the first tray from the first tray receiving mechanism; and a second tray conveying mechanism which is arranged at a position lower than the first tray receiving mechanism, receives the first tray from the second tray receiving mechanism, and conveys the first tray in the horizontal direction, wherein the first tray receiving mechanism comprises: a plurality of first placing claw members for placing the first tray; and a first placing claw moving mechanism for moving the first placing claw member between a first tray placing position where the first tray can be placed on the first placing claw member and a first placing claw retreat position where the first placing claw member is separated from the lower side of the first tray, the second tray receiving mechanism including: a plurality of second placing claw members for placing the first tray; a second placing claw moving mechanism for moving the second placing claw member between a second tray placing position where the first tray can be placed on the second placing claw member and a second placing claw retreat position where the second placing claw member is separated from the lower side of the first tray; a tray receiving portion to which a second placing claw member and a second placing claw moving mechanism are attached; and a receiving portion elevating mechanism for elevating and lowering the tray receiving portion, wherein the first tray placed on the second placing claw member is transferred and stacked on the second tray conveying mechanism, the second tray conveying mechanism conveys the stacked first tray in the horizontal direction, the receiving portion elevating mechanism elevates and lowers the tray receiving portion between an elevated position where the second placing claw member is disposed above the first placing claw member and a transfer position where the first tray is transferred to the second tray conveying mechanism, the second placing claw moving mechanism moves the second placing claw member disposed at the second tray placing position to a second placing claw retreat position when the first tray is transferred to the second tray conveying mechanism, and the receiving portion elevating mechanism lowers the tray receiving portion disposed at the elevated position toward the transfer position in a state where the first tray is placed on the second placing claw member, when a first tray placed on the second placing claw member is moved to a position lower than the first placing claw member, the first placing claw moving mechanism moves the first placing claw member arranged at the first placing claw retreat position to the first tray placing position, then the tray conveying mechanism places the first tray on the first placing claw member, then, in a state where the second placing claw member is arranged at the second tray placing position, the receiving portion lifting mechanism lifts the tray receiving portion, which has handed over the first tray to the second tray conveying mechanism at the transfer position, toward the lifting position, places the first tray placed on the first placing claw member on the second placing claw member, and the first placing claw moving mechanism moves the first placing claw member arranged at the first tray placing claw position to the first placing claw retreat position.
With this configuration, the second tray receiving means performs the operation of transferring the first tray to the second tray conveying means, and the first tray receiving means can receive the next first tray from the tray conveying means. Therefore, the cycle time of the tray conveying device can be shortened as compared with the case where the second tray receiving mechanism directly receives the first tray from the tray conveying mechanism.
In the present invention, it is preferable that the tray conveying mechanism lifts the next first tray with respect to the second tray and stands by when the first tray is placed on the first placing claw member. With this configuration, the cycle time of the tray conveying device can be further shortened.
The tray conveying device of the present invention can be used in a panel conveying system including a panel conveying robot that conveys a display panel. In the panel transport system, the panel transport robot performs at least one of the following operations: a first tray carrying-out display panel placed on the second placing claw member when the tray receiving section is disposed at the raised position; and a first tray loading display panel placed on the second placing claw member when the tray receiving portion is disposed at the raised position. In this panel conveying system, the trays stacked in a stacked state of multiple layers can be separated one by one and conveyed.
(effect of the invention)
As described above, in the present invention, the trays in the stacked state can be separated one by one and conveyed.
Drawings
Fig. 1 is a plan view for explaining a schematic configuration of a panel conveyance system according to an embodiment of the present invention.
Fig. 2 is a side view of the tray conveying apparatus shown in fig. 1.
Fig. 3 is a perspective view of an upper side portion of the tray conveying device shown in fig. 2.
Fig. 4 is a plan view for explaining a part of the structure of the tray conveying apparatus shown in fig. 2.
Fig. 5 is a diagram for explaining the configuration and operation of the tray conveying mechanism, the tray pressing mechanism, and the tray separating mechanism shown in fig. 3.
Fig. 6 is a diagram for explaining the configuration and operation of the tray conveying mechanism, the tray pressing mechanism, and the tray separating mechanism shown in fig. 3.
Fig. 7 is a diagram for explaining the configuration and operation of the first tray receiving mechanism and the second tray receiving mechanism shown in fig. 2.
Fig. 8 is a diagram for explaining operations of the tray conveying mechanism, the first tray receiving mechanism, and the second tray receiving mechanism shown in fig. 2.
Fig. 9 is a diagram for explaining operations of the tray conveying mechanism, the first tray receiving mechanism, and the second tray receiving mechanism shown in fig. 2.
Fig. 10 is a diagram for explaining an operation of the tray conveying device according to another embodiment of the present invention.
Fig. 11 is a diagram for explaining the configuration of the tray separating mechanism and the operation of the tray conveying device according to another embodiment of the present invention.
Fig. 12 is a diagram for explaining the configuration of the tray separating mechanism and the operation of the tray conveying device according to another embodiment of the present invention.
Description of the reference numerals
1 … panel conveying system; 2 … liquid crystal panel (display panel); 4 … trays; 4a … first tray; 4B … second tray; 6 … pallet conveyor; 7 … robot (panel transfer robot); 9 … tray arrangement part; 10 … tray grip; 11 … tray conveying mechanism; 12 … tray pressing mechanism; 13 … tray separation mechanism; 15 … tray lifting mechanism (lifting mechanism); 16 … detection mechanism; 18 … tray receiving mechanism (first tray receiving mechanism); 19 … tray receiving mechanism (second tray receiving mechanism); 20 … tray conveying mechanism (second tray conveying mechanism); 23 … a frame; 24 … air cylinder (gripping part lifting mechanism); 31 … claw members (separating claw members); 31a … tray separation position; 31B … retreat position (separation claw retreat position); a 32 … cylinder (separating pawl moving mechanism); 35 … claw member (pressing claw member); 35a … tray contact position; 35B … retracted position (pressing claw retracted position); 36 … air cylinder (pressing claw moving mechanism); 47 … claw member (first placing claw member); a 47a … tray placement position (first tray placement position); a 47B … retracted position (first placing claw retracted position); a 48 … cylinder (first placing claw moving mechanism); a 50 … claw member (second placing claw member); a 50a … tray placement position (second tray placement position); 50B … retracted position (second placing claw retracted position); a 51 … cylinder (second placing claw moving mechanism); 52 … pallet receiving section; 52a … raised position; 52B … handover location; 53 … lifting mechanism (receiving part lifting mechanism); x … direction of movement of the tray grip; y … first direction.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(integral construction of Panel conveying System)
Fig. 1 is a plan view for explaining a schematic configuration of a panel conveyance system 1 according to an embodiment of the present invention. Fig. 2 is a side view of the tray conveying device 6 shown in fig. 1.
The panel transport system 1 of the present embodiment is incorporated into a production line of a relatively small liquid crystal display used for a portable device or the like. The panel transport system 1 transports a liquid crystal panel 2 as a display panel. Specifically, the panel transport system 1 carries the liquid crystal panel 2 into the inspection apparatus 3 that inspects the liquid crystal panel 2. The liquid crystal panel 2 is formed in a rectangular flat plate shape. The liquid crystal panel 2 before inspection by the inspection device 3 is stored in the tray 4.
The tray 4 is formed of a resin having low rigidity. The tray 4 is formed in a substantially rectangular flat plate shape. A plurality of recesses for accommodating the liquid crystal panel 2 are formed in the upper surface of the tray 4 (see fig. 3). The plurality of liquid crystal panels 2 can be stored in the tray 4 without overlapping in the vertical direction. A frame-shaped (annular) flange portion 4a (see fig. 5 and the like) extending to the outer peripheral side of the tray 4 is formed at the lower end portion of the tray 4. The flange portion 4a is formed in a substantially rectangular frame shape.
The inspection device 3 is, for example, a lighting inspection device for performing lighting inspection of the liquid crystal panel 2. The inspection device 3 includes: a panel holding unit having panel mounting units 5 for mounting the liquid crystal panel 2 at two locations; and a frame body, the interior of which becomes a dark room when the lighting inspection of the liquid crystal panel 2 is performed. A backlight and a camera for performing lighting inspection of the liquid crystal panel 2 are provided inside the housing. The inspection device 3 further includes a rotation mechanism that rotates the panel holding portion to a position where one panel mounting portion 5 of the two panel mounting portions 5 is disposed outside the housing and the other panel mounting portion 5 is disposed inside the housing, and a position where one panel mounting portion 5 is disposed inside the housing and the other panel mounting portion 5 is disposed outside the housing.
The panel transport system 1 includes a tray transport device 6 that transports the tray 4 and a panel transport robot 7 (hereinafter referred to as "robot 7") that transports the liquid crystal panel 2. For example, the panel transport system 1 includes three tray transport devices 6 and one robot 7. The tray conveying device 6 detaches the trays 4, which have stored the liquid crystal panels 2 before inspection and are stacked in a stacked state of a plurality of layers, and conveys the trays 4 one by one. Further, the tray conveying device 6 conveys and stacks empty trays 4 from which the liquid crystal panels 2 have been carried out one by one, and conveys the stacked empty trays 4. With regard to the specific configuration of the tray conveying device 6, description will be made later.
The robot 7 is, for example, a six-axis vertical articulated robot. The robot 7 conveys the liquid crystal panels 2 one by one from the tray conveying device 6 to the inspection device 3. Specifically, the robot 7 conveys the liquid crystal panels 2 one by one from the tray 4 detached by the tray conveyor 6 to the panel mount section 5. The robot 7 includes a panel suction mechanism that sucks and holds the liquid crystal panel 2. The robot 7 may be a vertical articulated robot other than a six-axis robot, or may be a horizontal articulated robot. The robot 7 may be a three-axis orthogonal robot or a parallel robot.
(constitution of tray conveyer)
Fig. 3 is a perspective view of an upper side portion of the tray conveying device 6 shown in fig. 2. Fig. 4 is a plan view for explaining a part of the structure of the tray conveying device 6 shown in fig. 2. Fig. 5 and 6 are diagrams for explaining the configuration and operation of the tray conveying mechanism 11, the tray pressing mechanism 12, and the tray separating mechanism 13 shown in fig. 3. Fig. 7 is a diagram for explaining the configuration and operation of the tray receiving mechanisms 18 and 19 shown in fig. 2. Fig. 8 and 9 are views for explaining the operations of the tray conveying mechanism 11 and the tray receiving mechanisms 18 and 19 shown in fig. 2.
The tray conveying device 6 includes a tray arranging portion 9, and the tray arranging portion 9 arranges the trays 4 containing the liquid crystal panels 2 before inspection in a state of being stacked in multiple stages (stacked state). Further, if the tray 4 disposed on the uppermost layer among the trays 4 disposed in the stacked state in the tray disposition portion 9 is referred to as "first tray 4A", and the tray 4 disposed on the second layer from the top among the trays 4 disposed in the stacked state in the tray disposition portion 4 is referred to as "second tray 4B" (see fig. 5 and 6), the tray conveying device 6 includes a tray conveying mechanism 11, and the tray conveying mechanism 11 includes a tray gripping portion 10 that grips the first tray 4A from the upper side, and conveys the first tray 4A in the horizontal direction.
The tray conveying device 6 includes a tray pressing mechanism 12 for pressing the stacked trays 4 from above while contacting the upper surface of the first tray 4A, a tray separating mechanism 13 for separating the first tray 4A from the second tray 4B, a tray positioning mechanism 14 for positioning the first tray 4A in the horizontal direction, a tray lifting mechanism 15 for lifting and lowering the tray arrangement portion 9, and a detection mechanism 16 for detecting the first tray 4A. Note that, in fig. 2 and 3, the detection mechanism 16 is not shown.
The tray conveying device 6 further includes a tray receiving mechanism 18 for receiving the first tray 4A conveyed by the tray conveying mechanism 11, a tray receiving mechanism 19 for receiving the first tray 4A from the tray receiving mechanism 18, and a tray conveying mechanism 20 for receiving the first tray 4A from the tray receiving mechanism 19 and conveying the same in the horizontal direction. The tray receiving mechanism 18 of the present embodiment is a first tray receiving mechanism, the tray receiving mechanism 19 is a second tray receiving mechanism, and the tray conveying mechanism 20 is a second tray conveying mechanism. In fig. 3, the tray receiving mechanism 19 is not shown.
The tray holding part 10 moves linearly in the horizontal direction. In the following description, the moving direction of the tray gripping portion 10 (X direction in fig. 2 and the like) is referred to as a front-rear direction, and the Y direction in fig. 2 and the like orthogonal to the up-down direction and the front-rear direction is referred to as a left-right direction. One side in the front-rear direction, i.e., the side in the X1 direction in fig. 2 and the like, is referred to as the "front" side, and the opposite side thereof, i.e., the side in the X2 direction in fig. 2 and the like, is referred to as the "rear" side. The left-right direction (Y direction) of the present embodiment is the first direction. The three tray conveying devices 6 included in the panel conveying system 1 are arranged in the left-right direction, for example.
The tray arrangement portion 9 is arranged on the front end side of the tray conveying device 6. For example, the tray 4 in which the stacked state of the liquid crystal panels 2 before inspection is stored is placed on the tray placement portion 9 by manual work of an operator. In addition, for example, thirty trays 4 stacked (trays 4 stacked in thirty layers) are placed on the tray arrangement portion 9.
The tray lifting mechanism 15 is disposed on each of both left and right end sides of the tray disposing part 9. The tray lifting mechanism 15 includes, for example, a motor, a ball screw having a screw shaft rotated by power of the motor and a nut member engaged with the screw shaft, and a guide mechanism for guiding the tray arrangement portion 9 in the vertical direction. The screw shaft is rotatably attached to the frame 23 of the tray conveying device 6, and the nut member is attached to the tray arrangement portion 9. The tray lifting mechanism 15 raises and lowers the tray arrangement portion 9 with respect to the frame 23.
The tray conveying mechanism 11 conveys the first tray 4A to the rear side. The tray conveying mechanism 11 includes, in addition to the tray gripping portion 10, an air cylinder 24 as a gripping portion elevating mechanism for elevating and lowering the tray gripping portion 10, and a slide mechanism 25 for sliding the tray gripping portion 10 in the front-rear direction. The air cylinder 24 and the slide mechanism 25 are disposed above the tray holding portion 10. The tray holding portion 10 includes a plurality of suction pads 26 for suction-holding the upper surface of the first tray 4A. The suction pad 26 is held on a frame 27 of the tray holding part 10 so as to be movable up and down. The suction pad 26 is biased downward with respect to the frame 27 by a spring member (not shown) such as a compression coil spring.
The cylinder 24 is disposed such that the rod of the cylinder 24 protrudes downward. A frame 27 is fixed to the front end (lower end) of the rod of the cylinder 24. The upper end of the cylinder 24 is fixed to the slide member 28. The slide mechanism 25 includes, for example, a motor, a ball screw having a screw shaft rotated by power of the motor and a nut member engaged with the screw shaft, and a guide mechanism guiding the slide member 28 in the front-rear direction. The screw shaft is rotatably attached to a top plate (not shown) covering the upper side of the tray conveyor 6, and the nut member is attached to the slide member 28.
The tray separating mechanism 13 includes a claw member 31 as a separating claw member that enters between the first tray 4A and the second tray 4B, and an air cylinder 32 as a separating claw moving mechanism that moves the claw member 31. The cylinder 32 is, for example, a pneumatic ram. The fixed-side member of the cylinder 32 is fixed to the upper surface of the frame 23. The claw member 31 is formed integrally with a fixed member 33 (see fig. 4) fixed to the movable-side member of the cylinder 32, and is fixed to the movable-side member of the cylinder 32 via the fixed member 33. That is, the tray separating mechanism 13 is attached to the frame 23.
The claw members 31 and the air cylinders 32 are disposed on both sides of the tray 4 in the left-right direction in the tray disposing part 9. That is, the claw members 31 and the air cylinders 32 are provided so as to sandwich the tray 4 placed on the tray placing portion 9 in the left-right direction. The fixed-side member of the cylinder 32 is disposed outside the tray 4 disposed in the tray disposing section 9 in the left-right direction. The claw members 31 and the air cylinders 32 are disposed at two locations on each of the left and right sides of the tray 4 disposed in the tray disposing portion 9 with a gap therebetween in the front-rear direction. That is, the tray separating mechanism 13 includes four claw members 31 and an air cylinder 32.
The claw member 31 is connected to the lower end side of the fixing member 33. The claw member 31 projects inward in the left-right direction from the fixing member 33. That is, the claw member 31 is fixed to the inner surface of the movable-side member of the cylinder 32 in the left-right direction via the fixing member 33 so that the front end of the claw member 31 faces the inside in the left-right direction. The air cylinder 32 moves the claw member 31 in the left-right direction.
Further, the air cylinder 32 moves the claw member 31 between a tray separating position 31A where the claw member 31 enters between the first tray 4A and the second tray 4B and a retreat position 31B which is a separating claw retreat position where the claw member 31 escapes from between the first tray 4A and the second tray 4B. Specifically, as described above, the flange portion 4A is formed on the tray 4, and the air cylinder 32 moves the claw member 31 between the tray separating position 31A where the claw member 31 enters between the flange portion 4A of the first tray 4A and the flange portion 4A of the second tray 4B and the retreat position 31B where the claw member 31 is disposed outside the flange portion 4A of the first tray 4A and the flange portion 4A of the second tray 4B in the left-right direction.
The tray pressing mechanism 12 includes a claw member 35 as a pressing claw member that contacts the upper surface of the first tray 4A, and an air cylinder 36 as a pressing claw moving mechanism that moves the claw member 35. The cylinder 36 is, for example, a pneumatic slide cylinder, similar to the cylinder 32. The fixed-side member of the cylinder 36 is fixed to the upper surface of the frame 23. The claw member 35 is formed integrally with a fixed member 37 (see fig. 4) fixed to the movable-side member of the cylinder 36, and is fixed to the movable-side member of the cylinder 36 via the fixed member 37. That is, the tray pressing mechanism 12 is mounted on the frame 23.
The claw members 35 and the air cylinders 36 are disposed on both sides of the tray 4 in the left-right direction in the tray disposing part 9. That is, the claw member 35 and the air cylinder 36 are provided so as to sandwich the tray 4 placed on the tray placing portion 9 in the left-right direction. The fixed-side member of the cylinder 36 is disposed outside the tray 4 disposed in the tray disposition portion 9 in the left-right direction. In the present embodiment, the stationary-side member of the cylinder 32 and the stationary-side member of the cylinder 36 are disposed at the same position in the left-right direction. The claw member 35 and the air cylinder 36 are disposed at one position between the claw member 31 and the air cylinder 32 disposed at two positions on each of both sides of the tray 4 disposed at the tray disposing part 9 in the left-right direction. That is, the tray pressing mechanism 12 includes two claw members 35 and an air cylinder 36.
The claw member 35 is connected to the lower end side of the fixing member 37. The claw member 37 protrudes from the fixing member 37 inward in the left-right direction. That is, the claw member 35 is fixed to the inner surface of the movable-side member of the cylinder 36 in the left-right direction via the fixing member 37 so that the front end of the claw member 35 faces the inside in the left-right direction. The claw member 35 is disposed above the claw member 31. The width of the claw member 35 in the front-rear direction is larger than the width of the claw member 31 in the front-rear direction. For example, the width of the claw member 35 in the front-rear direction is about 3 times the width of the claw member 31 in the front-rear direction.
The air cylinder 36 moves the claw member 35 in the left-right direction. Further, the air cylinder 36 moves the claw member 35 between a tray contact position 35A where the claw member 35 can contact the upper surface of the first tray 4A and a retreat position 35B which is a pressing claw retreat position where the claw member 35 is separated from the upper side of the first tray 4A. Specifically, the air cylinder 36 moves the claw member 35 between a tray contact position 35A at which the claw member 35 can contact the upper surface of the flange portion 4A of the first tray 4A and a retracted position 35B at which the claw member 35 is disposed at a position outside the flange portion 4A of the first tray 4A in the left-right direction. The claw member 35 disposed at the tray contact position 35A can contact the central portion in the front-rear direction of the upper surface of the flange portion 4A of the first tray 4A.
As described above, the tray pressing mechanism 12 and the tray separating mechanism 13 are attached to the frame 23. In addition, the tray lifting mechanism 15 raises and lowers the tray arrangement portion 9 with respect to the frame 23. The tray lifting mechanism 15 of the present embodiment is a lifting mechanism for moving the tray arrangement portion 9 up and down relative to the tray pressing mechanism 12 and the tray separating mechanism 13.
The tray positioning mechanism 14 includes an air cylinder 40 that presses the first tray 4A toward the rear side, two guide members 41 that contact two corner portions on the rear end side of the first tray 4A, respectively, and an air cylinder 42 that moves the two guide members 41 in the left-right direction, respectively. The air cylinders 40, 42 are, for example, pneumatic slide cylinders. The fixed-side members of the cylinders 40, 42 are fixed to the upper surface of the frame 23. The fixed-side member of the cylinder 40 is disposed at a position forward of the tray 4 disposed in the tray disposition portion 9. The movable-side member of the cylinder 40 is movable in the front-rear direction, and the movable-side member of the cylinder 40 can contact the front surface of the first pallet 4A.
The guide member 41 is fixed to the movable-side member of the cylinder 42. The fixed-side member of the cylinder 42 is disposed outside the tray 4 disposed in the tray disposition portion 9 in the left-right direction. The air cylinder 42 moves the guide member 41 in the left-right direction. Further, the air cylinder 42 moves the guide member 41 between a positioning position (position shown in fig. 4) at which a corner portion on the rear end side of the first tray 4A can come into contact with the guide member 41 and a retracted position at which the guide member 41 is retracted to a position outside the first tray 4A in the left-right direction. In the present embodiment, the first tray 4A is positioned in the left-right direction by moving the guide member 41 to the positioning position. In addition, when the air cylinder 40 presses the first tray 4A to the rear side in a state where the guide member 41 is disposed at the positioning position, the first tray 4A is positioned in the front-rear direction.
The detection mechanism 16 is a transmission type optical sensor, and includes a light emitting section 44 and a light receiving section 45. The light emitting section 44 and the light receiving section 45 are fixed to the upper surface of the frame 23, for example. The light emitting unit 44 and the light receiving unit 45 are disposed so as to sandwich the tray 4 disposed in the tray disposing unit 9 in the left-right direction. The detection mechanism 16 is provided at two locations with a gap therebetween in the front-rear direction, for example. When the tray 4 in the stacked state placed on the tray placing portion 9 is raised to a position where the claw members 35 placed at the tray contact position 35A contact the upper surface of the first tray 4A, the detection mechanism 16 detects the first tray 4A.
That is, the detection mechanism 16 detects the first tray 4A at a position where the claw member 35 disposed at the tray contact position 35A contacts the upper surface of the first tray 4A. Specifically, the detection mechanism 16 detects the first tray 4A at a position where the claw members 35 disposed at the tray contact position 35A lightly contact the upper surface of the first tray 4A. The tray lifting mechanism 15 stops the tray arrangement portion 9 based on the detection result of the detection mechanism 16. Specifically, when the first tray 4A is detected by the detection mechanism 16, the tray lifting mechanism 15 stops the tray arrangement portion 9. The detection mechanism 16 may be a reflective optical sensor.
The tray receiving mechanism 18 is disposed on the rear end side of the tray conveyor 6 and on the rear side of the tray disposing section 9. When the tray conveying device 6 is viewed from the upper side, the tray arrangement portion 9 and the tray receiving mechanism 18 are arranged adjacent to each other in the front-rear direction. The tray receiving mechanism 18 is disposed on the upper end side of the tray conveying device 6. The tray receiving mechanism 18 includes a claw member 47 as a first placing claw member for placing the first tray 4A, and an air cylinder 48 as a first placing claw moving mechanism for moving the claw member 47. The air cylinder 48 is, for example, a pneumatic ram. The fixed-side member of the cylinder 48 is fixed to the upper surface of the frame 23. The pawl member 47 is formed integrally with a fixed member 49 fixed to the movable-side member of the cylinder 48, and is fixed to the movable-side member of the cylinder 48 via the fixed member 49.
The claw members 47 and the air cylinders 48 are disposed on both sides of the first tray 4A conveyed by the tray conveying mechanism 11 in the left-right direction. The fixed-side member of the cylinder 48 is disposed outside the first pallet 4A in the lateral direction. The claw members 47 and the air cylinders 48 are disposed at two locations on each of the left and right sides of the first tray 4A with a gap therebetween in the front-rear direction. That is, the tray receiving mechanism 18 includes four claw members 47 and an air cylinder 48.
The claw member 47 is connected to the lower end side of the fixing member 49 and protrudes inward in the left-right direction from the fixing member 49. The air cylinder 48 moves the claw member 47 in the left-right direction. Further, the air cylinder 48 moves the claw member 47 between a tray placing position 47A as a first tray placing position where the first tray 4A can be placed on the claw member 47 and a retracted position 47B as a first placing claw retracted position where the claw member 47 is disengaged from the lower side of the first tray 4A. Specifically, the air cylinder 48 moves the claw member 47 between a tray placing position 47A where the flange portion 4A of the first tray 4A can be placed on the claw member 47 and a retracted position 47B where the claw member 47 is disposed at a position outside the flange portion 4A of the first tray 4A in the left-right direction.
The tray receiving mechanism 19 is disposed on the rear end side of the tray conveying device 6. The tray receiving mechanism 19 is disposed at the same position as the tray receiving mechanism 18 in the front-rear direction. The tray receiving mechanism 19 includes a claw member 50 as a second placing claw member for placing the first tray 4A, an air cylinder 51 as a second placing claw moving mechanism for moving the claw member 50, a tray receiving portion 52 to which the claw member 50 and the air cylinder 51 are attached, and an elevating mechanism 53 as a receiving portion elevating mechanism for elevating and lowering the tray receiving portion 52.
The cylinder 51 is, for example, a pneumatic slide cylinder. The fixed-side member of the cylinder 51 is fixed to the upper surface of the pallet receiving portion 52. The claw member 50 is formed integrally with a fixed member 54 fixed to the movable-side member of the cylinder 51, and is fixed to the movable-side member of the cylinder 51 via the fixed member 54.
The claw members 50 and the air cylinders 51 are disposed on both sides of the first tray 4A placed on the claw members 47 in the left-right direction. The fixed-side member of the cylinder 51 is disposed outside the first pallet 4A in the left-right direction. The fixed-side member of the cylinder 51 is disposed outside a tray placement unit 56, which will be described later, that constitutes a part of the tray conveying mechanism 20 in the left-right direction. The claw members 50 and the air cylinders 51 are disposed at two locations on each of the left and right sides of the first tray 4A with a gap therebetween in the front-rear direction. That is, the tray receiving mechanism 19 includes four claw members 50 and an air cylinder 51. The claw members 50 and the air cylinders 51 are shifted from the claw members 47 and the air cylinders 48 in the front-rear direction.
The claw member 50 is connected to the lower end side of the fixing member 54, and protrudes inward in the left-right direction from the fixing member 54. The air cylinder 51 moves the claw member 50 in the left-right direction. Further, the air cylinder 51 moves the claw member 50 between a tray placing position 50A as a second tray placing position where the first tray 4A can be placed on the claw member 50 and a retracted position 50B as a second placing claw retracted position where the claw member 50 is disengaged from the lower side of the first tray 4A. Specifically, the air cylinder 51 moves the claw member 50 between a tray placing position 50A where the flange portion 4A of the first tray 4A can be placed on the claw member 50 and a retracted position 50B where the claw member 50 is disposed outside the flange portion 4A of the first tray 4A in the left-right direction.
The pallet receiving portion 52 includes two cylinder fixing portions 52a to which the fixing-side members of the cylinders 51 are fixed, and a connecting portion 52b that connects the two cylinder fixing portions 52 a. The cylinder fixing portion 52a is formed in a rectangular flat plate shape elongated in the front-rear direction, for example. The two cylinder fixing portions 52a are disposed at a spacing in the left-right direction. The connecting portion 52b connects the rear end portions of the two cylinder fixing portions 52 a.
The two cylinder fixing portions 52a are spaced apart from each other in the lateral direction by a distance larger than the lateral width of the first tray 4A placed on the claw member 47, and are disposed outside the first tray 4A in the lateral direction. The two cylinder fixing portions 52a are spaced apart from each other in the lateral direction by a width in the lateral direction of a tray placing portion 56, which will be described later, constituting a part of the tray conveying mechanism 20, and are disposed outside the tray placing portion 56 in the lateral direction. The connecting portion 52b is disposed behind the first tray 4A and the tray placement portion 56.
The elevating mechanism 53 is disposed on each of both left and right end sides of the tray receiving portion 52. The lifting mechanism 53 includes, for example, a motor, a ball screw having a screw shaft rotated by power of the motor and a nut member engaged with the screw shaft, and a guide mechanism for guiding the tray receiving portion 52 in the vertical direction. The screw shaft is rotatably attached to the frame 23 of the tray conveying device 6, and the nut member is attached to the tray receiving portion 52. The elevating mechanism 53 raises and lowers the tray receiving portion 52 with respect to the frame 23.
The tray conveying mechanism 20 is disposed on the lower end side of the tray conveying device 6, and is disposed below the tray disposing portion 9 and the tray receiving mechanism 18. The tray conveying mechanism 20 is disposed below the tray arrangement portion 9 and the tray receiving mechanism 18. The tray conveying mechanism 20 includes a tray placing portion 56 for transferring and stacking the first tray 4A placed on the claw member 50, and a sliding mechanism 57 for sliding the tray placing portion 56 in the front-rear direction. That is, the first tray 4A placed on the claw member 50 is handed over and stacked on the tray conveying mechanism 20, and the tray conveying mechanism 20 conveys the stacked first tray 4A in the horizontal direction. In the present embodiment, the tray conveying mechanism 20 conveys the stacked first tray 4A to the front side.
The first tray 4A is sequentially placed on the tray placing portion 56. The slide mechanism 57 includes, for example, a motor, a ball screw having a screw shaft rotated by power of the motor and a nut member engaged with the screw shaft, and a guide mechanism for guiding the tray placing portion 56 in the front-rear direction. The screw shaft is rotatably attached to the frame 23, and the nut member is attached to the tray placing portion 56.
The lifting mechanism 53 raises and lowers the tray receiving portion 52 between a raised position 52A (see fig. 8 a) where the claw members 50 are disposed above the claw members 47 and a transfer position 52B (see fig. 2) where the first tray 4A is transferred to the tray conveying mechanism 20 (specifically, the first tray 4A is transferred to the tray placing portion 56). The robot 7 carries out the liquid crystal panels 2 one by one to the panel placing portion 5 from the first tray 4A placed on the claw member 50 when the tray receiving portion 52 is disposed at the ascent position 52A. When the first tray 4A is transferred to the tray conveying mechanism 20 (specifically, the first tray 4A is transferred to the tray placing portion 56), the air cylinder 51 moves the claw member 50 disposed at the tray placing position 50A to the retreat position 50B.
(operation of tray conveyor)
In the tray conveying device 6, for example, when the tray 4 in the stacked state in which the liquid crystal panels 2 before inspection are stored is placed on the tray arrangement portion 9 by manual work of the operator, the tray lifting mechanism 15 raises the tray arrangement portion 9 to a position where the claw members 35 contact the upper surface of the first tray 4A with respect to the tray pressing mechanism 12 and the tray separating mechanism 13 and stops at the position in a state where the claw members 35 are arranged at the tray contact position 35A and the claw members 31 are arranged at the retracted position 31B (see fig. 5 (a)). At this time, when the first tray 4A is detected by the detection mechanism 16, the tray lifting mechanism 15 stops the tray arrangement portion 9.
Thereafter, the air cylinder 32 moves the claw member 31 disposed at the retreat position 31B to the tray separating position 31A (see fig. 5C). In this state, the tray lifting mechanism 15 lowers the tray arrangement portion 9. When the tray lifting mechanism 15 lowers the tray arrangement portion 9, the first tray 4A is supported from below by the claw members 31, but the second tray 4B and the tray 4 below the second tray 4B are lowered together with the tray arrangement portion 9 (see fig. 6 a). That is, the tray lifting and lowering mechanism 15 lowers the tray arrangement portion 9 relative to the tray pressing mechanism 12 and the tray separating mechanism 13, and lifts the first tray 4A relative to the second tray 4B.
Thereafter, after the tray gripping portion 10 descends to grip the first tray 4A, the air cylinder 36 moves the claw member 35 disposed at the tray contact position 35A to the retreat position 35B ((B) of fig. 6). Thereafter, the air cylinder 24 lifts the tray holding portion 10 to lift the first tray 4A held by the tray holding portion 10 (see fig. 6C), and the slide mechanism 25 slides the tray holding portion 10 to the rear side to transport the first tray 4A to the rear side.
After the tray holding unit 10 holds the first tray 4A, the air cylinder 32 may move the claw member 31 disposed at the retreat position 31B to the tray separating position 31A, and thereafter, the tray lifting mechanism 15 may lower the tray disposing unit 9. Further, the air cylinder 32 may move the claw member 31 disposed at the retreat position 31B to the tray separating position 31A, and then the tray holding portion 10 may hold the first tray 4A, and thereafter, the tray lifting mechanism 15 may lower the tray disposing portion 9. Further, after the claw member 35 disposed at the tray contact position 35A is moved to the retreat position 35B by the air cylinder 36, the tray gripping portion 10 may be lowered to grip the first tray 4A.
When the first tray 4A is conveyed to the rear side, the air cylinder 32 moves the claw member 31 disposed at the tray separating position 31A to the retreat position 31B, the air cylinder 36 moves the claw member 35 disposed at the retreat position 35B to the tray contact position 35A (see fig. 5A), and thereafter, the tray lifting mechanism 15 again moves the tray disposing portion 9 upward with respect to the tray pressing mechanism 12 and the tray separating mechanism 13 (see fig. 5B) to a position where the claw member 35 contacts the upper surface of the first tray 4A. The above operations are repeated, and the first trays 4A are separated (separated) one by one and conveyed to the rear side.
The tray conveying mechanism 11 places the first tray 4A conveyed to the rear side on the claw members 47 disposed at the tray placing position 47A (see fig. 9). At this time, the claw member 50 is disposed below the claw member 47. When the first tray 4A is placed on the claw members 47, the lifting mechanism 53 lifts the tray receiving portion 52 toward the lifting position 52A in a state where the claw members 50 are disposed at the tray placing position 50A, and places the first tray 4A placed on the claw members 47 on the claw members 50 (see fig. 8 a). When the first tray 4A is placed on the claw member 50, the air cylinder 48 moves the claw member 47 disposed at the tray placing position 47A to the claw retreat position 47B.
When the tray receiving portion 52 is raised to the raised position 52A and stopped, the robot 7 sequentially carries out the liquid crystal panels 2 one by one from the first tray 4A placed on the claw member 50 to the panel placing portion 5. When all the liquid crystal panels 2 stored in the first tray 4A are carried out by the robot 7, the lifting mechanism 53 lowers the tray receiving portion 52 disposed at the lifting position 52A toward the transfer position 52B in a state where the empty first tray 4A is placed on the claw member 50. At this time, the claw member 47 is disposed at the retreat position 47B.
When the lift mechanism 53 lowers the tray receiving portion 52 toward the transfer position 52B and the empty first tray 4A placed on the claw member 50 moves to a position below the claw member 47, the air cylinder 48 moves the claw member 47 disposed at the retreat position 47B to the tray placing position 47A, and then the tray conveying mechanism 11 places the next first tray 4A on the claw member 47 (see fig. 8B). In addition, when the tray receiving portion 52 is lowered to the transfer position 52B, the first tray 4A placed on the claw member 50 is transferred and stacked to the tray placing portion 56.
Thereafter, in a state where the claw members 50 are disposed at the tray placement position 50A, the lifting and lowering mechanism 53 lifts the tray receiving portion 52, which has delivered the first tray 4A to the tray conveying mechanism 20 at the delivery position 52B, toward the lifting position 52A (see fig. 9), and places the first tray 4A placed on the claw members 47 on the claw members 50 (see fig. 8 a). When the first tray 4A is placed on the claw member 50, the air cylinder 48 moves the claw member 47 disposed at the tray placing position 47A to the claw retreat position 47B. When the tray receiving portion 52 is raised to the raised position 52A and stopped, the robot 7 carries out the liquid crystal panels 2 one by one from the first tray 4A placed on the claw member 50 to the panel placing portion 5.
When the first tray 4A is placed on the claw member 47, the tray conveying mechanism 11 lifts the next first tray 4A with respect to the second tray 4B, and stands by at a predetermined position (see fig. 8 a). In addition, when a prescribed number of empty first trays 4A are stacked on the tray placing portion 56 (for example, when thirty first trays 4A are stacked), the tray conveying mechanism 20 conveys the stacked empty first trays 4A to the front side. The above operations are repeated, and the liquid crystal panels 2 are carried out one by one to the panel placing portion 5, and the empty first tray 4A is stacked and conveyed to the front side.
(main effect of the present embodiment)
As described above, the tray conveying device 6 of the present embodiment includes the tray separating mechanism 13 for separating the first tray 4A from the second tray 4B, and the air cylinder 32 moves the claw member 31 disposed at the retreat position 31B to the tray separating position 31A, and then the tray lifting mechanism 15 lowers the tray disposing portion 9 to lift the first tray 4A relative to the second tray 4B. Therefore, in the present embodiment, when the first tray 4A is lifted relative to the second tray 4B, the first tray 4A can be separated from the second tray 4B by the claw members 31 disposed at the tray separating position 31A. Therefore, in the present embodiment, the trays 4 stacked in a multi-layer stacked state can be separated one by one and conveyed.
Further, the tray conveying device 6 of the present embodiment includes the tray pressing mechanism 12 for pressing the stacked trays 4 from above while contacting the upper surface of the first tray 4A, and in a state where the claw members 35 are disposed at the tray contact position 35A, the lifting mechanism 15 raises the tray arrangement portion 9 to a position where the claw members 35 contact the upper surface of the first tray 4A and stops at the position, and thereafter, the air cylinder 32 moves the claw members 31 disposed at the retracted position 31B to the tray separating position 31A.
Therefore, in the present embodiment, even if the stacked tray 4 disposed in the tray arrangement portion 9 is tilted, the tilt of the stacked tray 4 can be corrected by the claw members 35 before the claw members 31 are interposed between the first tray 4A and the second tray 4B. Therefore, in the present embodiment, even if the trays 4 in the stacked state disposed in the tray arrangement portion 9 are inclined, the claw members 31 can be put between the first tray 4A and the second tray 4B with a higher probability, and as a result, the trays 4 in the stacked state can be reliably separated one by one and conveyed.
In the present embodiment, the claw members 31 are disposed at two positions with a space in the front-rear direction on each of the left and right sides of the tray 4 disposed in the tray disposition portion 9, and the four claw members 31 are disposed in a balanced manner. Therefore, in the present embodiment, the first tray 4A and the second tray 4B are more easily separated by the claw members 31. In the present embodiment, the claw members 35 are disposed at one position between the claw members 31 disposed at two positions on each of both sides of the tray 4 disposed in the tray disposition portion 9 in the left-right direction, and the two claw members 35 are disposed in a balanced manner, so that the inclination of the tray 4 in the stacked state can be easily corrected by the claw members 35.
In the present embodiment, when the first tray 4A is detected by the detection mechanism 16, the tray lift mechanism 15 stops the tray arrangement portion 9. Therefore, in the present embodiment, the tray 4 in the stacked state can be prevented from being pressed from above by the claw members 35 with excessive force. Therefore, in the present embodiment, damage to the tray 4 and the like can be prevented.
In the present embodiment, when the lift mechanism 53 lowers the tray receiving portion 52 toward the transfer position 52B and the empty first tray 4A placed on the claw member 50 moves to a position lower than the claw member 47, the air cylinder 48 moves the claw member 47 placed at the retreat position 47B to the tray placing position 47A, and thereafter, the tray conveying mechanism 11 places the next first tray 4A on the claw member 47. That is, in the present embodiment, the tray receiving mechanism 19 performs an operation of transferring the first tray 4A to the tray conveying mechanism 20, and the tray receiving mechanism 18 receives the next first tray 4A from the tray conveying mechanism 11. Therefore, in the present embodiment, the cycle time of the tray conveying device 6 can be shortened as compared with the case where the tray receiving mechanism 19 directly receives the first tray 4A from the tray conveying mechanism 11.
In the present embodiment, when the first tray 4A is placed on the claw member 47, the tray conveying mechanism 11 lifts the next first tray 4A with respect to the second tray 4B and waits at a predetermined position, and therefore the cycle time of the tray conveying device 6 can be further shortened.
(modification of operation of tray carrying device)
Fig. 10 is a diagram for explaining the operation of the tray conveying device 6 according to another embodiment of the present invention.
In the above embodiment, the tray lifting and lowering mechanism 15 may raise the tray arrangement portion 9 to a position where the claw members 35 contact the upper surface of the first tray 4A and stop at the position, the air cylinder 32 may move the claw members 31 arranged at the retreat position 31B to the tray separation position 31A, the tray gripping portion 10 may then be lowered to grip the first tray 4A (see fig. 10 a), the air cylinder 36 may move the claw members 35 arranged at the tray contact position 35A to the retreat position 35B (see fig. 10B), and the air cylinder 24 may raise the tray gripping portion 10 to lift the first tray 4A gripped by the tray gripping portion 10 with respect to the second tray 4B (see fig. 10C). In this case, when the tray holding part 10 holds the first tray 4A from above, the claw member 31 arranged at the tray separating position 31A comes into contact with the flange part 4A of the first tray 4A, and functions to support the first tray 4A from below.
Even in this case, when the first tray 4A is lifted up with respect to the second tray 4B, the first tray 4A can be separated from the second tray 4B by the claw members 31 arranged at the tray separating position 31A. Specifically, even if the second tray 4B bites into the first tray 4A and tries to rise together with the first tray 4A, the first tray 4A and the second tray 4B can be separated by the claw members 31 arranged at the tray separating position 31A (see the two-dot chain line of fig. 10C). Therefore, even in this case, the trays 4 stacked in a stacked state of multiple layers can be separated and conveyed one by one.
In this modification, the tray lifting mechanism 15 may lower the tray arrangement portion 9 when the air cylinder 24 lifts the tray holding portion 10. Further, after the tray holding part 10 descends to hold the first tray 4A, the air cylinder 32 may move the claw member 31 disposed at the retreat position 31B to the tray separating position 31A. Further, the air cylinder 36 may move the claw member 35 disposed at the tray contact position 35A to the retreat position 35B, and thereafter, the tray holding portion 10 may be lowered to hold the first tray 4A.
(constitution of tray separation mechanism and modification of tray carrying device)
Fig. 11 and 12 are views for explaining the configuration of the tray separating mechanism 13 and the operation of the tray conveying device 6 according to another embodiment of the present invention.
In the above embodiment, the tray separating mechanism 13 may include a claw lifting mechanism for lifting and lowering the claw member 31. In this case, for example, the tray lifting and lowering mechanism 15 raises the tray arrangement portion 9 to a position where the claw members 35 contact the upper surface of the first tray 4A and stops at the position, and then the air cylinder 32 moves the claw members 31 arranged at the retracted position 31B to the tray separating position 31A, and thereafter the tray gripping portion 10 grips the first tray 4A (see fig. 11A). Alternatively, the tray lifting mechanism 15 raises the tray arrangement portion 9 to a position where the claw members 35 contact the upper surface of the first tray 4A and stops at the position, and then the tray gripping portion 10 grips the first tray 4A, and thereafter the air cylinder 32 moves the claw members 31 arranged at the retreat position 31B to the tray separating position 31A.
Thereafter, the tray lifting and lowering mechanism 15 lowers the tray arrangement portion 9, and the claw lifting and lowering mechanism lowers the claw members 31 arranged at the tray contact positions 31A (see fig. 11B), and lifts the first tray 4A gripped by the tray gripping portion 10 relative to the second tray 4B. Thereafter, the tray gripping portion 10 lifts and conveys the first tray 4A (see fig. 11C). In this case, the first tray 4A can be separated from the second tray 4B more reliably. In this case, the tray lifting mechanism 15 and the claw lifting mechanism serve as lifting mechanisms for moving the tray arrangement portion 9 up and down relative to the tray pressing mechanism 12 and the tray separating mechanism 13.
In the above-described embodiment, as shown in fig. 12, the tray separating mechanism 13 may include, in addition to the claw members 31: a claw member 61 as a separating claw member; a separation claw moving mechanism that moves the claw members 61 between a tray separation position where the claw members 61 enter between the first tray 4A and the second tray 4B and a separation claw retreat position where the claw members 61 are separated from between the first tray 4A and the second tray 4B; and a claw lifting mechanism which lifts and lowers the claw member 61.
In this case, for example, after the tray lifting and lowering mechanism 15 raises the tray arrangement portion 9 to a position where the claw members 35 contact the upper surface of the first tray 4A and stops at the position, and then moves the claw members 31 to the tray separation position 31A and moves the claw members 61 to the tray separation position (see fig. 12 a), the tray lifting and lowering mechanism 15 lowers the tray arrangement portion 9 and lowers the claw members 61 arranged at the tray contact position (see fig. 12B), and the first tray 4A is relatively lifted with respect to the second tray 4B. Thereafter, the tray holding part 10 holds and lifts the first tray 4A. In this case, the tray lifting mechanism 15 and the claw lifting mechanism serve as lifting mechanisms for moving the tray arrangement portion 9 up and down relative to the tray pressing mechanism 12 and the tray separating mechanism 13.
(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 within a scope not changing the gist of the present invention.
In the above embodiment, the tray conveying device 6 may not include the tray lifting mechanism 15 for lifting and lowering the tray arrangement portion 9. In this case, the tray conveying device 6 includes an elevating mechanism that raises and lowers the tray pressing mechanism 12 and the tray separating mechanism 13 together, or includes an elevating mechanism that raises and lowers the tray pressing mechanism 12 and the tray separating mechanism 13 separately.
In this case, the elevating mechanism lowers the tray pressing mechanism 12 and the tray separating mechanism 13 to a position where the claw members 35 disposed at the tray contact position 35A contact the upper surface of the first tray 4A. That is, the lifting mechanism lowers the tray pressing mechanism 12 and the tray separating mechanism 13, thereby relatively raising the tray arrangement portion 9 with respect to the tray pressing mechanism 12 and the tray separating mechanism 13 to a position where the claw members 35 arranged at the tray contact position 35A contact the upper surface of the first tray 4A.
In this case, in a state where the claw member 31 is disposed at the tray separating position 31A, the elevating mechanism raises the tray pressing mechanism 12 and the tray separating mechanism 13, thereby lifting the first tray 4A with respect to the second tray 4B. That is, in a state where the claw member 31 is disposed at the tray separating position 31A, the elevating mechanism raises the tray pressing mechanism 12 and the tray separating mechanism 13, and lowers the tray disposition portion 9 relative to the tray pressing mechanism 12 and the tray separating mechanism 13, thereby lifting the first tray 4A relative to the second tray 4B. In this case, the elevating mechanism is an elevating mechanism for moving the tray arrangement portion 9 up and down relative to the tray pressing mechanism 12 and the tray separating mechanism 13.
In the above-described embodiment, the tray receiving mechanism 19 may receive the first tray 4A directly from the tray conveying mechanism 11. In this case, the tray receiving mechanism 18 is not required. In the above-described embodiment, the claw members 31 and 35 and the air cylinders 32 and 36 may be disposed on both sides of the tray 4 disposed on the tray disposing portion 9 in the front-rear direction. In this case, the air cylinder 32 moves the claw member 31 in the front-rear direction, and the air cylinder 36 moves the claw member 35 in the front-rear direction.
In the above embodiment, the number of the claw members 35 provided in the tray pressing mechanism 12 may be three or more. The number of the claw members 35 provided in the tray separating mechanism 13 may be two or three, or may be five or more. The number of the claw members 47 provided in the tray receiving mechanism 18 may be five or more, and the number of the claw members 50 provided in the tray receiving mechanism 19 may be five or more.
In the above-described embodiment, the separating pawl moving mechanism for moving the pawl member 31 may be a moving mechanism other than the air cylinder 32. For example, the separation pawl moving mechanism may be an electric cylinder. Similarly, the pressing claw moving mechanism for moving the claw member 35 may be a moving mechanism other than the air cylinder 36 such as an electric cylinder, the first placing claw moving mechanism for moving the claw member 47 may be a moving mechanism other than the air cylinder 48 such as an electric cylinder, and the second placing claw moving mechanism for moving the claw member 50 may be a moving mechanism other than the air cylinder 51 such as an electric cylinder.
In the above embodiment, the tray conveying mechanism 11 may include air cylinders disposed on both left and right sides of the tray arrangement portion 9 as a holding portion lifting mechanism for lifting and lowering the tray holding portion 10, and may include slide mechanisms disposed on both left and right sides of the tray arrangement portion 9 as slide mechanisms for sliding the tray holding portion 10 in the front-rear direction. In the above embodiment, the tray conveying mechanism 11 may include a second tray gripping portion that receives and grips the first tray 4A from the tray gripping portion 10, and a sliding mechanism that slides the second tray gripping portion in the front-rear direction. In this case, the slide mechanism 25 is not required. In the above embodiment, the tray conveying mechanism 11 may not include the air cylinder 24, and the first tray 4A may be conveyed to the rear side by the tray gripping portion 10 without raising and lowering the tray gripping portion 10.
In the above-described embodiment, the panel transport system 1 may carry out the liquid crystal panel 2 after inspection from the inspection apparatus 3. In this case, the empty trays 4 are arranged in the tray arrangement portion 9 in a stacked state. Further, when the robot 7 carries the liquid crystal panels 2 after inspection one by one from the panel placing unit 5 into the tray receiving unit 52 disposed at the raised position 52A, the liquid crystal panels are placed on the first tray 4A on the claw member 50. Further, the first tray 4A containing the liquid crystal panel 2 after the inspection is stacked on the tray placing portion 56.
In the above-described embodiment, the panel transport system 1 may carry the liquid crystal panel 2 before inspection into the inspection device 3 and carry the liquid crystal panel 2 after inspection out of the inspection device 3. In this case, the robot 7 carries out the liquid crystal panel 2 before inspection from the first tray 4A placed on the claw member 50 when the tray receiving portion 52 is placed at the raised position 52A to the panel placing portion 5, and carries the liquid crystal panel 2 after inspection from the panel placing portion 5 to the first tray 4A placed on the claw member 50 when the tray receiving portion 52 is placed at the raised position 52A.
In the above embodiment, the tray conveying mechanism 20 may be a roller conveyor or a belt conveyor. In this case, the first tray 4A loaded on the claw member 50 is handed over to the conveyor and stacked. In the above embodiment, the tray conveying mechanism 20 may convey the stacked first tray 4A to the rear side, or may convey the first tray in the left-right direction. In the above embodiment, the tray receiving mechanism 18 may include an elevating mechanism for raising and lowering the claw member 47 and the air cylinder 48.
In the above-described embodiment, the inspection device 3 may be an inspection device other than a lighting inspection device. In the above-described embodiment, the panel transport system 1 may transport the liquid crystal panel 2 to a device other than the inspection device. In the above-described embodiment, the display panel conveyed by the panel conveyance system 1 may be a display panel other than the liquid crystal panel 2. For example, the display panel conveyed by the conveyance system 1 may be an organic EL panel.

Claims (9)

1. A tray conveying device is characterized by comprising:
a tray arrangement portion in which trays capable of accommodating display panels are arranged in a stacked state;
a tray conveying mechanism that has a tray holding portion that holds a first tray from an upper side, and that conveys the first tray in a horizontal direction, the first tray being the tray disposed at an uppermost layer among the trays disposed at the tray disposition portion;
a tray pressing mechanism for contacting an upper surface of the first tray and pressing the trays stacked in multiple layers from an upper side;
a tray separating mechanism for separating a second tray, which is the tray arranged on a second layer from the top among the trays arranged in the tray arrangement portion, from the first tray; and
a lifting mechanism for moving the tray arrangement portion up and down relative to the tray pressing mechanism and the tray separating mechanism,
the tray pressing mechanism includes: a pressing claw member that is in contact with an upper surface of the first tray; and a pressing claw moving mechanism that moves the pressing claw member between a tray contact position where the pressing claw member can contact the upper surface of the first tray and a pressing claw retreat position where the pressing claw member is separated from the upper side of the first tray,
the tray separation mechanism includes: a separating claw member which enters between the first tray and the second tray; and a separation claw moving mechanism that moves the separation claw member between a tray separation position where the separation claw member enters between the first tray and the second tray and a separation claw retreat position where the separation claw member is separated from between the first tray and the second tray,
the lifting mechanism relatively raises the tray placement portion with respect to the tray pressing mechanism and the tray separating mechanism until the pressing claw member comes into contact with the upper surface of the first tray and stops at a position where the pressing claw member comes into contact with the upper surface of the first tray in a state where the pressing claw member is placed at the tray contact position and the separating claw member is placed at the separating claw retreat position, and thereafter, the separating claw moving mechanism moves the separating claw member placed at the separating claw retreat position to the tray separating position,
thereafter, at least one of the following actions is performed: an operation of lowering the tray placement unit relatively to the tray pressing mechanism and the tray separating mechanism by the lifting mechanism, and lifting the first tray relatively to the second tray; and an operation of raising the tray holding part holding the first tray and lifting the first tray with respect to the second tray after the pressing claw moving mechanism moves the pressing claw member disposed at the tray contact position to the pressing claw retreat position.
2. The tray conveying apparatus according to claim 1,
the tray conveying mechanism is provided with a holding part lifting mechanism for lifting and lowering the tray holding part.
3. The tray conveying device according to claim 1 or 2,
when a direction orthogonal to the moving direction and the vertical direction of the tray holding part which moves linearly in the horizontal direction is set as a first direction,
the pressing claw member and the separating claw member are disposed on both sides of the tray in the first direction disposed in the tray disposition portion,
the pressing claw moving mechanism moves the pressing claw member in a first direction,
the separation claw moving mechanism moves the separation claw member in a first direction.
4. The tray conveying apparatus according to claim 3,
the separation claw members are disposed at two locations on each of both sides of the tray in the first direction disposed at the tray disposition portion with a space in the moving direction of the tray holding portion,
the pressing claw member is disposed at one location between the two separating claw members disposed at two locations on each of both sides of the tray disposed at the tray disposition portion in the first direction.
5. The tray conveying apparatus according to any one of claims 1 to 4,
a detection mechanism for detecting the first tray at a position where the pressing claw member disposed at the tray contact position is in contact with the upper surface of the first tray,
the lifting mechanism stops the tray placement unit relative to the tray pressing mechanism and the tray separating mechanism based on a detection result of the detection mechanism.
6. The tray conveying apparatus according to any one of claims 1 to 5,
the tray pressing mechanism and the tray separating mechanism are arranged on a frame of the tray conveying device,
the lifting mechanism lifts and lowers the tray arrangement portion with respect to the frame.
7. The tray conveying apparatus according to any one of claims 1 to 6, comprising:
a first tray receiving mechanism for receiving the first tray conveyed by the tray conveying mechanism;
a second tray receiving mechanism for receiving the first tray from the first tray receiving mechanism; and
a second tray conveying mechanism which is disposed below the first tray receiving mechanism and which receives the first tray from the second tray receiving mechanism and conveys the first tray in a horizontal direction,
the first tray receiving mechanism includes: a plurality of first placing claw members on which the first tray is placed; and a first placing claw moving mechanism that moves the first placing claw member between a first tray placing position where the first tray can be placed on the first placing claw member and a first placing claw retracted position where the first placing claw member is separated from a lower side of the first tray,
the second tray receiving mechanism includes: a plurality of second placing claw members on which the first tray is placed; a second placing claw moving mechanism that moves the second placing claw member between a second tray placing position where the first tray can be placed on the second placing claw member and a second placing claw retracted position where the second placing claw member is separated from the lower side of the first tray; a tray receiving portion to which the second placing claw member and the second placing claw moving mechanism are attached; and a receiving portion elevating mechanism that elevates and lowers the tray receiving portion,
the first tray placed on the second placing claw member is transferred and stacked onto the second tray conveying mechanism,
the second tray conveying mechanism conveys the stacked first trays in a horizontal direction,
the receiving section lifting mechanism raises and lowers the tray receiving section between a raised position where the second placing claw member is arranged above the first placing claw member and a transfer position where the first tray is transferred to the second tray conveying mechanism,
the second placing claw moving mechanism moves the second placing claw member disposed at the second tray placing position to the second placing claw retreat position when the first tray is transferred to the second tray conveying mechanism,
the receiving portion lifting mechanism lowers the tray receiving portion arranged at the raised position toward the transfer position in a state where the first tray is placed on the second placing claw member, and when the first tray placed on the second placing claw member is moved to a position lower than the first placing claw member, the first placing claw moving mechanism moves the first placing claw member arranged at the first placing claw retreat position to the first tray placing position, and thereafter, the tray conveying mechanism places the first tray on the first placing claw member,
after that, in a state where the second placing claw member is disposed at the second tray placing position, the receiving portion elevating mechanism raises the tray receiving portion, which has delivered the first tray to the second tray conveying mechanism at the delivery position, toward the raised position, places the first tray placed on the first placing claw member on the second placing claw member, and then, the first placing claw moving mechanism moves the first placing claw member disposed at the first tray placing position to the first placing claw retracted position.
8. The tray conveying apparatus according to claim 7,
when the first tray is placed on the first placing claw member, the tray conveying mechanism lifts the next first tray with respect to the second tray and stands by.
9. A panel conveying system is characterized by comprising:
the tray conveying device according to claim 7 or 8; and
a panel transfer robot that transfers the display panel,
the panel transport robot performs at least one of the following operations: carrying out the display panel from the first tray placed on the second placing claw member when the tray receiving section is disposed at the raised position; and carrying the display panel into the first tray placed on the second placing claw member when the tray receiving section is disposed at the raised position.
CN202010166405.8A 2019-03-20 2020-03-11 Tray conveying device and panel conveying system Withdrawn CN111717674A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-053566 2019-03-20
JP2019053566A JP2020155628A (en) 2019-03-20 2019-03-20 Tray transfer device and panel transfer system

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CN111717674A true CN111717674A (en) 2020-09-29

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CN113501311A (en) * 2021-09-07 2021-10-15 中电工业互联网有限公司 Automatic loading and unloading equipment and method applied to grabbing of hard alloy cutter
CN114524262A (en) * 2022-02-24 2022-05-24 福建省农业机械化研究所(福建省机械科学研究院） Automatic grabbing and transferring machine for space curved thin plaque

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CN205076485U (en) * 2015-09-22 2016-03-09 苏州富通高新材料科技股份有限公司 Panel autosegregation device
CN106612612A (en) * 2015-10-27 2017-05-03 松下知识产权经营株式会社 Tray supplier and tray supply method
CN109417044A (en) * 2016-06-30 2019-03-01 日本电产三协株式会社 Handling system

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Publication number Priority date Publication date Assignee Title
CN101405208A (en) * 2006-03-28 2009-04-08 夏普股份有限公司 Tray stack transfer apparatus
WO2010021038A1 (en) * 2008-08-20 2010-02-25 株式会社アドバンテスト Electronic component handling apparatus and electronic component test system
CN205076485U (en) * 2015-09-22 2016-03-09 苏州富通高新材料科技股份有限公司 Panel autosegregation device
CN106612612A (en) * 2015-10-27 2017-05-03 松下知识产权经营株式会社 Tray supplier and tray supply method
CN109417044A (en) * 2016-06-30 2019-03-01 日本电产三协株式会社 Handling system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113501311A (en) * 2021-09-07 2021-10-15 中电工业互联网有限公司 Automatic loading and unloading equipment and method applied to grabbing of hard alloy cutter
CN114524262A (en) * 2022-02-24 2022-05-24 福建省农业机械化研究所(福建省机械科学研究院） Automatic grabbing and transferring machine for space curved thin plaque
CN114524262B (en) * 2022-02-24 2024-03-15 福建省农业机械化研究所(福建省机械科学研究院） Automatic grabbing and transferring machine for space curved surface thin plaque

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Application publication date: 20200929