JP4641859B2 - Position adjustment device for box-shaped container for glass plate storage - Google Patents
Position adjustment device for box-shaped container for glass plate storage Download PDFInfo
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Description
本発明は、ガラス板収納用容器の位置調整装置に関し、特に矩形状でフラットなガラス板を１枚づつ離隔して縦姿勢で収納する箱状容器の精密な位置調整装置に関する。 The present invention relates to a position adjustment device for a glass plate storage container, and more particularly to a precise position adjustment device for a box-shaped container that stores rectangular glass plates one by one apart and stores them vertically.
従来より、矩形状でフラットな形状の薄板ガラスの保管や輸送においては、ガラス板を縦姿勢にしてガラス板1枚毎に専用の合紙や緩衝材を挟み、パレット、木箱等に積載していた。 Conventionally, when storing and transporting flat and thin glass sheets that are rectangular and flat, the glass sheets are placed in a vertical position, and a special interleaving paper or cushioning material is sandwiched between each glass sheet and loaded on a pallet, wooden box, etc. It was.
しかしながら、プラズマディスプレイや液晶ディスプレイ等のディスプレーパネル等に用いる一部のガラス基板等については、その表面に指紋、吸着跡、搬送ローラの跡等の汚れのない状態で梱包せざるを得ないものがあり、このようなガラス板の出荷に対しては、ガラス板を梱包容器内の左右の側壁および下辺両端部に設けた溝部内にガラス基板の左右両縦辺および下辺の両端部を挿入して倒れないように支持して、ガラス板同士が互いに接触することのない状態にして輸送や保管をしていた。 However, some glass substrates used for display panels such as plasma displays and liquid crystal displays must be packed without contamination such as fingerprints, suction marks, and transport roller marks on the surface. Yes, for the shipment of such glass plates, insert the left and right vertical sides of the glass substrate and both ends of the lower side into the grooves provided on the left and right side walls and lower side of the packaging container. It was supported so as not to fall down, and was transported and stored in a state where the glass plates did not contact each other.
このような箱状容器の溝部へのガラス板の積込み作業は、従来人手による手作業によって行われていたが、大きなガラスサイズについては、人手では対応困難な状況であり、自動機械等によって積込みを行う必要がある。 The loading operation of the glass plate into the groove portion of the box-like container has been conventionally performed manually by hand, but it is difficult to deal with a large glass size manually. There is a need to do.
このような溝部を有した箱状容器内にガラス板を自動的に挿入するためには、箱状容器を所定位置に精密に位置決めして載置しておく必要がある。 In order to automatically insert a glass plate into a box-shaped container having such a groove, the box-shaped container needs to be precisely positioned and placed at a predetermined position.
このようなガラス板等の収納容器の位置決め構造や位置決め方法としては、例えば、特開平１１−１６８１３６号公報には、自動機の複数の位置決めピンと精密基板収納容器本体の複数の位置決め手段とが位置ずれしていない場合には、各位置決めピンに位置決め手段の凹部を嵌め合わせて位置決めし、該複数の位置決めピンと該複数の位置決め手段とが位置ずれしている場合には、該各位置決めピンに該誘導部材の誘導面を接触させて滑らせ、該各位置決めピンに該位置決め手段の凹部を嵌め合わせて位置決めするようにしたことを特徴とする精密基板収納容器の位置決め方法が記載されている（特許文献１）。 As such a positioning structure and positioning method for a storage container such as a glass plate, for example, in Japanese Patent Laid-Open No. 11-168136, a plurality of positioning pins of an automatic machine and a plurality of positioning means of a precision substrate storage container main body are positioned. If not displaced, the recesses of the positioning means are fitted to the positioning pins and positioned, and if the positioning pins and the positioning means are misaligned, the positioning pins A positioning method for a precision substrate storage container is described in which the guiding surface of the guiding member is brought into contact and slid, and the concave portion of the positioning means is fitted to each positioning pin for positioning (patent) Reference 1).
また、例えば、特開２００５−６４２７９号公報には、横倒し姿勢の中箱４の底部の四隅部は脚部４ｃを有し、ステージの四箇所にＬ字形の突起を配置して、前記中箱の脚部４ｃの外側角部を、ステージの位置決め部の内側角部に係合させることにより、ステージ上に中箱を正確に位置決めできる旨が記載されている（特許文献２）。 Further, for example, in Japanese Patent Application Laid-Open No. 2005-64279, the four corners of the bottom portion of the middle box 4 in the sideways posture have leg portions 4c, and L-shaped projections are arranged at four places on the stage, and the middle box It is described that the inner box can be accurately positioned on the stage by engaging the outer corner of the leg 4c with the inner corner of the positioning part of the stage (Patent Document 2).
また、例えば、特開平７−３１５５５０号公報には、搬送コンベア上を移送されてきたパレットが、パレットストッパ９にその前端を当接して停止し、パレットストッパ９を支持する上下動自在のストッパ用シリンダ１４が固定され、バックアッププレート１５に設けられたバックアップ用位置決め孔に位置決めピン１６、１７を挿入してパレットが固定される旨が開示されている（特許文献３）。
前記特許文献１に記載の位置決め構造は、ステージ上で位置決めされた箱状容器をさらに精密に位置や角度の補正をすることができない為、箱状容器の下面の位置決め用の凹部、および容器内壁に設ける基板を挿入して支持する溝部の製作精度が要求され、これらの容器の製作誤差があっても対応できない。 Since the positioning structure described in Patent Document 1 cannot correct the position and angle of the box-shaped container positioned on the stage more precisely, the positioning recess on the lower surface of the box-shaped container, and the container inner wall The manufacturing accuracy of the groove portion for inserting and supporting the substrate to be provided is required, and even if there is a manufacturing error of these containers, it cannot be handled.
また、特許文献１に記載のものは、大口径でも３００ｍｍ程度の半導体ウェーハやマスクガラスなどからなる基板を収納するための小規模の容器を自動ステージ上で位置決めすることを目的とするコンパクトなものであるので、ステージ１３上より上方に突起した位置決めピン１４と、容器下面の凹部との嵌合による位置決めは可能であるが、１辺の長さが１ｍ以上から２ｍ近いサイズの基板を数十枚積載するような大型の容器については、基板を積載時の重量に耐えうる強度が必要になるため、容器自体の重量も大重量となり、位置決めピンの変形等の恐れがある。 Further, the one described in Patent Document 1 is a compact one intended to position a small-scale container for housing a substrate made of a semiconductor wafer or mask glass having a large diameter of about 300 mm on an automatic stage. Therefore, positioning by fitting the positioning pins 14 projecting upward from above the stage 13 and the recesses on the lower surface of the container is possible, but several tens of substrates having a side length of 1 m or more to nearly 2 m can be obtained. For a large container for stacking sheets, the substrate needs to be strong enough to withstand the weight when the substrate is loaded, so that the weight of the container itself is also heavy, which may cause deformation of the positioning pins.
前記特許文献２、特許文献３に記載の位置決め構造について、ステージの四隅近傍に設けた位置決め部の内側角部に、中箱４の脚部４ｃの外側角部を係合させることにより、中箱はステージ上に正確に位置決めされるが、前記特許文献１と同様にステージ上の同一位置で位置決めされた中箱に製作誤差があっても、位置や角度の補正をすることができない。 In the positioning structures described in Patent Document 2 and Patent Document 3, by engaging the outer corner portions of the leg portions 4c of the inner box 4 with the inner corner portions of the positioning portions provided in the vicinity of the four corners of the stage, the inner box Is accurately positioned on the stage, but the position and angle cannot be corrected even if there is a manufacturing error in the inner box positioned at the same position on the stage as in Patent Document 1.
本発明は、上記問題点の解決を図る、すなわちディスプレイ表示用に使用するガラス基板の小サイズから１辺の長さが２メートルを越すような大サイズまでのガラス板を離隔して縦姿勢で収納する容器の製作時の寸法誤差があっても、精度良く容器の載置位置や角度の補正を可能にする。 The present invention aims to solve the above problems, that is, in a vertical position by separating a glass plate from a small size of a glass substrate used for display display to a large size whose one side exceeds 2 meters. Even if there is a dimensional error during the production of the container to be stored, it is possible to correct the placement position and angle of the container with high accuracy.
すなわち、本発明は、ガラス板収納用箱状容器の位置調整装置において、搬送方向の左右に分離して配置した複数本の搬送ロールからなり、前記箱状容器の左右の底部が前記搬送ロールにより支持されて搬出入させる搬送コンベアと、前記箱状容器の搬送方向と直交する方向の両側面より押圧挟持し、幅方向の位置を決める側部位置決め手段と、左右に分離した前記搬送コンベア間に設けた補正テーブルと、前記搬送コンベアを下降させて前記搬送コンベア上の箱状容器を前記補正テーブル上に載置させる搬送コンベア昇降手段と、前記補正テーブルに載置された前記箱状容器の左右の側壁部のそれぞれに設けた溝部の位置を検出する位置検出手段とから構成されており、前記補正テーブルは、前記補正テーブルに載置された前記箱状容器の前後移動を行う前後位置調整手段と、前記補正テーブルを回転させて前記箱状容器の載置角度の調整を行う角度位置調整手段とを備えており、前記位置検出手段の検出結果に基づいて、前記補正テーブル上に載置される前記箱状容器の位置を調整し、前記箱状容器の左右の側壁部にそれぞれ設けた溝部内にガラス板を積載可能とすることを特徴とするガラス板収納用箱状容器の位置調整装置である。 That is, the present invention comprises a plurality of transport rolls arranged separately on the left and right in the transport direction in the glass plate storage box-shaped container position adjusting device, and the left and right bottom portions of the box-shaped container are formed by the transport rolls. Between a conveyor that is supported and carried in and out, a side positioning means that presses and clamps from both side surfaces in a direction orthogonal to the conveyance direction of the box-shaped container and determines the position in the width direction, and the conveyance conveyor that is separated to the left and right A correction table provided, a transport conveyor lifting means for lowering the transport conveyor and placing the box-shaped container on the transport conveyor on the correction table, and right and left of the box-shaped container mounted on the correction table Position detecting means for detecting the position of the groove portion provided in each of the side wall portions, and the correction table of the box-shaped container placed on the correction table. A front-rear position adjusting means for performing rearward movement, and an angular position adjusting means for adjusting the mounting angle of the box-shaped container by rotating the correction table, based on the detection result of the position detecting means, the correction is placed on the table to adjust the position of the box-shaped container, a glass plate housing, characterized in that to allow loading of the glass plate to the box-shaped groove portion provided respectively in the side wall portions of the left and right of the container This is a position adjustment device for a box-shaped container.
あるいは、本発明は、前記位置検出手段は、前記箱状容器の左右の側壁部に設けられた対となる溝部を撮像する手段と、前記撮像の結果を二値化し、前記対となる溝部の座標を検出する手段と、前記検出した溝部の座標を予め定めた基準となる座標に一致させるために必要な移動量を算出する手段とからなることを特徴とする上述のガラス板用箱状容器の位置調整装置である。 Alternatively, according to the present invention, the position detection means may be a means for imaging a pair of grooves provided on the left and right side wall portions of the box-shaped container, and a binarization result of the imaging, The above-mentioned glass plate box-like container comprising: means for detecting coordinates; and means for calculating the amount of movement necessary to match the coordinates of the detected groove with a predetermined reference coordinate . This is a position adjusting device.
あるいはまた、本発明は、前記補正テーブルの先端に昇降自在に固設され、前記箱状容器の先端部との当接により前記箱状容器を補正テーブル上の所定位置で停止させるストッパーを設けたことを特徴とする上述のガラス板収納用箱状容器の位置調整装置である。 Alternatively, the present invention is provided with a stopper fixed to the front end of the correction table so as to be movable up and down, and stopping the box-shaped container at a predetermined position on the correction table by contacting the front end of the box-shaped container. This is a position adjusting device for a glass container for storing a glass plate.
本発明は、左右２列に分離した搬送コンベア間に設けた補正テーブルの前後位置調整手段や角度調整手段によって、箱状容器の位置や角度のズレを精度良く調整できるようにしたので、箱状容器内の溝部にガラス板をスムーズに挿入することが容易にできる。 In the present invention, the position and angle deviation of the box-shaped container can be accurately adjusted by the front and rear position adjusting means and the angle adjusting means of the correction table provided between the conveyance conveyors separated into the left and right two rows. It is easy to smoothly insert the glass plate into the groove in the container.
このように、箱状容器を搬送コンベア上の所定の位置で位置決めした後に、製作誤差やばらつき等の位置や角度に僅かのズレがあっても精度良く補正が可能となったことにより、小サイズのガラス基板から、１辺の長さが２メートルを越すような大サイズのガラス板まで複数枚離隔して縦姿勢で箱状容器内に収納することが容易になった。 In this way, after positioning the box-shaped container at a predetermined position on the transfer conveyor, even if there is a slight deviation in the position or angle of production error, variation, etc., it is possible to accurately correct the small size. From the glass substrate to a large glass plate with one side exceeding 2 meters, it becomes easy to store a plurality of sheets in a box-like container in a vertical posture.
本発明は、プラズマディスプレイや液晶ディスプレイ等のディスプレイ表示用に使用するガラス基板の小サイズのものから、１辺の長さが２メートルを越すようなディスプレイ基板の多面採り用の素板基板である大サイズのガラス板を左右の側壁の溝部５内に挿入により離隔して縦姿勢で多数枚収納するための箱状容器３の位置決め装置であるが、該箱状容器３の製作時の誤差等によるガラス積載溝位置、左右の溝を結んだ線の平行度等の角度にバラツキがあっても、ガラス挿入用溝位置が常に基準座標となるように、精度良く位置補正をするものである。 The present invention is a base plate substrate for multi-sided display substrates from a small size glass substrate used for display display such as a plasma display or a liquid crystal display, in which the length of one side exceeds 2 meters. This is a positioning device for the box-shaped container 3 for storing a large number of glass plates in a vertical position by separating them into the groove portions 5 on the left and right side walls. Even if there is a variation in the glass loading groove position and the parallelism of the lines connecting the left and right grooves, the position of the glass insertion groove is corrected accurately so that it always becomes the reference coordinate.
図７に示したように、ガラス板収納用の箱状容器３の位置調整装置１の搬送コンベア１０の上流側に供給コンベア７０を隣接して配設し、下流側にはガラス板の積込みを完了した箱状容器３を搬出する搬出コンベア８０を隣接して配設した。 As shown in FIG. 7, a supply conveyor 70 is disposed adjacent to the upstream side of the transfer conveyor 10 of the position adjusting device 1 of the box-shaped container 3 for storing glass plates, and a glass plate is loaded on the downstream side. An unloading conveyor 80 for unloading the completed box-shaped container 3 was disposed adjacently.
前記供給コンベア７０は、供給ＣＶ駆動モーター７２によって駆動される複数本の供給ＣＶロール７１、７１・・からなり、該供給コンベア７０の両サイドには供給コンベア上に載置した箱状容器３をセンタリングする予備位置決め手段２０’を配設した。 The supply conveyor 70 is composed of a plurality of supply CV rolls 71 driven by a supply CV drive motor 72, and a box-like container 3 placed on the supply conveyor is placed on both sides of the supply conveyor 70. Preliminary positioning means 20 ′ for centering is provided.
該予備位置決め手段２０’は、供給コンベア７０の両外側にそれぞれ側部押圧シリンダ２３’、２３’を設け、該側部押圧シリンダ２３’、２３’のロッドを供給コンベア上の箱状容器３に向けて突出させ、突出入するロッドの先端にロッドと直交する側部押圧部材２２’、２２’を設け、該側部押圧部材２２’、２２’のそれぞれに複数個の側部押圧ロール２１’、２１’・・を配設して、側部押圧シリンダ２３’、２３’を駆動させて互いに接近させた時に、箱状容器３が供給コンベア７０上の略中央位置となるように予備位置決めを行う。 The preliminary positioning means 20 ′ is provided with side pressing cylinders 23 ′ and 23 ′ on both outer sides of the supply conveyor 70, and the rods of the side pressing cylinders 23 ′ and 23 ′ are attached to the box-like container 3 on the supply conveyor. The side pressing members 22 'and 22' perpendicular to the rod are provided at the tip of the rod that protrudes and enters, and a plurality of side pressing rolls 21 'are provided on each of the side pressing members 22' and 22 '. , 21 ′,..., And when the side pressing cylinders 23 ′, 23 ′ are driven to approach each other, preliminary positioning is performed so that the box-shaped container 3 is located at a substantially central position on the supply conveyor 70. Do.
供給コンベア７０（図７参照）の下流に隣接して配置する箱状容器３の位置調整装置１は、図１に示したように、左右２列に分離して配設し、かつ各列が複数本の搬送ロール１１、１１・・からなる搬送コンベア１０、１０と、前記左右２列に分離した搬送コンベア１０、１０間に設けた補正テーブル５１を搬送方向と平行に移動調整可能とする前後位置調整手段４０と、箱状容器３を搬送コンベア１０上で一旦停止させた状態で、搬送コンベア１０の搬送方向と直交する方向で搬送コンベア１０、１０の外側より搬送ロール１１、１１・・上に載置した箱状容器３を押圧挟持してセンタリングし、幅方向の位置決めをする側部位置決め手段２０と、該搬送コンベア１０、１０の昇降により箱状容器３を搬送コンベア１０、１０から補正テーブル５１へ、あるいはその逆へ移載する搬送コンベア昇降手段１５（図３参照）とからなる。 As shown in FIG. 1, the position adjusting device 1 for the box-shaped container 3 disposed adjacent to the downstream of the supply conveyor 70 (see FIG. 7) is separated into two left and right rows, and each row is Before and after making it possible to move and adjust the transfer conveyors 10 and 10 composed of a plurality of transfer rolls 11 and 11 and the correction table 51 provided between the transfer conveyors 10 and 10 separated into the left and right rows in parallel with the transfer direction. In a state where the position adjusting means 40 and the box-shaped container 3 are temporarily stopped on the transport conveyor 10, the transport rolls 11, 11, and so on from the outside of the transport conveyors 10, 10 in the direction orthogonal to the transport direction of the transport conveyor 10. The box-shaped container 3 placed on the side is pressed and clamped to be centered and positioned in the width direction, and the box-shaped container 3 is corrected from the conveyors 10 and 10 by raising and lowering the conveyor 10 and 10. The To Le 51, or composed of a conveyor lift unit 15 (see FIG. 3) for transferring vice versa.
前記搬送コンベア１０、１０は、搬送方向の中心線より左右方向に距離を隔てて離して２列の状態で配設され、各列は複数本の搬送ロール１１、１１、・・からなり、箱状容器３は左右２列の搬送コンベア１０、１０に跨って支持されて搬送される。 The conveyors 10 and 10 are arranged in two rows with a distance in the left-right direction from the center line in the conveying direction, and each row is composed of a plurality of conveying rolls 11, 11,. The container 3 is supported and transported across two left and right rows of transport conveyors 10 and 10.
前記前後位置調整手段４０は、図１、図３に示すように左右の搬送コンベア１０、１０間に２本のガイドレール４３、４３を配設し、各ガイドレール４３、４３上にはガイド４４、４４（図３参照）を摺動可能に取り付けた。 As shown in FIGS. 1 and 3, the front / rear position adjusting means 40 is provided with two guide rails 43, 43 between the left and right transport conveyors 10, 10, and a guide 44 on each guide rail 43, 43. 44 (see FIG. 3) were slidably attached.
また、２本のガイドレール４３、４３間にはモーター４２によって回転駆動されるボールネジ４１を前記ガイドレール４３、４３に平行に配設し、ボールネジ４１と螺合するガイド４６と前記ガイドレール上に摺設するガイド４４、４４同士を連結部材４５で連結し、該連結部材４５上にモーター５３によって回転自在な調整板５２を有する角度調整手段５０を介して角度調整可能に補正テーブル５１を設けた。 A ball screw 41 that is rotationally driven by a motor 42 is disposed between the two guide rails 43 and 43 in parallel with the guide rails 43 and 43, and a guide 46 that is screwed with the ball screw 41 and the guide rail are disposed on the guide rail. The guides 44, 44 to be slid are connected to each other by a connecting member 45, and a correction table 51 is provided on the connecting member 45 via an angle adjusting means 50 having an adjusting plate 52 that can be rotated by a motor 53 so that the angle can be adjusted. .
前記側部位置決め手段２０は、前記予備位置決め手段２０’と同一構造であり、搬送コンベア１０の両外側にそれぞれ側部押圧シリンダ２３、２３を設け、該側部押圧シリンダ２３、２３のロッドを搬送コンベア上の箱状容器３に向けて突出させ、突出入するロッドの先端にロッドと直交する長尺の側部押圧部材２２、２２を設け、該側部押圧部材２２、２２のそれぞれに複数個の側部押圧ロール２１、２１・・を配設し、側部押圧シリンダ２３、２３を駆動させ、側部押圧部材２２、２２を突出させて箱状容器３を挟むように互いに接近させることによって、箱状容器３の幅方向の位置決めを行う。 The side positioning means 20 has the same structure as the preliminary positioning means 20 ′, and is provided with side pressing cylinders 23, 23 on both outer sides of the conveyor 10, respectively, and transports the rods of the side pressing cylinders 23, 23. Protruding toward the box-like container 3 on the conveyor, and providing long side pressing members 22, 22 orthogonal to the rod at the tip of the protruding rod, a plurality of each of the side pressing members 22, 22 are provided. Of the side pressing rolls 21, 21... Are driven, the side pressing cylinders 23, 23 are driven, and the side pressing members 22, 22 are projected to approach each other so as to sandwich the box-shaped container 3. Then, the box-shaped container 3 is positioned in the width direction.
尚、箱状容器３の側部位置決めを行うにあたっては、搬送コンベア１０上に搬入された箱状容器３を所定位置で、停止させて行う。 Note that the side positioning of the box-shaped container 3 is performed by stopping the box-shaped container 3 loaded onto the conveyor 10 at a predetermined position.
この停止手段として、図１〜図３に示すように、前記補正テーブル５１の搬出コンベア８０側の端部に取付部材３３を介してストッパー昇降シリンダ３２を取り付け、該ストッパー昇降シリンダ３２の突出入するロッドの先端にストッパー３１のプレートを設けて、ストッパーを昇降自在とした。ストッパー３１は、箱状容器３を搬出コンベア８０側に搬出するときは下降させておき、位置決め時及びガラス板の積込み時は上昇させておく。 As a stopping means, as shown in FIGS. 1 to 3, a stopper lifting cylinder 32 is attached to the end of the correction table 51 on the carry-out conveyor 80 side via a mounting member 33, and the stopper lifting cylinder 32 protrudes. A plate of a stopper 31 was provided at the tip of the rod so that the stopper could be raised and lowered. The stopper 31 is lowered when the box-shaped container 3 is carried out to the carry-out conveyor 80 side, and is raised at the time of positioning and loading of the glass plate.
また、搬送コンベア１０上に搬入された箱状容器３は前記ストッパー３１により所定位置で停止させたが、図示しないセンサーにより箱状容器３の先端を検出して箱状容器３を停止させるようにしても良い。 The box-like container 3 carried on the conveyor 10 is stopped at a predetermined position by the stopper 31, but the tip of the box-like container 3 is detected by a sensor (not shown) to stop the box-like container 3. May be.
また、前記角度調整手段５０は、前後位置調整手段４０の連結部材４５上に、モーター５３によって回転自在な調整板５２を設け、該調整板５２の上に補正テーブル５１をそれぞれの回転中心が一致するように設けたので、補正テーブル５１を回転させることにより、補正テーブル５１上の箱状容器３の角度ズレの調整をすることができるが、角度ずれの補正角度の範囲は、０〜±５度程度であれば実用上充分である。 The angle adjusting means 50 is provided with an adjustment plate 52 that can be rotated by a motor 53 on the connecting member 45 of the front / rear position adjusting means 40, and the rotation center of the correction table 51 is aligned on the adjustment plate 52. Therefore, by rotating the correction table 51, the angle deviation of the box-like container 3 on the correction table 51 can be adjusted. However, the range of the correction angle of the angle deviation is 0 to ± 5. If it is about a degree, it is sufficient for practical use.
前記補正テーブル５１は、左右一対の搬送コンベア間に配置されているので、補正テーブルの形状を補正テーブルの角度を補正した時に、搬送コンベアと当接しないように搬送コンベアに面する側を円弧状としたり、搬送コンベアとの間に充分な隙間を設ける必要がある。 Since the correction table 51 is disposed between the pair of left and right transport conveyors, the side facing the transport conveyor is arcuate so that the correction table does not come into contact with the transport conveyor when the correction table angle is corrected. Or a sufficient gap needs to be provided between the conveyor and the conveyor.
また、前記ストッパー３１を箱状容器３の先端に当接し、側部位置決め手段２０によって位置決めした時点で、箱状容器３の前後位置のずれや角度ずれを位置検出手段６０によって検出し、精度良く位置の調整を行う。 Further, when the stopper 31 is brought into contact with the tip of the box-shaped container 3 and positioned by the side positioning means 20, the position detection means 60 detects the deviation of the front-and-rear position and the angle deviation of the box-shaped container 3 and accurately. Adjust the position.
箱状容器３内の側壁部４の溝部５内にガラス板を精度良く挿入する為に、箱状容器３内にガラスを移載する昇降部材６３の下端辺両隅部にそれぞれ取り付けた照明６２とＣＣＤカメラ６１によって、箱状容器３の側壁部４の溝部５の位置のＸＹ座標を撮像し、ガラス板が挿入可能な基準となる座標位置と比較して、前後位置調整手段４０、角度調整手段５０によって、位置ズレ、角度ズレを補正できる。 In order to insert the glass plate into the groove portion 5 of the side wall portion 4 in the box-shaped container 3 with high accuracy, the lighting 62 attached to both corners of the lower end side of the elevating member 63 for transferring the glass into the box-shaped container 3. The CCD camera 61 images the XY coordinates of the position of the groove portion 5 of the side wall portion 4 of the box-shaped container 3 and compares it with the reference coordinate position into which the glass plate can be inserted. By means 50, positional deviation and angle deviation can be corrected.
図３に示すように、側部位置決め手段２０、および予備位置決め手段２０’の調整手段９０は、調整ハンドル９２の回転によって、側部位置決め手段２０、および予備位置決め手段２０’の架台を調整レール９２上で走行移動させ、側部位置決め手段２０、および予備位置決め手段２０’によって箱状容器に対し適度な押圧力を与えることができる。 As shown in FIG. 3, the side positioning means 20 and the adjusting means 90 of the preliminary positioning means 20 ′ adjust the pedestals of the side positioning means 20 and the preliminary positioning means 20 ′ with the adjustment rail 92 by the rotation of the adjustment handle 92. The vehicle can be moved and moved, and an appropriate pressing force can be applied to the box-shaped container by the side positioning means 20 and the preliminary positioning means 20 ′.
前記搬出コンベア８０は、駆動モーター８２によって駆動される複数本の搬出ロール８１、８１、・・からなり、ガラス板の積込みを完了した箱状容器を搬出する。 The unloading conveyor 80 is composed of a plurality of unloading rolls 81, 81,... Driven by a drive motor 82, and unloads a box-shaped container that has been loaded with a glass plate.
次いで、本発明の作用について説明する。 Next, the operation of the present invention will be described.
図２に示したように、前記搬送コンベア１０、１０の搬送ロール１１、１１、・・の最上端部は、搬送コンベア昇降手段１５によって下降させた時、補正テーブル５１の上部面より下方位置となるようにしたので、搬送コンベア昇降手段１５の搬送コンベア昇降シリンダ１６を作動させて搬送コンベア１０、１０を下降させるだけで、箱状容器３は搬送ロール１０、１０上から補正テーブル５１上に移載できる。 As shown in FIG. 2, the uppermost ends of the transport rollers 11, 11,... Of the transport conveyors 10, 10 are positioned below the upper surface of the correction table 51 when lowered by the transport conveyor lifting / lowering means 15. Thus, the box-shaped container 3 is moved from the top of the transport rolls 10 and 10 onto the correction table 51 simply by operating the transport conveyor lifting cylinder 16 of the transport conveyor lifting and lowering means 15 and lowering the transport conveyors 10 and 10. Can be posted.
側部位置決め手段２０とストッパー３１によって、箱状容器３は搬送ロール１０、１０上のほぼ定位置に位置決めされるが、図４に示すように箱状容器３内の左右の側壁部４、４に設けた溝部５、５と挿入されるガラス板間のクリアランスは僅かしかない状態であるので、箱状容器３の製作誤差により、図示しないガラス板の挿入装置により挿入しようとするガラス板と位置ズレを、前後位置調整手段４０によって箱状容器の位置を微調整できる。 The box-like container 3 is positioned at a substantially fixed position on the transport rolls 10 and 10 by the side positioning means 20 and the stopper 31, but the left and right side wall parts 4, 4 in the box-like container 3 as shown in FIG. 4. Since there is only a slight clearance between the groove portions 5 and 5 provided in the glass plate and the glass plate to be inserted, the position of the glass plate to be inserted by a glass plate insertion device (not shown) due to a manufacturing error of the box-like container 3 The position of the box-shaped container can be finely adjusted by the front / rear position adjusting means 40.
また、図６に示すように、左右の溝部５、５の中心を結んだ二点鎖線６が、基準位置を結んだ基準線、すなわち、ガラス板挿入装置（図５参照）により挿入しようとするガラス板Ｇの延長線上の基準線と平行でなく、基準線と角度ズレθが発生している場合に、角度調整手段５０によって箱状容器３の左右の溝部５、５を結んだ二点鎖線線をガラス板面と平行となるようにＯを回転中心として補正テーブル５１を回転させると同時に、前後位置調整手段４０によってＸ軸方向、実際にガラス板の挿入時にガラス板挿入装置の走行手段によってＹ軸方向へのずれを基準位置まで移動させて調整すれば良い。 Further, as shown in FIG. 6, a two-dot chain line 6 connecting the centers of the left and right grooves 5 and 5 tries to be inserted by a reference line connecting the reference positions, that is, a glass plate insertion device (see FIG. 5). A two-dot chain line connecting the left and right grooves 5 and 5 of the box-like container 3 by the angle adjusting means 50 when the angle deviation θ is not parallel to the reference line on the extended line of the glass plate G but with the reference line. The correction table 51 is rotated about O as the rotation center so that the line is parallel to the glass plate surface, and at the same time, the front / rear position adjusting means 40 is moved in the X axis direction by the traveling means of the glass plate insertion device when the glass plate is actually inserted. The shift in the Y-axis direction may be adjusted by moving to the reference position.
前記位置検出手段６０は、図５に示すように、箱状容器３の溝部５の位置座標を検出するものであり、箱状容器３内の左右の側壁部４、４のそれぞれに設けた溝部５の所定位置を検出する為に、昇降部材６３の下端部の両コーナー近傍にそれぞれ照明６２とＣＣＤカメラ６１を設け、該ＣＣＤカメラ６１によって溝部５の撮像エリア６４、６４を撮像し位置を検出する。 As shown in FIG. 5, the position detection means 60 detects the position coordinates of the groove portion 5 of the box-shaped container 3, and is provided on each of the left and right side wall portions 4, 4 in the box-shaped container 3. 5, an illumination 62 and a CCD camera 61 are provided in the vicinity of both corners at the lower end of the elevating member 63, and the CCD camera 61 images the imaging areas 64 and 64 of the groove 5 to detect the position. To do.
ＣＣＤカメラ６１によって撮像後二値化した左右の溝部５、５の画像より得られたＸ、Ｙ座標とガラス板積込み位置となる基準の位置座標のＸ、Ｙ座標により、ＸＹ方向の位置ズレと、角度ズレを図示しない演算回路によって算出する。 The X and Y coordinates obtained from the images of the left and right grooves 5 and 5 binarized after being imaged by the CCD camera 61 and the X and Y coordinates of the reference position coordinates as the glass plate loading position can be The angle deviation is calculated by an arithmetic circuit (not shown).
次に、本発明の使用方法およびその動作状況を説明する。 Next, the method of use of the present invention and the operation status thereof will be described.
まず、図７、図８に示すように、予め、箱状容器３のサイズにあわせて、側部位置決め手段２０、および予備位置決め手段２０’の位置の調整を行う。該位置の調整は調整ハンドル９２の回転によって行うが、側部位置決め手段２０、２０を支持している支柱部を調整レール９２上で走行移動させ、側部押圧シリンダーのロッドが突出したときに箱状容器が側部押圧ロール２１、２１の当接によって位置決めされるように調整する。 First, as shown in FIGS. 7 and 8, the positions of the side positioning means 20 and the preliminary positioning means 20 ′ are adjusted in advance according to the size of the box-shaped container 3. The position is adjusted by the rotation of the adjustment handle 92. When the column supporting the side positioning means 20, 20 is moved on the adjustment rail 92 and the rod of the side pressing cylinder protrudes, the box It adjusts so that a shape container may be positioned by contact | abutting of the side part press rolls 21 and 21. FIG.
続いて、図示しないフォークリフト等の手段によって供給コンベア７０上にガラス板を未積載の空の箱状容器３を載置する。該箱状容器３は上部蓋、前面板と背面板を取外した状態とし、図示しないガラス板積込み装置によってガラス板を積載する時に邪魔にならないようにするが、ガラス板は箱状容器３の両側壁部４、４に設けた溝部５、５に差込み離間して立て掛けて支持するので、ガラス板同士の接触や、転倒の恐れはない。 Subsequently, an empty box-shaped container 3 not loaded with a glass plate is placed on the supply conveyor 70 by means such as a forklift (not shown). The box-like container 3 is in a state in which the upper lid, the front plate and the rear plate are removed so that the glass plate is not obstructed when the glass plates are stacked by a glass plate loading device (not shown). Since it is inserted into and separated from the groove portions 5 and 5 provided in the wall portions 4 and 4 and supported, there is no risk of contact between glass plates or falling.
載置された箱状容器３を供給コンベア７０の所定位置で停止させ、供給コンベア７０の両側面より予備位置決め手段２０’によって、側部押圧部材２２’、２２’の側部押圧ロール２１’、２１’で幅方向の略中央位置となるように挟持して予備位置決めした後、側部押圧ロール２１’、２１’を箱状容器３から離し、供給コンベア７０を駆動させて箱状容器３を下流側に隣接する搬送コンベア１０上に搬送させる。 The placed box-like container 3 is stopped at a predetermined position of the supply conveyor 70, and the side pressing rolls 21 ′ of the side pressing members 22 ′ and 22 ′ are set by the preliminary positioning means 20 ′ from both side surfaces of the supply conveyor 70. 21 ', the side pressing rolls 21' and 21 'are separated from the box-shaped container 3, and the supply conveyor 70 is driven so that the box-shaped container 3 is moved. It is made to convey on the conveyance conveyor 10 adjacent to a downstream.
補正テーブル５１の先端にはストッパー３１を昇降自在に固着し、搬送コンベア１０上で搬送される箱状容器３は、上昇した該ストッパー３１に当接することにより停止する。 A stopper 31 is fixed to the front end of the correction table 51 so as to be movable up and down, and the box-like container 3 conveyed on the conveyor 10 stops when it comes into contact with the raised stopper 31.
続いて、搬送コンベア１０の両外側に設けた側部位置決め手段２０の側部押圧シリンダ２３、２３の作動により、側部押圧部材２２、２２を箱状容器の両側面に突出させて挟むようにし、箱状容器３の幅方向の位置決めを行う。 Subsequently, the side pressing members 22 and 22 are protruded from both side surfaces of the box-shaped container by the operation of the side pressing cylinders 23 and 23 of the side positioning means 20 provided on both outer sides of the transport conveyor 10. Then, the box-shaped container 3 is positioned in the width direction.
該箱状容器３の幅方向の位置決め完了と同時に搬送コンベア１０を停止させ、側部押圧部材２２、２２も箱状容器３から離して、搬送コンベア１０を搬送コンベア昇降手段１５によって下降させ、箱状容器３の荷重を補正テーブル５１上に預ける。 Simultaneously with the completion of positioning of the box-shaped container 3 in the width direction, the conveyance conveyor 10 is stopped, the side pressing members 22 and 22 are also separated from the box-shaped container 3, and the conveyance conveyor 10 is lowered by the conveyance conveyor lifting / lowering means 15. The load of the container 3 is deposited on the correction table 51.
箱状容器３は、ストッパー３１と側部位置決め手段２０によってある程度の位置決めは行われたが、続いてさらに精密な位置決めを行う。 The box-shaped container 3 has been positioned to some extent by the stopper 31 and the side positioning means 20, but then more precisely positioned.
まず、搬送コンベア１０の搬送方向と直交する幅方向より図示しないガラス板移載装置が箱状容器３の上部まで往復動自在であり、箱状容器の上部位置より昇降部材を昇降させて、箱状容器の溝部位置に移載挿入可能なガラス板の位置を基準位置とする。 First, a glass plate transfer device (not shown) can reciprocate up to the upper part of the box-shaped container 3 from the width direction orthogonal to the conveying direction of the conveyor 10, and the elevating member is moved up and down from the upper position of the box-shaped container. The position of the glass plate that can be transferred and inserted into the groove position of the container is defined as the reference position.
該昇降部材６３の下端部の両コーナー近傍にそれぞれ設けた照明６２によって溝部５に照明光を照射し、照明光の近傍に設けたＣＣＤカメラ６１によって溝部５、５を撮像して、該溝部５、５の座標位置を検出し、基準となる座標位置と比較する。 The groove portion 5 is irradiated with illumination light by illumination 62 provided in the vicinity of both corners of the lower end portion of the elevating member 63, and the groove portions 5 and 5 are imaged by the CCD camera 61 provided in the vicinity of the illumination light. 5 are detected and compared with a reference coordinate position.
基準位置と検出位置の位置ズレ、角度ズレの補正については、コントローラ等の演算によってＸ軸（搬送コンベアの搬送方向）、Ｙ軸（左右一対の溝部を結んだ方向）、θ軸の移動量を算出し、Ｘ軸方向の位置ズレについては、前後位置調整手段４０によって、補正テーブル５１をＸ軸方向に移動させて補正し、Ｙ軸方向の位置ズレについては、図示しないガラス板移載装置の走行手段によって補正テーブル５１をＹ軸方向に移動させて調整し、角度ズレについては、角度調整手段５０によって補正テーブル５１を角度θだけ回転させて行い、検出座標を基準座標に一致させるように補正テーブルを回転させて調整する。 Regarding the correction of the positional deviation and angle deviation between the reference position and the detection position, the movement amount of the X axis (conveying direction of the conveyer), Y axis (direction connecting the pair of left and right grooves), and θ axis is calculated by the calculation of the controller etc. The positional deviation in the X-axis direction is calculated and corrected by moving the correction table 51 in the X-axis direction by the front-rear position adjusting means 40, and the positional deviation in the Y-axis direction is corrected by a glass plate transfer device (not shown). The travel table is adjusted by moving the correction table 51 in the Y-axis direction, and the angle deviation is corrected by rotating the correction table 51 by the angle θ by the angle adjustment unit 50 and correcting the detected coordinates to match the reference coordinates. Adjust by rotating the table.
このようにして、箱状容器３の精密な位置決めをする、すなわち箱状容器の溝部５、５の位置を基準位置とするような位置決めを行うことができる。 In this way, the box-shaped container 3 can be positioned accurately, that is, the position of the groove portions 5 and 5 of the box-shaped container can be determined as the reference position.
これによって、図示しないガラス板移載装置によってガラス板を箱状容器３内の溝部５、５にスムーズに挿入させ移載することができる。 Accordingly, the glass plate can be smoothly inserted and transferred into the grooves 5 and 5 in the box-shaped container 3 by a glass plate transfer device (not shown).
ガラス板を箱状容器３内の溝部５、５に挿入する都度、箱状容器３は次の溝部５、５が基準位置となるように前後位置調整手段４０によって1ピッチづつ補正テーブル５１を箱状容器３と共に移動させる。 Each time the glass plate is inserted into the grooves 5 and 5 in the box-shaped container 3, the box-shaped container 3 boxes the correction table 51 by one pitch by the front / rear position adjusting means 40 so that the next grooves 5 and 5 become the reference position. And move with the container 3.
箱状容器３内へのガラス板の積込みが完了すると、ストッパー３１を下降させ、搬送コンベア１０、１０を上昇させて、箱状容器３を搬送コンベア１０、１０上に載せ、搬送コンベア１０、１０の作動により箱状容器３を下流側に隣接する搬出コンベア８０に送り出すことができる。 When the loading of the glass plate into the box-shaped container 3 is completed, the stopper 31 is lowered, the conveyors 10 and 10 are raised, the box-shaped container 3 is placed on the conveyors 10 and 10, and the conveyors 10 and 10 are placed. The box-shaped container 3 can be sent out to the carry-out conveyor 80 adjacent to the downstream by the operation of.
本発明は、ガラス基板の小サイズのものから、１辺の長さが２メートルを越すような大サイズのガラス板までを複数枚離隔して縦姿勢で収納する箱状の容器を、積込みステーションの所定の位置で位置決めし、位置決め後の位置や角度に僅かのズレがあっても精度良く補正が可能となった。 The present invention provides a loading station for a box-shaped container that stores a plurality of glass substrates in a vertical position separated from a small glass substrate to a large glass plate having a side length exceeding 2 meters. Thus, even if there is a slight deviation in the position and angle after positioning, it is possible to correct with high accuracy.
Ｇ ガラス板
１ 位置調整装置
３ 箱状容器
４ 側壁部
５ 溝部
１０ 搬送コンベア（搬送手段）
１１ 搬送ロール
１２ 搬送モーター
１５ 搬送コンベア昇降手段
１６ 搬送コンベア昇降シリンダ
１７ 昇降ガイドロッド
２０ 側部位置決め手段
２０’ 予備位置決め手段
２１、２１’ 側部押圧ロール
２２、２２’ 側部押圧部材
２３、２３’ 側部押圧シリンダ
３１ ストッパー
３２ ストッパー昇降シリンダ
４０ 前後位置調整手段
４１ ボールネジ
４２ モーター
４３ ガイドレール
４４、４６ ガイド
４５ 連結部材
５０ 角度調整手段
５１ 補正テーブル
５２ 調整板
５３ モーター
６０ 位置検出手段
６１ ＣＣＤカメラ
６２ 照明
６３ 昇降部材
６４ 撮像エリア
７０ 供給コンベア
７１ 供給ＣＶロール
７２ 供給ＣＶモーター
８０ 搬出コンベア
８１ 搬出ＣＶロール
８２ 搬出ＣＶモーター
９０ 調整手段
９１ 調整レール
９２ ハンドル
G Glass plate 1 Position adjustment device 3 Box-shaped container 4 Side wall part 5 Groove part 10 Conveyor (conveying means)
11 Conveying roll 12 Conveying motor 15 Conveying conveyor lifting / lowering means 16 Conveying conveyor lifting / lowering cylinder 17 Lifting guide rod 20 Side positioning means 20 'Preliminary positioning means 21, 21' Side pressing rolls 22, 22 'Side pressing members 23, 23' Side pressing cylinder 31 Stopper 32 Stopper lifting cylinder 40 Front / rear position adjustment means 41 Ball screw 42 Motor 43 Guide rail 44, 46 Guide 45 Connecting member 50 Angle adjustment means 51 Correction table 52 Adjustment plate 53 Motor 60 Position detection means 61 CCD camera 62 Illumination 63 Lifting member 64 Imaging area 70 Supply conveyor 71 Supply CV roll 72 Supply CV motor 80 Unload conveyor 81 Unload CV roll 82 Unload CV motor 90 Adjusting means 91 Adjust rail 92 Handle
Claims (3)
搬送方向の左右に分離して配置した複数本の搬送ロールからなり、前記箱状容器の左右の底部が前記搬送ロールにより支持されて搬出入させる搬送コンベアと、
前記箱状容器の搬送方向と直交する方向の両側面より押圧挟持し、幅方向の位置を決める側部位置決め手段と、
左右に分離した前記搬送コンベア間に設けた補正テーブルと、
前記搬送コンベアを下降させて前記搬送コンベア上の箱状容器を前記補正テーブル上に載置させる搬送コンベア昇降手段と、
前記補正テーブルに載置された前記箱状容器の左右の側壁部のそれぞれに設けた溝部の位置を検出する位置検出手段とから構成されており、
前記補正テーブルは、前記補正テーブルに載置された前記箱状容器の前後移動を行う前後位置調整手段と、前記補正テーブルを回転させて前記箱状容器の載置角度の調整を行う角度位置調整手段とを備えており、
前記位置検出手段の検出結果に基づいて、前記補正テーブル上に載置される前記箱状容器の位置を調整し、前記箱状容器の左右の側壁部にそれぞれ設けた溝部内にガラス板を積載可能とすることを特徴とするガラス板収納用箱状容器の位置調整装置。 In the position adjusting device for the glass plate storage box-shaped container,
Conveying conveyors comprising a plurality of conveying rolls arranged separately on the left and right in the conveying direction, the left and right bottom portions of the box-like container being supported by the conveying rolls and being carried in and out,
Side positioning means for pressing and clamping from both side surfaces in a direction perpendicular to the conveyance direction of the box-shaped container, and determining the position in the width direction;
A correction table provided between the conveyance conveyors separated to the left and right;
A transport conveyor lifting and lowering means for lowering the transport conveyor and placing a box-like container on the transport conveyor on the correction table;
A position detecting means for detecting the position of the groove provided on each of the left and right side wall portions of the box-like container placed on the correction table;
The correction table includes front / rear position adjustment means for moving the box-shaped container placed on the correction table in the front-rear direction, and angular position adjustment for adjusting the placement angle of the box-shaped container by rotating the correction table. Means and
Based on the detection result of the position detecting means, the position of the box-like container placed on the correction table is adjusted, and glass plates are loaded in the groove portions respectively provided on the left and right side walls of the box-like container. An apparatus for adjusting a position of a box-shaped container for storing glass plates , characterized in that it is possible .
前記箱状容器の左右の側壁部に設けられた対となる溝部を撮像する手段と、
前記撮像の結果を二値化し、前記対となる溝部の座標を検出する手段と、
前記検出した溝部の座標を予め定めた基準となる座標に一致させるために必要な移動量を算出する手段とからなることを特徴とする請求項１に記載のガラス板用箱状容器の位置調整装置。 The position detecting means includes
Means for imaging a pair of grooves provided on the left and right side wall portions of the box-shaped container;
Means for binarizing the imaging result and detecting coordinates of the pair of grooves;
The position adjustment of the box-shaped container for glass plates according to claim 1, characterized by comprising means for calculating a movement amount necessary for matching the coordinates of the detected groove with a predetermined reference coordinate. apparatus.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| JP2005127280A JP4641859B2 (en) | 2005-04-26 | 2005-04-26 | Position adjustment device for box-shaped container for glass plate storage |
| KR1020060028156A KR100865823B1 (en) | 2005-03-29 | 2006-03-29 | Glass plate moving load device, inserting method, inserting device and apparatus for adjusting position of box-like container for glass plate |
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| Application Number | Priority Date | Filing Date | Title |
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| JP2005127280A JP4641859B2 (en) | 2005-04-26 | 2005-04-26 | Position adjustment device for box-shaped container for glass plate storage |
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| JP4641859B2 true JP4641859B2 (en) | 2011-03-02 |
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