JPH08169544A - Glass pane layering method and device and glass pane taking-out method and device - Google Patents
Glass pane layering method and device and glass pane taking-out method and deviceInfo
- Publication number
- JPH08169544A JPH08169544A JP31676094A JP31676094A JPH08169544A JP H08169544 A JPH08169544 A JP H08169544A JP 31676094 A JP31676094 A JP 31676094A JP 31676094 A JP31676094 A JP 31676094A JP H08169544 A JPH08169544 A JP H08169544A
- Authority
- JP
- Japan
- Prior art keywords
- glass plate
- glass
- interleaving paper
- glass pane
- stacking
- 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.)
- Pending
Links
Classifications
-
- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
- B65G49/069—Means for avoiding damage to stacked plate glass, e.g. by interposing paper or powder spacers in the stack
-
- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
-
- 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
- B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
- B65G2249/04—Arrangements of vacuum systems or suction cups
-
- 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
- B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
- B65G2249/04—Arrangements of vacuum systems or suction cups
- B65G2249/045—Details of suction cups suction cups
Landscapes
- Sheets, Magazines, And Separation Thereof (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- De-Stacking Of Articles (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は積載具にガラス板を積層
する方法、並びに装置、および該積層したガラス板を取
り出す方法並びに装置に関し、好適にはパレットに合紙
を介してガラス板を立掛け姿勢で積層する方法、並びに
その装置、該積層したガラス板を取出し、合紙を取外す
方法、並びにその装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for laminating glass sheets on a loading tool, and a method and apparatus for taking out the laminated glass sheets. The present invention relates to a method of stacking in a hanging posture, an apparatus thereof, a method of taking out the laminated glass plates and removing interleaving paper, and an apparatus thereof.
【０００２】[0002]
【従来技術とその問題点】本出願人は、本出願人の出願
にかかる実願平3 −106374号において、合紙と共にパレ
ットに立て掛けて積層するガラス板に対向し、その近傍
にロボットを設置し、その三次元方向に移動および回動
自在なアームにフレームを装着し、該フレームに配設す
る吸着パットで最前の前記ガラス板を支持して移載せし
めるガラス板の移載装置において、前記ガラス板に対面
する前記フレームの下辺に設けた遠近動シリンダーによ
りフレームと近接離隔可能でかつ前記ガラス板面方向へ
突出する合紙押さえ用の圧接部材を設け、該圧接部材の
両端部に前後動作自在で前記ガラス板背後の合紙端部を
吸着支持移送する吸着部材を配設したガラス板の移載装
置を提起した。[Prior Art and its Problems] In the Japanese Patent Application No. 3-106374 filed by the applicant of the present invention, the applicant installed a robot in the vicinity of a glass plate leaning against a pallet together with interleaving paper and laminated. In the glass plate transfer device, the frame is mounted on an arm that is movable and rotatable in the three-dimensional direction, and the frontmost glass plate is supported and transferred by a suction pad arranged on the frame. A pressure contact member for pressing the interleaving paper, which is capable of approaching and separating from the frame by a perspective movement cylinder provided on the lower side of the frame facing the glass plate and protruding in the glass plate surface direction, is provided at both ends of the pressure contact member. A transfer device for a glass plate is provided, which has a suction member that freely sucks, supports and transfers the edge of the interleaving paper behind the glass plate.
【０００３】該従来例によれば、ガラス板を吸着パット
で吸着支持したうえでフレームを僅かに上昇させ、圧接
部材によりガラス板の下端より突出した合紙の端部を押
圧して固定し、該ガラス板の上昇にともない前面に露出
する合紙の立ち上がり部に吸着部材を当接し、かつその
吸着作用により合紙を吸着支持し、前記アームの所定の
ルート移動中に所定の位置で該吸着部材の吸着を解除し
て合紙を脱着し、さらに所定の位置まで移動し吸着パッ
トの吸着作用を解除してガラス板を移載することができ
る。According to the conventional example, the glass plate is sucked and supported by the suction pad, the frame is slightly raised, and the end portion of the interleaf paper projecting from the lower end of the glass plate is pressed and fixed by the pressure contact member, As the glass plate rises, a suction member is brought into contact with the rising portion of the interleaf sheet exposed on the front side, and the interleaf sheet is adsorbed and supported by the adsorbing action, and the adsorption is performed at the predetermined position during the predetermined route movement of the arm. It is possible to release the suction of the member, detach the interleaving paper, move to a predetermined position, release the suction action of the suction pad, and transfer the glass plate.
【０００４】該従来装置は確実にガラス板を取出し、合
紙を取外すうえできわめて有効な手段ではあるが、それ
ら操作を迅速かつ能率的に行ううえでは充分効果的とは
いい難い。Although the conventional device is a very effective means for surely taking out the glass plate and removing the interleaving paper, it cannot be said to be sufficiently effective for performing those operations quickly and efficiently.
【０００５】本発明は新たに、積載具に合紙を介してガ
ラス板を積層する方法並びに装置を提供するとともに、
前記不都合点を改良し、迅速かつ能率的にガラス板を取
出し、合紙を取外すガラス板の取出し方法並びに装置を
提供するものである。The present invention newly provides a method and an apparatus for laminating glass plates on a loading tool via interleaving paper, and
It is intended to provide a method and an apparatus for taking out a glass plate, in which the above disadvantages are improved, the glass plate is taken out quickly and efficiently, and the interleaving paper is removed.
【０００６】[0006]
【問題点を解決するための手段】本発明は、複数のガラ
ス板を積載具に立掛け状態で積層する方法であって、積
載具に合紙を被装してガラス板を積載具に載置し、つい
で次のガラス板に合紙を被装して先のガラス板に対し一
側方に稍シフトさせて積層し、以後同様にガラス板相互
を交互にシフトさせて積層してなるガラス板の積層方
法、前記ガラス板の積層方法に基づく複数のガラス板を
積載具に積層する装置において、採断工程で所望寸法に
切断したガラス板を順次移送するコンベヤーと、所望寸
法に切断した合紙を順次給紙コンベヤーを介して走行し
つつあるガラス板上に移載する給紙装置と、合紙を被装
したガラス板を所定位置で停止せしめる停止手段と、停
止位置近在に配置した移載用ロボットであって、三次元
方向に移動かつ回動可能なアームの先端に担持部材を装
着し、担持部材には吸着担持手段を付設し、前記停止し
たガラス板を合紙ごと吸着担持手段で担持し、近傍の積
載具に立掛け姿勢で載置する該ロボットと、先に載置し
たガラス板に対し、次のガラス板を稍側方にシフトさせ
て積層し、以後同様にガラス板相互を交互にシフトさせ
て積層すべくロボットアームの動作を制御する制御機構
とからなるガラス板の積層装置、および積載具に合紙を
被装したガラス板相互を交互に側方にシフトさせて積層
した該ガラス板の取出し方法であって、ガラス板の吸着
担持手段により、最前のガラス板を吸着し取出す際に、
該ガラス板から食出した次のガラス板に被装した合紙の
一側方端を合紙押圧手段で押圧し、かつ別に該合紙への
エアー吹付け手段により、前の取出しつつあるガラス板
に付着するのを抑制し、さらに前のガラス板を取出した
後、合紙吸着手段で合紙を吸着して取外し、夫々移送手
段により移載し、以後同様に次のガラス板の取出し移載
操作、次の合紙の取外し移載操作をするようにしたガラ
ス板の取出し方法、前記ガラス板の取出し方法に基づく
ガラス板の取出し装置において、立掛け姿勢で合紙を被
装し積層したガラス板の積載具の近傍に配置し、三次元
方向に移動かつ回動自在のアームを擁するロボットと、
アームの先端に装着した担持部材であって、ガラス板に
対し当接離隔可能に進退する吸着担持手段並びにその進
退動作機構と、吸着担持手段の側方に配し、最前のガラ
ス板から側方に食出した次のガラス板に被装した合紙に
対し当接離隔可能に進退する合紙押圧兼吸着手段並びに
その進退動作機構と、前記合紙押圧兼吸着手段に並設
し、吸着担持手段寄りに配した合紙剥離用エアー吹付け
手段並びにその動作機構とを付設した前記担持部材と、
該担持部材を積載ガラス板に対面せしめ、ガラス板の取
出し、合紙の取外しが終了後、ガラス板および合紙を夫
々所定の場所に移載すべくアームを移動回動させる制御
機構とからなるガラス板の取出し装置、前記担持部材に
付設した吸着担持手段が、固定した吸着担持手段と、前
方のガラス板に対し当接離隔可能に進退する副吸着手段
およびその進退動作機構とからなるガラス板の取出し装
置、からなる。SUMMARY OF THE INVENTION The present invention is a method for stacking a plurality of glass plates on a stacker in a standing state, wherein the stacker is covered with interleaving paper and the glass plates are mounted on the stacker. Glass, and then cover the next glass plate with interleaving paper and shift it to one side with respect to the previous glass plate and stack them, and then stack them by alternately shifting the glass plates. In the plate stacking method, a device for stacking a plurality of glass plates on a loading tool based on the glass plate stacking method, a conveyor for sequentially transferring glass plates cut into desired dimensions in the cutting step, and a combination of cutting into desired dimensions A paper feeding device that sequentially transfers paper onto a glass plate that is traveling through a paper feeding conveyor, a stop unit that stops the glass plate covered with the interleaving paper at a predetermined position, and a near-stop position are provided. A transfer robot that moves and rotates in three dimensions A supporting member is attached to the tip of an effective arm, and the supporting member is provided with a suction supporting means, and the stopped glass plate is supported by the suction supporting means together with the interleaving paper, and is placed in a standing posture on a loading tool in the vicinity. The robot and the glass plate previously placed are stacked by shifting the next glass plate laterally to the stack, and then the robot arm is operated to shift the glass plates alternately to stack them. A glass plate laminating device comprising a control mechanism for controlling, and a method for taking out the glass plates laminated by alternately shifting laterally the glass plates covered with interleaving paper on the stacking tool. By adsorption adsorption means, when adsorbing and taking out the frontmost glass plate,
The glass that is being taken out before is pushed out from the glass plate by pressing one side edge of the interleaving paper covered with the next glass plate with interleaving paper pressing means, and separately by blowing air into the interleaving paper. Suppress the adhesion to the plate, take out the previous glass plate, adsorb the interleaving paper with the interleaving paper adsorbing means and remove it, and transfer them with the transferring means, and then similarly take out the next glass plate. In the glass plate taking-out method based on the loading operation, the next paper sheet removal and transfer operation, and the glass plate taking-out device based on the glass plate taking-out method, the interleaving paper is covered and laminated in a standing posture. A robot that is placed near the glass plate loading tool and that has an arm that can move and rotate in three dimensions.
A holding member attached to the tip of the arm, and adsorbing and supporting means for advancing and retreating with respect to the glass plate, and its advancing and retracting operation mechanism, and arranged on the side of the adsorbing and supporting means, from the frontmost glass plate to the side. The interleaving paper pressing and adsorbing means for advancing and retreating so as to be able to contact and separate from the interleaving paper covered by the next glass plate that has squeezed out, and its advancing and retracting operation mechanism, and the interleaving paper pressing and adsorbing means are provided in parallel and adsorbed and carried. An air blowing means for separating the interleaving paper, which is arranged closer to the means, and the carrying member additionally provided with an operating mechanism thereof;
It is composed of a control mechanism that faces the carrying member to the loaded glass plate, and after removing the glass plate and removing the interleaving paper, moves and rotates the arm to transfer the glass plate and the interleaving paper to predetermined places respectively. A glass plate including a glass plate take-out device, a suction holding means fixed to the holding member, a sub-sucking means for advancing / retreating with respect to a front glass plate so as to be able to come into contact with and separate from the front glass plate, and a forward / backward movement mechanism thereof. Of the take-out device.
【０００７】[0007]
【実施例】以下本発明を添付の図面に基づき説明する。
図１はガラス板の積層装置に関し、図１Ａは概略立面
図、図１Ｂは積載具の概略平面図である。The present invention will be described below with reference to the accompanying drawings.
FIG. 1 relates to a glass plate laminating apparatus, FIG. 1A is a schematic elevation view, and FIG. 1B is a schematic plan view of a stacking tool.
【０００８】図１Ａの立面図において、1 は裁断工程に
おけるコンベヤーで、所定寸法に切断されたガラス板G
が移送される。他方給紙装置2 ではロール状に巻かれた
合紙帯3 の先端部が給紙コンベヤー4 によりコンベヤー
1 上のガラス板G に向け移送され、カッター5 により適
宜寸法に切断される。切断され移送された合紙S はガラ
ス板G 上に載置され、そのままガラス板G とともにコン
ベヤー1 の所定位置6に移送され停止する。なお、コン
ベヤー1 における移送されつつあるガラス板Gをたとえ
ばセンサーD1において検知し、その信号を得て給紙コン
ベヤー4 が稼働して合紙S をガラス板G 上に移載し、さ
らにガラス板G を移送してセンサーD2で検知しコンベヤ
ー1 を停止するようにする。In the elevation view of FIG. 1A, 1 is a conveyor in a cutting process, which is a glass plate G cut into a predetermined size.
Are transferred. On the other hand, in the paper feeding device 2, the leading end of the interleaf paper band 3 wound in a roll is conveyed by the paper feeding conveyor 4.
It is transferred to the upper glass plate G and cut into appropriate dimensions by a cutter 5. The cut and transferred interleaving paper S is placed on the glass plate G, and is transferred to the predetermined position 6 of the conveyor 1 together with the glass plate G and stopped there. It should be noted that the glass plate G being transferred on the conveyor 1 is detected by, for example, the sensor D1, and the signal is received by the paper feed conveyor 4 to move the interleaving paper S onto the glass plate G, and then the glass plate G. Is transferred and detected by sensor D2, and conveyor 1 is stopped.
【０００９】停止位置6 の近傍にはロボット (ロボット
本体については図示せず) および積載具7 を配置してお
く。ロボットは三次元方向移動かつ回動自在なロボット
アーム8 を擁し、アーム8 の先端には吸着パッドを有す
る吸着担持手段9 を付設した担持部材10を装着せしめ
る。A robot (a robot body is not shown) and a loading tool 7 are arranged near the stop position 6. The robot has a robot arm 8 which can move and rotate in three dimensions, and a carrier member 10 provided with a suction carrier means 9 having a suction pad is attached to the tip of the arm 8.
【００１０】ロボットアーム8 の移動、旋回により担持
部材10を停止位置6 上のガラス板Gおよび合紙S に対
峙、接近させ、吸着担持手段9 の吸着パッドを合紙S に
当接させ、図示しない吸引管および吸引装置により合紙
S およびガラス板G を吸着する。次いでアーム8 を移
動、旋回させ、アーム8'および担持部材10' に示すよう
に動作せしめてガラス板G および合紙S を積載具7 に載
置する。By moving and turning the robot arm 8, the supporting member 10 is made to face and approach the glass plate G and the interleaving paper S on the stop position 6, and the suction pad of the suction supporting means 9 is brought into contact with the interleaving paper S. Do not use suction tube and suction device
Adsorbs S and glass plate G. Next, the arm 8 is moved and swung, and the arm 8 ′ and the carrying member 10 ′ are operated to place the glass plate G and the interleaving paper S on the stacking tool 7.
【００１１】図１Ｂの平面図に示すように、積載具7 に
はガラス板G1 (および合紙) は先に載置したガラス板G
(および合紙) に対し稍側方にシフトした位置に積載せ
しめる。すなわちガラス板G の積載に際してはアームを
動作させて担持部材付設の近接センサー (図示せず) に
より前のガラス板G0の位置を検出するとともに、それよ
り稍シフトすべく動作制御させて該担持部材を10b に示
す如く位置させ、ガラス板G を積載し、ガラス板G1の積
載に際してはアームを動作させて上記同様シフトさせ、
担持部材を10a に示す如く位置させてガラス板G1を積載
し、これを繰り返すことにより積層を完成する。なお、
このような繰り返し動作には、たとえばシーケンス制御
を採用すればよい。As shown in the plan view of FIG. 1B, the glass plate G1 (and the interleaving paper) on the loading device 7 is the glass plate G previously placed.
Load the paper (and the interleaving paper) at a position shifted to the lateral side. That is, when loading the glass plate G, the arm is operated to detect the position of the front glass plate G0 by a proximity sensor (not shown) attached to the carrying member, and the operation is controlled so that the glass plate G0 can be slightly shifted from that position. Position as shown in 10b, the glass plate G is loaded, and when loading the glass plate G1, the arm is operated to shift in the same manner as above,
The supporting member is positioned as shown in 10a, the glass plates G1 are stacked, and this process is repeated to complete the stacking. In addition,
For such repetitive operation, sequence control may be adopted, for example.
【００１２】以上のようにガラス板G 、GI (および合
紙) は互いに側方にシフトさせ、繰り返し積層すること
により、積載具7 からの取出しが容易となる。すなわ
ち、積載具上のガラス板の手操作による取出しにおいて
も、従来においては取出すべきガラス板をいったんずら
したうえで取出しており、ときにその際身体に傷を負う
等の不具合があったが、本発明によればそのような余分
な操作をすることなく簡単、迅速に取出すことができ、
また機械操作による取出しにおいても、従来、同様にず
らす動作が不可欠であったが、その操作が省略でき、取
出し速度の向上、効率化、能率化がはかれるという効果
を奏する。As described above, the glass plates G and GI (and the interleaving paper) are laterally shifted with respect to each other and repeatedly stacked, so that they can be easily taken out from the stacking tool 7. That is, even in the manual removal of the glass plate on the loading tool, conventionally, the glass plate to be taken out is once shifted and then taken out, but at that time, there was a problem that the body was scratched, etc. According to the present invention, it is possible to take out easily and quickly without performing such an extra operation,
Further, even in the case of taking out by machine operation, conventionally, the shifting operation has been indispensable as well, but the operation can be omitted, and there is an effect that the taking out speed is improved, the efficiency is improved, and the efficiency is improved.
【００１３】なお、本発明によればガラス板を平積する
場合においても、同様にガラス板相互をシフトさせて積
層すれば取出しが迅速、容易となる。また、ガラス板に
限らず多泡ガラス・セラミック板、石膏板等介挿シート
を被装した脆性板材においても同様に積層すれば同様な
効果を奏し、これらも本発明の範疇である。According to the present invention, even when the glass plates are stacked flat, the glass plates can be taken out quickly and easily by shifting the glass plates and stacking them. Further, not only a glass plate but also a brittle plate material provided with an interposing sheet such as a multi-foam glass / ceramic plate, a gypsum plate, and the like has the same effect if similarly laminated, and these are also within the scope of the present invention.
【００１４】図２はガラス板の取出し装置の斜視図、図
３Ａないし図３Ｃは図２に示すガラス板の取出し装置の
動作を示す概略平面図である。図２の斜視図において10
0 がロボット本体を除くガラス板の取出し装置であり、
ロボットアーム101 の先端には担持部材102 を装着し、
担持部材102 に固設した上梁103 、下梁104 には夫々一
側方に移動調整固定可能に取付金具105 、105を付設
し、取付金具105 には先端に押圧兼吸着パッドを有する
合紙押圧兼吸着手段106 、106 を配し、さらにこれに先
端に吹付けノズルを有する合紙剥離用エアー吹付け手段
107 、107 を併設する。なお、105'は取付金具105 の移
動調整固定用ハンドルであり、他の取付金具においても
同様に配設される。前記合紙押圧兼吸着手段106 、106
並びに合紙剥離用エアー吹付け手段107 、107 は夫々エ
アーシリンダー・ロッドを主とする進退動作機構108 、
108 により、前方、すなわち積載具配置方向、または後
方に進退調整自在に動作する。FIG. 2 is a perspective view of the glass plate take-out device, and FIGS. 3A to 3C are schematic plan views showing the operation of the glass plate take-out device shown in FIG. In the perspective view of FIG.
0 is the glass plate take-out device excluding the robot body,
A carrier member 102 is attached to the tip of the robot arm 101,
The upper beam 103 and the lower beam 104 fixed to the supporting member 102 are provided with mounting brackets 105 and 105, respectively, which can be moved and fixed to one side, and the mounting bracket 105 has an interleaving paper having a pressing and suction pad at the tip. Air spraying means for interleaving interleaving paper, which is provided with pressing and adsorbing means 106, 106 and further has a spraying nozzle at the tip thereof.
107 and 107 are installed side by side. Reference numeral 105 'is a handle for adjusting the movement of the mounting member 105, and the handle 105' is similarly disposed on the other mounting members. The interleaving paper pressing and suction means 106, 106
In addition, the interleaf paper peeling air blowing means 107, 107 are respectively forward / backward movement mechanisms 108 mainly composed of air cylinder rods,
By 108, it moves forward and backward so that it can be adjusted forward and backward, that is, in the loading tool arrangement direction.
【００１５】同様に上下の梁103 、104 の他の側方にも
取付金具109 、109 、合紙押圧兼吸着手段110 、110 、
合紙剥離用エアー吹付け手段111 、111 、エアーシリン
ダー・ロッドを主とする進退動作機構112 、112 を配
し、合紙押圧兼吸着手段110 、110 および合紙剥離用エ
アー吹付け手段111 、111 は上記同様に動作する。Similarly, on the other side of the upper and lower beams 103, 104, mounting brackets 109, 109, interleaving paper pressing / sucking means 110, 110,
Arrangement of interleaf paper peeling air blowing means 111, 111, forward / backward movement mechanisms 112, 112 mainly composed of air cylinders and rods, interleaf paper pressing and suction means 110, 110 and interleaf paper peeling air blowing means 111, 111 works as above.
【００１６】担持部材102 の両側部には夫々ブラケット
113 、114 を介し先端に吸着パッドを有する吸着担持手
段115 、116 を付設し、夫々並設したエアーシリンダー
・ロッドを主とする進退動作機構117 、118 により進退
調整自在に動作する。Brackets are provided on both sides of the carrying member 102, respectively.
Adsorption holding means 115, 116 having suction pads at the ends are additionally provided via 113, 114, and advancing / retreating mechanisms 117, 118 mainly comprising air cylinders / rods arranged in parallel respectively allow advancing / retreating operation.
【００１７】なお図示しないが、各吸着担持手段先端部
の吸着パッドは吸着担持手段本体にスプリングを介して
連結し、したがってガラス板面との間に傾きがあっても
板面に垂直にかつソフトに当接するように設計される。Although not shown, the suction pad at the tip of each suction supporting means is connected to the main body of the suction supporting means via a spring, so that even if there is an inclination with the glass plate surface, it is perpendicular to the plate surface and soft. Designed to abut.
【００１８】図３Ａないし図３Ｃは本発明装置の動作手
順を示す概略平面図である。図３Ａにおいて、ガラス板
の積載具7 に立掛け姿勢で合紙S1、S とともに積層した
ガラス板G1、G に対し、ロボット (図示せず) のアーム
101 を三次元方向移動かつ回動せしめ、アーム101 の先
端に装着した担持部材102 を所定間隔をおいて対面せし
める。なお該担持部材102 は図示しない付設の近接セン
サーにより最前のガラス板G1の位置を検出したうえで、
それに対面、停止する。次いで、進退動作機構117 、11
8(図２参照) の作動により吸着担持手段115 、116 のパ
ッドを矢印X 、Y の如く進行させ最前のガラス板G1に当
接せしめガラス板G1を吸着し、進退動作機構108 、108
の作動 (図２参照) により一側方の合紙押圧兼吸着手段
106 のパッドおよび合紙剥離用エアー吹付け手段107 の
ノズルを矢印Z の如く進行させ合紙S1に当接せしめる。3A to 3C are schematic plan views showing the operating procedure of the device of the present invention. In FIG. 3A, an arm of a robot (not shown) is attached to the glass plates G1 and G stacked with the interleaving paper S1 and S in a standing posture on the glass plate stacking tool 7.
The 101 is moved in a three-dimensional direction and rotated, and the carrying member 102 mounted on the tip of the arm 101 is faced with a predetermined interval. The carrying member 102 detects the position of the frontmost glass plate G1 by an attached proximity sensor (not shown),
Face to face, stop. Then, the forward / backward movement mechanism 117, 11
By the operation of 8 (see FIG. 2), the pads of the adsorbing and supporting means 115 and 116 are advanced as shown by arrows X and Y to abut against the front glass plate G1 to adsorb the glass plate G1 and to advance and retreat operation mechanisms 108 and 108.
Operation (see Fig. 2) of the interleaf sheet pressing and suction means on one side
The pad of 106 and the nozzle of the interleaf paper peeling air blowing means 107 are advanced as shown by arrow Z and brought into contact with the interleaf paper S1.
【００１９】図３Ｂにおいて、一方の吸着担持手段115
を稍手前、すなわち矢印W に示す如く後退させ、したが
ってガラス板G1の一側部が若干引出される。この場合最
前の合紙S1がガラス板G1に付着しガラス板G1とともに引
出され易いが、ほぼ同時に合紙剥離用エアー吹付け手段
107 から矢印V に示す如くエアーを吹付けることにより
付着を抑制する。逆に、エアー吹付けにより前記吸着担
持手段の後退動作を迅速容易にすることができ、後の動
作をスムースに行うことができる。In FIG. 3B, one adsorption supporting means 115 is provided.
Is retracted to the front, that is, retracted as shown by the arrow W, so that one side of the glass plate G1 is slightly pulled out. In this case, the front interleaving paper S1 is easily attached to the glass plate G1 and easily pulled out together with the glass plate G1, but almost simultaneously with the air blowing means for exfoliating the interleaving paper.
Adhesion is suppressed by blowing air from 107 as shown by arrow V. On the contrary, the backward movement of the suction supporting means can be quickly and easily performed by air blowing, and the subsequent operation can be smoothly performed.
【００２０】図３Ｃにおいて両吸着担持手段115 、116
を矢印R 、T に示す如く後退させることによりガラス板
G1のみが取出される。一方合紙剥離用エアー吹付け手段
107のエアー吹付けを停止し、合紙押圧兼吸着手段106
の吸引を開始することにより合紙S1が吸着され、該合紙
押圧兼吸着手段106 を後退させれば合紙S1を取外すこと
ができる。In FIG. 3C, both adsorbing and carrying means 115, 116.
The glass plate by retracting as shown by the arrows R and T.
Only G1 is taken out. On the other hand, air blowing means for separating the interleaving paper
The air blowing of 107 is stopped, and the interleaving paper pressing and suction means 106
The interleaving paper S1 is adsorbed by starting the suction of, and the interleaving paper S1 can be removed by retracting the interleaving paper pressing / suction means 106.
【００２１】以降図６の概略立面図に示す如くロボット
アーム101 を移動、旋回して担持部材102 によりガラス
板G1と合紙S1を担持移送し、図示においては合紙回収箱
121に収容する等、夫々所定場所に移載するようにすれ
ばよい。以上のアーム101 の移動、旋回等の一連の動作
はたとえばシーケンス制御により手順を踏んで動作させ
ればよく、特異な制御機構を採用する必要はない。Thereafter, as shown in the schematic elevation view of FIG. 6, the robot arm 101 is moved and swung to carry and transfer the glass plate G1 and the interleaving paper S1 by the carrying member 102.
It may be transferred to a predetermined place, such as being housed in 121. A series of operations such as the movement and turning of the arm 101 described above may be operated by stepping by sequence control, for example, and it is not necessary to adopt a peculiar control mechanism.
【００２２】本実施例を応用すれば、取付金具およびそ
れに配した合紙押圧兼吸着手段、合紙剥離用エアー吹付
け手段は担持部材102 のいずれか一側方のみに配置して
おくこともでき、ガラス板が右あるいは左にシフトする
のに応じて吸着担持手段を半回転させて食出部の合紙を
押圧し、エアー吹付けし、吸着するようにすることも本
発明の範疇である。If this embodiment is applied, the mounting metal fitting, the interleaf paper pressing / adsorbing means and the interleaf paper peeling air blowing means arranged on it may be arranged only on one side of the carrying member 102. It is also possible within the scope of the present invention to rotate the suction supporting means half a turn in response to the glass plate shifting to the right or left to press the interleaving paper at the feeding portion, blow air, and suck. is there.
【００２３】図４は上記実施例とは別の態様のガラス板
取出し装置の図２に対比した斜視図である。すなわち本
態様においては担持部材102 に付設した吸着担持手段
が、ブラケット113 、114 を介して付設した進退移動す
ることのない固定した吸着担持手段115a、116aと、上下
梁103 、104 、および取付金具105 、105 、109 、109
を介して付設したエアーシリンダー・ロッドを主とする
進退機構119 、119 、120 、120 により前方のガラス板
に対し当接離隔可能に進退する副吸着手段115b、115b、
116b、116bとからなり、他の手段、機構は先の実施例と
同様に配置し、同様に動作する。FIG. 4 is a perspective view of a glass plate take-out device of another mode different from the above embodiment, compared with FIG. That is, in this embodiment, the suction-carrying means attached to the carrying member 102 is fixed through the brackets 113, 114 and is fixed and does not move back and forth. The suction-carrying means 115a, 116a, the upper and lower beams 103, 104, and the mounting brackets. 105, 105, 109, 109
Sub-suction means 115b, 115b for advancing / retreating with respect to the front glass plate by an advancing / retreating mechanism 119, 119, 120, 120 mainly including an air cylinder rod attached via
Other means and mechanisms are arranged and operate in the same manner as in the previous embodiment.
【００２４】図５Ａないし図５Ｃは、本態様におけるガ
ラス板取出し装置の、先の図３Ａないし図３Ｃに対比し
た動作手順を示す概略平面図である。図５Ａにおいて、
ガラス板の積載具7 に立掛け姿勢で合紙S1、S とともに
積層したガラス板G1、G に対し、担持部材102 を主吸着
担持手段115a、116aのパッドが当接するまで前進させて
最前のガラス板G1を吸着し、次いで、一方の進退動作機
構119 、119(図４参照) の作動により副吸着手段115bの
パッドを矢印Q の如く進行させ最前のガラス板G1に当接
せしめ、ガラス板G1を吸着し、進退動作機構108 、108
(図４参照) の作動により一側方の合紙押圧兼吸着手段1
06 のパッドおよび合紙剥離用エアー吹付け手段107 の
ノズルを矢印P の如く進行させ合紙S1に当接せしめる。FIGS. 5A to 5C are schematic plan views showing the operation procedure of the glass plate take-out device according to the present embodiment in comparison with FIGS. 3A to 3C. In FIG. 5A,
With respect to the glass plates G1 and G laminated with the interleaving paper S1 and S in a standing posture on the glass plate stacking device 7, the supporting member 102 is advanced until the pads of the main suction supporting means 115a and 116a come into contact with each other, and the frontmost glass is moved. The plate G1 is sucked, and then one of the advancing / retreating motion mechanisms 119, 119 (see FIG. 4) is operated to advance the pad of the sub-adsorbing means 115b as shown by the arrow Q to bring it into contact with the front glass plate G1. Adsorbs and retreats the moving mechanism 108, 108
(Refer to FIG. 4) The interleaving paper pressing and suction means 1 on one side
The pad of 06 and the nozzle of the air blowing means 107 for separating the interleaving paper are advanced as shown by the arrow P so that they are brought into contact with the interleaving paper S1.
【００２５】図５Ｂにおいて、一方の副吸着手段115bを
稍手前、すなわち矢印N に示す如く後退させ、したがっ
てガラス板G1の一側部が若干引出される。この場合、前
記したように最も手前の合紙S1がガラス板G1に付着しガ
ラス板G1とともに引出され易いが、ほぼ同時に合紙剥離
用エアー吹付け手段107 から矢印M に示す如くエアーを
吹付けることにより付着を抑制する。In FIG. 5B, one of the sub-adsorption means 115b is retracted toward the front, that is, as shown by the arrow N, so that one side of the glass plate G1 is slightly pulled out. In this case, the foremost interleaf sheet S1 is easily attached to the glass plate G1 and pulled out together with the glass plate G1 as described above, but air is blown from the interleaf paper peeling air blowing means 107 almost at the same time as shown by the arrow M. This suppresses adhesion.
【００２６】図５Ｃにおいて一方の副吸着手段115bの吸
引を解いて元の位置に復帰後、担持部材102 を矢印L に
示す如く後退させることによりガラス板G1が取出され
る。一方合紙剥離用エアー吹付け手段107 のエアー吹付
けを停止し、合紙押圧兼吸着手段106 の吸引を開始する
ことにより合紙S1が吸着され、該合紙押圧兼吸着手段10
6 を後退させれば合紙S1を取外すことができる。In FIG. 5C, after the suction of one of the auxiliary suction means 115b is released to return to the original position, the carrying member 102 is retracted as shown by the arrow L, and the glass plate G1 is taken out. On the other hand, by stopping the air blowing of the interleaf paper peeling air blowing means 107 and starting the suction of the interleaf paper pressing and adsorbing means 106, the interleaf paper S1 is adsorbed, and the interleaf paper pressing and adsorbing means 10
The interleaving paper S1 can be removed by retracting the paper 6.
【００２７】以降図６に示す前記実施例同様にロボット
アーム101 をたとえばシーケンス制御により移動、旋回
してガラス板G1と合紙S1を担持移送し、夫々所定場所に
移載するようにすればよい。Thereafter, as in the embodiment shown in FIG. 6, the robot arm 101 may be moved and swiveled by, for example, sequence control to carry and transfer the glass plate G1 and the interleaving paper S1, and transfer them to their respective predetermined locations. .
【００２８】以上、本実施例、態様によれば、ガラス板
の取出しが迅速容易かつ効率的、能率的に行うことがで
きるという効果を奏する。なお、本発明によれば平積し
たガラス板を取出す場合においても、同様に迅速、容易
に取出すことができる。また、ガラス板に限らず多泡ガ
ラス・セラミック板、石膏板等介挿シートを被装した脆
性板材においても同様な取出し方法、装置が採用でき、
同様な効果を奏するものであって、それらも本発明の範
疇である。As described above, according to this embodiment, the effect that the glass plate can be taken out quickly, easily, efficiently and efficiently. According to the present invention, even when the flat glass plate is taken out, it can be taken out quickly and easily similarly. Further, not only a glass plate but also a brittle plate material covered with an interposing sheet such as a multi-foam glass / ceramic plate and a gypsum plate, the same take-out method and device can be adopted.
The same effects are exhibited, and these are also within the scope of the present invention.
【００２９】[0029]
【発明の効果】以上本発明における如く積載具にガラス
板を積層することにより、手操作あるいは機械操作によ
るガラス板の取出しが容易になる。また本発明における
如くガラス板を取出すことにより、操作が迅速容易かつ
効率的、能率的に行うことができるという効果を奏す
る。As described above, by stacking the glass plates on the loading device as in the present invention, it becomes easy to take out the glass plates by manual operation or mechanical operation. Further, by taking out the glass plate as in the present invention, there is an effect that the operation can be performed quickly, easily, efficiently and efficiently.
【図１】ガラス板の積層装置に関し、図１Ａはその概略
立面図、図１Ｂは積載具の概略平面図である。FIG. 1 is a schematic elevation view of a glass plate laminating apparatus, and FIG. 1B is a schematic plan view of a stacking tool.
【図２】ガラス板の取出し装置の斜視図である。FIG. 2 is a perspective view of a glass plate take-out device.
【図３】図３Ａないし図３Ｃは図２に示すガラス板の取
出し装置の動作を示す概略平面図である。3A to 3C are schematic plan views showing the operation of the glass plate take-out device shown in FIG.
【図４】別の態様のガラス板取出し装置の図２に対比し
た斜視図である。FIG. 4 is a perspective view of another embodiment of the glass plate take-out device, in contrast to FIG.
【図５】図５Ａないし図５Ｃは図４に示すガラス板の取
出し装置の動作を示す図３Ａないし図３Ｃに対比した概
略平面図である。5A to 5C are schematic plan views showing the operation of the glass plate take-out device shown in FIG. 4, in contrast to FIGS. 3A to 3C.
【図６】ガラス板取出し後のロボットアームの移動、旋
回動作の一端を示す概略立面図である。FIG. 6 is a schematic elevational view showing one end of movement and turning operation of the robot arm after taking out the glass plate.
G . GI ガラス板 S . S1 合紙 7 積載具 8 . 8' ロボットアーム 10 .10'.10a.10b 担持部材 101 ロボットアーム 102 担持部材 106.110 合紙押圧兼吸着手段 107.111 エアー吹付け手段 115.116 吸着担持手段 G .GI Glass plate S .S1 Synthetic paper 7 Loading device 8.8 'Robot arm 10 .10'.10a.10b Carrying member 101 Robot arm 102 Carrying member 106.110 Synthetic paper pressing and suction means 107.111 Air blowing means 115.116 Adsorption carrying means
Claims (5)
置積層する方法であって、ガラス板に合紙を被装して積
載具に載置し、ついで次のガラス板に合紙を被装し、先
のガラス板に対し一側方に稍シフトさせて積層し、以後
同様にガラス板相互を交互にシフトさせて積層してなる
ことを特徴とするガラス板の積層方法。1. A method of stacking and stacking a plurality of glass plates on a stacking device while standing on the stacking device, covering a glass plate with interleaving paper, mounting it on the stacking device, and then stacking it on the next glass plate. A method for laminating a glass plate, which comprises laminating a sheet of paper on one side of the glass plate and laminating the glass plate by shifting the glass plate to one side, and then alternately laminating the glass plates alternately.
く複数のガラス板を積載具に積層する装置において、採
断工程で所望寸法に切断したガラス板を順次移送するコ
ンベヤーと、所望寸法に切断した合紙を順次給紙コンベ
ヤーを介して走行しつつあるガラス板上に移載する給紙
装置と、合紙を被装したガラス板を所定位置で停止せし
める停止手段と、停止位置近在に配置した移載用ロボッ
トであって、三次元方向に移動かつ回動可能なアームの
先端に担持部材を装着し、担持具部材には吸着担持手段
を付設し、前記停止したガラス板を合紙ごと吸着担持手
段で担持し、近傍の積載具に立掛け姿勢で載置する該ロ
ボットと、先に載置したガラス板に対し、次のガラス板
を稍側方にシフトさせて積層し、以後同様にガラス板相
互を交互にシフトさせて積層すべくロボットアームの動
作を制御する制御機構とからなることを特徴とするガラ
ス板の積層装置。2. An apparatus for stacking a plurality of glass plates on a loading tool based on the method for stacking glass plates according to claim 1, wherein a conveyor for sequentially transferring the glass plates cut into a desired size in a cutting step, and a desired size. A sheet feeding device that transfers the interleaved sheets cut on the glass sheet onto a glass plate that is sequentially traveling through a sheet feeding conveyor, a stop unit that stops the glass sheet covered with the interleaf sheet at a predetermined position, and a stop position near the stop position. In the transfer robot arranged at present, a carrying member is attached to the tip of an arm that can move and rotate in three-dimensional directions, and an adsorbing and carrying means is attached to the carrying member, and the stopped glass plate is attached. The interleaving paper is carried by the adsorbing and carrying means, and the robot is placed in a standing posture on a nearby loading device, and the next glass plate is shifted laterally from the previously placed glass plate and laminated. , And then shift the glass plates alternately Lamination apparatus for a glass plate which was characterized by comprising a control mechanism for controlling the operation of the robot arm in order to lamination.
交互に側方にシフトさせて積層した該ガラス板の取出し
方法であって、ガラス板の吸着担持手段により、最前の
ガラス板を吸着し取出す際に、該ガラス板から食出した
次のガラス板に被装した合紙の一側方端を合紙押圧手段
で押圧し、かつ別に該合紙へのエアー吹付け手段によ
り、前の取出しつつあるガラス板に付着するのを抑制
し、さらに前のガラス板を取出した後、合紙吸着手段で
合紙を吸着して取外し、夫々移送手段により移載し、以
後同様に次のガラス板の取出し移載操作、次の合紙の取
外し移載操作をするようにしたことを特徴とするガラス
板の取出し方法。3. A method of taking out glass plates, wherein glass plates covered with interleaving paper are alternately laterally shifted and stacked on a stacker, and the frontmost glass plate is adsorbed by a glass plate adsorbing and supporting means. When a plate is adsorbed and taken out, one side edge of the interleaving paper covered with the next glass plate that has been eroded from the glass plate is pressed by interleaving paper pressing means, and another air blowing means is also applied to the interleaving paper. Suppress the adhesion to the glass plate being taken out by the front, further take out the front glass plate, suck the interleaving paper by the interleaf paper adsorbing means and remove it, transfer by the transfer means respectively, and thereafter the same The method for taking out a glass plate is characterized in that the next glass plate is taken out and transferred and the next slip sheet is taken out and transferred.
づくガラス板の取出し装置において、立掛け姿勢で合紙
を被装し積層したガラス板の積載具の近傍に配置し、三
次元方向に移動かつ回動自在のアームを擁するロボット
と、アームの先端に装着した担持部材であって、ガラス
板に対し当接離隔可能に進退する吸着担持手段並びにそ
の進退動作機構と、吸着担持手段の側方に配し、最前の
ガラス板から側方に食出した次のガラス板に被装した合
紙に対し当接離隔可能に進退する合紙押圧兼吸着手段並
びにその進退動作機構と、前記合紙押圧兼吸着手段に並
設し、吸着担持手段寄りに配した合紙剥離用エアー吹付
け手段並びにその動作機構とを付設した前記担持部材
と、該担持部材を積載ガラス板に対面せしめ、ガラス板
の取出し、合紙の取外しが終了後、ガラス板および合紙
を夫々所定の場所に移載すべくアームを移動回動させる
制御機構とからなることを特徴とするガラス板の取出し
装置。4. A glass plate take-out device based on the glass plate take-out method according to claim 3, wherein the glass plate take-out device is placed in the vicinity of a stacking tool for glass plates which are covered with interleaving paper in a standing posture and stacked. A robot having an arm that is movable and rotatable, a suction member that is mounted on the tip of the arm and that moves back and forth so that it can be brought into contact with and separated from a glass plate; An interleaving paper pressing and adsorbing means for advancing and retreating so as to be able to come into contact with and separate from an interleaving paper covered by a next glass plate which is arranged laterally and protrudes laterally from the front glass plate; The carrying member, which is provided in parallel with the interleaving paper pressing and adsorbing means, is provided with the interleaf paper peeling air blowing means arranged near the adsorbing and carrying means and its operating mechanism, and the carrying member is made to face the loading glass plate, Take out the glass plate, take out the interleaving paper After teeth completion, take-out apparatus for a glass plate which is characterized by comprising an arm in order to transfer the glass plate and the slip sheet to each place from a control mechanism for moving pivot.
した吸着担持手段と、前方のガラス板に対し当接離隔可
能に進退する副吸着手段およびその進退動作機構とから
なることを特徴とする請求項４記載のガラス板の取出し
装置。5. An adsorption carrying means attached to a carrying member comprises a fixed adsorption carrying means, a sub-adsorption means for advancing and retracting so as to come into contact with and separate from a front glass plate, and an advancing and retracting mechanism thereof. The glass plate take-out device according to claim 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31676094A JPH08169544A (en) | 1994-12-20 | 1994-12-20 | Glass pane layering method and device and glass pane taking-out method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31676094A JPH08169544A (en) | 1994-12-20 | 1994-12-20 | Glass pane layering method and device and glass pane taking-out method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08169544A true JPH08169544A (en) | 1996-07-02 |
Family
ID=18080622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP31676094A Pending JPH08169544A (en) | 1994-12-20 | 1994-12-20 | Glass pane layering method and device and glass pane taking-out method and device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08169544A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0873952A2 (en) * | 1997-04-21 | 1998-10-28 | Tamglass Ltd. Oy | Method for laying spacing ribs between prelaminated glass panels as well as a spacing rib |
| JP2000351448A (en) * | 1999-06-11 | 2000-12-19 | Mishima Kosan Co Ltd | Glass substrate loading method and device |
| JP2005060063A (en) * | 2003-08-18 | 2005-03-10 | Central Glass Co Ltd | Curved glass plate loading method and device thereof |
| JP2005247507A (en) * | 2004-03-04 | 2005-09-15 | Asahi Kasei Chemicals Corp | Laminating method for plate-like object |
| JP2007161354A (en) * | 2005-12-09 | 2007-06-28 | Dainippon Printing Co Ltd | Unpacking system and unpacking method |
| US20090226286A1 (en) * | 2008-03-06 | 2009-09-10 | Seiko Epson Corporation | Wafer lift-out apparatus and semiconductor apparatus manufacturing method |
| WO2012164842A1 (en) * | 2011-05-30 | 2012-12-06 | 川崎重工業株式会社 | System for transferring plate-shaped member having slip sheet, and method for transferring same |
| JP2013249200A (en) * | 2012-06-04 | 2013-12-12 | Hirata Corp | Holding device, conveying system, and holding method |
| KR101429917B1 (en) * | 2007-12-31 | 2014-08-14 | 엘지디스플레이 주식회사 | manufacturing apparatus of LCD and driving method thereof |
| CN106927151A (en) * | 2017-05-16 | 2017-07-07 | 武汉华星光电技术有限公司 | Transporting liquid crystal display panels device |
| CN113086645A (en) * | 2021-04-26 | 2021-07-09 | 新疆兴霍光电科技有限公司 | Glass substrate grabbing process method and glass substrate grabbing system |
-
1994
- 1994-12-20 JP JP31676094A patent/JPH08169544A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0873952A3 (en) * | 1997-04-21 | 1998-12-30 | Tamglass Ltd. Oy | Method for laying spacing ribs between prelaminated glass panels as well as a spacing rib |
| EP0873952A2 (en) * | 1997-04-21 | 1998-10-28 | Tamglass Ltd. Oy | Method for laying spacing ribs between prelaminated glass panels as well as a spacing rib |
| JP2000351448A (en) * | 1999-06-11 | 2000-12-19 | Mishima Kosan Co Ltd | Glass substrate loading method and device |
| JP2005060063A (en) * | 2003-08-18 | 2005-03-10 | Central Glass Co Ltd | Curved glass plate loading method and device thereof |
| JP4507171B2 (en) * | 2004-03-04 | 2010-07-21 | 旭化成ケミカルズ株式会社 | Method for laminating plate-like material and porous molded body used therefor |
| JP2005247507A (en) * | 2004-03-04 | 2005-09-15 | Asahi Kasei Chemicals Corp | Laminating method for plate-like object |
| JP2007161354A (en) * | 2005-12-09 | 2007-06-28 | Dainippon Printing Co Ltd | Unpacking system and unpacking method |
| KR101429917B1 (en) * | 2007-12-31 | 2014-08-14 | 엘지디스플레이 주식회사 | manufacturing apparatus of LCD and driving method thereof |
| US20090226286A1 (en) * | 2008-03-06 | 2009-09-10 | Seiko Epson Corporation | Wafer lift-out apparatus and semiconductor apparatus manufacturing method |
| WO2012164842A1 (en) * | 2011-05-30 | 2012-12-06 | 川崎重工業株式会社 | System for transferring plate-shaped member having slip sheet, and method for transferring same |
| JP2012246114A (en) * | 2011-05-30 | 2012-12-13 | Kawasaki Heavy Ind Ltd | System for transferring plate-shaped member having slip sheet, and method for transferring the same |
| CN103534184A (en) * | 2011-05-30 | 2014-01-22 | 川崎重工业株式会社 | System for transferring plate-shaped member having slip sheet, and method for transferring same |
| KR101458894B1 (en) * | 2011-05-30 | 2014-11-07 | 카와사키 주코교 카부시키 카이샤 | System for transferring plate-shaped member having slip sheet, and method for transferring same |
| JP2013249200A (en) * | 2012-06-04 | 2013-12-12 | Hirata Corp | Holding device, conveying system, and holding method |
| CN106927151A (en) * | 2017-05-16 | 2017-07-07 | 武汉华星光电技术有限公司 | Transporting liquid crystal display panels device |
| CN113086645A (en) * | 2021-04-26 | 2021-07-09 | 新疆兴霍光电科技有限公司 | Glass substrate grabbing process method and glass substrate grabbing system |
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