JP2009295682A - Handling apparatus of glass plate - Google Patents

Abstract

A glass plate handling device that realizes safer transfer of a glass plate by reducing the weight of the hand unit.
Frame members 11 and 12 made of elongated carbon fiber reinforced plastic are assembled in a lattice shape to form a frame having a size that covers the surface of a glass plate W, and the frame member is made of the glass. A hand portion 1 to which suction holding means 6 and 7 for sucking and holding the plate are attached, an arm portion 2 for movably supporting the hand portion, and the arm portion are operated to move the glass plate. A glass plate handling device having a drive device was obtained.
[Selection] Figure 2

Description

  The present invention relates to a glass plate handling apparatus that moves a glass plate by suction and holding by suction holding means.

  Conventionally, in the production of glass panels for various image display devices such as liquid crystal displays and plasma displays, a large number of glass panels (large glass plates) are used to reduce manufacturing costs and improve production efficiency. However, in recent years, a glass plate having a thickness of 0.5 mm or less and a size of 3200 × 3000 mm has been produced. .

  On the other hand, in the processing and manufacturing process of the glass panel, when moving the glass plate that has become easy to break due to such large size and thinning, it is pulled up using a suction pad or the like by a vacuum means that sucks and holds the glass plate, It is widely carried out (for example, see Patent Document 1).

  By the way, the handling device for transferring the glass plate in this way has a size that covers the surface of the glass plate by the hand portion provided with the suction pad or the like, so that the size increases as the size of the glass plate increases. Therefore, an increase in the weight of the hand part is a problem. This is because the increase in the weight of the hand part facilitates the swinging of the hand part at the start and stop of the operation, and thus the glass plate tends to vibrate due to the swinging of the hand part. There is a risk that the thinned glass plate may be damaged.

JP 2007-254072 A

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a glass plate handling apparatus that realizes safer transfer of a glass plate by reducing the weight of the hand portion.

That is, the invention described in claim 1 is a glass plate handling device that adsorbs, holds, and moves a glass plate, wherein a plurality of elongated frame members are assembled in a lattice shape, and the glass A frame that is large enough to cover the surface of the plate is constructed, and a hand part that has suction holding means attached to the frame, an arm part that movably supports the hand part, and the arm part that operates. And the frame member is made of carbon fiber reinforced plastic.
Here, “the frame material is assembled in a lattice shape” is not only the case where the frame material disposed in the vertical direction and the frame material disposed in the horizontal direction are orthogonally assembled in a lattice shape, This means that even if they are not perpendicular to each other, they may be crossed and assembled in a lattice shape.

According to a second aspect of the present invention, in the glass plate handling device according to the first aspect, each of the frame members is formed in a rectangular tube shape, extends linearly, and is cut out in the circumferential direction. It has a U-shaped cutout section, and the cutout section has a length corresponding to the width of the frame material in the axial direction, and the hand sections are arranged to cross each other. The frame material is assembled in a lattice shape by fitting the cut-out portion of the one frame material and the cut-out portion of the other frame material, and the suction holding means is arranged around the frame material. It is characterized by being attached to the frame material by a band fixed to the frame.
Here, “to fit the notch part of the one frame material and the notch part of the other frame material” not only when fitting the notch parts of the same dimension, The frame material notch is larger than the other frame material notch, or the other frame material notch is larger than the one frame material notch It also includes the case of fitting together.

  Further, the invention according to claim 3 is the glass plate handling device according to claim 2, wherein the cutout portion of the one frame material is in the axial direction of the one frame material on the surface of the other frame material. And is reinforced by a backing plate formed larger than the width of the other frame material, and the notch portion of the other frame material is formed on the surface of the one frame material. It is characterized in that it is reinforced by a contact plate that is arranged in the axial direction of the other frame member and is formed larger than the width of the one frame member.

According to the first aspect of the present invention, the surface of the glass plate is framed by assembling the elongated frame material in a lattice shape, rather than using a plate-like member that covers the surface of the glass plate. By configuring the body, not only can it be made lighter, but also by using a frame material made of carbon fiber reinforced plastic with a small specific gravity, the weight of the hand part can be significantly reduced.
For this reason, even if the hand portion is large enough to cover the surface of the glass plate that is to be enlarged, the glass plate can be prevented from being damaged due to swinging due to the increase in weight, and the glass plate is adsorbed by the adsorption holding means. -It can be held and moved, and safer glass plate transfer can be realized. Furthermore, lighter weight enables high-speed transport, which can improve productivity and save energy.

  Furthermore, according to the second aspect of the present invention, the frame material is formed in a rectangular tube shape, and the inside is made hollow, so that further weight reduction can be realized and the frames are arranged so as to intersect with each other. By joining the notches of one frame material and the notches of the other frame material, these frame materials are assembled in a lattice shape, thereby joining the frame materials with unnecessary bolts and nuts. By reducing the number of the screw holes, it is possible to prevent a decrease in strength caused by drilling a large number of screw holes for the joining, and it is possible to prevent relative displacement between one frame material and the other frame material.

  Further, unlike the cylindrical frame material, rotation around the frame material of the suction holding means attached by the fixture can be prevented, and more stable conveyance of the glass plate can be enabled. Furthermore, by attaching the suction holding means with a fixture wound around the outer periphery of the frame material, it is possible to prevent a decrease in strength due to drilling a screw hole or the like in the frame material.

  Therefore, as in the third aspect of the invention, the strength of the notch portion of one frame material is reinforced by the contact plate disposed on the surface of the other frame material fitted into the notch portion. Similarly, by strengthening the strength of the notch portion of the other frame material with a backing plate disposed on the surface of the one frame material fitted into the notch portion, In addition, it is possible to reinforce the notch portion of the other frame material and fix them together. Furthermore, it is not necessary to reinforce the strength of a large number of screw holes for joining, and the frame material can be easily reinforced.

  Hereinafter, the glass plate handling apparatus of the present invention will be described with reference to FIGS.

  As shown in FIG. 1, the glass plate handling apparatus of the present embodiment has a hand portion 1 to which suction holding means 6 and 7 for sucking and holding the glass plate are attached, and the hand portion 1 is movably supported. And a base 3 placed on the floor that supports the arm 2, and a drive device (not shown) that operates the arm 2.

As shown in FIG. 2, the hand unit 1 includes a plurality of (five in the present embodiment) first frame members 11 and a plurality (nine in the present embodiment) second frame members 12. It has a frame that is assembled in a lattice shape and is sized to cover the glass plate W that is the object to be transported.
Each of the first frame member 11 and the second frame member 12 is a rectangular tube made of carbon fiber reinforced plastic (CFRP) and extends linearly.

  As shown in FIGS. 3 to 5, these frame members 11 and 12 are arranged in a direction orthogonal to each other, and each has a substantially U-shaped cut-out portion cut out in the circumferential direction. A plurality of 110 and 120 are provided. Further, the notch portion 110 of each frame material 11 has a length corresponding to the width of the frame material 11, and the notch portion 120 of each frame material 12 has a length corresponding to the width of the frame material 11. ing.

  Thereby, the frame body of the band part 1 is assembled in the lattice shape by fitting the notch part 110 of the first frame material 11 and the notch part 120 of the second frame material 12, Both surfaces are formed substantially flat.

  Further, the first frame member 11 is reinforced by a rectangular plate-shaped backing plate 13 attached to the surface of the second frame member 12 fitted in the notch 110, and the second frame member 11 The frame material 1 is reinforced by a rectangular plate-like contact plate 14 attached to the surface of the first frame material 11 fitted in the notch 120.

Each of the contact plates 13 and 14 is formed into a rectangular plate shape having a long edge and a short short edge longer than the width of the frame materials 11 and 12 by using the same material as the frame materials 11 and 12, respectively. 13 is affixed to the surface of the frame material 12 and the surface of the surrounding frame material 11, and the backing plate 14 is affixed to the surface of the frame material 11 and the surface of the surrounding frame material 12.
As a result, the band part 1 has the contact plates 13 and 14 attached to the opposite surface parallel to the glass plate W and the opposite back surface parallel thereto, and the frame material 11 and the frame material 12 are fixed to each other.

  In addition to this, the cutout portions 110 and 120 of the first frame material 11 and the second frame material 12 are the side portions or the frame materials 12 of the frame materials 11 at the intersecting portions where the frame materials 11 and 12 are orthogonal to each other. Strength is reinforced by four L-shaped pads 15 affixed to the side portions of the plate.

A rectangular plate-like connecting member 51 made of metal such as aluminum for connecting the distal ends of the arms is provided at the center of the plane of the hand portion 1, and each second frame member 12 has a suction pad 61. , 71 are attached by a plurality of fixtures 60, 70 fixed around the frame material 12.
Here, as these suction holding means 6 and 7, there are a fixed suction holding means 6 shown in FIG. 6 and a movable suction holding means 7 shown in FIG. A large number of fixed suction holding means 6 are attached to a rectangular area having the flat corners of the hand part 1 and the flat corners of the hand part 1 as diagonal corners, and a large number of movable suction holding means 7 are provided in other areas. It is attached.

  Each fixed suction holding means 6 has a suction pad 61 and a fixture 60 for attaching the suction pad 61 to the frame member 12, and the fixture 60 is an elongated shape in which the suction pad 61 is joined to the distal end portion with a bolt, a nut or the like. The fixture main body 62 and a substantially U-shaped fixing member 63 which is joined to the base end side of the fixture main body 62 by bolts and nuts and is arranged around the frame material 12. The fixed suction holding means 6 in which the suction pad 61 is fixed to the second frame member 12 by such a fixture 60 is further provided with an exhaust pipe 64 for connecting the suction pad 61 to the vacuum device.

  On the other hand, the movable suction holding means 7 has a suction pad 71 and a fixture 70 for attaching the suction pad 71 to the frame member 12, and the fixture 70 is an elongated attachment in which the suction pad 71 is joined to the distal end portion with a bolt nut or the like. A tool body 72, a rail member 73 disposed along the side surface so as to be slidable in a direction in which the fixture body 72 comes in contact with and away from the glass plate W, and the rail member 73 is directed toward the contact and separation direction in the center portion. A rectangular ring-shaped fixing plate 74 fixed to each other, and two substantially U-shaped fixing members 75 which are joined to both ends of the fixing plate 74 by bolts and nuts and arranged around the frame material 12. It is configured. The movable suction holding means 7 in which the suction pad 71 is fixed to the second frame member 12 by such a fixture 70 is further provided with an exhaust pipe 76 for connecting the suction pad 71 to the vacuum device.

  Further, the side sensor for detecting the glass plate W or the edge of the pallet on which the glass plate W is placed on the outermost peripheral frame material 11, 12 of the rectangular region. 8a is attached. In addition, the outermost frame material 11 and 12 of the rectangular area and the frame material 11 and 12 around the corner of the rectangular area to which the connecting member 51 is attached A front sensor 8b for detecting the surface of the glass plate W or the pallet is attached.

  As shown in FIG. 8, the side sensor 8 a and the front sensor 8 b are both fixed to the sensor body 80, an elongated attachment member 81 in which the sensor body 80 is joined with bolts and nuts, and the attachment member 81. And a substantially U-shaped fixing member 82 disposed around the frame members 11 and 12. The side sensor 8a is attached with the sensor body 80 facing outward from the outer periphery of the hand portion 1, and the front sensor 8b is attached with the sensor body 80 facing the glass plate W direction.

  And the arm part 2 which supports the hand part 1 comprised in this way is joined to the joining part 21 which is bonded and fixed to the connecting member 51, the forearm part 22 connected to the joining part 21, and the forearm part 22. The upper arm portion 23 is connected via a rotary shaft member 26, and the rotary plate 24 is fixed to the upper arm portion 23 via a rotary shaft member 27. Further, the rotating plate 24 is provided on the base 3 placed on the floor surface so as to be able to rotate 360 ° around the vertical axis, and the upper arm portion 23 and the forearm portion 22 extend in the extending direction thereof. Are provided so as to be rotatable by rotating shaft members 27 and 26 having rotating shafts in the orthogonal direction.

  Next, using the above-described glass plate handling apparatus, an operation when a glass plate W having a size corresponding to a rectangular area to which the fixed suction holding means 6 is attached will be described.

  First, the fixture main bodies 72 of all the movable suction holding means 7 are slid along the rail members 73 in the direction away from the glass plate W. Accordingly, the suction pad 71 is installed at a position where it does not contact the glass plate W.

Next, the vacuum device is operated to evacuate air from the suction pad 61 through the exhaust pipe 64, thereby sucking and holding the glass plate W conveyed from the previous process by the suction pad 61.
Next, the drive device is operated to rotate the upper arm portion 23 and the forearm portion 22 of the arm portion 2 around the rotation shaft members 27 and 26 while rotating the rotating plate 24 of the arm portion 2 on the base 3. .

  At that time, by aligning the glass plate W with the position of the pallet detected by the sensors 8a and 8b, by rotating the upper arm portion 23 and the like, the glass plate W is placed on the pallet and the vacuuming is released. Place on the pallet.

  Next, the operation when the glass plate W that is larger than the rectangular region to which the fixed suction holding means 6 is attached will be described.

  First, in accordance with the size of the glass plate W, the peripheral portion of the fixed suction holding means 6 or the fixture main body 72 of all the movable suction holding means 7 is slid in the direction approaching the glass plate W. Thereby, the suction pad 71 is installed at a position where it can come into contact with the glass plate W.

Next, the vacuum device is operated to evacuate the air from the suction pads 61 and 71 through the exhaust pipes 64 and 76, thereby sucking and holding the glass plate W conveyed from the previous process by the suction pads 61 and 71.
Next, the drive device is operated to rotate the upper arm portion 23 and the forearm portion 22 of the arm portion 2 around the rotation shaft members 27 and 26 while rotating the rotating plate 24 of the arm portion 2 on the base 3. .

  At that time, by aligning the glass plate W with the position of the pallet detected by the sensors 8a and 8b, by rotating the upper arm portion 23 and the like, the glass plate W is placed on the pallet and the vacuuming is released. Place on the pallet.

  In the handling device for the glass plate W of the present embodiment, the frame members 11 and 12 are formed in a rectangular tube shape made of carbon fiber reinforced plastic, so that the hand portion 1 can be significantly reduced in weight.

  For this reason, even if it is the hand part 1 of the magnitude | size which covers the surface of the glass plate W to enlarge, the failure | damage etc. of the glass plate W by rocking | fluctuation due to a weight increase can be suppressed, and the adsorption pad of the hand part 1 can be suppressed. 61 and 71 can adsorb | suck and hold | maintain and move the glass plate W, and can implement | achieve the safe transfer of the glass plate W. FIG.

  Furthermore, since the movable suction holding means 7 is attached outside the rectangular area, by moving the fixture main body 72 of the movable suction holding means 7 in a direction approaching the glass plate W, It can also handle the conveyance of a large glass plate W, and the suction pad 71 can be moved to a desired position according to the size of the glass W by sliding the two fixing members 75 along the frame material 12. Can be made.

  In addition, the handling apparatus of the glass plate W of this invention is not limited to the above-mentioned embodiment at all, For example, the arm part 2 may not be supported by the base 3, but is supported by the wall material. It may be.

It is explanatory drawing which shows the whole structure of the handling apparatus of the glass plate W which concerns on this invention. It is a top view of the hand part 1 which concerns on this invention. It is an enlarged view of the crossing part of the frame materials 11 and 12 of FIG. It is a longitudinal cross-sectional view of FIG. It is explanatory drawing of the notch part 110 of the frame material 11, and the notch part 120 of the frame material 12. FIG. It is explanatory drawing of the fixed adsorption | suction holding means 6, Comprising: (a) is a side view, (b) is a front view. It is explanatory drawing of the movable adsorption | suction holding means 7, Comprising: (a) is a side view, (b) is a front view. It is explanatory drawing of a sensor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Hand part 2 Arm part 3 Base 6 Fixed adsorption holding means 7 Movable adsorption holding means 11, 12 Frame material W Glass plate

Claims (3)

A glass plate handling device that adsorbs, holds, and moves a glass plate,
A plurality of elongate frame members are assembled in a lattice pattern to form a frame body having a size covering the surface of the glass plate, and suction holding means for sucking and holding the glass plate on the frame body. An attached hand part,
An arm part that supports the hand part movably,
A glass plate handling device comprising: a driving device that moves the glass plate by operating the arm portion; and the frame material is made of carbon fiber reinforced plastic. Each of the frame members is formed in a rectangular tube shape, extends linearly, and has a U-shaped cutout portion cut out in the circumferential direction, and the cutout portion is directed in the axial direction. It has a length corresponding to the width of the frame material,
In the hand portion, the frame material is assembled in a lattice shape by fitting the notch portion of one frame material and the notch portion of the other frame material, which are arranged in a direction intersecting each other. And
2. The glass plate handling apparatus according to claim 1, wherein the suction holding means is attached to the frame material by a fixture wound around an outer periphery of the frame material.   The notch portion of the one frame material is disposed on the surface of the other frame material in the axial direction of the one frame material, and is formed to be larger than the width of the other frame material. The notch portion of the other frame material is disposed on the surface of the one frame material in the axial direction of the other frame material, and the width of the one frame material is The glass plate handling apparatus according to claim 2, wherein the glass plate handling device is reinforced by a caul plate formed larger than that of the glass plate.

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